CN217368889U - Equipment for automatically spraying large-scale overlong workpiece - Google Patents
Equipment for automatically spraying large-scale overlong workpiece Download PDFInfo
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- CN217368889U CN217368889U CN202221007256.1U CN202221007256U CN217368889U CN 217368889 U CN217368889 U CN 217368889U CN 202221007256 U CN202221007256 U CN 202221007256U CN 217368889 U CN217368889 U CN 217368889U
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model provides an equipment of automatic spraying is carried out large-scale overlength work piece, its overall structure preparation degree of difficulty is little, with low costs, and equipment fixing and debugging and later maintenance are with low costs, occupation space is less relatively. It includes: a single-shaft gantry robot; two Y-axis ground rails; a set of X axial rails; a follow-up support vehicle; the bottom of the trailer is embedded in the X-axis rail and is movably arranged along the X-axis rail; a Y-axis output end is integrated on a cross beam of the single-axis gantry robot, at least one first spraying robot is arranged on the Y-axis output end, and a spraying head of the first spraying robot is arranged downwards; y-axis output seats are embedded on the Y-axis ground rails on each side, a second spraying robot is arranged on each Y-axis output seat, spraying heads of the second spraying robots on the two sides are arranged oppositely, and the Y-axis ground rails on the two sides are located in the vicinity of the X-axis of the single-axis gantry type robot.
Description
Technical Field
The utility model relates to a technical field of overlength work piece spraying specifically is an equipment that carries out automatic spraying to large-scale overlength work piece.
Background
The length of a large-sized super-long workpiece such as a wind power blade can reach 80m, and at present, due to the accessibility problem of a spraying robot, the spraying robot can spray the large-sized super-long workpiece in a full-coverage mode only by means of an external shaft (a three-shaft gantry type robot). The process flow comprises the following steps: 1. and manually feeding by means of large hoisting equipment and an auxiliary blade bracket. 2. And after the feeding is finished, the spraying robot can accurately position the workpiece by means of 3D vision. 3. After the positioning is finished, one or more spraying robots start automatic spraying, in the spraying process, workpieces are kept still, and the spraying robots need to realize full-coverage spraying on the surfaces of the wind power blades by means of large-range movement of external shafts (three-shaft gantry robots) besides the accessible range of the spraying robots. The three-axis gantry robot can be designed in a whole set or can be divided into a plurality of sections. The spraying robot can be one or more. The large three-axis gantry robot has great technical difficulty, including design difficulty and field installation and debugging difficulty. The cost of a large three-axis gantry robot is too high, the span is large, the stroke is large, and the load is large, so that the cost of one set of three-axis gantry robot reaches tens of millions. The large three-axis gantry robot occupies a large space, requires a large installation space in each direction of X, Y and Z axes, occupies too much space in a workshop, and has high difficulty in later-stage equipment maintenance; therefore, it is necessary to develop an apparatus for automatically spraying large-sized super-long workpieces with relatively low technical difficulty.
Disclosure of Invention
In view of the above problem, the utility model provides an equipment of automatic spraying is carried out large-scale overlength work piece, its overall structure preparation degree of difficulty is little, with low costs, and equipment fixing and debugging and later maintenance are with low costs, occupation space is less relatively.
An equipment for carrying out automatic spraying on large-scale overlong workpieces is characterized by comprising:
a single-shaft gantry robot;
two Y-axis ground rails;
a set of X axial rails;
a follow-up support vehicle;
the bottom of the trailer is embedded in the X-axis rail and is movably arranged along the X-axis rail;
a Y-axis output end is integrated on a cross beam of the single-axis gantry robot, at least one first spraying robot is arranged on the Y-axis output end, and a spraying head of the first spraying robot is arranged downwards;
y-axial output seats are embedded on the Y-axial ground rails on each side, a second spraying robot is arranged on each Y-axial output seat, spraying heads of the second spraying robots on the two sides are arranged in opposite directions, the Y-axial ground rails on the two sides are located in the near area of the single-shaft gantry robot in the X-axial direction, and the Y-axial central area formed by splicing the Y-axial ground rails on the two sides and the Y-axial central area of the single-shaft gantry robot are close to or overlapped;
the workpiece is a large-sized super-long workpiece, the length direction of the workpiece is arranged along the X-axis direction, the X-direction tail end of the workpiece is supported on the upper surface of the follow-up support vehicle, the middle rear end of the workpiece is supported on the upper surface of the trailer, and the workpiece is drawn in the X-direction of the trailer to pass through a spraying area formed by the first spraying robot and the two second spraying robots from front to back.
It is further characterized in that:
the height of wheels at the bottom of the follow-up support vehicle is higher than that of the X axial track, or the X axial track is embedded in the ground, so that the follow-up support vehicle is ensured not to interfere when moving along the X axial direction;
the X axial tracks are two parallel X axial tracks, and the X axial tracks are arranged in a Y-direction area between the two Y axial ground tracks;
the Y-direction widths of the trailer and the follow-up support vehicle are smaller than the Y-direction spacing distance between the two Y-axis ground rails, so that interference can not occur during movement;
the X-direction two ends of the X-axis track respectively penetrate through the spraying areas formed by the first spraying robot and the second spraying robot, and the length of the X-axis track is set according to a workpiece to be sprayed;
the first spraying robot and the second spraying robot are both spraying robots with multi-axis adjusting arms, so that spraying can be adjusted according to spraying requirements during spraying;
the trailer is specifically an RGV trailer, and a driving motor is arranged on the trailer.
After the utility model is adopted, in the robot spraying process, the trailer is driven to move along the X axis, the workpiece is dragged to feed forwards, the movement in the X axis direction of the three-axis gantry robot is replaced, namely, in the spraying process, the workpiece moves in the X axis direction, the base of the spraying robot is static in the X axis direction, and meanwhile, the spraying robot is additionally provided with the outer shaft, so that the reachable range of the robot in the Y axis direction is ensured; the first spraying robot depends on a Y-axis output end, the second spraying robot depends on a Y-axis ground rail to ensure accessibility in the Y-axis direction, three groups of spraying robots depend on respective outer shafts to be matched with a trailer, full-coverage spraying on the surface of the wind power blade can be realized, the overall design difficulty of a project is small, and project cost including design cost, material cost, equipment installation and debugging cost and later equipment maintenance cost can be greatly reduced due to the fact that the ground rail, the trailer and a single-axis gantry robot are more in application occasions and higher in standardization degree, and the cost is far lower than that of a large-scale three-axis gantry robot; the overall cost of the project can be controlled within million by ten million; the equipment occupies a relatively small space, and can save about 50% of installation space.
Drawings
Fig. 1 is a schematic structural view of a perspective view of the present invention;
FIG. 2 is a schematic view of the enlarged partial structure of the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the device comprises a single-shaft gantry type robot 10, a cross beam 11, a Y-axis output end 12, a Y-axis ground rail 20, a Y-axis output seat 21, an X-axis track 30, an X-axis track 31, a follow-up support vehicle 40, a trailer 50, a first spraying robot 60, a second spraying robot 70 and a workpiece 80.
Detailed Description
An apparatus for automatically spraying large-sized super-long workpieces is shown in fig. 1 and 2, and comprises a single-shaft gantry robot 10, two Y-axis ground rails 20, a group of X-axis rails 30, a follow-up carriage 40 and a trailer 50;
the bottom of the trailer 50 is embedded in the X-axis rail 30 and is movably arranged along the X-axis rail 30;
a Y-axis output end 12 is integrated on a cross beam 11 of the single-shaft gantry robot 10, at least one first spraying robot 60 is arranged on the Y-axis output end 12, and a spraying head of the first spraying robot 60 faces downwards; in specific implementation, the number of the first spraying robots 60 is one;
y-axis output seats 21 are embedded on the Y-axis ground rails 20 on each side, a second spraying robot 70 is arranged on each Y-axis output seat 21, spraying heads of the second spraying robots 70 on the two sides are arranged oppositely, the Y-axis ground rails 20 on the two sides are located in the vicinity of the X-axis of the single-axis gantry robot 10, and the Y-axis central area formed by splicing the Y-axis ground rails 20 on the two sides and the Y-axis central area of the single-axis gantry robot are arranged in a close or overlapped mode;
the workpiece 80 is specifically a large-sized super-long workpiece, the length direction of the workpiece 80 is arranged along the X-axis direction, the X-direction end of the workpiece 80 is supported on the upper surface of the follow-up carriage 40, the middle rear end of the workpiece 80 is supported on the upper surface of the trailer 50, and the workpiece 80 passes through the spraying area formed by the first spraying robot 60 and the two second spraying robots 70 after being drawn forwards in the X-direction of the trailer 50.
In specific implementation, the height of the wheels at the bottom of the follow-up carriage 40 is higher than that of the X-axis track 30, or the X-axis track 30 is embedded in the ground, so that interference is avoided when the follow-up carriage 40 moves along the X-axis;
the X-axis tracks 30 are two parallel X-axis tracks 31, and the X-axis tracks 30 are arranged in a Y-axis area between the two Y-axis ground tracks 20;
the Y-direction widths of the trailer 50 and the follow-up support vehicle 40 are both smaller than the Y-direction spacing distance between the two Y-axis ground rails 20, so that interference cannot occur during movement;
the two ends of the X-axis track 30 in the X direction respectively penetrate through the spraying areas formed by the first spraying robot 60 and the two second spraying robots 70, and the length of the X-axis track 30 is set according to the workpiece to be sprayed.
In specific implementation, the first spraying robot 60 and the second spraying robot 70 are the same multi-axis spraying robot with a multi-axis adjusting arm, so that spraying can be adjusted according to spraying requirements during spraying, and the assembly is quick and convenient; the trailer 50 is specifically an RGV trailer with its own drive motor, and the workpiece 80 in the specific implementation is a wind blade.
The working principle is as follows: in the spraying process of the robot, the trailer is driven to move along the X axis, and a workpiece is dragged to feed forwards to replace the movement of the three-axis gantry robot in the X axis direction, namely, in the spraying process, the workpiece moves in the X axis direction, the base of the spraying robot is static in the X axis direction, and meanwhile, the spraying robot is additionally provided with an outer shaft, so that the reachable range of the robot in the Y axis direction is ensured; the first spraying robot depends on a Y-axis output end, the second spraying robot depends on a Y-axis ground rail to ensure accessibility in the Y-axis direction, three groups of spraying robots depend on respective outer shafts to be matched with a trailer, full-coverage spraying on the surface of the wind power blade can be realized, the overall design difficulty of a project is small, and project cost including design cost, material cost, equipment installation and debugging cost and later equipment maintenance cost can be greatly reduced due to the fact that the ground rail, the trailer and a single-axis gantry robot are more in application occasions and higher in standardization degree, and the cost is far lower than that of a large-scale three-axis gantry robot; the overall cost of the project can be controlled within million by ten million; the equipment occupies a relatively small space, and can save about 50% of installation space.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. An equipment for carrying out automatic spraying on large-scale overlong workpieces is characterized by comprising:
a single-shaft gantry robot;
two Y-axis ground rails;
a set of X-axis rails;
a follow-up support vehicle;
the bottom of the trailer is embedded in the X-axis rail and is movably arranged along the X-axis rail;
a Y-axis output end is integrated on a cross beam of the single-axis gantry robot, at least one first spraying robot is arranged on the Y-axis output end, and a spraying head of the first spraying robot is arranged downwards;
y-axis output seats are embedded on the Y-axis ground rails on each side, a second spraying robot is arranged on each Y-axis output seat, spraying heads of the second spraying robots on the two sides are arranged oppositely, the Y-axis ground rails on the two sides are located in the near area of the single-axis gantry robot in the X-axis direction, and the Y-axis central area formed by splicing the Y-axis ground rails on the two sides and the Y-axis central area of the single-axis gantry robot are arranged in a close or overlapped mode;
the workpiece is a large-sized super-long workpiece, the length direction of the workpiece is arranged along the X-axis direction, the X-direction tail end of the workpiece is supported on the upper surface of the follow-up support vehicle, the middle rear end of the workpiece is supported on the upper surface of the trailer, and the workpiece is drawn in the X-direction of the trailer to pass through a spraying area formed by the first spraying robot and the two second spraying robots from front to back.
2. An apparatus for automated painting of large lengthy workpieces according to claim 1 characterized by: the height of the wheels at the bottom of the follow-up support vehicle is higher than that of the X axial track, or the X axial track is embedded in the ground.
3. An apparatus for automated painting of large lengthy workpieces according to claim 1 characterized by: the X-axis tracks are two parallel X-axis tracks, and the X-axis tracks are arranged in a Y-axis area between the two Y-axis ground tracks.
4. An apparatus for automated painting of large lengthy workpieces according to claim 1 characterized by: the Y-direction widths of the trailer and the follow-up support vehicle are smaller than the Y-direction spacing distance between the two Y-axis ground rails.
5. An apparatus for automated painting of large lengthy workpieces according to claim 1 characterized by: the X-direction two ends of the X-axis track respectively penetrate through the spraying areas formed by the first spraying robot and the two second spraying robots, and the length of the X-axis track is set according to a workpiece to be sprayed.
6. An apparatus for automated painting of large lengthy workpieces according to claim 1 characterized by: the first spraying robot and the second spraying robot are spraying robots with multi-axis adjusting arms, so that spraying can be adjusted according to spraying requirements during spraying.
7. An apparatus for automated painting of large lengthy workpieces according to claim 1 characterized by: the trailer is specifically an RGV trailer, and a driving motor is arranged on the trailer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221007256.1U CN217368889U (en) | 2022-04-25 | 2022-04-25 | Equipment for automatically spraying large-scale overlong workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221007256.1U CN217368889U (en) | 2022-04-25 | 2022-04-25 | Equipment for automatically spraying large-scale overlong workpiece |
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| Publication Number | Publication Date |
|---|---|
| CN217368889U true CN217368889U (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221007256.1U Active CN217368889U (en) | 2022-04-25 | 2022-04-25 | Equipment for automatically spraying large-scale overlong workpiece |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116000899A (en) * | 2022-12-09 | 2023-04-25 | 华东至正工业自动化(常熟)有限公司 | Automatic change spraying robot |
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2022
- 2022-04-25 CN CN202221007256.1U patent/CN217368889U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116000899A (en) * | 2022-12-09 | 2023-04-25 | 华东至正工业自动化(常熟)有限公司 | Automatic change spraying robot |
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