A multi-nozzle paint spraying apparatus

Abstract

The application relates to a multi-nozzle paint spraying device which comprises a six-axis robot, a mounting disc, a linear driving assembly, a rotary driving assembly and three nozzles, the mounting disc is mounted on the wrist part of the six-axis robot, three involute spiral grooves are arranged coaxially on the disc surface of the mounting disc, the involute spiral grooves are uniformly arranged along the circumference, a sliding block is arranged in the involute spiral groove, a swing rod is hingedly connected to the sliding block, and the nozzle is mounted on the swing rod; a transmission shaft is rotatably arranged on the driving shaft of the linear driving assembly, the transmission shaft is coaxially arranged with the mounting disc, three connecting rods are hingedly connected to the transmission shaft, and the other ends of the connecting rods are hingedly connected with the swing rods; the rotary driving assembly is used for driving the transmission shaft to rotate. The swing freedom of the swing rod and the cooperation between the sliding block and the involute spiral groove are used to realize the angle adjustment and position adjustment of the nozzle, so that the adjustable freedom and the adjustment flexibility of the nozzle are improved, the spraying blind area is greatly reduced, and the spraying effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of paint spraying equipment, in particular to a multi-nozzle paint spraying equipment. BACKGROUND

[0002] In the painting process of products, such as spraying of polytetrafluoroethylene, a combination of a six-axis robot and a nozzle is often used to improve spraying efficiency and spraying comprehensiveness.

[0003] When the surface of the workpiece to be sprayed is complex or has complex grooves, the spraying path realized by the existing six-axis freedom still has certain spraying blind areas. SUMMARY

[0004] In order to reduce the spraying blind area and improve the spraying effect, the present application provides a multi-nozzle paint spraying equipment.

[0005] The present application provides a multi-nozzle paint spraying equipment, which adopts the following technical scheme:

[0006] A multi-nozzle paint spraying equipment, comprising a six-axis robot, a mounting disc, a linear driving assembly, a rotating driving assembly and three nozzles, the mounting disc is mounted on the wrist part of the six-axis robot, the disc surface of the mounting disc is provided with three coaxially arranged involute spiral grooves, each involute spiral groove is uniformly arranged along the circumference, a sliding block is slidably arranged in the involute spiral groove, a swing rod is hingedly connected to the sliding block, and the nozzle is mounted on the swing rod; a transmission shaft is rotatably arranged on the driving shaft of the linear driving assembly, the transmission shaft is coaxially arranged with the mounting disc, three connecting rods are hingedly connected to the transmission shaft, and the other end of the connecting rod is hingedly connected with the swing rod; the rotating driving assembly is used to drive the transmission shaft to rotate.

[0007] By adopting the above technical scheme, when small-angle adjustment of the nozzle is required, the axes of the six-axis robot do not need to be linked, the linear driving assembly is started to drive the transmission shaft to slide, the transmission shaft is driven to swing through the connecting rod, thereby realizing small-angle adjustment of the nozzle, which is relatively flexible; when small-distance position movement of the nozzle is required, the linear driving assembly and the rotating driving assembly are started at the same time, the transmission shaft is rotated, the torque of the transmission shaft is transmitted to the swing rod through the connecting rod, and the sliding block is used in cooperation with the involute spiral groove to force the sliding block to move along the direction close to or away from the axis of the mounting disc, thereby driving the swing rod to move along the direction close to or away from the axis of the mounting disc, and the linear movement of the transmission shaft is to adaptively change the position of the connecting rod to adapt to the change of the hinged point position of the swing rod during movement, thereby realizing small-distance position movement of the nozzle.

[0008] In summary, on the basis of the original six-axis movement, the degrees of freedom of angle adjustment and position adjustment are increased, the movement freedom degree of the nozzle is high, and therefore the comprehensiveness of spraying can be improved to reduce the spraying blind area.

[0009] Secondly, the above adjustment is a small adjustment to adapt to the case that the surface of the workpiece to be sprayed is more complex and the angle change of different surfaces is small, and the spraying flexibility is higher.

[0010] When the viscosity of the paint is large, such as polytetrafluoroethylene paint, the spray amount of the nozzle needs to be controlled for the groove of the workpiece or other parts that need to be shallowly sprayed or re-sprayed. Once the parts that need to be shallowly sprayed or re-sprayed are more dense or change greatly, the control frequency and control range of the spray amount need to be increased accordingly to ensure the spraying effect, but it is also easy to cause the nozzle to be blocked and the response speed of the spray amount adjustment to be slow. By using the arrangement of multiple nozzles, firstly, when the total spray amount is certain, the spray amount of a single nozzle is smaller, which can reduce the occurrence of nozzle blockage under large spray amount, and by using the above position adjustment, the three nozzles can be gathered together to perform concentrated spraying, that is, spraying by a large nozzle, to ensure the realization of the spraying effect; secondly, when the adjustment range of the total spray flow is certain, the flow adjustment range shared by a single nozzle is smaller, which can reduce the easy blockage of a single nozzle caused by a large flow change; thirdly, when an individual nozzle is blocked, the new nozzle can be moved to the spraying position by position and angle adjustment to continue spraying, thereby reducing the frequent shutdown for cleaning blockage; fourthly, when multiple nozzles perform concentrated spraying at different angles, the paint contacts the workpiece surface at different angles, thereby increasing the comprehensiveness of spraying and the spraying effect.

[0011] Optionally, the mounting disc is provided with a mounting cavity, and the linear driving assembly and the rotary driving assembly are located in the mounting cavity; a through hole through which the transmission shaft passes is formed in the disc surface of the mounting disc; a gear groove is arranged on the outer circumferential surface of the transmission shaft away from the connecting rod; the rotary driving assembly comprises a first servo motor mounted in the mounting cavity, and a spur gear fixed on the output shaft of the first servo motor and matched with the gear groove.

[0012] By using the matching of the spur gear and the gear groove, the rotation of the transmission shaft is driven, and then the matching of the spur gear and the gear groove enables the transmission shaft to have the freedom of axial sliding, so as to ensure that the linear driving assembly can drive the transmission shaft to slide.

[0013] Optionally, the swing rod comprises a connecting rod, a sliding pipe and a damping member; one end of the connecting rod is hingedly connected with the sliding block; the sliding pipe is slidably and dampingly connected with the other end of the connecting rod through the damping member; the end of the connecting rod away from the transmission shaft is hingedly connected with the sliding pipe; and the nozzle is mounted on the sliding pipe.

[0014] By adopting the technical scheme, firstly, only the rotating driving assembly is started, the linear driving assembly is not started, the transmission shaft only rotates, the torque of the transmission shaft is transmitted to the swing rod through the connecting rod, the sliding cooperation of the sliding block and the involute spiral groove is utilized to force the sliding block to move along the direction close to or away from the shaft center of the mounting disc, thereby driving the swing rod to move along the direction close to or away from the shaft center of the mounting disc, and in the case that the transmission shaft has no axial movement, the hinged position of the connecting rod and the transmission shaft does not change, therefore, the hinged position between the connecting rod and the swing rod needs to change to adapt to the movement of the sliding block, that is, the force of the rotating driving assembly is converted into the force for forcing the sliding pipe to slide relative to the connecting rod, so that the distance between the nozzle and the surface of the workpiece changes by a small distance, to cope with the distance adjustment required by the nozzle under the working condition of the concave-convex surface of the workpiece, so that the distance between the nozzle and the surface of the workpiece is kept constant, thereby improving the spraying effect.

[0015] When the axial movement of the nozzle is completed, the axial movement of the transmission shaft can also be utilized subsequently to change the angle of the nozzle.

[0016] Furthermore, by arranging the damping member, the excessive sliding of the sliding pipe caused by external force or inertia is reduced, thereby reducing the axial movement error of the nozzle.

[0017] Optionally, the damping member comprises a first spring and two special-shaped rubber rings respectively located at one end of the first spring, the first spring and the special-shaped rubber rings are sleeved on the connecting rod, the outer diameter side of the special-shaped rubber ring abuts against the inner wall of the sliding pipe, the inner diameter side of the special-shaped rubber ring abuts against the outer surface of the connecting rod, the special-shaped rubber ring comprises, in sequence from the outer diameter to the inner diameter, a first bending arc segment, a second bending arc segment and a third bending arc segment which are integrally formed, the first bending arc segment and the third bending arc segment are bent away from the other special-shaped rubber ring, the second bending arc segment is bent toward the other special-shaped rubber ring, and the two ends of the first spring abut against the bending positions of the second bending arc segments of the two special-shaped rubber rings respectively.

[0018] By adopting the technical scheme, under the elastic force of the first spring, the two second bending arc segments move away from each other and deform, so as to force the first bending arc segment and the third bending arc segment to deform and expand radially, thereby increasing the frictional resistance of the first bending arc segment to the sliding pipe and the frictional resistance of the third bending arc segment to the connecting rod respectively, and further improving the damping effect.

[0019] Optionally, the inner wall of the sliding pipe is provided with a limiting ring, and the pipe opening of the sliding pipe is provided with a fixing ring, the limiting ring abuts against the bending positions of the first bending arc segment and the third bending arc segment of one of the special-shaped rubber rings, and the fixing ring abuts against the bending positions of the first bending arc segment and the third bending arc segment of the other special-shaped rubber ring; the first spring is in a compressed state.

[0020] By adopting the technical scheme, the limiting ring and the fixing ring are arranged to constrain the two special-shaped rubber rings respectively, so that the elastic force of the first spring can act on the special-shaped rubber ring more directly, and the radial deformation degree of the first and third curved arc segments is larger when the elastic force of the first spring is applied to the special-shaped rubber ring, so that the frictional resistance of the first curved arc segment to the sliding pipe and the frictional resistance of the third curved arc segment to the connecting rod are further increased, and the damping effect is further improved.

[0021] Optionally, the mounting disc comprises a disc piece and a disc body, the involute spiral groove is arranged on the disc piece, the disc piece and the disc body have an axial gap, and the disc piece and the disc body are fixedly connected by a second spring; a plurality of second servo motors are arranged on the outer edge of the disc body and uniformly distributed in the circumferential direction, a wedge-shaped block is fixed to the output shaft of the second servo motor, and the second servo motor is used to drive the wedge-shaped block to enter or leave the axial gap.

[0022] By adopting the technical scheme, the second servo motor drives the wedge-shaped block to rotate, the inclined surface of the wedge-shaped block abuts against the edge of the disc piece, the position of the wedge-shaped block is changed by rotating, the abutting position of the inclined surface of the wedge-shaped block and the disc piece is changed, the thickness of the inclined surface of the wedge-shaped block is not uniform everywhere, and therefore the size of the axial gap between the disc piece and the disc body can be changed to change the axial movement distance of the nozzle, so that the distance between the nozzle and the surface of the workpiece is changed by a small distance to meet the distance adjustment required by the nozzle under the working condition of the concave-convex surface of the workpiece, and the distance between the nozzle and the surface of the workpiece is kept constant, thereby improving the spraying effect.

[0023] In addition, according to the different abutting positions of different wedge-shaped blocks, the angle offset between the disc piece and the disc body can be realized, so that the angles of the nozzles are offset at the same time to adapt to the concentrated spraying of the small-angle inclined surface of the workpiece.

[0024] Optionally, the disc piece is provided with a through hole through which the transmission shaft can slide, the disc body is provided with an avoiding hole for avoiding the transmission shaft, the linear driving assembly and the disc body are fixedly connected by a fourth spring, and the rotary driving assembly is mounted on the linear driving assembly.

[0025] By adopting the technical scheme, when the wedge-shaped block changes the inclination angle of the disc piece, the disc piece drives the linear driving assembly to incline together, so as to ensure that the linear driving assembly, the transmission shaft, the connecting rod and the swing rod incline together, thereby ensuring that the inclination angles of the nozzles are consistent to ensure the effect of concentrated spraying.

[0026] The fourth spring is arranged to ensure that the linear driving assembly can be reset after being inclined.

[0027] Optionally, the connecting rod comprises a third spring and two supporting rods, one end of each of the two supporting rods is hingedly connected with the transmission shaft and the swing rod respectively, and the other end of each of the two supporting rods is fixedly connected through the third spring.

[0028] By adopting the above technical scheme, the rotary driving assembly is started, while the linear driving assembly is not started, at this time, the slider slides along the involute spiral groove, while the hinged position of the connecting rod and the transmission shaft remains unchanged, so that the connecting rod as a whole is in a state of contraction or stretching to adapt to the position change of the slider, that is, the force of the rotary driving assembly is converted into the force of the third spring deformation, at the same time, the movement of the slider also changes the angle of the connecting rod, that is, also drives the swing rod to swing.

[0029] In summary, when the rotary driving assembly continuously reverses the transmission shaft, the swing rod has superimposed motion changes in two dimensional directions of angle and position, and during the reversal, the periodic compression and elastic force release of the third spring make the reciprocating swing of the swing rod more rapid and sensitive, so that the motion trajectory of the swing rod is more diverse, and the spraying trajectory of the nozzle is more diverse, the spraying range is increased, and the spraying uniformity is improved.

[0030] Optionally, the backflushing mechanism comprises a blowing pump and an air pipe connected to the blowing end of the blowing pump, the transmission shaft is internally provided with an air channel, one end of the air pipe is connected to the air channel, and the outer circumferential surface of the transmission shaft is provided with a groove communicated with the other end of the air channel, the groove being used for the spraying end of the nozzle to tilt into.

[0031] By adopting the above technical scheme, when the spraying end of the nozzle is blocked by too much accumulated material, the swing rod can be swung by the linear driving assembly, so that the nozzle leans against the groove in the transmission shaft along with the swing rod, and then the blowing pump is started, high-pressure gas enters the nozzle through the air pipe, the air channel and the groove, so as to disperse the accumulated material in the spraying end of the nozzle, to a certain extent, reducing the blockage.

[0032] Optionally, the air channel is sequentially divided into an entering channel, a collecting cavity and a shunt channel from the direction of air flow, the shunt channel is provided with three outlets, the outlets of the shunt channel are communicated with the grooves, the aperture of the shunt channel gradually decreases along the direction close to the groove, and the shunt channel is provided with a backflushing cone, the backflushing cone is provided with an overflow hole.

[0033] By adopting the above technical scheme, the high-pressure gas sequentially passes through the entering channel, the collecting cavity, and then enters the corresponding groove through the shunt channel, during which, the high-pressure gas pushes the backflushing cone to move, the backflushing cone pierces into the spraying end of the nozzle to preliminarily disperse the accumulated material in the spraying end of the nozzle, then, as the high-pressure gas continues to be injected, the pressure of the high-pressure gas at the backflushing cone increases, the high-pressure gas enters the narrow overflow hole, and then rushes into the preliminarily dispersed accumulated material to disperse the accumulated material for the second time, thereby improving the unblocking effect.

[0034] In summary, the present application includes at least one of the following beneficial technical effects:

[0035] 1. By setting the swing freedom of the swing lever and the cooperation of the slider and the involute spiral groove, the angle adjustment and position adjustment of the nozzle are realized, thereby improving the adjustable freedom and adjustment flexibility of the nozzle, greatly reducing the spraying blind area and improving the spraying effect, and adopting the setting of multiple nozzles, which not only can reduce the nozzle blockage under large spraying volume, but also can make the coating contact the workpiece surface at different angles when concentrated spraying at different angles, thereby increasing the comprehensiveness and spraying effect of spraying;

[0036] 2. By setting the damper telescopic swing lever, the acting force of the rotating drive assembly is converted into the acting force for forcing the sliding pipe to slide relative to the connecting rod, so that the distance between the nozzle and the workpiece surface changes by a small distance, thereby adjusting the distance required by the nozzle under the workpiece surface condition, so that the distance between the nozzle and the workpiece surface remains certain, thereby improving the spraying effect;

[0037] 3. By setting the backflushing mechanism, the swingability of the nozzle is utilized to adjust the nozzle to the backflushing position at one time, and the double action of high-pressure gas and backflushing cone is utilized to disperse and scatter the coating blocked in the nozzle, thereby reducing the situation of excessive coating accumulation. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a schematic diagram of the overall structure of example 1.

[0039] Figure 2 is a front view of the mounting disc of example 1.

[0040] Figure 3 is Figure 2 a sectional view at A-A in FIG.

[0041] Figure 4 is Figure 3 a local enlarged view at B in FIG.

[0042] Figure 5 is a schematic diagram of example 1 for embodying the swing lever in the angle change state.

[0043] Figure 6 is a schematic diagram of example 1 for embodying the swing lever in the radial position change.

[0044] Figure 7 is a sectional view of the multi-directional spraying mechanism of example 2.

[0045] Figure 8 is Figure 7 a local enlarged view at C in FIG.

[0046] Figure 9 is a schematic diagram for embodying the state that the swing rod is in tension of embodiment 2.

[0047] Figure 10 is a sectional view of the multi-orientation spraying mechanism of embodiment 3.

[0048] Figure 11 is a schematic diagram for embodying the state that the disc is in inclination of embodiment 3.

[0049] Figure 12 is a sectional view of the multi-orientation spraying mechanism of embodiment 4

[0050] Figure 13 is Figure 12 is an enlarged view of the part D.

[0051] Figure 14 is a sectional view of the multi-orientation spraying mechanism of embodiment 5.

[0052] BRIEF DESCRIPTION OF THE DRAWINGS 1, mounting disc; 2, linear driving assembly; 3, rotary driving assembly; 4, transmission shaft; 5, swing rod; 10, six-axis robot; 110, mounting cavity; 11, involute spiral groove; 12, connecting rod; 121, branch rod; 122, third spring; 13, through hole; 14, sliding block; 15, disc; 16, disc body; 161, second servo motor; 162, wedge block; 17, avoiding hole; 18, axial gap; 19, second spring; 20, multi-orientation spraying mechanism; 21, rotary block; 22, fourth spring; 30, nozzle; 31, first servo motor; 32, spur gear; 33, gear groove; 41, rotary groove; 42, recess; 51, sliding tube; 52, connecting rod; 53, first spring; 54, profiled rubber ring; 541, first curved segment; 542, second curved segment; 543, third curved segment; 55, fixed ring; 56, limiting ring; 61, air pipe; 621, inlet channel; 622, collection cavity; 623, shunt channel; 63, recoil cone; 631, overflow hole. DETAILED DESCRIPTION

[0053] The following will be described in detail in combination with the accompanying drawings. Figures 1-14 The present application will be further described in detail.

[0054] Embodiment 1 of the present application discloses a multi-nozzle paint spraying device.

[0055] Referring to Figure 1 , the multi-nozzle 30 paint spraying device comprises a six-axis robot 10 and a multi-orientation spraying mechanism 20, the multi-orientation spraying mechanism 20 is installed on the wrist part of the six-axis robot 10, and the two are combined to greatly improve the spraying freedom degree, so as to improve the comprehensiveness of spraying and reduce the spraying blind area.

[0056] As shown in Figure 2 , Figure 3 , Figure 4 , the multi-directional spraying mechanism 20 comprises a mounting disc 1, a linear driving assembly 2, a rotating driving assembly 3 and three nozzles 30, the mounting disc 1 is mounted on the wrist part of the six-axis robot 10, the mounting disc 1 is internally provided with a mounting cavity 110, the linear driving assembly 2 and the rotating driving assembly 3 are both mounted in the mounting cavity 110, the linear driving assembly 2 can be a linear driving structure such as a pneumatic cylinder, an oil cylinder and an electric push rod, the linear driving assembly 2 is coaxially arranged with the mounting disc 1, a transmission shaft 4 is coaxially arranged on the driving shaft of the linear driving assembly 2, specifically, the end of the transmission shaft 4 is provided with a rotating groove 41, a rotating block 21 is fixed on the driving shaft of the linear driving assembly 2, the rotating block 21 is matched with the rotating groove 41, so that the linear driving assembly 2 can drive the transmission shaft 4 to move linearly, and the transmission shaft 4 is allowed to have a rotating degree of freedom, the mounting disc 1 is provided with a through hole 13, the transmission shaft 4 passes through the through hole 13 and is located outside the mounting shaft.

[0057] The rotating driving assembly 3 comprises a first servo motor 31 mounted in the mounting cavity 110, a spur gear 32 is fixed on the output shaft of the first servo motor 31, the outer circumferential surface of the transmission shaft 4 is provided with circumferentially arranged gear grooves 33, the spur gear 32 is matched with the gear grooves 33, so that the torque of the first servo motor 31 can be transmitted to the transmission shaft 4 to drive the transmission shaft 4 to rotate, and the matching of the spur gear 32 and the gear grooves allows the transmission shaft 4 to have an axial sliding degree of freedom, so as to ensure that the linear driving assembly 2 can drive the transmission shaft 4 to move linearly.

[0058] The disc surface of the mounting disc 1 is provided with three coaxially arranged involute spiral grooves 11, the cross section of the involute spiral groove 11 is T-shaped, each involute spiral groove 11 is uniformly arranged along the circumference, a sliding block 14 is slidably arranged in the involute spiral groove 11, the sliding block 14 is provided as a circular block, a swing rod 5 is hingedly connected to the sliding block 14, the nozzle 30 is mounted at the end of the swing rod 5 away from the sliding block 14, three connecting rods 12 are hingedly connected to the transmission shaft 4, and the rotating surface of the connecting rod 12 is located in the radial surface of the mounting disc 1, the other end of the connecting rod 12 is hingedly connected with the adjacent swing rod 5.

[0059] When it is necessary to adjust the nozzle 30 by a small angle, the linear driving assembly 2 is started to drive the transmission shaft 4 to slide, and the transmission shaft 4 drives the connecting rod 12 to swing, so as to drive the swing rod 5 to swing, thereby realizing the small angle adjustment of the nozzle 30 (see Figure 5 ), which is more flexible.

[0060] When a small distance position movement of the nozzle 30 is required, the straight line driving assembly 2 and the rotation driving assembly 3 are started simultaneously, the transmission shaft 4 rotates, the torque of the transmission shaft 4 is transmitted to the swing rod 5 through the connecting rod 12, the sliding block 14 is used to slide in the involute spiral groove 11 to force the sliding block 14 to move along the direction close to or away from the shaft center of the mounting disc 1, thereby driving the swing rod 5 to move along the direction close to or away from the shaft center of the mounting disc 1 (see Figure 6 ), and the straight line movement of the transmission shaft 4 is to change the position of the connecting rod 12 to adapt to the position change of the hinge point of the swing rod 5 when the swing rod 5 moves, thereby realizing the small distance position movement of the nozzle 30.

[0061] Therefore, the multi-directional spraying mechanism 20 increases two degrees of freedom of the angle adjustment and the position adjustment of the nozzle 30, thereby improving the comprehensiveness of spraying to reduce the spraying blind area.

[0062] In addition, by using the multi-nozzle 30 and the position adjustment of the nozzle 30 by the multi-directional spraying mechanism 20, the three nozzles 30 can be gathered to simultaneously perform concentrated spraying, the spraying amount and the flow adjustment range of each nozzle 30 can be superimposed, thereby reducing the nozzle 30 blockage under large spraying amount or reducing the nozzle 30 blockage caused by large flow change.

[0063] Secondly, when the multi-nozzle 30 performs concentrated spraying at different angles, the paint contacts the workpiece surface at different angles, thereby increasing the comprehensiveness and spraying effect.

[0064] Embodiment 2

[0065] The difference between the embodiment 1 and the embodiment 2 is that, as shown in Figure 7 , Figure 8 , the swing rod 5 is composed of a connecting rod 52, a sliding tube 51 and a damping member, one end of the connecting rod 52 is hingedly connected with the sliding block 14, the other end of the connecting rod 52 is inserted into the sliding tube 51, and the connecting rod 52 is slidingly and dampingly connected with the sliding tube 51 through the damping member. The end of the connecting rod 12 away from the transmission shaft 4 is hingedly connected with the sliding tube 51, and the nozzle 30 is installed on the sliding tube 51.

[0066] The inner wall of the sliding tube 51 is coaxially fixed with a limiting ring 56, the pipe opening of the sliding tube 51 is coaxially provided with a fixed ring 55, the damping member includes a first spring 53 and two profiled rubber rings 54 located at one end of the first spring 53, the first spring 53 and the profiled rubber rings 54 are both sleeved on the connecting rod 52, the outer diameter side of the profiled rubber ring 54 is tightly abutted against the inner wall of the sliding tube 51, and the inner diameter side of the profiled rubber ring 54 is tightly sleeved on the outer surface of the connecting rod 52.

[0067] The special-shaped rubber ring 54 comprises, from the outer diameter to the inner diameter, a first curved arc segment 541, a second curved arc segment 542 and a third curved arc segment 543 which are integrally formed, the first curved arc segment 541 and the third curved arc segment 543 are curved away from the other special-shaped rubber ring 54, the second curved arc segment 542 is curved towards the other special-shaped rubber ring 54, the limiting ring 56 abuts the curved portions of the first curved arc segment 541 and the third curved arc segment 543 of one of the special-shaped rubber rings 54, the fixing ring 55 abuts the curved portions of the first curved arc segment 541 and the third curved arc segment 543 of the other special-shaped rubber ring 54, the first spring 53 is in a compressed state, and the two ends of the first spring 53 abut the curved portions of the second curved arc segments 542 of the special-shaped rubber rings 54 on both sides, respectively, that is, by using the elastic force of the first spring 53, the second curved arc segments 542, the first curved arc segment 541 and the third curved arc segment 543 on both sides are forced to move away and deform, and at the same time, due to the blocking and limiting of the limiting ring 56 and the fixing ring 55, the deformation direction of the first curved arc segment 541 and the third curved arc segment 543 is only along the radial direction of the connecting rod 52, so that the first curved arc segment 541 and the third curved arc segment 543 are deformed and expanded in the radial direction, thereby increasing the frictional resistance of the first curved arc segment 541 to the sliding tube 51 and the frictional resistance of the third curved arc segment 543 to the connecting rod 52, respectively, and thereby improving the damping effect.

[0068] In the case that the workpiece has a concave-convex surface, only the driving assembly 3 can be started, the linear driving assembly 2 is not started, so that the transmission shaft 4 only rotates, the torque of the transmission shaft 4 is transmitted to the swing rod 5 through the connecting rod 12, and the sliding block 14 is matched with the involute spiral groove 11 to force the sliding block 14 to move along the direction close to or away from the axis of the mounting disc 1, thereby driving the swing rod 5 to move along the direction close to or away from the axis of the mounting disc 1, and in the case that the transmission shaft 4 cannot move axially (the linear driving assembly 2 is not started), the hinged position of the connecting rod 12 and the transmission shaft 4 does not change, so the hinged position between the connecting rod 12 and the swing rod 5 needs to change to adapt to the movement of the sliding block 14, so the swing rod 5 needs to be stretched or contracted to change the hinged position between the connecting rod 12 and the swing rod 5, that is, the sliding tube 51 will slide relative to the connecting rod 52, and the swing rod 5 stretching or contracting will drive the nozzle 30 to change the position along the axis of the mounting disc 1 (see Figure 9 ), so that the distance between the nozzle 30 and the surface of the workpiece changes by a small distance, so as to meet the distance adjustment required by the nozzle 30 under the working condition of the concave-convex surface of the workpiece, so that the distance between the nozzle 30 and the surface of the workpiece remains certain, thereby improving the spraying effect. And after the change of the axial movement of the nozzle 30 is completed, the linear driving assembly 2 can also be started subsequently to change the angle of the nozzle 30 through the axial movement of the transmission shaft 4.

[0069] In other words, this embodiment adds an adjustable axial position of the nozzle 30 to the degrees of freedom of the nozzle 30 in terms of the degrees of freedom of the angle and radial position of the nozzle 30 in embodiment 1. The damping component can reduce excessive slippage of the sliding tube 51 caused by external force or inertia, thereby reducing the axial movement error of the nozzle 30.

[0070] Example 3

[0071] The difference between Example 3 and Example 1 is that, as Figure 10 As shown, the mounting plate 1 includes a plate 15 and a plate body 16 with a mounting cavity 110. The plate body 16 is mounted on the wrist of the six-axis robot 10. The main body of the linear drive assembly 2 is fixedly connected to the inner wall of the mounting cavity 110 by a fourth spring 22. The first servo motor 31 is mounted on the main body of the linear drive assembly 2. The plate body 16 has a clearance hole 17. The diameter of the clearance hole 17 is larger than the diameter of the drive shaft 4. The clearance hole 17 is used for the drive shaft 4 to pass through.

[0072] An involute spiral groove 11 is formed on the disk 15. There is an axial gap 18 between the disk 15 and the disk body 16. The disk 15 and the disk body 16 are fixedly connected by multiple second springs 19. Multiple circumferentially evenly arranged second servo motors 161 are provided at the outer edge of the disk body 16. The axis of the second servo motor 161 is parallel to the axis of the disk body 16. A wedge block 162 is fixed to the output shaft of the second servo motor 161. The inclined surface of the wedge block 162 abuts against the edge of the disk 15. The second servo motor 161 is used to drive the wedge block 162 into or out of the axial gap 18.

[0073] When all the second servo motors 161 rotate simultaneously, each wedge block 162 rotates at a certain angle. Since the inclined surface of the wedge block 162 abuts against the edge of the disk 15, when the wedge block 162 rotates and changes its position, the abutment position between the inclined surface of the wedge block 162 and the disk 15 changes. Since the thickness of the inclined surface of the wedge block 162 is not uniform, the size of the axial gap 18 between the disk 15 and the disk body 16 can be changed, thereby changing the axial movement distance of the nozzle 30. In this way, the distance between the nozzle 30 and the workpiece surface changes slightly to cope with the distance adjustment required by the nozzle 30 under the condition of the uneven surface of the workpiece, so that the distance between the nozzle 30 and the workpiece surface remains constant, thereby improving the spraying effect.

[0074] When individual second servo motors 161 rotate, the contact positions of each wedge block 162 are different, and the corresponding axial clearance 18 dimensions are different. This causes an angular offset between the disc 15 and the disc body 16, and also causes the linear drive assembly 2, rotary drive assembly 3, transmission shaft 4, connecting rod 12, and swing rod 5 to also shift angularly, so that each nozzle 30 shifts angularly simultaneously (see...).Figure 11 ), to adapt to the concentrated spraying of small-angle inclined surfaces of the workpiece.

[0075] Embodiment 4

[0076] Embodiment 4 differs from Embodiment 1 in that, as shown in Figure 12 , Figure 13 the multi-nozzle 30 paint spraying device further comprises a backflushing mechanism, which comprises an air pipe 61 and a blowing pump (not shown in the figure), the air pipe 61 is a soft pipe, an air channel is formed in the transmission shaft 4, the air channel is divided into an entering channel 621, a collecting cavity 622 and a shunt channel 623 which are sequentially connected in the direction of air flow, wherein the shunt channel 623 is provided with three to correspond to one nozzle 30 respectively; one end of the air pipe 61 is connected with the blowing end of the blowing pump, and the other end of the air pipe 61 is connected with the entering channel 621, so that the high-pressure gas in the blowing pump can enter the collecting cavity 622 through the air pipe 61 and the entering channel 621, and then be shunted into different shunt channels 623; a groove 42 corresponding to the nozzle 30 is formed in the outer periphery of the transmission shaft 4, and the groove 42 is in communication with the shunt channel 623.

[0077] The aperture of the shunt channel 623 gradually decreases in the direction close to the groove 42, a backflushing cone 63 is arranged in the shunt channel 623, the conical surface of the backflushing cone 63 is matched with the inner wall of the shunt channel 623, and an overflow hole 631 is formed through the axis of the backflushing cone 63.

[0078] When the nozzle 30 is blocked by too much material accumulated at the spraying end, the linear driving assembly 2 can be used to drive the swing rod 5 to swing, so that the nozzle 30 is tilted against the groove 42 of the transmission shaft 4 along with the swing rod 5, and then the blowing pump is started, the high-pressure gas enters the corresponding groove 42 through the entering channel 621, the collecting cavity 622 and then the shunt channel 623 in sequence, during which the high-pressure gas pushes the backflushing cone 63 to move, the tip of the backflushing cone 63 slightly penetrates into the spraying end of the nozzle 30 to preliminarily disperse the material accumulated at the spraying end of the nozzle 30, then, as the high-pressure gas continues to be injected, the pressure of the high-pressure gas at the backflushing cone 63 increases, the high-pressure gas enters the narrow overflow hole 631 and rushes into the preliminarily dispersed material to disperse the material again, thereby improving the unblocking effect.

[0079] Embodiment 5

[0080] Embodiment 5 differs from Embodiment 1 in that, as shown in Figure 14 , the connecting rod 12 is composed of a third spring 122 and two branch rods 121, one end of each of the two branch rods 121 is hingedly connected with the transmission shaft 4 and the swing rod 5 respectively, and the other end of each of the two branch rods 121 is fixedly connected through the third spring 122, so that the connecting rod 12 has the characteristics of being stretchable and elastically bendable.

[0081] In this way, when only the rotary driving assembly 3 is started, the slider 14 slides along the involute helical groove 11, and since the hinged position of the connecting rod 12 with the transmission shaft 4 does not change (the transmission shaft 4 has no axial displacement), the connecting rod 12 as a whole will be in a state of contraction or stretching to adapt to the change in the position of the slider 14, and the connecting rod 12 in the state of contraction, stretching or elastic bending makes the swing rod 5 in the change of swing and radial position.

[0082] Therefore, when the rotary driving assembly 3 drives the transmission shaft 4 to continuously reverse, the connecting rod 12 periodically is in the state of contraction, stretching or elastic bending, so that the swing rod 5 periodically is in the change of swing and radial position, the motion frequency of the swing rod 5 is more rapid and sensitive, the motion trajectory of the swing rod 5 is more diverse, and the spraying trajectory of the nozzle 30 is more diverse, the spraying range is increased, and the spraying uniformity is improved.

[0083] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, so: any equivalent changes made on the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A multi-nozzle paint spraying apparatus characterized by: The application relates to a six-axis robot (10), a mounting disc (1), a linear driving assembly (2), a rotating driving assembly (3) and three nozzles (30), wherein the mounting disc (1) is mounted on the wrist part of the six-axis robot (10), three involute spiral grooves (11) are arranged coaxially on the disc surface of the mounting disc (1), the involute spiral grooves (11) are uniformly arranged along the circumference, a sliding block (14) is arranged in the involute spiral groove (11), a swing rod (5) is hingedly connected to the sliding block (14), and the nozzle (30) is mounted on the swing rod (5); a transmission shaft (4) is rotatably arranged on the driving shaft of the linear driving assembly (2), the transmission shaft (4) is coaxially arranged with the mounting disc (1), three connecting rods (12) are hingedly connected to the transmission shaft (4), and the other ends of the connecting rods (12) are hingedly connected with the swing rod (5); and the rotating driving assembly (3) is used for driving the transmission shaft (4) to rotate.

2. The multi-jet paint spraying apparatus of claim 1, wherein: The mounting disc (1) is internally provided with a mounting cavity (110), the linear driving assembly (2) and the rotating driving assembly (3) are arranged in the mounting cavity (110), a through hole (13) is arranged on the disc surface of the mounting disc (1) and penetrates through the mounting disc (1) so that the transmission shaft (4) can pass through the through hole (13), the outer circumferential surface of the transmission shaft (4) is provided with a gear groove (33) at the end away from the connecting rod (12), the rotating driving assembly (3) comprises a first servo motor (31) arranged in the mounting cavity (110), and a spur gear (32) matched with the gear groove (33) is fixed on the output shaft of the first servo motor (31).

3. The multi-jet paint spraying apparatus of claim 1, wherein: The swing rod (5) comprises a connecting rod (52), a sliding pipe (51) and a damping member, one end of the connecting rod (52) is hingedly connected with the sliding block (14), the sliding pipe (51) is in damping connection with the other end of the connecting rod (52) through the damping member, the end of the connecting rod (12) away from the transmission shaft (4) is hingedly connected with the sliding pipe (51), and the nozzle (30) is mounted on the sliding pipe (51).

4. The multi-jet coater of claim 3, wherein: The damping member comprises a first spring (53) and two profiled rubber rings (54) arranged at one end of the first spring (53), the first spring (53) and the profiled rubber rings (54) are sleeved on the connecting rod (52), the outer diameter side of the profiled rubber ring (54) abuts against the inner wall of the sliding pipe (51), the inner diameter side of the profiled rubber ring (54) abuts against the outer surface of the connecting rod (52), the profiled rubber ring (54) sequentially comprises a first curved arc segment (541), a second curved arc segment (542) and a third curved arc segment (543) which are integrally formed from the outer diameter to the inner diameter, the first curved arc segment (541) and the third curved arc segment (543) are curved away from the other profiled rubber ring (54), the second curved arc segment (542) is curved towards the other profiled rubber ring (54), and the two ends of the first spring (53) abut against the curved positions of the second curved arc segments (542) of the two profiled rubber rings (54).

5. The multi-jet paint spraying apparatus of claim 4, wherein: The inner wall of the sliding pipe (51) is provided with a limiting ring (56), and the pipe opening of the sliding pipe (51) is provided with a fixing ring (55), the limiting ring (56) abuts against the bending portions of the first bending arc segment (541) and the third bending arc segment (543) of one of the profiled rubber rings (54), and the fixing ring (55) abuts against the bending portions of the first bending arc segment (541) and the third bending arc segment (543) of the other profiled rubber ring (54); the first spring (53) is in a compressed state.

6. The multi-jet coater of claim 1 or 3, wherein: The mounting disc (1) comprises a disc piece (15) and a disc body (16), the involute spiral groove (11) is arranged on the disc piece (15), the disc piece (15) and the disc body (16) have an axial gap (18) therebetween, and the disc piece (15) and the disc body (16) are fixedly connected by a second spring (19); a plurality of second servo motors (161) are uniformly arranged on the outer edge of the disc body (16) in a circumferential direction, and a wedge-shaped block (162) is fixed to the output shaft of each second servo motor (161); the second servo motor (161) is used for driving the wedge-shaped block (162) to enter or leave the axial gap (18).

7. The multi-jet paint spraying apparatus of claim 6, wherein: The disc piece (15) is provided with a through hole (13) for allowing the transmission shaft (4) to slide therethrough, and the disc body (16) is provided with an avoiding hole (17) for avoiding the transmission shaft (4); the linear driving assembly (2) and the disc body (16) are fixedly connected by a fourth spring (22), and the rotary driving assembly (3) is mounted on the linear driving assembly (2).

8. The multi-jet coater of claim 1 or 3, wherein: The connecting rod (12) comprises a third spring (122) and two supporting rods (121), one end of each supporting rod (121) is hingedly connected to the transmission shaft (4) and the swing rod (5), and the other ends of the two supporting rods (121) are fixedly connected by the third spring (122).

9. The multi-jet coater of claim 1 or 3, wherein: The backflushing mechanism comprises a blowing pump and an air pipe (61) connected to the blowing end of the blowing pump, the transmission shaft (4) is internally provided with an air channel, the air pipe (61) is connected to one end of the air channel, the outer circumferential surface of the transmission shaft (4) is provided with a groove (42) in communication with the other end of the air channel, and the groove (42) is used for allowing the spraying end of the nozzle (30) to obliquely enter.

10. The multi-jet paint spraying apparatus of claim 9, wherein: The air channel is sequentially divided into an entering channel (621), a collecting cavity (622) and a shunt channel (623) from the air flow advancing direction, the shunt channel (623) is provided with three, the outlet of the shunt channel (623) is in communication with the groove (42), the aperture of the shunt channel (623) gradually decreases along the direction close to the groove (42), and the shunt channel (623) is provided with a backflushing cone (63), and the backflushing cone (63) is provided with an overflow hole (631).

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