Multi-station spraying robot free of cable winding and control method thereof

Abstract

The invention relates to a cable-winding-free multi-station spraying robot and a control method thereof.The robot comprises power devices, a rack, a center rotary table, a plurality of connecting arms, a plurality of power devices and a plurality of workpiece rotary tables used for containing products, the center rotary table is rotatably arranged on the rack, one ends of the connecting arms are connected with the center rotary table, and the other ends of the connecting arms are connected with the power devices; the workpiece rotary tables are arranged at the ends, away from the center rotary table, of the connecting arms respectively, the power device comprises a driver, a magnetic coupler and a transmission mechanism used for enabling the magnetic coupler to be in linkage with the workpiece rotary tables, and the magnetic coupler comprises a driving block and a driven block which have magnetism to be in linkage. The driving block is fixedly connected with the driver, the driven block is fixedly connected with the transmission mechanism, and the driver is fixedly arranged on the machine frame. According to the invention, the situation of wire winding can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to a multi-station spraying robot without cable winding and its control method, belonging to the technical field of spraying robots. Background Art

[0002] The operation scenarios of powder spraying or painting often involve various potential risk factors such as flammable, explosive, toxic, harmful, high temperature, high pressure, and strong corrosiveness. This requires production equipment to have characteristics such as high safety level and strong protection ability. To ensure personal safety and reduce the economic losses of enterprises, spraying robots have stood out with their own advantages, liberating spraying workers from dangerous and harsh working environments. Currently, the spraying robots supplied in the international market can be roughly divided into the following categories: according to whether they have the function of horizontally moving along the running direction of the body conveying chain, they are divided into rail-mounted and fixed-mounted robots; according to the different installation positions, they are divided into floor-mounted and cantilever-mounted robots. Among them, the floor-mounted robot has the advantage of being easy to maintain and clean, the rail-mounted robot has the advantage of a relatively large working range, and the cantilever-mounted robot can reduce the width size of the spray booth.

[0003] Generally, a fixed-mounted spraying robot has two operation forms; one is in the form of an assembly line, and the other is in the form of an independent spraying station. Comparing the two forms, the former assembly line form has a relatively high cost and is generally suitable for the use occasions of single-variety and large-batch products; the latter independent spraying station form is suitable for the use occasions of multi-variety and small-batch products. Among them, the independent spraying station form mainly uses a robot for spraying, and an auxiliary turntable is used for loading and unloading to improve the production rhythm and production efficiency. The turntable consists of a large turntable and a small turntable working together, and a connecting arm is used to connect the large turntable and the small turntable. The large turntable is installed under the spraying robot body, and its function is to rotate and change the positions of the small turntables relative to the spraying robot. The large turntable is driven by a separate motor to rotate. The function of the small turntable is to carry the workpiece to be sprayed and rotate the workpiece to achieve uniform spraying. The rotation of each small turntable is also driven by a separate motor. Among them, two or more small turntables are used in the independent spraying station form, that is, double-station or multi-station spraying, and each small turntable is connected to the large turntable by a connecting arm respectively. When spraying operations are carried out at the spraying station, manual loading of workpieces is carried out synchronously at the loading station; after the workpiece at the spraying station finishes spraying operations, the large turntable rotates a certain angle. At this time, manual unloading of the sprayed workpiece and loading of the new workpiece to be sprayed can be carried out synchronously to shorten the loading and unloading time and improve efficiency. Among them, the working position of the worker remains relatively unchanged. For safety reasons, workers generally work at a fixed position far from the spraying point.

[0004] However, there are problems to be solved in the existing robot spraying technology in the form of independent spraying stations. For example, the rotation of the small turntable is generally driven by an independent motor, that is, each small turntable is correspondingly equipped with an independent driving motor. Then, for multi-station spraying, the number of small turntable motors is relatively large, increasing the manufacturing cost and maintenance cost of the equipment. Another example is that the cables of the small turntable driving motors need to be connected to the electrical cabinet in the frame along the connecting arm for connection communication control. As the continuous rotation spraying operation progresses, the large turntable will always rotate in the clockwise or counterclockwise direction. If the motor cables of the small turntables are not processed correspondingly, winding and breaking phenomena will occur. Generally, a conductive slip ring is added at the rotation center of the large turntable to solve the cable winding problem. However, the conductive slip ring is expensive and has a certain service life, which will increase the equipment maintenance cost. Summary of the Invention

[0005] The present invention provides a multi-station spraying robot without cable winding and its control method, aiming to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a multi-station spraying robot without cable winding and its control method, which can effectively avoid the situation of cable winding, and makes the overall structure simpler and the cost lower.

[0006] One aspect of the technical solution of the present invention relates to a multi-station spraying robot, including: A frame, a central turntable, a plurality of connecting arms, a plurality of power devices, and a plurality of workpiece turntables for placing products to be sprayed. The central turntable is rotatably arranged on the frame. One ends of the plurality of connecting arms are respectively connected to the central turntable, and the workpiece turntables are respectively arranged at the ends of the connecting arms away from the central turntable; The power device includes a driver, a magnetic coupling, and a transmission mechanism for linking the magnetic coupling with the workpiece turntable. The magnetic coupling includes an active block and a driven block that are both magnetic and linked. The active block and the driven block are arranged at intervals. The active block is fixedly connected to the driver, and the driven block is fixedly connected to the transmission mechanism. The driver is fixedly arranged on the frame.

[0007] Further, the power device further includes a mounting seat, and the mounting seat is fixedly connected to the frame and the driver respectively.

[0008] Further, the mounting seat includes a connecting pipe and a connecting plate. Two ends of the connecting pipe are respectively fixedly connected to the frame and the connecting plate, the connecting plate is fixedly connected to the driver, the connecting plate is provided with a connecting hole, and the rotating shaft of the driver passes through the connecting hole.

[0009] Further, the rotating shaft of the driver is fixedly connected to the active block.

[0010] Further, the transmission mechanism includes a driving wheel, a driven wheel, and a transmission member for linking the driving wheel and the driven wheel; the driving wheel is rotatably disposed on one side of the connecting arm close to the central turntable, the driven wheel is rotatably disposed on one side of the connecting arm away from the central turntable, and the driven wheel is fixedly connected to the workpiece turntable.

[0011] Further, the transmission mechanism further includes a driving shaft, and the driving shaft is respectively connected to the driving wheel and the driven block.

[0012] Further, the transmission mechanism further includes a bearing seat, the bearing seat is disposed on the upper side of the connecting arm, the driving wheel is disposed on the lower side of the connecting arm, and the driving shaft passes through the connecting arm to be connected to the bearing seat.

[0013] Further, the transmission mechanism further includes a driven shaft, the workpiece turntable and the driven wheel are respectively disposed on the upper side and the lower side of the connecting arm, and the driven shaft passes through the connecting arm to be respectively connected to the workpiece turntable and the driven wheel.

[0014] Further, the transmission mechanism further includes a mounting plate, the mounting plate is fixed to the upper side of the connecting arm and is disposed under the workpiece turntable.

[0015] On the other hand, the technical solution of the present invention relates to a control method for a multi-station spraying robot, which is applied to the multi-station spraying robot in the above embodiments of the present invention. The multi-station spraying robot includes a robot body and at least four workpiece turntables, and is provided with at least four stations. The robot body is fixedly disposed on the frame. The method at least includes the steps: S100. When the product completes the processing at the current station, the control system sends a rotation command. After the central turntable drives the connecting arm, the workpiece turntable, and the driven block at the current station to rotate by a set angle, the product and its corresponding workpiece turntable reach the next station, and the driven block corresponding to the product reaches above the driving block at the next station; S200. Determine whether the driven block corresponding to the product is coaxial with the driving block at the next station; if not, actively adjust the position of the driven block through the central turntable; S300. If so, the driver operates to drive the driving block to rotate, and under the action of magnetic force, the transmission device drives the workpiece turntable to rotate, and the robot body sprays the product at the next station; S400. When the processing at the next station is completed, the control system sends a rotation command. After the central turntable drives the connecting arm, the workpiece turntable, and the driven block at the next station to rotate by the same set angle, the product and its corresponding workpiece turntable reach the next station again, and the driven block corresponding to the product reaches above the driving block at the next station again; S500. Repeat steps S100 to S400 until the product completes the processing at all workstations.

[0016] The beneficial effects of the present invention are as follows.

[0017] For the problem of motor cable winding that occurs during the rotation of the existing spraying robot structure, the multi-station spraying robot without cable winding and its control method according to the embodiments of the present invention adopt the method of installing the workpiece rotation power device at a fixed position relative to the frame. To solve the problem of motor cable winding at each workpiece turntable workstation during the rotation operation of the equipment, the power device of the workpiece turntable is independently installed and fixed on the frame, without rotating with the rotation of the workpiece turntable, and each workpiece turntable shares a power device. Therefore, during the rotation of the turntable, since the position of the workpiece turntable motor is fixed relative to the frame, the cables of the motor will not be wound or broken, and there is no need to use the existing conductive slip rings to prevent cable winding. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of a multi-station spraying robot without cable winding according to an embodiment of the present invention.

[0019] Figure 2 It is an exploded view of the power device and the workpiece turntable of the multi-station spraying robot without cable winding according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic structural diagram of the magnetic coupling of the multi-station spraying robot without cable winding according to an embodiment of the present invention.

[0021] Figure 4 It is a control flowchart of the multi-station spraying robot without cable winding according to an embodiment of the present invention.

[0022] Reference Signs: 100, frame; 110, central turntable; 111, bottom plate; 112, central outer wheel; 120, workpiece turntable; 130, connecting arm; 140, robot body; 200, power device; 210, driver; 220, magnetic coupling; 221, active block; 222, driven block; 230, transmission mechanism; 231, driving wheel; 232, driven wheel; 233, transmission member; 240, bearing seat; 250, mounting plate; 300, mounting seat; 310, connecting pipe; 320, connecting plate. Detailed Embodiments

[0023] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0024] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0025] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0026] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0027] See also Figures 1 to 3 The cable-free multi-station spraying robot of the present invention includes a power device 200, a frame 100, a central turntable 110, a plurality of connecting arms 130, a plurality of power devices 200 and a plurality of workpiece turntables 120 for placing products to be sprayed. The central turntable 110 is rotatably arranged on the frame 100, one end of the plurality of connecting arms 130 is respectively connected to the central turntable 110, and the workpiece turntables 120 are respectively arranged at one end of the connecting arm 130 away from the central turntable 110. At the end, the power device 200 includes a driver 210, a magnetic coupling 220 and a transmission mechanism 230 for linking the magnetic coupling 220 with the workpiece turntable 120. The magnetic coupling 220 includes an active block 221 and a driven block 222, both of which are magnetic for linkage. The active block 221 and the driven block 222 are arranged at intervals. The active block 221 is fixedly connected to the driver 210, and the driven block 222 is fixedly connected to the transmission mechanism 230. The driver 210 is fixedly set on the frame 100.

[0028] See also Figure 1 and Figure 2, the cable-free multi-station spray head robot according to the embodiment of the present invention includes a frame 100 and a robot body 140. The manipulator body is arranged on the frame 100. A relatively large central turntable 110 is arranged on the base, and the central turntable 110 can rotate relative to the base and the robot body 140. The central turntable 110 is connected with a plurality of relatively small workpiece turntables 120. The central turntable 110 can drive the plurality of workpiece turntables 120 to rotate. The product is placed on the workpiece turntable 120. When the robot body 140 sprays the product on the workpiece turntable 120, the workpiece turntable 120 can drive the product to rotate self, so that the robot body can spray different positions of the product. Further, the plurality of workpiece turntables 120 are evenly distributed around the central turntable 110, and the central turntable 110 drives the workpiece turntable 120 to rotate the same angle each time.

[0029] Specifically, a specific embodiment is used for illustration here. For example, there are four workpiece turntables 120, and the four workpiece turntables 120 are evenly distributed in four directions of the central turntable. The central turntable 110 drives the four workpiece turntables 120 to rotate 90 degrees each time, that is, the arrangement of the four workpiece turntables 120 is in four fixed directions of the central turntable 110, and each rotation only adjusts the positions of the four workpiece turntables 120 in the above four directions. In some specific embodiments, the central turntable 110 drives the workpiece turntable 120 to rotate in a fixed direction. For example, the central turntable 110 drives the workpiece turntable 120 to rotate only in the clockwise direction or the counterclockwise direction. In some specific embodiments, the central turntable 110 can drive the workpiece turntable 120 to rotate in multiple directions. For example, the central turntable 110 can drive the workpiece turntable 120 to rotate in the clockwise direction and the counterclockwise direction.

[0030] In view of the problem of motor cable winding that occurs during the rotation of the existing spray robot structure, the present invention adopts the method of installing the workpiece rotation power device 200 at a fixed position relative to the frame 100. To solve the problem of motor cable winding at each workpiece turntable 120 station during the rotation operation of the equipment, the power device 200 of the workpiece turntable 120 is independently installed and fixed on the frame 100, and does not rotate with the rotation of the workpiece turntable 120, and each workpiece turntable 120 shares a power device 200. Therefore, during the rotation of the turntable, since the position of the workpiece turntable 120 motor is fixed relative to the frame 100, the cables of the motor will not be wound and broken, and there is no need to use the existing slip ring to prevent cable winding.

[0031] See Figure 1 and Figure 2The center turntable 110 and the workpiece turntable 120 are connected by a connecting arm 130, so that the center turntable 110 can drive the workpiece turntable 120 to rotate, and the driver 210 drives the active block 221 of the magnetic coupling 220 to rotate, so that the driven block 222 rotates, and the driven block 222 drives the workpiece turntable 120 to rotate through the transmission mechanism 230. Figure 1 and Figure 3 In the magnetic coupling 220 of the embodiment of the present invention, the active block 221 and the driven block 222 are spaced apart, and both the active block 221 and the driven block 222 are magnetic. This allows the active block 221 to drive the driven block 222 to rotate without contacting the driven block 222, thereby achieving contactless linkage through magnetic force. This allows the driver 210 of the workpiece turntable 120 to be fixed to the frame 100 and not rotate with the workpiece turntable 120. It will be understood that the driver 210 of the embodiment of the present invention can be a motor, a servo motor, an AC motor, etc.

[0032] In some embodiments of the present invention, the magnetic coupling 220 of the present invention can be a planar magnetic coupling 220, which has low torque, strong axial suction, is maintenance-free, and has a simple structure and low cost. The active block 221 and the driven block 222 are both magnetic, and the power of the active block 221 is transmitted to the driven block 222 without mechanical contact based on the magnetic field coupling generated by the permanent magnet or electromagnet. Figure 3 In the planar magnetic coupling 220 , the side of the active block 221 facing the driven block 222 is a plane, and the side of the driven block 222 facing the active block 221 is a plane, and the plane of the active block 221 is parallel to the plane of the driven block 222 .

[0033] In some embodiments of the present invention, the power unit 200 further includes a mounting base 300, which is fixedly connected to the frame 100 and the driver 210, respectively. Furthermore, the mounting base 300 includes a connecting tube 310 and a connecting plate 320, with the ends of the connecting tube 310 fixedly connected to the frame 100 and the connecting plate 320, respectively. The connecting plate 320 is fixedly connected to the driver 210, and the connecting plate 320 is provided with a connecting hole, through which the rotating shaft of the driver 210 passes. Furthermore, the rotating shaft of the driver 210 is fixedly connected to the active block 221. See Figure 1 and Figure 2 The side of the connecting plate 320 facing away from the perforation is fixedly connected to one end of the connecting tube 310, and the other end of the connecting tube 310 is fixedly connected to the side of the frame 100. The connecting hole protrudes from the connecting tube 310. Furthermore, the shaft end of the driver 210 is connected to a reducer, and the shaft of the reducer passes through the connecting hole to be connected to the active block 221. The body of the reducer is fixedly connected to the connecting plate 320.

[0034] It should be noted that in traditional spraying robots, the driver 210 for driving the workpiece turntable 120 to rotate self - rotatably is fixed on the connecting arm 130. The driver 210 needs to rotate around the frame 100 along with the connecting arm 130. At the same time, the servo is fixed on the frame 100, and there is a cable connected between the driver 210 and the servo. Therefore, when the central turntable 110 drives the workpiece turntable 120 to rotate around the frame 100, the cable of the driver 210 will be wound around the frame 100, and it is easy to have the problem that the cable is disconnected due to excessive winding. In the present application, the driver 210 is fixed on the frame 100. Through the cooperation of the magnetic coupling 220 and the transmission mechanism 230, the driver 210 drives the self - rotation of the workpiece, effectively solving the problem that the cable of the driver 210 is wound around the frame 100. And the driver 210 is fixed on the frame 100 through the mounting seat 300, and its structure is simple and the cost is low, which can be applied to the modification of existing spraying robots with cable winding problems.

[0035] In some embodiments of the present invention, the transmission mechanism 230 includes a driving wheel 231, a driven wheel 232, and a transmission member 233 for linking the driving wheel 231 and the driven wheel 232. The driving wheel 231 is rotatably arranged on one side of the connecting arm 130 close to the central turntable 110, and the transmission wheel is rotatably arranged on one side of the connecting arm 130 far from the central turntable 110. The transmission wheel is fixedly connected to the workpiece turntable 120. Specifically, the driving block 221 of the magnetic coupling 220 is driven to rotate by the driver 210, so that the driven block 222 rotates. The driven block 222 drives the driving wheel 231 to rotate. At the same time, through the transmission of the transmission member 233, the driving wheel 231 drives the driven wheel 232 to rotate, so as to drive the workpiece turntable 120 to rotate through the driven block 222.

[0036] In some embodiments of the present invention, the transmission mechanism 230 further includes a driving shaft, and the driving shaft is respectively connected to the driving wheel 231 and the driven block 222. Further, the transmission mechanism 230 further includes a bearing seat 240. The bearing seat 240 is arranged on the upper side of the connecting arm 130, the driving wheel 231 is arranged on the lower side of the connecting arm 130, and the driving shaft passes through the connecting arm 130 to be connected to the bearing seat 240. In some embodiments of the present invention, the transmission mechanism 230 further includes a driven shaft. The workpiece turntable 120 and the driven wheel 232 are respectively arranged on the upper side and the lower side of the connecting arm 130. The driven shaft passes through the connecting arm 130 to be respectively connected to the workpiece turntable 120 and the driven wheel 232. Further, the transmission mechanism 230 further includes a mounting plate 250. The mounting plate 250 is fixed on the upper side of the connecting arm 130 and is arranged on the lower side of the workpiece turntable 120.

[0037] See Figure 1 and Figure 2, the driving shaft rotatably passes through the connecting arm 130. The lower side of the driving shaft is connected to the driving wheel 231 located below the connecting arm 130, and the upper side of the driving shaft is connected to the bearing seat 240 located above the connecting arm 130. Specifically, a driving bearing is provided between the driving shaft and the bearing seat 240. The bearing seat 240 is fixedly connected to the connecting arm 130. The outer side and the inner side of the driving bearing are respectively fixedly connected to the bearing seat 240 and the driving shaft. Further, the driven shaft rotatably passes through the connecting arm 130. The lower side of the driven shaft is connected to the driven wheel 232 located below the connecting arm 130, and the upper side of the driven shaft is connected to the mounting plate 250 located above the connecting arm 130. Specifically, a flange shaft is provided between the driven shaft and the mounting plate 250. The mounting plate 250 is fixedly connected to the connecting arm 130. The middle part of the flange shaft is connected to the driven wheel 232. The outer side of the flange shaft is fixedly connected to the mounting plate 250. The flange shaft passes through the mounting plate 250 and its upper plane is fixedly connected to the workpiece turntable 120. The product is arranged on the upper plane of the workpiece turntable 120. Further, the transmission member 233 of the present invention can be a transmission belt, and the transmission belt is respectively sleeved on the driving wheel 231 and the driven wheel 232. Further, the transmission member 233 in the embodiment of the present invention adopts a gear transmission method or a belt transmission method between the driving wheel 231 and the driven wheel 232.

[0038] Further, for the problem that the power device 200 of the workpiece turntable 120 installed at a fixed position needs to drive the workpiece turntable 120 to rotate over a long distance, the present invention adopts a mechanical transmission method of belt transmission. The power device 200 of the workpiece turntable 120 drives the driving wheel 231 to rotate, and transmits the power to the driven wheel 232 of the workpiece turntable 120 at the far end through a transmission member 233 such as a belt, so as to realize the rotation of the workpiece turntable 120 at the far end. It should be noted that the transmission member 233 in the embodiment of the present invention can be a belt, a chain or a transmission belt, etc.

[0039] See Figures 1 to 4 , the control method of the multi-station spraying robot of the technical solution of the present invention is applied to the multi-station spraying robot without cable winding in the embodiment of the present invention. The multi-station spraying robot includes a robot body 140 and at least four workpiece turntables 120, and is provided with at least four stations. The robot body 140 is fixedly arranged on the frame 100. The method at least includes the following steps: S100. When the product finishes the processing at the current station, the control system sends a rotation command. After the central turntable 110 drives the connecting arm 130, the workpiece turntable 120 and the driven block 222 at the current station to rotate by a set angle, the product and its corresponding workpiece turntable 120 reach the next station, and the driven block 222 corresponding to the product reaches above the driving block 221 at the next station; S200. Determine whether the driven block 222 corresponding to the product is coaxial with the driving block 221 at the next station; if not, actively adjust the position of the driven block 222 through the central turntable 110. S300. If so, the driver 210 operates to drive the driving block 221 to rotate, and under the magnetic force, the transmission device drives the workpiece turntable 120 to rotate, and the robot body 140 sprays the product at the next station. S400. After the processing at the next station is completed, the control system sends a rotation command. After the central turntable 110 drives the connecting arm 130, the workpiece turntable 120 and the driven block 222 at the next station to rotate by the same set angle, the product and its corresponding workpiece turntable 120 reach the next station, and the driven block 222 corresponding to the product reaches above the driving block 221 at the next station. S500. Repeat steps S100 to S400 until the product completes the processing at all stations.

[0040] A specific implementation is described here for illustration. Refer to Figure 1 and Figure 4 The spraying robot according to the embodiment of the present invention is provided with four workpiece turntables 120 and four connecting arms 130, and the four workpiece turntables 120 are respectively arranged on the four connecting arms 130. The frame 100 is a hollow rectangular structure. The central turntable 110 includes a central outer wheel 112, a central inner wheel and a bottom plate 111. The central outer wheel 112 meshes with the central inner wheel. Rotation holes are provided in the middle of the central inner wheel and the bottom plate 111. The robot body 140 passes through the two rotation holes and is connected to the control system inside the frame 100. The central inner wheel is connected to the turntable motor inside the frame 100. The bottom plate 111 is fixedly connected to the central outer wheel 112. The four corners of the bottom plate 111 correspond to the four side faces of the frame 100 respectively. The four corners of the bottom plate 111 are respectively connected to the four connecting arms 130. The four drivers 210 are respectively connected to the four mounting seats 300 and are respectively fixed on the four side faces of the frame 100.

[0041] Specifically, the four side directions of the frame 100 of the nozzle robot are four workstations. When the product completes the processing at the current workstation, the control system sends a rotation command. After the central turntable 110 drives the connecting arm 130 and the workpiece turntable 120 at the current workstation to rotate by a set angle, the product and its corresponding workpiece turntable 120 reach the next workstation. The driven block 222 corresponding to the product reaches above the driving block 221 at the next workstation. After determining that the driven block 222 corresponding to the product is coaxial with the driving block 221 at the next workstation, the driver 210 operates to drive the driving block 221 to rotate. At this time, under the magnetic force, the driven block 222 rotates following the driving block 221. The driving block 221 drives the driving wheel 231 to rotate through the driving shaft. The driving wheel 231 drives the driven wheel 232 to rotate through the transmission member 233. The driven wheel 232 drives the workpiece turntable 120 to rotate through the driven shaft. At the same time, the robot body 140 sprays the workpiece on the workpiece turntable 120. When the product completes the processing at the next workstation, the control system sends a command again. After the central turntable 110 drives the workpiece turntable 120 at the current workstation to rotate by the same set angle, the product and its corresponding workpiece turntable 120 reach the next workstation. After determining that the driven block 222 corresponding to the product is coaxial with the driving block 221 at the next workstation, the workpiece turntable 120 drives the product to rotate and starts the spraying operation. This is repeated until the product passes through four workstations.

[0042] It should be noted that for the problem that a turntable power device 200 installed at a fixed position in the present invention needs to drive multiple workpiece turntables 120 at workstations rotating with the central turntable 110, a planar magnetic coupling 220 is adopted to achieve the transmission of the power torque of the workpiece turntable 120. And, to solve the problem that a power device 200 installed at a fixed position needs to drive multiple workpiece turntables 120 that rotate and repeat to reach the designated position with the rotation of the central turntable 110, a non-contact coupling is adopted for the transmission of the power device 200 of the workpiece turntable 120, such as a planar magnetic coupling 220. Since the planar magnetic coupling 220 belongs to a non-contact coupling and is composed of a magnetic driving block 221 and a driven block 222, the driven block 222 is connected to the driving wheel 231, and the driving block 221 is connected to the driver 210, and the power is transmitted through the interaction of the magnetic field NS pole coupling. Further, the magnetic coupling 220 in the embodiment of the present invention has the function of buffering and vibration absorption of an elastic coupling, breaking the structural form of the traditional coupling, adopting a new magnetic coupling principle, and realizing the transmission of force and torque between the driving block 221 and the driven block 222 without direct contact. Further, the planar magnetic coupling 220 can be regarded as two paired coupling flanges. One flange serving as the power block is installed at the end of the motor driving shaft, and the other flange of the driven block 222 is installed at the end of the driven shaft. After the driving shaft rotates, it can drive the rotation of the driven shaft end.

[0043] As described above, these are only the preferred embodiments of the present invention. The present invention is not limited to the above-described embodiments. As long as the same means are used to achieve the technical effects of the present invention, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the scope of protection of the present disclosure. They shall all fall within the scope of protection of the present invention. Within the scope of protection of the present invention, various different modifications and changes can be made to its technical solutions and / or implementation manners.

Claims

1. A multi-station spraying robot, characterized in that, Comprising: A frame (100), a central turntable (110), a plurality of connecting arms (130), a plurality of power devices (200) and a plurality of workpiece turntables (120) for placing products to be sprayed. The central turntable (110) is rotatably arranged on the frame (100). One ends of the plurality of connecting arms (130) are respectively connected to the central turntable (110), and the workpiece turntables (120) are respectively arranged at the ends of the connecting arms (130) far from the central turntable (110); The power device (200) includes a driver (210), a magnetic coupling (220) and a transmission mechanism (230) for linking the magnetic coupling (220) with the workpiece turntable (120). The magnetic coupling (220) includes a driving block (221) and a driven block (222) both with magnetism for linkage. The driving block (221) and the driven block (222) are arranged at intervals. The driving block (221) is fixedly connected to the driver (210), and the driven block (222) is fixedly connected to the transmission mechanism (230). The driver (210) is fixedly arranged on the frame (100).

2. The multi-station spraying robot according to claim 1, wherein The power device (200) further includes a mounting seat (300), and the mounting seat (300) is fixedly connected to the frame (100) and the driver (210) respectively.

3. The multi-station spraying robot according to claim 2, wherein The mounting seat (300) includes a connecting pipe (310) and a connecting plate (320). Two ends of the connecting pipe (310) are respectively fixedly connected to the frame (100) and the connecting plate (320). The connecting plate (320) is fixedly connected to the driver (210). The connecting plate (320) is provided with a connecting hole, and the rotating shaft of the driver (210) passes through the connecting hole.

4. The multi-station spraying robot according to claim 1, characterized in that, The rotating shaft of the driver (210) is fixedly connected to the driving block (221).

5. The multi-station spraying robot according to claim 1, wherein The transmission mechanism (230) includes a driving wheel (231), a driven wheel (232) and a transmission part (233) for linking the driving wheel (231) with the driven wheel (232). The driving wheel (231) is rotatably arranged on one side of the connecting arm (130) close to the central turntable (110), the driven wheel is rotatably arranged on one side of the connecting arm (130) far from the central turntable (110), and the driven wheel is fixedly connected to the workpiece turntable (120).

6. The multi-station spraying robot according to claim 5, wherein, The transmission mechanism (230) further includes a driving shaft, and the driving shaft is respectively connected to the driving wheel (231) and the driven block (222).

7. The multi-station spraying robot according to claim 6, characterized in that, The transmission mechanism (230) further includes a bearing seat (240). The bearing seat (240) is arranged on the upper side of the connecting arm (130), the driving wheel (231) is arranged on the lower side of the connecting arm (130), and the driving shaft passes through the connecting arm (130) to be connected to the bearing seat (240).

8. The multi-station spraying robot according to claim 1, characterized in that, The transmission mechanism (230) further includes a driven shaft. The workpiece turntable (120) and the driven wheel (232) are respectively arranged on the upper side and the lower side of the connecting arm (130). The driven shaft passes through the connecting arm (130) to be respectively connected to the workpiece turntable (120) and the driven wheel (232).

9. The multi-station spraying robot according to claim 8, wherein, The transmission mechanism (230) further includes a mounting plate (250). The mounting plate (250) is fixed to the upper side of the connecting arm (130) and is arranged on the lower side of the workpiece turntable (120).

10. A control method for a multi-station spraying robot, which is applied to the multi-station spraying robot according to any one of claims 1 to 9. The multi-station spraying robot includes a robot body (140) and at least four workpiece turntables (120), and is provided with at least four stations. The robot body (140) is fixedly arranged on the frame (100). The method includes the following steps: S100. When the product finishes the processing at the current station, the control system sends a rotation command. After the central turntable (110) drives the connecting arm (130), the workpiece turntable (120) and the driven block (222) at the current station to rotate by a set angle, the product and its corresponding workpiece turntable (120) reach the next station, and the driven block (222) corresponding to the product reaches above the driving block (221) at the next station; S200. Judge whether the driven block (222) corresponding to the product is coaxial with the driving block (221) at the next station; if not, actively adjust the position of the driven block (222) through the central turntable (110); S300. If so, the driver (210) works to drive the driving block (221) to rotate, and under the action of magnetic force, the transmission device drives the workpiece turntable (120) to rotate, and the robot body (140) sprays the product at the next station; S400. When the processing at the next station is completed, the control system sends a rotation command. After the central turntable (110) drives the connecting arm (130), the workpiece turntable (120) and the driven block (222) at the next station to rotate by the same set angle, the product and its corresponding workpiece turntable (120) reach the next next station, and the driven block (222) corresponding to the product reaches above the driving block (221) at the next next station; S500. Repeat steps S100 to S400 until the product finishes the processing at all stations.

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