CN209222462U - Robot is equipped in full-automatic outfititem airless spraying - Google Patents
Robot is equipped in full-automatic outfititem airless spraying Download PDFInfo
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- CN209222462U CN209222462U CN201820999466.0U CN201820999466U CN209222462U CN 209222462 U CN209222462 U CN 209222462U CN 201820999466 U CN201820999466 U CN 201820999466U CN 209222462 U CN209222462 U CN 209222462U
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Abstract
The utility model discloses a kind of full-automatic outfititem airless spraying equipment robot, including rack, it is provided with support base, flush coater and controller on the rack, frame lower is provided with travel driving motor and traveling wheel, traveling wheel and travel driving motor are sequentially connected；It is provided with rotating mechanism on support base, mechanical arm mechanism is connected on rotating mechanism, the front end of mechanical arm mechanism is provided with spray gun；Camera is provided on mechanical arm mechanism, travel driving motor and flush coater are connect with controller respectively, and controller is remotely connected with remote control device.The robot auto spray painting of the utility model, efficiently saves paint, can non-stop run in 24 hours, high reliablity improves production production capacity；Camera monitors condition of construction in real time, and operator is not necessarily to that manpower is greatly saved at spray painting scene, and avoids artificial spray painting inefficiency, and the high situation of risk is widely used, and is suitble to various special-shaped fitting-outs, is suitble to promote and apply.
Description
Technical field
The utility model belongs to vessel coating technical field, and in particular to a kind of full-automatic outfititem airless spraying equipment machine
Device people.
Background technique
Vessel coating is the more work of field of shipbuilding human input, and ship's outfit coating is by outfititem
The factors such as the small difficult spraying of anisotropic and structure influence, and painting operation construction is cumbersome, and great work intensity, management difficulty is big, to spraying
Grappling is a very big physical strength and technology test.In coating process, when the wet-film thickness of paint, paint sprayer mouth and spray painting
The flow velocity that needs is walked to rob speed, is difficult to carry out accurate control using hand spray, and film thickness is excessively high can also increase shipbuilding for paint
Cost.Moreover, fitting-out coating workers with long time, which is in the environment such as paint, dust, will cause certain influence to body, to constructor
Member's health harm especially in great demand is very big.
Utility model content
Goal of the invention: in view of the deficienciess of the prior art, the purpose of the utility model is to provide a kind of full-automatic fitting-outs
Robot is equipped in part airless spraying.
Technical solution: in order to achieve the above-mentioned object of the invention, the technical solution adopted in the utility model is as follows:
A kind of full-automatic outfititem airless spraying equipment robot, including rack, are provided with support base, spraying on the rack
Machine and controller are provided with travel driving motor and traveling wheel in frame lower, and the traveling wheel and travel driving motor are driven
Connection；It is provided with rotating mechanism on the support base, is connected with mechanical arm mechanism on the rotating mechanism, in the machinery
The front end of arm mechanism is provided with spray gun, and the spray gun is connect with flush coater；Camera, institute are provided on the mechanical arm mechanism
It states travel driving motor and flush coater is connect with controller respectively, the controller is remotely connected with remote control device.
Preferably, the rotating mechanism includes rotary drive motor and rotating seat, the rotating seat is arranged in support base
On, the rotary drive motor and rotating seat are sequentially connected.
Preferably, the inside of the support base is hollow structure, the rotary drive motor is arranged inside support base.
Preferably, the mechanical arm mechanism includes vertical arm and transverse arm, the vertical arm lower end is connect with rotating seat,
Upper end is connect with transverse arm.
Preferably, the vertical arm is telescopic arms, the telescopic arms are pneumatic telescopic arms or electric telescopic arm.
Preferably, the front end of transverse arm is arranged in the spray gun, the camera is arranged in vertical arm and transverse arm
Junction.
Preferably, mechanical wrist part structure is provided between the spray gun and transverse arm, the mechanical wrist part knot
Structure is three freedom degree manipulator wrist part structure, and the mechanical wrist part structure is three freedom degree manipulator wrist part structure, described
Transverse arm and vertical arm junction are provided with the second mechanical wrist part structure, are provided in the vertical arm with rotating seat junction
Third mechanical wrist part structure.
Preferably, having brake block in the traveling wheel.
Preferably, the remote control device is connect by control line with controller, spiral is provided in the controller
Device, the control line are wrapped on winder.
Preferably, the camera is connect by wireless network with remote control device.
The utility model has the advantages that compared with prior art, the utility model has the advantage that
Robot is equipped in the full-automatic outfititem airless spraying of the utility model, controls robot by PLC controller
Mobile, the flow of movement and the spray painting of mechanical arm mechanism is adjusted automatically with rifle speed, the variation of the outfititem product of foundation spraying is walked
Whole spray gun height, front and back, angle and position, the size of spray paint amount can be controlled flexibly, varnished uniform, velocity-stabilization,
Glossiness is good, and product qualification rate is high；Robot auto spray painting, efficiently saves paint, can non-stop run in 24 hours, reliability
Height improves production production capacity；The utility model spray gun rear be arranged camera, monitor in real time condition of construction, operator without
Need to be at spray painting scene, the case where construction site being monitored in real time by remote control device, and pass through remote control device control robot
Construction movement, is greatly saved manpower, and avoids artificial spray painting inefficiency, the high situation of risk.The utility model is answered
With extensive, it is suitble to various special-shaped fitting-outs, is suitble to promote and apply.
Detailed description of the invention
Fig. 1 is full-automatic outfititem airless spraying equipment robot architecture's schematic diagram；
Fig. 2 is the structural schematic diagram of full-automatic outfititem airless spraying equipment robot controller.
Specific embodiment
The utility model is furtherd elucidate with reference to the accompanying drawing.
As shown in Figure 1, robot, including rack 1 are equipped in the full-automatic outfititem airless spraying of the application, in rack 1
It is provided with support base 2, flush coater 4 and controller 5,1 lower part of rack is provided with travel driving motor 3 and traveling wheel 6, traveling wheel
6 are sequentially connected with travel driving motor 3；It is provided with rotating mechanism on support base 2, mechanical arm machine is connected on rotating mechanism
Structure is provided with spray gun 7 in the front end of mechanical arm mechanism, and spray gun 7 is connect with flush coater 4 by high-pressure hose；In mechanical arm mechanism
On be provided with camera 8, travel driving motor 3 and flush coater 4 are connect with controller 5 respectively, by controller 5 control, controller 5
It is connected with remote control device.
Rotating mechanism 3 includes rotary drive motor and rotating seat 31, and rotating seat 31 is arranged on support base 2, rotation driving
Motor and rotating seat 31 are sequentially connected, and rotating seat 31 can rotate, machine under the driving of rotary drive motor relative to support base 2
Tool arm mechanism is rotated with rotating seat 31.
For the ease of the installation and protection of rotary drive motor, the inside of support base 2 is set as hollow structure, rotation driving
Motor is arranged inside support base 2, and since rotating seat 31 needs to be rotated toward different directions, rotary drive motor is using tune
Speed motor is connected with frequency converter on rotary drive motor, realizes electric machine speed regulation.
Mechanical arm mechanism includes vertical arm 9 and transverse arm 10, and vertical 9 lower end of arm is connect with rotating seat 31, upper end and transverse direction
Arm 10 connects.Vertical arm 9 is telescopic arms, and telescopic arms are that pneumatic telescopic arms perhaps electric telescopic arm or can use gas
Dynamic telescopic rod and electric telescopic rod.
The front end of transverse arm 10 is arranged in spray gun 7, and camera 8 is arranged in the junction of vertical arm 9 and transverse arm 10, takes the photograph
The dead astern for being located at spray gun 7 as first 8, is provided with protective cover in the periphery of camera 8, prevents the coating cloud pollution of spray painting, camera 8
The real-time working image of spray gun 7 is acquired, camera 8 is connect by wireless network with remote control device, and wireless network is moved using the public
The wireless network (such as 4G, 3G or GPRS) that dynamic communication network is realized perhaps WLAN (WiFi) or uses Bluetooth technology, excellent
On the image transmission to remote control device that choosing uses Bluetooth technology to acquire camera 8.
The first mechanical wrist part structure 11, the first mechanical wrist part structure 11 are provided between spray gun 7 and transverse arm 10
For three freedom degree manipulator wrist part structure, the first mechanical wrist part structure 11 can be with the rotation angle of the different control spray guns 7 of workpiece
Degree and direction；Transverse arm 10 and vertical 9 junction of arm are provided with the second mechanical wrist part structure 12, in vertical arm 9 and rotation
31 junctions of seat are provided with third mechanical wrist part structure 13, the second mechanical wrist part structure 12 and third mechanical wrist part structure
13 be two degrees of freedom mechanical wrist part structure.Each component of mechanical arm configuration cooperates, and realizes the fortune up and down of spray gun 7
It is dynamic.
Flush coater 4 uses high pressure airless spray equipment, and coating is pressurized to high pressure 3000PSI using high-pressure plunger pump
(210kg/cm), the coating for obtaining high pressure are transported to spray gun 7 by high-pressure hose, release stress to be formed via the nozzle of spray gun 7
Atomization, due to not being mixed into air and higher coating transmission efficiency and production efficiency in coating, thus in outfititem surface shape
At fine and close coating.
At least two interfaces and corresponding connector are provided on flush coater 4, an interface is as paint entrance, an interface
As paint outlet, the connector of the paint entrance of flush coater 4 is connected with by fluid hose with external coating cylinder, paint outlet
It is connected by high-pressure hose or telescopic fluid hose with spray gun 7.Mechanical arm mechanism is arranged to hollow structure, and high pressure is soft
Pipe or telescopic fluid hose pass through inside mechanical arm mechanism, and fluid hose is using routine, internal layer Teflon, outer layer PU material
The spray painting pipe of matter, solvent resistant is explosion-proof, and flexibility is good.
The control line connecting with controller 5 is scalable, and the exit of control line is provided with a winder in controller 5
51, control line is wrapped on winder 51, and control line can realize the flexible of length according to the far and near of construction area.
There are brake block, the generally walking straight line of traveling wheel 6 in traveling wheel 6, control robot moves forward and backward, can also be used
Remote control device control is turned and is retreated, the brake block in traveling wheel 6, is reached designated place rear braking fixed point, is guaranteed robot
Stability, robot is in construction, since the pressure of high pressure airless spray equipment 4 can generate very big impact recoil to spray gun
Power, the high stability of robot enable robot to control and digest impact force well when controlling spray gun for paint,
Controller 5 uses PLC programmable controller, robot before executing spray coating operations, the area of construction part,
The wet-film thickness of paint, paint sprayer nozzle size and spray painting when required flow velocity, walk to rob speed, the type of paint and parameter
Etc. input controllers 5, robot sprayed automatically according to the parameter of input controller, can according to camera return image
Monitor construction environment.Controller 5 is equivalent to the brain of entire robot, controls arm, the speed when nozzle of spray gun and spray painting
Siemens, Mitsubishi, Omron, Delta, the PLC control of the brands such as Fuji or Schneider can be selected in degree, PLC programmable controller
Device, such as the SIMATIC S7-300 of Siemens, programmable controller CJ1W-NC413 of Omron etc..
Remote control device is connect with controller by control line, and display screen, the shadow of camera acquisition are provided on remote control device
As picture is presented by display screen.Remote control device can be existing industrial personal computer, pc machine, mobile phone or tablet computer.Machine
Device man-hour, the remote control device outside construction area are manipulated by operator, observe applying for spray gun by display screen
Work situation controls the working condition of remote-controlled robot.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (10)
1. robot is equipped in a kind of full-automatic outfititem airless spraying, it is characterised in that: including rack (1), set on rack (1)
It is equipped with support base (2), flush coater (4) and controller (5), rack (1) lower part is provided with travel driving motor (3) and traveling wheel
(6), the traveling wheel (6) and travel driving motor (3) are sequentially connected；It is provided with rotating mechanism on the support base (2),
It is connected with mechanical arm mechanism on the rotating mechanism, the front end of the mechanical arm mechanism is provided with spray gun (7), the spray gun
(7) it is connect with flush coater (4)；It is provided on the mechanical arm mechanism camera (8), the travel driving motor (3) and spray
Painting machine (4) is connect with controller (5) respectively, and the controller (5) is connected with remote control device.
2. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: the whirler
Structure includes rotary drive motor and rotating seat (31), and the rotating seat (31) is arranged on support base (2), the rotation driving electricity
Machine and rotating seat (31) are sequentially connected.
3. robot is equipped in full-automatic outfititem airless spraying according to claim 2, it is characterised in that: the support base
(2) inside is hollow structure, and the rotary drive motor setting is internal in support base (2).
4. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: the mechanical arm
Mechanism includes vertical arm (9) and transverse arm (10), and vertical arm (9) lower end is connect with rotating seat (31), upper end and transverse arm
(10) it connects.
5. robot is equipped in full-automatic outfititem airless spraying according to claim 4, it is characterised in that: the vertical arm
It (9) is telescopic arms, the telescopic arms are pneumatic telescopic arms or electric telescopic arm.
6. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: the spray gun
(7) setting is in the front end of transverse arm (10), junction of camera (8) setting in vertical arm (9) and transverse arm (10).
7. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: in the spray gun
(7) it is provided between transverse arm (10) mechanical wrist part structure (11), the mechanical wrist part structure (11) is Three Degree Of Freedom
Mechanical wrist part structure is provided with the second mechanical wrist part structure (12) in the transverse arm (10) and vertical arm (9) junction,
The vertical arm (9) and rotating seat (31) junction are provided with third mechanical wrist part structure (13).
8. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: in the walking
There is brake block in wheel (6).
9. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: the remote control dress
It sets and is connect by control line with controller (5), is provided with winder (51) in the controller (5), the control line winding
On winder (51).
10. robot is equipped in full-automatic outfititem airless spraying according to claim 1, it is characterised in that: the camera shooting
Head (8) is connect by wireless network with remote control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820999466.0U CN209222462U (en) | 2018-06-27 | 2018-06-27 | Robot is equipped in full-automatic outfititem airless spraying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820999466.0U CN209222462U (en) | 2018-06-27 | 2018-06-27 | Robot is equipped in full-automatic outfititem airless spraying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209222462U true CN209222462U (en) | 2019-08-09 |
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ID=67496832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820999466.0U Active CN209222462U (en) | 2018-06-27 | 2018-06-27 | Robot is equipped in full-automatic outfititem airless spraying |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
| CN110918324A (en) * | 2019-12-19 | 2020-03-27 | 杨凯 | Multi-gun mixed control paint spraying robot based on visual servo |
| CN113058778A (en) * | 2021-04-02 | 2021-07-02 | 合肥工业大学 | Variable-working-interval cable-rod hybrid drive spraying robot |
| GB2592080A (en) * | 2020-02-13 | 2021-08-18 | Sosa Gonzalez S L | Autonomous painting robot |
-
2018
- 2018-06-27 CN CN201820999466.0U patent/CN209222462U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
| CN110918324A (en) * | 2019-12-19 | 2020-03-27 | 杨凯 | Multi-gun mixed control paint spraying robot based on visual servo |
| GB2592080A (en) * | 2020-02-13 | 2021-08-18 | Sosa Gonzalez S L | Autonomous painting robot |
| US11260411B2 (en) | 2020-02-13 | 2022-03-01 | Sosa González, S.L. | Autonomous painting robot |
| GB2592080B (en) * | 2020-02-13 | 2022-04-27 | Sosa Gonzalez S L | Autonomous painting robot |
| CN113058778A (en) * | 2021-04-02 | 2021-07-02 | 合肥工业大学 | Variable-working-interval cable-rod hybrid drive spraying robot |
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