Automatic paint spraying robot, paint spraying method and material conveying workstation

Abstract

The invention relates to the technical field of spraying, in particular to an automatic paint spraying robot, a paint spraying method and a material conveying workstation. The automatic paint spraying robot comprises a paint spraying mechanism, a shell and a driving mechanism. The driving mechanism comprises a driver, a piston rod, an elastic sleeve and a sliding piece, one end of the piston rod extends into an inner cavity of the shell, the other end of the piston rod is connected with the driver, and the piston rod is sleeved with the elastic sleeve; the shell is provided with a first strip-shaped groove; the first end of the sliding part is located above the paint spraying mechanism, the second end of the sliding part is provided with a second strip-shaped groove, and the piston rod is fixedly connected with the first end of the sliding part. The linkage mechanism comprises a first supporting shaft and second supporting shafts, one end of the first supporting shaft is fixedly connected with the first side portion of the paint spraying mechanism, the other end of the first supporting shaft penetrates through the second strip-shaped groove to be in sliding connection with the first strip-shaped groove, the second supporting shafts are connected to the two sides of the paint spraying mechanism, and the other ends of the second supporting shafts are rotationally connected with the shell. In this way, the problem that a paint spraying bottle of an existing automatic paint spraying device cannot automatically swing is solved.

Description

Technical Field

[0001] The present invention relates to the field of spraying technology, in particular to an automatic painting robot, a painting method and a material conveying workstation. Background Art

[0002] During the process of conveying products, there may be unqualified products on the conveyor line. In order to prevent unqualified products from being mixed with qualified products, unqualified products need to be taken out from the conveyor line. In order to make unqualified products clearly distinguishable from qualified products, unqualified products are usually spray-painted so that unqualified products have obvious markings to prevent unqualified products from being mistakenly mixed with qualified products again.

[0003] The existing spray painting marking of unqualified products is done manually. Workers need to keep an eye on whether there are unqualified products. If unqualified products are not painted, it is necessary to increase manual workstations. Increasing manual workstations increases labor production costs. Therefore, it is necessary to provide a device that can automatically spray paint unqualified products without manual painting.

[0004] Since unqualified products do not appear continuously on the conveyor line, and it is possible that no unqualified products will appear for a long time, when the paint is in a static state for a long time, the paint may precipitate, thus affecting its use. Therefore, when providing an automatic spray painting device, it is also necessary to consider the automatic swinging of the paint bottle. Summary of the Invention

[0005] In order to solve the problem that the paint bottle of the existing automatic painting equipment cannot automatically swing, the present invention provides an automatic painting robot, a painting method and a material conveying workstation, comprising: A driving mechanism, a housing, a linkage mechanism and a paint spraying mechanism, wherein the paint spraying mechanism, the housing and the driving mechanism are arranged in sequence along the y-axis direction; The driving mechanism includes a driver, a piston rod, an elastic sleeve and a sliding member, one end of the piston rod extends into the inner cavity of the housing, the other end of the piston rod is connected to the driver, and the elastic sleeve is sleeved on the piston rod; The housing is provided with a first strip-shaped groove; The first end of the sliding member is located above the paint spraying mechanism, the second end of the sliding member is provided with a second strip groove located on the side of the paint spraying mechanism, the second strip groove corresponds to the first strip groove, and the piston rod is fixedly connected to the first end of the sliding member; The linkage mechanism includes a first supporting shaft and a second supporting shaft, one end of the first supporting shaft is fixedly connected to the first side portion of the paint spraying mechanism, the other end of the first supporting shaft passes through the second strip groove and is slidably connected to the first strip groove, the second side portion and the third side portion of the paint spraying mechanism are each fixedly connected to the second supporting shaft, the other end of the second supporting shaft is rotatably connected to the shell, and the first side portion is located between the second side portion and the third side portion.

[0006] According to one embodiment of the present invention, the piston rod has a first stroke and a second stroke, the first stroke and the second stroke are in opposite directions, when the piston rod is in the first stroke, the elastic sleeve is in a compressed state, the paint spraying mechanism and the piston rod have a first angle, when the piston rod is in the second stroke, the elastic sleeve is in an extended state, the paint spraying mechanism and the piston rod have a second angle, wherein the first angle is less than the second angle.

[0007] According to one embodiment of the present invention, the first angle is less than the second angle and is less than or equal to 180°.

[0008] According to one embodiment of the present invention, the driver drives the piston rod to contract so that the piston rod has the first stroke, and the elastic sleeve extends to push the piston rod to have the second stroke.

[0009] According to one embodiment of the present invention, the driver drives the piston rod to have a third stroke, the third stroke is in the same direction as the second stroke, and the third stroke is greater than the second stroke. When the piston rod is in the third stroke, the first end of the sliding member abuts against the paint spraying mechanism, and the paint spraying port of the paint spraying mechanism is opened.

[0010] According to one embodiment of the present invention, the length of the second strip groove is equal to or greater than the length of the first strip groove, the length of the first strip groove is L, the third stroke is S3, the second stroke is S2, and the first stroke is S1, wherein S1, S2 and S3 ≤ L, S1 and S2 < S3; When the piston rod performs the first stroke, the first supporting shaft, the piston rod and the top of the first strip groove come into contact with each other, and the first stroke stops. When the piston rod performs the second stroke, the second stroke stops until the elastic sleeve is extended to the maximum length; When the piston rod performs the third stroke, the third stroke stops until the first supporting shaft contacts the bottom of the first strip groove, or the paint spraying mechanism stops the piston rod from moving forward.

[0011] According to one embodiment of the present invention, the first end of the sliding member is a pressing portion, the second end of the sliding member is a guide portion, the guide portion is provided with a limit block extending along the y-axis direction, and the shell is provided with a third strip groove cooperating with the limit block, and the length of the third strip groove is greater than the length of the limit block and the length of the first strip groove.

[0012] According to one embodiment of the present invention, the automatic painting robot includes an image acquisition unit, a swing signal transceiver unit and a paint signal transceiver unit. The image acquisition unit is signal-connected to the swing signal transceiver unit, and the swing signal transceiver unit is signal-connected to the paint signal transceiver unit.

[0013] According to one embodiment of the present invention, the paint spraying mechanism includes a paint spray bottle and a paint spray valve. The paint spray valve is provided with a paint spray port, which is connected to the inner cavity of the paint spray bottle. The paint spray valve corresponds to the first end of the sliding member.

[0014] According to one embodiment of the present invention, the paint spraying mechanism includes a boss, which is connected to one end of the paint spray bottle, the boss is close to the paint spray port, one end of the first support shaft is fixedly connected to the boss, and one end of the second support shaft is fixedly connected to the boss.

[0015] According to one embodiment of the present invention, the boss is fixed in a surrounding state to one end of the paint spray bottle, and the paint spraying mechanism includes an elastic plate and a paint spraying pressure block. Both ends of the elastic plate are fixedly connected to the boss, and the paint spraying pressure block is fixed to the end surface of the elastic plate. The sliding member can drive the paint spraying pressure block to abut against the paint spraying valve through the elastic plate.

[0016] In a second aspect, the present invention discloses a painting method for an automatic painting robot, which is applied to an automatic painting robot as described above, and comprises the following steps: Based on the instruction to swing the spray paint bottle, the driver drives the piston rod to retract, and at the same time, the piston rod drives the spray paint bottle to deflect in a first direction, and the elastic sleeve is compressed; Based on the paint spray bottle rotating to a preset position, the piston rod stops retracting; Based on the piston rod stopping contraction, the elastic sleeve drives the piston rod to extend; Based on the extension of the elastic sleeve and the piston rod, the elastic sleeve and the piston drive the spray bottle to deflect in a second direction, and the first direction is opposite to the second direction; Wherein, after the spray paint bottle is deflected once along the first direction, the spray paint bottle is deflected again along the second direction, which is a swing of the spray paint bottle.

[0017] According to one embodiment of the present invention, the automatic painting robot painting method further includes the following steps: Based on the obtained paint spraying instruction, sending an instruction to the driver to swing the paint spray bottle; Based on the paint spray bottle completing at least one swing, the driver drives the piston rod to extend until the piston rod abuts against the paint spray valve of the paint spray bottle, and the nozzle of the paint spray bottle is opened.

[0018] In a third aspect, the present invention discloses a material conveying workstation, comprising: The conveying device, the pushing device, the buffer device and the automatic painting robot as described above, wherein the pushing device and the buffer device are relatively arranged on both sides of the conveying device, and the automatic painting robot is located on one side of the buffer device.

[0019] In order to solve the problem that the paint bottle of the existing automatic painting equipment cannot automatically swing, the present invention has the following advantages: The present invention improves the integration effect of the driving mechanism, the housing, the linkage mechanism and the paint spraying mechanism by sequentially arranging the driving mechanism, the housing, the linkage mechanism and the paint spraying mechanism along the y-axis direction.

[0020] The paint spray mechanism deflects from the direction close to the first support axis to the direction away from the first support axis as one swing. When the paint spray mechanism swings multiple times as needed, the above-mentioned process of driving the piston rod to contract so that the elastic sleeve is compressed and then restored by the elastic sleeve is repeated. This solves the problem that the automatic paint spray mechanism cannot automatically swing the paint spray mechanism. It also solves the problem that the paint spray mechanism is too light, resulting in the paint spray mechanism being unable to drive the sliding part back to the initial position or a position close to the initial position by its own weight after deflecting in the direction close to the first support axis. The provision of the elastic sleeve assists the paint spray mechanism in returning to the initial position or a position close to the initial position after deflecting in the direction close to the first support axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of an automatic painting robot according to an embodiment is shown; Figure 2 Shown Figure 1 Exploded view of an automatic painting robot; Figure 3 A schematic structural diagram showing the swinging of an automatic painting robot according to an embodiment is shown; Figure 4 Shown Figure 3 A structural diagram from another perspective; Figure 5 A flow chart of a painting method using an automatic painting robot according to an embodiment is shown; Figure 6A schematic structural diagram of a material workstation according to an embodiment is shown.

[0022] Figure markings: 1-automatic painting robot; 10-driving mechanism; 11-driver; 12-piston rod; 13-elastic sleeve; 14-sliding member; 141-pressing part; 142-guide part; 15-second strip groove; 16-nut; 17-limiting block; 20-housing; 30-linkage mechanism; 31-first supporting shaft; 32-second supporting shaft; 40-paint spraying mechanism; 41-paint spray bottle; 42-paint spray valve; 43-paint spray port; 44-boss; 45-elastic plate; 46-paint spraying block; 47-fixing block; 48-paint spraying head; 50-first strip groove; 60-third strip groove; 70-rotating groove; 2-conveyor device; 3-pushing device; 4-caching device; 5-material. DETAILED DESCRIPTION

[0023] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the present disclosure, rather than to imply any limitation on the scope of the present disclosure.

[0024] As used herein, the term "including" and its variations are to be interpreted as open-ended terms meaning "including, but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment." Terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "vertical," "horizontal," "transverse," and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily intended to better describe the present application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationships. For example, the term "on" may, in certain circumstances, be used to indicate a dependency or connection relationship. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances. Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" are to be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise specified, "plurality" means two or more.

[0025] In the first aspect, this embodiment discloses an automatic painting robot, such as Figure 1-4 Shown, including: The driving mechanism 10, the housing 20, the linkage mechanism 30 and the paint spraying mechanism 40 are arranged in sequence along the y-axis direction; The driving mechanism 10 includes a driver 11, a piston rod 12, an elastic sleeve 13 and a sliding member 14. One end of the piston rod 12 extends into the inner cavity of the housing 20, and the other end of the piston rod 12 is connected to the driver 11. The elastic sleeve 13 is sleeved on the piston rod 12. The housing 20 is provided with a first strip-shaped groove 50; The first end of the sliding member 14 is located above the paint spraying mechanism 40, and the second end of the sliding member 14 is provided with a second strip groove 15 located on the side of the paint spraying mechanism 40, and the second strip groove 15 corresponds to the first strip groove 50, and the piston rod 12 is fixedly connected to the first end of the sliding member 14; The linkage mechanism 30 includes a first supporting shaft 31 and a second supporting shaft 32, one end of the first supporting shaft 31 is fixedly connected to the first side portion of the paint spraying mechanism 40, and the other end of the first supporting shaft 31 passes through the second strip groove 15 and is slidably connected to the first strip groove 50, the second side portion and the third side portion of the paint spraying mechanism 40 are each fixedly connected with the second supporting shaft 32, the other end of the second supporting shaft 32 is rotatably connected to the shell 20, and the first side portion is located between the second side portion and the third side portion.

[0026] Since unqualified products on the conveyor line do not appear continuously, and unqualified products may not appear for a long time, when the paint is in a static state for a long time, the paint may precipitate, thereby affecting its use. Therefore, when providing an automatic painting device, it is also necessary to consider the problem of whether the paint bottle 41 can automatically swing. This embodiment provides an automatic painting robot 1 that can not only automatically spray paint, but also automatically swing.

[0027] In this embodiment, in order to take into account that the automatic painting robot 1 does not occupy space, the drive mechanism 10, the housing 20, the linkage mechanism 30 and the paint spraying mechanism 40 are sequentially arranged along the y-axis direction, thereby improving the integration effect of the drive mechanism 10, the housing 20, the linkage mechanism 30 and the paint spraying mechanism 40. Specifically, the housing 20 has a cavity, and the housing 20 serves as a mounting base, so the housing 20 is fixed. The driver 11 is installed above the outside of the housing 20, one end of the piston rod 12 is connected to the driver 11, and the other end of the piston rod 12 extends into the housing 20 and is fixedly connected to the first end of the sliding member 14 located in the housing 20. An elastic sleeve 13 is provided on the piston rod 12 located in the housing 20, and the elastic sleeve 13 is located between the sliding member 14 and the housing 20.

[0028] The first end of the sliding member 14 and the second end thereof have an angle with the opening facing the paint spraying mechanism 40, so that the first end of the sliding member 14 is easily connected to the piston rod 12 above, and it is also convenient for the sliding member 14 to be connected to the first supporting shaft 31 on its side. A first strip groove 50 is opened on the shell 20, and a second strip groove 15 is opened at the second end of the sliding member 14. The second strip groove 15 is located on the side of the paint spraying mechanism 40. The first strip groove 50 corresponds to the second strip groove 15, and the length of the first strip groove 50 and the second strip groove 15 extends along the y-axis direction.

[0029] One end of the first supporting shaft 31 is fixedly connected to the first side portion of the upper end of the paint spraying mechanism 40, and the other end of the first supporting shaft 31 passes through the second strip groove 15 and is slidably connected to the first strip groove 50. The length direction of the first strip groove 50 and the second strip groove 15 is the space for the first supporting shaft 31 to slide back and forth, so that when the driver 11 drives the piston rod 12 to contract, since the elastic sleeve 13 is sleeved on the piston rod 12, when the length of the piston rod 12 after its contraction is less than the elastic sleeve 13, since the elastic sleeve 13 is located between the sliding member 14 and the housing 20, the elastic sleeve 13 is compressed, so that the elastic sleeve 13 contracts following the piston rod 12.

[0030] The second support shaft 32 is provided on both sides of the upper end of the paint spraying mechanism 40, one end of the second support shaft 32 is connected to the paint spraying mechanism 40, and the other end of the second support shaft 32 is rotatably connected to the housing 20, so that the paint spraying mechanism 40 is fixedly connected to the housing 20 through the second support shaft 32, so that the paint spraying mechanism 40 is suspended below the housing 20. On the one hand, the paint spraying mechanism 40 is supported by the second support shaft 32, and on the other hand, the paint spraying mechanism 40 can rotate relative to the housing 20 when the paint spraying mechanism 40 is deflected, that is, when the piston rod 12 contracts, the piston rod 12 contracts in the direction away from the paint spraying mechanism 40, and the piston The rod 12 drives the slider 14 to move in a direction away from the paint spraying mechanism 40. When the slider 14 moves in the direction away from the paint spraying mechanism 40, when the lower end surface of the second strip groove 15 contacts the first support shaft 31, the slider 14 continues to move in the direction away from the paint spraying mechanism 40, and the slider 14 drives the first support shaft 31 to move in the direction away from the paint spraying mechanism 40 until the first support shaft 31 contacts the upper end surface of the first strip groove 50 to prevent the first support shaft from moving. When the first support shaft 31 contacts the upper end surface of the first strip groove 50, the paint spraying mechanism 40 is supported by the first support shaft 31 and the second support shaft 32. Since the first support shaft 31 is fixedly connected to the paint spraying mechanism 40, and the second support shaft 32 connected to the paint spraying mechanism 40 is rotatably connected to the housing 20, when the first support shaft 31 moves in the direction away from the paint spraying mechanism 40, the first support shaft 31 drives the paint spraying mechanism 40 to deflect relative to the housing 20 with the second support shaft 32 as the rotation center in a direction closer to the first support shaft 31. When the first support shaft 31 moves in the direction away from the paint spraying mechanism 40 and is blocked by the upper end surface of the first strip groove 50, the driver 11 stops driving the piston rod 12 to extend, and the compression force on the elastic sleeve 13 disappears, and the elastic sleeve 13 recovers to the extended state through its own elastic deformation ability. In the process of the elastic sleeve 13 moving from the contracted state to the extended state, the elastic sleeve 13 has the function of pushing the sliding member 14 to move in the direction away from the elastic sleeve 13, so that the piston rod 12 also extends accordingly. In the process of the sliding member 14 being pushed by the elastic sleeve 13, the lower end surface of the second strip groove 15 gradually moves away from the first support shaft 31, and the paint spraying mechanism 40 is supported only by the second support shaft 32 and no longer by the first support shaft 31. At this time, the paint spraying mechanism 40 deflects in the direction away from the first support shaft 31, so that the paint spraying mechanism 40 returns to the initial position or is close to the initial position.

[0031] The paint spraying mechanism 40 deflects from the direction close to the first support shaft 31 to the direction away from the first support shaft 31 as one swing. When the paint spraying mechanism 40 swings multiple times as needed, the above-mentioned process of the driver 11 driving the piston rod 12 to contract so that the elastic sleeve 13 is compressed and then the elastic sleeve 13 is restored can be repeated, thereby solving the problem of the automatic paint spraying mechanism 40 being able to automatically swing the paint spraying mechanism 40. It also solves the problem that the paint spraying mechanism 40 is too light, resulting in the paint spraying mechanism 40 being unable to drive the sliding member 14 back to the initial position or a position close to the initial position by its own weight after deflecting toward the first support shaft 31. The provision of the elastic sleeve 13 assists the paint spraying mechanism 40 in returning to the initial position or a position close to the initial position after deflecting toward the first support shaft 31.

[0032] When the driver 11 drives the piston rod 12 to extend, the piston rod 12 drives the slider 14 to abut against the paint valve 42 of the paint spraying mechanism 40. The first end of the slider 14 presses the paint valve 42 of the paint spraying mechanism 40, causing the paint spraying port 43 of the paint spraying mechanism 40 to open, allowing the paint spraying mechanism 40 to spray paint. This enables the automatic painting robot 1 to automatically swing the paint spraying mechanism 40 and automatically spray paint.

[0033] In some embodiments, the paint spray bottle 41 of the paint spray mechanism 40 weighs 100-150 g.

[0034] In some embodiments, in order to improve the integrated setting of the automatic painting robot 1, when the piston rod 12 contracts to cause the paint spraying mechanism 40 to deflect, the distance between the contracted piston rod 12 and the paint spraying valve 42 of the paint spraying mechanism 40 is shorter, that is, the distance between the contracted piston rod 12 and the paint spraying valve 42 of the paint spraying mechanism 40 is less than the length of the piston rod 12 extended when the driver 11 drives the piston rod 12 to extend at the minimum. If the piston rod 12 is extended by the driver 11, it may cause the paint spraying mechanism 40 to be sprayed once every swing, resulting in paint waste.

[0035] In some embodiments, the driver 11 is fluid driven. Preferably, the driver 11 is a cylinder having a three-position five-way electronic valve.

[0036] In some embodiments, the elastic sleeve 13 is a spring.

[0037] In some embodiments, the shell 20 is a rectangular structure, and the bottom and sides of the shell 20 are open openings. The opening at the bottom is convenient for connection with the paint spraying structure, and the opening on the side is located in the paint spraying direction of the paint spraying mechanism 40. The opening on the side is to prevent the shell 20 from blocking the paint spraying port 43 of the paint spraying mechanism 40.

[0038] In some embodiments, connecting parts are provided on both sides of the housing 20 close to the side opening, so that the automatic painting robot 1 can be fixed to an external device through the connecting parts.

[0039] In some embodiments, the housing 20 is provided with a slide for the second support shaft 32 to rotate.

[0040] Preferably, the second support shaft 32 is rotatably connected to the housing 20 via a bearing.

[0041] According to one embodiment of the present invention, Figure 1-4 As shown, the piston rod 12 has a first stroke and a second stroke, the first stroke is in opposite directions to the second stroke, when the piston rod 12 is in the first stroke, the elastic sleeve 13 is in a compressed state, the paint spraying mechanism 40 and the piston rod 12 have a first angle, when the piston rod 12 is in the second stroke, the elastic sleeve 13 is in an extended state, the paint spraying mechanism 40 and the piston rod 12 have a second angle, wherein the first angle is less than the second angle.

[0042] In this embodiment, the first stroke of the piston rod 12 is a process of deflecting the paint spraying mechanism 40 relative to the housing 20, and the second stroke of the piston rod 12 is a process of resetting the deflected paint spraying mechanism 40, that is, the first stroke is a process of contracting the piston rod 12 relative to the second stroke, and the second stroke is a process of extending the piston rod 12 after contracting the first stroke. Usually, the piston rod 12 is a straight rod, and the piston rod 12 can be used as a reference to obtain the deflection of the paint spraying mechanism 40. The first angle is the angle when the paint spraying mechanism 40 is deflected close to the first support shaft 31, and the second angle is the angle when the paint spraying mechanism 40 is deflected and reset away from the first support shaft 31. The first angle is smaller than the second angle, which reflects that this embodiment realizes automatic swinging of the paint spraying mechanism 40.

[0043] In some embodiments, when the piston rod 12 performs the first stroke, one end of the elastic sleeve 13 abuts against the housing 20 , and the other end of the elastic sleeve 13 abuts against the sliding member 14 .

[0044] In some embodiments, the piston rod 12 is threadedly connected to the slider 14. To securely secure the two, nuts 16 are connected to the piston rod 12 located on both side walls of the slider 14. When the driver 11 extends the piston rod 12 until it abuts the paint spraying mechanism 40, it is the nut 16 located below the slider 14 or the piston rod 12 extending below the slider 14 that abuts the paint spraying mechanism 40. The piston rod 12 and the slider 14 are threadedly connected to each other to allow them to be disassembled.

[0045] In some embodiments, only one end of the elastic sleeve 13 is connected to the piston rod 12 , the housing 20 or the sliding member 14 , so that the compressed carbon elastic sleeve 13 can be restored to the extended state.

[0046] In some embodiments, when a nut 16 is provided to fix the sliding member 14 and the piston rod 12, only one end of the elastic sleeve 13 can be sleeved on the outer periphery of the nut 16 and abutted / fixed with the sliding member 14, or the elastic sleeve 13 can abutted / fixed with one end face of the nut 16. This embodiment provides a variety of setting methods for an elastic sleeve 13.

[0047] According to one embodiment of the present invention, Figure 3 and Figure 4 As shown, the first angle is less than the second angle and is ≤180°.

[0048] In this embodiment, the first included angle is less than the second included angle and less than or equal to 180°, which further demonstrates that this embodiment realizes the automatic swinging paint spraying mechanism 40.

[0049] Preferably, the second angle is 180°.

[0050] According to one embodiment of the present invention, Figure 3 and Figure 4 As shown, the driver 11 drives the piston rod 12 to contract so that the piston rod 12 has the first stroke, and the elastic sleeve 13 extends to push the piston rod 12 to have the second stroke.

[0051] In this embodiment, different methods are provided for making the piston rod 12 have a first stroke and a second stroke. The first stroke of the piston rod 12 is achieved by the driver 11 driving the piston rod 12 to contract, and the second stroke of the piston rod 12 is achieved by the elastic recovery of the elastic sleeve 13 driving the piston rod 12 to extend.

[0052] According to one embodiment of the present invention, Figure 3 and Figure 4 As shown, the driver 11 drives the piston rod 12 to have a third stroke, and the third stroke is in the same direction as the second stroke, and the third stroke is greater than the second stroke. When the piston rod 12 is in the third stroke, the first end of the sliding member 14 abuts against the paint spraying mechanism 40, and the paint spraying port 43 of the paint spraying mechanism 40 is opened.

[0053] In this embodiment, when the piston rod 12 performs the third stroke, it is the process of the driver 11 driving the piston rod 12 to extend, so the third stroke is in the same direction as the second stroke. The driver 11 drives the piston rod 12 to extend until the sliding part 14 abuts against the paint spraying mechanism 40, so that the paint spraying port 43 of the paint spraying mechanism 40 is opened to realize automatic painting.

[0054] According to one embodiment of the present invention, Figure 2 As shown, the length of the second strip groove 15 is equal to or greater than the length of the first strip groove 50, the length of the first strip groove 50 is L, the third stroke is S3, the second stroke is S2, and the first stroke is S1, wherein S1, S2 and S3 ≤ L, S1 and S2 < S3; When the piston rod 12 performs the first stroke, the first supporting shaft 31 and the piston rod 12 abut against the top of the first strip groove 50, and the first stroke stops. When the piston rod 12 performs the second stroke, the second stroke stops until the elastic sleeve 13 is extended to the maximum length; When the piston rod 12 performs the third stroke, the third stroke stops until the first support shaft 31 contacts the bottom of the first strip groove 50 or the paint spraying mechanism 40 stops the piston rod 12 from moving forward.

[0055] In this embodiment, the stroke of the piston rod 12 is expressed as the extended length of the piston rod 12. Thus, the units of the first, second, and third strokes are the same as the length units of the first strip groove 50. Therefore, the stroke of the piston rod 12 can be compared with the length of the first strip groove 50. Since the length of the first strip groove 50 extends along the y-axis, the top of the first strip groove 50 in this embodiment is the upper end surface of the first strip groove 50, and the bottom of the first strip groove 50 is the lower end surface of the first strip groove 50. Since the second strip groove 15 corresponds to the first strip groove 50, the second strip groove 15 and the first strip groove 50 also have the same length direction.

[0056] In some embodiments, in its natural state, the length of the elastic sleeve 13 is less than or equal to the first stroke. During the first stroke of the piston rod 12, when the bottom of the second strip groove 15 contacts the first support shaft 31, the elastic sleeve 13 begins to compress. In other embodiments, the length of the elastic sleeve 13 and the length of the second strip groove 15 can be selected based on the desired swing arc of the swing mechanism.

[0057] In some embodiments, the first strip-shaped groove 50 and the second strip-shaped groove 15 are coaxial.

[0058] According to one embodiment of the present invention, Figure 1 and Figure 2 As shown, the first end of the sliding member 14 is a pressing portion 141, and the second end of the sliding member 14 is a guide portion 142. The guide portion 142 is provided with a limit block 17 extending along the y-axis direction. The shell 20 is provided with a third strip groove 60 that cooperates with the limit block 17. The length of the third strip groove 60 is greater than the length of the limit block 17 and the length of the first strip groove 50.

[0059] In the embodiment, the third slot 60 and the limiting block 17 are arranged to provide reliable support for the paint spraying mechanism 40 when it swings, and in cooperation with the first slot 50, further provide reliable swing limiting for the paint spraying mechanism 40 when it deflects towards the first support shaft 31, thus improving the stability of the structure.

[0060] In some embodiments, the third slot 60 is an open U-shaped slot with the opening facing the paint spraying mechanism 40.

[0061] In some embodiments, when the first support shaft 31 abuts against the top of the first slot 50, the limiting block 17 abuts against the top of the third slot 60.

[0062] According to an embodiment of the present application, the automatic paint spraying robot 1 comprises an image acquisition unit, a swing signal transceiver unit, and a paint spraying signal transceiver unit, the image acquisition unit is signal connected with the swing signal transceiver unit, and the swing signal transceiver unit is signal connected with the paint spraying signal transceiver unit.

[0063] In the embodiment, the image acquisition unit, the swing signal transceiver unit, and the paint spraying signal transceiver unit are arranged to further improve the automatic function of the automatic paint spraying robot 1.

[0064] Preferably, the image acquisition unit is connected with the housing 20, the swing signal transceiver unit and the paint spraying signal transceiver unit are connected with the driver 11, when the image acquisition unit acquires unqualified products sent from upstream, the image acquisition unit sends a paint spraying instruction to the paint spraying signal transceiver unit, the paint spraying signal transceiver unit transmits the paint spraying instruction to the driver 11, and then the driver 11 drives the telescopic rod to extend to perform paint spraying by the paint spraying mechanism 40. Or, when the image acquisition unit acquires unqualified products sent from upstream, the image acquisition unit sends a swing signal to the swing signal transceiver unit, the swing signal transceiver unit transmits the swing signal to the driver 11, the driver 11 drives the piston rod 12 to retract to swing the paint spraying mechanism 40, after the paint spraying mechanism 40 swings for a preset number of times, the swing signal transceiver unit sends a paint spraying instruction to the paint spraying signal transceiver unit, and then paint spraying is performed.

[0065] In some embodiments, the swing signal can be sent to the swing signal transceiver unit through a control terminal.

[0066] According to an embodiment of the present application, as shown in Figure 1 and Figure 2 The paint spraying mechanism 40 comprises a paint spraying bottle 41 and a paint spraying valve 42, the paint spraying valve 42 is provided with a paint spraying port 43, the paint spraying port 43 is in communication with the inner cavity of the paint spraying bottle 41, and the paint spraying valve 42 corresponds to the first end of the sliding piece 14.

[0067] In this embodiment, a paint spraying method of a paint spraying mechanism 40 is provided.

[0068] According to one embodiment of the present invention, Figure 1-4 As shown, the paint spraying mechanism 40 includes a boss 44, which is connected to one end of the paint spray bottle 41, and the boss 44 is close to the paint spray port 43. One end of the first support shaft 31 is fixedly connected to the boss 44, and one end of the second support shaft 32 is fixedly connected to the boss 44.

[0069] In this embodiment, the boss 44 is provided to facilitate the connection between the first support shaft 31 and the second support shaft 32 and the paint spray bottle 41 via the boss 44 .

[0070] According to one embodiment of the present invention, Figure 1 and Figure 2 As shown, the boss 44 is fixed in a surrounding state to one end of the paint bottle 41, and the paint spraying mechanism 40 includes an elastic plate 45 and a paint spraying pressing block 46. Both ends of the elastic plate 45 are fixedly connected to the boss 44, and the paint spraying pressing block 46 is fixed to the end face of the elastic plate 45. The sliding member 14 can drive the paint spraying pressing block 46 to abut against the paint spraying valve 42 through the elastic plate 45.

[0071] In this embodiment, since the setting of the boss 44 may make it inconvenient for the sliding member 14 to abut against the paint valve 42, the elastic plate 45 is connected to the fixed boss 44, and the paint pressure block 46 is fixedly connected to the elastic plate 45, so that the sliding member 14 can easily abut against the paint pressure block 46, and then the paint pressure block 46 drives the elastic plate 45 to abut against the paint valve 42 to open the paint port 43. The elastic plate 45 provides an installation position for the paint pressure block 46.

[0072] Preferably, the length of the paint block 46 is smaller than the diameter of the boss 44 that is enclosed and filled.

[0073] In some embodiments, the boss 44 is arc-shaped.

[0074] In some embodiments, the elastic plate 45 is fixed to the boss 44 via a fixing block 47 .

[0075] In some embodiments, the paint spraying mechanism 40 further includes a paint spraying pressure head 48 , which is connected to the paint spraying valve 42 . When the paint spraying pressure block 46 drives the elastic plate 45 to abut against the paint spraying pressure head 48 , the paint spraying port 43 can be opened.

[0076] In some embodiments, the elastic plate 45 is a leaf spring.

[0077] Second, as Figure 5As shown, this embodiment discloses a painting method for an automatic painting robot 1, which is applied to an automatic painting robot 1 as described above, and includes the following steps: Based on the instruction to swing the paint spray bottle 41, the driver 11 drives the piston rod 12 to retract, and at the same time, the piston rod 12 drives the paint spray bottle 41 to deflect in the first direction, and the elastic sleeve 13 is compressed; Based on the paint spray bottle 41 rotating to the preset position, the piston rod 12 stops contracting; As the piston rod 12 stops contracting, the elastic sleeve 13 drives the piston rod 12 to extend; Based on the extension of the elastic sleeve 13 and the piston rod 12, the elastic sleeve 13 and the piston drive the paint spray bottle 41 to deflect in a second direction, and the first direction is opposite to the second direction; Wherein, after the paint spray bottle 41 is deflected once along the first direction, the paint spray bottle 41 is deflected again along the second direction, which is a swing of the paint spray bottle 41 .

[0078] In this embodiment, a painting method of an automatic painting robot 1 is provided. When the painting mechanism 40 swings multiple times, the driver 11 drives the piston rod 12 to retract repeatedly.

[0079] According to one embodiment of the present invention, the painting method of the automatic painting robot 1 further includes the following steps: Based on the obtained paint spraying instruction, an instruction to swing the paint spray bottle 41 is sent to the driver 11; Based on the paint spray bottle 41 completing at least one swing, the driver 11 drives the piston rod 12 to extend until the piston rod 12 abuts against the paint spray valve 42 of the paint spray bottle 41 and the nozzle of the paint spray bottle 41 is opened.

[0080] In this embodiment, a painting method of an automatic painting robot 1 is provided in which the painting mechanism 40 automatically swings and sprays paint in coordination.

[0081] Thirdly, as Figure 6 As shown, this embodiment discloses a material conveying workstation, comprising: The conveying device 2, the pushing device 3, the buffer device 4 and the automatic painting robot 1 as described above, the pushing device 3 and the buffer device 4 are relatively arranged on both sides of the conveying device 2, and the automatic painting robot 1 is located on one side of the buffer device 4.

[0082] In this embodiment, the pushing device 3 pushes unqualified materials 5 (products) from the conveying device 2 into the buffer device 4, whereupon the automatic painting robot 1 sprays paint on the unqualified products. The pushing device 3 can push unqualified products from the conveying device 2 into the buffer device 4 by installing an image collector on the pushing device 3 to capture the appearance or shape of the product. If the appearance or shape of the product differs, the image collector sends a signal to the pushing device 3 to push the material. A control terminal can also send a signal to the pushing device 3 to push the material, causing the pushing device 3 to push the material. The provision of a workstation for conveying material 5 eliminates the need for manual marking of unqualified products, thus avoiding the risk of unqualified products being mixed in with qualified products without being spray-painted.

[0083] Preferably, the pushing device 3 comprises a cylinder.

[0084] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and that in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. An automatic painting robot, characterized in that: include: A driving mechanism, a housing, a linkage mechanism and a paint spraying mechanism, wherein the paint spraying mechanism, the housing and the driving mechanism are arranged in sequence along the y-axis direction; The driving mechanism includes a driver, a piston rod, an elastic sleeve and a sliding member, one end of the piston rod extends into the inner cavity of the housing, the other end of the piston rod is connected to the driver, and the elastic sleeve is sleeved on the piston rod; The housing is provided with a first strip-shaped groove; The first end of the sliding member is located above the paint spraying mechanism, the second end of the sliding member is provided with a second strip groove located on the side of the paint spraying mechanism, the second strip groove corresponds to the first strip groove, and the piston rod is fixedly connected to the first end of the sliding member; The linkage mechanism includes a first supporting shaft and a second supporting shaft, one end of the first supporting shaft is fixedly connected to the first side portion of the paint spraying mechanism, the other end of the first supporting shaft passes through the second strip groove and is slidably connected to the first strip groove, the second side portion and the third side portion of the paint spraying mechanism are each fixedly connected to the second supporting shaft, the other end of the second supporting shaft is rotatably connected to the shell, and the first side portion is located between the second side portion and the third side portion.

2. The automatic painting robot according to claim 1, characterized in that: The piston rod has a first stroke and a second stroke, the first stroke and the second stroke are in opposite directions, when the piston rod is in the first stroke, the elastic sleeve is in a compressed state, the paint spraying mechanism and the piston rod have a first angle, when the piston rod is in the second stroke, the elastic sleeve is in an extended state, the paint spraying mechanism and the piston rod have a second angle, wherein the first angle is less than the second angle.

3. The automatic painting robot according to claim 2, characterized in that: The first angle is less than the second angle and is less than or equal to 180°.

4. The automatic painting robot according to claim 2, characterized in that: The driver drives the piston rod to contract so that the piston rod has the first stroke, and the elastic sleeve extends to push the piston rod to have the second stroke.

5. The automatic painting robot according to claim 2, characterized in that: The driver drives the piston rod to have a third stroke, the third stroke is in the same direction as the second stroke, and the third stroke is greater than the second stroke. When the piston rod is in the third stroke, the first end of the sliding member abuts against the paint spraying mechanism, and the paint spraying port of the paint spraying mechanism is opened.

6. The automatic painting robot according to claim 5, characterized in that: The length of the second strip groove is equal to or greater than the length of the first strip groove, the length of the first strip groove is L, the third stroke is S3, the second stroke is S2, and the first stroke is S1, wherein S1, S2 and S3 ≤ L, and S1 and S2 < S3; When the piston rod performs the first stroke, the first supporting shaft, the piston rod and the top of the first strip groove come into contact with each other, and the first stroke stops. When the piston rod performs the second stroke, the second stroke stops until the elastic sleeve is extended to the maximum length; When the piston rod performs the third stroke, the third stroke stops until the first supporting shaft contacts the bottom of the first strip groove, or the paint spraying mechanism stops the piston rod from moving forward.

7. The automatic painting robot according to claim 1, characterized in that: The first end of the sliding member is a pressing part, and the second end of the sliding member is a guiding part. The guiding part is provided with a limit block extending along the y-axis direction. The shell is provided with a third strip groove that cooperates with the limit block. The length of the third strip groove is greater than the length of the limit block and the length of the first strip groove.

8. The automatic painting robot according to claim 1, characterized in that: The automatic painting robot includes an image acquisition unit, a swing signal transceiver unit and a paint signal transceiver unit. The image acquisition unit is signal-connected to the swing signal transceiver unit, and the swing signal transceiver unit is signal-connected to the paint signal transceiver unit.

9. The automatic painting robot according to claim 1, characterized in that: The paint spraying mechanism includes a paint spraying bottle and a paint spraying valve. The paint spraying valve is provided with a paint spraying port, which is communicated with the inner cavity of the paint spraying bottle. The paint spraying valve corresponds to the first end of the sliding member.

10. The automatic painting robot according to claim 9, characterized in that: The paint spraying mechanism includes a boss connected to one end of the paint spray bottle, the boss is close to the paint spray port, one end of the first supporting shaft is fixedly connected to the boss, and one end of the second supporting shaft is fixedly connected to the boss.

11. The automatic painting robot according to claim 10, characterized in that: The boss is fixed to one end of the paint spray bottle in a surrounding state, and the paint spraying mechanism includes an elastic plate and a paint spraying pressure block. Both ends of the elastic plate are fixedly connected to the boss, and the paint spraying pressure block is fixed to the end surface of the elastic plate. The sliding member can drive the paint spraying pressure block to abut against the paint spraying valve through the elastic plate.

12. A painting method for an automatic painting robot, wherein the painting method is applied to an automatic painting robot according to any one of claims 1 to 11, characterized in that: The automatic painting robot painting method comprises the following steps: Based on the instruction to swing the spray paint bottle, the driver drives the piston rod to retract, and at the same time, the piston rod drives the spray paint bottle to deflect in a first direction, and the elastic sleeve is compressed; Based on the paint spray bottle rotating to a preset position, the piston rod stops retracting; Based on the piston rod stopping contraction, the elastic sleeve drives the piston rod to extend; Based on the extension of the elastic sleeve and the piston rod, the elastic sleeve and the piston drive the spray bottle to deflect in a second direction, and the first direction is opposite to the second direction; Wherein, after the spray paint bottle is deflected once along the first direction, the spray paint bottle is deflected again along the second direction, which is a swing of the spray paint bottle.

13. The automatic painting robot painting method according to claim 12, characterized in that: The automatic painting robot painting method further comprises the following steps: Based on the obtained paint spraying instruction, sending an instruction to the driver to swing the paint spray bottle; Based on the paint spray bottle completing at least one swing, the driver drives the piston rod to extend until the piston rod abuts against the paint spray valve of the paint spray bottle, and the nozzle of the paint spray bottle is opened.

14. A material conveying workstation, characterized in that: include: A conveying device, a pushing device, a buffer device and an automatic painting robot as described in any one of claims 1-11, wherein the pushing device and the buffer device are arranged on both sides of the conveying device relative to each other, and the automatic painting robot is located on one side of the buffer device.

Images