A 3-gun, 8-axis human-like spraying robot

Abstract

This invention relates to the field of spraying robot technology and discloses a 3-gun, 8-axis, human-like spraying robot, including an operating table. An X-axis adjustment component and a Y-axis adjustment component are arranged above the operating table, both used to adjust the position of the moving frame. A first fixing rod is fixedly connected to the side surface of the moving frame, and a third cylinder is fixedly connected to the upper surface of the first fixing rod. The output end of the third cylinder is fixedly connected to a spraying component. The spraying component is used for multi-dimensional displacement spraying of the workpiece. The spraying component includes a connecting pipe, and an air pressure regulating valve and a fluid regulating valve are arranged inside the connecting pipe. When performing spraying operations on deep holes in the dead corners of the top of the workpiece, when the dead corner opening is directly facing the nozzle, the atomization forming air pressure and paint flow rate are increased synergistically to form a high-penetration jet that reaches the bottom of the hole. When the workpiece rotates and deviates from the nozzle normal, the air pressure and flow rate can be smoothly reduced.

Description

Technical Field

[0001] This invention relates to the field of spraying robot technology, specifically a 3-gun, 8-axis human-like spraying robot. Background Technology

[0002] Spraying robots are the core execution equipment in modern automated coating production lines. They are used to replace manual labor in the surface painting of various industrial products and hardware parts. During the spraying operation, multiple sides of the workpiece need to be flipped and sprayed on multiple sides.

[0003] Currently, automatic spraying equipment consists of a rectangular coordinate moving platform equipped with a spray gun assembly. In actual operation, the operator fixes the workpiece to be processed on a horizontal worktable or a simple rotating tray. After starting the program, the equipment drives the cylinder or motor through the controller, which drives the spray gun to move in three-dimensional space along a predetermined trajectory. At the same time, the valve is opened to continuously spray and cover the surface of the workpiece with a constant atomizing air pressure and paint flow, thereby completing the basic coating operation.

[0004] Currently, existing equipment has limited mechanical freedom. The workpiece table can usually only perform simple planar rotation and cannot achieve large-scale spatial tilting. At the same time, during spraying operations, it is often necessary to manually stop the machine and flip it over for secondary spraying. Furthermore, when spraying deep holes or dead corners on the top of complex machined parts, existing equipment usually uses constant parameters for spraying. However, due to the narrow space inside deep holes, continuous high-flow spraying can easily cause stagnant air cyclones, resulting in severe paint mist backlash and seriously affecting the coating quality inside the holes. When the workpiece rotates and causes the dead corner opening to deviate from the normal of the nozzle, continuous spraying will cause serious waste of paint.

[0005] Therefore, the purpose of this invention is to provide a 3-gun, 8-axis human-like spraying robot to overcome the shortcomings of the prior art. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a 3-gun, 8-axis, human-like spraying robot, which solves the problems of existing spraying equipment being unable to tilt the workpiece at a large angle, resulting in spraying dead corners at the bottom, and the tendency for paint mist backlash and paint waste to occur due to constant spraying during deep hole operations.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a 3-gun 8-axis simulated manual spraying robot, comprising an operating table, an X-axis adjustment component and a Y-axis adjustment component are provided above the operating table, both used to adjust the position of the moving frame, a first fixing rod is fixedly connected to the side surface of the moving frame, a third cylinder is fixedly connected to the upper surface of the first fixing rod, a spraying component is fixedly connected to the output end of the third cylinder, the spraying component is used to perform multi-dimensional displacement spraying on the workpiece, the spraying component includes a connecting pipe, and an air pressure regulating valve and a fluid regulating valve are provided inside the connecting pipe; A first rotating assembly and a second rotating assembly are provided above the operating table. The first rotating assembly is used to adjust the operating angle of the first rotating box, and the second rotating assembly is used to adjust the operating angle of the second rotating box. A third rotating assembly is provided inside the operating table. Both the first rotating box and the second rotating box are provided with workpiece rotating assemblies. An angle encoder is provided on both the first rotating box and the second rotating box. A controller is fixedly connected to the side surface of the operating table. The controller is equipped with a calculation module, a phase capture module and an adjustment module. The adjustment module and the phase capture module are used to increase the output of the air pressure regulating valve and the fluid regulating valve in tandem when the dead corner opening of the workpiece is directly facing the spraying component, and to smoothly reduce the output when the workpiece rotates away from the normal direction.

[0008] Preferably, the X-axis adjustment assembly includes a first fixed frame, a first cylinder is fixedly connected to the bottom inner wall of the first fixed frame, and the output end of the first cylinder is fixedly connected to the movable frame.

[0009] Preferably, the Y-axis adjustment assembly includes a second fixed frame, a second cylinder is fixedly connected to the front surface of the second fixed frame, and the output end of the second cylinder is fixedly connected to the first fixed frame.

[0010] Preferably, the spraying assembly further includes a third fixing frame, on the side surface of which a dual-head motor is fixedly connected. The output end of the dual-head motor is fixedly connected to a rotating plate via a first rotating shaft, and a spray head is provided at the end of the rotating plate away from the first rotating shaft.

[0011] Preferably, the nozzle is fixedly connected to the connecting pipe, and a storage box is fixedly connected to the end of the connecting pipe away from the nozzle, and the rear surface of the first fixing rod is fixedly connected to the storage box.

[0012] Preferably, the third rotating component includes a fourth motor, and the output end of the fourth motor is fixedly connected to a connecting block via a third rotating shaft.

[0013] Preferably, the first rotating assembly includes a first fixed box, a first motor is fixedly connected to the bottom inner wall of the first fixed box, the output end of the first motor is fixedly connected to the first rotating box, and the connecting block is fixedly connected to the first fixed box through the first rotating box.

[0014] Preferably, the second rotating assembly includes a second fixed box, a second motor is fixedly connected to the bottom inner wall of the second fixed box, the output end of the second motor is fixedly connected to the second rotating box, and the connecting block is fixedly connected to the second fixed box through the second rotating box.

[0015] Preferably, the upper surface of the operating table is fixedly connected to a second fixing rod by a support frame, and the workpiece rotation assembly includes a third motor, the output end of which is fixedly connected to a second rotating shaft.

[0016] Preferably, the upper surface of the operating table is fixedly connected to a second fixing rod by a support frame, the side surface of the second fixing rod is fixedly connected to a second fixing frame, the interior of the second fixing rod is provided with a sliding groove, the inner surface of the sliding groove is slidably connected to a slider, and the side surface of the slider is fixedly connected to a first fixing frame.

[0017] This invention provides a 3-gun, 8-axis, human-like spraying robot. It has the following beneficial effects: 1. This invention constructs a three-dimensional moving platform consisting of an X-axis adjustment component, a Y-axis adjustment component, and a third cylinder, in conjunction with a flexible swinging spraying component consisting of a dual-head motor, a first rotating shaft, and a rotating plate, and a workpiece tilting mechanism consisting of a first rotating component and a second rotating component. This creates a 3-gun, 8-axis, multi-degree-of-freedom human-like spraying robot, allowing the spray nozzles to simulate the complex spatial postures of a professional painter. Simultaneously, with the first and second rotating components driving the workpiece to freely tilt from 0° to 90°, the originally hidden top of the workpiece is directly exposed, enabling multiple spray nozzles to simultaneously track the product outline and perform a top-side spraying operation without blind spots.

[0018] 2. This invention, by setting up a first rotating component, a second rotating component, a workpiece rotating component, an air pressure regulating valve, a fluid regulating valve, and other structures, and by setting a trajectory calculation module, a phase capture module, and an adjustment module inside the controller, enables the spraying operation of deep hole dead corners on the top of the workpiece. When the dead corner opening is directly facing the nozzle, the atomization forming air pressure and paint flow rate are increased in synergy to form a high-penetration jet that reaches the bottom of the hole. When the workpiece rotates and deviates from the normal of the nozzle, the air pressure and flow rate are smoothly reduced, thereby improving the coating yield and saving paint.

[0019] 3. In this invention, while the spraying component performs high-speed rotation and flipping spraying on the workpiece at one station, other stations can perform stable loading and unloading operations, achieving simultaneous spraying and loading / unloading, reducing the idle waiting time of the equipment, and enabling deep hole dead angle spraying operations on both loading stations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a schematic diagram of the first rotating component structure of the present invention; Figure 4 This is a schematic diagram of the spraying assembly structure of the present invention; Figure 5 This is a front view of the present invention; Figure 6 This is a schematic diagram of the internal structure of the operating console of the present invention.

[0021] The components include: 1. Operating table; 2. X-axis adjustment assembly; 201. First fixed frame; 202. First cylinder; 3. Moving frame; 4. Y-axis adjustment assembly; 401. Second fixed frame; 402. Second cylinder; 5. Third cylinder; 6. Spraying assembly; 601. Third fixed frame; 602. Dual-head motor; 603. First rotating shaft; 604. Rotating plate; 605. Spray nozzle; 606. Connecting pipe; 607. Storage tank; 7. Air pressure regulating valve; 8. Fluid regulating valve; 9. Controller; 10. First rotating assembly; 1001. 1001. First fixed box; 1002. First motor; 1003. First rotating box; 11. Second rotating assembly; 1101. Second fixed box; 1102. Second motor; 1103. Second rotating box; 12. Workpiece rotating assembly; 1201. Third motor; 1202. Second rotating shaft; 13. First fixed rod; 14. Support frame; 15. Second fixed rod; 1501. Slide groove; 1502. Slider; 16. Third rotating assembly; 1601. Fourth motor; 1602. Third rotating shaft; 1603. Connecting block. Detailed Implementation

[0022] The technical solutions in 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.

[0023] Please see the appendix Figure 1 -Appendix Figure 2This invention provides a 3-gun, 8-axis simulated manual spraying robot, including an operating table 1. An X-axis adjustment component 2 and a Y-axis adjustment component 4 are arranged on the operating table 1, both used to adjust the position of the moving frame 3. The X-axis adjustment component 2 includes a first fixed frame 201, and a first cylinder 202 is fixedly connected to the bottom inner wall of the first fixed frame 201. The output end of the first cylinder 202 is fixedly connected to the moving frame 3. The Y-axis adjustment component 4 includes a second fixed frame 401, and a second cylinder 402 is fixedly connected to the front surface of the second fixed frame 401. The output end of the second cylinder 402 is fixedly connected to the first fixed frame 201.

[0024] Specifically, the X-axis adjustment component 2 and the Y-axis adjustment component 4 together constitute a planar rectangular coordinate movement system. In actual operation, when the controller 9 receives the spraying command, the second cylinder 402 is activated, pushing the first fixed frame 201 to move back and forth along the Y-axis direction; at the same time, the first cylinder 202 is activated, pushing the moving frame 3 to move left and right along the X-axis direction. Through the linkage of the first cylinder 202 and the second cylinder 402, the position adjustment of the spraying component 6 on the horizontal plane is realized. Combined with the vertical height adjustment, it provides basic spatial movement guarantee for the spraying of multiple sets of processed parts.

[0025] Please see the appendix Figure 4 A first fixing rod 13 is fixedly connected to the side surface of the movable frame 3. A third cylinder 5 is fixedly connected to the upper surface of the first fixing rod 13. A spraying assembly 6 is fixedly connected to the output end of the third cylinder 5. The spraying assembly 6 is used to perform multi-dimensional displacement spraying on the processed parts. The spraying assembly 6 also includes a third fixing frame 601. A dual-head motor 602 is fixedly connected to the side surface of the third fixing frame 601. A rotating plate 604 is fixedly connected to the output end of the dual-head motor 602 through a first rotating shaft 603. A nozzle 605 is provided at the end of the rotating plate 604 away from the first rotating shaft 603. The nozzle 605 is fixedly connected to a connecting pipe 606. A storage box 607 is fixedly connected to the end of the connecting pipe 606 away from the nozzle 605. The rear surface of the first fixing rod 13 is fixedly connected to the storage box 607.

[0026] Specifically, the third cylinder 5 controls the lifting height of the nozzle 605 to meet the spraying requirements of different sized processed parts. The dual-head motor 602 drives the first rotating shaft 603 to rotate, which can drive the rotating plate 604 and the nozzle 605 to perform multi-angle pitching and swinging to achieve spatial attitude compensation. It should be noted that in this embodiment, the connecting pipe 606 is made of a plastic hose with pressure resistance and corrosion resistance. Due to the excellent flexibility of the plastic hose, the connecting pipe 606 will not experience mechanical interference or breakage during the pitching and rotation of the rotating plate 604 and the nozzle 605 driven by the dual-head motor 602, and will not affect the normal fluid transport and continuous use of the equipment.

[0027] Please see the appendix Figure 3 Appendix Figure 6 The operating console 1 is internally equipped with a third rotating assembly 16, which includes a fourth motor 1601. The output end of the fourth motor 1601 is fixedly connected to a connecting block 1603 via a third rotating shaft 1602. Above the operating console 1 are a first rotating assembly 10 and a second rotating assembly 11. The first rotating assembly 10 is used to adjust the operating angle of the first rotating box 1003, and the second rotating assembly 11 is used to adjust the operating angle of the second rotating box 1103. The first rotating assembly 10 includes a first fixed box 1001. The bottom inner wall of the first motor 1002 is fixedly connected to the first rotating box 1003. The output end of the first motor 1002 is fixedly connected to the first rotating box 1003. The connecting block 1603 is fixedly connected to the first fixed box 1001 through the first rotating box 1003. The second rotating assembly 11 includes a second fixed box 1101. The bottom inner wall of the second fixed box 1101 is fixedly connected to the second motor 1102. The output end of the second motor 1102 is fixedly connected to the second rotating box 1103. The connecting block 1603 is fixedly connected to the second fixed box 1101 through the second rotating box 1103.

[0028] Specifically, the third rotating component 16 is designed to facilitate the loading of one set of workpieces while the other set is being painted. After the painting of one set of workpieces is completed, the fourth motor 1601 is started. The output of the fourth motor 1601 drives the third rotating shaft 1602 and the connecting block 1603 to rotate, thereby causing the first rotating box 1003 and the second rotating box 1103 on the connecting block 1603 to interchange positions. The fourth motor 1601 is a forward and reverse motor.

[0029] The first rotating assembly 10 and the second rotating assembly 11 constitute a workpiece tilting mechanism. During operation, the first motor 1002 can drive the first rotating box 1003 to achieve free tilting and flipping from 0° to 90°. Similarly, the second motor 1102 can drive the second rotating box 1103 to tilt and flip from 0° to 90°. This solves the drawback of traditional worktables that can only perform planar rotation. Through the flipping action, the complex dead corners on the top of the workpiece that were originally hidden can be directly exposed. Combined with the spatial attitude adjustment of the spraying assembly 6, multiple sets of spray nozzles 605 can accurately target the dead corner areas exposed by the flipping. The spray nozzles 605 provide seamless coverage of the workpiece contour, eliminating the cumbersome step of manually stopping the machine to flip it in traditional operations.

[0030] The 3-gun, 8-axis, human-like spraying robot is constructed by the X-axis adjustment assembly 2 and Y-axis adjustment assembly 4, the third cylinder 5, the spraying assembly 6, the two sets of first rotating assemblies 10 and second rotating assemblies 11, and the processing part rotating assembly 12 which is set inside the first rotating assembly 10 and the second rotating assembly 11.

[0031] Please see the appendix Figure 3Both the first rotating box 1003 and the second rotating box 1103 are equipped with a workpiece rotating assembly 12. Both the first rotating box 1003 and the second rotating box 1103 are equipped with an angle encoder. The workpiece rotating assembly 12 includes a third motor 1201, and the output end of the third motor 1201 is fixedly connected to a second rotating shaft 1202.

[0032] Specifically, the third motor 1201 is started, and the second rotating shaft 1202 drives the workpiece to rotate rapidly. Under the action of the nozzle 605, a uniform circumferential coating is formed on the surface of the workpiece. A limiting component and a workpiece placement plate are set on the second rotating shaft 1202. The limiting component can securely clamp and limit the workpiece of different specifications. It should be noted that the limiting component is a conventional clamping mold in the art. In order to highlight the design focus of the overall structure of the present invention, the specific structure of the limiting component is not shown in the drawings, but this does not affect the understanding and actual implementation of the fixing principle of the device of the present invention by those skilled in the art.

[0033] Please see the appendix Figure 1 Appendix Figure 4 Appendix Figure 5 The spraying assembly 6 includes a connecting pipe 606, inside which are installed an air pressure regulating valve 7 and a fluid regulating valve 8. A controller 9 is fixedly connected to the side surface of the operating table 1. The controller 9 is equipped with a calculation module, a phase capture module and an adjustment module. The adjustment module and the phase capture module are used to increase the output of the air pressure regulating valve 7 and the fluid regulating valve 8 in tandem when the dead corner opening of the workpiece is directly facing the spraying assembly 6, and to smoothly reduce the output when the workpiece rotates away from the normal direction.

[0034] Specifically, to address the issue of paint mist backlash easily caused by spraying deep holes or dead corners on machined parts, a calculation module, a phase capture module, and an adjustment module are installed inside the controller 9. When spraying the top deep hole, the angle encoders installed on the first rotating box 1003 and the second rotating box 1103 collect the real-time absolute phase angle of the workpiece rotation driven by the second rotating shaft 1202 at high frequency, and transmit the real-time absolute phase angle to the phase capture module inside the controller 9. The calculation module inside the controller 9 pre-sets the reference target phase angle when the center of the deep hole opening is completely aligned with the normal of the nozzle 605. And define an effective anti-counterattack injection phase window area. ; in, The reference target phase angle is when the dead angle opening is directly aligned with the nozzle 605 normal. The effective anti-counterattack angle threshold set for the solution module ( (20°), the adjustment module inside the controller 9 dynamically modulates the rotation angle of the workpiece into two states: inside and outside the window area, through condition judgment logic.

[0035] When the real-time absolute phase angle satisfies: ; in, The real-time absolute phase angle of the workpiece rotation acquired by the angle encoder.

[0036] The regulating module uses a cosine smoothing transition algorithm to dynamically calculate and output continuous pulse electrical signals. The real-time flow calculation formula for the fluid regulating valve 8 controlled by the regulating module is as follows: ; in, The real-time paint flow rate of fluid regulating valve 8 at any rotation angle; The base paint flow rate set for fluid regulating valve 8 during conventional external surface spraying; The maximum compensation flow difference that the fluid regulating valve 8 instantaneously increases when the center of the deep hole opening is directly opposite the nozzle 605; Pi is the mathematical constant of a circle.

[0037] The formula for calculating the real-time forming air pressure of the regulating module control air circuit pressure regulating valve 7 is as follows: ; in, The real-time forming air pressure of the air circuit pressure regulating valve 7 at any rotation angle; The basic forming air pressure is set for the air circuit pressure regulating valve 7 during conventional outer surface spraying; The maximum pressure difference that the air pressure regulating valve 7 instantly increases when the center of the deep hole opening is directly opposite the nozzle 605.

[0038] When the real-time absolute phase angle satisfy When the jet phase window is deviated from the injection phase window area and is located on the back side or in the deep hole blind zone, the adjustment module directly outputs a reference maintenance signal: .

[0039] Through the aforementioned phase-based segmented collaborative control logic, when the dead angle opening is precisely aligned with nozzle 605 (i.e. When the air pressure regulating valve 7 and the fluid regulating valve 8 reach their maximum output, the spray fan width is reduced to increase the spray depth of the paint into the deep hole and overcome the airflow resistance inside the dead corner. When the workpiece rotates and the dead corner opening deviates from the direction directly opposite to the nozzle 605, the regulating module controls the forming air pressure and paint flow rate to decrease according to the cosine law, and maintains the basic paint flow rate and basic forming air pressure when it exceeds the spray phase window area. The above control logic reduces the paint mist rebound in the dead corner of the deep hole, improves the yield of deep hole spraying, and reduces paint consumption.

[0040] Please see the appendix Figure 1 -Appendix Figure 2 The upper surface of the operating table 1 is fixedly connected to a second fixed rod 15 via a support frame 14. The side surface of the second fixed rod 15 is fixedly connected to a second fixed frame 401. The interior of the second fixed rod 15 is provided with a sliding groove 1501. A slider 1502 is slidably connected to the inner surface of the sliding groove 1501. The side surface of the slider 1502 is fixedly connected to a first fixed frame 201.

[0041] Specifically, the support frame 14, the second fixed rod 15, the slide groove 1501, and the slider 1502 together constitute a guide structure. When the Y-axis adjustment component 4 drives the moving frame 3 and the spraying component 6 of the upper structure to move, the slider 1502 slides smoothly inside the slide groove 1501, providing reliable linear guidance and auxiliary support force points for the first fixed frame 201, dispersing the mechanical vibration generated by the second cylinder 402 during the extension and retraction operation, ensuring the stability of the spraying component 6 during the displacement process, and further ensuring the spatial coordinate accuracy of the nozzle 605 for precise distance spraying of complex processed parts.

[0042] Working principle: Before the equipment is started, the operator places the workpiece to be processed on the rotating disk on the second rotating shaft 1202 of the first rotating box 1003. The workpiece is limited by the limiting component. After the spraying program is started, the calculation module inside the controller 9 issues a command according to the preset trajectory. The second cylinder 402 in the Y-axis adjustment component 4 works, pushing the first fixed frame 201 to move back and forth along the slide groove 1501 and slider 1502 inside the second fixed rod 15. At the same time, the first cylinder 202 in the X-axis adjustment component 2 works, pushing the moving frame 3 to move left and right. In conjunction with the third cylinder 5 above the first fixed rod 13 to extend and retract up and down, the spraying component 6 can be moved quickly and accurately in three-dimensional space to the spraying position of the workpiece for operation. During conventional curved surface spraying, the third motor 1201 is started to drive the second rotating shaft 1202 and the workpiece to rotate. The spraying assembly 6 sprays the workpiece from multiple angles. At the same time, the first motor 1002 and the second motor 1102 are started to drive the first rotating box 1003 and the second rotating box 1103 to rotate, so that the top of the workpiece can be sprayed without manual turning. The rotation angle of the workpiece can be measured by the angle encoders set on the first rotating box 1003 and the second rotating box 1103. During the spraying operation, the dual-head motor 602 inside the spraying assembly 6 drives the first rotating shaft 603 to rotate, causing the rotating plate 604 to swing synchronously. At the same time, under the action of the third cylinder 5, the reverse compensation linkage between the workpiece flipping and the spray head 605 swing ensures that the spraying normal of multiple sets of spray heads 605 is always perpendicular to the surface of the workpiece, thus achieving uniform and fixed-distance spraying.

[0043] When performing spraying operations in complex dead angles or deep hole areas, the angle encoders installed on the first rotating box 1003 and the second rotating box 1103 collect the absolute phase angle of the workpiece's rotation in real time at high frequency and transmit it to the phase capture module in the controller 9. The adjustment module in the controller 9 implements precise timing linkage with the internal connecting pipe 606 air-liquid circuit based on the captured phase data. When the workpiece is rotated by the first rotating assembly 10 and the second rotating assembly 11 to rotate the top dead angle opening to face the normal direction of the nozzle 605, the adjustment module issues a command to increase the atomizing air pressure of the air circuit pressure regulating valve 7 in the connecting pipe 606 and the paint flow of the fluid regulating valve 8. The paint in the storage tank 607 is sprayed out under high pressure, thereby reducing the width of the spray fan and increasing the spray depth of the paint into the deep hole. When the workpiece is moved by the first rotating assembly 10 and the second rotating assembly 11, causing the top dead corner opening to gradually deviate from the normal direction of the nozzle 605 or turn to the edge of the blind zone, the regulating module controls the air pressure regulating valve 7 and the fluid regulating valve 8 to smoothly reduce the output and restore the basic spraying fan and flow rate.

[0044] During the high-speed linkage spraying operation at the station where the first rotating component 10 is located, the second rotating component 11 on the other side is in a stationary waiting state. The operator can simultaneously remove finished products and load and clamp new workpieces in this safe area. After the workpiece on one side of the first rotating component 10 is sprayed, the fourth motor 1601 is started. The output end of the fourth motor 1601 drives the third rotating shaft 1602 and the connecting block 1603 to rotate, thereby causing the first rotating box 1003 and the second rotating box 1103 on the connecting block 1603 to interchange positions, realizing the alternating operation of the dual station spraying operation. Then the operator can unload and load the workpiece on one side of the first rotating component 10.

Claims

1. A 3-gun, 8-axis, human-like spraying robot, comprising an operating table (1), characterized in that, The operating table (1) is provided with an X-axis adjustment component (2) and a Y-axis adjustment component (4), both of which are used to adjust the position of the moving frame (3). The side surface of the moving frame (3) is fixedly connected to a first fixing rod (13), and the upper surface of the first fixing rod (13) is fixedly connected to a third cylinder (5). The output end of the third cylinder (5) is fixedly connected to a spraying component (6). The spraying component (6) includes a connecting pipe (606), and the inside of the connecting pipe (606) is provided with an air pressure regulating valve (7) and a fluid regulating valve (8). The operating table (1) is provided with a first rotating assembly (10) and a second rotating assembly (11) above it. The first rotating assembly (10) is used to adjust the operating angle of the first rotating box (1003), and the second rotating assembly (11) is used to adjust the operating angle of the second rotating box (1103). The operating table (1) is provided with a third rotating assembly (16). The first rotating box (1003) and the second rotating box (1103) are both provided with a workpiece rotating assembly (12). The first rotating box (1003) and the second rotating box (1103) are both provided with an angle encoder. The side surface of the operating table (1) is fixedly connected to a controller (9). The controller (9) is equipped with a calculation module, a phase capture module and an adjustment module. The adjustment module and the phase capture module are used to increase the output of the air pressure regulating valve (7) and the fluid regulating valve (8) in tandem when the dead corner opening of the workpiece is directly facing the spraying assembly (6), and smoothly reduce the output when the workpiece rotates away from the normal direction.

2. The 3-gun, 8-axis, human-like spraying robot according to claim 1, characterized in that, The X-axis adjustment assembly (2) includes a first fixed frame (201), and a first cylinder (202) is fixedly connected to the bottom inner wall of the first fixed frame (201). The output end of the first cylinder (202) is fixedly connected to the movable frame (3).

3. The 3-gun, 8-axis, human-like spraying robot according to claim 2, characterized in that, The Y-axis adjustment assembly (4) includes a second fixed frame (401), a second cylinder (402) is fixedly connected to the front surface of the second fixed frame (401), and the output end of the second cylinder (402) is fixedly connected to the first fixed frame (201).

4. The 3-gun, 8-axis, human-like spraying robot according to claim 1, characterized in that, The spraying assembly (6) also includes a third fixing frame (601), on which a dual-head motor (602) is fixedly connected. The output end of the dual-head motor (602) is fixedly connected to a rotating plate (604) via a first rotating shaft (603). A spray nozzle (605) is provided at the end of the rotating plate (604) away from the first rotating shaft (603).

5. A 3-gun, 8-axis, human-like spraying robot according to claim 4, characterized in that, The nozzle (605) is fixedly connected to the connecting pipe (606), and a storage box (607) is fixedly connected to one end of the connecting pipe (606) away from the nozzle (605). The rear surface of the first fixing rod (13) is fixedly connected to the storage box (607).

6. The 3-gun, 8-axis, human-like spraying robot according to claim 1, characterized in that, The third rotating component (16) includes a fourth motor (1601), and the output end of the fourth motor (1601) is fixedly connected to a connecting block (1603) via a third rotating shaft (1602).

7. A 3-gun, 8-axis, human-like spraying robot according to claim 6, characterized in that, The first rotating assembly (10) includes a first fixed box (1001), a first motor (1002) is fixedly connected to the bottom inner wall of the first fixed box (1001), the output end of the first motor (1002) is fixedly connected to the first rotating box (1003), and the connecting block (1603) is fixedly connected to the first fixed box (1001) through the first rotating box (1003).

8. A 3-gun, 8-axis, human-like spraying robot according to claim 6, characterized in that, The second rotating assembly (11) includes a second fixed box (1101), a second motor (1102) is fixedly connected to the bottom inner wall of the second fixed box (1101), the output end of the second motor (1102) is fixedly connected to the second rotating box (1103), and the connecting block (1603) is fixedly connected to the second fixed box (1101) through the second rotating box (1103).

9. A 3-gun, 8-axis, human-like spraying robot according to claim 3, characterized in that, The workpiece rotation assembly (12) includes a third motor (1201), and the output end of the third motor (1201) is fixedly connected to a second rotating shaft (1202).

10. A 3-gun, 8-axis, human-like spraying robot according to claim 3, characterized in that, The upper surface of the operating table (1) is fixedly connected to a second fixed rod (15) via a support frame (14). The side surface of the second fixed rod (15) is fixedly connected to a second fixed frame (401). The interior of the second fixed rod (15) is provided with a sliding groove (1501). The inner surface of the sliding groove (1501) is slidably connected to a slider (1502). The side surface of the slider (1502) is fixedly connected to a first fixed frame (201).

Images