Vehicle body coating robot with pipeline cleaning function

Abstract

The invention relates to the technical field of vehicle body coating, in particular to a vehicle body coating robot with a pipeline cleaning function, which comprises a servo mechanical arm, a conveying assembly and a liquid flow pipe group, a coating machine head is arranged at the tail end of the servo mechanical arm, each joint node is provided with a node box, and the conveying assembly and the liquid flow pipe group are fixed on the surface of the node box. And a continuous liquid supply system is formed through connection. The conveying assembly comprises a pump box, an axial flow rotating disc and a driving motor, a multi-channel flow path used for switching paint liquid and cleaning liquid is arranged in the pump box, and an anti-adhesion coating is arranged in the pump box. The liquid flow pipe set comprises a flexible auger rotary vane which is driven by a worm driver to rotate, and kinetic energy compensation and fluid disturbance conveying of the coating are achieved. Pressure and flow sensors are integrated in the node boxes, the coating machine head is provided with a spraying quality recognition module, and an intelligent closed-loop control system for spraying operation is formed. The device is compact in structure, has the advantages of automatic spraying and cleaning switching, stable fluid conveying, high path adaptability, controllable spraying quality and the like, and is suitable for efficient coating operation under complex working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle body painting, in particular to a vehicle body painting robot with pipeline cleaning function. BACKGROUND

[0002] With the rapid development of the automobile manufacturing industry, vehicle body painting, as a key process in vehicle manufacturing, puts forward higher requirements for painting quality, consistency, environmental protection and operation efficiency. The vehicle body painting robots widely used at present are usually equipped with independent paint delivery systems and cleaning systems, and time-sharing or switching devices are used to realize the function switching of spraying and cleaning.

[0003] However, the prior art still has the following problems and deficiencies: Most traditional painting robots need to stop, manually switch valves or reconnect pipelines during the switching of paint and cleaning liquid, which not only affects the painting rhythm, but also increases equipment wear and energy consumption.

[0004] The commonly used paint delivery method mainly relies on pump pressure or negative pressure suction, which is difficult to maintain stable flow rate in long-distance or complex curved pipelines, and is prone to problems such as uneven flow, blockage or residual liquid, affecting the continuity of spraying.

[0005] Most existing robot spraying systems only rely on preset programs for operation, lack real-time sensing and judgment means for actual spraying effect, and cannot realize dynamic adjustment of coating thickness and uniformity, resulting in unstable painting quality.

[0006] The traditional system has a complex structure, and the inner wall of the pipeline and the delivery unit are prone to paint accumulation, low cleaning efficiency, high maintenance cost, and easy to cause color difference pollution and stop cleaning.

[0007] In summary, the existing vehicle body painting robot still has significant technical bottlenecks in the integration efficiency of spraying / cleaning, fluid continuous delivery capability, intelligent monitoring capability of spraying and pipeline cleaning effect, etc. A new type of painting robot system with higher structural integration, stronger delivery stability, more thorough cleaning and intelligent control capability is needed to meet the needs of modern efficient automatic spraying operation. SUMMARY

[0008] The present application relates to an intelligent painting technology, in particular to a vehicle body painting robot with pipeline cleaning function, aiming to solve the problems of existing robots in painting operation, such as difficult cleaning of pipeline residual paint, complex maintenance, etc., and to provide a painting robot system with compact structure, efficient delivery, thorough cleaning and high intelligent degree.

[0009] A vehicle body painting robot with pipeline cleaning function, comprising a servo mechanical arm, a conveying assembly and a liquid flow pipe group, the execution end of the servo mechanical arm is provided with a painting head, and the surface of each joint of the servo mechanical arm is provided with a node box, each conveying assembly is fixed to the surface of the node box and communicates with the end of the liquid flow pipe group through the output end thereof; the conveying assembly comprises a pump box, an axial flow rotating disc and a driving motor, a pump cavity is arranged in the pump box, a plurality of axial flow rotating discs are rotatably installed in the pump cavity and are connected to the driving motor, the pump box is further provided with a liquid flow channel and a cleaning flow channel which communicate with the pump cavity and are respectively used for the flow of painting liquid and cleaning liquid. The structure realizes the directional conveying of liquid and the path independence of cleaning fluid, and effectively improves the system integration capability of robot spraying and cleaning.

[0010] In a preferred embodiment: the pump cavity and the inner surface of the liquid flow pipe group are provided with an anti-adhesion coating, which is polytetrafluoroethylene or other low-surface-energy anti-adhesion material.

[0011] In the above technical solution, the anti-adhesion coating significantly reduces the residual deposition of paint liquid in the system, improves the cleanliness of the system and prolongs the service life of the equipment.

[0012] In a preferred embodiment: the number of axial flow rotating discs is several, and the plurality of rotating discs are combined into a conical structure to enhance the axial flow guiding effect of the fluid.

[0013] In the above technical solution, the conical combination forms a strong vortex guiding structure, which helps to improve the conveying efficiency and prevent fluid stagnation.

[0014] In a preferred embodiment: each axial flow rotating disc comprises a rotating cover, a flow guiding disc and an axial flow rotating blade, and the flow guiding disc and the axial flow rotating blade are both fixed to the inner side of the rotating cover.

[0015] In the above technical solution, the multi-layer component combination improves the strength and flow guiding efficiency of the rotating disc structure, forming a stable and efficient rotating flow system.

[0016] In a preferred embodiment: the liquid flow pipe group comprises a pipeline, an auger rotating blade and a runner cylinder, the surface of the pump box is provided with a worm drive, the surface of the runner cylinder is provided with a worm gear ring, the output end of the worm drive is engaged with the worm gear ring for transmission, the auger rotating blade is rotatably installed on the inner side of the pipeline and is fixedly connected to the runner cylinder at one end, and the pump cavity communicates with the inner cavity of the pipeline through the runner cylinder.

[0017] In the above technical solution, the liquid is assisted to flow smoothly in the curved or long-distance pipeline through the auger mechanism, ensuring the stability of spraying.

[0018] In a preferred embodiment: the auger rotating blade is in the form of a spiral strip and is bendable to adapt to the shape of the pipeline and generate disturbed flow during the conveying process, and the rotating blade is made of corrosion-resistant low-carbon steel.

[0019] In the above technical solution, the auger structure enhances disturbance, which helps to remove residual liquid and uniformly push the liquid, and the material selection ensures the stability of the structure and chemical resistance.

[0020] In a preferred embodiment: the node box is embedded with a pressure sensor and a flow sensor, and is connected with the central control module to realize automatic early warning and closed-loop control.

[0021] In the above technical solution, the real-time monitoring system monitors the flow state and realizes intelligent adjustment, improving the autonomous operation capability and safety of the robot.

[0022] In a preferred embodiment: the coating head and the liquid flow pipe group communication end are provided with a spraying quality identification module, including a color recognition camera and a thickness sensor.

[0023] In the above technical solution, real-time detection and feedback of spraying effect are realized, and the surface quality consistency of finished products is improved.

[0024] In a preferred embodiment: a multi-channel switching valve is arranged in the pump box, which connects the liquid flow channel and the cleaning flow channel, and is automatically switched by the central control module.

[0025] In the above technical solution, the automatic switching system sprays and cleans the process, simplifies the operation process, and improves the intelligent level of the whole machine.

[0026] The beneficial effects obtained by the present application are: 1. In the present application, a multi-channel switching flow path is arranged in the pump cavity, and the same set of liquid flow pipe group is used to complete the switching and conveying of coating liquid and cleaning liquid, so that the spraying and cleaning functions can be quickly switched without stopping the machine, the process switching time is significantly shortened, and the work efficiency is improved. 2. In the present application, the double fluid driving mode of "axial flow rotating disc + auger rotating blade" is adopted, on the one hand, the adsorption and push flow effect is formed by axial flow rotation, on the other hand, the fluid is actively pushed by flexible auger structure, which effectively improves the conveying efficiency and pipeline adaptability, especially suitable for long distance or complex curved pipeline conveying scene.

[0027] 3. In the present application, the pressure and flow sensors are integrated in the node box to collect the system running state in real time, and the spraying quality identification module (color recognition + thickness sensor) at the coating head is combined to build a closed-loop control system for spraying operation, realize real-time monitoring and self-adaptive control of coating quality, and ensure the uniformity and consistency of coating. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 It is a schematic diagram of the conveying assembly and liquid flow pipe group structure of an embodiment of the present application; Figure 3 Cross-sectional structure schematic diagram of the delivery assembly and the liquid flow pipe group for an embodiment of the present application; Figure 4 Cross-sectional structure schematic diagram of the delivery assembly for an embodiment of the present application; Figure 5 Structure schematic diagram of the liquid flow pipe group for an embodiment of the present application; Figure 6 Structure schematic diagram of the axial flow rotary disc for an embodiment of the present application; Figure 7 Exploded structure schematic diagram of the axial flow rotary disc for an embodiment of the present application; Figure 8 Structure schematic diagram of the auger rotary vane and the runner cylinder for an embodiment of the present application.

[0029] Reference signs: 100, servo robot arm; 110, painting head; 120, node box; 200, delivery assembly; 210, pump box; 220, axial flow rotary disc; 230, driving motor; 211, liquid flow channel; 212, pump cavity; 213, cleaning flow channel; 221, rotary cover; 222, flow guide disc; 223, axial flow rotary vane; 300, liquid flow pipe group; 310, pipe; 320, auger rotary vane; 330, runner cylinder; 340, worm drive; 331, worm gear tooth ring. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present application clearer and more comprehensible, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0031] It is to be understood that the descriptions are only exemplary and are not intended to limit the scope of the present application.

[0032] Some embodiments of the present application provide a vehicle body painting robot with a pipeline cleaning function, which will be described below in combination with the accompanying drawings.

[0033] In combination with the accompanying drawings, Figures 1 to 8 As shown in the drawings, the vehicle body painting robot with a pipeline cleaning function provided by the present application comprises a servo robot arm 100, a delivery assembly 200 and a liquid flow pipe group 300. The servo robot arm 100 is provided with a painting head 110 at the end thereof, and a node box 120 is arranged at each joint node of the servo robot arm 100, for mounting and supporting the delivery assembly 200.

[0034] A plurality of conveying assemblies 200 are respectively fixedly installed on the outer surface of the node box 120 and connected with the liquid flow pipe group 300 to form a continuous liquid supply system. The output end of the conveying assembly 200 is in communication with the input end of the liquid flow pipe group 300, so as to realize continuous conveying of paint or cleaning liquid.

[0035] The conveying assembly 200 comprises a pump box 210, an axial flow impeller 220 and a driving motor 230. The pump box 210 is internally provided with a pump cavity 212, and is respectively provided with a liquid flow channel 211 for painting and a cleaning flow channel 213; a plurality of axial flow impellers 220 are arranged in the pump cavity 212 in the axial direction, and the number of the axial flow impellers 220 is multiple, and the axial flow impellers 220 are in a conical combined structure to improve the axial flow guiding capacity of the fluid; the axial flow impeller 220 is composed of a rotating cover 221, a flow guiding disc 222 and an axial flow impeller blade 223, wherein the flow guiding disc 222 and the axial flow impeller blade 223 are fixedly installed on the inner side of the rotating cover 221; the driving motor 230 is fixed to one end of the pump box 210, and the output shaft of the driving motor 230 is connected with each axial flow impeller 220 to drive rotation to form vortex propulsion.

[0036] In order to enhance the cleaning effect, the inner surface of the pump cavity 212 is sprayed with a polytetrafluoroethylene (PTFE) coating, which effectively prevents high-viscosity paint from adhering and depositing.

[0037] The liquid flow pipe group 300 comprises a pipe 310, an auger blade 320 and a runner cylinder 330. The auger blade 320 is in a spiral strip structure, is sleeved on the inner side of the pipe 310, and one end of the auger blade 320 is fixedly connected with the runner cylinder 330. The auger blade 320 is bendable and is made of low-carbon steel flexible material. The outer edge of the auger blade 320 is in sliding contact with the inner wall of the pipe 310, and self-adaptive disturbance is generated in the liquid flow process, so as to improve the paint pushing and residual liquid cleaning effect. The runner cylinder 330 is in meshing transmission with the external worm drive 340 of the pump box 210 through a worm gear ring 331, so as to indirectly drive the auger to rotate.

[0038] In order to realize intelligent fluid switching control, a multi-channel switching valve is arranged in the pump box 210. The valve body is in communication with the liquid flow channel 211 and the cleaning flow channel 213, and is connected with the central control module. The valve body can automatically switch the painting / cleaning path according to the current task state, so as to reduce manual intervention.

[0039] Pressure sensors and flow sensors are arranged in each node box 120 to monitor the liquid flow state in the pipeline in real time. After data transmission to the central control module, clogging early warning and system closed-loop adjustment can be realized. In addition, a painting quality identification module is arranged at the painting head 110, which comprises a color identification camera and a thickness sensor. The painting quality identification module can identify the quality of the painted coating and output the result to the control system, so as to realize online quality detection and automatic adjustment of the spraying parameters.

[0040] In use, the central control system starts the conveying assembly 200, the driving motor 230 drives the axial flow rotating disc 220 to rotate to form negative pressure liquid suction, and simultaneously drives the rotating cylinder 330 to drive the auger rotating blade 320 to rotate to push the coating paint to the coating head 110 for spraying operation. After the spraying cycle is completed, the control system automatically switches the flow path to enter the cleaning mode, the cleaning liquid passes through the same pipeline 310 through the pump cavity 212 and the liquid flow pipe group 300, and internal self-cleaning is completed.

[0041] The present application can also use other flexible composite materials such as TPE, polyurethane steel wire coating to replace low-carbon steel auger; the structure of the axial flow rotating disc 220 can also adopt a double-layer guide or an adjustable flow guide angle form; the spraying detection module can be expanded to a multi-channel optical identification to realize higher precision spraying feedback control.

[0042] The working principle and use process of the present application are as follows: The car body coating robot with pipeline cleaning function provided by the present application has compact structure design and high integration, can realize quick switching of spraying-cleaning, internal self-cleaning of the pipeline and closed-loop feedback control of spraying quality.

[0043] The core principle of the present application is that the coating liquid or cleaning liquid is continuously pushed through the conveying assembly 200 and the liquid flow pipe group 300 arranged at the node of the servo mechanical arm 100, and fluid disturbance and directional conveying are generated by means of internal rotating elements to realize efficient coating or cleaning.

[0044] 1. Spraying process Initialization: the control system is started, the servo mechanical arm 100 is positioned, and the sensor in the node box 120 starts to monitor the system pressure and flow rate in real time.

[0045] Spraying mode switching: the central control module controls the multi-channel switching valve to switch the channel to the liquid flow channel 211, so that the paint enters the pump cavity 212.

[0046] Spraying process promotion: the driving motor 230 drives a plurality of conical combined axial flow rotating discs 220 to rotate at high speed to form axial suction flow; After the paint enters the pipeline 310, the auger rotating blade 320 in the liquid flow pipe group 300 is driven to rotate by the worm drive 340 to provide kinetic energy compensation and pushing force for the paint, so that the fluid maintains stable flow rate when flowing through the complex pipeline structure; The coating head 110 output end is detected by the identification module to detect the coating effect, and can real-time feedback adjust the spraying speed and flow rate.

[0047] Quality detection: the color recognition camera and the thickness sensor synchronously monitor the spraying quality, and the data is fed back to the central module for fine adjustment of the spraying parameters.

[0048] The conveying assembly 200 drives the shaft flow rotary disc 220 by the driving motor 230 to form a rotary flow to suck liquid, improve the coating conveying efficiency, and prevent liquid accumulation. The auger rotary blade 320 in the liquid flow pipe group 300 further pushes the liquid in the fluid pipe 310 to achieve high-efficiency conveying of the coating in a long-distance and multi-bend flow channel.

[0049] 2. Cleaning process Switching the cleaning mode: after the spraying is completed, the central control module controls the multi-channel switching valve to switch to the cleaning flow channel 213 to introduce the cleaning liquid into the system.

[0050] Driving the cleaning liquid to pass through the system: the shaft flow rotary disc 220 continues to rotate to form a negative pressure suction force to introduce the cleaning liquid, and at the same time, the auger rotary blade 320 in the liquid flow pipe group 300 rotates synchronously to fully push the cleaning liquid to the end of the system and agitate the attached residues through disturbance.

[0051] Residual liquid discharge and recovery: after the cleaning is completed, the control system discharges or introduces the residual liquid into the recovery pipeline through back blowing or negative pressure to realize closed-loop use.

[0052] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "a specific embodiment", and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle body painting robot having a line cleaning function, characterized by comprising: 1) a robot body having a painting function, Include: Servo mechanical arm (100), conveying assembly (200) and liquid flow pipe group (300), the execution end of the servo mechanical arm (100) is provided with a coating head (110), and the surface of each joint of the servo mechanical arm (100) is provided with a node box (120), the number of conveying assembly (200) and liquid flow pipe group (300) is several groups, and each conveying assembly (200) is fixed on the surface of node box (120), the output end of conveying assembly (200) is communicated with the end of liquid flow pipe group (300); The conveying assembly (200) includes a pump box (210), an axial flow rotating disc (220) and a drive motor (230) fixed to one end of the pump box (210), the inner side of the pump box (210) is provided with a pump cavity (212), a plurality of axial flow rotating discs (220) are rotatably installed on the inner side of the pump cavity (212) and connected with the output end of the drive motor (230), the inner side of the pump box (210) is also provided with a liquid flow channel (211) and a cleaning flow channel (213) communicated with the pump cavity (212), and the liquid flow channel (211) and the cleaning flow channel (213) are respectively used for the flow of coating paint and cleaning water.

2. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein The inner surface of the pump cavity (212) and the liquid flow pipe group (300) is provided with an anti-adhesion coating, and the anti-adhesion coating is a polytetrafluoroethylene coating or other anti-sticking material with low surface energy.

3. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein The number of axial flow rotating discs (220) is several, and multiple axial flow rotating discs (220) are combined to form a conical structure to enhance the axial flow guiding effect of fluid propulsion.

4. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein Each axial flow rotating disc (220) includes a rotating cover (221), a flow guide disc (222) and an axial flow rotating blade (223) fixed to the surface of the flow guide disc (222), and the flow guide disc (222) and the axial flow rotating blade (223) are fixedly installed on the inner side of the rotating cover (221).

5. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein The liquid flow pipe group (300) includes a pipe (310), an auger rotating blade (320) and a runner cylinder (330) rotatably installed on one end of the pump box (210), the surface of the pump box (210) is fixedly installed with a worm drive (340), the surface of the runner cylinder (330) is fixedly sleeved with a worm gear ring (331), the output end of the worm drive (340) is engaged with the worm gear ring (331) for transmission, the auger rotating blade (320) is rotatably sleeved on the inner side of the pipe (310) and one end is fixedly connected with the surface of the runner cylinder (330), and the end of the pump cavity (212) is communicated with the inner cavity of the pipe (310) through the runner cylinder (330).

6. The robot for painting a vehicle body having a line cleaning function according to claim 5, wherein The auger rotating blade (320) is in spiral strip structure and has bendability to adapt to the curved shape of the pipe (310) and generate self-adaptive turbulent flow during conveying, improve the conveying and cleaning efficiency, and the outer periphery of the auger rotating blade (320) is in sliding abutment with the inner wall of the pipe (310); the auger rotating blade (320) is made of low-carbon steel material with corrosion resistance.

7. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein The node box (120) is internally embedded with a pressure sensor and a flow sensor for detecting the flow state of paint, and the output ends of the pressure sensor and the flow sensor are electrically connected with a central control module of the painting robot, for realizing automatic early warning and flow closed-loop control.

8. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein The painting head (110) is provided with a spraying quality identification module at the communication end with the liquid flow pipe group (300), the spraying quality identification module comprises a color recognition camera and a thickness sensor, for detecting the uniformity and adhesion of the coating.

9. The robot for painting a vehicle body having a pipeline cleaning function according to claim 1, wherein The pump box (210) is internally provided with a multi-channel switching valve for controlling the switching between painting paint liquid and cleaning water liquid, the switching valve is communicated with the liquid flow channel (211) and the cleaning flow channel (213), and is automatically driven to switch by the central control module of the painting robot.

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