Spray gun with gradually-changed coating discharge quantity and control method of spray gun

Abstract

The invention relates to a spray gun with gradually-changed coating discharge quantity and a control method thereof, and relates to the technical field of spray guns, the spray gun comprises a gun body, a handle and a controller, a driving device is arranged in the gun body, a pressure detection device and a pose detection device are arranged in the handle, and a trigger is arranged outside the handle; the trigger is connected with the pressure detection equipment; the pressure detection equipment is used for acquiring pressure data when the trigger is pressed and pressed in the spraying process; the pose detection equipment is used for acquiring pose data of the gun body in the spraying process; a gun needle is arranged at the position, close to the spray head, in the gun body, and the gun needle is connected with the driving equipment; the controller is used for generating a gun needle control signal according to the pressure data and sending the gun needle control signal to the driving equipment; the driving device drives the gun needle to move in the direction close to or away from the spray head according to the gun needle control signal. The gradient spraying device has the effect of improving the efficiency and the fineness of gradient spraying.

Description

Technical Field

[0001] The present application relates to the technical field of spray guns, and in particular to a spray gun with a gradually variable paint discharge amount and a control method thereof. Background Art

[0002] The environment of traditional spraying workshops is harsh. Since volatile organic compounds and dust in the paint seriously affect the health of workers, manual spraying is gradually getting into trouble. It is an inevitable trend for robot spraying to replace manual spraying. For ordinary industrial applications, most of them currently use a combination of general industrial robots and spray guns, which are implemented through programming-free drag teaching. The operator holds the spray gun for teaching, and the movement trajectory information and spray gun switch status information of the spray gun are recorded. Then, during the production process, the spray gun posture is controlled by robot movement, and the switch of the spray gun is controlled by the solenoid valve to reproduce the spraying process.

[0003] The existing automated spraying methods are simple and effective, but they cannot be used in application scenarios that require fine gradient spraying. For example, in the old-fashioned spraying process of jeans, the operator will constantly adjust the grip of the trigger during the teaching process to control the gap between the needle and the nozzle of the spray gun, and then adjust the amount of paint spit out to achieve gradient spraying. At present, it has also been proposed to reproduce the trigger pressing process by adding an oil pipe proportional valve to the paint inlet of the spray gun to control the paint flow, but this method has certain shortcomings. For example, when using this method for reproduction, each time the spray gun is turned on, the needle needs to be moved to the maximum stroke before the paint flow is adjusted. In addition, the proportional valve has a delay, so the reproduction cannot be precisely synchronized with the movement process, and the control of the paint flow will cause changes in the atomized particles. The spraying effect produced by the reproduction cannot be exactly the same as the teaching, so the fineness of the gradient spraying effect cannot be ensured. Summary of the invention

[0004] The purpose of this application is to provide a paint discharge volume gradient spray gun and a control method thereof, so as to effectively improve the efficiency and precision of gradient spraying.

[0005] In the first aspect, the present application provides a paint discharge amount gradient spray gun adopting the following technical solution: A paint discharge amount gradual change spray gun, comprising a gun body, a handle and a controller, wherein the handle is detachably mounted below the rear end of the gun body; A driving device is provided inside the gun body, a pressure detection device and a posture detection device are provided inside the handle, and the driving device and the pressure detection device are communicatively connected with the controller; a trigger is provided outside the handle, and the trigger is connected with the pressure detection device; the pressure detection device is used to obtain pressure data when the trigger is pressed during the spraying process, and send the pressure data to the controller; the posture detection device is used to obtain posture data of the gun body during the spraying process, and send the posture data to the controller; A paint interface is provided above the front end of the gun body, a nozzle is provided at the front end of the gun body, the paint interface is communicated with the nozzle, a gun needle is provided inside the gun body near the nozzle, and the gun needle is connected to the driving device; the controller is used to calculate the gun needle displacement data according to the pressure data, generate a gun needle control signal according to the gun needle displacement data, and send the gun needle control signal to the driving device; the driving device drives the gun needle to move in a direction close to or away from the nozzle according to the gun needle control signal; the paint interface is used to transport external paint to the nozzle; the gun needle is used to adjust the amount of paint sprayed from the nozzle when moving in a direction close to or away from the nozzle.

[0006] By adopting the above-mentioned technical scheme, the present application detects the pressure data of the trigger being pressed by a pressure detection device, and the controller controls the linear movement of the gun needle in the direction close to or away from the nozzle according to the detected pressure data, thereby adjusting the gap size between the gun needle and the nozzle at the front end of the gun body, and then controlling the amount of paint ejected, thereby realizing automatic and precise control of the amount of paint ejected by the spray gun, which can be suitable for the scene of gradual spraying and effectively improve the efficiency and fineness of gradual spraying.

[0007] Furthermore, a gas control interface is provided above the front end of the gun body, the gas control interface is communicatively connected with the controller, the gas control interface is used to input external compressed gas, and the controller is used to adjust the pressure of the compressed gas input to the gas control interface.

[0008] By adopting the above-mentioned technical solution, the present application inputs external compressed gas through the gas control interface, so that the compressed gas can provide power for the spray gun, so that the spray gun can spray the paint more evenly. At the same time, the pressure of the compressed gas input to the gas control interface can be adjusted according to actual needs through the controller, thereby changing the uniformity of the sprayed paint and improving the flexibility of the spray gun in the automatic spraying process.

[0009] Furthermore, an atomizing gas path interface is provided above the front end of the gun body, and an atomizing cap is provided on the periphery of the nozzle.

[0010] By adopting the above technical solution, the present application adjusts the spray width of the atomized paint through the atomization air path interface and the atomization cap. Atomization can decompose the paint into tiny mist particles, effectively improving the efficiency and uniformity of the spraying operation. Furthermore, a connecting plate is provided at the bottom of the gun body, and the handle is detachably mounted below the rear end of the connecting plate.

[0011] By adopting the above technical solution, the present application connects the handle and the gun body through a connecting plate so that the handle and the gun body can be detachably connected, which facilitates the separation of the handle and the gun body into two parts, thereby improving the flexibility of using the spray gun.

[0012] Furthermore, the pressure detection device is a pressure sensor, and the posture detection device is a gyroscope.

[0013] By adopting the above-mentioned technical solution, the present application detects the pressure data of the trigger being pressed through a pressure sensor, converts the pressure data into an electrical signal and uploads it to the controller, and measures the posture of the spray gun through a gyroscope. The gyroscope is designed based on the principle of conservation of angular momentum and can keep the direction of the rotation axis unchanged without being affected by external forces, thereby achieving accurate measurement of the posture and ensuring the accuracy of automated spraying of the spray gun.

[0014] Furthermore, the driving device includes a connector and a servo motor, and the gun needle is connected to the output shaft of the servo motor through the connector.

[0015] By adopting the above technical solution, the present application controls the movement of the gun needle through a servo motor, and connects the gun needle and the servo motor through a connector, which can improve the accuracy of controlling the movement of the gun needle.

[0016] Furthermore, the servo motor is a rotary motor, the connector is a control cam, and the control cam is used to convert the rotary motion of the rotary motor into the linear motion of the gun needle.

[0017] By adopting the above technical solution, the servo motor of the present application can adopt a rotary motor, and the rotary motion of the output shaft of the rotary motor is converted into the linear motion of the control needle through the connector, thereby ensuring the accuracy of the movement control of the needle.

[0018] Furthermore, the servo motor is a linear motor, the connector is a coupling, and the coupling is used to drive the gun needle to perform linear motion under the linear motion of the linear motor.

[0019] By adopting the above technical solution, the servo motor of the present application can adopt a linear motor, and the output shaft of the rotating motor can control the linear motion of the gun needle through the connector transmission, thereby ensuring the accuracy of the movement control of the gun needle.

[0020] In the second aspect, the present application provides a method for controlling a paint discharge amount gradually changing spray gun, which adopts the following technical solution: A method for controlling a paint discharge amount gradually variable spray gun, applied to the paint discharge amount gradually variable spray gun described in the first aspect, comprising: The pressure detection device obtains the pressure data when the trigger is pressed during the teaching spraying process, and sends the pressure data to the controller; The posture detection device obtains the posture data of the gun body during the teaching spraying process and sends the posture data to the controller; The controller calculates the needle displacement data based on the pressure data; The controller generates a gun needle control signal according to the gun needle displacement data, and sends the gun needle control signal to the driving device; The driving device drives the gun needle to move toward or away from the nozzle according to the gun needle control signal; The controller records the pressure data, posture data and needle displacement data during the teaching spraying process according to the synchronized timestamp and generates an automatic spraying program; The controller controls the spray gun to perform automatic spraying according to the automatic spraying program.

[0021] By adopting the above-mentioned technical scheme, the present application obtains the spray gun control data required for the current spraying process by recording the changes in pressure data, posture data and needle displacement data over time during the teaching spraying process. After the data collection of the teaching spraying process is completed, the robot can be controlled to perform automatic spraying through the automatic spraying program, thereby realizing automatic and precise control of the amount of paint discharged by the spray gun. This can be suitable for the scenario of gradual spraying, and can effectively improve the efficiency and precision of gradual spraying.

[0022] Furthermore, the controller calculates the needle displacement data according to the pressure data, specifically including: Preset trigger pressure threshold Pw; When the current pressure value P obtained by the pressure detection device when the trigger is pressed during the spraying process is less than or equal to the pressure threshold value Pw, the spray gun only sprays air by default; When the current pressure value P obtained by the pressure detection device when the trigger is pressed during the spraying process is greater than the pressure threshold Pw, the calculation formula of the needle displacement data L is: L = Lmax × (P-Pw) / (Pmax-Pw); Among them, Lmax is the maximum displacement of the needle, and Pmax is the maximum pressure value when the trigger is pressed to the bottom.

[0023] By adopting the above technical solution, the present application sets the pressure threshold Pw to ensure that the needle displacement is not triggered when the trigger is pressed but does not reach a certain pressure, that is, the spray gun will not spray paint. When the trigger is pressed to reach a certain pressure, the needle displacement is triggered, and the displacement data is calculated by a preset calculation formula to ensure the accuracy of the linear motion of the needle, thereby ensuring the fineness of the spraying.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. This application detects the pressure data of the trigger pressing by the pressure detection device, and the controller controls the linear movement of the gun needle in the direction close to or away from the nozzle according to the detected pressure data, so as to adjust the gap between the gun needle and the nozzle at the front end of the gun body, thereby controlling the amount of paint discharged, and realizing automatic and precise control of the amount of paint discharged by the spray gun, which can be applied to the scene of gradual spraying and effectively improve the efficiency and precision of gradual spraying; 2. The present application connects the handle and the gun body through a connecting plate so that the handle and the gun body can be detachably connected, which facilitates the separation of the handle and the gun body into two parts, thereby improving the flexibility of using the spray gun; 3. This application obtains the spray gun control data required for the current spraying process by recording the changes in pressure data, posture data and needle displacement data over time during the teaching spraying process. After the data collection of the teaching spraying process is completed, the robot can be controlled to perform automatic spraying through the automatic spraying program. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of Example 1 of the present application; Figure 2 is a schematic cross-sectional structural diagram of Example 1 of the present application; Figure 3 This is a schematic diagram of controller connection in Example 1 of the present application; Figure 4 is a flow chart of the control method of Example 1 of the present application; Figure 5 is a schematic cross-sectional structural diagram of Example 2 of the present application; In the figure, 1. gun body; 11. driving device; 111. servo motor; 112. connector; 12. nozzle; 13. gun needle; 14. paint interface; 15. gas control interface; 16. atomizing gas line interface; 17. atomizing cap; 2. handle; 21. pressure detection device; 22. posture detection device; 23. trigger; 3. controller; 4. mounting plate. DETAILED DESCRIPTION

[0026] The following is combined with Figure 1 -Attached Figure 5 , further details of this application are given.

[0027] Example 1: The existing automated spraying method is simple and effective, but it cannot be used in application scenarios that require fine gradient spraying. For example, in the old-fashioned spraying process of jeans, the operator will constantly adjust the grip of the trigger 23 during the teaching process to control the gap between the needle 13 of the spray gun and the nozzle 12, and then adjust the amount of paint discharged to achieve gradient spraying. At present, it has also been proposed to reproduce the process of pressing the trigger 23 by adding an oil pipe proportional valve to the paint inlet of the spray gun to control the paint flow, but this method has certain shortcomings. For example, when using this method for reproduction, each time the spray gun is turned on, the needle 13 needs to be moved to the maximum stroke before the paint flow is adjusted. In addition, the proportional valve has a delay, so the reproduction cannot be precisely synchronized with the movement process, and regulating the paint flow will cause changes in the atomized particles. The spraying effect produced by the reproduction cannot be exactly the same as the teaching, so the fineness of the gradient spraying effect cannot be ensured. Therefore, the embodiment of the present application provides a spray gun with a gradient paint discharge volume, referring to Figure 1 , comprising a gun body 1, a handle 2 and a controller 3, wherein the handle 2 is detachably mounted below the rear end of the gun body 1 through a mounting plate 4. The gun body 1 is used to input and output the sprayed paint, the handle 2 is used to control the gun body 1 manually or by a robot, and the controller 3 is used to communicate and connect the spray gun and the automatic spraying robot.

[0028] like Figure 2 and Figure 3 As shown, the gun body 1 of the embodiment of the present application is provided with a driving device 11 inside, and the handle 2 is provided with a pressure detection device 21 and a posture detection device 22 inside. The driving device 11 and the pressure detection device 21 are connected to the controller 3 in communication. A trigger 23 is provided outside the handle 2, and the trigger 23 is connected to the pressure detection device 21. The trigger 23 is used to control the spray gun to spray paint when it is pressed manually or by a robot. The pressure detection device 21 is used to obtain the pressure data when the trigger 23 is pressed during the spraying process, and send the pressure data to the controller 3. The posture detection device 22 is used to obtain the posture data of the gun body 1 during the spraying process, and send the posture data to the controller 3. A paint interface 14 is provided above the front end of the gun body 1, and a nozzle 12 is provided at the front end of the gun body 1. The paint interface 14 is connected to the nozzle 12. The paint interface 14 is used to transport external paint to the nozzle 12, so that the paint input by the paint interface 14 can be sprayed through the nozzle 12. A gun needle 13 is provided near the nozzle 12 inside the gun body 1, and the gun needle 13 is connected to the driving device 11. The controller 3 is used to calculate the displacement data of the gun needle 13 according to the pressure data, generate a control signal of the gun needle 13 according to the displacement data of the gun needle 13, and send the control signal of the gun needle 13 to the driving device 11. The driving device 11 drives the gun needle 13 to move in a direction close to or away from the nozzle 12 according to the control signal of the gun needle 13. The gun needle 13 is used to adjust the discharge amount of the paint sprayed from the nozzle 12 when moving in a direction close to or away from the nozzle 12.

[0029] The implementation principle of the embodiment of the present application is: the pressure data of the trigger 23 being pressed is detected by the pressure detection device 21, and the controller 3 controls the gun needle 13 to move linearly in the direction of approaching or away from the nozzle 12 according to the detected pressure data, so as to adjust the gap size between the gun needle 13 and the nozzle 12 at the front end of the gun body 1, thereby controlling the amount of paint ejected, and realizing automatic and precise control of the amount of paint ejected by the spray gun, which can be suitable for the scene of gradual spraying and effectively improve the efficiency and precision of gradual spraying.

[0030] In the specific implementation process, if gradient spraying is required, it is only necessary to increase the pressure of the trigger 23 at the position where the coating needs to be thicker according to the desired spraying effect, and reduce the pressure of the trigger 23 at the position where the coating needs to be thinner. The pressure data is detected by the pressure detection device 21, and then the driving device 11 is controlled in real time according to the pressure data, so as to achieve high-precision gradient spraying. The pressure detection device 21 is a pressure sensor, and the posture detection device 22 is a gyroscope. The pressure data of the trigger 23 is detected by the pressure sensor, and the pressure data is converted into an electrical signal and uploaded to the controller 3. The posture of the spray gun is measured by the gyroscope. The gyroscope is designed based on the principle of conservation of angular momentum, and can keep the direction of the rotation axis unchanged without being affected by external forces, thereby achieving accurate measurement of the posture.

[0031] like Figure 2 As shown, the driving device 11 of the embodiment of the present application includes a connector 112 and a servo motor 111, and the gun needle 13 is connected to the output shaft of the servo motor 111 through the connector 112. The servo motor 111 of the embodiment of the present application is a rotary motor, and the connector 112 is a control cam. After the rotary motor is started, the output shaft is in rotary motion. In order to ensure that the gun needle 13 can move linearly, the rotary motion of the rotary motor is converted into the linear motion of the gun needle 13 through the control cam.

[0032] like Figure 1 As shown, the embodiment of the present application connects the handle 2 and the gun body 1 through a connecting plate, so that the handle 2 and the gun body 1 are detachably connected, which facilitates the separation of the handle 2 and the gun body 1 into two parts, thereby improving the flexibility of using the spray gun.

[0033] like Figure 1 and Figure 3As shown, a gas control interface 15 is provided above the front end of the gun body 1 of the embodiment of the present application. The gas control interface 15 is connected to the controller 3 for communication. The gas control interface 15 is used to input external compressed gas, and the controller 3 is used to adjust the pressure of the compressed gas input to the gas control interface 15. The external compressed gas is input through the gas control interface 15, so that the compressed gas can provide power for the spray gun, so that the spray gun can spray the paint more evenly. At the same time, the pressure of the compressed gas input to the gas control interface 15 can be adjusted according to actual needs through the controller 3, thereby changing the uniformity of the sprayed paint and improving the flexibility of the spray gun in the automatic spraying process.

[0034] like Figure 1 and Figure 2 As shown, an atomizing gas line interface 16 is provided above the front end of the gun body 1 of the embodiment of the present application, and an atomizing cap 17 is provided outside the nozzle 12. The spray width of the atomized paint is adjusted by the atomizing gas line interface 16 and the atomizing cap 17, and the atomization can decompose the paint into tiny mist particles, effectively improving the efficiency and uniformity of the spraying operation. The present application also provides a method for controlling a paint discharge amount gradually changing spray gun, which is applied to a paint discharge amount gradually changing spray gun, referring to Figure 4 ,include: S1. The pressure detection device 21 obtains the pressure data when the trigger 23 is pressed during the teaching spraying process, and sends the pressure data to the controller 3.

[0035] Specifically, the pressure detection device 21 may use a pressure sensor, which detects the pressure data of the trigger 23 being pressed, converts the pressure data into an electrical signal and uploads it to the controller 3. The controller 3 may use an automatic spraying robot controller 3, which connects the automatic spraying robot and the spray gun for communication.

[0036] S2. The posture detection device 22 obtains the posture data of the gun body 1 during the teaching spraying process, and sends the posture data to the controller 3.

[0037] Specifically, the posture detection device 22 can use a gyroscope to measure the spray gun posture. The gyroscope is designed based on the principle of conservation of angular momentum and can keep the direction of the rotation axis unchanged without being affected by external forces, thereby achieving accurate measurement of the posture. The posture data includes the spraying path and the spray gun posture.

[0038] S3. The controller 3 calculates the displacement data of the gun needle 13 according to the pressure data.

[0039] Specifically, a pressure threshold value Pw when the trigger 23 is pressed is preset. When the current pressure value P when the trigger 23 is pressed during the spraying process obtained by the pressure detection device 21 is less than or equal to the pressure threshold value Pw, the default spray gun only sprays air. When the current pressure value P when the trigger 23 is pressed during the spraying process obtained by the pressure detection device 21 is greater than the pressure threshold value Pw, the calculation formula of the displacement data L of the gun needle 13 is: L=Lmax×(P-Pw) / (Pmax-Pw), where Lmax is the maximum displacement of the gun needle 13, and Pmax is the maximum pressure value when the trigger 23 is pressed to the bottom.

[0040] S4 . The controller 3 generates a control signal for the gun needle 13 according to the displacement data of the gun needle 13 , and sends the control signal for the gun needle 13 to the driving device 11 .

[0041] Specifically, the controller 3 generates a control signal for the gun needle 13 and controls the gun needle 13 through the driving device 11 .

[0042] S5. The driving device 11 drives the gun needle 13 to move toward or away from the nozzle 12 according to the control signal of the gun needle 13.

[0043] Specifically, the servo motor 111 provides power, and the connector 112 transmits the power to the gun needle 13 .

[0044] S6. The controller 3 records the pressure data, posture data and displacement data of the gun needle 13 during the teaching spraying process according to the synchronous timestamp, and generates an automatic spraying program.

[0045] S7, the controller 3 controls the spray gun to perform automatic spraying according to the automatic spraying program.

[0046] In the specific implementation process, the teaching staff can complete the teaching spraying process through the teaching pendant, and control the robot motion by operating the teaching pendant at the work site. The specific implementation steps of teaching and reproduction are: separate the gun body 1 from the handle 2, and assemble the gun body 1 to the execution end of the automatic spraying robot; connect the control signals in the gas control interface 15, the atomization gas path interface 16, and the paint interface 14 above the gun body 1 to the relevant interfaces of the robot controller 3; connect the servo motor 111 control signal to the relevant interface of the industrial robot controller 3; connect the pressure sensor output of the handle 2 to the relevant interface of the robot controller 3. The teaching staff sets the parameters such as the spray gun air pressure, spray width, and paint flow rate (maximum discharge volume) on the teaching pendant, and operates the handle 2 for testing, wherein the setting of the paint flow rate (maximum discharge volume) determines the maximum displacement of the gun needle 13. The teaching staff controls the robot movement by operating the teaching pendant, and then drives the gun body 1 to the corresponding position, and plans the spraying path and spray gun posture. The automatic spraying program obtained by teaching is run to reproduce the posture movement process of the spray gun. During this process, the teaching personnel presses the spray gun handle 2 to perform gradual spray teaching, and the implementation process is steps S1 to S7. Finally, the automatic spraying program is generated. The controller 3 synchronously controls the movement of the automatic spraying robot and the amount of paint spitted by the spray gun according to the pressure data with synchronized timestamps and the robot joint data, so as to accurately reproduce the gradual spray teaching process.

[0047] The instructor can also complete the teaching spraying process by dragging the teaching. Drag teaching is that the instructor pulls the robot end tool, i.e., the spray gun, to preview a spraying operation, and the robot controller 3 records the data of each joint of the robot in real time during the teaching process. The specific implementation steps are: separate the gun body 1 from the handle 2, and assemble the gun body 1 to the execution end of the automatic spraying robot; connect the control signals in the gas control interface 15, the atomization gas path interface 16, and the paint interface 14 above the gun body 1 to the relevant interfaces of the robot controller 3; connect the servo motor 111 control signal to the relevant interface of the robot controller 3; connect the pressure sensor output of the handle 2 to the relevant interface of the robot controller 3. The instructor sets the parameters such as the spray gun air pressure, spray width, and paint flow rate (maximum discharge volume) on the teaching pendant, and operates the handle 2 for testing, wherein the setting of the paint flow rate (maximum discharge volume) determines the maximum displacement of the gun needle 13. The instructor pulls the robot end tool, i.e., the spray gun, to move, and plans the spraying path and spray gun posture. Run the robot program obtained by dragging and teaching to reproduce the posture movement process of the spray gun. During this process, the teaching staff presses the spray gun handle 2 to perform gradual spray teaching, and the implementation process is steps S1 to S7. Finally, an automatic spray program is generated. The controller 3 synchronously controls the movement of the automatic spray robot and the amount of paint discharged by the spray gun based on the pressure sensor data with synchronized timestamps and the robot joint data, so as to accurately reproduce the gradual spray teaching process.

[0048] The teaching staff can also complete the teaching spraying process through independent teaching of the spray gun. Independent teaching of the spray gun is that the teaching staff holds the spray gun to preview a spraying operation, and the robot controller 3 records the posture information and spraying information of the spray gun in real time during the teaching process. At this time, a gyroscope is installed in the handle 2 of the present invention. The specific implementation steps are: connecting the control signals in the gas control interface 15, the atomization gas circuit interface 16, and the paint interface 14 of the spray gun to the relevant interfaces of the automatic spraying robot controller 3; connecting the servo motor 111 control signal to the relevant interface of the robot controller 3; connecting the pressure sensor output to the relevant interface of the robot controller 3; and connecting the gyroscope to the controller 3. The teaching staff sets the parameters such as the spray gun air pressure, spray width, and paint flow rate (maximum discharge volume) on the teaching pendant, and operates the spray gun for testing, wherein the setting of the paint flow rate (maximum discharge volume) determines the maximum displacement of the gun needle 13. The teaching staff holds the spray gun to teach a spraying operation, and the controller 3 converts the gyroscope data into robot joint data, and records the pressure sensor data and robot joint data with synchronized timestamps. The gun body 1 is separated from the handle 2, and the gun body 1 is assembled to the execution end of the industrial robot. The spraying program is generated, and the controller 3 synchronously controls the robot movement and the paint discharge amount of the spray gun according to the pressure sensor data with synchronized timestamps and the robot joint data, so as to accurately reproduce the gradual spraying teaching process.

[0049] The implementation principle of the embodiment of the present application is: the controller 3 in the teaching spraying process records the pressure sensor data and robot joint data with synchronized timestamps, so that the spraying process is precisely synchronized with the movement process of the spray gun during reproduction. The mechanical structure of the spray gun's trigger 23 pressing to change the position of the gun needle 13 is changed to a pressure sensor collecting the trigger 23 pressing pressure value, and then calculating the displacement of the gun needle 13, and then the servo motor 111 controls the movement of the gun needle 13, so that the spray gun's paint discharge amount is adjusted in exactly the same way in teaching and reproduction, ensuring the consistency of the spraying effect. Therefore, the embodiment of the present application can ensure that the spraying reproduction effect of the automatic spraying robot is exactly the same as the teaching spraying process, and is thus suitable for various applications requiring high-precision gradual spraying.

[0050] Embodiment 2: This embodiment of the present application provides a paint discharge amount gradient spray gun, referring to Figure 5 The difference between the embodiment of the present application and the embodiment 1 is that the servo motor 111 of the embodiment of the present application is a linear motor, and the connector 112 is a coupling, which is used to drive the gun needle 13 to move linearly under the linear motion of the linear motor. Since the output shaft of the linear motor runs linearly after starting, the output shaft of the rotating motor can control the linear motion of the gun needle 13 through the transmission of the connector 112, thereby ensuring the accuracy of the movement control of the gun needle 13.

[0051] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A paint discharge amount gradual change type spray gun, characterized in that: It comprises a gun body (1), a handle (2) and a controller (3), wherein the handle (2) is detachably mounted below the rear end of the gun body (1); The gun body (1) is provided with a driving device (11) inside, the handle (2) is provided with a pressure detection device (21) and a posture detection device (22) inside, and the driving device (11) and the pressure detection device (21) are communicatively connected with the controller (3); the handle (2) is provided with a trigger (23) outside, and the trigger (23) is connected with the pressure detection device (21); the pressure detection device (21) is used to obtain pressure data when the trigger (23) is pressed during the spraying process, and send the pressure data to the controller (3); the posture detection device (22) is used to obtain posture data of the gun body (1) during the spraying process, and send the posture data to the controller (3); A paint interface (14) is provided above the front end of the gun body (1), a nozzle (12) is provided at the front end of the gun body (1), the paint interface (14) is communicated with the nozzle (12), a gun needle (13) is provided inside the gun body (1) near the nozzle (12), and the gun needle (13) is connected to the driving device (11); the controller (3) is used to calculate the displacement data of the gun needle (13) according to the pressure data, generate a gun needle (13) control signal according to the displacement data of the gun needle (13), and send the gun needle (13) control signal to the driving device (11); the driving device (11) drives the gun needle (13) to move linearly in a direction close to or away from the nozzle (12) according to the gun needle (13) control signal; the paint interface (14) is used to transport external paint to the nozzle (12); the gun needle (13) is used to adjust the discharge amount of paint sprayed from the nozzle (12) when moving linearly in a direction close to or away from the nozzle (12).

2. A paint discharge amount gradient spray gun according to claim 1, characterized in that: A gas control interface (15) is provided above the front end of the gun body (1), and the gas control interface (15) is communicatively connected with the controller (3). The gas control interface (15) is used to input external compressed gas, and the controller (3) is used to adjust the pressure of the compressed gas input to the gas control interface (15).

3. A paint discharge amount gradient spray gun according to claim 2, characterized in that: An atomizing gas path interface (16) is provided above the front end of the gun body (1), and an atomizing cap (17) is provided on the periphery of the nozzle (12).

4. A paint discharge amount gradient spray gun according to claim 3, characterized in that: A connecting plate is provided at the bottom of the gun body (1), and the handle (2) is detachably mounted below the rear end of the connecting plate.

5. A paint discharge amount gradient spray gun according to any one of claims 1 to 4, characterized in that: The pressure detection device (21) is a pressure sensor, and the posture detection device (22) is a gyroscope.

6. A paint discharge amount gradient spray gun according to any one of claims 1 to 4, characterized in that: The driving device (11) comprises a connector (112) and a servo motor (111), and the gun needle (13) is connected to the output shaft of the servo motor (111) through the connector (112).

7. A paint discharge amount gradient spray gun according to claim 6, characterized in that: The servo motor (111) is a rotary motor, and the connector (112) is a control cam, which is used to convert the rotary motion of the rotary motor into the linear motion of the gun needle (13).

8. The paint discharge amount gradient spray gun according to claim 6, characterized in that: The servo motor (111) is a linear motor, and the connector (112) is a coupling, and the coupling is used to drive the gun needle (13) to perform linear motion under the linear motion of the linear motor.

9. A method for controlling a paint discharge amount-gradual spray gun, characterized in that: A paint discharge amount gradient spray gun applied to any one of claims 1 to 8, comprising: The pressure detection device (21) obtains the pressure data when the trigger (23) is pressed during the teaching spraying process, and sends the pressure data to the controller (3); The posture detection device (22) obtains the posture data of the gun body (1) during the teaching spraying process, and sends the posture data to the controller (3); The controller (3) calculates the displacement data of the gun needle (13) according to the pressure data; The controller (3) generates a gun needle (13) control signal according to the displacement data of the gun needle (13), and sends the gun needle (13) control signal to the driving device (11); The driving device (11) drives the gun needle (13) to move toward or away from the nozzle (12) according to a control signal of the gun needle (13); The controller (3) records the pressure data, posture data and displacement data of the gun needle (13) during the teaching spraying process according to the synchronous timestamp, and generates an automatic spraying program; The controller (3) controls the spray gun to perform automatic spraying according to the automatic spraying program.

10. A method for controlling a paint discharge amount gradually changing spray gun according to claim 9, characterized in that: The controller (3) calculates the displacement data of the gun needle (13) according to the pressure data, specifically including: A preset pressure threshold value Pw when the trigger (23) is pressed; When the current pressure value P obtained by the pressure detection device (21) when the trigger (23) is pressed during the spraying process is less than or equal to the pressure threshold value Pw, the spray gun sprays only air by default; When the current pressure value P obtained by the pressure detection device (21) when the trigger (23) is pressed during the spraying process is greater than the pressure threshold value Pw, the calculation formula of the displacement data L of the gun needle (13) is: L = Lmax × (P-Pw) / (Pmax-Pw); Wherein, Lmax is the maximum displacement of the gun needle (13), and Pmax is the maximum pressure value when the trigger (23) is pressed to the bottom.

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