A high-guard collaborative robot painting device

Abstract

The application relates to the field of robot spraying, in particular to a high-protection collaborative robot spraying device, which comprises a multi-axis manipulator base for supporting and adjusting directions, a rotary module three fixedly arranged at a power output end of the multi-axis manipulator base, a pitching module three fixedly arranged at a power output end of the rotary module three, and a rotary module two fixedly arranged at a power output end of the pitching module three. The application is a high-protection adjustable collaborative robot spraying device. When spraying, the protective cover can support and protect the rear part of the atomizing nozzle in all directions. The funnel-shaped recess can cover and protect the spraying range of the protective cover in all directions, effectively improving the efficiency of paint dispersion coverage, and improving the protection performance of the spraying robot. Meanwhile, the adjustable protective cover can be adjusted according to different workpieces and paint, thereby improving the stability of real-time protection of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotic spraying equipment technology, specifically a high-protection collaborative robot spraying device. Background Technology

[0002] Collaborative robot painting equipment is a workpiece coating equipment that integrates a collaborative robotic arm as its core and other units such as a painting execution mechanism. Collaborative robot painting equipment is mainly used to replace or assist manual labor in completing the painting operations of various workpiece surfaces such as paint, varnish, and glaze. It achieves precise control of the spray gun's position and movement trajectory through multi-axis flexible joint linkage. It is widely applicable to the painting needs of complex curved surfaces and irregularly shaped workpieces such as automotive parts, home appliance shells, ceramic blanks, and metal components.

[0003] However, most existing collaborative robot painting equipment directly integrates paint spray guns, which makes it easy for the atomized and dispersed paint to corrode the robot's exterior when painting workpieces, thus reducing the robot's service life. At the same time, the existing collaborative robot painting equipment also lacks adaptability in real-time spacing adjustment when painting workpieces. Therefore, a high-protection collaborative robot painting device is needed to solve the problems mentioned above. Summary of the Invention

[0004] The purpose of this invention is to provide a high-protection collaborative robot spraying device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-protection collaborative robot spraying device, comprising a multi-axis manipulator base for support and orientation, a rotary module three fixedly disposed at the power output end of the multi-axis manipulator base, a pitch module three fixedly disposed at the power output end of the rotary module three, and a rotary module two fixedly disposed at the power output end of the pitch module three. A pitch-rotation module one is fixedly disposed on the axial rotation side of the rotary module two, and a rotary module one is disposed at the power output end of the pitch-rotation module one.

[0006] A protective component is fixedly installed at the axial rotating end of the rotary module one, and the protective component is used for support and orientation adjustment;

[0007] A reversing assembly, which is threadedly connected inside the protective assembly, is used to protect against paint mist;

[0008] A spraying assembly is threadedly connected to the front of a protective assembly and is used to atomize and spray paint.

[0009] Specifically, the steering assembly includes a support guide seat, a protective cover fixedly disposed outside the support guide seat, and linear sliding shafts fixedly disposed at the four corners of the rear end face of the support guide seat. A threaded guide seat is fixedly disposed at the center of the rear end face of the support guide seat via a guide slide plate.

[0010] Specifically, the protective assembly includes an alignment bracket for docking. A support slide is fixedly engaged at the bottom of the inner end face of the alignment bracket. A limiting guide is fixedly provided at the front of the support slide, and a guide groove is provided on the inner end face of the support slide, extending from the limiting guide to the outer side. A support component is slidably engaged at the inner end face of the support slide through the guide groove. A first stepper motor is provided at the rear of the alignment bracket, and a lead screw is provided at the power output end of the first stepper motor. A motor base is provided at the bottom of the front end face of the alignment bracket, and a second stepper motor is provided on the side of the motor base. The power output end of the second stepper motor drives the support component to reciprocate within the support slide through a transmission gear.

[0011] Specifically, the support assembly includes a liquid supply guide plate, a flange fixedly disposed at the front of the liquid supply guide plate, and an alignment slide fixedly disposed at the rear of the liquid supply guide plate. A transmission rack is fixedly disposed at the center of the lower end face of the liquid supply guide plate.

[0012] Specifically, the spraying assembly includes a liquid supply conduit, a flange two integrally formed and fixedly installed at the rear of the liquid supply conduit, and a detachable threaded nozzle connected to the front of the liquid supply conduit. A pressure pipe is fixedly installed on the lower end face of the liquid supply conduit near the atomizing nozzle, and a threaded conduit is fixedly installed at the center of the rear end face of the flange two.

[0013] Specifically, the support guide seat is connected to the front of the support slide seat by means of a threaded guide seat that is adapted to the lead screw and a linear slide shaft that is adapted to the limiting guide seat. The threaded adjustment method can effectively improve the accuracy of subsequent adjustment of the front and rear distance of the protective cover.

[0014] Specifically, the liquid supply guide plate is slidably engaged with the inner end face of the support slide via the alignment slide. The front part of the liquid supply guide plate is fixedly connected to flange one and flange two via flange one. The front opening of flange one is provided with a mating thread groove. Flange one is threadedly connected to the threaded guide tube via the mating thread groove, which can improve the stability of the mating and the sealing performance of the mating.

[0015] Specifically, the second stepper motor is connected to the transmission rack through a transmission gear, thereby driving the liquid supply guide plate to move back and forth inside the support slide. This allows for quick and stable adjustment of the spraying distance between the atomizing nozzle and the workpiece, improving the adaptability and efficiency of the spraying process.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. This invention is an adjustable collaborative robot protective spraying device. During spraying, the protective cover can provide all-round support and protection for the rear of the atomizing nozzle. At the same time, the funnel-shaped concave design can provide all-round coverage and protection for the spraying range of the protective cover, effectively improving the efficiency of covering paint spillage and thus improving the protective performance of the spraying robot. In addition, the adjustable protective cover can also be adaptively adjusted according to different workpieces and paints, thereby improving the stability of real-time protection for the robot.

[0018] 2. This invention is a real-time adjustable spraying spacing control mechanism. The stepper motor can be connected to the transmission gear and the transmission rack through meshing, thereby quickly and accurately adjusting the discharge spacing of the liquid supply guide plate outside the support slide. This allows for quick and accurate adjustment of the spraying spacing of the atomizing nozzle on the workpiece, maximizing the uniformity and efficiency of spraying different workpieces. At the same time, it can also further adjust the distance between the protective cover and the robot, further improving the protection performance of the robot. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of 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.

[0020] Figure 1 This is a schematic diagram of the main body of the present invention;

[0021] Figure 2 This is an exploded view of the main body of the present invention;

[0022] Figure 3 This is a schematic diagram of the orientation component of the present invention;

[0023] Figure 4 This is a side view of the steering assembly of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the protective component of the present invention;

[0025] Figure 6 This is an exploded view of the protective components of the present invention;

[0026] Figure 7 This is a split side view of the protective component of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the support component of the present invention;

[0028] Figure 9 This is a schematic diagram of the spraying assembly of the present invention;

[0029] Figure 10 This is an exploded view of the spraying assembly of the present invention.

[0030] In the diagram: 1-Multi-axis robot base, 2-Directional adjustment assembly, 3-Protective assembly, 4-Spraying assembly, 5-Pitch and rotation module one, 6-Rotation module one, 7-Rotation module two, 8-Pitch module three, 9-Rotation module three, 21-Protective cover, 22-Support guide seat, 23-Linear slide shaft, 24-Threaded guide seat, 25-Guide slide plate, 31-Stepper motor one, 32-Support assembly, 33-Stepper motor two, 34-Transmission gear, 35-Screw rod, 36-Motor base, 37-Guide slide groove, 38-Limit guide seat, 39-Alignment seat, 310-Support slide, 321-Flange one, 322-Liquid supply guide plate, 323-Alignment slide, 324-Transmission rack, 41-Liquid supply conduit, 42-Atomizing nozzle, 43-Pressure pipe, 44-Threaded conduit, 45-Flange two. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] The invention will be further described below with reference to the accompanying drawings.

[0034] Example 1

[0035] Please see Figure 1-2An embodiment of the present invention provides a high-protection collaborative robot spraying device, comprising a multi-axis manipulator base 1 for support and orientation adjustment, a rotary module three 9 fixedly disposed at the power output end of the multi-axis manipulator base 1, a pitch module three 8 fixedly disposed at the power output end of the rotary module three 9, and a rotary module two 7 fixedly disposed at the power output end of the pitch module three 8. A pitch rotary module one 5 is fixedly disposed on the axial rotation side of the rotary module two 7, and a rotary module one 6 is disposed at the power output end of the pitch rotary module one 5. The multi-axis robot is model YA-R3F.

[0036] Protective component 3 is fixedly installed at the axial rotating end of the rotary module 6. Protective component 3 is used for support and orientation adjustment.

[0037] The adjusting component 2 is threadedly connected inside the protective component 3, and the adjusting component 2 is used to protect against paint mist;

[0038] Spraying component 4 is threadedly connected to the front of protective component 3 and is used to atomize and spray paint.

[0039] like Figure 3 and Figure 4 The directional assembly 2 includes a support guide 22, a protective cover 21 fixedly disposed outside the support guide 22, and linear sliding shafts 23 fixedly disposed at the four corners of the rear end face of the support guide 22. A threaded guide 24 is fixedly disposed at the center of the rear end face of the support guide 22 via a guide slide plate 25. The protective cover 21 is square funnel-shaped and can block the paint mist that escapes during the spraying of the atomizing nozzle 42 in all directions, preventing the paint mist from contaminating the robot and causing damage.

[0040] like Figure 5 , Figure 6 and Figure 7 The protective component 3 includes an alignment seat 39 for docking. A support slide 310 is fixedly engaged at the bottom of the inner end face of the alignment seat 39. A limiting guide seat 38 is fixedly provided at the front of the support slide 310. A guide groove 37 is provided on the inner end face of the support slide 310, extending through the limiting guide seat 38 to the outer side. A support component 32 is slidably engaged at the inner end face of the support slide 310 through the guide groove 37. A stepper motor 31 is provided at the rear of the alignment seat 39. A lead screw 35 is provided at the power output end of the stepper motor 31. A motor base 36 is provided at the bottom of the front end face of the alignment seat 39. A stepper motor 33 is provided on the side of the motor base 36. The power output end of the stepper motor 33 drives the support component 32 to reciprocate inside the support slide 310 through a transmission gear 34.

[0041] like Figure 8The support assembly 32 includes a liquid supply guide plate 322, a flange 321 fixedly disposed at the front of the liquid supply guide plate 322, and an alignment slide 323 fixedly disposed at the rear of the liquid supply guide plate 322. A transmission rack 324 is fixedly disposed at the center of the lower end face of the liquid supply guide plate 322.

[0042] like Figure 9 and Figure 10 The spraying assembly 4 includes a liquid supply conduit 41, a flange 45 integrally formed and fixedly installed at the rear of the liquid supply conduit 41, and a detachable threaded atomizing nozzle 42 connected to the front of the liquid supply conduit 41. A pressure pipe 43 is fixedly installed on the lower end face of the liquid supply conduit 41 near the atomizing nozzle 42, and a threaded conduit 44 is fixedly installed at the center of the rear end face of the flange 45.

[0043] like Figure 4 and Figure 5 The support guide 22 is threadedly slidably connected to the front of the support slide 310 through the threaded guide 24 and the lead screw 35, and the linear slide shaft 23 and the limiting guide 38. The limiting guide 38 can provide sufficient limiting foundation for the linear slide shaft 23, thereby improving the stability of the subsequent displacement of the protective cover 21 at the front of the support slide 310. At the same time, the threaded adjustment method can effectively improve the accuracy of subsequent adjustment of the front and rear distance of the protective cover 21.

[0044] like Figure 6 and Figure 8 The liquid supply guide plate 322 is slidably engaged with the inner end face of the support slide 310 through the alignment slide 323. The alignment slide 323 can provide sufficient guiding foundation for the liquid supply guide plate 322 to slide inside the support slide 310, thereby improving the stability of the liquid supply guide plate 322 sliding inside the support slide 310.

[0045] like Figure 8 and Figure 9 The front part of the liquid supply guide plate 322 is fixedly connected to the flange 45 via flange 321. The front opening of flange 321 is provided with a threaded groove. Flange 321 is threadedly connected to the threaded conduit 44 via the threaded groove. When assembling the liquid supply conduit 41, the threaded conduit 44 can be connected to the outside of flange 321 via the threaded groove. At the same time, the secondary docking and positioning of flange 321 and flange 45 can improve the stability of the docking and the sealing performance of the docking.

[0046] like Figure 7 and Figure 8Stepper motor 33 is connected to transmission rack 324 via transmission gear 34, thereby driving liquid supply guide plate 322 to move back and forth inside support slide 310. When spraying workpiece, if it is necessary to adjust the spraying distance between atomizing nozzle 42 and sprayed workpiece without stopping the machine, stepper motor 33 can be started under the drive of PLC of external touch screen module. At this time, stepper motor 33 can drive liquid supply guide plate 322 to move forward through the meshing of transmission gear 34 and transmission rack 324, thereby quickly and accurately controlling the spraying distance of atomizing nozzle 42.

[0047] Working Principle: Before use, the operator can position the multi-axis robot at the spraying station, then position multiple sets of clips on the outside of the robot, and simultaneously attach the paint supply hose to the clips on the outside of the robot. One end of the paint supply hose is sealed to the rear of the alignment slide 323, and the other end is connected to the external supply tank to facilitate paint supply. Simultaneously, the external pressurized air pipe can be connected to the pressurized pipe 43. Before spraying, the operator can adjust the distance between the protective cover 21 and the atomizing nozzle 42 according to the characteristics of the sprayed paint to protect against spilled paint. During adjustment, the stepper motor 31 can be started via the PLC in the external touchscreen module. At this time, the stepper motor 31 can... The lead screw 35 at the front is threadedly connected to the threaded guide seat 24, thereby driving the support guide seat 22 and the protective cover 21 to move precisely outside the liquid supply conduit 41, thus adjusting the protective distance of the protective cover 21. At the same time, when performing planar spraying, the operator can adjust the spraying distance between the atomizing nozzle 42 and the workpiece according to the spraying requirements of the workpiece. The stepper motor 33 can be started through the external touch screen module. At this time, the stepper motor 33 can drive the transmission rack 324 to mesh and move forward through the transmission gear 34, so that the transmission rack 324 can drive the positioning slide 323 and the liquid supply guide plate 322 to move forward synchronously, so that the liquid supply guide plate 322 can drive the atomizing nozzle 42 to move forward synchronously, thereby improving the spraying efficiency of the workpiece.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-protection collaborative robot spraying device, comprising a multi-axis manipulator base (1) for support and orientation, a rotary module three (9) fixedly disposed at the power output end of the multi-axis manipulator base (1), a pitch module three (8) fixedly disposed at the power output end of the rotary module three (9), and a rotary module two (7) fixedly disposed at the power output end of the pitch module three (8), wherein a pitch rotary module one (5) is fixedly disposed on the axial rotation side of the rotary module two (7), and a rotary module one (6) is disposed at the power output end of the pitch rotary module one (5), characterized in that: The protective component (3) is fixedly installed at the axial rotation end of the rotary module (6) and is used for support and orientation adjustment. The directional component (2) is threadedly connected inside the protective component (3) and is used to protect against paint mist. The spraying assembly (4) is threaded to the front of the protective assembly (3) and is used to atomize and spray the paint.

2. The high-protection collaborative robot spraying device according to claim 1, characterized in that: The steering assembly (2) includes a support guide (22), a protective cover (21) fixedly disposed outside the support guide (22), and linear slide shafts (23) fixedly disposed at the four corners of the rear end face of the support guide (22). A threaded guide (24) is fixedly disposed at the center of the rear end face of the support guide (22) via a guide slide plate (25).

3. The high-protection collaborative robot spraying device according to claim 2, characterized in that: The protective component (3) includes a positioning bracket (39) for docking. A support slide (310) is fixedly engaged at the bottom of the inner end face of the positioning bracket (39). A limiting guide (38) is fixedly provided at the front of the support slide (310), and a guide groove (37) is provided on the inner end face of the support slide (310) through the limiting guide (38) to the outer side. A support component (32) is slidably engaged on the inner end face of the support slide (310) through the guide groove (37). A stepper motor (31) is provided at the rear of the alignment card holder (39), and a lead screw (35) is provided at the power output end of the stepper motor (31). A motor seat (36) is provided at the bottom of the front end face of the alignment card holder (39), and a stepper motor (33) is provided at the side of the motor seat (36). The power output end of the stepper motor (33) drives the support assembly (32) to reciprocate inside the support slide (310) through the transmission gear (34).

4. The high-protection collaborative robot spraying device according to claim 3, characterized in that: The support assembly (32) includes a liquid supply guide plate (322), a flange (321) fixedly disposed at the front of the liquid supply guide plate (322), and an alignment slide (323) fixedly disposed at the rear of the liquid supply guide plate (322). A transmission rack (324) is fixedly disposed at the center of the lower end face of the liquid supply guide plate (322).

5. The high-protection collaborative robot spraying device according to claim 4, characterized in that: The spraying assembly (4) includes a liquid supply conduit (41), a flange two (45) integrally formed and fixedly disposed at the rear of the liquid supply conduit (41), and a detachable threaded nozzle (42) connected to the front of the liquid supply conduit (41). A pressure pipe (43) is fixedly disposed on the lower end face of the liquid supply conduit (41) near the atomizing nozzle (42), and a threaded conduit (44) is fixedly disposed at the center of the rear end face of the flange two (45).

6. The high-protection collaborative robot spraying device according to claim 5, characterized in that: The support guide (22) is threadedly slidably connected to the front of the support slide (310) through the threaded guide (24) and the lead screw (35), and the linear slide shaft (23) and the limiting guide (38).

7. The high-protection collaborative robot spraying device according to claim 5, characterized in that: The liquid supply guide plate (322) is slidably engaged with the inner end face of the support slide (310) through the alignment slide (323). The front part of the liquid supply guide plate (322) is fixedly connected to the second flange (45) through the first flange (321). The front opening of the first flange (321) is provided with a mating thread groove. The first flange (321) is threadedly connected to the threaded guide tube (44) through the mating thread groove.

8. The high-protection collaborative robot spraying device according to claim 5, characterized in that: The second stepper motor (33) is connected to the transmission rack (324) through the transmission gear (34), thereby driving the liquid supply guide plate (322) to move back and forth inside the support slide (310).

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