Paint spraying treatment device and method for cast magnesium alloy product

Abstract

The invention relates to the technical field of magnesium alloy paint spraying, and discloses a cast magnesium alloy product paint spraying treatment device and method.A six-degree-of-freedom mechanical arm is arranged in a paint spraying cavity, a spray gun is arranged at the moving end of the six-degree-of-freedom mechanical arm, a sliding rail is arranged on the bottom face of the paint spraying cavity, and a feeding port is formed in the side face, away from the six-degree-of-freedom mechanical arm, of the paint spraying cavity; the sliding rail extends to the outside from the feeding hole; the magnetic adsorption mechanism is slidably arranged on the sliding rail and used for adsorbing the bottom face of the plate. A plate is fixed to the electromagnetic stand column in the paint spraying process in a magnetic attraction mode, the paint spraying face of the plate is not provided with a clamping structure, paint spraying can be conducted on the paint spraying face of the whole plate through a spray gun, the plate does not need to reserve a cutting part after paint spraying, the plate is saved, and the paint spraying efficiency is improved; before paint spraying, the position and contour data of the plate are obtained based on image comparison before and after the plate enters the paint spraying cavity, then the paint spraying path is planned through the control center, and the control center can adjust the paint spraying path in a self-adaptive mode when facing the plates of different sizes.

Description

Technical Field

[0001] This invention relates to the field of magnesium alloy painting technology, and in particular to a painting treatment device and method for cast magnesium alloy products. Background Technology

[0002] Magnesium alloys, as the lightest engineering metal materials, are hailed as "green engineering materials of the 21st century," and their products are widely used in transportation, electronics, medical devices, military industry, aerospace and other fields.

[0003] Magnesium alloy sheets are a common type of magnesium alloy structure, and typically require single-sided painting. Current painting methods usually utilize painting robots, which have the following technical drawbacks: 1. During the painting process, the board is held and fixed by a clamp. The board cannot be painted because it is blocked by the clamp at the clamping position. Therefore, the length of the clamp is usually reserved during the board production process. After painting, this reserved part is cut off, resulting in waste of board.

[0004] 2. A large amount of harmful gases are generated during the painting process. Therefore, painting is usually done by a painting robot in a closed chamber. The painting robot moves along the painting path according to a preset program to spray the board. However, the painting robot needs to be programmed one by one according to the board of different sizes, which results in a large workload for programmers and low efficiency.

[0005] In view of this, how to partially or completely overcome the above-mentioned technical defects is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a painting treatment device and method for cast magnesium alloy products to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides a painting treatment apparatus for cast magnesium alloy products, comprising: Spray painting chamber; A six-degree-of-freedom manipulator is installed in a paint spraying chamber, and a spray gun is installed on its moving end. The spray gun is connected to the paint through a material conveying pipe. A slide rail is provided on the bottom surface of the paint spraying chamber and close to the six-degree-of-freedom robot arm. The paint spraying chamber has a feed inlet on the side away from the six-degree-of-freedom robot arm, and the slide rail extends outward from the feed inlet. A magnetic adsorption mechanism is slidably mounted on a slide rail. The sheet has a painted surface and a bottom surface, and the magnetic adsorption mechanism is used to adsorb the bottom surface of the sheet. A driving mechanism, connected to a magnetic adsorption mechanism, is used to drive the magnetic adsorption mechanism to slide along a slide rail. When the magnetic adsorption mechanism slides along the slide rail, the sheet material can enter the painting chamber from the feed port or be removed from the painting chamber.

[0008] Furthermore, the magnetic adsorption mechanism includes: The slider is slidably connected to the slide rail. The electromagnetic column has a magnetic surface at the top and a power supply module that is electrically connected to the magnetic surface inside. When the power supply module supplies power to the magnetic surface, the magnetic surface generates magnetism and can attract the bottom surface of the board.

[0009] Furthermore, the driving mechanism is a telescopic motor, which is located at the end of the slide rail away from the six-degree-of-freedom manipulator, and the output end of the telescopic motor is connected to the slider.

[0010] Furthermore, it also includes: The CCD camera is located on the top surface of the spray painting chamber, and the area where the slide rail is located inside the spray painting chamber is the spray painting area. The image acquisition end of the CCD camera faces the spray painting area. The control center is used to acquire images of the board material and send them to the control center. The control center confirms the outline of the board material based on the images and controls the six-degree-of-freedom robot arm to move the spray gun and spray paint on the board material. A position sensor is installed on the spray gun and connected to the control center. The position sensor is used to detect the position of the spray gun and send it to the control center.

[0011] Furthermore, it also includes: A transparent partition is disposed near the top surface of the spray painting chamber, and a sealed cavity is formed between the transparent partition and the top surface of the spray painting chamber, and the CCD camera is disposed inside the cavity.

[0012] Furthermore, it also includes: An exhaust fan is provided, with an exhaust vent on the side of the paint spraying chamber away from the six-degree-of-freedom manipulator. The exhaust fan is located at the exhaust vent, and the exhaust vent is connected to an exhaust pipe.

[0013] Furthermore, it also includes: The cylinder is mounted on the side of the paint spraying chamber away from the six-degree-of-freedom robot arm; The scraper is connected to the output end of the cylinder. The scraper is located on the lower surface of the transparent partition. The cylinder is used to drive the scraper to move back and forth along the lower surface of the transparent partition. The spray gun is connected to the water tank through the material conveying pipe.

[0014] Furthermore, the electromagnetic column is provided with flexible pads.

[0015] Furthermore, a baffle is provided at the feed inlet.

[0016] This invention also provides a method for painting cast magnesium alloy products, using a painting device for cast magnesium alloy products, including the following steps: S1: The power supply module supplies power to the magnetic surface, making the magnetic surface magnetic, attracting the bottom surface of the board to the electromagnetic column, starting the telescopic motor, and driving the slider and the board to enter the painting chamber from the feed port. S2: Before the board enters the spray painting chamber, the CCD camera captures an image of the spray painting area and sends it to the control center, which stores it as the first image. After the board enters the spray painting chamber, the CCD camera captures an image of the spray painting area again and sends it to the control center, which stores it as the second image. The control center compares the first image with the second image to obtain the board's position data and outline data. S3: The control center calculates the shortest spraying path of the spray gun above the board based on the board's contour data and the spray gun's spray width, and confirms the initial spraying position of the spray gun based on the shortest spraying path and the board's position data. S4: The position sensor detects the current position of the spray gun and sends it to the control center. Based on the current position of the spray gun and the initial spray position of the spray gun, the control center moves the spray gun from the current position to the initial spray position. S5: The spray gun starts spraying paint and moves at a constant speed along the shortest spraying path to spray paint the board; after spraying, the telescopic motor is started to drive the slider and the board to move out of the spraying chamber from the feed port.

[0017] The present invention discloses the following technical effects: 1. The panel is fixed to the electromagnetic column by magnetic attraction during the painting process. There is no clamping structure on the painting surface of the panel. The entire painting surface of the panel can be painted by spray gun. Therefore, the panel can be directly processed to the target size without reserving the cutting part after painting, which saves panel material and improves painting efficiency.

[0018] 2. This invention provides a programming-free painting robot and its working method. Before painting, the position and contour data of the board are obtained by comparing images before and after the board enters the painting chamber. Then, the painting path is planned by the control center. When facing boards of different sizes, the control center can adaptively adjust the painting path. Therefore, it is not necessary to program the painting robot, which improves the painting efficiency and the applicability of the equipment.

[0019] 3. Since a large amount of paint mist is generated during the painting process, this invention uses an exhaust fan to discharge the paint mist from the exhaust pipe, which can reduce the settling of paint mist in the painting chamber; at the same time, the CCD camera and the exhaust fan are located on the left and right sides of the painting chamber, respectively, so the paint mist can flow away from the CCD camera, avoiding affecting the image acquisition function of the CCD camera.

[0020] Furthermore, the present invention also sets transparent partitions at intervals near the top of the spraying chamber, and places the CCD camera between the transparent partitions and the top surface of the spraying chamber. The paint mist will only adhere to the lower surface of the transparent partitions. Water or other cleaning liquid can be sprayed onto the transparent partitions by a spray gun, and the lower surface of the transparent partitions can be cleaned by a cylinder and a scraper, thereby keeping the transparent partitions clean and ensuring the image acquisition function of the CCD camera. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the electromagnetic column structure; Figure 3 Side view of the paint spraying chamber; Figure 4 This is a schematic diagram of the internal structure of the paint spraying chamber; The components include: 1. Spray painting chamber; 2. Spray gun; 3. Slide rail; 4. Six-DOF robot arm; 5. Feed inlet; 6. Sheet material; 7. Slider; 8. Electromagnetic column; 9. Telescopic motor; 10. CCD camera; 11. Transparent partition; 12. Exhaust fan; 13. Cylinder; 14. Scraper; 15. Flexible gasket; 16. Curtain; 17. Exhaust pipe. Detailed Implementation

[0023] Among the existing technologies retrieved: CN114178081A discloses a uniform painting device and method for magnesium alloy products, which discloses the following: When the clamping component is in the loading station, the clamping component clamps the part, and then the rotating disk rotates, causing the part to rotate to the painting station. At this time, the transmission mechanism drives the paint into the drive box, and then drives the rotating shaft to rotate. Due to the meshing of the gear and rack, the rotating shaft drives the nozzle to move and spray the part, thus achieving uniform painting. When the nozzle moves to the leftmost end to complete the painting, the rotating disk drives the part to rotate. The rotating disk interrupts the supply of material to the drive box through the transmission mechanism, so the rotating shaft stops rotating. At the same time, the rotating shaft returns to its initial state under the action of elasticity, preparing for the next painting. After the painting is completed, the product rotates to the unloading station for unloading. By setting the clamping component, unloading and painting can be carried out simultaneously, realizing continuous processing. This invention realizes continuous processing, and the moving part is processed, resulting in more uniform painting.

[0024] As can be seen from the above, the prior art uses clamping components to clamp the parts before painting them. The clamping positions are located on the left and right sides of the parts, so it does not affect the painting of the upper surface of the parts. However, this structure is not suitable for sheet metal because the left and right sides of the sheet metal are relatively narrow and cannot be clamped using the clamping components. The upper and lower surfaces of the sheet metal still need to be clamped, failing to overcome the technical defects mentioned in the background art.

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figures 1 to 4 As shown, an embodiment of the present invention provides a painting treatment device for cast magnesium alloy products, comprising: Spray painting chamber 1 is made entirely of transparent material; A six-degree-of-freedom manipulator 4 is installed inside the paint spraying chamber 1. A spray gun 2 is installed on its moving end. The spray gun 2 is connected to the paint through a material conveying pipe. The paint can be arranged outside the paint spraying chamber 1. The material conveying pipe is sealed and passes through the paint spraying chamber 1 and is connected to the paint. The slide rail 3 is located on the bottom surface of the paint spraying chamber 1 and close to the six-degree-of-freedom robot 4. The side of the paint spraying chamber 1 away from the six-degree-of-freedom robot 4 has a feed inlet 5, and the slide rail 3 extends outward from the feed inlet 5. A magnetic adsorption mechanism is slidably mounted on the slide rail 3. The plate 6 has a painted surface and a bottom surface. The magnetic adsorption mechanism is used to adsorb the bottom surface of the plate 6. The driving mechanism is connected to the magnetic adsorption mechanism and is used to drive the magnetic adsorption mechanism to slide along the slide rail 3. When the magnetic adsorption mechanism slides along the slide rail 3, the plate 6 can enter the paint spraying chamber 1 from the feed port 5 or be removed from the paint spraying chamber 1.

[0028] In this embodiment, the six-degree-of-freedom manipulator 4 is located on the left side of the paint spraying chamber 1, while the slide rail 3 is located on the right side of the paint spraying chamber 1.

[0029] In this embodiment, the six-degree-of-freedom (DOF) robotic arm 4 is equipped with a handheld manipulator. The operator can hold the manipulator outside the spray chamber 1 and manually control the spray path of the spray gun 2, preventing the inability to perform spraying operations in case of system failure, and allowing for manual repairs if the spraying effect is unsatisfactory. The manipulator integrates an inertial navigation system (IMU), a wire encoder, and a gyroscope, enabling millisecond-level acquisition of the six-DOF pose of the human hand. After data fusion algorithm processing, the data is transmitted in real-time to the six-DOF robotic arm 4 via Wi-Fi / 5G / industrial bus. The six-DOF robotic arm 4 almost synchronously reproduces the movements, with a trajectory error of <1 mm.

[0030] In this embodiment, there are two slide rails 3, located near the front and rear sides of the paint spraying chamber 1, respectively.

[0031] In this embodiment, the magnetic adsorption mechanism includes: The slider 7 is slidably connected to the slide rail 3. The slide rail 3 can be provided with a groove along its length. The bottom of the slider 7 can be provided with a sliding connector that matches the shape of the groove. The electromagnetic column 8 has a magnetic surface at the top and a power supply module that is electrically connected to the magnetic surface inside. When the power supply module supplies power to the magnetic surface, the magnetic surface generates magnetism and can attract the bottom surface of the board 6. The power supply module can be connected to the control center and controlled to open and close, thereby completing the loading and unloading of the board 6.

[0032] In this embodiment, the driving mechanism is a telescopic motor 9, which is located at the end of the slide rail 3 away from the six-degree-of-freedom manipulator 4, and the output end of the telescopic motor 9 is connected to the slider 7.

[0033] In this embodiment, it also includes: The CCD camera 10 and the paint spraying chamber 1 are made of transparent material. The CCD camera 10 is set on the top surface of the paint spraying chamber 1. The area where the slide rail 3 is located in the paint spraying chamber 1 is the paint spraying area. The image acquisition end of the CCD camera 10 faces the paint spraying area. The control center uses a CCD camera 10 to acquire images of the board 6 and send them to the control center. The control center confirms the outline of the board 6 based on the images of the board 6 and controls the six-degree-of-freedom robot 4 to move the spray gun 2 and spray paint on the board 6. A position sensor is installed on the spray gun 2 and connected to the control center. The position sensor is used to detect the position of the spray gun 2 and send it to the control center.

[0034] In this embodiment, the painting area specifically refers to the two slide rails 3 and the area between the two slide rails 3.

[0035] In this embodiment, it also includes: A transparent partition 11 is disposed near the top surface of the spray painting chamber 1, forming a sealed cavity between the transparent partition 11 and the top surface of the spray painting chamber 1. The CCD camera 10 is disposed inside the cavity. The thickness of the transparent partition 11 is very small and will not affect the image acquisition accuracy of the CCD camera 10.

[0036] In this embodiment, it also includes: The exhaust fan 12 is located on the side of the paint spraying chamber 1 away from the six-degree-of-freedom robot 4. The exhaust fan 12 is located at the exhaust port, which is connected to the exhaust pipe 17. The exhaust pipe 17 can be connected to a gas treatment mechanism to treat the gas containing paint in a harmless manner before discharging it into the atmosphere.

[0037] In this embodiment, it also includes: Cylinder 13 is installed on the side of the paint spraying chamber 1 away from the six-degree-of-freedom robot arm 4; The output end of the scraper 14 and the cylinder 13 are connected to the scraper 14. The scraper 14 is located on the lower surface of the transparent partition 11. The cylinder 13 is used to drive the scraper 14 to move back and forth along the lower surface of the transparent partition 11. The spray gun 2 is connected to the water tank through the material conveying pipe.

[0038] In this embodiment, a flexible pad 15 is provided on the electromagnetic column 8. The flexible pad 15 can protect the electromagnetic column 8 and the plate 6, and at the same time, the flexible pad 15 will not affect the adsorption force of the electromagnetic column 8.

[0039] In this embodiment, a baffle 16 is provided at the feed inlet 5, which can prevent the paint mist from overflowing over a large area.

[0040] This invention also provides a method for painting cast magnesium alloy products, using a painting device for cast magnesium alloy products, including the following steps: S1: The power supply module supplies power to the magnetic surface, making the magnetic surface magnetic, and adsorbs the bottom surface of the board 6 onto the electromagnetic column 8. The telescopic motor 9 is started, driving the slider 7 and the board 6 to enter the paint spraying chamber 1 from the feed port 5. S2: Before the sheet material 6 enters the spray painting chamber 1, the CCD camera 10 acquires an image of the spray painting area and sends it to the control center, which stores it as the first image; after the sheet material 6 enters the spray painting chamber 1, the CCD camera 10 acquires an image of the spray painting area again and sends it to the control center, which stores it as the second image; the control center compares the first image with the second image to obtain the position data and contour data of the sheet material 6. S3: The control center calculates the shortest painting path of the spray gun 2 above the board 6 based on the contour data of the board 6 and the spray width of the spray gun 2, and confirms the initial painting position of the spray gun 2 based on the shortest painting path and the position data of the board 6. S4: The position sensor detects the current position of the spray gun 2 and sends it to the control center. Based on the current position of the spray gun 2 and the initial spraying position of the spray gun 2, the control center moves the spray gun 2 from the current position to the initial spraying position. S5: Spray gun 2 starts spraying paint and moves at a constant speed along the shortest spraying path to spray paint the board 6; after spraying, start telescopic motor 9 to drive slider 7 and board 6 to move out of spraying chamber 1 from feed port 5.

[0041] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0042] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A painting treatment device for cast magnesium alloy products, characterized in that, include: Spray painting chamber (1); A six-degree-of-freedom manipulator (4) is installed in the paint spraying chamber (1), and a spray gun (2) is installed on its moving end. The spray gun (2) is connected to the paint through a material conveying pipe. The slide rail (3) is located on the bottom surface of the spray painting chamber (1) and close to the six-degree-of-freedom robot (4). The side of the spray painting chamber (1) away from the six-degree-of-freedom robot (4) has a feed inlet (5). The slide rail (3) extends outward from the feed inlet (5). A magnetic adsorption mechanism is slidably set on a slide rail (3). The plate (6) has a painted surface and a bottom surface. The magnetic adsorption mechanism is used to adsorb the bottom surface of the plate (6). The driving mechanism is connected to the magnetic adsorption mechanism and is used to drive the magnetic adsorption mechanism to slide along the slide rail (3). When the magnetic adsorption mechanism slides along the slide rail (3), the plate (6) can enter the paint spraying chamber (1) from the feed port (5) or be moved out of the paint spraying chamber (1).

2. The painting treatment device for cast magnesium alloy products according to claim 1, characterized in that, The magnetic adsorption mechanism includes: The slider (7) is slidably connected to the slide rail (3); The electromagnetic column (8) has a magnetic surface at the top and a power supply module that is electrically connected to the magnetic surface inside. When the power supply module supplies power to the magnetic surface, the magnetic surface generates magnetism and can attract the bottom surface of the plate (6).

3. The painting treatment device for cast magnesium alloy products according to claim 2, characterized in that, The driving mechanism is a telescopic motor (9), which is located at the end of the slide rail (3) away from the six-degree-of-freedom manipulator (4). The output end of the telescopic motor (9) is connected to the slider (7).

4. The painting treatment device for cast magnesium alloy products according to claim 3, characterized in that, Also includes: The CCD camera (10) is located on the top surface of the spray painting chamber (1), the area where the slide rail (3) is located in the spray painting chamber (1) is the spray painting area, and the image acquisition end of the CCD camera (10) faces the spray painting area. The control center uses the CCD camera (10) to acquire images of the board (6) and send them to the control center. The control center confirms the outline of the board (6) based on the images of the board (6) and controls the six-degree-of-freedom manipulator (4) to move the spray gun (2) and spray paint on the board (6). A position sensor is installed on the spray gun (2) and connected to the control center. The position sensor is used to detect the position of the spray gun (2) and send it to the control center.

5. The painting treatment device for cast magnesium alloy products according to claim 4, characterized in that, Also includes: A transparent partition (11) is disposed near the top surface of the paint spraying chamber (1), and a sealed cavity is formed between the transparent partition (11) and the top surface of the paint spraying chamber (1), and the CCD camera (10) is disposed in the cavity.

6. The painting treatment device for cast magnesium alloy products according to claim 5, characterized in that, Also includes: The exhaust fan (12) is located at the exhaust port on the side of the paint spraying chamber (1) away from the six-degree-of-freedom manipulator (4). The exhaust fan (12) is connected to the exhaust pipe (17).

7. The painting treatment device for cast magnesium alloy products according to claim 6, characterized in that, Also includes: Cylinder (13) is installed on the side of the paint spraying chamber (1) away from the six-degree-of-freedom manipulator (4); The scraper (14) is connected to the output end of the cylinder (13). The scraper (14) is located on the lower surface of the transparent partition (11). The cylinder (13) is used to drive the scraper (14) to move back and forth along the lower surface of the transparent partition (11). The spray gun (2) is connected to the water tank through the material conveying pipe.

8. The painting treatment device for cast magnesium alloy products according to claim 7, characterized in that, A flexible pad (15) is provided on the electromagnetic column (8).

9. The painting treatment device for cast magnesium alloy products according to claim 7, characterized in that, A baffle (16) is provided at the feed inlet (5).

10. A method for spray painting cast magnesium alloy products, characterized in that, The application of the painting treatment apparatus for cast magnesium alloy products according to any one of claims 7-9 includes the following steps: S1: The power supply module supplies power to the magnetic surface, making the magnetic surface magnetic, and adsorbs the bottom surface of the plate (6) onto the electromagnetic column (8). The telescopic motor (9) is started, driving the slider (7) and the plate (6) to enter the paint spraying chamber (1) from the feed port (5). S2: Before the board (6) enters the spray painting chamber (1), the CCD camera (10) collects images of the spray painting area and sends them to the control center, which stores them as the first image; after the board (6) enters the spray painting chamber (1), the CCD camera (10) collects images of the spray painting area again and sends them to the control center, which stores them as the second image; the control center compares the first image with the second image to obtain the position data and contour data of the board (6); S3: The control center calculates the shortest painting path of the spray gun (2) above the board (6) based on the contour data of the board (6) and the spray width of the spray gun (2), and confirms the initial painting position of the spray gun (2) based on the shortest painting path and the position data of the board (6). S4: The position sensor detects the current position of the spray gun (2) and sends it to the control center. Based on the current position of the spray gun (2) and the initial spray position of the spray gun (2), the control center moves the spray gun (2) from the current position to the initial spray position. S5: The spray gun (2) starts spraying paint and moves at a constant speed along the shortest spraying path to spray paint the board (6); after spraying paint, the telescopic motor (9) is started to drive the slider (7) and the board (6) to move out of the spraying chamber (1) from the feed port (5).

Images