Mechanical arm for automatic coating production line

Abstract

The invention discloses a mechanical arm for an automatic coating production line, and relates to the technical field of mechanical arms, the mechanical arm comprises a protection assembly, a clamping mechanical arm is slidably mounted at the upper end of the protection assembly, a closed ground rail is fixedly mounted on one side of the bottom of the protection assembly, and a driving seat is slidably mounted on the outer surface of the closed ground rail; and a coating mechanical arm is fixedly mounted at the top of the driving seat through a bolt. According to the mechanical arm for the automatic coating production line, an operator or feeding and discharging equipment can feed and discharge workpieces conveniently, a miniature long spray gun is arranged, the length and the spraying area of the miniature long spray gun are smaller than those of a coating spray gun, the miniature long spray gun can enter a narrow area, and the spraying efficiency is improved. The defect that part of complex areas cannot be sprayed due to large-range spraying of a coating spray gun is overcome, so that the workpiece spraying effect is improved, the workpiece surface spraying condition is detected through a visual sensor, and the workpiece coating efficiency and effect are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arms, and in particular to a robot arm used in an automated coating production line. Background Art

[0002] Robots are a type of high-tech automated production equipment developed in recent decades, and robotic arms are an important branch of industrial robots. Its characteristics are that it can be programmed to complete various expected tasks, and it combines the advantages of both humans and machines in terms of structure and performance, especially reflecting human intelligence and adaptability. The accuracy of robotic arms and their ability to complete tasks in various environments have broad development prospects in all areas of the national economy. They are also commonly used for painting tasks in automated painting production lines, such as automobile manufacturing, furniture production, shipbuilding, etc. Painting robots usually have flexible program control functions and can easily adapt to the painting needs of workpieces of different shapes, sizes and materials, which enables them to be used in a variety of production environments and have high applicability and versatility. Painting robots usually have robotic arms with multiple joints to accurately move the spray gun in three-dimensional space. These robotic arms are usually made of lightweight but sturdy materials to provide the required precision and stability.

[0003] Although the existing robotic arms on the coating production line have been adapted to the coating needs of workpieces of different shapes, sizes and materials, the robotic arms cannot completely cover the coating areas of the workpieces, especially those with complex surface shapes, depressions, protrusions and other irregular shapes, resulting in some areas of the workpiece to be sprayed not being sprayed. Therefore, manual inspection of the sprayed workpiece is still required before re-spraying the workpiece, which affects the coating efficiency of the workpiece and brings certain adverse effects to people's use process. In order to solve the shortcomings of the existing technology, we propose a robotic arm for an automated coating production line. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot arm for an automated coating production line, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A mechanical arm for an automated coating production line, comprising a protection component, a clamping mechanical arm is slidably mounted on the upper end of the protection component, a closed ground rail is fixedly mounted on one side of the bottom of the protection component, a driving seat is slidably mounted on the outer surface of the closed ground rail, and a coating mechanical arm is fixedly mounted on the top of the driving seat by bolts;

[0007] The coating robot arm comprises a connecting base, a six-axis robot arm is arranged on the top of the connecting base, a coating spray gun is fixedly installed on one end of the six-axis robot arm, a detection device is fixedly installed on the top of one end of the six-axis robot arm, and an auxiliary coating part is fixedly installed on the bottom of one end of the six-axis robot arm;

[0008] The auxiliary coating part comprises a fixed frame, a telescopic motor is fixedly installed on the right end of the fixed frame, a rotating screw is fixedly installed on the output end of the telescopic motor, the rotating screw is rotatably installed inside the fixed frame, a connecting plate is fixedly installed inside the fixed frame away from one end of the telescopic motor, a telescopic arm is movably sleeved inside the connecting plate, the right end of the telescopic arm is threadedly installed on the outer surface of the rotating screw, a fixed box is fixedly installed on the left end of the telescopic arm, a rotating motor is fixedly installed inside the fixed box, a rotating frame is fixedly installed on the output end of the rotating motor, the rotating frame is rotatably installed on the left side of the telescopic arm, a driving cover is fixedly installed inside the rotating frame, an angle motor is fixedly installed inside the driving cover, a driving wheel is fixedly installed on the output end of the angle motor, the driving wheel is rotatably installed on the inner side of the rotating frame, a rotating shaft is rotatably installed inside the left end of the rotating frame, a fixed tube is fixedly sleeved on the outer surface of the rotating shaft, an ultrasonic sensor is fixedly installed on the top of the fixed tube, a miniature long spray gun is fixedly installed on the left side of the fixed tube, a transmission wheel is fixedly sleeved on the outer surface of one end of the rotating shaft, and a transmission belt is sleeved on the outer surfaces of the transmission wheel and the driving wheel.

[0009] Preferably, the fixing frame is fixedly mounted on the bottom of one end of the six-axis robot arm, the auxiliary coating component is located below the coating spray gun, and the miniature long spray gun is at a right angle to the ultrasonic sensor.

[0010] Preferably, the detection device includes a top frame, a protective cover is fixedly installed on the outer surface of the top frame, a sliding groove is opened inside the left end of the top frame, a moving seat is slidably installed on the top of the top frame, a sliding block is fixedly installed on the bottom of the moving seat, the sliding block is slidably installed inside the sliding groove, a pushing cylinder is fixedly installed on the right side of the bottom of the top frame, one end of the pushing cylinder is fixedly installed on the sliding block, a visual sensor is fixedly installed on the top of the moving seat, and lighting lamps are fixedly installed on both sides of the visual sensor.

[0011] Preferably, two fixed rails are fixedly installed at the bottom of the left end of the top frame, and sliding sleeves are slidably installed on the outer surfaces of the two fixed rails. A baffle is fixedly installed on the side of the two sliding sleeves away from each other, and a movable cavity is opened on the left side of the upper end of the baffle, and a pushing rod is rotatably installed inside the movable cavity. The other ends of the pushing rods at both ends are respectively rotatably installed at the two ends of the top of the moving seat, and the baffle is movably sleeved inside the left end of the protective cover.

[0012] Preferably, the protection component includes a spraying room, a water reservoir is formed at the bottom of the spraying room, a circulating water pump is fixedly installed on one side of the bottom of the spraying room, a connecting water pipe is fixedly installed on the top of the circulating water pump, a flowing water nozzle is fixedly installed on one end of the connecting water pipe, the flowing water nozzle is fixedly installed at the corner of the top of the inner wall of the spraying room, and a sewage outlet is fixedly connected to one side of the bottom of the spraying room.

[0013] Preferably, a movable groove is opened on the top of the spray chamber, and a movable screw is rotatably installed inside the movable groove. A driving box is fixedly installed at one end of the top of the spray chamber, and a movable motor is fixedly installed inside the driving box. The output end of the movable motor is fixedly connected to a belt transmission member, and the lower end of the belt transmission member is fixedly connected to the left end of the movable screw.

[0014] Preferably, the clamping robot arm includes a moving frame, the moving frame is slidably installed inside the moving groove, the moving frame is threadedly installed on the outer surface of the moving screw, a bottom block is fixedly installed at one end of the bottom of the moving frame, a rotating wheel is rotatably installed on the outer surface of the bottom block, a bottom frame is fixedly installed at the bottom of the bottom block, lifting cylinders are fixedly installed at both ends of the top left of the moving frame, connecting frames are fixedly installed at the bottom of the lifting cylinders at both ends, the connecting frame is movably sleeved inside the bottom frame, and a movable rod is fixedly installed at the bottom of the connecting frame.

[0015] Preferably, telescopic rods are fixedly mounted on both ends of the bottom of the rotating wheel, a cross frame is fixedly mounted on the bottom of the telescopic rod, and the bottom of the movable rod is rotatably mounted on the top of the cross frame.

[0016] Preferably, a bracket motor is fixedly mounted on one side of the top right end of the movable frame, a pulley is fixedly mounted on the bottom of the bracket motor, the pulley is rotatably mounted on the right end of the bottom of the movable frame, and a connecting belt is sleeved on the outer surfaces of the pulley and the rotating wheel.

[0017] Preferably, a plurality of support rods are fixedly mounted on the bottom of the cross frame, and a hook ring is fixedly mounted on the bottom of each of the plurality of support rods.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. In the present invention, an ultrasonic sensor is provided so that when the telescopic arm is extended inside the fixed frame, the ultrasonic sensor emits ultrasonic waves of a certain frequency, and the system can accurately measure the actual distance between the micro-long spray gun and the workpiece. When the micro-long spray gun reaches a certain distance from the workpiece, it stops extending to prevent the micro-long spray gun from colliding with the workpiece and affecting the service life of the workpiece and the micro-long spray gun.

[0020] 2. In the present invention, by setting up a closed ground rail, when the painting robot arm stops working, it automatically moves to a distant place, and the clamping robot arm moves to the side of the spray chamber. At the same time, the lifting cylinder controls the connecting frame to descend inside the bottom frame, and the telescopic rod is extended to make the cross frame and the hook ring descend, which is convenient for the operator or loading and unloading equipment to load and unload the workpiece.

[0021] 3. In the present invention, an angle motor is used to control the rotation of the rotating shaft inside the rotating frame to rotate the micro-long spray gun, and a rotary motor is used to control the rotating frame to rotate on the side of the telescopic arm to rotate the micro-long spray gun to different angles, and cooperate with the six-axis robotic arm to achieve coating of different areas of the workpiece.

[0022] 4. In the present invention, a miniature long spray gun is provided, and the length and spraying area of ​​the miniature long spray gun are smaller than those of the coating spray gun, so that the miniature long spray gun can enter a relatively narrow area, thereby compensating for the deficiency that the coating spray gun sprays over a large area, resulting in some complex areas not being sprayed, thereby improving the spraying effect on the workpiece.

[0023] 5. In the present invention, an illumination lamp is used to assist the visual sensor in detecting the sprayed workpiece, so as to avoid the visual sensor's detection effect on the painted workpiece being affected by insufficient lighting in a dim environment.

[0024] 6. In the present invention, when the coating spray gun is working, the cylinder is pushed to retract, and when the sliding block and the movable seat move to the right, the visual sensor and the lighting lamp move to the inside of the protective cover, the push rod rotates, and the sliding sleeve moves toward each other on the outer surface of the fixed track. The baffles at both ends block one end of the protective cover to prevent the coating spray liquid from getting on the visual sensor and the lighting lamp when the coating spray gun is working, thereby affecting the visual sensor's detection of the workpiece.

[0025] 7. In the present invention, a spray room is used to form a relatively closed environment for the coating area, reducing the splashing of the spray liquid, thereby improving the working environment of the coating. The water nozzle forms a water curtain on the inner wall of the spray room. When the spray liquid is coating the workpiece, the splashing spray liquid will directly contact the water flow. The dilution of the water flow can prevent the coating liquid from adhering to the inner wall of the spray room, making it easier to clean the spray liquid and improving the convenience of cleaning the spray room.

[0026] 8. In the present invention, the motor of the rack controls the rotation of the pulley, and the connecting belt is used to make the rotating wheel drive the horizontal frame to rotate, so that the workpiece can be rotated to any angle, which is convenient for the coating robot arm to paint the workpiece at various angles and orientations, thereby improving the performance of coating the workpiece.

[0027] 9. In the present invention, the spraying condition of the workpiece surface is detected by a visual sensor. When an unpainted area is detected on the workpiece surface, the micro long spray gun is operated to paint the unpainted area.

[0028] 10. In the present invention, the spraying condition of the workpiece surface is detected by a visual sensor, and a micro long spray gun is used to re-coat the uncoated area, thereby reducing the errors caused by manual re-spraying and manual inspection, and improving the efficiency and effect of workpiece coating. 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 structure of the coating robot arm of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the auxiliary coating part of the present invention;

[0032] Figure 4 The present invention Figure 3 Schematic diagram of the structure at A in the middle;

[0033] Figure 5 It is a schematic diagram of the internal structure of the detection device of the present invention;

[0034] Figure 6 It is a schematic diagram of the bottom structure of the detection device of the present invention;

[0035] Figure 7 It is a schematic diagram of the structure of the protection component of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the clamping mechanical arm of the present invention.

[0037] In the figure: 1. protection component; 2. closed ground rail; 3. driving seat; 4. coating robot arm; 5. clamping robot arm; 11. spraying room; 12. circulating water pump; 13. connecting water pipe; 14. water nozzle; 15. sewage outlet; 16. moving trough; 17. moving screw; 18. moving motor; 19. belt transmission; 41. connecting base; 42. six-axis robot arm; 43. coating spray gun; 44. auxiliary coating parts; 45. detection device; 441. fixed frame; 442. connecting plate; 443. telescopic motor; 444. rotating screw; 445. telescopic arm; 446. fixed box; 447. rotating motor; 448. rotating frame; 449. driving cover; 4410. corner motor; 4411. driving wheel; 4412. transmission wheel; 4413. transmission moving belt; 4414, rotating shaft; 4415, fixed tube; 4416, ultrasonic sensor; 4417, micro long spray gun; 451, top frame; 452, protective cover; 453, sliding groove; 454, moving seat; 455, visual sensor; 456, lighting lamp; 457, push rod; 458, sliding block; 459, push cylinder; 4510, fixed track; 4511, sliding sleeve; 4512, baffle; 4513, movable chamber; 51, moving frame; 52, bottom block; 53, rotating wheel; 54, lifting cylinder; 55, connecting frame; 56, bottom frame; 57, telescopic rod; 58, horizontal frame; 59, support rod; 510, hook ring; 511, rack motor; 512, pulley; 513, connecting belt; 514, movable rod. DETAILED DESCRIPTION

[0038] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0039] Embodiment 1, as Figure 1 - Figure 4 As shown, a robot arm for an automated coating production line comprises a protection component 1, a closed ground rail 2, a coating robot arm 4 and a clamping robot arm 5, wherein the clamping robot arm 5 is slidably mounted on the upper end of the protection component 1, the closed ground rail 2 is fixedly mounted on one side of the bottom of the protection component 1, a driving seat 3 is slidably mounted on the outer surface of the closed ground rail 2, and the top of the driving seat 3 is fixedly mounted with the coating robot arm 4 by bolts;

[0040] By providing the closed ground rail 2, the coating robot arm 4 automatically moves to a distant place when it stops working, so as to facilitate the operator or loading and unloading equipment to load and unload the workpiece.

[0041] like Figure 2As shown, the coating robot 4 includes a connecting base 41, a coating spray gun 43, an auxiliary coating part 44 and a detection device 45. A six-axis robot 42 is arranged on the top of the connecting base 41. The coating spray gun 43 is fixedly mounted on one end of the six-axis robot 42. The top of one end of the six-axis robot 42 is fixedly mounted with the detection device 45, and the bottom of one end of the six-axis robot 42 is fixedly mounted with the auxiliary coating part 44.

[0042] like Figure 3 - Figure 4 As shown, the auxiliary coating part 44 includes a fixing frame 441, an ultrasonic sensor 4416 and a micro long spray gun 4417, the micro long spray gun 4417 is at a right angle to the ultrasonic sensor 4416, a telescopic motor 443 is fixedly installed on the right end of the fixing frame 441, a rotating screw 444 is fixedly installed on the output end of the telescopic motor 443, the rotating screw 444 is rotatably installed inside the fixing frame 441, a connecting plate 442 is fixedly installed inside the fixing frame 441 away from the end of the telescopic motor 443, a telescopic arm 445 is movably sleeved inside the connecting plate 442, the right end of the telescopic arm 445 is threadedly installed on the outer surface of the rotating screw 444, a fixing box 446 is fixedly installed on the left end of the telescopic arm 445, a rotating motor 447 is fixedly installed inside the fixing box 446, a rotating frame 448 is fixedly installed on the output end of the rotating motor 447, and the rotating frame 448 rotates Installed on the left side of the telescopic arm 445, a driving cover 449 is fixedly installed inside the rotating frame 448, and an angle motor 4410 is fixedly installed inside the driving cover 449. A driving wheel 4411 is fixedly installed on the output end of the angle motor 4410, and the driving wheel 4411 is rotatably installed on the inner side of the rotating frame 448. A rotating shaft 4414 is rotatably installed inside the left end of the rotating frame 448, and a fixed tube 4415 is fixedly sleeved on the outer surface of the rotating shaft 4414. The ultrasonic sensor 4416 and the miniature long spray gun 4417 are both fixedly installed on the side of the fixed tube 4415, and a transmission wheel 4412 is fixedly sleeved on the outer surface of one end of the rotating shaft 4414. A transmission belt 4413 is sleeved on the outer surfaces of the transmission wheel 4412 and the driving wheel 4411. The fixed frame 441 is fixedly installed on the bottom of one end of the six-axis robot arm 42, and the auxiliary coating part 44 is located below the coating spray gun 43.

[0043] During the process of the micro-long spray gun 4417 supplementing the coating on the workpiece, by setting the ultrasonic sensor 4416, when the telescopic arm 445 is extended inside the fixed frame 441, the ultrasonic sensor 4416 emits ultrasonic waves of a certain frequency. After encountering an obstacle, the ultrasonic wave will be reflected back and received by the ultrasonic sensor 4416. By calculating the time difference between the ultrasonic wave emission and reflection, the system can accurately measure the actual distance between the micro-long spray gun 4417 and the workpiece, and feed this information back to the system through an electrical signal, so that the telescopic arm 445 stops extending inside the fixed frame 441, and the micro-long spray gun 4417 automatically stops extending when it reaches a certain distance from the workpiece, so as to prevent the micro-long spray gun 4417 from colliding with the workpiece and affecting the service life of the workpiece and the micro-long spray gun 4417.

[0044] The angle motor 4410 is used to control the rotating shaft 4414 to rotate inside the rotating frame 448, so that the micro long spray gun 4417 rotates, and the rotating motor 447 is used to control the rotating frame 448 to rotate on the side of the telescopic arm 445, so that the micro long spray gun 4417 rotates to different angles, and cooperates with the six-axis robot arm 42 to achieve painting of different areas of the workpiece.

[0045] In addition, based on the coating spray gun 43, a miniature long spray gun 4417 is provided, and the length and spraying area of ​​the miniature long spray gun 4417 are smaller than the length and spraying area of ​​the coating spray gun 43, so that the miniature long spray gun 4417 can enter a relatively narrow area, thereby compensating for the deficiency that the coating spray gun 43 sprays over a large range, resulting in some complex areas not being sprayed, thereby improving the spraying effect on the workpiece.

[0046] Embodiment 2, as Figure 1 - Figure 2 , Figure 5 - Figure 6 As shown, a robotic arm for an automated coating production line, the detection device 45 includes a top frame 451, a moving seat 454, a pushing rod 457 and a baffle 4512, a protective cover 452 is fixedly installed on the outer surface of the top frame 451, a sliding groove 453 is opened inside the left end of the top frame 451, the moving seat 454 is slidably installed on the top of the top frame 451, a sliding block 458 is fixedly installed on the bottom of the moving seat 454, and the sliding block 458 is slidably installed inside the sliding groove 453, a pushing cylinder 459 is fixedly installed on the right side of the bottom of the top frame 451, one end of the pushing cylinder 459 is fixedly installed on the sliding block 458, a visual sensor 455 is fixedly installed on the top of the moving seat 454, and lighting lamps 456 are fixedly installed on both sides of the visual sensor 455.

[0047] The lighting lamp 456 is used to assist the visual sensor 455 in detecting the sprayed workpiece, so as to avoid the visual sensor 455 being affected in detecting the painted workpiece due to insufficient lighting in a dim environment.

[0048] Among them, two fixed rails 4510 are fixedly installed at the bottom of the left end of the top frame 451, and sliding sleeves 4511 are slidably installed on the outer surfaces of the two fixed rails 4510. A baffle 4512 is fixedly installed on the side of the two sliding sleeves 4511 away from each other. A movable cavity 4513 is opened on the left side of the upper end of the baffle 4512, and a pushing rod 457 is rotatably installed inside the movable cavity 4513. The other ends of the pushing rods 457 at both ends are respectively rotatably installed at the two ends of the top of the moving seat 454, and the baffle 4512 is movably sleeved inside the left end of the protective cover 452.

[0049] When the coating spray gun 43 is working, it pushes the cylinder 459 to retract. When the sliding block 458 and the moving seat 454 move to the right, the visual sensor 455 and the lighting lamp 456 move to the inside of the protective cover 452, the pushing rod 457 rotates, and the sliding sleeve 4511 moves toward each other on the outer surface of the fixed track 4510. The baffles 4512 move toward each other on both sides of one end of the protective cover 452, so that the baffles 4512 at both ends block one end of the protective cover 452 to prevent the coating spray liquid from getting on the visual sensor 455 and the lighting lamp 456 when the coating spray gun 43 is working, thereby affecting the detection of the workpiece by the visual sensor 455.

[0050] Embodiment three, as Figure 1 , Figure 7 - Figure 8 As shown, a robotic arm for an automated coating production line, the protective component 1 includes a spray chamber 11 and a water nozzle 14, a circulating water pump 12 is fixedly installed on one side of the bottom of the spray chamber 11, a connecting water pipe 13 is fixedly installed on the top of the circulating water pump 12, one end of the connecting water pipe 13 is fixedly installed with the water nozzle 14, the water nozzle 14 is fixedly installed at the corner of the top of the inner wall of the spray chamber 11, and a sewage outlet 15 is fixedly connected to one side of the bottom of the spray chamber 11.

[0051] The spraying room 11 is used to form a relatively closed environment for the painting area, thereby reducing the splashing of the spraying liquid and improving the working environment of the painting.

[0052] A water reservoir is formed at the bottom of the spray room 11, and water flows through the circulating water pump 12 and the connecting water pipe 13, and is sprayed out from the water nozzle 14, so that a water curtain is formed on the inner wall of the spray room 11. When the spray liquid is coating the workpiece, the splashing spray liquid will directly contact the water flow. The dilution of the water flow can prevent the coating liquid from adhering to the inner wall of the spray room 11. When cleaning, open the sewage outlet 15 to discharge the sewage, which is convenient for cleaning the spray liquid and improves the convenience of cleaning the spray room 11.

[0053] Among them, a movable groove 16 is opened at the top of the spray chamber 11, and a movable screw 17 is rotatably installed inside the movable groove 16. A driving box is fixedly installed at one end of the top of the spray chamber 11, and a movable motor 18 is fixedly installed inside the driving box. The output end of the movable motor 18 is fixedly connected to a belt transmission member 19, and the lower end of the belt transmission member 19 is fixedly connected to the left end of the movable screw 17.

[0054] like Figure 8 As shown, the clamping robot arm 5 includes a moving frame 51, a horizontal frame 58 and a hook ring 510. The moving frame 51 is slidably installed inside the moving groove 16, and the moving frame 51 is threadedly installed on the outer surface of the moving screw 17. A bottom block 52 is fixedly installed at one end of the bottom of the moving frame 51, and a rotating wheel 53 is rotatably installed on the outer surface of the bottom block 52. A bottom frame 56 is fixedly installed at the bottom of the bottom block 52, and lifting cylinders 54 are fixedly installed at both ends of the top left of the moving frame 51. Connecting frames 55 are fixedly installed at the bottom of the lifting cylinders 54 at both ends. The connecting frame 55 is movably sleeved inside the bottom frame 56, and a movable rod 514 is fixedly installed at the bottom of the connecting frame 55. Telescopic rods 57 are fixedly installed at both ends of the bottom of the rotating wheel 53, and the bottom of the telescopic rod 57 is fixedly installed on the top of the horizontal frame 58, and the bottom of the movable rod 514 is rotatably installed on the top of the horizontal frame 58.

[0055] The belt drive 19 includes two pulleys and belts for transmission. The rotation of one of the pulleys is controlled by the mobile motor 18. Under the action of the belt, the other pulley rotates while driving the moving screw 17 to rotate inside the moving groove 16, so that the moving frame 51 slides on the top of the spray chamber 11, and under the action of the lifting cylinder 54, the connecting frame 55 descends inside the bottom frame 56, and the cross frame 58 can be moved to the side of the spray chamber 11 and descended, which is convenient for operators and loading and unloading equipment to load and unload workpieces.

[0056] Among them, a bracket motor 511 is fixedly installed on one side of the top right end of the mobile frame 51, and a pulley 512 is fixedly installed on the bottom of the bracket motor 511. The pulley 512 is rotatably installed on the right end of the bottom of the mobile frame 51, and the outer surfaces of the pulley 512 and the rotating wheel 53 are provided with a connecting belt 513.

[0057] During operation, the bracket motor 511 controls the pulley 512 to rotate, and utilizes the connecting belt 513 to make the rotating wheel 53 drive the horizontal frame 58 to rotate, so that the workpiece can be rotated to any angle, which is convenient for the coating robot arm 4 to paint the workpiece at various angles and orientations, thereby improving the performance of workpiece coating.

[0058] A plurality of support rods 59 are fixedly installed at the bottom of the cross frame 58 , and a hook ring 510 is fixedly installed at the bottom of each of the plurality of support rods 59 .

[0059] It should be noted that the present invention is a mechanical arm for an automated coating production line. When in use, the mobile motor 18 controls the rotation of the mobile screw 17 through the belt transmission member 19, so that the clamping mechanical arm 5 moves to the side of the spray chamber 11. At the same time, the lifting cylinder 54 controls the connection frame 55 to descend inside the bottom frame 56, and the movable rod 514 descends inside the bottom frame 56. The telescopic rod 57 is extended to make the cross frame 58 and the hook ring 510 descend. The staff or the feeding equipment hangs the workpiece inside the hook ring 510 through the hanging member. Then, the lifting cylinder 54 contracts, so that the movable rod 514 drives the cross frame 58 to rise, and the mobile motor 18 controls the rotation of the mobile screw 17 through the belt transmission member 19, so that the workpiece moves to the inside of the spray chamber 11.

[0060] Clean water is injected into the spraying room 11, and the circulating water pump 12 is controlled to work, so that the clean water passes through the circulating water pump 12, passes through the connecting water pipe 13, and is sprayed out from the water nozzle 14. The clean water sprayed from the water nozzle 14 forms a water curtain on the inner wall of the spraying room 11. At this time, the driving seat 3 slides on the top of the closed ground rail 2, so that the driving seat 3 drives the coating robot arm 4 to move to the side of the workpiece, and the coating spray gun 43 is controlled by the six-axis robot arm 42 to paint the workpiece. After the coating is completed, it enters the detection stage. During the detection process, the cylinder 459 is pushed to extend, so that the sliding block 458 drives the moving seat 454 to move to the left, and the pushing rods 457 at both ends of the moving seat 454 rotate, pushing the baffles 4512 on both sides to move to both sides at one end of the protective cover 452, so that one end of the protective cover 452 is opened, and the visual sensor 455 and the lighting lamp 456 are extended, and The workpiece is illuminated and inspected, and the spraying condition of the workpiece surface is detected by the visual sensor 455 (using the difference in color between the painted area and the unpainted area). The bracket motor 511 controls the pulley 512 to rotate and rotates the rotating wheel 53 on the outer surface of the bottom block 52 through the connecting belt 513. The telescopic rod 57 at the bottom of the rotating wheel 53 drives the horizontal frame 58 to rotate, so that the workpiece suspended on the hook ring 510 rotates. The six-axis robot arm 42 drives the detection device 45 and the auxiliary coating part 44 to move back and forth up and down on the side of the workpiece. When the visual sensor 455 detects the unpainted area, the visual sensor 455 controls the bracket motor 511 to stop rotating through an electrical signal, so that the horizontal frame 58 at the bottom of the rotating wheel 53 stops rotating, and the unpainted area of ​​the workpiece stops on the side of the coating robot arm 4, so that the coating robot arm 4 can paint the workpiece;

[0061] Subsequently, the corner motor 4410 controls the driving wheel 4411 to rotate, and drives the driving wheel 4412 and the rotating shaft 4414 to rotate through the transmission belt 4413, so that the ultrasonic sensor 4416 rotates to the side of the workpiece, and the telescopic motor 443 controls the rotating screw 444 to rotate, so that the telescopic arm 445 extends inside the fixed frame 441, and the actual distance between the micro long spray gun 4417 and the workpiece is measured by the ultrasonic sensor 4416, and this information is fed back to the system through an electrical signal, so that the telescopic arm 445 stops extending inside the fixed frame 441, and the telescopic arm 445 stops extending when it reaches a certain distance from the workpiece, and the corner motor 4410 again drives the driving wheel 4412 to drive the rotating shaft 4414 to rotate through the transmission belt 4413, and the micro long spray gun 4417 rotates to the side of the workpiece, and the micro long spray gun 4417 works to paint the unpainted area;

[0062] After the work is completed, the air cylinder 459 is pushed to retract, and when the sliding block 458 and the moving seat 454 move to the right, the visual sensor 455 and the lighting lamp 456 move to the inside of the protective cover 452, the pushing rod 457 rotates, and the sliding sleeve 4511 moves toward each other on the outer surface of the fixed track 4510, and the baffle 4512 moves toward each other on both sides of one end of the protective cover 452, so that the baffles 4512 at both ends block one end of the protective cover 452 to prevent the coating spray liquid from sticking to the visual sensor 455 and the lighting lamp 456 when the coating spray gun 43 is working, thereby affecting the detection of the workpiece by the visual sensor 455.

[0063] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot arm for an automated coating production line, comprising a protective assembly (1), characterized in that: A clamping mechanical arm (5) is slidably mounted on the upper end of the protection component (1), a closed ground rail (2) is fixedly mounted on one side of the bottom of the protection component (1), a driving seat (3) is slidably mounted on the outer surface of the closed ground rail (2), and a coating mechanical arm (4) is fixedly mounted on the top of the driving seat (3) by bolts; The coating robot arm (4) comprises a connecting base (41), a six-axis robot arm (42) is arranged on the top of the connecting base (41), a coating spray gun (43) is fixedly installed on one end of the six-axis robot arm (42), a detection device (45) is fixedly installed on the top of one end of the six-axis robot arm (42), and an auxiliary coating part (44) is fixedly installed on the bottom of one end of the six-axis robot arm (42); The auxiliary coating component (44) comprises a fixed frame (441), a telescopic motor (443) is fixedly mounted on the right end of the fixed frame (441), a rotating screw (444) is fixedly mounted on the output end of the telescopic motor (443), and the rotating screw (444) is rotatably mounted inside the fixed frame (441), a connecting plate (442) is fixedly mounted inside the fixed frame (441) at one end away from the telescopic motor (443), a telescopic arm (445) is movably sleeved inside the connecting plate (442), the right end of the telescopic arm (445) is threadedly mounted on the outer surface of the rotating screw (444), a fixed box (446) is fixedly mounted on the left end of the telescopic arm (445), a rotating motor (447) is fixedly mounted inside the fixed box (446), a rotating frame (448) is fixedly mounted on the output end of the rotating motor (447), and the rotating frame (448) is rotatably mounted on the telescopic arm (445). ), a driving cover (449) is fixedly installed inside the rotating frame (448), a corner motor (4410) is fixedly installed inside the driving cover (449), a driving wheel (4411) is fixedly installed on the output end of the corner motor (4410), the driving wheel (4411) is rotatably installed on the inner side of the rotating frame (448), a rotating shaft (4414) is rotatably installed inside the left end of the rotating frame (448), a fixed tube (4415) is fixedly sleeved on the outer surface of the rotating shaft (4414), an ultrasonic sensor (4416) is fixedly installed on the top of the fixed tube (4415), a miniature long spray gun (4417) is fixedly installed on the left side of the fixed tube (4415), a transmission wheel (4412) is fixedly sleeved on the outer surface of one end of the rotating shaft (4414), and a transmission belt (4413) is sleeved on the outer surfaces of the transmission wheel (4412) and the driving wheel (4411).

2. The robotic arm for an automated coating production line according to claim 1, characterized in that: The fixing frame (441) is fixedly mounted on the bottom of one end of the six-axis robot arm (42), the auxiliary coating component (44) is located below the coating spray gun (43), and the miniature long spray gun (4417) is at a right angle to the ultrasonic sensor (4416).

3. The robot arm for an automated coating production line according to claim 1, characterized in that: The detection device (45) comprises a top frame (451), a protective cover (452) is fixedly mounted on the outer surface of the top frame (451), a sliding groove (453) is provided inside the left end of the top frame (451), a moving seat (454) is slidably mounted on the top of the top frame (451), a sliding block (458) is fixedly mounted on the bottom of the moving seat (454), and the sliding block (458) is slidably mounted inside the sliding groove (453), a pushing cylinder (459) is fixedly mounted on the right side of the bottom of the top frame (451), one end of the pushing cylinder (459) is fixedly mounted on the sliding block (458), a visual sensor (455) is fixedly mounted on the top of the moving seat (454), and lighting lamps (456) are fixedly mounted on both sides of the visual sensor (455).

4. The robot arm for an automated coating production line according to claim 3, characterized in that: Two fixed rails (4510) are fixedly installed at the bottom of the left end of the top frame (451), and sliding sleeves (4511) are slidably installed on the outer surfaces of the two fixed rails (4510). A baffle (4512) is fixedly installed on the side away from each other of the two sliding sleeves (4511), and a movable cavity (4513) is opened on the left side of the upper end of the baffle (4512). A push rod (457) is rotatably installed inside the movable cavity (4513), and the other ends of the push rods (457) at both ends are rotatably installed at the two ends of the top of the movable seat (454), respectively, and the baffle (4512) is movably sleeved inside the left end of the protective cover (452).

5. The robot arm for an automated coating production line according to claim 1, characterized in that: The protection component (1) comprises a spray chamber (11), the bottom of the spray chamber (11) forms a water reservoir, a circulating water pump (12) is fixedly installed on one side of the bottom of the spray chamber (11), a connecting water pipe (13) is fixedly installed on the top of the circulating water pump (12), a flowing water nozzle (14) is fixedly installed on one end of the connecting water pipe (13), the flowing water nozzle (14) is fixedly installed at the corner of the top of the inner wall of the spray chamber (11), and a sewage outlet (15) is fixedly connected to one side of the bottom of the spray chamber (11).

6. The robot arm for an automated coating production line according to claim 5, characterized in that: A movable groove (16) is provided on the top of the spray chamber (11), a movable screw (17) is rotatably installed inside the movable groove (16), a driving box is fixedly installed at one end of the top of the spray chamber (11), a movable motor (18) is fixedly installed inside the driving box, an output end of the movable motor (18) is fixedly connected to a belt transmission member (19), and the lower end of the belt transmission member (19) is fixedly connected to the left end of the movable screw (17).

7. The robot arm for an automated coating production line according to claim 6, characterized in that: The clamping mechanical arm (5) comprises a moving frame (51), the moving frame (51) is slidably mounted inside the moving groove (16), the moving frame (51) is threadedly mounted on the outer surface of the moving screw (17), a bottom block (52) is fixedly mounted on one end of the bottom of the moving frame (51), a rotating wheel (53) is rotatably mounted on the outer surface of the bottom block (52), a bottom frame (56) is fixedly mounted on the bottom of the bottom block (52), lifting cylinders (54) are fixedly mounted on both ends of the left side of the top of the moving frame (51), connecting frames (55) are fixedly mounted on the bottom of the lifting cylinders (54) at both ends, the connecting frame (55) is movably sleeved inside the bottom frame (56), and a movable rod (514) is fixedly mounted on the bottom of the connecting frame (55).

8. The robot arm for an automated coating production line according to claim 7, characterized in that: Telescopic rods (57) are fixedly mounted at both ends of the bottom of the rotating wheel (53), a cross frame (58) is fixedly mounted at the bottom of the telescopic rod (57), and the bottom of the movable rod (514) is rotatably mounted on the top of the cross frame (58).

9. The robot arm for an automated coating production line according to claim 8, characterized in that: A hanger motor (511) is fixedly mounted on one side of the top right end of the mobile frame (51), a belt pulley (512) is fixedly mounted on the bottom of the hanger motor (511), the belt pulley (512) is rotatably mounted on the right end of the bottom of the mobile frame (51), and a connecting belt (513) is sleeved on the outer surfaces of the belt pulley (512) and the rotating wheel (53).

10. A robotic arm for an automated coating production line according to claim 9, characterized in that: A plurality of support rods (59) are fixedly mounted on the bottom of the cross frame (58), and a hook ring (510) is fixedly mounted on the bottom of each of the plurality of support rods (59).

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