An automatic spray painting robotic arm

Abstract

The present invention provides an automatic painting robot arm, which includes a transverse movement motor, a lifting motor, a rotating motor, and a material taking arm. The automatic painting robot arm can perform translational movements in the horizontal and vertical directions, as well as a rotational movement perpendicular to the axes of the horizontal and vertical directions. A vacuum adsorption device is provided on the material taking arm for adsorbing the curved glass after coating. The rotation angle stroke of the rotating motor depends on the curvature of the glass. The rotating motor rotates in real time according to the preset angle change of the glass curvature, so that the painting surface is always perpendicular to the paint curtain, the painting surface is uniform, and the process parameters are controllable.

Description

Technical Field

[0001] The present invention belongs to the field of glass deep processing, and particularly relates to a paint spraying automatic robotic arm. Background Art

[0002] In the field of glass deep processing, after an aluminum film is plated on the front surface of the glass, due to the relatively weak adhesion of the aluminum film, it is easy to be scratched or peeled off during the subsequent packaging or transportation. Therefore, it is necessary to evenly spray paint on the aluminum film surface and then dry it. For glass with a curvature after being bent and baked, the existing paint spraying method usually involves the glass with a curvature after being bent and baked entering a coating machine to be coated with an aluminum film and then coming out. The glass is picked up by a robot, placed on a paint spraying feeding conveyor belt, and quickly conveyed through the paint curtain by the feeding conveyor belt to enter the output conveyor belt, thereby completing the paint spraying process. However, when the curved glass is quickly sprayed with paint and enters the transfer output conveyor belt, due to the too fast speed, the corners may break or the curved surface cannot be evenly painted, resulting in product scrapping or defects. Summary of the Invention

[0003] To solve the above problems, the present invention provides a paint spraying automatic robotic arm, which is characterized in that the paint spraying automatic robotic arm includes a transverse movement motor, a lifting motor, a rotating motor, and a material taking arm. The output shaft of the transverse movement motor is connected to a rotating sprocket, the rotating sprocket is connected to a chain, and a lifting motor mounting seat is fixed on the chain. When the transverse movement motor rotates, it drives the sprocket and chain to operate, thereby driving the horizontal movement of the lifting motor mounting seat. The lifting motor is fixed on the lifting motor mounting seat and is used to control the lifting movement of the paint spraying automatic robotic arm. The rotating motor is coaxially connected to the material taking arm and is used to control the rotating movement of the paint spraying automatic robotic arm. A vacuum adsorption device is arranged on the material taking arm and is used to adsorb the curved glass after coating. The rotation angle stroke of the rotating motor depends on the curvature of the glass, and the rotating motor rotates in real time according to the angle change preset according to the curvature of the glass, so that the paint spraying surface is always perpendicular to the paint spraying curtain.

[0004] Preferably, the paint spraying automatic robotic arm is installed on a paint spraying machine. The paint spraying machine further includes a feeding conveyor belt, a discharging conveyor belt, and a paint curtain device. Among them, the feeding conveyor belt and the discharging conveyor belt are fixed on the left and right sides of the paint curtain. A photoelectric sensing switch is arranged in front of the feeding conveyor belt. When the photoelectric sensing switch senses the glass entering signal, the feeding conveyor belt stops conveying. The paint spraying automatic robotic arm is fixed on one side perpendicular to the movement direction of the feeding conveyor belt and the discharging conveyor belt. The paint spraying automatic robotic arm can perform linear motion in the horizontal direction and the vertical direction, and rotate along the axis perpendicular to the horizontal direction and the vertical direction. Moreover, the horizontal movement stroke covers part of the feeding conveyor belt and the discharging conveyor belt.

[0005] Preferably, the paint curtain device further includes the paint shower curtain, a paint receiving tray, and a paint return tank. After the material taking arm enters the paint shower curtain for painting, the excess paint flows into the paint return tank through the paint receiving tray for recycling.

[0006] Preferably, the specific working process of the automatic painting robot arm is as follows:

[0007] S1: The robot grabs the magnifying glass glass with a curved surface after film coating onto the feeding conveyor belt.

[0008] S2: The feeding conveyor belt transports the glass to the front photoelectric detection switch and stops conveying.

[0009] S3: After the automatic robot arm moves to the set material taking position through the cooperation between the cross - moving motor, the lifting motor, and the rotating motor, it sucks and firmly grasps the glass through the vacuum adsorption device on the material taking arm and then moves to the waiting position before painting. And through the rotating motor 6 on the automatic robot arm, it adjusts the angle of the glass ready to enter the paint curtain and waits for a few seconds for defibrillation. Then, it quickly enters the paint curtain, and during the painting process, it controls the rotating motor on the automatic robot arm to rotate in real - time according to the angle change preset according to the curvature of the glass, so that the painted surface is always perpendicular to the paint shower curtain.

[0010] S4: After the glass with a curved surface is quickly painted, it moves to the waiting position after painting and automatically adjusts the sheet placing angle, waits for defibrillation again, and after the automatic robot arm stabilizes, it is accurately placed on the discharging conveyor belt.

[0011] S5: After the automatic robot arm finishes discharging, it moves back to the initial position to wait for the action signal of the next cycle.

[0012] The beneficial effects brought by the present invention are as follows: 1. After the robot arm grabs the arc - faced glass and quickly passes through the paint curtain, it rotates synchronously according to the actual arc of the glass, so that each surface of the arc reaches a state close to perpendicular when passing through the paint curtain, achieving a uniform paint surface effect. And after passing through the paint curtain, it will automatically rotate to adjust the sheet placing angle and height, and then accurately place it on the output conveyor belt at an appropriate speed to ensure that each product will not have problems such as corner breakage, uneven painting, and reverse painting causing product quality abnormalities. 2. It can effectively ensure the stability of product quality, the process parameters are controllable, and at the same time, it can liberate the on - duty personnel, who only come to deal with problems when there are problems, avoiding waste of manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0014] Figure 1 This is the top view of the general assembly of the paint spraying machine of the present invention;

[0015] Figure 2 This is the axonometric view of the automatic paint spraying robotic arm of the present invention; Specific embodiments

[0016] The following will further elaborate on the present invention in conjunction with the appended Figure 1 to Figure 2 drawings, so that those skilled in the art can implement it with reference to the text of the specification.

[0017] Referring to the appended Figure 1 drawings, the present invention provides a paint spraying machine, including an automatic paint spraying robotic arm, a feeding conveyor belt 1, a discharging conveyor belt 3, and a paint curtain device. Among them, the feeding conveyor belt 1 and the discharging conveyor belt 3 are fixed on the left and right sides of the paint curtain 2. A photoelectric sensing switch is arranged in front of the feeding conveyor belt 1. When the photoelectric sensing switch senses the glass entering signal, the feeding conveyor belt 1 stops conveying; the automatic paint spraying robotic arm is fixed on one side perpendicular to the moving direction of the feeding conveyor belt 1 and the discharging conveyor belt 3. Taking the moving direction of the feeding conveyor belt 1 and the discharging conveyor belt 3 as the X direction, taking the direction in the same plane as the feeding conveyor belt 1 and the discharging conveyor belt 3 and perpendicular to the moving direction of the feeding conveyor belt 1 and the discharging conveyor belt 3 as the Y direction, and taking the direction perpendicular to the plane where the feeding conveyor belt 1 and the discharging conveyor belt 3 are located as the Z direction, the automatic paint spraying robotic arm can move horizontally along the X direction, can rotate along the Y direction, can move vertically along the Z direction, and the horizontal moving stroke along the X direction covers a part of the feeding conveyor belt 1 and the discharging conveyor belt 3.

[0018] Referring to the appended Figure 2 drawings, the automatic paint spraying robotic arm includes a transverse movement motor 4, a lifting motor 5, a rotating motor 6, and a material taking arm 7. Among them, the transverse movement motor 4 is fixed on one side of the frame of the automatic paint spraying robotic arm. The output shaft of the transverse movement motor 4 is connected to a rotating sprocket, the rotating sprocket is connected to a chain, and a lifting motor mounting seat is fixed on the chain. When the transverse movement motor 4 rotates, it drives the sprocket and chain to operate, and then drives the lifting motor mounting seat to move horizontally. The lifting motor 5 is fixed on the lifting motor mounting seat and is used to control the lifting movement of the automatic paint spraying robotic arm. The rotating motor 6 is coaxially connected to the material taking arm 7 and is used to control the rotating movement of the automatic paint spraying robotic arm. A vacuum adsorption device is arranged on the material taking arm 7 and is used to adsorb the curved glass after coating. The rotation angle stroke of the rotating motor 6 depends on the curvature of the glass.

[0019] In addition, for the horizontal and vertical movements of the automatic paint spraying robotic arm, transmission can also be carried out through worm gears, nut screws, belt pulleys and belts, and gear racks.

[0020] Referring to the appended Figure 1, the paint curtain device further includes a paint shower curtain 2, a paint receiving tray, and a return oil tank 8. After the material taking arm 7 enters the paint shower curtain 2 for painting, the excess paint flows into the return oil tank 8 through the paint receiving tray for recycling.

[0021] The specific working process of the automatic painting robotic arm is as follows:

[0022] S1: The robot grabs the magnifying glass glass with a coated arc onto the feeding conveyor belt;

[0023] S2: The feeding conveyor belt transports the glass to the front photoelectric detection switch and stops conveying;

[0024] S3: After the automatic robotic arm moves to the set material taking position through the cooperation of the cross - moving motor 4, the lifting motor 5, and the rotating motor 6, it sucks and firmly grasps the glass through the vacuum adsorption device on the material taking arm 7 and then moves to the waiting position before painting. And it adjusts the angle of the glass ready to enter the paint curtain through the rotating motor 6 on the automatic robotic arm and waits for a few seconds to eliminate tremors. After the automatic robotic arm stabilizes, it quickly enters the paint curtain, and during the painting process, it controls the rotating motor 6 on the automatic robotic arm to rotate in real - time according to the preset angle change of the glass arc, so that the painted surface is always perpendicular to the paint shower curtain 2;

[0025] S4: After the glass with an arc is quickly painted, it moves to the waiting position after painting and automatically adjusts the sheet - placing angle, waits for tremor elimination again. After the automatic robotic arm stabilizes, it is accurately placed on the discharging conveyor belt;

[0026] S5: After the automatic robotic arm discharges the material, it moves back to the initial position to wait for the action signal of the next cycle.

[0027] Finally, it should be noted that: the above - described embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An automatic painting robotic arm for arc-shaped glass, characterized in that, The automatic paint spraying robotic arm includes a transverse movement motor (4), a lifting motor (5), a rotating motor (6), and a material taking arm (7). The output shaft of the transverse movement motor (4) is connected to a rotating sprocket, the rotating sprocket is connected to a chain, and a lifting motor mounting seat is fixed on the chain. When the transverse movement motor (4) rotates, it drives the sprocket and chain to operate, thereby driving the horizontal movement of the lifting motor mounting seat. The lifting motor (5) is fixed on the lifting motor mounting seat and is used to control the lifting movement of the automatic paint spraying robotic arm. The rotating motor (6) is coaxially connected to the material taking arm (7) and is used to control the rotating movement of the automatic paint spraying robotic arm. A vacuum adsorption device is arranged on the material taking arm (7) for adsorbing the curved glass after coating. The rotation angle stroke of the rotating motor (6) depends on the curvature of the glass. The rotating motor (6) rotates in real time according to the preset angle change of the glass curvature, so that the paint spraying surface always remains perpendicular to the paint spraying curtain (2). The automatic paint spraying robotic arm is installed on the paint spraying machine. The paint spraying machine further includes a feeding conveyor belt (1), a discharging conveyor belt (3), and a paint curtain device. Among them, the feeding conveyor belt (1) and the discharging conveyor belt (3) are fixed on the left and right sides of the paint spraying curtain (2). An optoelectronic sensing switch is arranged in front of the feeding conveyor belt (1). When the optoelectronic sensing switch senses the glass entry signal, the feeding conveyor belt (1) stops conveying. The automatic paint spraying robotic arm is fixed on one side perpendicular to the movement directions of the feeding conveyor belt (1) and the discharging conveyor belt (3). The automatic paint spraying robotic arm can perform linear movement in the horizontal direction and the vertical direction, and perform rotational movement along the axis perpendicular to the horizontal direction and the vertical direction. The horizontal movement stroke covers part of the feeding conveyor belt (1) and the discharging conveyor belt (3).

2. The automatic painting robotic arm for arc-shaped glass according to claim 1, characterized in that, The paint curtain device further includes the paint spraying curtain (2), a paint receiving tray, and a paint return tank (8). After the material taking arm (7) enters the paint spraying curtain (2) for paint spraying, the excess paint flows into the paint return tank (8) through the paint receiving tray for recycling.

3. The automatic painting robotic arm for arc-shaped glass according to any one of claims 1-2, characterized in that, The specific working process of this automatic paint spraying robotic arm is as follows: S1: The robot grabs the magnifying glass with a curvature after coating onto the feeding conveyor belt; S2: The feeding conveyor belt transports the glass to the front optoelectronic detection switch and stops conveying; S3: After the automatic robotic arm moves to the set material taking position through the cooperation of the transverse movement motor (4), the lifting motor (5), and the rotating motor (6), it sucks and firmly grasps the glass through the vacuum adsorption device on the material taking arm (7) and then moves to the waiting position before paint spraying. And it adjusts the angle of the glass ready to enter the paint curtain through the rotating motor (6) on the automatic robotic arm and waits for a few seconds to remove tremors. After the automatic robotic arm stabilizes, it quickly enters the paint curtain. During the paint spraying process, it controls the rotating motor (6) on the automatic robotic arm to rotate in real time according to the preset angle change of the glass curvature, so that the paint spraying surface always remains perpendicular to the paint spraying curtain (2). S4: After the glass with a curvature is quickly painted, it is moved to the waiting position after painting and the film placement angle is automatically adjusted, and then it waits for defibrillation again. After the automatic robotic arm is stable, it is accurately placed on the discharge conveyor belt; S5: After the automatic robotic arm finishes discharging, it moves to the initial position again to wait for the action signal of the next cycle.

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