Efficient and accurate paint spraying robot
By introducing machine vision and intelligent control technology into the paint robot system, high-precision identification and positioning of complex workpieces is achieved, and the problem of difficulty in identifying and positioning of existing paint robots on the surface of complex workpieces is solved, and the quality and efficiency of paint are improved.
Patent Information
- Application Number
- CN202411526858.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2024-12-17
AI Technical Summary
Existing paint robots have challenges in the high-precision identification and positioning of complex workpiece surfaces, especially for workpieces of irregular shapes and multiple materials, which cannot achieve accurate identification and positioning, resulting in insufficient planning and control of paint trajectory, affecting the quality of paint. .
Adopting an efficient and precise painting robot system, combining machine vision technology and intelligent control algorithms, through laser triangulation sensors and electric regulating valves, real-time identification and analysis of workpiece surface shape and color information, independently plan the painting trajectory, and according to the coating type and The workpiece shape automatically adjusts the paint parameters to ensure uniformity and thickness of the coating.
High-precision spraying of complex-shaped workpieces is achieved, ensuring coating quality and uniformity, improving the accuracy and efficiency of spray painting, reducing errors and waste, and is suitable for large and small parts, greatly improving the quality of spray painting.
Smart Images
Figure CN119140325A_ABST
Abstract
Description
Technical Field
[0001] The patent of this invention relates to the technical field related to painting robots, and in particular to an efficient and precise painting robot. Background Art
[0002] With the continuous improvement of the level of industrial automation, painting, as a key process in industrial production, has attracted widespread attention for its automation and intelligence level. At present, the research and development and application of domestic visual intelligent control painting robot systems are becoming increasingly mature. By introducing and digesting foreign advanced technologies and combining domestic market demand, domestic companies have successfully developed a number of visual intelligent control painting robot systems with independent intellectual property rights. These systems have the characteristics of high precision, high efficiency and high degree of automation, and can be widely used in many fields such as automobiles, home appliances, 3C electronics, etc. However, compared with the advanced level of foreign countries, domestic painting robots still have a certain gap in visual recognition accuracy, motion control stability, etc. Therefore, there is a special need for an efficient and accurate painting robot.
[0003] However, existing painting robots still face challenges in high-precision recognition and positioning of complex workpiece surfaces during use, especially for workpieces with irregular shapes and multiple materials. The inability to achieve accurate recognition and positioning is a current technical difficulty. Existing painting robots cannot meet factors such as paint uniformity, coverage, and thickness during painting operations. Therefore, the planning and control of the painting trajectory are slightly insufficient, which affects the quality of painting.
[0004] Invention patent content
[0005] The purpose of this patent is to provide an efficient and accurate painting robot to solve the existing painting robots mentioned in the above background technology. During use, the existing painting robots still have challenges in high-precision recognition and positioning of complex workpiece surfaces, especially for workpieces with irregular shapes and multiple materials. The inability to achieve accurate recognition and positioning is the current technical difficulty. The existing painting robots cannot meet the uniformity, coverage and thickness of the paint during the painting operation. Therefore, the planning and control of the painting trajectory are slightly insufficient, which affects the quality of the painting.
[0006] To achieve the above purpose, the present invention provides the following technical solutions: an efficient and precise painting robot, comprising a frame, one end of which is provided with a painting mechanism;
[0007] The paint spraying mechanism includes a first rack, a first gear, a first transmission shaft, a first driving motor, a first guide rail, a first ball slider, a fixed plate, a first fixed block, a first shell, a crossbeam, a second rack, a second gear, a second transmission shaft, a second driving motor, a first sliding block, a second guide rail and a second ball slider. One side of the frame is fixedly connected to the first rack, one side of the surface of the first rack is meshedly connected to the first gear, the surface inside the first gear is fixedly connected to the first transmission shaft, one end of the first transmission shaft is fixedly connected to the first driving motor, one end of the frame is fixedly connected to the first guide rail, and the surface of the first guide rail is slidably connected to the first ball slider. One end of the first ball slider is fixedly connected to a fixing plate, one end of the fixing plate is fixedly connected to a first fixing block, the other end of the fixing plate is fixedly connected to a first shell, one end of the first fixing block is fixedly connected to a cross beam, both sides of the cross beam are fixedly connected to a second rack, one side of the surface of the second rack is meshingly connected to a second gear, the inner surface of the second gear is fixedly connected to a second transmission shaft, one end of the second transmission shaft is fixedly connected to a second driving motor, one side of the surface of the second driving motor is fixedly connected to a first sliding block, the other side of the surface of the beam is fixedly connected to a second guide rail, and the surface of the second guide rail is slidably connected to a second ball slider.
[0008] Preferably, the first transmission shaft is fixedly connected to the fixing plate, and the first ball sliders are arranged in four groups.
[0009] Preferably, the first guide rails are arranged in two groups, and the second guide rails are slidably connected to the second ball slider.
[0010] Preferably, the second ball sliding block is fixedly connected to the first sliding block.
[0011] Preferably, one end of the first sliding block is fixedly connected to the second fixed block, the surface of the inner wall of the second fixed block is fixedly connected to the third drive motor, the output end of the third drive motor is fixedly connected to the screw, one side of the screw surface is threadedly connected to the second sliding block, one side of the second sliding block is fixedly connected to the second shell, one side of the second shell surface is fixedly connected to the paint bucket, one end of the paint bucket is fixedly connected to the first connecting pipe, one end of the first connecting pipe is fixedly connected to the flow sensor, one end of the flow sensor is fixedly connected to the second connecting pipe, one end of the second connecting pipe is fixedly connected to the electric regulating valve, one end of the electric regulating valve is fixedly connected to the third connecting pipe, one end of the third connecting pipe is fixedly connected to the nozzle, and one side of the second shell surface is fixedly connected to the laser triangulation sensor.
[0012] Preferably, the second shell is fixedly connected to the second connecting pipe, and the paint buckets are provided in two groups.
[0013] Preferably, the second housing is slidably connected to the second fixed block via a screw rod and a second sliding block.
[0014] Compared with the prior art, the beneficial effects of the patent of the present invention are: the efficient and precise painting robot is equipped with a corresponding painting mechanism inside. The system introduces advanced machine vision technology, which enables the robot to perceive and identify the shape, color and other information of the workpiece surface in real time. Based on this information, the robot can independently plan the painting trajectory and realize precise painting operation. At the same time, combined with the intelligent control algorithm, the robot can automatically adjust the painting parameters according to the type of coating and the shape of the workpiece to achieve the best coating effect. The device can achieve high-precision painting through precise position control and painting parameter adjustment. Whether it is for large workpieces or small parts, the robot can paint at a stable speed and uniform coating thickness to ensure the quality and uniformity of the coating, which greatly improves the quality of painting. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a schematic diagram of the side view appearance structure of the patent of this invention;
[0016] Figure 2 This is a schematic diagram of the structure of the first guide rail and the crossbeam cooperating with each other in the patent part of the present invention;
[0017] Figure 3 This is a schematic diagram of the structure of the cooperation between the cross beam and the first sliding block of the patented part of the present invention;
[0018] Figure 4 Patent for this invention Figure 3 The enlarged structural diagram at A in the middle;
[0019] Figure 5 This is a schematic diagram of the structure in which the second fixing block and the second shell cooperate with each other in the patent part of the present invention.
[0020] In the figure: 1, frame; 2, paint spraying mechanism; 201, first rack; 202, first gear; 203, first transmission shaft; 204, first drive motor; 205, first guide rail; 206, first ball slider; 207, fixing plate; 208, first fixing block; 209, first housing; 210, crossbeam; 211, second rack; 212, second gear; 213, second transmission shaft; 214, second drive motor; 215, The first sliding block; 216, the second guide rail; 217, the second ball slider; 218, the second fixed block; 219, the third drive motor; 220, the screw rod; 221, the second sliding block; 222, the second shell; 223, the paint bucket; 224, the first connecting pipe; 225, the flow sensor; 226, the second connecting pipe; 227, the electric regulating valve; 228, the third connecting pipe; 229, the nozzle; 230, the laser triangulation sensor. DETAILED DESCRIPTION
[0021] The following will be combined with the drawings in the embodiments of the patent of the present invention to clearly and completely describe the technical solutions in the embodiments of the patent of the present invention. Obviously, the described embodiments are only part of the embodiments of the patent of the present invention, not all of them. Based on the embodiments in the patent of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the patent of the present invention.
[0022] See also Figure 1-5 , the present invention provides a technical solution: an efficient and accurate painting robot, comprising a frame 1, a painting mechanism 2 is arranged at one end of the frame 1;
[0023] The paint spraying mechanism 2 includes a first rack 201, a first gear 202, a first transmission shaft 203, a first drive motor 204, a first guide rail 205, a first ball slider 206, a fixing plate 207, a first fixing block 208, a first housing 209, a crossbeam 210, a second rack 211, a second gear 212, a second transmission shaft 213, a second drive motor 214, a first sliding block 215, a second guide rail 216 and a second ball slider 217. The first rack 201 is fixedly connected to one side of the frame 1, and one side of the surface of the first rack 201 is meshed with the first rack 201. A first gear 202 is connected, a first transmission shaft 203 is fixedly connected to the inner surface of the first gear 202, one end of the first transmission shaft 203 is fixedly connected to a first driving motor 204, one end of the frame 1 is fixedly connected to a first guide rail 205, a first ball slider 206 is slidably connected to the surface of the first guide rail 205, one end of the first ball slider 206 is fixedly connected to a fixing plate 207, one end of the fixing plate 207 is fixedly connected to a first fixing block 208, the other end of the fixing plate 207 is fixedly connected to a first housing 209, and the first fixing block 208 is fixedly connected to the first housing 209. One end is fixedly connected to a crossbeam 210, both sides of the crossbeam 210 are fixedly connected to a second rack 211, one side of the surface of the second rack 211 is meshedly connected to a second gear 212, the inner surface of the second gear 212 is fixedly connected to a second transmission shaft 213, one end of the second transmission shaft 213 is fixedly connected to a second drive motor 214, one side of the surface of the second drive motor 214 is fixedly connected to a first sliding block 215, the other side of the surface of the crossbeam 210 is fixedly connected to a second guide rail 216, and the surface of the second guide rail 216 is slidably connected to a second ball slider 217, during use, when the first drive motor 204 is running, it will indirectly drive the first gear 202 to rotate, the meshing transmission of the first gear 202 and the first rack 201 will indirectly drive the crossbeam 210 to move, when the second drive motor 214 is running, it will indirectly drive the second gear 212 to rotate, the meshing transmission of the second gear 212 and the second rack 211 will indirectly drive the second sliding block 221 to move, this module is externally connected to a control unit, and the control unit is connected to an external computer through a line to realize multi-axis linkage precision painting operation. It consists of multiple high-precision motors and mechanical arms, which can move flexibly in three-dimensional space and perform painting operations according to preset paths and parameters. Compared with traditional painting equipment, this module has higher movement accuracy and speed, can realize all-round painting of complex-shaped workpieces, and the painting lines are smoother and more uniform. At the same time, by optimizing the mechanical structure and motion control algorithm, the vibration and error during the movement are reduced, and the quality and efficiency of painting are further improved.
[0024] Furthermore, the first transmission shaft 203 is fixedly connected to the fixed plate 207, and the first ball slider 206 is arranged as four groups. By arranging the first transmission shaft 203 and the fixed plate 207, the first transmission shaft 203 can maintain a smooth rotation, thereby ensuring the stability of the paint spraying. By arranging four groups of the first ball sliders 206, the movement of the crossbeam 210 can be smoother, thereby improving the stability of the device.
[0025] Furthermore, the first guide rail 205 is arranged in two groups, and the second guide rail 216 is slidably connected to the second ball slider 217. By setting the two groups of first guide rails 205, the cooperation of the two groups of first guide rails 205 can prevent the device from being affected during the moving painting process, thereby improving the quality of the painting. By setting the second guide rail 216 and the second ball slider 217, it is helpful to reduce the vibration and error of the device during the movement process, and avoid the painting quality problems caused by the instability of the device.
[0026] Furthermore, the second ball slider 217 is fixedly connected to the first sliding block 215. Through the arrangement of the second ball slider 217 and the first sliding block 215, the first sliding block 215 can move following the second ball slider 217, which is conducive to realizing multi-axis linkage precision painting operation.
[0027] Furthermore, one end of the first sliding block 215 is fixedly connected to the second fixed block 218, the surface of the inner wall of the second fixed block 218 is fixedly connected to the third driving motor 219, the output end of the third driving motor 219 is fixedly connected to the screw rod 220, one side of the surface of the screw rod 220 is threadedly connected to the second sliding block 221, one side of the second sliding block 221 is fixedly connected to the second housing 222, one side of the surface of the second housing 222 is fixedly connected to the paint bucket 223, one end of the paint bucket 223 is fixedly connected to the first connecting pipe 224, one end of the first connecting pipe 224 is fixedly connected to the flow sensor 225, one end of the flow sensor 225 is fixedly connected to the second connecting pipe 226, and the second connecting pipe 226 is fixedly connected to the second connecting pipe 226. One end is fixedly connected with an electric regulating valve 227, one end of the electric regulating valve 227 is fixedly connected with a third connecting pipe 228, one end of the third connecting pipe 228 is fixedly connected with a nozzle 229, and one side of the surface of the second shell 222 is fixedly connected with a laser triangulation sensor 230. During use, when the third driving motor 219 drives the screw rod 220 to rotate, it will drive the second sliding block 221 to move, and the displacement of the second sliding block 221 will drive the second shell 222 to move, and the displacement of the second shell 222 will drive the nozzle 229 to move. This module is externally connected with a control unit, and the control unit is connected to an external computer through a line. The module is mainly used for accurate identification and positioning of the workpiece before painting. Through the laser triangulation sensor 230, the surface of the workpiece can be quickly scanned to obtain its shape, size and position information. Then, using advanced image processing algorithms, this information is analyzed and processed to accurately determine the area and path of the paint spraying. The innovation of this module lies in its laser triangulation sensor 230 and precise positioning algorithm, which can greatly improve the accuracy and efficiency of painting, reduce painting errors and waste, and automatically adjust the painting pressure according to different painting requirements and workpiece surface characteristics. It is equipped with an electric regulating valve 227 and an intelligent control system, which can monitor the pressure changes during the painting process in real time. When encountering complex-shaped workpieces or requiring coatings of different thicknesses, the system automatically adjusts the pressure to ensure the uniformity and quality of the painting. For example, when painting curved surfaces, the module can automatically increase the pressure so that the paint adheres better to the curved surface; while for flat parts, the pressure is appropriately reduced to avoid excessive accumulation of paint. This adaptive adjustment function not only improves the quality of painting, but also saves paint and reduces costs.
[0028] Furthermore, the second shell 222 is fixedly connected to the second connecting tube 226, and the paint buckets 223 are arranged into two groups. By arranging the second shell 222 and the second connecting tube 226, the second connecting tube 226 can be firmly fixed inside the second shell 222, thereby improving the uniformity of paint spraying. By arranging two groups of paint buckets 223, both groups of paint buckets are pressure buckets, which can provide sufficient paint for the painting work and improve the painting efficiency.
[0029] Furthermore, the second shell 222 is slidably connected to the second fixed block 218 through the screw rod 220, the second sliding block 221, and the arrangement of the second shell 222, the screw rod 220, the second sliding block 221 and the second fixed block 218 allows the second shell 222 to remain stable during movement, thereby indirectly improving the quality of painting.
[0030] Working principle: During use, when the first drive motor 204 is running, it will indirectly drive the first gear 202 to rotate, and the meshing transmission between the first gear 202 and the first rack 201 will indirectly drive the crossbeam 210 to move. When the second drive motor 214 is running, it will indirectly drive the second gear 212 to rotate, and the meshing transmission between the second gear 212 and the second rack 211 will indirectly drive the second sliding block 221 to move. This module is externally connected to a control unit, which is connected to an external computer through a line to achieve multi-axis linkage precision painting operation. It consists of multiple high-precision motors and mechanical arms, which can move flexibly in three-dimensional space and perform painting operations according to preset paths and parameters. Compared with traditional painting equipment, this module has higher movement accuracy and speed, can achieve all-round painting of complex-shaped workpieces, and the paint lines are smoother and more uniform. At the same time, by optimizing the mechanical structure and motion control algorithm, the vibration and error during the movement are reduced, and the quality and efficiency of the paint spraying are further improved. When the third drive motor 219 drives the screw rod 220 to rotate, it will drive the second sliding block 221 to move, and the displacement of the second sliding block 221 will drive the second shell 222 to move, and the displacement of the second shell 222 will drive the nozzle 229 to move. This module is externally connected to a control unit, and the control unit is connected to an external computer through a line. This module is mainly used for accurate identification and positioning of the workpiece before painting. Through the laser triangulation sensor 230, the surface of the workpiece can be quickly scanned to obtain its shape, size and position information. Then, using advanced image processing algorithms, this information is analyzed and processed to accurately determine the area and path of the paint spraying. The innovation of this module lies in its laser triangulation sensor 230 and precise positioning algorithm, which can greatly improve the accuracy and efficiency of the paint spraying, reduce the error and waste of the paint spraying, and in addition, this module can automatically adjust the paint spraying pressure according to different paint spraying requirements and workpiece surface characteristics. It is equipped with an electric regulating valve 227 and an intelligent control system, which can monitor the pressure changes during the paint spraying process in real time. When encountering workpieces with complex shapes or requiring coatings of different thicknesses, the system automatically adjusts the pressure to ensure uniformity and quality of the painting. For example, when painting a curved surface, the module can automatically increase the pressure so that the paint adheres better to the curved surface; while for flat parts, the pressure is appropriately reduced to avoid excessive accumulation of paint. This adaptive adjustment function not only improves the quality of painting, but also saves paint, reduces costs, and greatly improves the quality of painting.
[0031] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An efficient and accurate painting robot, comprising a frame (1), characterized in that: A paint spraying mechanism (2) is provided at one end of the frame (1); The paint spraying mechanism (2) comprises a first rack (201), a first gear (202), a first transmission shaft (203), a first drive motor (204), a first guide rail (205), a first ball slider (206), a fixing plate (207), a first fixing block (208), a first housing (209), a crossbeam (210), a second rack (211), a second gear (212), a second transmission shaft (213), a second drive motor (214), a first sliding block (215), a second guide rail (21 6) and a second ball slider (217), one side of the frame (1) is fixedly connected to a first rack (201), one side of the surface of the first rack (201) is meshedly connected to a first gear (202), the inner surface of the first gear (202) is fixedly connected to a first transmission shaft (203), one end of the first transmission shaft (203) is fixedly connected to a first drive motor (204), one end of the frame (1) is fixedly connected to a first guide rail (205), the surface of the first guide rail (205) is meshedly connected to a first gear (202), the inner surface of the first gear (202) is fixedly connected to a first transmission shaft (203), one end of the first transmission shaft (203) is fixedly connected to a first drive motor (204), one end of the frame (1) is fixedly connected to a first guide rail (205), and the surface of the first guide rail (205) is meshedly connected to a first gear (202). The first ball slider (206) is movably connected to the first ball slider (206), one end of the first ball slider (206) is fixedly connected to a fixing plate (207), one end of the fixing plate (207) is fixedly connected to a first fixing block (208), the other end of the fixing plate (207) is fixedly connected to a first housing (209), one end of the first fixing block (208) is fixedly connected to a crossbeam (210), both sides of the crossbeam (210) are fixedly connected to a second rack (211), and one end of the surface of the second rack (211) is fixedly connected to the first rack (211). A second gear (212) is meshedly connected to the side, a second transmission shaft (213) is fixedly connected to the inner surface of the second gear (212), one end of the second transmission shaft (213) is fixedly connected to a second drive motor (214), one side of the surface of the second drive motor (214) is fixedly connected to a first sliding block (215), the other side of the surface of the crossbeam (210) is fixedly connected to a second guide rail (216), and the surface of the second guide rail (216) is slidably connected to a second ball slider (217).
2. The efficient and precise painting robot according to claim 1, characterized in that: The first transmission shaft (203) is fixedly connected to the fixing plate (207), and the first ball sliders (206) are arranged in four groups.
3. The efficient and precise painting robot according to claim 1, characterized in that: The first guide rails (205) are arranged in two groups, and the second guide rails (216) are slidably connected to the second ball slider (217).
4. The efficient and precise painting robot according to claim 1, characterized in that: The second ball sliding block (217) is fixedly connected to the first sliding block (215).
5. The efficient and precise painting robot according to claim 1, characterized in that: One end of the first sliding block (215) is fixedly connected to the second fixed block (218), the surface of the inner wall of the second fixed block (218) is fixedly connected to the third drive motor (219), the output end of the third drive motor (219) is fixedly connected to the screw rod (220), one side of the surface of the screw rod (220) is threadedly connected to the second sliding block (221), one side of the second sliding block (221) is fixedly connected to the second housing (222), one side of the surface of the second housing (222) is fixedly connected to the paint bucket (223), one end of the paint bucket (223) is fixedly connected to the A first connecting pipe (224) is connected, one end of the first connecting pipe (224) is fixedly connected to a flow sensor (225), one end of the flow sensor (225) is fixedly connected to a second connecting pipe (226), one end of the second connecting pipe (226) is fixedly connected to an electric regulating valve (227), one end of the electric regulating valve (227) is fixedly connected to a third connecting pipe (228), one end of the third connecting pipe (228) is fixedly connected to a nozzle (229), and one side of the surface of the second shell (222) is fixedly connected to a laser triangulation sensor (230).
6. The efficient and accurate painting robot according to claim 5, characterized in that: The second shell (222) is fixedly connected to the second connecting pipe (226), and the paint buckets (223) are arranged in two groups.
7. The efficient and accurate painting robot according to claim 5, characterized in that: The second housing (222) is slidably connected to the second fixed block (218) via a screw rod (220) and a second sliding block (221).
Citation Information
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