Sports equipment environment-friendly paint spraying equipment and process based on multi-axis linkage

Abstract

The environment-friendly paint spraying equipment comprises a shell, an air suction port is formed in one side of the shell, an auxiliary arm is arranged above the air suction port, the auxiliary arm comprises a wiping brush, a cleaning brush and a paint spraying gun, a rotating shaft is arranged on one side of the auxiliary arm, and a rotating shaft is arranged on the other side of the rotating shaft. A main mechanical arm is arranged on one side of the rotating shaft, a transmission rod is arranged on one side of the main mechanical arm, a lifting door is arranged on one side of the transmission rod, a rotating clamping jaw is arranged at one end of the main mechanical arm, an air suction ring is arranged on one side of the rotating clamping jaw, and a multi-opening connecting pipe is arranged on one side of the air suction ring. A first hose is arranged at the top of the paint spraying gun, a purification gas bin is arranged on one side of the first hose, damage is prevented through full-process environment-friendly treatment of wiping dust removal, paint mist recovery and waste gas purification in combination with pressure sensing three-jaw flexible clamping, a main mechanical arm extends forwards to be matched with directional airflow, and a paint surface is cured in situ, so that the period is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of sports equipment spraying robots, and more particularly to an environmentally friendly sports equipment spraying device and process based on multi-axis linkage. Background Art

[0002] As people's quality of life continues to improve, the pursuit of a healthier lifestyle has become a mainstream idea, resulting in an endless stream of gyms on the market. However, with the rapid development of the fitness industry, the problem of surface wear and paint peeling of gym equipment, such as barbells, due to frequent use, has become increasingly prominent. Traditional technologies have the following problems: paint mist escapes seriously during the spraying process, and conventional suction systems mostly adopt a fixed air volume design, which cannot adapt to the differentiated needs of the spraying and drying stages. When close to the workpiece, the suction is too strong and easily interferes with the formation of the paint film. When far away, the suction is insufficient, resulting in residual paint mist, which requires manual re-spraying or secondary cleaning, which is inefficient and pollutes the environment. At the same time, in order to accelerate the curing of the paint surface, traditional equipment often relies on independent drying devices, which have high energy consumption and are prone to uneven heating of the paint surface, resulting in defects such as bubbles and cracks. In addition, the clamping mechanism lacks adaptive adjustment capabilities and has poor compatibility with special-shaped workpieces.

[0003] Therefore, in order to solve the above problems, an environmentally friendly painting equipment and process for sports equipment based on multi-axis linkage are proposed. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides an environmentally friendly painting equipment and process for sports equipment based on multi-axis linkage to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an environmentally friendly spray painting device for sports equipment based on multi-axis linkage, comprising a shell, an air intake port is provided on one side of the shell, an auxiliary arm is provided above the air intake port, the auxiliary arm comprises a wiping brush, a cleaning brush and a paint spray gun, a rotating shaft is provided on one side of the auxiliary arm, a main robotic arm is provided on one side of the rotating shaft, two groups of main robotic arms are provided, and the two groups of main robotic arms are symmetrically arranged along the horizontal direction of the shell, a transmission rod is provided on one side of the main robotic arm, a lifting door is provided on one side of the transmission rod, a rotating clamp is provided at one end of the main robotic arm, an air intake ring is provided on one side of the air intake ring, a multi-port pipe is provided on one side of the air intake ring, a hose 1 is provided on the top of the paint spray gun, and a purification gas bin is provided on one side of the hose 1.

[0006] Preferably, a paint tank interface is provided on one side of the top of the purified gas bin, a second hose is provided on one side of the paint tank interface, and the paint tank interface is connected to the paint spray gun through the second hose.

[0007] Preferably, an air curtain nozzle is provided on the outer wall of the air suction ring, and the air curtain nozzle is provided in several groups, and each group of the air curtain nozzles is evenly arranged along the circumferential direction of the air suction ring, and the air curtain nozzles of the two groups of the air suction rings are symmetrically connected to the multi-port connecting pipe through the hose one, and the center of the multi-port connecting pipe is connected to the air suction port.

[0008] Preferably, the purified gas silo includes a gas silo shell, a filter, a U-shaped tube, an air pump and a power supply assembly. A filter is provided inside the gas silo shell, a U-shaped tube is provided on one side of the filter, a transmission tube is provided on the other side of the filter, an air pump is provided on one side of the U-shaped tube, and a power supply assembly is provided below the filter.

[0009] Preferably, one side of the transmission pipe is connected to the three-way pipe, a dust collection bin is provided below the air intake port, and the dust collection bin is connected to the filter through the transmission pipe, a sweeping roller is provided on one side of the dust collection bin, driven wheels are provided on both sides of the sweeping roller, and a driving wheel is provided on one side of the driven wheel.

[0010] Preferably, the rotating clamp includes a rotating shaft, a telescopic rod, a clamping claw, a rubber pad and a pressure sensor. One side of the rotating shaft is connected to the main robotic arm, and the other side of the rotating shaft is provided with a telescopic rod. One side of the telescopic rod is provided with a clamping claw. There are three groups of clamping claws, and the three groups of clamping claws are evenly arranged along the circumferential direction of the telescopic rod. The three groups of clamping claws can be displaced synchronously through the up and down displacement of the telescopic rod. A rubber pad is provided on one side of the clamping claw, and a pressure sensor is provided on one side of the rubber pad.

[0011] Preferably, a door is provided on one side of the top of the gas tank shell, a handle is provided on the top of the door, a heat dissipation hole is provided on one side of the door, and a paint tank is provided on the top of the paint tank interface.

[0012] Preferably, the paint spray gun includes a slider, a slide rail and a paint gun assembly, the slider is connected to the outer wall of the slide rail by snapping, and the slider is connected to the auxiliary arm through the slide rail, a paint spray gun is provided on one side of the slider, and the paint spray gun is translated left and right along the horizontal direction of the slide rail through the slider.

[0013] Preferably, a control component is provided on one side of the air pump, a control panel is provided on one side of the control component, and an indicator light is provided on one side of the control panel.

[0014] A process for environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage includes the following steps: S1. Painting preparation: Press the control panel to wirelessly connect the external device to the control component, and then connect the paint can to be used to the paint can interface; S2. Equipment clamping: The main robotic arm drives the rotating jaw to clamp the barbell bar, and the rotating jaw drives the barbell bar to rotate at a constant speed along the circumference of the rotating axis through the rotating axis, and enters the gap between the chassis and the auxiliary arm through the main robotic arm; S3, painting operation: the barbell bar is first cleaned by the cleaning brush, and then the barbell bar enters the wiping area formed by the wiping brush 1 and the wiping brush 2 under the retraction of the main robot arm to clean the surface, and then enters the paint gun area to paint the surface of the barbell bar; S4. Drying process: After the painting operation is completed, the main robotic arm drives the barbell bar to extend forward, and the paint surface is dried at the position of the air outlet. When the drying is completed, the auxiliary arm is lifted upward under the drive of the rotating shaft, and the barbell bar is placed on the ground through the main robotic arm.

[0015] Technical effects and advantages of the present invention: Compared with the existing technology, this environmentally friendly painting equipment and process for sports equipment based on multi-axis linkage realizes intelligent adjustment of the suction force of the suction ring through the opening and closing of the telescopic linkage lifting door of the main robotic arm. When approaching the air intake port, the lifting door opens and the suction force of the suction ring is weakened to avoid interference with the painting process. At the same time, the air intake port directly absorbs the escaped paint mist to reduce environmental pollution; when away from the air intake port, the lifting door closes and the suction force of the suction ring is enhanced to form a gradually enhanced adsorption force field, which accelerates the drying of the paint surface and adsorbs residual particles to ensure a smooth surface. The design of gradually increasing suction force in the drying stage avoids strong airflow impacting the undried paint surface, thereby ensuring the uniformity and adhesion of the coating.

[0016] Compared with the existing technology, this environmentally friendly sports equipment painting equipment and process based on multi-axis linkage realizes seamless connection between paint mist collection and drying process through suction gradient changes of symmetrically arranged double suction rings, improves processing efficiency, and the air curtain nozzles are evenly distributed along the circumference of the suction ring to form an annular air curtain barrier, which effectively blocks the paint mist diffusion path. Combined with the efficient suction of the suction port and multi-port pipe, the leakage of harmful gases and particulate matter is significantly reduced.

[0017] Compared with the existing technology, this environmentally friendly sports equipment painting equipment and process based on multi-axis linkage integrates multi-layer filtration through the purification gas chamber to grade the paint mist, ensuring that the exhaust gas meets environmental protection standards. At the same time, it automatically cleans the ground residue through the dust suction chamber and sweeping roller, reducing the need for manual maintenance.

[0018] Compared with the existing technology, this environmentally friendly painting equipment and process for sports equipment based on multi-axis linkage can adapt to sports equipment of different shapes through a pressure sensor and three sets of synchronously retractable clamping claws. The clamping force is controllable to avoid scratches or deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the side sectional structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the top view of the purified gas warehouse of the present invention.

[0022] Figure 4 It is a schematic diagram of the partial three-dimensional structure of the auxiliary arm of the present invention.

[0023] Figure 5 It is a schematic diagram of the partial cross-sectional structure of the multi-port connecting pipe of the present invention.

[0024] Figure 6 It is a schematic diagram of the local structure of the rotating clamping jaw of the present invention.

[0025] Figure 7 It is a schematic diagram of the partial three-dimensional structure of the main robotic arm of the present invention.

[0026] Figure 8 It is a schematic diagram of the local structure of the paint spray gun of the present invention.

[0027] The accompanying drawings are marked as follows: 1. housing; 2. air inlet; 201. transmission rod; 202. lifting door; 3. auxiliary arm; 301. wiping brush; 302. cleaning brush; 303. paint spray gun; 4. rotating shaft; 5. main robotic arm; 6. rotating claw; 601. rotating shaft; 602. telescopic rod; 603. clamping claw; 604. rubber pad; 605. pressure sensor; 7. purification gas chamber; 701. gas chamber housing; 702. filter; 703. U-shaped tube; 704 , air pump; 705, power supply assembly; 8, paint can interface; 9, hose 2; 10, suction ring; 1001, air curtain nozzle; 11, multi-port connecting pipe; 12, transmission pipe; 13, dust suction bin; 14, sweeping roller; 15, driven wheel; 16, driving wheel; 17, bin door; 18, handle; 19, heat dissipation hole; 20, paint can; 21, slider; 22, slide rail; 23, paint gun assembly; 24, control panel; 25, indicator light; 26, hose 1; 27, control assembly. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. Example

[0029] As attached Figures 1 to 8 The environmentally friendly painting equipment for sports equipment based on multi-axis linkage shown in the figure includes a shell 1, an air intake port 2 is provided on one side of the shell 1, an auxiliary arm 3 is provided above the air intake port 2, the auxiliary arm 3 includes a wiping brush 301, a cleaning brush 302 and a paint gun 303, a rotating shaft 4 is provided on one side of the auxiliary arm 3, a main robotic arm 5 is provided on one side of the rotating shaft 4, two groups of main robotic arms 5 are provided, and the two groups of main robotic arms 5 are symmetrically arranged along the horizontal direction of the shell 1, a transmission rod 201 is provided on one side of the main robotic arm 5, a lifting door 202 is provided on one side of the transmission rod 201, a rotating clamp 6 is provided at one end of the main robotic arm 5, an air intake ring 10 is provided on one side of the air intake ring 10, a multi-port pipe 11 is provided on one side of the air intake ring 10, a hose 26 is provided on the top of the paint gun 303, and a purification gas tank 7 is provided on one side of the hose 26.

[0030] Specifically, the outer shell 1 is welded from 304 stainless steel, and the left side wall is provided with an air intake port 2 with a diameter of 300mm and connected to a multi-port pipe 11. A rotatable auxiliary arm 3 is provided on the top of the outer shell, which integrates a wiping brush 301, a nylon cleaning brush 302 and a SATA 4500B spray gun 303. Two sets of 6061 aluminum alloy main robotic arms 5 are symmetrically arranged on both sides of the working area, with three-finger rotating grippers 6 installed at the end. They use FESTO DHPS-20-A electric grippers and integrate Honeywell FSG15N1A pressure sensors 605, and achieve synchronous clamping with a stroke of 0-50mm through the linear module of the telescopic rod 602. The specially designed annular suction device consists of an aluminum alloy suction ring 10 and 12 sets of ABS air curtain nozzles 1001, which are connected to the purification gas chamber 7 through a Φ50mm hose 26 to form a closed-loop airflow. During operation, the translation of the main robotic arm 5 drives the transmission rod 201 via a sprocket drive, controlling the opening and closing speed of the lift door 202. This intelligently matches the negative pressure intensity at the air intake 2 with the spraying distance. This design, through multi-axis coordinated control, forms a closed-loop process for surface cleaning, atomized spraying, and exhaust gas recovery. Compared to traditional equipment, this reduces paint loss by 35% and lowers VOC emissions to below 50mg / m³. It is particularly suitable for the automated spraying of long-bar sports equipment such as barbells.

[0031] Based on Example 1, the solution in Example 1 is further detailed in combination with the following specific working methods.Figures 1 to 8 As shown, see the following description for details: As a preferred embodiment, the paint tank interface 8, located at the top of the purification air chamber 7, utilizes a quick-release flange structure, preferably a Camlock K75 stainless steel interface. This interface connects to the feed port of the paint spray gun 303 via a corrosion-resistant polyurethane hose 2 (9), forming a closed-loop paint supply system. In this design, the paint tank interface 8 is threadedly secured to the top of the air chamber housing 701. A tapered flow diverter at its lower end connects to the U-shaped tube 703 at a 30° angle, ensuring that the paint liquid flows naturally under gravity into the pressurized chamber of the air pump 704. When the paint spray gun 303 is activated, the air pump 704 simultaneously generates negative pressure, facilitating the coordinated supply of paint liquid through the hose 2 (9) by a siphon effect and atomizing air pressure.

[0032] As a preferred embodiment, the air curtain nozzles 1001 mounted on the outer wall of the air intake ring 10 utilize SprayingSystems Co.'s 1 / 4J series fan-shaped atomizing nozzles. These nozzles are evenly spaced at 120° intervals through a 6061-T6 aluminum alloy ring base, forming an annular air curtain barrier. Two sets of air intake rings 10 are connected to the symmetrical ports of a multi-port pipe 11 via a 20mm φ polyurethane hose 26. The multi-port pipe's central φ50mm main channel directly connects to the air intake port 2. During operation, when the main robotic arm 5 moves the workpiece away from the paint spraying station, the lift gate 202 rises, closing the air intake port 2. This creates a negative pressure within the air intake ring 10. Airflow is drawn from the air curtain nozzles 1001 into the air, forming an annular airflow barrier around the barbell. The escaping paint mist, driven by the pressure differential, enters the purification air chamber 7 through the air intake ring 10, where the suction force steadily increases until it reaches maximum. This process enhances the paint drying effect on the barbell's surface.

[0033] As a preferred embodiment, the air chamber shell 701 is welded from 1.2mm galvanized steel sheets, with a HEPA-300 double-layer folded filter 702 installed inside. The front end is connected to the bellows of the dust chamber 13 via an ABS transmission tube 12, and the rear section U-shaped tube 703 is made of 304 stainless steel with an arc-shaped damping structure. The U-shaped tube 703 of this design is connected to the air inlet flange of the CPE18-M1H oil-free silent air pump 704. The U-shaped bend of the U-shaped tube 703 forms an air flow buffer chamber, which can effectively reduce the vibration of the equipment caused by air flow pulsation. The filter 702 adopts a double-layer gradient layout with sparse front and dense back. The first layer intercepts large particles of paint mist with a filtration efficiency of 98.6%, and the second layer absorbs 0.3μm particles, extending the replacement cycle by 3 times compared to traditional single-layer filter equipment. Power supply assembly 705 utilizes a combination of a Schneider LC1D12 contactor and an ABB S201 circuit breaker. It is directly connected to the 220V motor of air pump 704 via an IP54 protective junction box, providing overload protection. During operation, paint-laden exhaust gas collected at intake port 204 enters purified gas chamber 7 through transmission pipe 12. The flow rate is first reduced by the uniform distribution of air in U-shaped tube 703, then filtered through the gradient filter 702. Finally, air pump 704 circulates the purified gas through hose 26 to air outlet 302, achieving closed-loop gas utilization.

[0034] As a preferred embodiment, the driving wheel 16 uses an Oriental Motor PKP245D5A stepper motor, which drives the driven wheels 15 on both sides through a coupling, driving the sweeping roller 14 to rotate at a speed of 15-30rpm. The surface of the sweeping roller 14 is coated with a 3mm thick nylon bristle layer, which can effectively clean residual paint residue and dust particles on the ground. The dust collection bin 13 is welded and formed from 304 stainless steel. Its top is sealed with two sets of air intakes 204 via flanges, and the bottom is tilted at 30° to allow waste to naturally slide into the waste bin 10. When the air pump 704 is started, the U-shaped tube 703 at the front end of the filter 702 forms a negative pressure airflow. The particles swept up by the sweeping roller 14 are sucked in through the air intake 204, and then pass through the transmission pipe 12 and the filter 702 to achieve three-stage filtration. Finally, the clean air is ejected from the blowing port 302. This innovative design improves cleaning efficiency by 42% compared to the traditional single-inlet structure through the synergistic effect of mechanical cleaning and airflow adsorption. It can capture 98.6% of particles with a size greater than 5μm. At the same time, the combination of nylon bristles and stainless steel bin body avoids the risk of static electricity accumulation.

[0035] As a preferred embodiment, the rotating clamping jaw 6 is fixedly connected to the end of the main robotic arm 5 via a rotating shaft 601 using flange bolts. A servo motor (recommended: a Panasonic MINAS A6 series) is integrated within the rotating shaft 601 to drive the clamping mechanism for continuous rotation from 0 to 360 degrees. The telescopic rod 602 is axially connected to the rotating shaft 601 using an SMC CDQ2B series pneumatic push rod. Three sets of clamping jaws 603 are hinged to the end of the telescopic rod 602 via a planetary gear set. When the pneumatic push rod retracts, the planetary gear set drives the three jaws to synchronously retract radially, forming a three-point positioning clamping structure. The clamping jaws 603 are made of 7075 aluminum alloy, and a 3mm thick nitrile rubber pad 604 is embedded in the inner side of the clamping jaw via a slot. The rubber pad has a 1.5mm deep anti-slip pattern on its surface. The pressure sensor 605 is a Honeywell ML1100 thin-film pressure sensor embedded between the inner side of the rubber pad 604 and the clamping jaw 603, communicating in real time with the control component 27 via the CAN bus. This design utilizes a three-jaw planetary synchronization mechanism in conjunction with a telescopic activation system to adapt to barbells of varying diameters. Closed-loop control between the pressure sensor 605 and the servo motor maintains a stable clamping force within an adjustable range of 50-200N, preventing both slippage and workpiece deformation. The double-layer structure of the rubber pad 604 ensures clamping rigidity while preventing scratches on the surface being painted. During implementation, once the main robotic arm 5 is positioned, the telescopic rod 602 descends to trigger the clamping stroke. During the synchronized contraction of the three jaws, the pressure sensor provides real-time feedback. When the preset value is reached, the clamp is locked. The rotating shaft 601 then rotates the workpiece at a constant speed of 5-30rpm, providing a stable motion reference for subsequent painting processes.

[0036] As a preferred embodiment, the top of the air silo housing 701 is hingedly connected to the door 17. The outer wall of the door 17 is embedded with a TPU non-slip handle 18. The side of the door 17 features an array of stamped aluminum alloy heat dissipation holes 19. This structure allows operators to quickly open the door 17 to replace the built-in HEPA filter 702. Simultaneously, the negative pressure airflow generated by the heat dissipation holes 19 and the operation of the air pump 704 effectively reduce the operating temperature of the power supply assembly 705. The paint can interface 8 is integrated into the top plane of the air silo housing 701. It is injection-molded from SMC engineering plastic and equipped with quick-release buckles, allowing for the rapid installation of standard polycarbonate paint cans 20. The modular design of the compartment door 17 increases filtration system maintenance efficiency by over 60%, reducing the measured opening and closing cycle of the compartment door 17 to 15 seconds. The interconnected design of the heat dissipation holes 19 and the air pump 704 keeps the temperature rise of the power supply assembly 705 below 35°C, extending the service life of the electronic components. The standardized design of the paint tank interface 8 is compatible with mainstream 5L / 10L pressure paint tanks on the market, and a quick-release mechanism enables rapid paint changes in 10 seconds. When these components work together, the air pump 704 delivers filtered clean air through the U-shaped tube 703, while the paint tank 20 supplies a steady supply of paint to the paint spray gun 303 via the paint tank interface 8, forming a closed-loop air system. The measured paint mist recovery rate reaches over 92%.

[0037] As a preferred embodiment, the slide rail 22 of the paint spray gun 303 is made of 6063-T5 aluminum alloy profile and is fixed to the end effector base of the auxiliary arm 3 by bolts. Its surface is provided with a dovetail groove structure. The slider 21 is injection molded from nylon 66 and embedded with a THK HCR15A linear guide ball assembly. It forms a precision sliding pair with the slide rail 22 through an interference fit. The paint gun assembly 23 includes a SATA 5000 B electrostatic spray gun body, the bottom of which is connected to the slider 21 by a quick-release buckle. The paint supply pipeline of the spray gun is connected to the paint tank interface 8 using a PTFE hose 9. An NSK BSO1204 ball screw is set at the end of the slide rail 22, which cooperates with the Dongfang Electric PKP249D2A stepper motor to drive the slider 21 for precise displacement of ±150mm stroke, with a positioning accuracy of ±0.05mm. Compared with traditional fixed spray guns, it can improve the spraying uniformity by 23%. When the main robotic arm 5 drives the rotating gripper 6 to rotate at 5-15 rpm, the auxiliary arm 3 drives the paint spray gun 303 to reciprocate along the slide rail 22 through the servo motor of the rotating shaft 4, and cooperates with the spray gun pulse control to achieve a uniform spray trajectory; the pressure sensor 605 feeds back the clamping force data to the control component 27 in real time, triggering the spray gun movement speed to automatically match the change in workpiece diameter; the structure adopts an aluminum alloy-nylon-stainless steel composite material combination, which reduces the motion inertia by 38% while ensuring rigidity. At the same time, its modular design allows for the rapid replacement of different models of spray gun components.

[0038] In a preferred embodiment, the air pump 704 is hard-wired to the control assembly 27 using a Siemens S7-1200 PLC controller. This control assembly 27 communicates data with the control board 24, which features a Weiluntong MT8102iE industrial touchscreen, via the RS485 communication protocol. The front of the control board 24 integrates an Ohmler LAD-T series tri-color LED indicator 25, whose base is injection-molded from flame-retardant ABS material. The air pump 704's aluminum alloy housing is bolted to the shock-absorbing base of the air chamber housing 701. The modular control system sets the air pump 704's speed parameters via the control board 24. The PLC then adjusts the fan power and monitors current and temperature data in real time. The operating status is visually displayed via the indicator light 25, indicating green light for operation, yellow light for warning, and red light for fault. This design reduces the air pump 704's energy consumption by 37%. When the pressure drop on the filter 702 exceeds 500 Pa, the system automatically increases the air pump 704's power to compensate for the air volume, ensuring a constant negative pressure at the air inlet 204.

[0039] As attached Figures 1 to 8 The process of a multi-axis linkage sports equipment environmentally friendly painting equipment shown includes the following steps: S1. Painting preparation: Press the control panel 24 to wirelessly connect the external device to the control component 27, and then connect the paint can 20 to be used to the paint can interface 8; S2. Equipment clamping: The main robotic arm 5 drives the rotating jaw 6 to clamp the barbell bar. At the same time, the rotating jaw 6 drives the barbell bar to rotate at a constant speed along the circumferential direction of the rotating shaft 601 through the rotating shaft 601, and the main robotic arm 5 rotates to fit the wiping brush 301 and the cleaning brush 302 of the auxiliary arm 3; S3. Surface cleaning: The main robotic arm 5 drives the barbell bar to move toward the air inlet 2. During the displacement, the lifting door 202 is driven by the transmission rod 201 to descend at a constant speed, thereby opening the air inlet 2. The suction force of the air intake ring 10 gradually weakens as the main robotic arm 5 contracts, until the lifting door 202 is fully opened. S4, painting operation: the barbell rod rotates at a constant speed driven by the rotating clamp 6, and the paint spray gun 303 above sprays the barbell rod with paint, while the escaping paint mist is absorbed by the air intake 2; S5. Drying process: After the painting operation is completed, the main robotic arm 5 drives the barbell to extend forward, and the auxiliary arm 3 is lifted up through the rotating shaft 4. At the same time, the main robotic arm 5 moves away from the air intake 2 at a uniform speed, and the lifting door 202 is closed at a uniform speed through the transmission rod 201, so that the suction force of the air intake ring 10 increases at a uniform speed, and the surface of the barbell is dried.

[0040] Specifically, the full-process automated operation is achieved through the coordinated control of the main robot arm 5 and the auxiliary arm 3. In the specific implementation, the main robot arm 5 grabs the barbell bar through the three-claw synchronous clamping mechanism of the rotating clamp 6, and the pressure sensor 605 uses the Honeywell MLH series to monitor the clamping force in real time. In the surface cleaning stage, the main robot arm 5 drives the workpiece along the guide rail to contact the nylon wiping brush 301 and the carbon fiber cleaning brush 302 of the auxiliary arm 3. At the same time, the transmission rod 201 drives the lifting door 202 to descend at a speed of 0.1m / s through the worm gear mechanism, so that the 12 groups of air curtain nozzles 1001 of the suction ring 10 generate a gradient negative pressure. This innovative design increases the paint mist recovery efficiency by 40%. During the painting operation, the paint gun 303 reciprocates on the linear slide rail 22 through the slider 21 at a speed of 0.2m / s, forming a spiral spraying trajectory with the 10r / min rotation of the rotating clamp 6. The purified gas chamber 7 adopts a three-stage filtration system consisting of a primary G4 filter sheet 702 + an activated carbon composite layer + a U-shaped tube 703 for condensation, and cooperates with a Thomas 258 series air pump 704 to achieve an air volume treatment of 600m³ / h, with an exhaust gas treatment efficiency of 98%.

[0041] In terms of linkage control, an S7-1200 PLC synchronizes the six-axis motion of the main robot arm 5 via the PROFINET bus, creating a dynamic negative pressure field. By combining mechanical linkage with intelligent control, this process reduces single-piece processing time to 8 minutes, increases paint utilization to 85%, and reduces VOC emissions to less than 50mg / m³, significantly outperforming traditional spray painting processes.

[0042] The working process of the present invention is as follows: the main robot arm 5 is rigidly connected to the lifting door 202 via the transmission rod 201. When the main robot arm 5 retracts toward the air inlet 2, the transmission rod 201 drives the lifting door 202 to descend at a constant speed along the vertical track, and the opening of the air inlet 2 gradually increases to a fully open state; The opening and closing of the lift door 202 is linked to the air pump 704 of the purification air chamber 7. When the main robotic arm 5 retracts, the power of the air pump 704 automatically decreases as the lift door opening increases, causing the negative pressure in the suction ring 10 to decrease linearly from -15kPa to -5kPa. Conversely, when the main robotic arm 5 extends, the air pump power increases to -20kPa, forming a gradient-enhanced adsorption force field. The rotating gripper 6 achieves self-centering gripping via three sets of gripping claws 603, with a pressure sensor 605 providing real-time feedback on the gripping force. The main robotic arm 5 drives the barbell through a composite motion of axial rotation, longitudinal translation, and ±45° pitching. The paint spray gun 303 achieves lateral tracking movement via a slide rail 22, while the air curtain nozzle 1001 sprays an annular airflow, forming a wraparound air curtain on the workpiece surface. Experimental data shows that this design can reduce paint mist escape by 85%. During the drying process, the main robotic arm 5 moves outward at a speed of 5 mm / s, and the transmission rod 201 simultaneously raises the lift door 202, causing the air intake cross-sectional area to decrease by 15% every 10 seconds. This corresponds to an increase in the air velocity of the filter 702 in the purified air chamber 7 from 0.8 m / s to 2.4 m / s, forming a gradually increasing drying airflow. When the main robotic arm 5 is reset to its initial position, the driving wheel 16 drives the sweeping roller 14 to rotate through the gear set, and at the same time the dust collection bin 13 starts the pulse back-blowing mode to achieve the synchronous collection of debris in the paint spraying area and the self-cleaning of the transmission pipe 12. The above is the working principle of the environmentally friendly painting equipment and process for sports equipment based on multi-axis linkage.

Claims

1. An environmentally friendly spray painting device for sports equipment based on multi-axis linkage, comprising a housing (1), characterized in that: An air inlet (2) is provided on one side of the housing (1), an auxiliary arm (3) is provided above the air inlet (2), the auxiliary arm (3) comprises a wiping brush (301), a cleaning brush (302) and a paint spray gun (303), a rotating shaft (4) is provided on one side of the auxiliary arm (3), a main mechanical arm (5) is provided on one side of the rotating shaft (4), two groups of the main mechanical arms (5) are provided, and the two groups of the main mechanical arms (5) are symmetrically arranged along the horizontal direction of the housing (1). A transmission rod (201) is provided on one side of the main robotic arm (5), a lifting door (202) is provided on one side of the transmission rod (201), a rotating clamp (6) is provided on one end of the main robotic arm (5), an air suction ring (10) is provided on one side of the rotating clamp (6), a multi-port pipe (11) is provided on one side of the air suction ring (10), a hose (26) is provided on the top of the paint spray gun (303), and a purification gas bin (7) is provided on one side of the hose (26).

2. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 1, characterized in that: A paint tank interface (8) is provided on one side of the top of the purified gas bin (7), a hose 2 (9) is provided on one side of the paint tank interface (8), and the paint tank interface (8) is connected to the paint spray gun (303) through the hose 2 (9).

3. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 1, characterized in that: An air curtain nozzle (1001) is provided on the outer wall of the air suction ring (10), and the air curtain nozzle (1001) is provided in a plurality of groups, and each group of the air curtain nozzles (1001) is evenly arranged along the circumferential direction of the air suction ring (10), and the air curtain nozzles (1001) of the two groups of the air suction rings (10) are symmetrically connected to the multi-port pipe (11) through the hose 1 (26), and the center of the multi-port pipe (11) is connected to the air suction port (2).

4. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 1, characterized in that: The purified gas silo (7) comprises a gas silo housing (701), a filter (702), a U-shaped tube (703), an air pump (704) and a power supply assembly (705), wherein the filter (702) is arranged inside the gas silo housing (701), a U-shaped tube (703) is arranged on one side of the filter (702), a transmission tube (12) is arranged on the other side of the filter (702), an air pump (704) is arranged on one side of the U-shaped tube (703), and a power supply assembly (705) is arranged below the filter (702).

5. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 4, characterized in that: One side of the transmission pipe (12) is connected to the three-way pipe (11); a dust collection bin (13) is provided below the air inlet (2); and the dust collection bin (13) is connected to the filter (702) through the transmission pipe (12); a sweeping roller (14) is provided on one side of the dust collection bin (13); driven wheels (15) are provided on both sides of the sweeping roller (14); and a driving wheel (16) is provided on one side of the driven wheel (15).

6. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 1, characterized in that: The rotating clamp (6) comprises a rotating shaft (601), a telescopic rod (602), a clamping claw (603), a rubber pad (604) and a pressure sensor (605), one side of the rotating shaft (601) is connected to the main robotic arm (5), the other side of the rotating shaft (601) is provided with a telescopic rod (602), one side of the telescopic rod (602) is provided with a clamping claw (603), three groups of the clamping claws (603) are provided, and the three groups of the clamping claws (603) are evenly arranged along the circumferential direction of the telescopic rod (602), and the three groups of the clamping claws (603) can be synchronously displaced by the up and down displacement of the telescopic rod (602), one side of the clamping claw (603) is provided with a rubber pad (604), and one side of the rubber pad (604) is provided with a pressure sensor (605).

7. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 4, characterized in that: A door (17) is provided on one side of the top of the gas tank housing (701), a handle (18) is provided on the top of the door (17), a heat dissipation hole (19) is provided on one side of the door (17), and a paint tank (20) is provided on the top of the paint tank interface (8).

8. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 1, characterized in that: The paint spray gun (303) comprises a slider (21), a slide rail (22) and a paint gun assembly (23); the slider (21) is connected to the outer wall of the slide rail (22) by snapping, and the slider (21) is connected to the auxiliary arm (3) via the slide rail (22); a paint spray gun (303) is provided on one side of the slider (21); the paint spray gun (303) is translated left and right along the horizontal direction of the slide rail (22) via the slider (21).

9. The environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to claim 4, characterized in that: A control component (27) is provided on one side of the air pump (704), a control panel (24) is provided on one side of the control component (27), and an indicator light (25) is provided on one side of the control panel (24).

10. A process for environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage, applicable to the environmentally friendly spray painting equipment for sports equipment based on multi-axis linkage according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, painting preparation: pressing the control panel (24) to wirelessly connect the external device to the control component (27), and then connecting the paint can (20) to be used to the paint can interface (8); S2. Equipment clamping: the main robotic arm (5) drives the rotating claw (6) to clamp the barbell bar, and at the same time, the rotating claw (6) drives the barbell bar to rotate at a uniform speed along the circumferential direction of the rotating shaft (601) through the rotating shaft (601), and the main robotic arm (5) rotates to fit the wiping brush (301) and the cleaning brush (302) of the auxiliary arm (3); S3, surface cleaning: the main robotic arm (5) drives the barbell bar to move toward the air intake port (2), and during the displacement, the lifting door (202) is driven by the transmission rod (201) to descend at a uniform speed, thereby opening the air intake port (2), so that the suction force of the air intake ring (10) gradually weakens as the main robotic arm (5) contracts, until the lifting door (202) is completely opened; S4, painting operation: the barbell rod is driven by the rotating clamp (6) to rotate at a constant speed, and the paint spray gun (303) above is used to spray paint the barbell rod, while the escaping paint mist is absorbed by the air intake (2); S5. Drying treatment: After the painting operation is completed, the main mechanical arm (5) drives the barbell to extend forward, and the auxiliary arm (3) is lifted up through the rotating shaft (4). At the same time, the main mechanical arm (5) moves away from the air intake (2) at a uniform speed, and the lifting door (202) is closed at a uniform speed through the transmission rod (201), so that the suction force of the air intake ring (10) increases at a uniform speed, thereby drying the surface of the barbell.

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