An automatic paint spraying robot, a paint spraying method and a material conveying station

Abstract

The application relates to the field of spraying technology, in particular to an automatic paint spraying robot, a paint spraying method and a material conveying work station. 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 the inner cavity of the shell, the other end of the piston rod is connected with the driver, and the elastic sleeve is sleeved on the piston rod; the shell is provided with a first strip-shaped groove; the first end of the sliding piece is located above the paint spraying mechanism, the second end of the sliding piece is provided with a second strip-shaped groove, and the piston rod is fixedly connected with the first end of the sliding piece; the linkage mechanism comprises first supporting shafts and second supporting shafts, one end of the first supporting shafts is fixedly connected with the first side of the paint spraying mechanism, the other end of the first supporting shafts is slidably connected with the first strip-shaped groove through the second strip-shaped groove, the two sides of the paint spraying mechanism are connected with the second supporting shafts, and the other ends of the second supporting shafts are rotationally connected with the shell. Thus, the problem that the paint spraying bottle of the existing automatic paint spraying equipment cannot be automatically swung is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spraying technology, in particular to an automatic paint spraying robot, a paint spraying method and a material conveying workstation. BACKGROUND

[0002] In the process of conveying products, there may be unqualified products on the conveying line. In order to avoid mixing unqualified products into qualified products, the unqualified products need to be taken out from the conveying line, and in order to make the unqualified products and the qualified products have obvious distinction, the unqualified products are usually painted, so that the unqualified products have obvious marks to avoid the unqualified products from entering the qualified products again.

[0003] The existing paint spraying marking of unqualified products is carried out manually. The workers need to continuously pay attention to whether there are unqualified products, and the unqualified products need to be painted. Therefore, manual workstations need to be increased, which increases the labor cost. Therefore, a device for automatically painting unqualified products without manual painting is needed.

[0004] Since the unqualified products on the conveying line do not appear continuously, there may be no unqualified products for a long time. When the paint is in a static state for a long time, the paint may be precipitated, which affects the use. Therefore, when providing an automatic paint spraying device, the problem of automatic swinging of the paint spraying bottle also needs to be considered. SUMMARY

[0005] To solve the problem that the paint spraying bottle of the existing automatic paint spraying equipment cannot be automatically swung, the present application provides an automatic paint spraying robot, a paint spraying method and a material conveying workstation, which comprises:

[0006] A driving mechanism, a housing, a linkage mechanism and a paint spraying mechanism are arranged in sequence along the y-axis direction.

[0007] The driving mechanism comprises a driver, a piston rod, an elastic sleeve and a sliding piece. One end of the piston rod extends into the inner cavity of the housing, and the other end of the piston rod is connected with the driver. The elastic sleeve is sleeved on the piston rod.

[0008] The housing is provided with a first slot.

[0009] The first end of the sliding piece is located above the paint spraying mechanism, and the second end of the sliding piece is provided with a second slot located beside the paint spraying mechanism. The second slot corresponds to the first slot, and the piston rod is fixedly connected with the first end of the sliding piece.

[0010] The linkage mechanism comprises a first supporting shaft and a second supporting shaft, one end of the first supporting shaft is fixedly connected with a first side of the paint spraying mechanism, the other end of the first supporting shaft is slidably connected with the first slot through the second slot, the second side and the third side of the paint spraying mechanism are each fixedly connected with the second supporting shaft, the other end of the second supporting shaft is rotatably connected with the shell, and the first side is located between the second side and the third side.

[0011] According to one embodiment of the present application, the piston rod has a first stroke and a second stroke, the first stroke is opposite to the second stroke in direction, the elastic sleeve is in a compressed state when the piston rod is in the first stroke, the paint spraying mechanism has a first included angle with the piston rod, the elastic sleeve is in an elongated state when the piston rod is in the second stroke, and the paint spraying mechanism has a second included angle with the piston rod, wherein the first included angle < the second included angle.

[0012] According to one embodiment of the present application, the first included angle < the second included angle ≤ 180°.

[0013] According to one embodiment of the present application, the driver drives the piston rod to contract to make the piston rod have the first stroke, and the elastic sleeve is elongated to push the piston rod to have the second stroke.

[0014] According to one embodiment of the present application, the driver drives the piston rod to have a third stroke, the third stroke is the same as the second stroke in direction, the third stroke > the second stroke, the first end of the sliding piece abuts against the paint spraying mechanism when the piston rod is in the third stroke, and the paint spraying opening of the paint spraying mechanism is opened.

[0015] According to one embodiment of the present application, the length of the second slot is equal to or greater than the length of the first slot, the length of the first slot 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.

[0016] When the piston rod performs the first stroke, the first stroke stops until the first supporting shaft and the piston rod abut against the top of the first slot;

[0017] When the piston rod performs the second stroke, the second stroke stops until the elastic sleeve is elongated to the maximum length;

[0018] When the piston rod performs the third stroke, the third stroke stops until the first supporting shaft abuts against the bottom of the first slot or the paint spraying mechanism prevents the piston rod from advancing.

[0019] According to one of the embodiments of the present application, the first end of the sliding member is a pressing part, the second end of the sliding member is a guiding part, the guiding part is provided with a limiting block extending along the y-axis direction, the shell is provided with a third slot matched with the limiting block, and the length of the third slot is greater than the length of the limiting block and the length of the first slot.

[0020] According to one of the embodiments of the present application, the automatic paint spraying robot 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.

[0021] According to one of the embodiments of the present application, the paint spraying mechanism comprises a paint spraying bottle and a paint spraying valve, the paint spraying valve is provided with a paint spraying opening, the paint spraying opening is communicated with the inner cavity of the paint spraying bottle, and the paint spraying valve corresponds to the first end of the sliding member.

[0022] According to one of the embodiments of the present application, the paint spraying mechanism comprises a boss, the boss is connected with one end of the paint spraying bottle, the boss is close to the paint spraying opening, one end of the first supporting shaft is fixedly connected with the boss, and one end of the second supporting shaft is fixedly connected with the boss.

[0023] According to one of the embodiments of the present application, the boss is fixed to one end of the paint spraying bottle in a surrounding state, the paint spraying mechanism comprises an elastic plate and a paint spraying pressing block, two ends of the elastic plate are fixedly connected with the boss, the paint spraying pressing block is fixed to the end face of the elastic plate, and the sliding member can drive the paint spraying pressing block to abut against the paint spraying valve through the elastic plate.

[0024] In the second aspect, the present application discloses a paint spraying method of an automatic paint spraying robot, the paint spraying method of the automatic paint spraying robot is applied to the automatic paint spraying robot, and the paint spraying method of the automatic paint spraying robot comprises the following steps.

[0025] Based on the obtained instruction of swinging the paint spraying bottle, the driver drives the piston rod to contract, and the piston rod drives the paint spraying bottle to deflect in a first direction, and the elastic sleeve is compressed;

[0026] Based on that the paint spraying bottle rotates to a preset position, the piston rod stops contracting;

[0027] Based on that the piston rod stops contracting, the elastic sleeve drives the piston rod to elongate;

[0028] Based on that the elastic sleeve and the piston rod elongate, the elastic sleeve and the piston rod drive the paint spraying bottle to deflect in a second direction, and the first direction and the second direction are opposite;

[0029] Wherein, the paint spraying bottle is deflected along the first direction, and then is deflected along the second direction to be a swing of the paint spraying bottle.

[0030] According to an embodiment of the present application, the automatic paint spraying robot paint spraying method further comprises the following steps:

[0031] Based on the obtained paint spraying instruction, an instruction of swinging the paint spraying bottle is sent to the driver;

[0032] Based on the fact that the paint spraying bottle has completed at least one swing, the driver drives the piston rod to be elongated until the piston rod abuts against the paint spraying valve of the paint spraying bottle, and the spray opening of the paint spraying bottle is opened.

[0033] In a third aspect, the present application discloses a material conveying workstation, comprising:

[0034] The conveying device, the material pushing device, the buffer device and the automatic paint spraying robot are arranged on the two sides of the conveying device, and the automatic paint spraying robot is located on one side of the buffer device.

[0035] To solve the problem that the paint spraying bottle of the existing automatic paint spraying equipment cannot be automatically swung, the present application has the following advantages:

[0036] The driving mechanism, the shell, the linkage mechanism and the paint spraying mechanism are sequentially arranged along the y-axis direction, so that the integration effect of the driving mechanism, the shell, the linkage mechanism and the paint spraying mechanism is improved.

[0037] The paint spraying mechanism is deflected from the direction close to the first supporting shaft to the direction away from the first supporting shaft to be a swing, and when multiple paint spraying mechanism swings are needed, the process of driving the piston rod to be retracted by the driver so that the elastic sleeve is compressed and then recovered can be repeated, so that the problem that the automatic paint spraying mechanism cannot be automatically swung is solved. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The automatic paint spraying robot structure schematic diagram of an embodiment is shown;

[0039] Figure 2 The automatic paint spraying robot explosion diagram of Figure 1 is shown;

[0040] Figure 3A structural schematic diagram of the swing of the automatic paint spraying robot is shown;

[0041] Figure 4 A structural schematic diagram of the swing of the automatic paint spraying robot is shown Figure 3 A structural schematic diagram of the swing of the automatic paint spraying robot is shown;

[0042] Figure 5 A structural schematic diagram of the swing of the automatic paint spraying robot is shown

[0043] Figure 6 A structural schematic diagram of the swing of the automatic paint spraying robot is shown.

[0044] Reference signs: 1-automatic paint spraying robot; 10-driving mechanism; 11-driver; 12-piston rod; 13-elastic sleeve; 14-sliding piece; 141-pressing part; 142-guiding part; 15-second bar-shaped 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 spraying bottle; 42-paint spraying valve; 43-paint spraying port; 44-convex boss; 45-elastic plate; 46-paint spraying pressing block; 47-fixing block; 48-paint spraying pressing head; 50-first bar-shaped groove; 60-third bar-shaped groove; 70-rotating groove; 2-conveying device; 3-pushing device; 4-buffer device; 5-material. DETAILED DESCRIPTION

[0045] The present disclosure will now be discussed with reference to several example embodiments. It should be appreciated that these embodiments are discussed only to better illustrate the present disclosure and thus enable its better utilization, and are not meant to limit the scope of the present disclosure in any way.

[0046] As used herein, the term "includes" and its variants are to be read as open-ended terms that mean "includes, but is not limited to." The term "based on" is to be construed as "based at least in part on." The terms "one embodiment" and "an embodiment" are to be read as "at least one embodiment." The term "another embodiment" is to be read as "at least one other embodiment." The terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," "longitudinal," and similar terms are used for orientation or positional relationships based on the orientation or position as shown in the drawings. These terms are used merely for the sake of description and are not intended to limit the devices, elements, or components to the particular orientation or configuration shown. Moreover, these terms are used in conjunction with the terms "abut," "adjoin," "connect," "couple," "attach," and "engage" to describe the positioning or connection of the devices, elements, or components relative to each other. The terms "abut," "adjoin," "connect," "couple," "attach," and "engage" are not to be construed as requiring a direct connection between the devices, elements, or components. The terms "abut," "adjoin," "connect," "couple," "attach," and "engage" are to be construed as including indirect connections between the devices, elements, or components. The terms "first," "second," and the like are used merely to describe different elements, and do not connote any specific order or importance. The terms "a" and "an" are used herein to mean "one or more." The terms "plurality" and "a plurality" are used herein to mean "two or more."

[0047] In a first aspect, the embodiment discloses an automatic paint spraying robot, as shown in the drawings, comprising: Figures 1-4

[0048] 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, wherein the paint spraying mechanism 40, the housing 20, and the driving mechanism 10 are arranged in sequence along the y-axis direction.

[0049] The driving mechanism 10 comprises a driver 11, a piston rod 12, an elastic sleeve 13, and a sliding piece 14, wherein one end of the piston rod 12 extends into the inner cavity of the housing 20, the other end of the piston rod 12 is connected with the driver 11, and the elastic sleeve 13 is sleeved on the piston rod 12.

[0050] The housing 20 is provided with a first slot 50.

[0051] ​The first end of the sliding piece 14 is above the paint spraying mechanism 40, and the second end of the sliding piece 14 is provided with a second slot 15 beside the paint spraying mechanism 40, the second slot 15 corresponds to the first slot 50, and the piston rod 12 is fixedly connected to the first end of the sliding piece 14.

[0052] 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 of the paint spraying mechanism 40, the other end of the first supporting shaft 31 is slidably connected to the first slot 50 through the second slot 15, the second side and the third side of the paint spraying mechanism 40 are each fixedly connected with the second supporting shaft 32, and the other end of the second supporting shaft 32 is rotatably connected to the shell 20, and the first side is between the second side and the third side.

[0053] Since the unqualified products on the conveying line do not continuously appear, and there is also a possibility that no unqualified products appear for a long time, when the paint is in a static state for a long time, the paint may be deposited, thereby affecting use, so when the automatic paint spraying device is provided, the problem that the paint spraying bottle 41 can automatically swing also needs to be considered. The embodiment provides an automatic paint spraying robot 1 which can not only automatically spray paint, but also automatically swing.

[0054] In the embodiment, in order to consider that the automatic paint spraying robot 1 does not occupy a space position, the driving mechanism 10, the shell 20, the linkage mechanism 30 and the paint spraying mechanism 40 are sequentially arranged along the y-axis direction, and the integration effect of the driving mechanism 10, the shell 20, the linkage mechanism 30 and the paint spraying mechanism 40 is improved. Specifically, the shell 20 has a cavity, the shell 20 serves as a mounting base, so the shell 20 is fixedly present, the driver 11 is mounted on the upper part outside the shell 20, one end of the piston rod 12 is connected to the driver 11, the other end of the piston rod 12 extends into the shell 20 and is fixedly connected to the first end of the sliding piece 14 located in the shell 20, the elastic sleeve 13 is sleeved on the piston rod 12 located in the shell 20, and the elastic sleeve 13 is located between the sliding piece 14 and the shell 20.

[0055] The first end and the second end of the sliding piece 14 have an included angle with openings facing the paint spraying mechanism 40, so that the first end of the sliding piece 14 is easily connected to the piston rod 12 above, and the sliding piece 14 is also convenient to connect to the first supporting shaft 31 beside, a first slot 50 is formed on the shell 20, a second slot 15 is formed on the second end of the sliding piece 14, the second slot 15 is beside the paint spraying mechanism 40, the first slot 50 corresponds to the second slot 15, and the lengths of the first slot 50 and the second slot 15 extend along the y-axis direction.

[0056] The first supporting shaft 31 is fixedly connected with the first side of the upper end of the paint spraying mechanism 40 at one end, and is slidably connected with the first strip-shaped slot 50 and the second strip-shaped slot 15 at the other end. The length direction of the first strip-shaped slot 50 and the second strip-shaped slot 15 is the space for the reciprocating sliding of the first supporting shaft 31. When the driver 11 drives the piston rod 12 to contract, the length of the piston rod 12 after contraction is smaller than the elastic sleeve 13, and the elastic sleeve 13 is located between the sliding part 14 and the shell 20, so that the elastic sleeve 13 is compressed, and the elastic sleeve 13 follows the contraction of the piston rod 12.

[0057] The second supporting shaft 32 is arranged on both sides of the upper end of the paint spraying mechanism 40, one end of the second supporting shaft 32 is connected with the paint spraying mechanism 40, and the other end of the second supporting shaft 32 is rotationally connected with the shell 20, so that the paint spraying mechanism 40 is fixedly connected with the shell 20 through the second supporting shaft 32, and the paint spraying mechanism 40 is in a state of being suspended below the shell 20, on the one hand, the paint spraying mechanism 40 is supported through the second supporting shaft 32, and on the other hand, the paint spraying mechanism 40 can rotate relative to the shell 20 when the paint spraying mechanism 40 is deflected, that is, when the piston rod 12 is retracted, the piston rod 12 is retracted in a direction away from the paint spraying mechanism 40, and the piston rod 12 drives the sliding piece 14 to move in a direction away from the paint spraying mechanism 40, when the lower end surface of the second slot 15 is in contact with the first supporting shaft 31, the sliding piece 14 continues to move in a direction away from the paint spraying mechanism 40, the sliding piece 14 drives the first supporting shaft 31 to move in a direction away from the paint spraying mechanism 40, and the first supporting shaft 31 is in contact with the upper end surface of the first slot 50 to stop the movement of the first supporting shaft 31, and the paint spraying mechanism 40 is supported through the first supporting shaft 31 and the second supporting shaft 32 when the first supporting shaft 31 is in contact with the upper end surface of the first slot 50. Since the first supporting shaft 31 is fixedly connected with the paint spraying mechanism 40, and the second supporting shaft 32 connected with the paint spraying mechanism 40 is rotationally connected with the shell 20, when the first supporting shaft 31 moves in a direction away from the paint spraying mechanism 40, the first supporting shaft 31 drives the paint spraying mechanism 40 to deflect relative to the shell 20 with the second supporting shaft 32 as the rotation center in a direction close to the first supporting shaft 31. When the movement of the first supporting shaft 31 in a direction away from the paint spraying mechanism 40 is stopped by the upper end surface of the first slot 50, the drive 11 stops driving the piston rod 12 to elongate, the compression force acting on the elastic sleeve 13 disappears, the elastic sleeve 13 restores to the elongated state through the elastic deformation capacity of the elastic sleeve 13, and in the process of the elastic sleeve 13 from the contracted state to the elongated state, the elastic sleeve 13 has the action of driving the sliding piece 14 to move in a direction away from the elastic sleeve 13, so that the piston rod 12 also elongates, and in the process of the sliding piece 14 being driven by the elastic sleeve 13, the lower end surface of the second slot 15 gradually moves away from the first supporting shaft 31, so that the paint spraying mechanism 40 is supported only through the second supporting shaft 32 and is no longer supported through the first supporting shaft 31, and at this time, the paint spraying mechanism 40 deflects in a direction away from the first supporting shaft 31, so that the paint spraying mechanism 40 returns to the initial position or is close to the initial position.

[0058] The paint spraying mechanism 40 is deflected from the direction close to the first supporting shaft 31 to the direction away from the first supporting shaft 31 as one swing, and the above-mentioned process of driving the piston rod 12 to retract so that the elastic sleeve 13 is compressed and then recovered is repeated as needed when the paint spraying mechanism 40 swings multiple times, thereby solving the problem of automatically swinging the paint spraying mechanism 40. At the same time, the problem that the paint spraying mechanism 40 cannot return to the initial position or a position close to the initial position by its own weight after being deflected to the direction close to the first supporting shaft 31 due to the small weight of the paint spraying mechanism 40 is also solved. The paint spraying mechanism 40 can return to the initial position or a position close to the initial position after being deflected to the direction close to the first supporting shaft 31 by the assistance of the elastic sleeve 13.

[0059] When the driver 11 drives the piston rod 12 to extend, the piston rod 12 drives the sliding member 14 to abut against the paint spraying valve 42 of the paint spraying mechanism 40, so that the paint spraying valve 42 of the paint spraying mechanism 40 is pressed by the first end of the sliding member 14, the paint spraying port 43 of the paint spraying mechanism 40 is opened, and the paint spraying mechanism 40 can perform paint spraying. Further, the automatic paint spraying robot 1 can automatically swing the paint spraying mechanism 40 and automatically perform paint spraying.

[0060] In some embodiments, the paint spraying bottle 41 of the paint spraying mechanism 40 weighs 100-150 g.

[0061] In some embodiments, in order to improve the integration of the automatic paint spraying robot 1, when the piston rod 12 is retracted to cause the paint spraying mechanism 40 to be deflected, the distance between the retracted piston rod 12 and the paint spraying valve 42 of the paint spraying mechanism 40 is short, i.e., the distance between the retracted piston rod 12 and the paint spraying valve 42 of the paint spraying mechanism 40 is less than the length of the extended piston rod 12 when the driver 11 drives the piston rod 12 to extend at the minimum driving. If the driver 11 drives the piston rod 12 to extend, paint spraying will be performed once for each swing of the paint spraying mechanism 40, which will cause paint waste.

[0062] In some embodiments, the driver 11 is a fluid driver, preferably a cylinder, and the cylinder has a three-position five-way electronic valve.

[0063] In some embodiments, the elastic sleeve 13 is a spring.

[0064] In some embodiments, the shell 20 has a rectangular structure, the bottom and the side of the shell 20 are open, the opening of the bottom facilitates connection with the paint spraying structure, and the opening of the side is in the paint spraying direction of the paint spraying mechanism 40, so as to avoid that the shell 20 blocks the paint spraying port 43 of the paint spraying mechanism 40.

[0065] In some embodiments, the housing 20 is provided with connecting portions near both sides of the side opening, so as to facilitate the automatic paint spraying robot 1 to be fixed with external devices through the connecting portions.

[0066] In some embodiments, the housing 20 is provided with a sliding portion for the second supporting shaft 32 to rotate.

[0067] Preferably, the second supporting shaft 32 is rotationally connected with the housing 20 through a bearing.

[0068] According to one embodiment of the present application, as shown in Figures 1-4 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, i.e., the first stroke is a process of the piston rod 12 being contracted, and the second stroke is a process of the piston rod 12 being contracted and then elongated after the first stroke. Generally, the piston rod 12 is a straight rod, and the deflection of the paint spraying mechanism 40 can be obtained by taking the piston rod 12 as a reference. The first angle is the angle of the paint spraying mechanism 40 being deflected towards the first supporting shaft 31, and the second angle is the angle of the paint spraying mechanism 40 being deflected away from the first supporting shaft 31. The automatic swinging of the paint spraying mechanism 40 is realized by the first angle being smaller than the second angle.

[0069] In some embodiments, when the piston rod 12 is in 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.

[0070] In some embodiments, the piston rod 12 is threadedly connected with the sliding member 14. In order to reliably fix the two, the nut 16 is connected with the piston rod 12 located on the two side walls of the sliding member 14. At this time, when the driver 11 drives the piston rod 12 to extend until abutting against the paint spraying mechanism 40, the nut 16 located below the sliding member 14 or the piston rod 12 extending below the sliding member 14 abuts against the paint spraying mechanism 40. The piston rod 12 and the sliding member 14 are disassembled through the threaded connection.

[0071] In some embodiments, the piston rod 12 is threadedly connected with the sliding member 14. In order to reliably fix the two, the nut 16 is connected with the piston rod 12 located on the two side walls of the sliding member 14. At this time, when the driver 11 drives the piston rod 12 to extend until abutting against the paint spraying mechanism 40, the nut 16 located below the sliding member 14 or the piston rod 12 extending below the sliding member 14 abuts against the paint spraying mechanism 40. The piston rod 12 and the sliding member 14 are disassembled through the threaded connection.

[0072] In some embodiments, the elastic sleeve 13 is connected to the piston rod 12, the housing 20 or the sliding member 14 at only one end, so that the compressed elastic sleeve 13 restores to the elongated state.

[0073] In some embodiments, when the sliding member 14 and the piston rod 12 are fixed by the nut 16, the elastic sleeve 13 can be sleeved on the outer periphery of the nut 16 and abut against / fixed to the sliding member 14 at only one end, or the elastic sleeve 13 abuts against / fixed to one end surface of the nut 16, and the present embodiment provides a plurality of setting modes of the elastic sleeve 13.

[0074] According to one embodiment of the present application, as shown in Figure 3 and Figure 4 , the first included angle is less than the second included angle and the second included angle is less than or equal to 180°.

[0075] In the present embodiment, by means of the first included angle being less than the second included angle and the second included angle being less than or equal to 180°, it is further embodied that the present embodiment realizes the automatic swing paint spraying mechanism 40.

[0076] Preferably, the second included angle is 180°.

[0077] According to one embodiment of the present application, as shown in Figure 3 and Figure 4 , the driver 11 drives the piston rod 12 to contract to have the first stroke, and the elastic sleeve 13 is elongated to push the piston rod 12 to have the second stroke.

[0078] In the present embodiment, the first stroke and the second stroke of the piston rod 12 are provided in different ways, the piston rod 12 has the first stroke by being driven by the driver 11 to contract, and the piston rod 12 has the second stroke by being driven by the elastic sleeve 13 to elongate.

[0079] According to one embodiment of the present application, as shown in Figure 3 and Figure 4 , the driver 11 drives the piston rod 12 to have a third stroke, the third stroke is in the same direction as the second stroke, 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.

[0080] In the present embodiment, the third stroke of the piston rod 12 is the process of the driver 11 driving the piston rod 12 to elongate, so the third stroke is in the same direction as the second stroke, the driver 11 drives the piston rod 12 to elongate until the sliding member 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 paint spraying.

[0081] According to one embodiment of the present application, as shown inFigure 2 As shown, the length of the second slot 15 is equal to or greater than the length of the first slot 50, the length of the first slot 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, and S1 and S2<S3.

[0082] When the piston rod 12 performs the first stroke, the first stroke stops until the first bearing shaft 31 and the piston rod 12 abut against the top of the first slot 50.

[0083] When the piston rod 12 performs the second stroke, the second stroke stops until the elastic sleeve 13 is elongated to the maximum length.

[0084] When the piston rod 12 performs the third stroke, the third stroke stops until the first bearing shaft 31 abuts against the bottom of the first slot 50 or the paint spraying mechanism 40 prevents the piston rod 12 from advancing.

[0085] In the present embodiment, the stroke of the piston rod 12 is represented as the elongation length of the piston rod 12, so that the units of the first stroke, the second stroke, and the third stroke are the same as the length unit of the first slot 50, and thus the stroke of the piston rod 12 can be compared with the length of the first slot 50. Since the length of the first slot 50 extends along the y-axis direction, the top of the first slot 50 in the present embodiment is the upper end surface of the first slot 50, and the bottom of the first slot 50 is the lower end surface of the first slot 50. Since the second slot 15 corresponds to the first slot 50, the length direction of the second slot 15 is also the same as that of the first slot 50.

[0086] In some embodiments, in a natural state, the length of the elastic sleeve 13 is less than or equal to the first stroke, and during the first stroke of the piston rod 12, when the bottom of the second slot 15 contacts the first bearing shaft 31, the elastic sleeve 13 starts to be compressed. In other ways, the length of the elastic sleeve 13 and the length of the second slot 15 can be selected according to the swing arc of the swing mechanism as needed.

[0087] In some embodiments, the first slot 50 and the second slot 15 are coaxial.

[0088] According to one embodiment of the present application, as shown in Figure 1 and Figure 2As shown, the first end of the sliding piece 14 is a pressing part 141, the second end of the sliding piece 14 is a guide part 142, the guide part 142 is provided with a limiting block 17 extending along the y-axis direction, the shell 20 is provided with a third slot 60 matched with the limiting block 17, and the length of the third slot 60 is greater than the length of the limiting block 17 and the length of the first slot 50.

[0089] In the embodiment, the third slot 60 and the limiting block 17 are provided, so that the shell 20 provides reliable support for the paint spraying mechanism 40 when swinging, and cooperates with the first slot 50 to further provide reliable deflection limiting for the paint spraying mechanism 40 when deflected towards the first supporting shaft 31, thereby improving the stability of the structure.

[0090] In some embodiments, the third slot 60 is an open U-shaped slot with an opening facing the paint spraying mechanism 40.

[0091] In some embodiments, when the first supporting shaft 31 abuts against the top of the first slot 50, the limiting block 17 abuts against the top of the third slot 60.

[0092] According to an embodiment of the present application, the automatic paint spraying robot 1 comprises an image acquisition unit, a swinging signal transceiver unit and a paint spraying signal transceiver unit, the image acquisition unit is signal connected with the swinging signal transceiver unit, and the swinging signal transceiver unit is signal connected with the paint spraying signal transceiver unit.

[0093] In the embodiment, the image acquisition unit, the swinging signal transceiver unit and the paint spraying signal transceiver unit are further improved to improve the automatic function of the automatic paint spraying robot 1.

[0094] Preferably, the image acquisition unit is connected with the shell 20, the swinging 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 the 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.

[0095] Or, when the image acquisition unit acquires unqualified products sent from the upstream, the image acquisition unit sends a swinging signal to the swinging signal transceiver unit, the swinging signal transceiver unit transmits the swinging signal to the driver 11, the driver 11 drives the piston rod 12 to retract to swing the paint spraying mechanism 40, and after the paint spraying mechanism 40 swings a preset number of times, the swinging signal transceiver unit sends a paint spraying instruction to the paint spraying signal transceiver unit, and then performs paint spraying.

[0096] In some embodiments, the swing signal can be sent to the swing signal transceiver unit by the control terminal.

[0097] 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.

[0098] In the embodiment, a paint spraying mode of the paint spraying mechanism 40 is provided.

[0099] According to an embodiment of the present application, as shown in Figures 1-4 , the paint spraying mechanism 40 comprises a boss 44, the boss 44 is connected with one end of the paint spraying bottle 41, the boss 44 is close to the paint spraying port 43, one end of the first supporting shaft 31 is fixedly connected with the boss 44, and one end of the second supporting shaft 32 is fixedly connected with the boss 44.

[0100] In the embodiment, the first supporting shaft 31 and the second supporting shaft 32 are connected with the paint spraying bottle 41 through the boss 44.

[0101] According to an embodiment of the present application, as shown in Figure 1 and Figure 2 , the boss 44 is fixed to one end of the paint spraying bottle 41 in a surrounding state, the paint spraying mechanism 40 comprises an elastic plate 45 and a paint spraying pressing block 46, both ends of the elastic plate 45 are fixedly connected with the boss 44, the paint spraying pressing block 46 is fixed to the end face of the elastic plate 45, and the sliding piece 14 can drive the paint spraying pressing block 46 to abut against the paint spraying valve 42 through the elastic plate 45.

[0102] In the embodiment, since the boss 44 is arranged, the sliding piece 14 is not convenient to abut against the paint spraying valve 42, the elastic plate 45 is fixedly connected with the boss 44, and the paint spraying pressing block 46 is fixedly connected with the elastic plate 45, so that the sliding piece 14 is easy to abut against the paint spraying pressing block 46, and then the paint spraying pressing block 46 drives the elastic plate 45 to abut against the paint spraying valve 42, so as to open the paint spraying port 43, and the elastic plate 45 provides a mounting position for the paint spraying pressing block 46.

[0103] Preferably, the length of the paint spraying pressing block 46 is less than the diameter of the boss 44 in the surrounding state.

[0104] In some embodiments, the boss 44 is in an arc shape.

[0105] In some embodiments, the elastic plate 45 is fixed with the boss 44 through a fixing block 47.

[0106] In some embodiments, the paint spraying mechanism 40 further comprises a paint spraying head 48 connected with the paint spraying valve 42, and the paint spraying block 46 drives the elastic plate 45 to abut against the paint spraying head 48 to open the paint spraying port 43.

[0107] In some embodiments, the elastic plate 45 is a leaf spring.

[0108] In some embodiments, the paint spraying mechanism 40 further comprises a paint spraying head 48 connected with the paint spraying valve 42, and the paint spraying block 46 drives the elastic plate 45 to abut against the paint spraying head 48 to open the paint spraying port 43. Figure 5 As shown in the second aspect,

[0109] Based on the instruction of swinging the paint spraying bottle 41, the driver 11 drives the piston rod 12 to retract, and the piston rod 12 drives the paint spraying bottle 41 to deflect in the first direction, and the elastic sleeve 13 is compressed;

[0110] Based on the paint spraying bottle 41 rotating to the preset position, the piston rod 12 stops retracting;

[0111] Based on the piston rod 12 stopping retracting, the elastic sleeve 13 drives the piston rod 12 to extend;

[0112] Based on the elastic sleeve 13 and the piston rod 12 extending, the elastic sleeve 13 and the piston drive the paint spraying bottle 41 to deflect in the second direction, and the first direction and the second direction are opposite;

[0113] Wherein, after the paint spraying bottle 41 deflects in the first direction once, the paint spraying bottle 41 deflects in the second direction again, which is one swing of the paint spraying bottle 41.

[0114] In this embodiment, the automatic paint spraying robot 1 paint spraying method is provided, and when the paint spraying mechanism 40 swings multiple times, the driver 11 drives the piston rod 12 to retract repeatedly.

[0115] According to one embodiment of the present application, the automatic paint spraying robot 1 paint spraying method further comprises the following steps:

[0116] Based on obtaining the paint spraying instruction, an instruction of swinging the paint spraying bottle 41 is sent to the driver 11;

[0117] Based on the paint spraying 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 spraying valve 42 of the paint spraying bottle 41, and the paint spraying port of the paint spraying bottle 41 is opened.

[0118] In this embodiment, the automatic paint spraying robot 1 paint spraying method is provided, and when the paint spraying mechanism 40 swings multiple times, the driver 11 drives the piston rod 12 to retract repeatedly. In some embodiments, the elastic plate 45 is a leaf spring.

[0108] In some embodiments, the paint spraying mechanism 40 further comprises a paint spraying head 48 connected with the paint spraying valve 42, and the paint spraying block 46 drives the elastic plate 45 to abut against the paint spraying head 48 to open the paint spraying port 43. Figure 5 As shown in the second aspect,

[0109] Based on the instruction of swinging the paint spraying bottle 41, the driver 11 drives the piston rod 12 to retract, and the piston rod 12 drives the paint spraying bottle 41 to deflect in the first direction, and the elastic sleeve 13 is compressed;

[0110] Based on the paint spraying bottle 41 rotating to the preset position, the piston rod 12 stops retracting;

[0111] Based on the piston rod 12 stopping retracting, the elastic sleeve 13 drives the piston rod 12 to extend;

[0112] Based on the elastic sleeve 13 and the piston rod 12 extending, the elastic sleeve 13 and the piston drive the paint spraying bottle 41 to deflect in the second direction, and the first direction and the second direction are opposite;

[0113] Wherein, after the paint spraying bottle 41 deflects in the first direction once, the paint spraying bottle 41 deflects in the second direction again, which is one swing of the paint spraying bottle 41.

[0114] In this embodiment, the automatic paint spraying robot 1 paint spraying method is provided, and when the paint spraying mechanism 40 swings multiple times, the driver 11 drives the piston rod 12 to retract repeatedly.

[0115] According to one embodiment of the present application, the automatic paint spraying robot 1 paint spraying method further comprises the following steps:

[0116] Based on obtaining the paint spraying instruction, an instruction of swinging the paint spraying bottle 41 is sent to the driver 11;

[0117] Based on the paint spraying 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 spraying valve 42 of the paint spraying bottle 41, and the paint spraying port of the paint spraying bottle 41 is opened.

[0118] In this embodiment, the automatic paint spraying robot 1 paint spraying method is provided, and when the paint spraying mechanism 40 swings multiple times, the driver 11 drives the piston rod 12 to retract repeatedly.

[0119] In a third aspect, as shown in Figure 6 The embodiment discloses a material conveying work station, which comprises:

[0120] The conveying device 2, the pushing device 3 and the buffer device 4 are oppositely arranged on both sides of the conveying device 2, and the automatic paint spraying robot 1 is arranged on one side of the buffer device 4.

[0121] In the embodiment, the pushing device 3 pushes the unqualified material 5 (product) on the conveying device 2 into the buffer device 4, and then the automatic paint spraying robot 1 sprays paint on the unqualified product. The pushing device 3 can push the unqualified product on the conveying device 2 into the buffer device 4 in the following manner: an image collector is arranged on the pushing device 3 to collect the appearance or shape of the product, if the appearance or shape of the product is different, the image collector sends a pushing signal to the pushing device 3, and the pushing device 3 can also receive a pushing signal from a control terminal, so as to push the product and the like. Through the arrangement of the material conveying work station, manual marking of the unqualified product is omitted, and the risk that the unqualified product is mixed into the qualified product without being marked by paint spraying is avoided.

[0122] Preferably, the pushing device 3 comprises a pneumatic cylinder.

[0123] It can be understood by those skilled in the art that the above-mentioned embodiments are specific cases for realizing the present disclosure, and in actual application, various changes can be made in form and details without departing from the scope of the present disclosure.

Claims

1. An automatic paint spraying robot, characterized in that, The utility model relates to a paint spraying device, including: Drive mechanism, shell, linkage and paint spraying mechanism, paint spraying mechanism, shell and drive mechanism are arranged in turn; The drive mechanism includes driver, piston rod, elastic sleeve and sliding piece, one end of piston rod extends into the cavity of shell, the other end of piston rod is connected with driver, elastic sleeve is sleeved on piston rod; The shell is equipped with first strip groove; The first end of sliding piece is located above paint spraying mechanism, the second end of sliding piece is equipped with second strip groove and is located side of paint spraying mechanism, second strip groove corresponds with first strip groove, piston rod is fixedly connected with the first end of sliding piece; The linkage includes first support shaft and second support shaft, one end of first support shaft is fixedly connected with the first side of paint spraying mechanism, the other end of first support shaft passes through second strip groove and is slidably connected with first strip groove, the second side and third side of paint spraying mechanism are each fixedly connected with second support shaft, the other end of second support shaft is rotatably connected with shell, the first side is located between the second side and third side; The piston rod has first stroke and second stroke, the direction of first stroke is opposite to the direction of second stroke, the elastic sleeve is in compression state when the piston rod is in first stroke, the paint spraying mechanism has first included angle with the piston rod, the elastic sleeve is in elongation state when the piston rod is in second stroke, the paint spraying mechanism has second included angle with the piston rod, wherein first included angle < second included angle; The driver drives the piston rod to have third stroke, the direction of third stroke is same with the direction of second stroke, third stroke > second stroke, the first end of sliding piece abuts against paint spraying mechanism when the piston rod is in third stroke, the paint spraying port of paint spraying mechanism is opened.

2. An automatic paint spraying robot according to claim 1, characterized in that First included angle < second included angle <= 180 DEG.

3. An automatic paint spraying robot according to claim 1, characterized in that The driver drives the piston rod to contract and make the piston rod have first stroke, the elastic sleeve elongates and pushes the piston rod to have second stroke.

4. An automatic paint spraying robot according to claim 1, wherein The length of second strip groove is equal to or greater than the length of first strip groove, the length of 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 carries out first stroke, until the first support shaft and the piston rod abut against the top of first strip groove, the first stroke stops; When the piston rod carries out second stroke, until the elastic sleeve elongates to the maximum length, the second stroke stops; When the piston rod carries out third stroke, until the first support shaft abuts against the bottom of first strip groove, or the paint spraying mechanism prevents the piston rod from advancing, the third stroke stops.

5. An automatic paint spraying robot according to claim 1, wherein The first end of sliding piece is pressing part, the second end of sliding piece is guide part, the guide part is equipped with limit block, the shell is equipped with third strip groove matched with limit block, the length of third strip groove is greater than the length of limit block and the length of first strip groove.

6. An automatic paint spraying robot according to claim 1, wherein The automatic paint spraying robot 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.

7. An automatic paint spraying robot according to claim 1, wherein The paint spraying mechanism comprises a paint spraying bottle and a paint spraying valve, the paint spraying valve is provided with a paint spraying opening, the paint spraying opening is communicated with the inner cavity of the paint spraying bottle, and the paint spraying valve corresponds to the first end of the sliding piece.

8. An automatic paint spraying robot according to claim 7, characterized in that The paint spraying mechanism comprises a boss, the boss is connected with one end of the paint spraying bottle, the boss is close to the paint spraying opening, one end of the first supporting shaft is fixedly connected with the boss, and one end of the second supporting shaft is fixedly connected with the boss.

9. An automatic paint spraying robot according to claim 8, characterized in that The boss is fixed to one end of the paint spraying bottle in a surrounding state, the paint spraying mechanism comprises an elastic plate and a paint spraying pressing block, two ends of the elastic plate are fixedly connected with the boss, the paint spraying pressing block is fixed to the end face of the elastic plate, and the sliding piece can drive the paint spraying pressing block to abut against the paint spraying valve through the elastic plate.

10. A method for painting by an automatic painting robot, the method being applied to an automatic painting robot as claimed in any one of claims 1 to 9, characterized in that, The paint spraying method of the automatic paint spraying robot comprises the following steps: Based on the obtained instruction of swinging the paint spraying bottle, the driver drives the piston rod to contract, and the piston rod drives the paint spraying bottle to deflect in a first direction, and the elastic sleeve is compressed; Based on the paint spraying bottle being rotated to a preset position, the piston rod stops contracting; Based on the piston rod stopping contracting, the elastic sleeve drives the piston rod to elongate; Based on the elastic sleeve and the piston rod elongating, the elastic sleeve and the piston rod drive the paint spraying bottle to deflect in a second direction, and the first direction and the second direction are opposite; Wherein, after the paint spraying bottle deflects in the first direction once, the paint spraying bottle deflects in the second direction again, which is one swing of the paint spraying bottle.

11. The method of claim 10, wherein, The paint spraying method of the automatic paint spraying robot further comprises the following steps: Based on obtaining a paint spraying instruction, an instruction of swinging the paint spraying bottle is sent to the driver; Based on the paint spraying bottle completing at least one swing, the driver drives the piston rod to elongate until the piston rod abuts against the paint spraying valve of the paint spraying bottle, and the paint spraying opening of the paint spraying bottle is opened.

12. A material conveying station, characterized in that Comprise: The conveying device, the pushing device, the buffer device and the automatic paint spraying robot as claimed in any one of claims 1-9 are oppositely arranged on both sides of the conveying device, and the automatic paint spraying robot is located on one side of the buffer device.

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