WO2021017088A1 - Multi-angle paint spraying industrial robot and method - Google Patents

Multi-angle paint spraying industrial robot and method Download PDF

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Publication number
WO2021017088A1
WO2021017088A1 PCT/CN2019/103560 CN2019103560W WO2021017088A1 WO 2021017088 A1 WO2021017088 A1 WO 2021017088A1 CN 2019103560 W CN2019103560 W CN 2019103560W WO 2021017088 A1 WO2021017088 A1 WO 2021017088A1
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WO
WIPO (PCT)
Prior art keywords
steering
paint
angle
industrial robot
platform
Prior art date
Application number
PCT/CN2019/103560
Other languages
French (fr)
Chinese (zh)
Inventor
华娟
王毅培
Original Assignee
南京昱晟机器人科技有限公司
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Publication of WO2021017088A1 publication Critical patent/WO2021017088A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • 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
    • B05B13/06—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 specially designed for treating the inside of hollow bodies
    • B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
    • B05B13/0636—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies by means of rotatable spray heads or nozzles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating

Definitions

  • the present invention relates to the technical field of industrial robot equipment, in particular to a multi-angle paint spraying industrial robot and method.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology. Industrial robots can replace the manual spraying of workpieces, keeping people away from the spraying site and preventing people from suffering from occupational diseases. Existing paint spraying robots are difficult to achieve multi-angle and comprehensive painting when spraying special-shaped parts. Paint spraying industrial robots cannot be completed independently The multi-angle painting of a product requires the cooperation of multiple industrial robots or the multi-angle movement of the robots for painting, which reduces the efficiency of painting.
  • the existing patent publication number CN208880733U discloses a paint spraying robot.
  • the device uses multiple mechanical arms to adjust the height and angle of the spray head and the rotation angle.
  • the spray head has an arched structure, It is determined that the spray paint can only spray paint on smaller objects, and cannot do anything for slightly larger objects.
  • the purpose of the present invention is to provide a multi-angle paint spraying industrial robot and method to solve the problems raised in the background art.
  • a multi-angle paint spraying industrial robot includes a support platform.
  • the upper end of the support platform is provided with a steering platform, and the lower end of the steering platform is connected with a steering assembly for driving its rotation. This arrangement improves the mechanical performance of the support platform.
  • the upper end of the steering platform is connected with a guide sleeve through a support frame, and a lifting column is slidably fitted in the guide sleeve.
  • the lower end of the lifting column is connected to a lifting hydraulic cylinder provided at the upper end of the steering platform, and the top of the lifting column is rotated with a rotating arm,
  • the right side of the lifting column is equipped with an angle adjusting rod that can adjust its length through a side rod, the output end of the angle adjusting rod is rotatably connected with the lower end of the rotating arm, and the rotating arm is provided with a spraying assembly for spraying objects;
  • the spraying assembly includes a rotating motor arranged at the right end of the rotating arm, the output end of the rotating motor is provided with a hanging rod, the lower end of the hanging rod is connected with a mounting plate through a connecting frame, and the lower end of the mounting plate is slidably provided with two parallel
  • the installation pipe is provided with a second painting surface and a first painting surface for spraying paint on the left and right sides of the installation pipe respectively, and the two installation pipes are connected to drive the adjustment mechanism for driving the two to approach or move away from each other .
  • the adjusting mechanism includes a transmission screw arranged on the upper end of the mounting plate and arranged along the moving direction of the mounting pipe.
  • One end of the transmission screw is connected with the output end of the adjusting motor, and the other end is rotatably connected with the connecting frame.
  • the transmission screw is matched with a transmission plate, the mounting plate is provided with a guide chute corresponding to the displacement path of the transmission plate, and the lower end of the transmission plate is provided with a transmission for passing through the guide chute and connected with the mounting pipe Rod.
  • the first spray paint surface and the second spray paint surface are composed of a buffer tank and a spray head arranged on the buffer tank, and the feed end of the buffer tank is connected by a two-way pipe and is arranged longitudinally along the installation pipe
  • the material guide inner tube is provided with a solenoid valve for controlling the material flow direction on the two-way pipe close to the buffer box, and the feed port of the material guide inner tube is connected to the storage material provided at the lower end of the mounting plate through a material guide hose
  • a liquid pump is provided in the storage box for conveying paint to the material guide hose.
  • a plurality of legs are distributed in an array outside the lower end of the steering platform, and the lower end of each leg is provided with a universal wheel for resisting the upper end surface of the support platform.
  • both the guide chute and the transmission rod surface are provided with a wear-resistant layer.
  • the steering assembly includes a steering column rotatably arranged on the upper end surface of the support platform, the steering column is connected and fixed with the support platform through a fixed bearing, and the steering column extending into the support platform is sleeved
  • a steering motor is arranged inside the support platform where the steering turbine is located, and a worm that meshes with the turbine is provided at the output end of the steering motor.
  • a heating tube for adjusting the temperature of the paint and a thermometer for detecting the temperature of the paint are arranged inside the storage box, so that the temperature of the paint can be increased so that the paint can dry quickly.
  • a method for using a multi-angle paint spraying industrial robot including the following steps:
  • Step 1 Drive the rotating arm to rotate in the circumferential direction of the support platform through the steering assembly, so as to adjust the horizontal position of the spray assembly;
  • Step 2 Use the lifting hydraulic cylinder to drive the lifting column to slide along the guide sleeve to adjust the spraying height, and then cooperate with the angle adjustment rod to adjust the inclination angle of the beam, so that the spraying component corresponds to the position of the object to be painted;
  • Step 3 Adjust the spray assembly according to the actual size of the object to be painted, the specific adjustments are as follows:
  • the distance between the two painted surfaces is adjusted by the adjustment mechanism so that the object is sandwiched between the two painted surfaces, and the sprayed surface facing the object is controlled by the solenoid valve to spray paint.
  • the motor 11 drives the two painted surfaces to rotate around the object, so that the outer surface of the object is painted;
  • the beneficial effect of the present invention is: the present invention improves the shortcomings of the existing device, and splits the integrated spray head in the existing device into two installations with a first spray paint surface and a second spray paint surface.
  • the installation pipe can be set to adjust the distance between the two installation pipes, so that the interior and surface of objects of different specifications can be painted, which is highly practical.
  • Figure 1 is a schematic diagram of the structure of the present invention.
  • Figure 2 is a schematic diagram of the structure of the mounting tube and mounting plate in the present invention.
  • Figure 3 is a schematic diagram of the internal structure of the mounting pipe in the present invention.
  • support table 1 steering column 2, outrigger 3, steering table 4, lifting hydraulic cylinder 5, support frame 6, lifting column 7, rotating arm 8, angle adjustment rod 9, guide sleeve 10, rotating motor 11, boom 12.
  • a multi-angle paint spraying industrial robot includes a support platform 1, a steering platform 4 is provided at the upper end of the support platform 1, and the lower end of the steering platform 4 is connected to drive its rotation
  • the upper end of the steering platform 4 is connected with a guide sleeve 10 through a support frame 6, and a lifting column 7 is slidably fitted in the guide sleeve 10, and the lower end of the lifting column 7 is connected to a lifting hydraulic cylinder provided at the upper end of the steering platform 4 5.
  • the lifting column 7 is driven to slide along the guide sleeve 10 by the lifting hydraulic cylinder 5 to realize the adjustment of the spray paint height.
  • the top of the lifting column 7 is rotated with a rotating arm 8 and the right side of the lifting column 7 is installed with a side rod.
  • An angle adjustment rod 9 that can adjust its length.
  • the output end of the angle adjustment rod 9 is rotatably connected to the lower end of the rotating arm 8. Under the expansion and contraction of the angle adjustment rod 9, the rotating arm 8 will rotate along the lifting column 7 to spray paint The angle is adjusted, and the rotating arm 8 is provided with a spraying assembly for spraying the object;
  • the spraying assembly includes a rotating motor 11 arranged at the right end of the rotating arm 8.
  • the output end of the rotating motor 11 is provided with a boom 12, and the lower end of the boom 12 is connected with a mounting plate 16 through a connecting frame 13.
  • At the lower end of 16 there are two installation pipes 18 arranged in parallel.
  • the left and right sides of the installation pipe 18 are respectively provided with a second painting surface 20 and a first painting surface 19 for spraying paint.
  • the two installation pipes 18 Connect the adjusting mechanism used to drive the two close to or away from each other;
  • the adjusting mechanism includes a transmission screw 17 arranged on the upper end of the mounting plate 16 along the moving direction of the mounting tube 18.
  • One end of the transmission screw 17 is connected with the output end of the adjusting motor 15, and the other end is rotatably connected with the connecting frame 13.
  • a transmission plate 14 is sleeved on the transmission screw 17 and a guide chute 161 corresponding to the displacement path of the transmission plate 14 is provided on the mounting plate 16.
  • the lower end of the transmission plate 14 is provided with a guide chute 161 and The drive rod connected to the mounting pipe 18, under the action of the adjusting motor 15, the drive screw 17 and the drive plate 14 rotate relatively, under the action of the thread, the drive plate 14 drives the mounting pipe 18 to slide along the mounting plate 16, thereby Adjust the distance between the pipes 18, so that the spray paint distance between the two installation pipes 18 can be adjusted.
  • the first painting surface 19 of the installation pipe 18 is used to paint the inner side of the ring object.
  • the second painting surface 20 is used to paint the outer side of the object;
  • the first spray paint surface 19 and the second spray paint surface 20 are composed of a buffer box 182 and a spray head 183 arranged on the buffer box 182.
  • the feed end of the buffer box 182 is connected by a two-way pipe and arranged longitudinally along the installation pipe 18
  • the material guide inner tube 181, the two-way pipe close to the buffer box 182 is provided with a solenoid valve 184 for controlling the material flow direction, and the feed port of the material guide inner tube 181 is connected by a material guide hose 22 to the installation
  • a storage box 21 at the lower end of the plate 16 is provided with a liquid pump for transporting paint to the guide hose 22 inside the storage box 21;
  • the inner spray or outer spray is rotated.
  • the solenoid valve 814 controls the first spraying surface 19 of the two installation pipes 18 to work, and then adjusts the distance between the two sprayed surfaces through the adjustment mechanism , So as to paint different sizes of cavities;
  • the second painting surface 19 of the two installation pipes 18 is controlled by the solenoid valve, and then the distance between the two painting surfaces is adjusted by the adjusting mechanism, so that the surface of different objects can be painted, so that different objects can be painted.
  • the adjustment of the diameter can also complete the switching between the inner surface and the outer surface, eliminating the drawbacks of the existing device.
  • the steering assembly includes a steering column 2 rotatably arranged on the upper end surface of the support platform 1.
  • the steering column 2 is connected and fixed with the support platform 1 through a fixed bearing.
  • the steering column 2 extending into the support platform 1 is sleeved with a steering column.
  • Turbine 25 A steering motor 23 is provided inside the support platform 1 where the steering turbine 25 is located.
  • the output end of the steering motor 23 is provided with a worm 24 that meshes with the turbine 25.
  • the steering motor 23 cooperates with the turbine 25 and the worm 24.
  • the transmission realizes the rotation of the steering column 2 so as to realize the adjustment of the steering of the steering platform 4.
  • the lower end of the steering platform 4 has a plurality of support legs 3 distributed in an array, and the lower end of each support leg 3 is provided with a universal wheel for resisting the upper end surface of the support platform 1. This arrangement improves the mechanics of the support platform 4 performance.
  • a heating tube for adjusting the temperature of the paint and a thermometer for detecting the temperature of the paint are arranged inside the storage box, so that the temperature of the paint can be increased, so that the paint can dry quickly.
  • the surfaces of the guide chute and the transmission rod are provided with a wear-resistant layer to reduce the wear degree of the components during use.
  • a method for using a multi-angle paint spraying industrial robot including the following steps:
  • Step 1 Drive the rotating arm 8 to rotate in the circumferential direction of the support platform 1 through the steering assembly, so as to adjust the horizontal position of the spray assembly;
  • Step 2 Use the lifting hydraulic cylinder 5 to drive the lifting column 7 to slide along the guide sleeve 10 to adjust the spraying height, and then cooperate with the angle adjustment rod 9 to adjust the inclination angle of the beam 8 to make the spraying assembly and the object to be sprayed position Corresponding;
  • Step 3 Adjust the spray assembly according to the actual size of the object to be painted, the specific adjustments are as follows:
  • the distance between the two painted surfaces is adjusted by the adjustment mechanism so that the object is sandwiched between the two painted surfaces, and the sprayed surface facing the object is controlled by the solenoid valve to spray paint.
  • the motor 11 drives the two painted surfaces to rotate around the object, so that the outer surface of the object is painted;

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)

Abstract

A multi-angle paint spraying industrial robot and a method. The multi-angle paint spraying industrial robot comprises a support platform (1). The upper end of the support platform (1) is provided with a steering platform (4), and the lower end of the steering platform (4) is connected to a steering assembly for driving it to rotate, thereby improving the mechanical property of the support platform (1). The upper end of the steering platform (4) is connected to a guide sleeve (10) by means of a support frame (6). A lifting column (7) is in slide-fit to the guide sleeve (10). The lower end of the lifting column (7) is connected to a lifting hydraulic cylinder (5) provided at the upper end of the steering platform (4), the top of the lifting column (7) is rotatably provided with a rotating arm (8), and the right side of the lifting column (7) is provided with an angle adjusting rod (9) with the adjustable length by means of a side bar. According to the multi-angle paint spraying industrial robot and the method, an integrated spraying head in the existing device is detached into two mounting pipes (18) provided with first spray surfaces (19) and second spray surfaces (20), and the distance between the two mounting pipes (18) can be adjusted, so that the interiors and the surfaces of objects in different specifications are sprayed with paint, and the practicability is high.

Description

一种多角度喷漆工业机器人及方法Multi-angle paint spraying industrial robot and method 技术领域Technical field
  本发明涉及工业机器人设备技术领域，具体是一种多角度喷漆工业机器人及方法。The present invention relates to the technical field of industrial robot equipment, in particular to a multi-angle paint spraying industrial robot and method.
背景技术Background technique
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，它能自动执行工作，是靠自身动力和控制能力来实现各种功能的一种机器。它可以接受人类指挥，也可以按照预先编排的程序运行，现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。工业机器人能够代替人工对工件进行喷涂，让人们远离喷涂现场，防止人们患上职业病，现有喷漆机器人在对异形零件进行喷涂时，比较难以实现多角度全面喷漆，喷漆工业机器人不能够独立的完成对一件产品的多角度喷漆，需要多个工业机器人配合或对机器人多角度移动进行喷漆，降低了喷漆的效率。An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology. Industrial robots can replace the manual spraying of workpieces, keeping people away from the spraying site and preventing people from suffering from occupational diseases. Existing paint spraying robots are difficult to achieve multi-angle and comprehensive painting when spraying special-shaped parts. Paint spraying industrial robots cannot be completed independently The multi-angle painting of a product requires the cooperation of multiple industrial robots or the multi-angle movement of the robots for painting, which reduces the efficiency of painting.
针对上述问题，现有专利公告号为CN208880733U的专利公布了一种喷漆机器人，该装置通过多个机械臂对喷头的高度和角度以及旋转角度进行调节，但是由于喷头部件为拱形结构，这样就决定了该喷漆只能对较小的物体进行喷漆，对于体积稍微大一点的物体则无能为力。In response to the above problems, the existing patent publication number CN208880733U discloses a paint spraying robot. The device uses multiple mechanical arms to adjust the height and angle of the spray head and the rotation angle. However, because the spray head has an arched structure, It is determined that the spray paint can only spray paint on smaller objects, and cannot do anything for slightly larger objects.
针对现有装置存在的弊端，现在提供一种改进后的工业喷漆机器人。Aiming at the drawbacks of existing devices, an improved industrial paint spraying robot is now provided.
技术问题technical problem
本发明的目的在于提供一种多角度喷漆工业机器人及方法，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a multi-angle paint spraying industrial robot and method to solve the problems raised in the background art.
技术解决方案Technical solutions
为实现上述目的，本发明提供如下技术方案：In order to achieve the above objectives, the present invention provides the following technical solutions:
一种多角度喷漆工业机器人，包括支撑台，所述支撑台上端设有转向台，所述转向台下端连接用于带动其转动的转向组件，这种设置方式提高了支撑台的力学性能，所述转向台上端通过支撑架连接有导向套，所述导向套中滑动配合有升降柱，所述升降柱下端连接设置在转向台上端的升降液压缸，所述升降柱顶部转动设有转动臂，所述升降柱右侧通过侧杆安装有可调节自身长度的角度调节杆，所述角度调节杆的输出端与转动臂下端转动连接，所述转动臂上设有用于对物体喷涂的喷涂组件；A multi-angle paint spraying industrial robot includes a support platform. The upper end of the support platform is provided with a steering platform, and the lower end of the steering platform is connected with a steering assembly for driving its rotation. This arrangement improves the mechanical performance of the support platform. The upper end of the steering platform is connected with a guide sleeve through a support frame, and a lifting column is slidably fitted in the guide sleeve. The lower end of the lifting column is connected to a lifting hydraulic cylinder provided at the upper end of the steering platform, and the top of the lifting column is rotated with a rotating arm, The right side of the lifting column is equipped with an angle adjusting rod that can adjust its length through a side rod, the output end of the angle adjusting rod is rotatably connected with the lower end of the rotating arm, and the rotating arm is provided with a spraying assembly for spraying objects;
所述喷涂组件包括设置在转动臂右端的旋转电机，所述旋转电机的输出端设有吊杆，所述吊杆下端通过连接架连接有安装板，所述安装板下端滑动设有两个平行设置的安装管，所述安装管左右两侧面分别设有用于喷出漆料的第二喷漆面和第一喷漆面，两个所述安装管连接用于驱动二者相互靠近或者远离的调节机构。The spraying assembly includes a rotating motor arranged at the right end of the rotating arm, the output end of the rotating motor is provided with a hanging rod, the lower end of the hanging rod is connected with a mounting plate through a connecting frame, and the lower end of the mounting plate is slidably provided with two parallel The installation pipe is provided with a second painting surface and a first painting surface for spraying paint on the left and right sides of the installation pipe respectively, and the two installation pipes are connected to drive the adjustment mechanism for driving the two to approach or move away from each other .
作为本发明进一步的方案：所述调节机构包括设置在安装板上端沿着安装管移动方向布置的传动螺杆，所述传动螺杆一端与调节电机的输出端连接，另一端与连接架转动连接，所述传动螺杆上配合套设有传动板，所述安装板上设有与传动板位移路径相对应的引导滑槽，所述传动板下端设有用于穿过引导滑槽且与安装管连接的传动杆。As a further solution of the present invention, the adjusting mechanism includes a transmission screw arranged on the upper end of the mounting plate and arranged along the moving direction of the mounting pipe. One end of the transmission screw is connected with the output end of the adjusting motor, and the other end is rotatably connected with the connecting frame. The transmission screw is matched with a transmission plate, the mounting plate is provided with a guide chute corresponding to the displacement path of the transmission plate, and the lower end of the transmission plate is provided with a transmission for passing through the guide chute and connected with the mounting pipe Rod.
作为本发明进一步的方案：所述第一喷漆面和第二喷漆面由缓存箱和设置在缓存箱上的喷头构成，所述缓存箱的进料端通过二通管连接沿着安装管纵向布置的导料内管，靠近所述缓存箱的二通管上设有用于控制物料流向的电磁阀，所述导料内管的进料口通过导料软管连接设置在安装板下端的储料箱，所述储料箱内部设有用于将漆料输送至导料软管中的液泵。As a further solution of the present invention: the first spray paint surface and the second spray paint surface are composed of a buffer tank and a spray head arranged on the buffer tank, and the feed end of the buffer tank is connected by a two-way pipe and is arranged longitudinally along the installation pipe The material guide inner tube is provided with a solenoid valve for controlling the material flow direction on the two-way pipe close to the buffer box, and the feed port of the material guide inner tube is connected to the storage material provided at the lower end of the mounting plate through a material guide hose A liquid pump is provided in the storage box for conveying paint to the material guide hose.
作为本发明进一步的方案：所述转向台下端外侧阵列分布有若干个支腿，每个支腿下端设有一个用于抵住支撑台上端面的万向轮。As a further solution of the present invention, a plurality of legs are distributed in an array outside the lower end of the steering platform, and the lower end of each leg is provided with a universal wheel for resisting the upper end surface of the support platform.
作为本发明进一步的方案：所述引导滑槽和传动杆表面都设有耐磨层。As a further solution of the present invention: both the guide chute and the transmission rod surface are provided with a wear-resistant layer.
作为本发明进一步的方案：所述转向组件包括转动设置在支撑台上端面的转向柱，所述转向柱通过固定轴承与支撑台连接固定，伸入支撑台内部的所述转向柱上套设有转向涡轮，所述转向涡轮所在的支撑台内部设有转向电机，所述转向电机的输出端设有与涡轮相互啮合的蜗杆。As a further solution of the present invention: the steering assembly includes a steering column rotatably arranged on the upper end surface of the support platform, the steering column is connected and fixed with the support platform through a fixed bearing, and the steering column extending into the support platform is sleeved For the steering turbine, a steering motor is arranged inside the support platform where the steering turbine is located, and a worm that meshes with the turbine is provided at the output end of the steering motor.
作为本发明进一步的方案：所述储料箱内部设有对漆料温度进行调节的加热管以及用于对漆料温度进行检测的温度计，这样可以提高漆料温度，以便漆料快速干燥。As a further solution of the present invention, a heating tube for adjusting the temperature of the paint and a thermometer for detecting the temperature of the paint are arranged inside the storage box, so that the temperature of the paint can be increased so that the paint can dry quickly.
一种多角度喷漆工业机器人的使用方法：包括以下步骤：A method for using a multi-angle paint spraying industrial robot: including the following steps:
步骤1：通过转向组件带动转动臂沿着支撑台周向转动，从而对喷涂组件的水平位置进行调节；Step 1: Drive the rotating arm to rotate in the circumferential direction of the support platform through the steering assembly, so as to adjust the horizontal position of the spray assembly;
步骤2：通过升降液压缸带动升降柱沿着导向套滑动，从而实现喷漆高度的调节，再配合角度调节杆对横梁的倾斜角度进行调节，使得喷涂组件与待喷漆物体的位置相对应；Step 2: Use the lifting hydraulic cylinder to drive the lifting column to slide along the guide sleeve to adjust the spraying height, and then cooperate with the angle adjustment rod to adjust the inclination angle of the beam, so that the spraying component corresponds to the position of the object to be painted;
步骤3：根据待喷漆物体的实际大小调节喷涂组件，具体调节如下：Step 3: Adjust the spray assembly according to the actual size of the object to be painted, the specific adjustments are as follows:
a：当需要对物体外侧表面进行喷漆时，通过调节机构调节两个喷漆面的间距，以便将物体夹设在两个喷漆面之间，通过电磁阀控制朝向物体的喷漆面进行喷漆，通过旋转电机11带动两个喷漆面围绕物体转动，从而物体外表面进行喷漆处理；a: When the outer surface of the object needs to be painted, the distance between the two painted surfaces is adjusted by the adjustment mechanism so that the object is sandwiched between the two painted surfaces, and the sprayed surface facing the object is controlled by the solenoid valve to spray paint. The motor 11 drives the two painted surfaces to rotate around the object, so that the outer surface of the object is painted;
b：当需要对物体内壁进行喷涂时，通过调节机构调节两个安装管之间的距离，使得两个朝向物体内壁的两个喷漆面工作，然后通过旋转电机带动两个工作的喷漆面旋转，以完成对物体内壁进行喷漆。b: When it is necessary to spray the inner wall of the object, adjust the distance between the two installation pipes through the adjustment mechanism, so that the two painting surfaces facing the inner wall of the object work, and then the two working paint surfaces are rotated by the rotating motor. To finish painting the inner wall of the object.
有益效果Beneficial effect
与现有技术相比，本发明的有益效果是：本发明针对现有装置的缺点进行改进，将现有装置中一体式喷头拆分成两个安装有第一喷漆面和第二喷漆面的安装管，并且设置可以调节两个安装管之间的间距，这样就可以对不同规格物体内部和表面进行喷漆，实用性强。Compared with the prior art, the beneficial effect of the present invention is: the present invention improves the shortcomings of the existing device, and splits the integrated spray head in the existing device into two installations with a first spray paint surface and a second spray paint surface. The installation pipe can be set to adjust the distance between the two installation pipes, so that the interior and surface of objects of different specifications can be painted, which is highly practical.
附图说明Description of the drawings
图1为本发明的结构示意图。Figure 1 is a schematic diagram of the structure of the present invention.
图2为本发明中安装管和安装板的结构示意图。Figure 2 is a schematic diagram of the structure of the mounting tube and mounting plate in the present invention.
图3为本发明中安装管内部的结构示意图。Figure 3 is a schematic diagram of the internal structure of the mounting pipe in the present invention.
其中：支撑台1、转向柱2、支腿3、转向台4、升降液压缸5、支撑架6、升降柱7、转动臂8、角度调节杆9、导向套10、旋转电机11、吊杆12、连接架13、传动板14、调节电机15、安装板16、传动螺杆17、安装管18、第一喷漆面19、第二喷漆面20、储料箱21、导料软管22、旋转电机23、转向蜗杆24、转向涡轮25、引导滑槽161、导料内管181、缓存箱182、喷头183、电磁阀184。Among them: support table 1, steering column 2, outrigger 3, steering table 4, lifting hydraulic cylinder 5, support frame 6, lifting column 7, rotating arm 8, angle adjustment rod 9, guide sleeve 10, rotating motor 11, boom 12. Connecting frame 13, drive plate 14, adjusting motor 15, mounting plate 16, drive screw 17, mounting pipe 18, first painting surface 19, second painting surface 20, storage box 21, guide hose 22, rotating The motor 23, the steering worm 24, the steering turbine 25, the guide chute 161, the material guide inner tube 181, the buffer box 182, the nozzle 183, and the solenoid valve 184.
本发明的最佳实施方式The best mode of the invention
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
实施例1Example 1
请参阅图1-3，本发明实施例中，一种多角度喷漆工业机器人，包括支撑台1，所述支撑台1上端设有转向台4，所述转向台4下端连接用于带动其转动的转向组件，所述转向台4上端通过支撑架6连接有导向套10，所述导向套10中滑动配合有升降柱7，所述升降柱7下端连接设置在转向台4上端的升降液压缸5，通过升降液压缸5带动升降柱7沿着导向套10滑动，从而实现喷漆高度的调节，所述升降柱7顶部转动设有转动臂8，所述升降柱7右侧通过侧杆安装有可调节自身长度的角度调节杆9，所述角度调节杆9的输出端与转动臂8下端转动连接，在角度调节杆9的伸缩下，转动臂8会沿着升降柱7转动，从而对喷漆角度进行调节，所述转动臂8上设有用于对物体喷涂的喷涂组件；Please refer to Figures 1-3. In an embodiment of the present invention, a multi-angle paint spraying industrial robot includes a support platform 1, a steering platform 4 is provided at the upper end of the support platform 1, and the lower end of the steering platform 4 is connected to drive its rotation The upper end of the steering platform 4 is connected with a guide sleeve 10 through a support frame 6, and a lifting column 7 is slidably fitted in the guide sleeve 10, and the lower end of the lifting column 7 is connected to a lifting hydraulic cylinder provided at the upper end of the steering platform 4 5. The lifting column 7 is driven to slide along the guide sleeve 10 by the lifting hydraulic cylinder 5 to realize the adjustment of the spray paint height. The top of the lifting column 7 is rotated with a rotating arm 8 and the right side of the lifting column 7 is installed with a side rod. An angle adjustment rod 9 that can adjust its length. The output end of the angle adjustment rod 9 is rotatably connected to the lower end of the rotating arm 8. Under the expansion and contraction of the angle adjustment rod 9, the rotating arm 8 will rotate along the lifting column 7 to spray paint The angle is adjusted, and the rotating arm 8 is provided with a spraying assembly for spraying the object;
所述喷涂组件包括设置在转动臂8右端的旋转电机11，所述旋转电机11的输出端设有吊杆12，所述吊杆12下端通过连接架13连接有安装板16，所述安装板16下端滑动设有两个平行设置的安装管18，所述安装管18左右两侧面分别设有用于喷出漆料的第二喷漆面20和第一喷漆面19，两个所述安装管18连接用于驱动二者相互靠近或者远离的调节机构；The spraying assembly includes a rotating motor 11 arranged at the right end of the rotating arm 8. The output end of the rotating motor 11 is provided with a boom 12, and the lower end of the boom 12 is connected with a mounting plate 16 through a connecting frame 13. At the lower end of 16 there are two installation pipes 18 arranged in parallel. The left and right sides of the installation pipe 18 are respectively provided with a second painting surface 20 and a first painting surface 19 for spraying paint. The two installation pipes 18 Connect the adjusting mechanism used to drive the two close to or away from each other;
所述调节机构包括设置在安装板16上端沿着安装管18移动方向布置的传动螺杆17，所述传动螺杆17一端与调节电机15的输出端连接，另一端与连接架13转动连接，所述传动螺杆17上配合套设有传动板14，所述安装板16上设有与传动板14位移路径相对应的引导滑槽161，所述传动板14下端设有用于穿过引导滑槽161且与安装管18连接的传动杆，在调节电机15的作用下，传动螺杆17与传动板14相对转动，在螺纹的作用下，传动板14带动安装管18沿着安装板16滑动，从而对安装管18之间的间距进行调节，这样就能调节两个安装管18之间的喷漆间距，值得注意的时，安装管18的第一喷漆面19用于对环状物体内侧面进行喷漆，第二喷漆面20用于对物体外侧面进行喷漆；The adjusting mechanism includes a transmission screw 17 arranged on the upper end of the mounting plate 16 along the moving direction of the mounting tube 18. One end of the transmission screw 17 is connected with the output end of the adjusting motor 15, and the other end is rotatably connected with the connecting frame 13. A transmission plate 14 is sleeved on the transmission screw 17 and a guide chute 161 corresponding to the displacement path of the transmission plate 14 is provided on the mounting plate 16. The lower end of the transmission plate 14 is provided with a guide chute 161 and The drive rod connected to the mounting pipe 18, under the action of the adjusting motor 15, the drive screw 17 and the drive plate 14 rotate relatively, under the action of the thread, the drive plate 14 drives the mounting pipe 18 to slide along the mounting plate 16, thereby Adjust the distance between the pipes 18, so that the spray paint distance between the two installation pipes 18 can be adjusted. It is worth noting that the first painting surface 19 of the installation pipe 18 is used to paint the inner side of the ring object. The second painting surface 20 is used to paint the outer side of the object;
所述第一喷漆面19和第二喷漆面20由缓存箱182和设置在缓存箱182上的喷头183构成，所述缓存箱182的进料端通过二通管连接沿着安装管18纵向布置的导料内管181，靠近所述缓存箱182的二通管上设有用于控制物料流向的电磁阀184，所述导料内管181的进料口通过导料软管22连接设置在安装板16下端的储料箱21，所述储料箱21内部设有用于将漆料输送至导料软管22中的液泵；The first spray paint surface 19 and the second spray paint surface 20 are composed of a buffer box 182 and a spray head 183 arranged on the buffer box 182. The feed end of the buffer box 182 is connected by a two-way pipe and arranged longitudinally along the installation pipe 18 The material guide inner tube 181, the two-way pipe close to the buffer box 182 is provided with a solenoid valve 184 for controlling the material flow direction, and the feed port of the material guide inner tube 181 is connected by a material guide hose 22 to the installation A storage box 21 at the lower end of the plate 16 is provided with a liquid pump for transporting paint to the guide hose 22 inside the storage box 21;
实际操作时，根据物体所要喷漆的表面旋转内喷漆或外喷漆，内喷漆时，通过电磁阀814控制两个安装管18的第一喷漆面19工作，然后通过调节机构调节两个喷漆面的间距，从而对不同大小的内腔进行喷漆；In actual operation, according to the surface of the object to be painted, the inner spray or outer spray is rotated. When the inner spray is painted, the solenoid valve 814 controls the first spraying surface 19 of the two installation pipes 18 to work, and then adjusts the distance between the two sprayed surfaces through the adjustment mechanism , So as to paint different sizes of cavities;
外喷漆时则通过电磁阀控制两个安装管18的第二喷漆面19工作，然后通过调节机构调节两个喷漆面的间距，从而对不同物体表面进行喷漆，这样就可以针对不同的物体进行喷漆直径的调节，还可以完成对内表面和外表面的切换，消除了现有装置存在的弊端。When painting outside, the second painting surface 19 of the two installation pipes 18 is controlled by the solenoid valve, and then the distance between the two painting surfaces is adjusted by the adjusting mechanism, so that the surface of different objects can be painted, so that different objects can be painted The adjustment of the diameter can also complete the switching between the inner surface and the outer surface, eliminating the drawbacks of the existing device.
所述转向组件包括转动设置在支撑台1上端面的转向柱2，所述转向柱2通过固定轴承与支撑台1连接固定，伸入支撑台1内部的所述转向柱2上套设有转向涡轮25，所述转向涡轮25所在的支撑台1内部设有转向电机23，所述转向电机23的输出端设有与涡轮25相互啮合的蜗杆24，通过转向电机23配合涡轮25和蜗杆24的传动实现转向柱2的转动，从而实现对转向台4转向的调节。The steering assembly includes a steering column 2 rotatably arranged on the upper end surface of the support platform 1. The steering column 2 is connected and fixed with the support platform 1 through a fixed bearing. The steering column 2 extending into the support platform 1 is sleeved with a steering column. Turbine 25. A steering motor 23 is provided inside the support platform 1 where the steering turbine 25 is located. The output end of the steering motor 23 is provided with a worm 24 that meshes with the turbine 25. The steering motor 23 cooperates with the turbine 25 and the worm 24. The transmission realizes the rotation of the steering column 2 so as to realize the adjustment of the steering of the steering platform 4.
实施例2Example 2
所述转向台4下端外侧阵列分布有若干个支腿3，每个支腿3下端设有一个用于抵住支撑台1上端面的万向轮，这种设置方式提高了支撑台4的力学性能。The lower end of the steering platform 4 has a plurality of support legs 3 distributed in an array, and the lower end of each support leg 3 is provided with a universal wheel for resisting the upper end surface of the support platform 1. This arrangement improves the mechanics of the support platform 4 performance.
实施例3Example 3
所述储料箱内部设有对漆料温度进行调节的加热管以及用于对漆料温度进行检测的温度计，这样可以提高漆料温度，以便漆料快速干燥。A heating tube for adjusting the temperature of the paint and a thermometer for detecting the temperature of the paint are arranged inside the storage box, so that the temperature of the paint can be increased, so that the paint can dry quickly.
实施例4Example 4
所述引导滑槽和传动杆表面都设有耐磨层，以降低部件使用时的磨损程度。The surfaces of the guide chute and the transmission rod are provided with a wear-resistant layer to reduce the wear degree of the components during use.
一种多角度喷漆工业机器人的使用方法：包括以下步骤：A method for using a multi-angle paint spraying industrial robot: including the following steps:
步骤1：通过转向组件带动转动臂8沿着支撑台1周向转动，从而对喷涂组件的水平位置进行调节；Step 1: Drive the rotating arm 8 to rotate in the circumferential direction of the support platform 1 through the steering assembly, so as to adjust the horizontal position of the spray assembly;
步骤2：通过升降液压缸5带动升降柱7沿着导向套10滑动，从而实现喷漆高度的调节，再配合角度调节杆9对横梁8的倾斜角度进行调节，使得喷涂组件与待喷漆物体的位置相对应；Step 2: Use the lifting hydraulic cylinder 5 to drive the lifting column 7 to slide along the guide sleeve 10 to adjust the spraying height, and then cooperate with the angle adjustment rod 9 to adjust the inclination angle of the beam 8 to make the spraying assembly and the object to be sprayed position Corresponding;
步骤3：根据待喷漆物体的实际大小调节喷涂组件，具体调节如下：Step 3: Adjust the spray assembly according to the actual size of the object to be painted, the specific adjustments are as follows:
a：当需要对物体外侧表面进行喷漆时，通过调节机构调节两个喷漆面的间距，以便将物体夹设在两个喷漆面之间，通过电磁阀控制朝向物体的喷漆面进行喷漆，通过旋转电机11带动两个喷漆面围绕物体转动，从而物体外表面进行喷漆处理；a: When the outer surface of the object needs to be painted, the distance between the two painted surfaces is adjusted by the adjustment mechanism so that the object is sandwiched between the two painted surfaces, and the sprayed surface facing the object is controlled by the solenoid valve to spray paint. The motor 11 drives the two painted surfaces to rotate around the object, so that the outer surface of the object is painted;
b：当需要对物体内壁进行喷涂时，通过调节机构调节两个安装管18之间的距离，使得两个朝向物体内壁的两个喷漆面工作，然后通过旋转电机11带动两个工作的喷漆面旋转，以完成对物体内壁进行喷漆。b: When it is necessary to spray the inner wall of the object, adjust the distance between the two installation pipes 18 through the adjusting mechanism, so that the two painting surfaces facing the inner wall of the object work, and then the two working paint surfaces are driven by the rotating motor 11 Rotate to finish painting the inner wall of the object.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。 For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only contains an independent technical solution. This narration in the specification is only for clarity, and those skilled in the art should regard the specification as a whole The technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (8)

  1. 一种多角度喷漆工业机器人，包括支撑台（1），所述支撑台（1）上端设有转向台（4），所述转向台（4）下端连接用于带动其转动的转向组件，这种设置方式提高了支撑台（4）的力学性能，所述转向台（4）上端通过支撑架（6）连接有导向套（10），所述导向套（10）中滑动配合有升降柱（7），所述升降柱（7）下端连接设置在转向台（4）上端的升降液压缸（5），所述升降柱（7）顶部转动设有转动臂（8），所述升降柱（7）右侧通过侧杆安装有可调节自身长度的角度调节杆（9），所述角度调节杆（9）的输出端与转动臂（8）下端转动连接，其特征在于，所述转动臂（8）上设有用于对物体喷涂的喷涂组件；A multi-angle paint spraying industrial robot includes a support platform (1). The upper end of the support platform (1) is provided with a steering platform (4), and the lower end of the steering platform (4) is connected with a steering assembly for driving its rotation. This arrangement improves the mechanical properties of the support platform (4). The upper end of the steering platform (4) is connected with a guide sleeve (10) through the support frame (6), and the guide sleeve (10) is slidably fitted with a lifting column ( 7) The lower end of the lifting column (7) is connected to a lifting hydraulic cylinder (5) arranged at the upper end of the steering platform (4), the top of the lifting column (7) is rotated with a rotating arm (8), and the lifting column ( 7) An angle adjustment rod (9) that can adjust its length is installed on the right side through a side rod, and the output end of the angle adjustment rod (9) is rotatably connected with the lower end of the rotating arm (8), characterized in that the rotating arm (8) There are spraying components for spraying objects;
    所述喷涂组件包括设置在转动臂（8）右端的旋转电机（11），所述旋转电机（11）的输出端设有吊杆（12），所述吊杆（12）下端通过连接架（13）连接有安装板（16），所述安装板（16）下端滑动设有两个平行设置的安装管（18），所述安装管（18）左右两侧面分别设有用于喷出漆料的第二喷漆面（20）和第一喷漆面（19），两个所述安装管（18）连接用于驱动二者相互靠近或者远离的调节机构。The spraying assembly includes a rotating motor (11) arranged at the right end of the rotating arm (8), the output end of the rotating motor (11) is provided with a boom (12), and the lower end of the boom (12) passes through a connecting frame ( 13) A mounting plate (16) is connected. The lower end of the mounting plate (16) is slidingly provided with two parallel mounting pipes (18). The left and right sides of the mounting pipe (18) are respectively provided for spraying paint The second spray paint surface (20) and the first spray paint surface (19) are connected to the two mounting pipes (18) for driving the adjustment mechanism that is close to or away from each other.
  2. 根据权利要求1所述的多角度喷漆工业机器人，其特征在于，所述调节机构包括设置在安装板（16）上端沿着安装管（18）移动方向布置的传动螺杆（17），所述传动螺杆（17）一端与调节电机（15）的输出端连接，另一端与连接架（13）转动连接，所述传动螺杆（17）上配合套设有传动板（14），所述安装板（16）上设有与传动板（14）位移路径相对应的引导滑槽（161），所述传动板（14）下端设有用于穿过引导滑槽（161）且与安装管（18）连接的传动杆。The multi-angle paint spraying industrial robot according to claim 1, wherein the adjustment mechanism comprises a transmission screw (17) arranged on the upper end of the mounting plate (16) and arranged along the moving direction of the mounting pipe (18), and the transmission One end of the screw (17) is connected with the output end of the adjusting motor (15), and the other end is rotatably connected with the connecting frame (13). The transmission screw (17) is matched with a transmission plate (14), and the mounting plate ( 16) A guide chute (161) corresponding to the displacement path of the transmission plate (14) is provided, and the lower end of the transmission plate (14) is provided for passing through the guide chute (161) and connected with the installation pipe (18) Drive rod.
  3. 根据权利要求1或2所述的多角度喷漆工业机器人，其特征在于，所述第一喷漆面（19）和第二喷漆面（20）由缓存箱（182）和设置在缓存箱（182）上的喷头（183）构成，所述缓存箱（182）的进料端通过二通管连接沿着安装管（18）纵向布置的导料内管（181），靠近所述缓存箱（182）的二通管上设有用于控制物料流向的电磁阀（184），所述导料内管（181）的进料口通过导料软管（22）连接设置在安装板（16）下端的储料箱（21），所述储料箱（21）内部设有用于将漆料输送至导料软管（22）中的液泵。The multi-angle paint spraying industrial robot according to claim 1 or 2, characterized in that the first spray paint surface (19) and the second spray paint surface (20) are composed of a buffer box (182) and a buffer box (182). The upper nozzle (183) is composed of the feed end of the buffer box (182) connected by a two-way pipe to the inner guide tube (181) arranged longitudinally along the installation pipe (18), which is close to the buffer box (182) A solenoid valve (184) used to control the flow direction of the material is provided on the two-way pipe, and the feed port of the inner tube (181) is connected to the storage provided at the lower end of the mounting plate (16) through a guide hose (22). A material box (21), inside which is provided a liquid pump for conveying paint to the material guide hose (22).
  4. 根据权利要求1所述的多角度喷漆工业机器人，其特征在于，所述转向台（4）下端外侧阵列分布有若干个支腿（3），每个支腿（3）下端设有一个用于抵住支撑台（1）上端面的万向轮。The multi-angle paint spraying industrial robot according to claim 1, characterized in that a plurality of legs (3) are distributed in an array at the lower end of the steering platform (4), and a lower end of each leg (3) is provided for Resist the universal wheel on the upper end of the support platform (1).
  5. 根据权利要求2所述的多角度喷漆工业机器人，其特征在于，所述引导滑槽（161）和传动杆表面都设有耐磨层。The multi-angle paint spraying industrial robot according to claim 2, characterized in that the surface of the guide chute (161) and the transmission rod are both provided with a wear-resistant layer.
  6. 根据权利要求1所述的多角度喷漆工业机器人，其特征在于，所述转向组件包括转动设置在支撑台（1）上端面的转向柱（2），所述转向柱（2）通过固定轴承与支撑台（1）连接固定，伸入支撑台（1）内部的所述转向柱（2）上套设有转向涡轮（25），所述转向涡轮（25）所在的支撑台（1）内部设有转向电机（23），所述转向电机（23）的输出端设有与涡轮（25）相互啮合的蜗杆（24）。The multi-angle paint spraying industrial robot according to claim 1, wherein the steering assembly includes a steering column (2) rotatably arranged on the upper end surface of the support platform (1), and the steering column (2) is connected to The support platform (1) is connected and fixed, the steering column (2) extending into the support platform (1) is sleeved with a steering turbine (25), and the support platform (1) where the steering turbine (25) is located is provided inside There is a steering motor (23), and the output end of the steering motor (23) is provided with a worm (24) meshing with the turbine (25).
  7. 根据权利要求3所述的多角度喷漆工业机器人，其特征在于，所述储料箱（21）内部设有对漆料温度进行调节的加热管及用于对漆料温度进行检测的温度计。The multi-angle paint spraying industrial robot according to claim 3, characterized in that a heating tube for adjusting the temperature of the paint and a thermometer for detecting the temperature of the paint are provided inside the storage box (21).
  8. 一种如权利要求1-7所述的多角度喷漆工业机器人的使用方法，其特征在于，包括以下步骤：A method for using a multi-angle paint spraying industrial robot according to claims 1-7, characterized in that it comprises the following steps:
    步骤1：通过转向组件带动转动臂沿着支撑台周向转动，从而对喷涂组件的水平位置进行调节；Step 1: Drive the rotating arm to rotate in the circumferential direction of the support platform through the steering assembly, so as to adjust the horizontal position of the spray assembly;
    步骤2：通过升降液压缸带动升降柱沿着导向套滑动，从而实现喷漆高度的调节，再配合角度调节杆对横梁的倾斜角度进行调节，使得喷涂组件与待喷漆物体的位置相对应；Step 2: Use the lifting hydraulic cylinder to drive the lifting column to slide along the guide sleeve to adjust the spraying height, and then cooperate with the angle adjustment rod to adjust the inclination angle of the beam, so that the spraying component corresponds to the position of the object to be painted;
    步骤3：根据待喷漆物体的实际大小调节喷涂组件，具体调节如下：Step 3: Adjust the spray assembly according to the actual size of the object to be painted, the specific adjustments are as follows:
    a：当需要对物体外侧表面进行喷漆时，通过调节机构调节两个喷漆面的间距，以便将物体夹设在两个喷漆面之间，通过电磁阀控制朝向物体的喷漆面进行喷漆，通过旋转电机带动两个喷漆面围绕物体转动，从而物体外表面进行喷漆处理；a: When the outer surface of the object needs to be painted, the distance between the two painted surfaces is adjusted by the adjustment mechanism so that the object is sandwiched between the two painted surfaces, and the sprayed surface facing the object is controlled by the solenoid valve to spray paint. The motor drives the two painted surfaces to rotate around the object, so that the outer surface of the object is painted;
    b：当需要对物体内壁进行喷涂时，通过调节机构调节两个安装管之间的距离，使得两个朝向物体内壁的两个喷漆面工作，然后通过旋转电机带动两个工作的喷漆面旋转，以完成对物体内壁进行喷漆。b: When it is necessary to spray the inner wall of the object, adjust the distance between the two installation pipes through the adjustment mechanism, so that the two painting surfaces facing the inner wall of the object work, and then the two working paint surfaces are rotated by the rotating motor. To finish painting the inner wall of the object.
PCT/CN2019/103560 2019-07-27 2019-08-30 Multi-angle paint spraying industrial robot and method WO2021017088A1 (en)

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