A multi-dimensional automatic spraying robot

Abstract

The present invention discloses a multi-dimensional automatic spraying robot, comprising a workpiece base for placing a workpiece, a bottom plate cavity located at the periphery of the lower part of the workpiece base, a mist suction barrel arranged at intervals around the workpiece base, and a multi-dimensional paint spraying arm hanging downward into the air jet range enclosed by the mist suction barrel; the workpiece base can adjust the height and orientation angle of the workpiece by lifting and rotating; the multi-dimensional automatic spraying robot mainly utilizes the deformation of the integrated piezoelectric ceramic after being energized to realize the multi-dimensional angle change of the multi-dimensional paint spraying arm, thereby controlling the paint spray head to have a flexible paint spraying angle, and the angle change does not require traditional multi-joint synthesis, and can be directly integrated through the change of the piezoelectric ceramic block, which can meet the automatic spraying needs of various products, and has a simple structure and is not prone to malfunction. Even if a malfunction occurs, it may only be that the piezoelectric ceramic block is damaged, and the malfunction can be eliminated by simply and quickly replacing it with a standard part, and the manufacturing cost and maintenance cost are extremely low.

Description

Technical Field

[0001] The present invention relates to the field of spraying technology, and in particular to a multi-dimensional automatic spraying robot. Background Art

[0002] Spraying operations are nowadays required for products in almost all walks of life. On the one hand, it is difficult to achieve uniformity of coating and maintain stability of spraying quality by manual spraying. On the other hand, since the paint liquid can cause great harm to the human body, manual spraying will cause great harm to the health of the operator.

[0003] Therefore, the use of automatic spraying technology has become a market trend. The workpieces that need to be sprayed usually have various shapes and specifications. The existing automatic spraying robots generally use a robotic arm, with the arm body connected by multiple joints, and the direction of the end spray head is changed by the rotation of the joints; but if the existing spraying robots need to achieve multi-angle spraying, they need more joints, and each joint requires a different motor drive. Therefore, they are bulky, slow in movement, have numerous and complex mechanical structures, and are prone to failure, and the manufacturing and maintenance costs are very high. Summary of the Invention

[0004] The present invention provides a multi-dimensional automatic spraying robot, which mainly utilizes the deformation of the integrated piezoelectric ceramic after being energized to realize the multi-dimensional angle change of the multi-dimensional paint spray arm, thereby controlling the paint spray head to have a flexible paint spraying angle, and the angle change does not require traditional multi-joint synthesis, and can be directly integrated through the change of the piezoelectric ceramic block. It can meet the automatic spraying needs of various products, and has a simple structure and is not prone to malfunction. Even if a malfunction occurs, it may only be that the piezoelectric ceramic block is damaged, and the fault can be eliminated simply and quickly by replacing it with a standard part. The manufacturing cost and maintenance cost are extremely low.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-dimensional automatic spray painting robot comprises a workpiece base for placing a workpiece, a bottom plate cavity located at the periphery of the lower portion of the workpiece base, mist suction barrels spaced around the workpiece base, and a multi-dimensional spray painting arm that extends downwardly into a spray painting range enclosed by the mist suction barrels; the workpiece base can be adjusted in height and orientation by lifting and rotating; the multi-dimensional spray painting arm comprises, from front to rear end, a spray paint head, a controllable bending body, and a fixed rear pipe; the controllable bending body comprises, from inside to outside, an elastic paint outlet pipe, an elastic tension pipe, a flexible sleeve, and an integrated piezoelectric ceramic tube body; the integrated piezoelectric ceramic tube body comprises a plurality of fan-shaped piezoelectric ceramic blocks; Multiple fan-shaped piezoelectric ceramic blocks are spliced ​​into a circular body; the circular body is sleeved outside a flexible sleeve, and multiple circular bodies are stacked in sequence along the axial direction of the flexible sleeve to form an integrated piezoelectric ceramic tube body; any fan-shaped piezoelectric ceramic block is controlled to be powered on and off by a circuit; after being energized, the fan-shaped piezoelectric ceramic block extends along its upper and lower end surfaces; the bending direction and bending angle of the controllable bending body can be controlled by controlling the extension of the corresponding fan-shaped piezoelectric ceramic block according to preset parameters by a controller; the rear end of the elastic paint outlet tube is connected to a pressurized paint outlet device; the front and rear ends of the elastic tension tube are respectively connected to the paint spray head and the rear pipe, and provide pre-tightening tension during the bending deformation process of the controllable bending body.

[0007] In which, the flexible sleeve is formed by multiple sleeves that are sequentially socketed; the front half of the sleeve is a small-diameter part with a smaller diameter, and the back half is a large-diameter part with a larger diameter; the outer diameter of the small-diameter part is smaller than the inner diameter of the large-diameter part; the small-diameter part and the large-diameter part of two adjacent sleeves are socketed; a first stop ring protrudes outward from the outer circumferential surface of the front end of the small-diameter part; a second stop ring protrudes outward from the inner circumferential surface of the front end of the large-diameter part; the two adjacent sleeves can be stretched and contracted to a certain extent in the axial direction, and can be bent to a certain extent in the radial direction, and after being socketed, the first stop ring and the second stop ring stop each other to prevent the two adjacent sleeves from detaching; the elastic tension tube is adhered to the inner circumferential wall of the flexible sleeve.

[0008] Among them, the sleeves are fixedly provided with circular rings; the inner arc wall of the sector-shaped piezoelectric ceramic block is provided with grooves corresponding to the circular rings; the sector-shaped piezoelectric ceramic block is fixed outside the sleeve by fitting the grooves and the circular rings.

[0009] Among them, the workpiece base includes a base, a swivel seat rotatably arranged on the base, a lifting rod vertically arranged on the center of the swivel seat, a top seat fixedly arranged on the upper end of the lifting rod, and a clamp arranged on the top seat; a gear ring is fixedly sleeved on the outer circumference of the swivel seat, and a servo motor fixed on the base drives the gear ring to rotate through a gear.

[0010] Among them, the bottom plate cavity includes an upper plate, a lower plate and a lower paint suction cavity formed by the upper plate and the lower plate; the upper plate is a multi-hole structure; a first external air pump provides negative pressure to the lower paint suction cavity through a lower air suction pipe, and a first paint liquid filtering and separation device is provided on the lower air suction pipe.

[0011] In which, the mist suction barrel includes an outer barrel wall, an inner barrel wall and a side paint suction cavity formed by the outer barrel wall and the inner barrel wall; the inner barrel wall is composed of densely arranged annular bodies; the annular bodies include an inner ring and an outer ring; the inner ring and the outer ring enclose an annular air suction gap; the air suction gap extends toward the side paint suction cavity and forms an enclosed annular paint suction cavity; each of the annular paint suction cavities is connected to the air suction main pipe through an air suction branch pipe; the air suction main pipe is connected to a second external air pump; a third external air pump provides negative pressure to the side paint suction cavity through the side air suction pipe; the side air suction pipe and the air suction main pipe are respectively provided with a second paint liquid filtration and separation device and a third paint liquid filtration and separation device.

[0012] Compared with the prior art, the present invention has the following beneficial effects: the present invention has a scientific and reasonable structure and is safe and convenient to use:

[0013] 1. The multi-dimensional automatic spraying robot of the present invention mainly utilizes the deformation of the integrated piezoelectric ceramic after being energized to realize the multi-dimensional angle change of the multi-dimensional paint spraying arm, thereby controlling the paint spraying head to have a flexible paint spraying angle, and the angle change does not require traditional multi-joint synthesis, and can be directly integrated through the change of the piezoelectric ceramic block. It can meet the automatic spraying needs of various products, and has a simple structure and is not prone to failure. Even if a failure occurs, it may only be that the piezoelectric ceramic block is damaged, and the fault can be eliminated simply and quickly by replacing it with a standard part. The manufacturing cost and maintenance cost are extremely low.

[0014] 2. The present invention splices multiple fan-shaped piezoelectric ceramic blocks into a ring shape in the radial direction, and then extends and splices multiple rings in the axial direction into a tube shape, thereby realizing a tubular array. The deformation direction of the fan-shaped piezoelectric ceramic block after being energized is the axial direction. Therefore, by controlling the power on and off of each fan-shaped piezoelectric ceramic block separately, it is possible to control whether each fan-shaped piezoelectric ceramic block is elongated in the axial direction, and even the size of the elongation. However, in order to simplify the control difficulty, the power-on voltage can be fixed so that each fan-shaped piezoelectric ceramic block has the same elongation size when energized as a standard part, and the overall elongation is controlled only by the multiple of the number. Since the elongation at different positions is different, the entire multi-dimensional paint spray arm can not only achieve bending in any direction, but even S-shaped or spiral bending, but generally does not require a complex bending form; therefore, compared with the traditional multi-joint robotic arm, the multi-dimensional paint spray arm of the present application not only has more flexible and diverse angle changes, the calculation method and process of the control system are simpler, and it can maintain the same or even higher control accuracy.

[0015] 3. The present invention utilizes a method of sequentially sleeve-connecting sleeves with large and small diameter portions, which not only provides good rigid support for the fan-shaped piezoelectric ceramic block from the outside and provides good support for the elastic paint outlet tube from the inside, but also has passive bending capability at a certain angle and telescopic capability within a certain range; it can assist and support the bending capability of the integrated piezoelectric ceramic tube body at various angles; at the same time, in conjunction with the elastic tension tube, it can not only apply uniform and stable tension to the flexible sleeve, thereby ensuring the posture stability of the flexible sleeve, but also ensure the mutual extrusion force of the fan-shaped piezoelectric ceramic block in the axial direction, thereby ensuring the posture stability of the integrated piezoelectric ceramic tube body.

[0016] 4. The workpiece base of the present invention can realize precise control of the lifting and rotation angle of the workpiece. In conjunction with the multi-dimensional spray paint arm, it can realize complete and comprehensive spraying operation on the workpiece while simplifying the multi-dimensional spray paint arm action mechanism.

[0017] 5. The bottom plate cavity and the mist suction barrel of the present invention can timely absorb the paint mist escaping in the air, on the one hand to ensure the environmental status in the workshop, and on the other hand to filter and recover the paint liquid, thereby improving the utilization rate of the paint liquid, reducing waste and pollution emissions, and contributing to production safety and environmental protection.

[0018] 6. The inner barrel wall of the mist suction barrel of the present invention adopts an air intake hole surrounded by multiple annular air suction slits. The annular air suction slits form an annular high-speed air intake film through separate air suction, so that a large amount of air in the enclosed space of the mist suction barrel carries paint mist and is sucked into the side paint suction chamber from the holes enclosed by the annular air suction slits. Combined with the side paint suction chamber itself, air is sucked through the third external air pump to form a negative pressure. The principle of airflow injection and air amplification is used to achieve the super mist suction effect of the mist suction barrel, thereby ensuring the absorption effect of paint mist. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0020] In the attached figure:

[0021] Figure 1 is a schematic diagram of the multi-dimensional automatic spraying robot of the present invention;

[0022] Figure 2 is a schematic diagram of the multi-dimensional automatic spraying robot of the present invention when the multi-dimensional spraying arm is bent;

[0023] Figure 3 This is a schematic diagram of the present invention when looking outward from the center of the mist suction barrel to the inner barrel wall;

[0024] Figure 4 It is a structural schematic diagram of the torus of the present invention;

[0025] Figure 5 This is a schematic diagram of the present invention when looking at the inner barrel wall from the side paint suction chamber toward the center of the mist suction barrel;

[0026] Figure 6 is a schematic diagram of the multi-dimensional paint spray arm of the present invention;

[0027] Figure 7 is a schematic axial cross-sectional view of the multi-dimensional paint spraying arm of the present invention;

[0028] Figure 8 It is a structural schematic diagram of the bendable sleeve of the present invention.

[0029] Reference numerals in the figure: 1. workpiece base; 11. base; 12. swivel base; 13. lifting rod; 14. top base; 15. fixture; 16. gear ring; 17. servo motor; 18. gear; 2. bottom plate cavity; 21. upper plate; 22. lower plate; 23. lower paint suction cavity; 24. first external air pump; 25. lower air suction pipe; 26. first paint liquid filtering and separating device; 3. mist suction barrel; 31. outer barrel wall; 32. inner barrel wall; 321. annular body; 322. inner ring; 323. outer ring; 324. annular air suction slit; 325. annular paint suction cavity; 326. air suction branch pipe; 327. air suction main pipe; 328. Second external vacuum pump; 33. Side paint suction chamber; 34. Third external vacuum pump; 35. Side exhaust pipe; 36. Second paint liquid filtration and separation device; 37. Third paint liquid filtration and separation device; 4. Multi-dimensional paint spraying arm; 41. Paint spraying head; 42. Controllable bending body; 421. Elastic paint outlet pipe; 422. Bendable sleeve; 423. Integrated piezoelectric ceramic tube body; 424. Fan-shaped piezoelectric ceramic block; 425. Elastic tension tube; 426. Sleeve; 427. Small diameter portion; 428. Large diameter portion; 429. First stop ring; 430. Second stop ring; 431. Circular ring; 43. Rear connecting pipe. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0031] See also Figures 1 to 8A multi-dimensional automatic spraying robot comprises a workpiece base 1 for placing a workpiece, a bottom plate cavity 2 located at the periphery of the lower part of the workpiece base 1, a mist suction barrel 3 arranged at intervals around the workpiece base 1, and a multi-dimensional spraying arm 4 hanging down into the spraying range enclosed by the mist suction barrel 3; the workpiece base 1 can adjust the height and orientation angle of the workpiece by lifting and rotating; the multi-dimensional spraying arm 4 comprises a spraying head 41, a controllable bending body 42 and a fixed rear pipe 43 from front to rear end; the controllable bending body 42 comprises an elastic paint outlet pipe 421, an elastic tension tube 425, a flexible sleeve 422 and an integrated piezoelectric ceramic tube body 423 from inside to outside; the integrated piezoelectric ceramic tube body 423 comprises a plurality of fan-shaped piezoelectric ceramic blocks 424; A plurality of fan-shaped piezoelectric ceramic blocks 424 are spliced ​​into a circular body; the circular body is sleeved outside the flexible sleeve 422, and a plurality of circular bodies are stacked in sequence along the axial direction of the flexible sleeve 422 to form an integrated piezoelectric ceramic tube body 423; any fan-shaped piezoelectric ceramic block 424 is controlled to be powered on and off by a circuit; the fan-shaped piezoelectric ceramic block 424 extends along its upper and lower end surfaces after being energized; the bending direction and bending angle of the controllable bending body 42 can be controlled by controlling the extension of the corresponding fan-shaped piezoelectric ceramic block 424 according to preset parameters by the controller; the rear end of the elastic paint outlet tube 421 is connected to the pressurized paint outlet device 5; the front and rear ends of the elastic tension tube 425 are respectively connected to the paint spray head 41 and the rear pipe 43, and provide pre-tightening tension during the bending deformation process of the controllable bending body 42.

[0032] Furthermore, the bendable sleeve 422 is formed by a plurality of sleeves 426 which are connected in sequence; the front half of the sleeve 426 is a small-diameter portion 427 with a smaller diameter, and the rear half is a large-diameter portion 428 with a larger diameter; the outer diameter of the small-diameter portion 427 is smaller than the inner diameter of the large-diameter portion 428; the small-diameter portion 427 and the large-diameter portion 428 of two adjacent sleeves 426 are connected; a first stop ring 429 is protruding outward from the outer circumferential surface of the front end of the small-diameter portion 427; a second stop ring 430 is protruding outward from the inner circumferential surface of the front end of the large-diameter portion 428; the two adjacent sleeves 426 can be expanded and contracted to a certain extent in the axial direction and can be bent to a certain extent in the radial direction, and after being connected, the first stop ring 429 and the second stop ring 430 stop each other to prevent the two adjacent sleeves 426 from detaching; the elastic tension tube 425 is adhered to the inner circumferential wall of the bendable sleeve 422.

[0033] Furthermore, a ring 431 is fixedly sleeved on the outside of the sleeve 426 ; a groove is provided on the inner arc wall of the sector-shaped piezoelectric ceramic block 424 corresponding to the ring 431 ; and the sector-shaped piezoelectric ceramic block 424 is fixed to the outside of the sleeve 426 by fitting the groove and the ring 431 .

[0034] Furthermore, the workpiece base 1 includes a base 11, a swivel base 12 rotatably arranged on the base 11, a lifting rod 13 vertically arranged at the center of the swivel base 12, a top base 14 fixedly arranged at the upper end of the lifting rod 13, and a clamp 15 arranged on the top base 14; a gear ring 16 is fixedly sleeved on the outer circumference of the swivel base 12, and a servo motor 17 fixed on the base 11 drives the gear ring 16 to rotate through a gear 18.

[0035] Furthermore, the bottom plate cavity 2 includes an upper plate 21, a lower plate 22 and a lower paint suction cavity 23 enclosed by the upper plate 21 and the lower plate 22; the upper plate 21 is a multi-hole structure; a first external air pump 24 provides negative pressure to the lower paint suction cavity 23 through a lower air suction pipe 25, and a first paint liquid filtering and separation device 26 is provided on the lower air suction pipe 25.

[0036] Furthermore, the mist suction barrel 3 includes an outer barrel wall 31, an inner barrel wall 32 and a side paint suction chamber 33 enclosed by the outer barrel wall 31 and the inner barrel wall 32; the inner barrel wall 32 is composed of densely arranged annular bodies 321; the annular body 321 includes an inner ring 322 and an outer ring 323; the inner ring 322 and the outer ring 323 enclose an annular air suction gap 324; the air suction gap 324 extends toward the side paint suction chamber 33 and forms an enclosed annular paint suction chamber 325; each of the annular paint suction chambers 325 is connected to the air suction main pipe 327 through an air suction branch pipe 326; the air suction main pipe 327 is connected to a second external air pump 328; a third external air pump 34 provides negative pressure to the side paint suction chamber 33 through the side air suction pipe 35; the side air suction pipe 35 and the air suction main pipe 327 are respectively provided with a second paint liquid filtration and separation device 36 and a third paint liquid filtration and separation device 37.

[0037] When spraying, the multi-dimensional automatic spraying robot of the present application first simulates the optimal spraying process of the workpiece through engineers and computer software, including parameters such as angle, dwell time, and spraying pressure, and then converts them into controllers to control the on and off parameters of each fan-shaped piezoelectric ceramic block 424 and the action parameters of the servo motor 17 and the lifting rod 13; the controller uses the parameters to control the on and off of each fan-shaped piezoelectric ceramic block 424, thereby extending the specific fan-shaped piezoelectric ceramic block 424 and the action of the servo motor 17 and the lifting rod 13, so that the multi-dimensional spraying arm 4 changes the different spraying angles according to the settings, combined with the height change of the workpiece driven by the lifting rod 13 and the rotation angle change driven by the servo motor 17, to achieve efficient, uniform and stable automatic spraying operations on the workpiece according to design requirements, which is suitable for the spraying needs of workpieces of different shapes and sizes.

[0038] During the spraying process, the bottom plate cavity 2 and the mist suction barrel 3 can timely absorb the paint mist escaping in the air, and the annular suction slit 424 forms a circularly enclosed high-speed air intake film by extracting air from the annular suction chamber 325 alone, so that a large amount of air in the enclosed space of the mist suction barrel 3 carries the paint mist and is sucked into the side paint suction chamber 33 from the holes enclosed by the annular suction slit 424. Combined with the negative pressure formed by the side paint suction chamber 33 itself through the extraction of air by the third external exhaust fan 34, the super-strong mist suction effect of the mist suction barrel 3 is achieved by utilizing the principles of airflow induction and air amplification, thereby ensuring the absorption effect of the paint mist.

[0039] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A multi-dimensional automatic spraying robot, characterized by: The invention comprises a workpiece base for placing a workpiece, a bottom plate cavity located at the periphery of the lower part of the workpiece base, a mist suction barrel arranged at intervals around the workpiece base, and a multi-dimensional paint spraying arm hanging down into the paint spraying range enclosed by the mist suction barrel; The workpiece base can adjust the height and orientation angle of the workpiece by lifting and rotating; the multi-dimensional paint spraying arm includes a paint spraying head, a controllable bending body and a fixed rear pipe from front to rear end; the controllable bending body includes an elastic paint outlet tube, an elastic tension tube, a flexible sleeve and an integrated piezoelectric ceramic tube body from inside to outside; the integrated piezoelectric ceramic tube body includes a plurality of fan-shaped piezoelectric ceramic blocks; the plurality of fan-shaped piezoelectric ceramic blocks are spliced ​​into a circular body; the circular body is sleeved outside the flexible sleeve, and the plurality of circular bodies are stacked in sequence along the axial direction of the flexible sleeve to form an integrated piezoelectric ceramic tube body; any fan-shaped piezoelectric ceramic block is controlled to be powered on and off by a circuit; the fan-shaped piezoelectric ceramic block extends along its upper and lower end faces after being energized; the bending direction and bending angle of the controllable bending body can be controlled by controlling the extension of the corresponding fan-shaped piezoelectric ceramic block according to preset parameters by the controller; the rear end of the elastic paint outlet tube is connected to the pressurized paint outlet device; the front and rear ends of the elastic tension tube are respectively connected to the paint spraying head and the rear pipe, and provide pre-tightening tension during the bending deformation of the controllable bending body; The workpiece base includes a base, a swivel seat rotatably mounted on the base, a lifting rod vertically mounted on the center of the swivel seat, a top seat fixedly mounted on the upper end of the lifting rod, and a clamp mounted on the top seat; a gear ring is fixedly sleeved on the outer circumference of the swivel seat, and a servo motor fixed on the base drives the gear ring to rotate through a gear; The bottom plate cavity includes an upper plate, a lower plate, and a lower paint suction cavity enclosed by the upper plate and the lower plate; the upper plate has a multi-hole structure; a first external air pump provides negative pressure to the lower paint suction cavity through a lower air suction pipe, and a first paint liquid filtering and separating device is provided on the lower air suction pipe; The mist suction barrel includes an outer barrel wall, an inner barrel wall and a side paint suction chamber formed by the outer barrel wall and the inner barrel wall; the inner barrel wall is composed of densely arranged annular bodies; the annular bodies include an inner ring and an outer ring; the inner ring and the outer ring form an annular air suction gap; the air suction gap extends to the side paint suction chamber and forms an enclosed annular paint suction chamber; each annular paint suction chamber is connected to the air suction main pipe through an air suction branch pipe; the air suction main pipe is connected to a second external air pump; a third external air pump provides negative pressure to the side paint suction chamber through the side air suction pipe; a second paint liquid filtration and separation device and a third paint liquid filtration and separation device are respectively provided on the side air suction pipe and the air suction main pipe.

2. A multi-dimensional automatic spraying robot according to claim 1, characterized in that: The flexible sleeve is formed by sequentially socketing a plurality of sleeves; the front half of the sleeve is a small-diameter portion with a smaller diameter, and the rear half is a large-diameter portion with a larger diameter; the outer diameter of the small-diameter portion is smaller than the inner diameter of the large-diameter portion; the small-diameter portion and the large-diameter portion of two adjacent sleeves are socketed; a first stop ring protrudes outward from the outer circumferential surface of the front end of the small-diameter portion; a second stop ring protrudes outward from the inner circumferential surface of the front end of the large-diameter portion; the two adjacent sleeves can be stretched and contracted to a certain extent in the axial direction and can be bent to a certain extent in the radial direction, and after being socketed, the first stop ring and the second stop ring stop each other to prevent the two adjacent sleeves from detaching; the elastic tension tube is adhered to the inner circumferential wall of the flexible sleeve.

3. The multi-dimensional automatic spraying robot according to claim 1, characterized in that: The outer side of the sleeve is fixed with a circular ring; the inner arc wall of the sector-shaped piezoelectric ceramic block is provided with a groove corresponding to the circular ring; the sector-shaped piezoelectric ceramic block is fixed on the outer side of the sleeve by fitting the groove and the circular ring.

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