Product spraying and conveying device and method cooperating with robot

Abstract

The invention discloses a product spraying and conveying device and method cooperating with a robot, and relates to the technical field of robot spraying, and the device comprises an annular conveying guide rail used for circularly conveying a to-be-sprayed product; the conveying rotary disc assembly is slidably connected to the surface of the annular conveying guide rail, the whole adjusting flexible rod is guided by the 3D scanner to be dynamically attached to the curved surface of a product, the distance between the two electrodes and the curved surface is accurately controlled through gear driving, the uniformity of a main body electric field is improved, coating deviation is reduced, an auxiliary electrode goes deep into a deep groove through three-stage positioning, and the angle is calibrated. An electric telescopic guide rod and rotating teeth quickly respond, the position of an electrode is adjusted along with rotation of a product, edge over-spraying is reduced in cooperation with a segmented air curtain, and full-process automatic operation is integrally formed, so that the operation time is short, multi-variety flexible production is supported, the coating utilization rate is increased, and the seven-axis spraying mechanical arm and the seven-axis spraying mechanical arm are in synergistic interaction; and the spraying quality, efficiency and environmental friendliness are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot spraying technology, in particular to a product spraying and conveying device and method cooperating with a robot. BACKGROUND

[0002] In the fields of automobile manufacturing, new energy equipment, shipbuilding, etc., surface spraying of large objects is a key process, and its core requirements include coating uniformity, material utilization rate, production efficiency and environmental safety. Traditional spraying operations mainly rely on fixed spray guns or simple mechanical arms.

[0003] At present, large objects (such as automobile coverings and wind power blades) generally have complex structures such as deep grooves, arc transition surfaces and edge sharp corners. During traditional spraying operations, complex surfaces such as deep grooves, arc transition surfaces and edge sharp corners cannot be effectively sprayed, especially when the product is rotating at high speed, the coating adhesion of the edge region is insufficient. For example, the corners of the motor housing of a crane often need to be manually sprayed due to fixed spraying angles, which is inefficient and unstable in quality. Therefore, a product spraying and conveying device and method cooperating with a robot are needed. SUMMARY

[0004] The present application aims to provide a product spraying and conveying device and method cooperating with a robot to solve the problem of insufficient coating adhesion of the edge region during spraying operations, especially when the product is rotating at high speed.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: a product spraying and conveying device cooperating with a robot, comprising:

[0006] An annular conveying guide rail for circulating conveying of products to be sprayed;

[0007] A conveying turntable assembly slidingly connected to the surface of the annular conveying guide rail for carrying and rotating the products to be sprayed;

[0008] A spraying area provided at the end of the annular conveying guide rail;

[0009] A seven-axis spraying mechanical arm provided at the side end of the spraying area for performing spraying operations on the products to be sprayed;

[0010] A segmented air curtain assembly with a protective plate at its side end for forming a segmented air curtain barrier;

[0011] A control assembly with a multi-axis adjustment mechanical arm at its top for adjusting the electric field;

[0012] The control assembly comprises several inside and outside flexible rods hinged to each other and auxiliary control electrodes, the surface of the inside flexible rod is provided with several control electrodes, the control electrodes form a rectangular electrode, the side end of the auxiliary control electrode is provided with a small positioning shaft arm, the bottom end of the small positioning shaft arm is provided with a circumferential rotating structure, and the auxiliary control electrode is used for local compensation of the main electric field generated by the control electrode.

[0013] Preferably, the inner wall surface of the outside flexible rod is provided with a mounting groove, the inside of the mounting groove is provided with a mounting frame, the inside of the mounting frame is provided with an electric telescopic guide rod, the side end of the electric telescopic guide rod is connected with a tooth column, the inside of the side end of the mounting frame is provided with a rotating tooth, the rotating tooth and the tooth column are engagedly connected, and the side end of the rotating tooth and the circumferential rotating structure are fixedly connected.

[0014] Preferably, the protective plate is arranged at the side end of the spraying area and is arranged opposite to the seven-axis spraying mechanical arm, the top of the protective plate is provided with a supporting plate, the bottom of the supporting plate is provided with a horizontal screw rod guide rail, the inside of the bottom end of the horizontal screw rod guide rail is slidably connected with a hydraulic telescopic stroke rod, and the bottom end of the hydraulic telescopic stroke rod is connected with the multi-axis adjusting mechanical arm.

[0015] Preferably, the intersection of the flexible rod is provided with a limiting sliding ring frame, the side end of the limiting sliding ring frame is provided with an electric field controller, the side end of the limiting sliding ring frame and the flexible rod is provided with a gear driving structure, and the gear driving structure is used for driving the flexible rod to be extended and adjusted.

[0016] Preferably, the segmented air curtain assembly comprises a ring-shaped frame, the ring-shaped frame is arranged on the surface of the protective plate, the surface of the ring-shaped frame is uniformly distributed with 12 groups of air curtain generators, each group of air curtain generators is independently controlled, the included angle between adjacent air curtain generators is 30°, each air curtain generator comprises at least 5 adjustable nozzles, and the spraying angle adjustment range of the adjustable nozzles is 0-90°.

[0017] Preferably, the bottom of the air curtain generator is provided with an airflow stabilizer, the airflow stabilizer comprises a honeycomb-shaped flow guide plate, a flow regulating valve and a pressure sensor, the honeycomb-shaped flow guide plate is used for dividing the airflow into uniform small flow beams, the pressure sensor is arranged upstream of the honeycomb-shaped flow guide plate and is used for monitoring the airflow pressure in real time, and the flow regulating valve is arranged in the air inlet pipeline of the air curtain generator and is used for adjusting the airflow according to the data of the pressure sensor.

[0018] Preferably, the conveying turntable assembly comprises a guide wheel, the top of the guide wheel is provided with a supporting buffer plate, and the surface of the supporting buffer plate is provided with a driving rotating wheel structure.

[0019] Preferably, the top of the driving rotating wheel structure is provided with a rotating disc, the ring side surface of the rotating disc is provided with a positive electrode conductive ring, the surface of the positive electrode conductive ring is uniformly provided with at least four brushes, the four brushes are in contact with the positive electrode conductive ring, and the four brushes are connected to the external ground structure through wires.

[0020] Preferably, the annular conveying guide rail is provided with a 3D scanner on the support connecting frame structure and at the spraying area, the 3D scanner is used for acquiring three-dimensional surface data of the product to be sprayed in real time, the scanned three-dimensional data is transmitted to an electric field controller, and the 3D scanner is in linkage control with the air curtain generator and the driving rotating wheel structure of the corresponding area.

[0021] A method for a product spraying conveying device cooperating with a robot, comprising the following steps:

[0022] S1, under the action of the annular conveying guide rail, conveying the product to be sprayed to the spraying area through the conveying rotating disc assembly, and scanning the product through the 3D scanner;

[0023] S2: start the segmented air curtain assembly to form a segmented air curtain barrier;

[0024] S3: adjust the position and posture of the regulating assembly through the multi-axis adjusting mechanical arm;

[0025] S4: according to the shape and size of the product to be sprayed, adjust the voltage of the regulating assembly to form a main electric field distribution, and adjust the position and angle of the auxiliary control electrode through the circumferential rotating structure and the small positioning shaft arm to locally compensate the electric field of the complex structure area;

[0026] S5: execute the spraying operation through the seven-axis spraying mechanical arm, and rotate the conveying rotating disc assembly at the same time, so that each surface of the product is sprayed.

[0027] Compared with the prior art, the beneficial effects of the present application are:

[0028] In the application, through the cooperation of the regulating assembly and the segmented air curtain assembly, the whole can dynamically fit the product curved surface such as the arc area of the automobile engine cover and the variable cross-section area of the wind power blade under the guidance of D-scan through adjusting the flexible rod, the micro-angle bending and amplitude extension are realized through the gear driving structure, the distance between the control electrode and the curved surface is accurately kept, the uniformity of the electric field in the main body area is improved, the thickness deviation of the coating is reduced, and for complex areas such as deep grooves and sharp edges, the auxiliary control electrode forms three-level positioning through a small positioning shaft arm, a circumferential rotating structure and an angle adjusting structure, can deeply enter the groove and realize angle calibration, makes the electrode surface parallel to the groove bottom, improves the local electric field strength, avoids missing spraying, improves the coating coverage rate of complex areas, and in the spraying process, the electric telescopic guide rod cooperates with the rotating gear to form a quick response mechanism, which can dynamically adjust the position of the auxiliary control electrode with the product rotation, avoids collision with the curved surface, cooperates with the segmented air curtain assembly to reduce the flow rate in the area, improves the particle deposition density, reduces the edge overspray phenomenon, and through the closed-loop feedback mechanism of the infrared thickness sensor and the electric field controller, realizes real-time control of detection, adjustment and compensation, when the deep groove thickness is insufficient, the voltage of the auxiliary control electrode is temporarily increased, and the curved surface is approached to ensure that the coating thickness meets the standard, and when the edge oversprays, the auxiliary control electrode is deflected, and the voltage of the control electrode is reduced, the double control is used to improve the adhesion of the edge coating, the whole process does not need manual intervention, the changeover time is shortened, the flexible production of multiple varieties of products is effectively realized, the paint utilization rate is improved, the spraying time is shortened, the spraying quality and efficiency are effectively improved, the problems of airflow turbulence and particle scattering in traditional spraying are effectively solved, and the spraying of the multi-axis adjusting mechanical arm, the regulating assembly and the seven-axis spraying mechanical arm is synergistically enhanced, the quality, efficiency and environmental performance of large object spraying are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a structure schematic view of the main view of the product spraying conveying device cooperating with the robot in the application;

[0030] Figure 2 It is a structure schematic view of the product spraying conveying device cooperating with the robot in the application Figure 1 It is an enlarged structure schematic view of A in the application;

[0031] Figure 3 It is a structure schematic view of the product spraying conveying device cooperating with the robot in the application

[0032] Figure 4 It is a structure schematic view of the product spraying conveying device cooperating with the robot in the application;

[0033] Figure 5 It is a structure schematic view of the product spraying conveying device cooperating with the robot in the applicationFigure 1 Structure schematic diagram of B in the figure;

[0034] Figure 6 Structure schematic diagram of the part of the regulating component in the product spraying conveying device cooperating with the robot of the present application;

[0035] Figure 7 Structure schematic diagram of the operation of the auxiliary control electrode in the product spraying conveying device cooperating with the robot of the present application.

[0036] In the figure: 100, annular conveying guide rail; 200, 3D scanner; 300, spraying area; 400, protective plate; 500, support plate; 600, seven-axis spraying mechanical arm; 700, conveying turntable assembly; 701, guide conveying wheel; 702, support buffer plate; 703, driving rotating wheel structure; 704, turntable; 705, positive electrode conductive ring; 800, segmented air curtain assembly; 801, annular frame; 802, air curtain generator; 803, flow regulating valve; 804, air flow stabilizer; 900, transverse screw guide rail; 110, hydraulic telescopic stroke rod; 120, multi-axis adjusting mechanical arm; 130, regulating component; 131, gear driving structure; 132, adjusting flexible rod; 133, limit sliding ring frame; 134, control electrode; 135, mounting groove; 136, electric field controller; 137, mounting frame structure; 138, electric telescopic guide rod; 139, tooth column; 101, rotating tooth; 102, circumferential rotating structure; 103, small positioning shaft arm; 104, angle adjusting structure; 105, auxiliary control electrode. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0038] In the embodiments of the present application, refer to Figure 1 The product spraying conveying device cooperating with the robot comprises an annular conveying guide rail 100, which is used for circulating conveying products to be sprayed.

[0039] A conveying turntable assembly 700 is slidably connected to the surface of the annular conveying guide rail 100, and is used for carrying and rotating the products to be sprayed.

[0040] A spraying area 300 is arranged at the end of the annular conveying guide rail 100.

[0041] Seven-axis spraying mechanical arm 600 is arranged at the side end of the spraying area 300, and is used for performing spraying operation on the product to be sprayed.

[0042] Segmented air curtain assembly 800 is arranged with protective plate 400 at the side end, and is used for forming segmented air curtain barrier.

[0043] The top of the regulating assembly 130 is arranged with the multi-axis adjusting mechanical arm 120, which is used for adjusting the electric field.

[0044] Specifically, the product is placed on the conveying turntable assembly 700 by the staff or the mechanical arm, so that the product to be sprayed is conveyed to the spraying area 300 by the conveying turntable assembly 700 under the action of the annular conveying guide rail 100, and the product is scanned by the 3D scanner 200, then the product is conveyed into the segmented air curtain assembly 800 to form a segmented air curtain barrier, and the position and posture of the regulating assembly 130 are adjusted by the multi-axis adjusting mechanical arm 120, so that the voltage of the regulating assembly 130 is adjusted according to the shape and size of the product to be sprayed, the main electric field distribution is formed, the position and angle of the auxiliary control electrode 105 are adjusted by the circumferential rotating structure 102 and the small positioning shaft arm 103, and the electric field of the complex structure area is locally compensated, and then the spraying operation is performed by the seven-axis spraying mechanical arm 600, and the conveying turntable assembly 700 is rotated, so that each surface of the product is sprayed.

[0045] In some embodiments, according to Figure 3 、 Figure 4 、 Figure 6 and Figure 7 , the regulating assembly 130 includes a plurality of inner and outer side hinged adjusting flexible rods 132 and auxiliary control electrodes 105, the adjusting flexible rods 132 are composed of a plurality of inner and outer side rod bodies hinged by spherical hinges, forming a deformable annular frame, a plurality of control electrodes 134 are arranged on the surface of the inner adjusting flexible rod 132, the plurality of control electrodes 134 form a rectangular electrode, the side end of the auxiliary control electrode 105 is arranged with a small positioning shaft arm 103, the bottom end of the small positioning shaft arm 103 is arranged with a circumferential rotating structure 102, the end of the small positioning shaft arm 103 is arranged with an angle adjusting structure 104, the side end of the angle adjusting structure 104 is connected with the auxiliary control electrode 105, and the auxiliary control electrode 105 is used for locally compensating the main electric field generated by the control electrode 134.

[0046] The inner wall surface of the outer adjusting flexible rod 132 is provided with a mounting groove 135, the inside of the mounting groove 135 is provided with a mounting frame 137, the inside of the mounting frame 137 is provided with an electric telescopic guide rod 138, the side end of the electric telescopic guide rod 138 is connected with a tooth column 139, the side end of the mounting frame 137 is provided with a rotating tooth 101, the rotating tooth 101 and the tooth column 139 are engagedly connected, and the side end of the rotating tooth 101 is fixedly connected with the circumferential rotating structure 102.

[0047] The intersection of the adjusting flexible rod 132 is provided with a limiting sliding ring frame 133, the side end of the limiting sliding ring frame 133 is provided with an electric field controller 136, the side end of the limiting sliding ring frame 133 and the adjusting flexible rod 132 are provided with a gear driving structure 131, and the gear driving structure 131 is used to drive the adjusting flexible rod 132 to be extended and adjusted.

[0048] In the embodiment of the present application, specifically: first, the regulating assembly 130 is located at the top of the spraying area 300 with the multi-axis adjusting mechanical arm 120, the adjusting flexible rod 132 is contracted to the minimum size, the interference with product conveying is avoided, the product conveying turntable assembly 700 carries the product into the spraying area 300, after the 3D scanner 200 completes the curved surface modeling, the electric field controller 136 calculates the overall size of the product, sends an instruction to the gear driving structure 131, then the gear driving structure 131 drives the inner and outer adjusting flexible rods 132 to be unfolded around the hinge point, so that the center of the control electrode 134 matrix is aligned with the geometric center of the product, and the distance between the control electrode 134 and the product surface is calibrated in real time through the laser ranging sensor arranged on the surface of the adjusting flexible rod 132.

[0049] Then, the electric field controller 136 identifies the areas that need to be locally compensated, such as deep grooves like automobile front bumper heat dissipation holes, wind power blade bolt hole areas, and sharp edges like engineering machinery part edges, according to the three-dimensional model, and generates electrode compensation coordinates.

[0050] At the same time, the small positioning shaft arm 103 can carry the auxiliary control electrode 105 to extend from the mounting groove 135, rotate to the corresponding angle of the product coordinate system through the circumferential rotation structure 102, so that the auxiliary control electrode 105 is preliminarily aligned with the first complex area such as the groove entrance, and the adjusting flexible rod 132 can be slightly bent along the product curved surface normal direction to a maximum bending angle of 15°, so that the control electrode 134 matrix is attached to the curved surface such as the arc-shaped area of the automobile engine cover, ensuring that the distance between the electrode and the curved surface is uniform, and the electric field controller 136 applies a basic voltage to the main electrode to form a uniform electrostatic field covering the main body area of the product. Then the electric telescopic guide rod 138 is started to drive the rotating gear 101 to rotate through the gear column 139, driving the small positioning shaft arm 103 and the circumferential rotation structure 102 to move towards the product surface, so that the auxiliary control electrode 105 is deeply inserted into the deep groove under the cooperation of the small positioning shaft arm 103 and the circumferential rotation structure 102, and the angle adjusting structure 104 is used to adjust the pitch angle of the auxiliary control electrode 105 until the surface of the auxiliary control electrode 105 is parallel to the groove bottom surface. Then a compensation voltage is applied to increase the electric field intensity in this area.

[0051] Then, when the seven-axis spraying mechanical arm 600 sprays the main body area of the product with magnetic spraying material, the control electrode 134 matrix maintains a stable electric field to guide the uniform adsorption of paint particles. When the seven-axis spraying mechanical arm 600 sprays to the complex area such as the corner, the auxiliary control electrode 105 is started to enhance the electric field under the cooperation of the small positioning shaft arm 103, the multi-axis adjusting mechanical arm 120, the horizontal screw guide rail 900 and the hydraulic telescopic stroke rod 110, and the segmented air curtain assembly 800 reduces the air curtain flow rate in this area to reduce air flow interference, improves particle deposition density, and further increases overall spraying uniformity.

[0052] If the curvature of the product changes during rotation, such as the variable cross-section area of the wind turbine blade from the blade root to the blade tip, the gear drive structure 131 adjusts the extension angle of the adjusting flexible rod 132 in real time to ensure that the control electrode 134 dynamically matches the distance to the curved surface. At this time, the electric telescopic guide rod 138 slightly extends according to the change in groove depth, driving the auxiliary control electrode 105 to advance and retreat synchronously to avoid collision with the product surface.

[0053] When the infrared thickness sensor installed on the seven-axis spraying mechanical arm 600 detects that the coating thickness in a deep groove area is insufficient, the electric field controller 136 sends a command to temporarily increase the voltage of the auxiliary control electrode 105, increases the duration, enhances the adsorption of particles, and the corresponding electric telescopic guide rod 138 is extended to make the auxiliary control electrode 105 closer to the groove bottom surface through the rotating gear 101, further reducing the electrode spacing, such as reducing the distance by 1 cm, the electric field strength is increased by 10%.

[0054] If the edge region is detected to have over-spraying, the angle adjustment structure 104 will deflect the auxiliary control electrode 105 outward by an angle such as 10°, reducing the edge electric field concentration effect, while the control electrode 134 voltage is lowered, so that double control avoids over-spraying.

[0055] After the spraying is completed, the electric telescopic guide rod 138 is retracted to the initial position, the reverse rotation of the gear column 139 drives the reverse gear 101, the auxiliary control electrode 105 exits the groove, the small positioning shaft arm 103 returns to the inside of the frame, the gear drive structure 131 drives the adjustment flexible rod 132 to shrink to the minimum size, and the electric field controller 136 turns off the voltage of all electrodes, waiting for the next product to enter.

[0056] The overall adjustment flexible rod 132 can dynamically fit the product curved surface such as the arc region of the automobile engine cover and the variable cross-section region of the wind power blade under the guidance of 3D scanning, and through the gear drive structure 131, ±15° bending and 50cm amplitude extension are realized, so that the control electrode 134 and the curved surface distance are accurately kept, the main area electric field uniformity is improved, the coating thickness deviation is reduced, and for complex regions such as deep grooves and sharp edges, the auxiliary control electrode 105 forms three-stage positioning through the small positioning shaft arm 103, the circumferential rotation structure 102 and the angle adjustment structure 104, can deeply enter the groove and realize angle calibration, so that the electrode surface is parallel to the groove bottom surface, the local electric field strength is improved, the over-spraying is avoided, the coating coverage of complex regions is improved, and in the spraying process, the electric telescopic guide rod 138 cooperates with the reverse gear 101 to form a quick response mechanism, so that the position of the auxiliary control electrode 105 can be dynamically adjusted according to the product rotation, avoiding collision with the curved surface, cooperating with the segmented air curtain assembly 800 to reduce the regional flow rate, improving the particle deposition density, reducing the edge over-spraying phenomenon, and through the closed-loop feedback mechanism of the infrared thickness sensor and the electric field controller 136, the real-time control of detection, adjustment and compensation is realized, so that when the deep groove thickness is insufficient, the voltage of the auxiliary control electrode 105 is temporarily increased, and the curved surface is approached to ensure that the coating thickness meets the standard, and when the edge over-sprays, the angle of the auxiliary control electrode 105 is deflected, and the voltage of the control electrode 134 is lowered, the double control is used to improve the adhesion of the edge coating. The whole process does not need manual intervention, the change time is shortened, the flexible production of multiple varieties of products is effectively realized, the paint utilization rate is improved, the spraying time is shortened, and the spraying quality and efficiency are effectively improved.

[0057] In some embodiments, according to Figure 1As shown, the protective plate 400 is arranged at the side end of the spraying area 300 and opposite to the seven-axis spraying mechanical arm 600, the protective plate 400 is used to isolate the spraying area 300 from the external environment, block the paint mist diffusion and bear the segmented air curtain assembly 800, ensure that the mechanical arm and the regulating assembly 130 can cooperatively cover the full surface of the product, the top of the protective plate 400 is provided with a support plate 500, the bottom of the support plate 500 is provided with a horizontal screw rod guide rail 900, the inside of the bottom end of the horizontal screw rod guide rail 900 is slidably connected with a hydraulic telescopic stroke rod 110, the bottom end of the hydraulic telescopic stroke rod 110 is connected with the multi-axis adjusting mechanical arm 120.

[0058] In the embodiment of the present application, specifically: when the conveying turntable assembly 700 carries the product to the end of the spraying area 300, the product is in place, the light-sensitive photoelectric sensor on the protective plate 400 detects, triggers the horizontal screw rod guide rail 900 and the hydraulic telescopic stroke rod 110 to start, at this time, the horizontal screw rod guide rail 900 drives the hydraulic telescopic stroke rod 110 to move along the X-axis, so that the regulating assembly 130 at the end of the multi-axis adjusting mechanical arm 120 is horizontally aligned with the center of the product, such as the central axis of the product itself, the horizontal position is calibrated by the laser range finder installed on the surface of the support plate 500, then the hydraulic telescopic stroke rod 110 automatically adjusts the extension length according to the product height data obtained by the 3D scanner 200, such as the product height and the product length, so that the control electrode 134 of the regulating assembly 130 maintains an effective working distance from the top of the product, which can be fed back in real time by the position sensor at the end of the multi-axis adjusting mechanical arm 120.

[0059] Then the segmented air curtain assembly 800 on the surface of the protective plate 400 is started synchronously, 12 groups of air curtain generators 802 vertically spray air curtains according to the product surface area division, the air curtains in the plane area are vertically sprayed, the air curtains in the curved surface area are dynamically inclined with the position of the mechanical arm, for example, when the mechanical arm moves left, the left air curtain nozzles are synchronously deflected by 10°.

[0060] Among them, the multi-axis adjusting mechanical arm 120 moves a large range through the first three joints of the shoulder, elbow and wrist, and sends the regulating assembly 130 to the predetermined position on the side of the product, such as 15 cm outside the product, at this time, the adjusting flexible rod 132 is still in the retracted state to avoid interference with the product.

[0061] Then the horizontal screw rod guide rail 900 fine-tunes the horizontal position of the mechanical arm, such as moving right by 5 cm, so that the center of the control electrode 134 matrix is aligned with the to-be-sprayed point of the product, such as the center of the car engine hood, and the hydraulic telescopic stroke rod 110 is slightly extended and retracted, cooperates with the pitch joint action of the multi-axis adjusting mechanical arm 120, so that the adjusting flexible rod 132 bends along the normal direction of the product curved surface, and the control electrode 134 is attached to the arc surface of the engine hood but the distance is uniformly maintained.

[0062] When a deep recess such as the front bumper of a car needs to be processed, the multi-axis adjustment mechanical arm 120 rotates the auxiliary control electrode 105 through the joints of the wrist, pitch, and yaw adjustment to align the entrance of the heat dissipation hole.

[0063] And make the transverse screw guide rail 900 slowly move left, such as 10 cm left, at this time the hydraulic telescopic stroke rod 110 synchronously descends, driving the small positioning shaft arm 103 to dive into the hole, and the angle adjustment structure 104 adjusts the pitch angle of the auxiliary control electrode 105 to be parallel to the bottom surface of the hole. When the seven-axis spraying mechanical arm 600 is slightly offset due to product vibration, the vibration sensor on the protective plate 400 triggers a signal, and the transverse screw guide rail 900 and the hydraulic rod quickly compensate. If the nozzles of a segmented air curtain assembly 800 in a certain area are blocked, the multi-axis adjustment mechanical arm 120 automatically adjusts the posture to make the adjacent air curtain generator 802 cover the blocked area, and sends a fault signal to the external PLC controller.

[0064] In some embodiments, according to Figure 3 and Figure 5 As shown, the segmented air curtain assembly 800 includes a ring-shaped frame 801 installed on the surface of the protective plate 400, and the surface of the ring-shaped frame 801 is uniformly distributed with 12 groups of air curtain generators 802. Each group of air curtain generators 802 is independently controlled, and the included angle between adjacent air curtain generators 802 is 30°. The ring-shaped frame 801 is used to fix the air curtain generators 802, ensuring that the circumferential airflow uniformly covers the product surface. Each air curtain generator 802 includes at least 5 adjustable nozzles, and the adjustable nozzles have a spray angle adjustment range of 0-90°.

[0065] The bottom of the air curtain generator 802 is provided with an airflow stabilizer 804, which is composed of a honeycomb guide plate, a flow regulating valve 803, and a pressure sensor. The honeycomb guide plate is used to divide the airflow into uniform small flow beams. The pressure sensor is installed upstream of the honeycomb guide plate to monitor the airflow pressure in real time. The flow regulating valve 803 is installed in the air inlet pipe of the air curtain generator 802 to adjust the airflow according to the data of the pressure sensor.

[0066] In the embodiments of the present application, specifically: after the 3D scanner 200 generates a three-dimensional model of the product, the external PLC controller divides the 12 groups of air curtain generators 802 on the ring-shaped frame 801 into different control areas according to the surface curvature, and operates according to the different angles and surfaces of the product:

[0067] For example, for a product flat area, it corresponds to 3 groups of generators with an included angle of 90°, and the initial angle of the nozzles is set to 0° perpendicular to the product, forming a vertical air curtain to isolate external dust;

[0068] And the curved surface area, then the corresponding 6 groups of generator included angle 180°, nozzle initial angle is set to 30° along the curved surface normal, guide gas flow along the curved surface, reduce the particle splashing;

[0069] In complex area, then set up again corresponding to 3 groups of generator included angle 90°, so that the angle is dynamically adjusted with the position of auxiliary control electrode 105.

[0070] After the control electrode 134 of the regulation assembly 130 is attached to the product curved surface, the nozzle angle of the corresponding area of the air curtain generator 802 is adjusted synchronously, so that the nozzle jet direction forms an included angle with the electrode field direction, such as the curved surface inclination 15°, the nozzle is deflected 15° synchronously, avoiding the reverse interference of the airflow to the charged particles, and at this time, the flow regulating valve 803 automatically matches the flow rate according to the electric field intensity, so that the control electrode 134 voltage increases, the corresponding area flow rate increases, forming a synergistic mechanism of strong electric field matching high-speed airflow and weak electric field matching low-speed airflow, ensuring the stability of the particle migration trajectory.

[0071] Subsequently, for the deep groove and other areas, the nozzle angle of the adjacent 2 groups of air curtain generators 802 is adjusted in advance, such as towards the groove inlet, forming a centripetal airflow, guiding the particles to gather towards the groove interior, cooperating with the local electric field enhancement of the auxiliary control electrode 105, solving the problem of insufficient airflow at the bottom of the traditional air curtain groove.

[0072] The problems of airflow turbulence, particle scattering and other problems in traditional spraying are solved, and the spraying of the multi-axis adjusting mechanical arm 120, the regulation assembly 130 and the seven-axis spraying mechanical arm 600 forms a synergistic effect, which significantly improves the quality, efficiency and environmental protection performance of large object spraying.

[0073] In some embodiments, according to Figure 1 and Figure 2 As shown in the figures, the conveying turntable assembly 700 includes a guide wheel 701, and a support buffer plate 702 is arranged on the top of the guide wheel 701, and a drive turntable structure 703 is arranged on the surface of the support buffer plate 702.

[0074] The top of the drive turntable structure 703 is provided with a turntable 704, and a positive electrode conductive ring 705 is arranged on the ring side surface of the turntable 704, and at least four brushes are uniformly distributed on the surface of the positive electrode conductive ring 705, the four brushes are in contact with the positive electrode conductive ring 705, and the four brushes are connected to an external grounding structure through wires.

[0075] In the embodiments of the present application, specifically: the product to be sprayed is placed in the center of the turntable 704 by a mechanical arm or manually, and is fixed by a magnetic clamp or a mechanical jaw, so as to ensure that the center of gravity of the product deviates from the center of the turntable 704, and the rubber layer of the support buffer plate 702 is deformed under pressure, thereby absorbing the loading impact, and the positive electrode conductive ring 705 is in contact with the bottom of the product, forming an initial grounding path.

[0076] After the servo motor of the guide wheel 701 starts, the carousel assembly 700 is conveyed along the annular conveying guide rail 100. The limiting flange of the annular conveying guide rail 100 ensures the straightness of the conveying track, and when the carousel assembly 700 reaches the entrance of the spraying area 300, the photoelectric sensor at the end of the annular conveying guide rail 100 triggers a signal, so that the guide wheel 701 slows down and stops, and the laser emitter-receiver sensor on the surface of the carousel 704 aligns with the positioning structure of the spraying position, so that the driving wheel structure 703 fine-tunes the angle of the carousel 704, so that the coordinate deviation between the product and the spraying operation is reduced, and the central axis of the product itself is aligned with the spraying track of the mechanical arm.

[0077] The four carbon brushes are in close contact with the positive electrode conductive ring 705, and the external PLC controller detects the grounding resistance and automatically adjusts the spring tension of the carbon brush through the servo motor.

[0078] The copper foil layer of the supporting buffer plate 702 is in conduction with the positive electrode conductive ring 705, forming a complete circuit from the product, the carousel 704, the positive electrode conductive ring 705, the brush to the external grounding structure, ensuring the stability of the electric potential during electrostatic adsorption.

[0079] When the seven-axis spraying mechanical arm 600 starts spraying, the driving wheel structure 703 rotates the product clockwise, so that the spraying surface uniformly passes through the working range of the seven-axis spraying mechanical arm 600, ensuring uniform coating coverage. At this time, the overlap rate is 60%.

[0080] When the complex area such as deep groove scanned and identified by the 3D scanner 200 at the spraying area 300 is turned to the center of the spraying surface, the carousel 704 automatically pauses for a period of time, and cooperates with the local electric field enhancement of the auxiliary control electrode 105 to increase the spraying amount of the area.

[0081] The rubber layer of the supporting buffer plate 702 buffers the centrifugal force of the product during rotation in real time, reduces the vibration amplitude of the carousel 704, and avoids the fluctuation of coating thickness caused by vibration.

[0082] If the product mass distribution is uneven, such as the product being heavier on one side, the servo motor of the driving wheel structure 703 automatically adjusts the torque to compensate for the rotational eccentricity, ensuring stable rotation.

[0083] When the voltage of the control electrode 134 of the above-mentioned regulating assembly 130 is large, the grounding current of the carousel 704 automatically increases, enhancing the electrostatic adsorption force and ensuring the particle migration efficiency.

[0084] When the auxiliary control electrode 105 compensates for the complex area, the pressure of the brush in the corresponding area increases, reducing the influence of grounding fluctuation on the local electric field.

[0085] In some embodiments, according to Figure 1As shown, the 3D scanner 200 is arranged on the support connecting frame of the annular conveying guide rail 100, and is used to acquire three-dimensional surface data of the product to be sprayed in real time. The scanned three-dimensional data is transmitted to the electric field controller 136, and the 3D scanner 200 is linked and controlled with the air curtain generator 802 and the driving wheel structure 703 of the corresponding area.

[0086] The wiring diagram of the 3D scanner 200, the positive electrode conductive ring 705, the air curtain generator 802, the airflow stabilizer 804 and the electric field controller 136 in the present application belongs to the common knowledge in the art, and the working principle is a known technology. The model is selected according to the actual use, so the control mode and the wiring arrangement of the 3D scanner 200, the positive electrode conductive ring 705, the air curtain generator 802, the airflow stabilizer 804 and the electric field controller 136 are not explained in detail.

[0087] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A product spray delivery device in cooperation with a robot, characterized in that, The utility model relates to a kind of seven-axis spraying mechanical arm and segmented air curtain assembly for spraying product, and the utility model discloses a kind of seven-axis spraying mechanical arm and segmented air curtain assembly for spraying product, including: Annular conveying guide rail (100) for circulating conveying product to be sprayed; Conveying carousel assembly (700) is slidably connected to the surface of the annular conveying guide rail (100), for carrying and rotating product to be sprayed; Spraying area (300) is arranged at the end of the annular conveying guide rail (100); Seven-axis spraying mechanical arm (600) is arranged at the side end of the spraying area (300), for performing spraying operation on product to be sprayed; Segmented air curtain assembly (800) is provided with guard plate (400) at its side end, for forming segmented air curtain barrier; Regulation assembly (130) is provided with multi-axis adjusting mechanical arm (120) at its top, for adjusting electric field; The regulation assembly (130) includes a plurality of inside and outside hinged adjusting flexible rods (132) and auxiliary control electrodes (105), the surface of the inside adjusting flexible rod (132) is provided with a plurality of control electrodes (134), a plurality of the control electrodes (134) form a rectangular electrode, the side end of the auxiliary control electrode (105) is provided with a small positioning shaft arm (103), the bottom end of the small positioning shaft arm (103) is provided with a circumferential rotation structure (102), the end of the small positioning shaft arm (103) is provided with an angle adjusting structure (104), the side end of the angle adjusting structure (104) is connected with the auxiliary control electrode (105), and the auxiliary control electrode (105) is used to locally compensate the main electric field generated by the control electrode (134).

2. The product spray conveying apparatus in cooperation with a robot according to claim 1, characterized by: The inner wall surface of the outside adjusting flexible rod (132) is provided with a mounting groove (135), the mounting groove (135) is provided with a mounting frame (137) inside, the mounting frame (137) is provided with an electric telescopic guide rod (138) inside, the side end of the electric telescopic guide rod (138) is connected with a tooth column (139), the side end of the mounting frame (137) is provided with a rotating tooth (101) inside, the rotating tooth (101) and the tooth column (139) are engagedly connected, and the side end of the rotating tooth (101) is fixedly connected with the circumferential rotation structure (102).

3. The product spray delivery device in cooperation with a robot of claim 2, wherein: The guard plate (400) is arranged at the side end of the spraying area (300), and is arranged opposite to the seven-axis spraying mechanical arm (600), the top of the guard plate (400) is provided with a support plate (500), the bottom of the support plate (500) is provided with a horizontal screw rod guide rail (900), the bottom end of the horizontal screw rod guide rail (900) is slidably connected with a hydraulic telescopic stroke rod (110) inside, and the bottom end of the hydraulic telescopic stroke rod (110) is connected with the multi-axis adjusting mechanical arm (120).

4. The product spray delivery device in cooperation with a robot of claim 3, wherein: The intersection of the adjusting flexible rod (132) is provided with a limit sliding ring frame (133), the side end of the limit sliding ring frame (133) is provided with an electric field controller (136), the side end of the limit sliding ring frame (133) and the adjusting flexible rod (132) is provided with a gear driving structure (131), and the gear driving structure (131) is used to drive the adjusting flexible rod (132) to adjust.

5. The product spray delivery device in cooperation with a robot of claim 4, wherein: The segmented air curtain assembly (800) comprises an annular frame (801) arranged on the surface of the protective plate (400), the surface of the annular frame (801) is uniformly distributed with 12 groups of air curtain generators (802), each group of air curtain generators (802) is independently controlled, and the included angle between adjacent air curtain generators (802) is 30°, and each air curtain generator (802) comprises at least 5 adjustable nozzles, and the adjustable nozzles have an adjustable angle range of 0-90°.

6. The product spray delivery device in cooperation with a robot of claim 5, wherein: The bottom of the air curtain generator (802) is provided with an airflow stabilizer (804), and the airflow stabilizer (804) is composed of a honeycomb guide plate, a flow regulating valve (803) and a pressure sensor, the honeycomb guide plate is used for dividing the airflow into uniform small flow beams, the pressure sensor is installed upstream of the honeycomb guide plate and is used for monitoring the airflow pressure in real time, and the flow regulating valve (803) is installed in the air inlet pipeline of the air curtain generator (802) and is used for adjusting the airflow according to the data of the pressure sensor.

7. The product spray delivery device in cooperation with a robot of claim 6, wherein: The conveying turntable assembly (700) comprises a guide wheel (701), and the top of the guide wheel (701) is provided with a supporting buffer plate (702), and the surface of the supporting buffer plate (702) is provided with a driving turntable structure (703).

8. The product spray delivery device in cooperation with a robot of claim 7, wherein: The top of the driving turntable structure (703) is provided with a turntable (704), the ring side surface of the turntable (704) is provided with a positive electrode conductive ring (705), the surface of the positive electrode conductive ring (705) is uniformly distributed with at least four brushes, the four brushes are in contact with the positive electrode conductive ring (705), and the four brushes are connected to an external grounding structure through wires.

9. The product spray delivery device in cooperation with a robot of claim 8, wherein: The annular conveying guide rail (100) is provided with a 3D scanner (200) on the supporting connection frame and at the spraying area (300), the 3D scanner (200) is used for acquiring three-dimensional surface data of a product to be sprayed in real time, the scanned three-dimensional data is transmitted to an electric field controller (136), and the 3D scanner (200) is in linkage control with the air curtain generator (802) and the driving turntable structure (703) of the corresponding area.

10. A method of product spray delivery in cooperation with a robot, characterized by, The product spraying conveying device cooperating with the robot of claim 9 is used, and comprises the following steps: S1, under the action of the annular conveying guide rail (100), the product to be sprayed is conveyed to the spraying area (300) through the conveying turntable assembly (700), and the product is scanned by the 3D scanner (200); S2: start the segmented air curtain assembly (800) to form a segmented air curtain barrier; S3: adjust the position and posture of the regulating assembly (130) through the multi-axis adjusting mechanical arm (120); S4: according to the shape and size of the product to be sprayed, the voltage of the regulating assembly (130) is adjusted to form a main electric field distribution, and the position and angle of the auxiliary control electrode (105) are adjusted through the circumferential rotation structure (102) and the small positioning shaft arm (103) to locally compensate the electric field of the complex structure area; S5: Perform the spraying operation by the seven-axis spraying mechanical arm (600), while rotating the conveying carousel assembly (700), so that each surface of the product is sprayed.

Images