An automated intelligent painting system for vehicles

Abstract

This invention discloses an automated intelligent painting system for vehicles. The system includes one or more cantilevered five-axis linkage spraying structures, each comprising at least an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a first rotating axis, and a second rotating axis. A nozzle assembly is positioned on one side of any one of the rotating axes. Through five-axis linkage, the nozzle assembly can reciprocate and spray in any specified direction in space. This invention, by configuring two cantilevered five-axis linkage spraying structures, enables dual-station spraying on both sides, thereby improving the overall vehicle painting efficiency. This invention can automatically adjust the spraying frequency and amplitude based on the painting system's movement speed, ensuring uniformity of paint thickness and clarity of the painted pattern edges, thus indirectly achieving automated and precise painting of multi-color patterns on the entire vehicle body without masking or overspray.

Description

Technical Field

[0001] This invention belongs to the field of automatic spraying equipment, specifically relating to a dual-column cantilever five-axis linkage spraying system, which also includes a precision nozzle with controllable spray volume and spray frequency. Background Technology

[0002] Multi-color pattern spraying on the entire vehicle body is an indispensable part of the automotive painting industry. Current technology still mainly relies on manual labor for multi-color pattern spraying on vehicles, while partial single-color spraying uses a robotic arm structure. However, because the robotic arm structure mainly relies on rotational motion, it has a slow operating speed, low precision, poor load-bearing capacity, complex motion trajectory planning, and high price. Therefore, it is rarely used in actual vehicle spraying.

[0003] Current vehicle body painting uses spray guns, which are simple, primarily pneumatically driven, and controlled by switches. This makes it difficult to control the spray volume, typically producing a cone-shaped mist of paint with a circular spray point of 200-400mm in diameter and a spray distance of about 300-500mm. This easily leads to overspray, and significant paint loss during the painting process, with approximately 30% paint splattering. It also easily causes severe pollution in the work area, requiring operators to wear full protective clothing to minimize health risks. When painting multi-color patterns separately, masking tape must be manually applied to avoid painting certain areas. After spraying, the paint must be allowed to dry before the tape is removed and the next color is sprayed, repeating this process. This results in low painting efficiency and makes it difficult to achieve automated, intelligent painting without masking or overspray. Summary of the Invention

[0004] To address the shortcomings or deficiencies of existing technologies, this invention provides an automated intelligent painting system for vehicles. It is a dual-column cantilever five-axis linkage spraying equipment combined with an innovative micro-droplet nozzle developed independently for color-separation spraying, thereby achieving automated and precise spraying of multi-color patterns on the entire vehicle body without masking or overspray.

[0005] To achieve the above-mentioned technical objectives, the present invention employs the following technical solution:

[0006] An automated intelligent painting system for vehicles includes one or more cantilevered five-axis linkage spraying structures. The cantilevered five-axis linkage spraying structure includes at least: an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a first rotating axis, and a second rotating axis. A nozzle assembly is disposed on one side of any rotating axis. The five-axis linkage drives the nozzle assembly to reciprocate and spray in any specified direction in space.

[0007] Furthermore, the nozzle assembly includes a variable amplitude mechanism, a variable frequency rotation mechanism, and a material suction and spraying mechanism; the variable amplitude mechanism is mounted on the material suction and spraying mechanism, and the cam in the variable amplitude mechanism is in close contact with the universal ball in the material suction and spraying mechanism. The variable amplitude mechanism adjusts the contact point between the cam and the material suction and spraying mechanism; the material suction and spraying mechanism performs the suction and spraying of paint, and the lifting and lowering movement of the piston in the material suction and spraying mechanism makes the sprayed paint a spray point.

[0008] In a further optimized embodiment of the present invention, a first rotating shaft and a second rotating shaft are connected to form a rotating shaft swing head. The rotating shaft swing head includes at least a first rotating shaft motor, a second rotating shaft motor, and a supporting connecting member. The first rotating shaft motor and the second rotating shaft motor are respectively arranged along the corresponding rotating shaft direction and are fixedly connected by the supporting connecting member.

[0009] Furthermore, the X-axis assembly, Y-axis assembly, and Z-axis assembly are connected axially, so that the Y-axis assembly can move up and down along the Z-axis assembly axis, and the Z-axis assembly can move back and forth along the X-axis assembly axis; each of the X-axis assembly, Y-axis assembly, and Z-axis assembly includes at least a motor, a transmission mechanism, and a limiting device.

[0010] Furthermore, the amplitude-changing mechanism includes a feed seat mounted on the top surface inside the housing, a lead screw driven by a feed motor mounted on the feed seat, a feed slider mounted on the lead screw, and the feed slider contacting and limiting the feed seat, so that the feed slider moves laterally under the drive of the lead screw; a cam mounting seat is fixedly mounted at the bottom of the feed slider, and a transversely arranged camshaft is rotatably mounted on the cam mounting seat, with a cam on the camshaft; the frequency conversion rotation mechanism is fixedly mounted on the cam mounting seat, and the frequency conversion rotation mechanism is connected to the camshaft to drive the cam to rotate.

[0011] Compared with the prior art, the present invention has the following beneficial technical effects:

[0012] (I) The vehicle automated intelligent painting system of the present invention has mature painting motion trajectory planning, and is supported by a number of general motion trajectory planning software (CAM) and simulation verification software. The trajectory planning has high accuracy and is most suitable for precision motion.

[0013] (II) The vehicle automated intelligent painting system of the present invention has high positioning accuracy, fast running speed, and five-axis linkage function. It can realize the spraying of any surface of the workpiece in one clamping, and can effectively ensure the spraying efficiency and spraying accuracy.

[0014] (III) The vehicle automated intelligent painting system of the present invention has a five-axis linkage structure that is widely used in the machine tool field and is fully adapted to heavy load requirements.

[0015] (IV) The vehicle automated intelligent painting system of the present invention can achieve automated and precise painting of large-size, multi-color patterns on the entire surface of a vehicle without masking or overspray. Furthermore, through the configuration and combination of two cantilevered five-axis linkage painting structures, it can achieve dual-station painting on both sides, further improving the overall painting efficiency. By combining the five-axis linkage with the nozzle system, synchronous high-speed and high-precision control of the painting motion trajectory and nozzle spraying is achieved. The frequency and amplitude of nozzle spraying can be automatically adjusted according to the movement speed of the painting system, thereby ensuring the uniformity of the paint thickness and the clarity of the painted pattern edges, and indirectly avoiding the harm to the human body caused by manual painting. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a single unit of the coating system of the present invention.

[0017] Figure 2 This is a schematic diagram of the X-axis equipment structure of the coating system of the present invention.

[0018] Figure 3 This is a schematic diagram of the Y-axis equipment structure of the coating system of the present invention.

[0019] Figure 4 This is a schematic diagram of the Z-axis equipment structure of the coating system of the present invention.

[0020] Figure 5 This is a schematic diagram of the rotating shaft swing head structure of the coating system of the present invention.

[0021] Figure 6 This is a front view of the internal structure of the spray nozzle assembly of the coating system of the present invention.

[0022] Figure 7 This is a front view of the external structure of the spray nozzle assembly of the coating system of the present invention.

[0023] Figure 8 This is a side view of the internal structure of the spray nozzle assembly of the coating system of the present invention.

[0024] Figure 9 This is a side view of the external structure of the spray nozzle assembly of the coating system of the present invention.

[0025] Figure 10 This is a schematic diagram of the camshaft structure in the nozzle assembly of the present invention.

[0026] Figure 11 This is a schematic diagram of the cross-sectional structure of the cam in the nozzle assembly of the invention.

[0027] Figure 12 This is a schematic diagram illustrating the use of the cantilevered five-axis linkage spraying structure of the coating system of the present invention to achieve left and right dual-station spraying.

[0028] Figure 13 This is a schematic diagram illustrating the spraying effect of a nozzle using existing technology.

[0029] Figure 14 This is a microscopic image showing the spraying effect of the nozzle assembly involved in this invention.

[0030] Figures 15-19 The images show the application state of the present invention in actual spraying, the overall vehicle spraying effect, and the partial spraying effect of the sprayed pattern.

[0031] The meanings of the various labels in the attached diagram are as follows:

[0032] Figure 1 The meanings of the various labels are as follows: 1-X-axis slide block, 2-Z-axis slide block connector, 3-rear plate, 4-lower cover plate, 5-motor fixing plate, 6-X-axis assembly, 7-column base, 8-Z-axis assembly, 9-Y-axis assembly, 10-first rotating axis, 11-second rotating axis, 12-front corner brace, 13-rear corner brace, 14-rotating axis swing head, 15-nozzle assembly.

[0033] Figure 2 The meaning of each label is: 6-X-axis assembly.

[0034] Figure 3 The meanings of the various labels are as follows: 9-1-base; 9-2-buffer block; 9-3-limit bracket; 9-4-linear guide rail; 9-5-rack.

[0035] Figure 4 The meanings of each number are as follows: 8-1-Upper carbon steel plate, 8-2-I-beam, 8-3-Lower carbon steel plate, 8-4-Linear guide rail, 8-5-Limit bracket, 8-6-Buffer block, 8-7-Pressure block, 8-8-Rack, 8-9-Z-axis slide connector, 8-10-Motor, 8-11-Gear, 8-12-Motor base, 8-13-Z-axis lower cover plate.

[0036] Figure 5 The meanings of each number are as follows: 14-1- Nozzle base plate, 14-2- Motor mounting plate, 14-3- Nozzle mounting base, 14-4- C-axis motor, 14-5- L-connecting plate, 14-6- Right support, 14-7- Upper support plate, 14-8- Rear plate, 14-9- Left support, 14-10- A-axis motor, 15- Nozzle assembly.

[0037] Figures 6-11 The meanings of each number in the text are as follows: 15-1-Cover, 15-2-Amplitude mechanism, 15-3-Frequency rotation mechanism, 15-4-Material suction and spraying mechanism, 15-5-Atomizing hood, 16-Pressure valve, 17-Air source, 18-Check valve, 19-Material cylinder;

[0038] 15-2-1-Feed seat, 15-2-2-Feed motor, 15-2-3-Lead screw, 15-2-4-Feed slider, 15-2-5-Cam mount, 15-2-6-Camshaft, 15-2-7-Cam;

[0039] 15-4-1-Outer sleeve, 15-4-2-Inner sleeve, 15-4-3-Piston cylinder body, 15-4-4-Piston, 15-4-5-Piston rod, 15-4-6-Universal ball connecting rod, 15-4-7-Universal ball mounting seat, 15-4-8-Universal ball, 15-4-9-Large return spring, 15-4-10-Spring stop block, 15-4-11-Suction head, 15-4-12-Flexible plug, 15-4-13-Flexible plug rod, 15-4-14-Small return spring, 15-4-15-Injection head, 15-4-16-Injection channel, 15-4-17-Sealing ring;

[0040] 15-4-3-1-Piston chamber, 15-4-3-2-Suction chamber, 15-4-3-3-Discharge channel, 15-4-3-4-Discharge check valve chamber;

[0041] 15-5-1-Atomizing core, 15-5-2-Atomizing cover, 15-5-3-Atomizing cap, 15-5-4-Injection nozzle, 15-5-5-Atomizing chamber, 15-5-6-Gas buffer chamber, 15-5-7-Gas channel.

[0042] The specific content of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Detailed Implementation

[0043] See Figure 1 , Figure 1 This is a schematic diagram of the overall structure of a single unit of the coating system of the present invention. An automated intelligent coating system for vehicles includes one or more components. The present invention provides two cantilevered five-axis linkage spraying structures. Each cantilevered five-axis linkage spraying structure includes at least: an X-axis assembly 6, a Y-axis assembly 9, a Z-axis assembly 8, a first rotating axis 10, a second rotating axis 11, and a nozzle assembly. The nozzle assembly 15 is disposed on one side of either rotating axis 11 or 12. Through five-axis linkage, the nozzle assembly 15 can reciprocate and spray in any specified direction in space.

[0044] See Figures 2-5 As shown, the X-axis assembly 6, Y-axis assembly 9, and Z-axis assembly 8 are connected axially, so that the Y-axis assembly 9 can move up and down along the Z-axis assembly 8, and the Z-axis assembly 8 can move back and forth along the X-axis assembly 6; each of the X-axis assembly 6, Y-axis assembly 9, and Z-axis assembly 8 includes at least a motor, a transmission mechanism, and a limiting device.

[0045] The first rotating shaft 10 and the second rotating shaft 11 are connected to form a rotating shaft swing head 14. The rotating shaft swing head 14 includes at least a first rotating shaft motor 14-4, a second rotating shaft motor 14-10, and supporting connecting components 14-5, 14-6, 14-7, 14-8, and 14-9. The first rotating shaft motor 14-4 and the second rotating shaft motor 14-10 are respectively arranged along the corresponding rotating shaft direction and are fixedly connected by the supporting connecting components (14-5, 14-6, 14-7, 14-8, and 14-9).

[0046] In this embodiment of the invention, the X-axis assembly 6, Y-axis assembly 9, and Z-axis assembly 8 are structurally similar, but their structural details are slightly different. Taking the Z-axis assembly 8 as an example, the structural features of the Z-axis assembly 8 are listed first, and then the detailed structural differences of the three axis assemblies are listed separately.

[0047] See Figure 4 The Z-axis assembly 8 is first assembled from lower carbon steel plates 8-3 and 8-1 connected to I-beam 8-2 with screws to form a base. Then, two linear guides 8-4 and a rack 8-8 are bolted onto the upper carbon steel plate 8-1. The linear guides are pressed tightly on both sides by pressure blocks 8-7. Next, the Z-axis slide connector 8-9 connects to the slider of the guide rail. The motor mount 8-12 is fixed to the Z-axis slide connector, and the motor 8-10 is bolted to the motor mount 8-12. The motor shaft and gear shaft are then connected via a coupling. Gear 8-11 is connected to the gear shaft, and gear 8-11 meshes with the rack 8-8 to form a transmission mechanism. Limit brackets 8-5 are bolted to both ends of the linear guides, and buffer blocks 8-6 are installed on the limit lines. The limit brackets 8-5 and buffer blocks (8-6) act as limiting devices to ensure that the entire movement process is not slipped. The tail end Z-axis lower cover plate 8-13 is connected to the I-beam 2.

[0048] See Figure 2 The difference between the X-axis assembly and the Z-axis assembly is that the X-axis assembly has five additional experimental base plates 6-1. These five experimental base plates 6-1 are fixed to the ground with bolts, and the rest of the structure is the same as that of the Z-axis.

[0049] See Figure 3 The Y-axis assembly differs from the Z-axis assembly in that its base (9-1) is machined from hard aluminum alloy, rather than assembled from structural steel. The base and other components, such as the rack (9-5), linear guide (9-4), and limit bracket (9-3), are identical to those in the Z-axis assembly. The limit bracket (9-3) and buffer block (9-2) are bonded together; the rest of the structure is the same as the Z-axis assembly.

[0050] See Figure 5The first rotating shaft 10 and the second rotating shaft 11 are connected to form a rotating shaft swing head 14. The rotating shaft swing head 14 includes at least a first rotating shaft motor 14-4, a second rotating shaft motor 14-10, and supporting connecting components (14-5, 14-6, 14-7, 14-8, 14-9). The first rotating shaft motor 14-4 and the second rotating shaft motor 14-10 are respectively arranged along the corresponding rotating shaft direction and are fixedly connected by the supporting connecting components (14-5, 14-6, 14-7, 14-8, 14-9).

[0051] The first rotating shaft 10 and the second rotating shaft 11 are fixedly mounted on one end of the 3Y axis assembly via the rear plate 14-8. The first rotating shaft 10 rotating shaft motor 14-4 is fixed on the rear plate 14-8. The rotating shaft motor 14-4 is fixedly connected to the left and right support plates (14-9, 14-10), the upper support plate (14-7), and the motor fixing plate (14-2). The second rotating shaft 11 rotating shaft motor 14-11 is mounted on the motor fixing plate (14-2). The rotating shaft motor 14-11 and the nozzle fixing seat 14-3 are directly connected by bolts. The nozzle fixing seat 14-3 is fixed to the L connecting plate 14-5 by bolts. The nozzle assembly 15 is fixed on the L connecting plate 14-5, thereby indirectly driving the nozzle assembly 15 to move in the direction of the rotating shaft.

[0052] The basic principle of this invention is as follows: The XYZ axes are driven by a servo motor connected to a coupling, which in turn drives a gear rack to slide back and forth on a linear guide rail, thereby achieving linear motion and precise positioning control in three directions. Any two rotating axes are directly connected to drive the nozzle assembly to achieve rotational motion of ±180° in both directions.

[0053] See Figures 6-11 The nozzle assembly 15 of the present invention includes a cover 15-1, and also includes an amplitude changing mechanism 15-2, a frequency conversion rotating mechanism 15-3, a material suction and spraying mechanism 15-4, and an atomizing cover 15-5.

[0054] The luffing mechanism 15-2 includes a feed seat 15-2-1 mounted on the top surface inside the housing 15-1. A lead screw 15-2-3 driven by a feed motor 15-2-2 is mounted on the feed seat 15-2-1. A feed slider 15-2-4 is mounted on the lead screw 15-2-3. The feed slider 15-2-4 contacts and is limited by the feed seat 15-2-1, so that the feed slider 15-2-4 moves laterally under the drive of the lead screw 15-2-3. A cam mounting seat 15-2-5 is fixedly mounted at the bottom of the feed slider 15-2-4. A transversely arranged camshaft 15-2-6 is rotatably mounted on the cam mounting seat 15-2-5. A cam 15-2-7 is provided on the camshaft 15-2-6.

[0055] The frequency conversion rotation mechanism 3 is fixedly installed on the cam mounting seat 15-2-5. The frequency conversion rotation mechanism is connected to the camshaft 15-2-6 and drives the cam 15-2-7 to rotate.

[0056] The material suction and spraying mechanism 15-4 includes an outer sleeve 15-4-1 that extends vertically out of the bottom of the cover 15-1. The outer sleeve 15-4-1 is fixedly installed at the bottom of the cover 15-1. The top end of the inner sleeve 15-4-2 is detachably installed at the bottom end of the outer sleeve 15-4-1. A piston cylinder 15-4-3 is fixedly installed inside the outer sleeve 15-4-1 and the inner sleeve 15-4-2. The top end of the piston cylinder 15-4-3 rests on the flange inside the outer sleeve 15-4-1, and the bottom end of the piston cylinder 15-4-3 rests on the inner bottom surface of the inner sleeve 15-4-2.

[0057] Inside the piston cylinder 15-4-3, from top to bottom, there are coaxially connected piston chamber 15-4-3-1, suction chamber 15-4-3-2, discharge channel 15-4-3-3, and discharge one-way valve chamber 15-4-3-4. The inner diameter of piston chamber 15-4-3-1 is larger than the inner diameter of suction chamber 15-4-3-2, and the inner diameter of discharge channel 15-4-3-3 is smaller than the inner diameter of discharge one-way valve chamber 15-4-3-4. The top of piston chamber 15-4-3-1 is open, and the bottom of discharge one-way valve chamber 15-4-3-4 is open.

[0058] A piston 15-4-4 is installed inside the piston chamber 15-4-3-1. The piston 15-4-4 is connected to the bottom end of the piston rod 15-4-5. The top end of the piston rod 15-4-5 is connected to the bottom end of the universal ball connecting rod 15-4-6. A universal ball mounting seat 15-4-7 is provided at the top end of the universal ball connecting rod 15-4-6. A universal ball 15-4-8 is installed inside the universal ball mounting seat 15-4-7. The universal ball 15-4-8 is connected to the cam 15-2. -7 Contact installation; A large return spring 15-4-8 is fitted on the piston rod 15-4-5 extending from the piston cylinder 15-4-3. The bottom end of the large return spring 15-4-9 rests on the top of the piston cylinder 15-4-3, and the top end of the large return spring 15-4-9 rests on the spring stop 15-4-10 set on the piston rod 15-4-5. The large return spring 14-4-9 makes the universal ball 15-4-8 in close contact with the cam 15-2-7.

[0059] The suction chamber 40302 is connected to the suction head 411 located outside the piston cylinder 403.

[0060] A flexible plug 15-4-12 is installed inside the discharge check valve chamber 15-4-3-4, which is placed against the top surface of the check valve chamber 15-4-3-4 to block the discharge channel 15-4-3-3. A flexible plug rod 15-4-13 is vertically installed at the bottom of the flexible plug 15-4-12. A small return spring 15-4-14 is fitted on the flexible plug rod 15-4-13. The top of the small return spring 15-4-14 is placed against the bottom of the flexible plug 15-4-12, and the bottom of the small return spring 15-4-14 is placed against the inner bottom surface of the inner sleeve 15-4-2. A spray head 15-4-15 is provided at the bottom of the inner sleeve 15-4-2. A spray channel 15-4-16 is provided inside the spray head 15-4-15, which passes through the bottom of the inner sleeve 15-4-2 and is connected to the discharge one-way valve chamber 15-4-3-4.

[0061] An atomizing cover 15-5 is installed on the nozzle 15-4-15. The atomizing cover 15-5 includes an atomizing core 15-5-1 whose top end is connected to the nozzle 15-4-15. An atomizing cover 15-5-2 is fitted over the atomizing core 15-5-1. An atomizing cap 15-5-3 is installed on the top end of the atomizing cover 15-5-2 and the top end of the atomizing core 15-5-1. A nozzle 15-5-4 is opened at the bottom end of the atomizing core 15-4-15. -5-1 is provided with an atomizing chamber 15-5-5 that connects the spray channel 15-4-16 and the spray nozzle 15-5-4. A sealed gas buffer chamber 15-5-6 is formed between the atomizing core 15-5-1 and the atomizing cover 15-5-2. Multiple gas channels 15-5-7 that connect the gas buffer chamber 15-5-6 and the atomizing chamber 15-5-5 are provided on the side wall of the atomizing core 15-5-1.

[0062] Specifically, the gas buffer chamber 15-5-7 is connected to the gas source 17 equipped with a pressure valve 16. The pressure valve 16 can control the atomization size. The suction head 15-4-11 is connected to the feed cylinder 19 equipped with a one-way valve 18. The one-way valve 18 only allows the coating material to enter the suction head 15-4-11 from the feed cylinder 19.

[0063] The gas channels are set at an angle of 15-5-7. The specific number and angle of inclination can be optimized according to needs.

[0064] The housing 15-1 is a closed shell assembled from detachable panels, facilitating installation, disassembly, and maintenance. The inner diameter of the spray channel 15-4-16 is larger than the outer diameter of the flexible plug 15-4-13. During the downward movement of the piston 15-4-4, the flexible plug 15-4-12 and the flexible plug 15-4-13 also move downward under pressure. The flexible plug 15-4-13 enters the spray channel 15-4-16, whose inner diameter is larger than the outer diameter of the flexible plug 15-4-13, ensuring that the paint can be smoothly sprayed out in the gap between the flexible plug 15-4-13 and the spray channel 15-4-16.

[0065] Both the flexible plug 15-4-12 and the flexible plug rod 15-4-13 of the present invention are made of rubber material.

[0066] A sealing ring 15-4-7 is provided between the bottom end of the piston cylinder 15-4-3 and the inner bottom surface of the inner sleeve 15-4-2. The camshaft 15-2-6 is rotatably mounted on the cam mount 15-2-5 via bearings.

[0067] The variable frequency drive mechanism 15-3 uses a motor. Alternatively, other products capable of variable frequency drive can be used as substitutes.

[0068] The basic design principle of the nozzle assembly of this invention is as follows: the structure of cam 15-2-7 is elliptical frustum-shaped. The end of cam 15-2-7 closer to the frequency conversion rotating mechanism 3 is the large end, and the end of cam 15-2-7 farther from the frequency conversion rotating mechanism 15-3 is the small-large end. When the feed motor 15-2-2 stops rotating, a certain point of cam 15-2-7 contacts the universal ball 15-4-8. When the frequency conversion rotating mechanism 15-3 motor rotates at a certain speed n, it will cause cam 15-2-7 to rotate at speed n, thereby driving piston rod 15-4-5 to move up and down.

[0069] Since the axial cross-section of the cam 15-2-7 is elliptical, the piston rod 15-4-5 moves at a frequency of 2n. When the piston rod 15-4-5 moves upward, the piston 15-4-4 causes the suction chamber 15-4-3-2 to form a negative pressure. At this time, since the flexible plug 15-4-12 in the discharge check valve chamber 15-4-3-4 tightly blocks the discharge channel 15-4-3-3 against the inner top surface, the spray channel 15-4-16 in the spray head 15-4-15 is equivalent to being closed. Therefore, the paint will be sucked from the barrel 19 into the suction chamber 15-4-3-2 through the check valve 18. When the piston rod 15-4-4 moves downward, the one-way valve 18 on the barrel 19 closes, and the piston 15-4-4 creates positive pressure in the suction chamber 15-4-3-2. At this time, because the flexible plug 15-4-12 in the discharge one-way valve chamber 15-4-3-4 disengages from the inner top surface and moves downward, the discharge channel 15-4-3-3 opens, and the spray channel 15-4-16 in the nozzle 15-4-15 is essentially open. Therefore, the paint will be sprayed out from the spray channel 15-4-16 in the nozzle 15-4-15 and enter the atomizing hood 15-5 for atomization. When the rotational speed n of the variable frequency drive mechanism 15-3 changes, the paint spray point from the nozzle also changes accordingly, thus forming variable frequency control.

[0070] When the feed motor 15-2-2 stops rotating, a specific elliptical ring on the cam 15-2-7 contacts the universal ball 15-4-8. The amplitude of one revolution of the cam 15-2-7 is ba, which is the paint output V = s * (ba), where s is the cross-sectional area of ​​the piston chamber 15-4-3-1, b is the major axis radius of the ellipse, and a is the minor axis radius of the ellipse. When the feed motor 15-2-2 rotates, the lead screw 15-2-3 rotates accordingly, thereby driving the feed slider 15-2-4 to move laterally, which in turn drives the cam 15-2-7 to move laterally. After the cam 15-2-7 moves laterally, the elliptical ring on the cam 15-2-7 in contact with the universal ball 15-4-8 also changes, and its amplitude ba changes accordingly, thus realizing amplitude control, that is, controlling the output amount each time.

[0071] When using the nozzle assembly 15 of the present invention, the following steps are performed:

[0072] The first step is to start the feed motor 15-202, so that the cam 15-2-7 moves to the expected amplitude position to achieve the required output amount during spraying.

[0073] The second step is to stop the rotation of the feed motor 15-2-2 and start the variable frequency drive mechanism 15-3 at the expected speed n, so that the camshaft 15-2-6 runs. The camshaft 15-2-6 drives the cam 15-2-7 to rotate, thereby driving the piston rod 15-4-5 to move up and down vertically, so that the paint is sprayed out at a frequency of 2n. The sprayed paint is atomized by the atomizing hood 5 and finally sprayed out as atomized spray points, which are then sprayed into various patterns.

[0074] Third, during atomization, the degree of atomization can be adjusted through the air pressure valve 16 to achieve the ideal atomization spray point; the air pressure valve 16 can be automatically controlled by a control program as needed.

[0075] The fourth step is to adjust the speed of the variable frequency rotating mechanism 15-3, which can automatically control the frequency of the spraying points. During the spraying process, the feed motor 15-2-2 is started, which drives the cam 15-2-7 to move and change the amplitude ba, so as to automatically adjust the output of each spraying point, that is, amplitude adjustment.

[0076] The following is the vehicle automated intelligent painting system of the present invention. When using it, follow these steps:

[0077] The first step is to fix the workpiece to be sprayed in the workspace area on the right side of the X-axis assembly and accurately position it to obtain the workpiece coordinates of the center of the workpiece, and then adjust the distance between the spray nozzle and the workpiece surface by the motor.

[0078] The second step is to plan the workpiece spraying trajectory and generate the spraying program code based on the obtained workpiece coordinates by establishing a workpiece model.

[0079] The third step involves using the generated spray trajectory program code to control the X, Y, and Z axis motors to drive the ball screws in linear motion, and to control the first and second rotary axis motors to rotate, so that the nozzle moves to the corresponding spray area point. The synchronous trigger signal is then used to control the nozzle to spray at the corresponding spray point.

[0080] The fourth step is to move the spray nozzle away from the workpiece to its initial position after the spraying is completed, in order to avoid collision between the spray nozzle and the workpiece.

[0081] Example 1: The vehicle automated intelligent painting system of the present invention, by using two cantilevered five-axis linkage spraying structures, can realize left and right dual-station spraying. (See Example 1) Figure 12 As shown, this technology further improves the overall vehicle painting efficiency, enabling automated and precise painting of multi-color patterns on the entire vehicle surface without masking or overspray.

[0082] In particular, the present invention can modify the travel of the cantilevered five-axis linkage spraying structure according to the size of the workpiece to be sprayed and the cost of the spraying equipment.

[0083] Figure 13 Traditional spraying produces a continuous but wasteful process. The sprayed pattern requires manual masking, resulting in low efficiency, health risks, environmental pollution, and low automation. In contrast, the automated intelligent vehicle painting system of this invention features variable frequency and amplitude automatic control during the spraying process. It is no longer continuous, allowing for on-demand spraying without masking, thus improving efficiency, reducing waste, and minimizing harm to workers. A microscopic image of the spraying effect from the nozzle assembly is shown below. Figure 14 As shown.

[0084] Figures 15-19 These are diagrams showing the application of this invention in actual use, including the overall vehicle painting effect and partial views of the painting pattern.

Claims

1. An automated intelligent painting system for vehicles, characterized in that: The system includes one or more cantilevered five-axis linkage spraying structures, which at least include: an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a first rotating axis, and a second rotating axis; the nozzle assembly is disposed on one side of the first rotating axis or the second rotating axis; the five-axis linkage drives the nozzle assembly to reciprocate and spray in any specified direction in space; The nozzle assembly includes a variable amplitude mechanism, a variable frequency rotation mechanism, and a material suction and spraying mechanism. The variable amplitude mechanism is mounted on the material suction and spraying mechanism. The cam in the variable amplitude mechanism is in close contact with the universal ball in the material suction and spraying mechanism. The variable amplitude mechanism adjusts the contact point between the cam and the material suction and spraying mechanism. The material suction and spraying mechanism performs the suction and spraying of paint. The lifting and lowering movement of the piston in the material suction and spraying mechanism makes the sprayed paint a spray point. The amplitude-changing mechanism includes a feed seat mounted on the top surface inside the housing, a lead screw driven by a feed motor mounted on the feed seat, a feed slider mounted on the lead screw, and the feed slider contacting and limiting the feed seat, so that the feed slider moves laterally under the drive of the lead screw; a cam mounting seat is fixedly mounted at the bottom of the feed slider, and a laterally arranged camshaft is rotatably mounted on the cam mounting seat, with a cam on the camshaft; the frequency conversion rotation mechanism is fixedly mounted on the cam mounting seat, and the frequency conversion rotation mechanism is connected to the camshaft to drive the cam to rotate. The material suction and spraying mechanism includes an outer sleeve that extends vertically out of the bottom of the cover. The outer sleeve is fixedly installed at the bottom of the cover. The top end of the inner sleeve is detachably installed at the bottom end of the outer sleeve. A piston cylinder is fixedly installed inside the outer sleeve and the inner sleeve. The top end of the piston cylinder rests on the flange inside the outer sleeve, and the bottom end of the piston cylinder rests on the inner bottom surface of the inner sleeve. The piston cylinder is provided with a piston chamber, a suction chamber, a discharge channel and a discharge one-way valve chamber arranged in a vertical direction from top to bottom. The inner diameter of the piston chamber is larger than the inner diameter of the suction chamber, and the inner diameter of the discharge channel is smaller than the inner diameter of the discharge one-way valve chamber. The top of the piston chamber is open and the bottom of the discharge one-way valve chamber is open. A piston is installed inside the piston chamber. The piston is connected to the bottom end of a piston rod, and the top end of the piston rod is connected to the bottom end of a universal ball connecting rod. A universal ball mounting seat is provided at the top end of the universal ball connecting rod, and a universal ball is installed inside the universal ball mounting seat. The universal ball is in contact with the cam. A large return spring is fitted on the piston rod extending out of the piston cylinder. The bottom end of the large return spring rests against the top of the piston cylinder, and the top end of the large return spring rests against a spring stop block provided on the piston rod. The large return spring ensures that the universal ball and the cam are in close contact. The suction chamber is connected to a suction head located outside the piston cylinder. The discharge check valve cavity is provided with a flexible plug that is pressed against the top surface of the check valve cavity to block the discharge channel. A flexible plug rod is vertically provided at the bottom of the flexible plug. A small return spring is fitted on the flexible plug rod. The top of the small return spring is pressed against the bottom of the flexible plug, and the bottom of the small return spring is pressed against the inner bottom surface of the inner sleeve. The bottom surface of the inner sleeve is provided with a spray head, and the spray head is provided with a spray channel that penetrates the bottom surface of the inner sleeve and is connected to the discharge one-way valve chamber.

2. The vehicle automated intelligent painting system as described in claim 1, characterized in that: The first and second rotating shafts are connected to form a rotating shaft swing head. The rotating shaft swing head includes at least a first rotating shaft motor, a second rotating shaft motor, and a support connecting member. The first rotating shaft motor and the second rotating shaft motor are respectively arranged along the corresponding rotating shaft direction and are fixedly connected by the support connecting member.

3. The vehicle automated intelligent painting system as described in claim 1, characterized in that: The X-axis assembly, Y-axis assembly, and Z-axis assembly are connected axially, allowing the Y-axis assembly to move up and down along the Z-axis assembly axis, and the Z-axis assembly to move back and forth along the X-axis assembly axis. Each of the X-axis assembly, Y-axis assembly, and Z-axis assembly includes at least a motor, a transmission mechanism, and a limiting device.

4. The vehicle automated intelligent painting system as described in any one of claims 1-3, characterized in that, The nozzle is equipped with an atomizing cover; the atomizing cover includes an atomizing core connected to the nozzle at its top, an atomizing cover body fitted over the atomizing core body, and an atomizing cap body installed at the top of the atomizing cover body and the top of the atomizing core body; a nozzle is provided at the bottom of the atomizing core body, and an atomizing chamber is provided inside the atomizing core body to connect the nozzle and the nozzle, forming a sealed gas buffer chamber between the atomizing core body and the atomizing cover body, and multiple gas channels connecting the gas buffer chamber and the atomizing chamber are provided on the side wall of the atomizing core body.

5. The vehicle automated intelligent painting system as described in claim 4, characterized in that, The gas buffer chamber is connected to a gas source equipped with a pressure valve.

6. The vehicle automated intelligent painting system as described in claim 5, characterized in that, The gas channel is inclined.

7. The vehicle automated intelligent painting system as described in any one of claims 1-6, characterized in that, The suction head is connected to a material cylinder with a one-way valve, and the inner diameter of the spray channel is larger than the outer diameter of the flexible plug rod.

Images