Spraying and avoiding integrated system and method

Abstract

The spraying and avoiding integrated system comprises an X-axis moving structure, a Y-axis moving structure and a Z-axis moving structure which are the same in structure, the Z-axis moving structure is movably arranged on the X-axis moving structure, and the Y-axis moving structure is movably arranged on the Z-axis moving structure; a servo electric cylinder is arranged on the Y-axis moving structure; the X-axis moving structure, the Y-axis moving structure, the Z-axis moving structure, the servo electric cylinder and the rotating shaft swing head are arranged to form a six-axis linkage moving mechanism, the X-axis moving structure, the Y-axis moving structure and the Z-axis moving structure mainly conduct linear motion, accurate spraying can be conducted, and when large shape errors occur on the surface of a sprayed object to be treated, accurate spraying can be conducted. The servo electric cylinder drives the rotating shaft swing head to retract, retraction avoidance motion can be rapidly carried out, real-time and rapid avoidance processing can be completed, and the technical problem that in the prior art, an anti-collision detection system cannot achieve rapid avoidance in the spraying process is solved.

Description

Technical Field

[0001] The invention belongs to the field of automatic spraying equipment, and relates to a rapid anti-collision avoidance system, in particular to an integrated spraying avoidance system and method. Background Art

[0002] In the processing of machined parts, castings, and sheet metal parts, the corresponding workpieces are processed according to the three-dimensional digital model and processing drawings designed by the mechanical designer. In the actual processing of machined parts, castings, and sheet metal parts, due to the influence of the accuracy of the processing equipment and the technical proficiency of the operator, there will be a certain model contour error in the actual processed objects of machined parts, castings, and sheet metal parts compared to the designed three-dimensional digital model. The lower the accuracy of the processing equipment, the less skilled the operator, and the more complex the shape of the workpiece, the greater the contour error will be after the workpiece is processed.

[0003] Since the processed workpieces often have to go through the corresponding coating process before they can become the final product. In the process of automated spraying and gluing, the three-dimensional digital model of the workpiece is often used to plan the spraying trajectory and the gluing trajectory. Since there are contour errors between the machined parts, castings, sheet metal parts, and the three-dimensional model of the workpiece itself, the workpiece and the nozzle often collide during the spraying and gluing process, thereby causing corresponding losses. Especially for some precision workpieces, due to the high processing and manufacturing costs, collisions are not allowed, otherwise it will bring immeasurable losses. Although some anti-collision detection systems have been introduced into the automated coating equipment, it is still impossible to avoid the occurrence of collisions due to the influence of the coating distance and the reaction time of the anti-collision detection system. Therefore, in the present invention, a collision avoidance system that can quickly reciprocate is added to the front end of the telescopic arm of the spraying equipment based on the five-axis linkage mechanism, so as to further avoid the occurrence of collisions during the automated coating process and fully ensure the safety of the workpiece during the coating process. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an integrated spray avoidance system and method to solve the technical problem in the prior art that the anti-collision detection system cannot achieve rapid avoidance during the spraying process.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0006] A spraying avoidance integrated system, comprising an X-axis moving structure, a Y-axis moving structure and a Z-axis moving structure having the same structure, wherein the Z-axis moving structure is movably arranged on the X-axis moving structure, and the Y-axis moving structure is movably arranged on the Z-axis moving structure;

[0007] The Y-axis moving structure is provided with a servo electric cylinder, the servo electric cylinder is connected with a rotating shaft swing head, an automatic coating device is installed on the rotating shaft swing head; the automatic coating device is provided with a plurality of distance measuring sensors;

[0008] It also includes a control system, which is electrically connected to the X-axis moving structure, the Y-axis moving structure, the Z-axis moving structure, the servo electric cylinder and the distance measuring sensor respectively.

[0009] The present invention also includes the following technical features:

[0010] The X-axis moving structure, the Y-axis moving structure and the Z-axis moving structure include a base, a pair of guide rails are axially arranged on the base, a sliding plate is movably arranged on the pair of guide rails, a third motor is arranged on one side of the base, a ball screw pair is connected to the output shaft of the third motor, and a nut on the ball screw pair is fixedly connected to the bottom of the sliding plate; the third motor is electrically connected to the control system;

[0011] The Y-axis moving structure is mounted on the sliding plate of the Z-axis moving structure, and the Z-axis moving structure is mounted on the sliding plate of the X-axis moving structure.

[0012] The servo electric cylinder comprises a first support plate fixed on the base of the Y-axis moving structure, the first support plate is provided with an electric cylinder, and the telescopic rod of the electric cylinder is sequentially connected to a connecting frame and a swing head mounting plate.

[0013] The rotating shaft swing head includes an L-shaped mounting frame fixed on the swing head connecting plate, a first motor is arranged on the L-shaped mounting frame, an output shaft of the first motor extends out of the bottom of the L-shaped mounting frame and is fixed with a second motor mounting frame, a second motor is installed on the second motor mounting frame, the output shaft of the second motor is arranged along the Y-axis direction and a connecting rod is fixedly installed at its end, an automatic coating device mounting frame is arranged at the end of the connecting rod, and the automatic coating device is installed in the automatic coating device mounting frame; the first motor and the second motor are electrically connected to the control system respectively.

[0014] A pair of sliding blocks are arranged at the bottom of the sliding plate, and the sliding blocks correspond to the guide rails one by one respectively.

[0015] Limiting brackets are arranged at both ends of the guide rail.

[0016] A buffer block is arranged at the end of the ball screw pair.

[0017] The guide rail is fixed on the base through bolts and a pressing block.

[0018] The output shaft of the third motor is connected to the ball screw pair via a coupling.

[0019] The base includes a second support plate and a third support plate, and a supporting I-beam is arranged between the second support plate and the third support plate.

[0020] The third supporting plate is provided with a motor seat, and the third motor is provided on the motor seat.

[0021] A spraying method, based on the spraying avoidance integrated system, specifically comprises the following steps:

[0022] Step 1: fix the workpiece to be sprayed in the working space area on the right side of the X-axis assembly, and the control system controls the X-axis moving structure, the Y-axis moving structure, the Z-axis moving structure, the servo electric cylinder and the rotating axis swing head to adjust the automatic coating device so that the automatic coating device finds the initial spraying position set by the control system;

[0023] Step 2: When the control system determines that the automatic coating device has reached the initial spraying position, the control system enters the spraying program and issues a spraying instruction;

[0024] Step three, the control system controls the third motor of the X-axis moving structure, the Y-axis moving structure and the Z-axis moving structure to drive the ball screw pair to perform linear motion according to the spraying instruction obtained in step two; controls the rotating shaft swing head to perform rotational motion, so that the nozzle of the automatic coating device moves to the corresponding spraying area point and feeds back to the control system, and the control system controls the nozzle to spray at the corresponding spraying point; the distance measuring sensor on the automatic coating device detects the distance S between the nozzle of the automatic coating device and the surface of the workpiece in real time and feeds back to the control system in real time, and the control system determines in real time whether the received distance S exceeds the preset safety distance. If it exceeds, the control system controls the servo electric cylinder to retract, thereby driving the rotating shaft swing head and the automatic coating device to retract;

[0025] Step 4: After spraying is completed, the automatic coating device is moved to an initial position away from the workpiece to be sprayed.

[0026] Compared with the prior art, the present invention has the following beneficial technical effects:

[0027] (I) In the present invention, an X-axis moving structure, a Y-axis moving structure, a Z-axis moving structure, a servo electric cylinder and a rotating shaft swing head are arranged to form a six-axis linkage motion mechanism. The X-axis moving structure, the Y-axis moving structure and the Z-axis moving structure mainly use linear motion, and can perform precise spraying. When a large shape error occurs on the surface of the sprayed object, the servo electric cylinder drives the rotating shaft swing head to retract, and the retraction avoidance movement can be performed quickly, and real-time and rapid avoidance processing can be completed, which solves the technical problem in the prior art that the anti-collision detection system cannot achieve rapid avoidance during the spraying process.

[0028] (II) In the present invention, when the distance measuring sensor detects that the distance between the automatic coating device and the workpiece to be sprayed is less than the safe distance, it is only necessary to control the retraction action of the telescopic rod of the electric cylinder to achieve rapid avoidance, thereby avoiding the joint motion control of multiple rotating axes, making the avoidance action faster and simpler, more direct and effective. For complex working conditions, the assistance of the two rotating axis actions will achieve better results. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the X-axis moving structure, the Y-axis moving structure or the Z-axis moving structure in the present invention;

[0031] Figure 3 It is a schematic diagram of the assembly of the servo electric cylinder and the rotating shaft swing head in the present invention;

[0032] Figure 4 It is a structural schematic diagram of the servo electric cylinder in the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the rotating shaft swing head in the present invention.

[0034] The meanings of the various numbers in the figure are: X-axis moving structure 1, Y-axis moving structure 2, Z-axis moving structure 3, servo electric cylinder 4, rotating axis swing head 5, automatic coating device 6, distance sensor 7;

[0035] Base 101, guide rail 102, third motor 103, ball screw pair 104, nut 105, slider 106, limit bracket 107, buffer block 108, pressure block 109, motor base 1010;

[0036] The second support plate 10101, the third support plate 10102, and the supporting I-beam 10103;

[0037] A first support plate 401, an electric cylinder 402, a connecting frame 403, and a swing head mounting plate 404;

[0038] L-shaped mounting frame 501 , first motor 502 , second motor mounting frame 503 , second motor 504 , connecting rod 505 , mounting frame 506 .

[0039] The specific contents of the present invention are further explained in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0040] It should be noted that, unless otherwise specified, all components in the present invention are components known in the art.

[0041] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0042] See also Figure 1 The present invention provides an integrated spraying avoidance system, comprising an X-axis moving structure 1, a Y-axis moving structure 2 and a Z-axis moving structure 3 having the same structure, wherein the Z-axis moving structure 3 is movably arranged on the X-axis moving structure 1, and the Y-axis moving structure 2 is movably arranged on the Z-axis moving structure 3;

[0043] The Y-axis moving structure 2 is provided with a servo electric cylinder 4, the servo electric cylinder 4 is connected with a rotating shaft swing head 5, and an automatic coating device 6 is installed on the rotating shaft swing head 5; the automatic coating device 6 is provided with a plurality of distance measuring sensors 7;

[0044] It also includes a control system, which is electrically connected to the X-axis moving structure 1, the Y-axis moving structure 2, the Z-axis moving structure 3, the servo electric cylinder 4 and the distance measuring sensor 7 respectively.

[0045] In the above technical scheme, by setting the X-axis moving structure 1, the Y-axis moving structure 2, the Z-axis moving structure 3, the servo electric cylinder and the rotating axis swing head 5, a six-axis linkage motion mechanism is formed. The X-axis moving structure, the Y-axis moving structure and the Z-axis moving structure are mainly linear motion, and can perform precise spraying. When a large shape error occurs on the surface of the sprayed object, the servo electric cylinder 4 drives the rotating axis swing head 5 to retract and can quickly perform a retraction avoidance movement, which can complete real-time and rapid avoidance processing, and solves the technical problem in the prior art that the anti-collision detection system is affected by the coating distance and the reaction time of the anti-collision detection system and cannot avoid the occurrence of collision.

[0046] See also Figure 2 The X-axis moving structure 1, the Y-axis moving structure 2 and the Z-axis moving structure 3 include a base 101, a pair of guide rails 102 are axially arranged on the base 101, a sliding plate is movably arranged on the pair of guide rails 102, a third motor 103 is arranged on one side of the base 101, a ball screw pair 104 is connected to the output shaft of the third motor 103, and a nut 105 on the ball screw pair 104 is fixedly connected to the bottom of the sliding plate; the third motor 103 is electrically connected to the control system;

[0047] The Y-axis moving structure 2 is mounted on the sliding plate of the Z-axis moving structure 3 , and the Z-axis moving structure 3 is mounted on the sliding plate of the X-axis moving structure 1 .

[0048] See also Figure 3-4The servo electric cylinder 4 includes a first support plate 401 fixed on the base 101 of the Y-axis moving structure 2, and the first support plate 401 is provided with an electric cylinder 402, and the telescopic rod of the electric cylinder 402 is sequentially connected to a connecting frame 403 and a swing head mounting plate 404.

[0049] In the above technical solution, the telescopic rod of the electric cylinder 402 is connected to the connecting frame 403 and the swing head mounting plate 404 to directly control the telescopic movement of the rotating shaft swing head 5 .

[0050] See also Figure 5 The rotating shaft swing head 5 includes an L-shaped mounting frame 501 fixed on the swing head connecting plate 404, a first motor 502 is arranged on the L-shaped mounting frame 501, an output shaft of the first motor 502 extends out of the bottom of the L-shaped mounting frame 501 and is fixed with a second motor mounting frame 503, a second motor 504 is mounted on the second motor mounting frame 503, an output shaft of the second motor 504 is arranged along the Y-axis direction and a connecting rod 505 is fixedly installed at its end, an automatic coating device mounting frame 506 is arranged at the end of the connecting rod 505, an automatic coating device mounting frame 506 is installed in the automatic coating device mounting frame 506, and an automatic coating device 6 is installed, the first motor 502 and the second motor 504 are electrically connected to the control system respectively.

[0051] A pair of sliders 106 are disposed at the bottom of the sliding plate, and the sliders 106 correspond to the guide rails 102 one by one.

[0052] In the above technical solution, the slider 106 is used to move the sliding plate on the guide rail 102 .

[0053] Limiting brackets 107 are provided at both ends of the guide rail 102 .

[0054] In the above technical solution, the limit bracket 107 is used as a hard limit to prevent the slider from rushing out of the guide rail due to a system failure.

[0055] A buffer block 108 is provided at the end of the ball screw pair 104 .

[0056] In the above technical solution, once the slider 106 hits the two ends of the guide rail 102, the buffer block is made of a slightly elastic material.

[0057] The guide rail 102 is fixed on the base by bolts and a pressing block 109 .

[0058] In the above technical solution, the guide rail is mainly fixed by bolts, and the pressure block plays a role of auxiliary fixing and controlling the parallelism of the guide rail.

[0059] The output shaft of the third motor 103 is connected to the ball screw pair 104 via a coupling.

[0060] In the above technical solution, it is ensured that the motor shaft rotates to drive the screw shaft to rotate.

[0061] The base 101 includes a second support plate 10101 and a third support plate 10102 , and a supporting I-beam 10103 is disposed between the second support plate 10101 and the third support plate 10102 .

[0062] In the above technical solution, the structure of the base 101 makes the device more stable.

[0063] A motor base 1010 is disposed on the third support plate 10103 , and a third motor 103 is disposed on the motor base 1010 .

[0064] In the above technical solution, the motor seat is used to fix the motor.

[0065] A spraying method is also provided, based on the spraying avoidance integrated system, which specifically includes the following steps:

[0066] Step 1: fix the workpiece to be sprayed in the working space area on the right side of the X-axis assembly, and the control system controls the X-axis moving structure 1, the Y-axis moving structure 2, the Z-axis moving structure 3, the servo electric cylinder 4 and the rotating axis swing head 5 to adjust the automatic coating device 6 so that the automatic coating device 6 finds the initial spraying position set by the control system;

[0067] Step 2: When the control system determines that the automatic coating device 6 has reached the initial spraying position, the control system enters the spraying program and issues a spraying instruction;

[0068] Step three, the control system controls the third motor 103 of the X-axis moving structure 1, the Y-axis moving structure 2 and the Z-axis moving structure 3 according to the spraying instruction obtained in step two, and drives the ball screw pair 104 to perform linear motion; controls the rotating shaft swing head 5 to perform rotational motion, so that the nozzle of the automatic coating device 6 moves to the corresponding spraying area point and feeds back to the control system, and the control system controls the nozzle to spray at the corresponding spraying point; the distance measuring sensor 7 on the automatic coating device 6 detects the distance S between the nozzle of the automatic coating device 6 and the surface of the workpiece in real time and feeds back to the control system in real time, and the control system determines in real time whether the received distance S exceeds the preset safety distance. If it exceeds, the control system controls the servo electric cylinder 4 to retract, thereby driving the rotating shaft swing head 5 and the automatic coating device 6 to retract;

[0069] Step 4: After the spraying is completed, the automatic coating device 6 is moved to an initial position away from the workpiece to be sprayed.

[0070] In the above technical solution, when the distance measuring sensor 7 detects that the distance between the automatic coating device 6 and the workpiece to be sprayed is less than the safety distance, it is only necessary to control the retraction action of the telescopic rod of the electric cylinder 4 to achieve rapid avoidance, thereby avoiding the joint motion control of multiple rotating axes, making the avoidance action faster and simpler, more direct and effective. For complex working conditions, assisting with the action of two rotating axes will achieve better results.

[0071] In step two, the spraying program of the proportional model of the workpiece has been input into the control system in advance, and the spraying program is the existing technology. When the control system obtains the initial spraying position of the workpiece to be sprayed, the control system starts to issue movement instructions to each moving component mechanism, and prepares to start spraying.

Claims

1. A spraying avoidance integrated system, comprising an X-axis moving structure (1), a Y-axis moving structure (2) and a Z-axis moving structure (3) having the same structure, characterized in that: The Z-axis moving structure (3) is movably arranged on the X-axis moving structure (1), and the Y-axis moving structure (2) is movably arranged on the Z-axis moving structure (3); The Y-axis moving structure (2) is provided with a servo electric cylinder (4), the servo electric cylinder (4) is connected with a rotating shaft swing head (5), and an automatic coating device (6) is installed on the rotating shaft swing head (5); the automatic coating device (6) is provided with a plurality of distance measuring sensors (7); It also includes a control system, which is electrically connected to the X-axis moving structure (1), the Y-axis moving structure (2), the Z-axis moving structure (3), the servo electric cylinder (4) and the distance measuring sensor (7) respectively.

2. The spray avoidance integrated system as claimed in claim 1, characterized in that: The X-axis moving structure (1), the Y-axis moving structure (2) and the Z-axis moving structure (3) comprise a base ((101)), a pair of guide rails (102) are axially arranged on the base (101), a sliding plate is movably arranged on the pair of guide rails (102), a third motor (103) is arranged on one side of the base (101), a ball screw pair (104) is connected to the output shaft of the third motor (103), and a nut (105) on the ball screw pair (104) is fixedly connected to the bottom of the sliding plate; the third motor (103) is electrically connected to the control system; The Y-axis moving structure (2) is mounted on a sliding plate of the Z-axis moving structure (3), and the Z-axis moving structure (3) is mounted on a sliding plate of the X-axis moving structure (1).

3. The spray avoidance integrated system as claimed in claim 2, characterized in that: The servo electric cylinder (4) comprises a first support plate (401) fixed on a base (101) of a Y-axis moving structure (2); the first support plate (401) is provided with an electric cylinder (402); a connecting frame (403) and a swing head mounting plate (404) are sequentially connected to the telescopic rod of the electric cylinder (402).

4. The spray avoidance integrated system as claimed in claim 3, characterized in that: The rotating shaft swing head (5) comprises an L-shaped mounting frame (501) fixed on the swing head connecting plate (404), a first motor (502) is arranged on the L-shaped mounting frame (501), an output shaft of the first motor (502) extends out of the bottom of the L-shaped mounting frame (501) and is fixed with a second motor mounting frame (503), a second motor (504) is installed on the second motor mounting frame (503), an output shaft of the second motor (504) is arranged along the Y-axis direction and a connecting rod (505) is fixedly installed at its end, an automatic coating device mounting frame (506) is arranged at the end of the connecting rod (505), the automatic coating device (6) is installed in the automatic coating device mounting frame (506), and the first motor (502) and the second motor (504) are respectively electrically connected to the control system.

5. The spray avoidance integrated system as claimed in claim 2, characterized in that: A pair of sliding blocks (106) are provided at the bottom of the sliding plate, and the sliding blocks (106) correspond one-to-one to the guide rails (102) respectively.

6. The spray avoidance integrated system as claimed in claim 2, characterized in that: Limiting brackets (107) are provided at both ends of the guide rail (102).

7. The spray avoidance integrated system as claimed in claim 2, characterized in that: A buffer block (108) is provided at the end of the ball screw pair (104).

8. The spray avoidance integrated system as claimed in claim 2, characterized in that: The guide rail (102) is fixed on the base via bolts and a pressing block (109).

9. The integrated spray avoidance system as claimed in claim 2, characterized in that: The output shaft of the third motor (103) is connected to the ball screw pair (104) via a coupling.

10. The integrated spray avoidance system as claimed in claim 2, characterized in that: The base (101) comprises a second support plate (10101) and a third support plate (10102), and a supporting I-beam (10103) is arranged between the second support plate (10101) and the third support plate (10102).

11. The integrated spray avoidance system as claimed in claim 10, characterized in that: A motor seat (1010) is arranged on the third support plate (10103), and the third motor (103) is arranged on the motor seat (1010).

12. A spraying method, characterized in that: Based on the spray avoidance integrated system described in claims 2 to 11, the invention specifically comprises the following steps: Step 1: fix the workpiece to be sprayed in the working space area on the right side of the X-axis assembly, and the control system controls the X-axis moving structure (1), the Y-axis moving structure (2), the Z-axis moving structure (3), the servo electric cylinder (4) and the rotating axis swing head (5) to adjust the automatic coating device (6), so that the automatic coating device (6) finds the initial spraying position set by the control system; Step 2: When the control system determines that the automatic coating device (6) has reached the initial spraying position, the control system enters the spraying program and issues a spraying instruction; Step 3: The control system controls the third motor (103) of the X-axis moving structure (1), the Y-axis moving structure (2) and the Z-axis moving structure (3) according to the spraying instruction obtained in step 2 to drive the ball screw pair (104) to perform linear motion; controls the rotating shaft swing head (5) to perform rotational motion, so that the nozzle of the automatic coating device (6) moves to the corresponding spraying area point and feeds back to the control system, and the control system controls the nozzle to spray at the corresponding spraying point; The distance measuring sensor (7) on the automatic coating device (6) detects the distance S between the nozzle of the automatic coating device (6) and the surface of the workpiece in real time and feeds back to the control system in real time. The control system determines in real time whether the received distance S exceeds the preset safety distance. If it exceeds, the control system controls the servo electric cylinder (4) to retract, thereby driving the rotating shaft swing head (5) and the automatic coating device (6) to retract. Step 4: After the spraying is completed, the automatic coating device (6) is moved to an initial position away from the workpiece to be sprayed.

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