Rotary spraying robot

Abstract

The utility model relates to the technical field of spraying equipment, in particular to a rotary spraying robot which comprises a truss, a walking trolley moving in the first direction is arranged above the truss, a base capable of moving in the second direction is arranged above the walking trolley, and the first direction is perpendicular to the second direction. A rotary base is fixed above the base, a rotary driving mechanism in transmission connection with the rotary base is further arranged above the base, a suspension robot is fixed above the rotary base, a visual inspection camera is installed on an execution arm of the suspension robot, and a spraying nozzle is installed at the end of the execution arm of the suspension robot. According to the utility model, when the spraying machine walks in two directions, the robot can be guided to spray through the visual inspection camera and the spraying robot can be rotated and adjusted, so that the crane motor shell with a relatively large size can be comprehensively and accurately sprayed, the material waste is avoided, and the production cost of an enterprise is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying equipment, in particular to a rotary spraying robot. Background Art

[0002] A crane refers to a multi-action lifting machinery that vertically lifts and horizontally moves heavy objects within a certain range. It is also called an overhead crane, an aerial crane, or a crane. The driving device of the crane is a motor. In order to protect the motor casing from oxidation and corrosion during long-term use, the motor casing is usually painted during the production process.

[0003] In the prior art, there are the following scenarios for crane motor housing spraying: multiple crane motor housings are transported to the spraying room at one time through a conveyor line, and a spraying robot is driven by a crane to move back and forth in the spraying room to spray multiple crane motor covers. The above spraying equipment has the following defects: (1) Due to the large size of the crane motor cover, the existing spraying robot cannot be rotated and adjusted, resulting in the inability to spray all-round on each crane motor cover; (2) The spraying robot in the prior art lacks a guiding robot, resulting in the inability of the spraying robot to perform precise spraying, which will cause material waste and increase the production cost of the enterprise.

[0004] In order to solve the above technical problems, the present application discloses a rotary spraying robot. Utility Model Content

[0005] In order to overcome the deficiencies of the prior art, the utility model discloses a rotary spraying robot.

[0006] To achieve the above-mentioned purpose, the utility model is implemented through the following technical solutions: a rotary spraying robot, comprising a truss, a walking and running trolley which moves along a first direction is arranged above the truss, a base which can move along a second direction is arranged above the walking and running trolley, the first direction and the second direction are perpendicular to each other, a rotating base is fixed above the base, a rotating drive mechanism which is transmission-connected to the rotating base is also arranged above the base, a suspension robot is fixed above the rotating base, a visual inspection camera is installed on the execution arm of the suspension robot, and a spray nozzle is installed at the end of the execution arm of the suspension robot.

[0007] It is further preferred that the walking trolley includes a trolley crossbeam and a first servo motor with a first reducer connected to the output shaft, a group of first guide rails are respectively arranged along the first direction above both sides of the second direction of the truss, a slide is slidably connected to each group of first guide rails, the trolley crossbeam is fixed between two slides, a first spur rack is arranged along the first direction on one side of the truss, the first reducer and the first servo motor are arranged above the slide corresponding to the first spur rack, and the driving shaft of the first reducer passes through the slide and is equipped with a first gear that meshes with the first spur rack.

[0008] Further preferably, it also includes a second servo motor having an output shaft connected to a second reducer, a second spur rack is provided on one side of the trolley cross beam along the second direction, a group of second guide rails are provided above the trolley cross beam along the second direction, the base is slidably connected to the second guide rails, the second reducer and the second servo motor are provided above the base near the second spur rack, and the drive shaft of the second reducer passes through the base and is equipped with a second gear that meshes with the second spur rack.

[0009] It is further preferred that a circular guide rail is arranged above the base, the rotating base is slidably connected to the circular guide rail, a circular rack is sleeved on the outer periphery of the circular guide rail, the rotating drive mechanism includes a third servo motor whose output shaft is connected to a third reducer, the third reducer and the third servo motor are both arranged at the bottom of one side of the base away from the second spur rack, and the driving shaft of the third reducer passes through the base and is equipped with a third gear which is meshed with the circular rack.

[0010] Further preferably, stoppers are respectively arranged on both sides of the truss in the first direction, and touch switches are respectively arranged on opposite sides of the two stoppers.

[0011] Further preferably, the suspension robot is a six-axis industrial robot.

[0012] The utility model achieves the following beneficial effects:

[0013] The utility model can enable the spraying machine to move in two directions, and can also guide the robot to spray through the visual detection camera and make the spraying robot to make rotational adjustments. It can comprehensively and accurately spray the motor housing of a large crane, avoid material waste, and reduce the production cost of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the disclosure of the utility model, and together with the description, are used to explain the principles of the disclosure.

[0015] Figure 1 It is a schematic diagram of the overall structure disclosed by the utility model;

[0016] Figure 2 This is a schematic diagram of the side structure of the utility model (without the suspension robot);

[0017] Figure 3 for Figure 2 A in the figure is an enlarged structural diagram. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0019] In the description of the present invention, it should be understood that terms such as "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] Example

[0021] In order to solve the defects of the spraying robot in the prior art that it is unable to perform rotation adjustment and guide spraying, reference Figure 1-Figure 3 As shown, the present application discloses a rotary spraying robot, including a truss 10, a walking and running trolley 20 that moves along a first direction is arranged above the truss, a base 30 that can move along a second direction is arranged above the walking and running trolley, the first direction and the second direction are perpendicular to each other, a rotating base 40 is fixed above the base, a rotating drive mechanism 100 that is transmission-connected to the rotating base is also arranged above the base, a suspension robot 50 is fixed above the rotating base, a visual inspection camera 60 is installed on the execution arm of the suspension robot, and a spray nozzle 70 is installed at the end of the execution arm of the suspension robot.

[0022] In conjunction with the present application, an assembly line for conveying crane motor casings is provided at the bottom of the truss, and after the assembly line has conveyed a specified number of crane motor casings, it is stopped to allow a spraying robot to spray paint on the surface.

[0023] In the specific implementation process, the truss is set in the spray room and an assembly line 110 is set to pass through the spray room and the truss. When the assembly line conveys a set number of crane motor casings into the spray room, the walking trolley will travel along the first direction to the end (based on the conveying direction of the conveying assembly line) of the crane motor casing, and control the base to move along the second direction according to the detection result of the visual camera, control the rotating drive mechanism to drive the rotating base to rotate and move, control the movements of various parts of the suspension robot, and control the spray nozzle to spray paint. After spraying of one motor casing is completed, the walking trolley will travel along the first direction to the next crane motor casing, and spray the crane motor casing according to the above method.

[0024] As a known condition of the present application, the spray nozzle of the present application needs to be connected to an external paint tank, and needs to be provided with a high-pressure pump (the high-pressure pump is connected to the nozzle through a hose) to supply the paint in the paint tank to the spray nozzle for spraying.

[0025] refer to Figure 1 and Figure 3 As shown, the walking trolley includes a trolley beam 21 and a first servo motor 22 whose output shaft is connected to a first reducer 24. A group of first guide rails 12 are respectively arranged along the first direction above both sides of the second direction of the truss, and a slide plate 23 is slidably connected to each group of first guide rails. The trolley beam is fixed between the two slide plates, and a first spur rack 11 is arranged along the first direction on one side of the truss. The first reducer and the first servo motor are arranged above the slide plate corresponding to the first spur rack, and the driving shaft of the first reducer passes through the slide plate and is equipped with a first gear 25 that meshes with the first spur rack. The principle of the walking operation to achieve movement along the first direction is roughly as follows: the first servo motor will cooperate with the first reducer to drive the first gear to rotate. In this process, the first gear will cooperate with the first spur rack to make the two slide plates at the bottom of the trolley beam slide on the two groups of first guide rails.

[0026] refer to Figure 1 and Figure 3 As shown, the present application also includes a second servo motor 31 whose output shaft is connected to a second reducer 32, a second spur rack 211 is arranged on one side of the trolley cross beam along the second direction, a group of second guide rails 212 are arranged above the trolley cross beam along the second direction, the base is slidably connected to the second guide rail, the second reducer and the second servo motor are arranged above the base near the second spur rack, and the driving shaft of the second reducer passes through the base and is equipped with a second gear 33 that meshes with the second spur rack. The principle by which the base realizes movement along the second direction is roughly as follows: with the cooperation of the second servo motor and the second reducer, the second gear will cooperate with the second spur rack so that the base itself slides on the second guide rail.

[0027] refer to Figure 1 and Figure 3 As shown, a circular guide rail 41 is arranged above the base, the rotating base is slidably connected to the circular guide rail, a circular rack 42 is sleeved on the outer periphery of the circular guide rail, and a rotating drive mechanism includes a third servo motor 101 whose output shaft is connected to a third reducer 102, the third reducer and the third servo motor are both arranged at the bottom of the side of the base away from the second spur rack, the driving shaft of the third reducer passes through the base and is equipped with a third gear 103 which is meshed with the circular rack, and the rotation principle of the rotating base is roughly as follows, with the cooperation of the third servo motor and the third reducer, the third gear will cooperate with the circular rack so that the rotating base rotates on the annular guide rail.

[0028] refer to Figure 1 As shown, in order to prevent the walking trolley from falling off the truss due to erroneous operation, blocks 80 are respectively provided on both sides of the first direction of the truss, and touch switches 90 are respectively provided on the opposite sides of the two blocks. When the walking trolley reaches the two ends of the first direction, it will touch the touch switch, and at this time, the external control system will automatically control the walking trolley to stop.

[0029] Specifically, the suspended robot of the present application is a six-axis industrial robot, and the model may be the ABB i rb 5500 six-axis industrial robot of the Swiss Energy Company.

[0030] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0031] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable technicians familiar with the technical field to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A rotary spraying robot, characterized in that: It includes a truss, a walking and running trolley which moves along a first direction is arranged above the truss, a base which can move along a second direction is arranged above the walking and running trolley, the first direction and the second direction are perpendicular to each other, a rotating base is fixed above the base, a rotating drive mechanism which is transmission-connected to the rotating base is also arranged above the base, a suspension robot is fixed above the rotating base, a visual inspection camera is installed on the execution arm of the suspension robot, and a spray nozzle is installed at the end of the execution arm of the suspension robot.

2. A rotary spraying robot according to claim 1, characterized in that: The walking trolley includes a trolley crossbeam and a first servo motor with a first reducer connected to the output shaft. A group of first guide rails are respectively arranged along the first direction above both sides of the second direction of the truss, and a slide plate is slidably connected to each group of first guide rails. The trolley crossbeam is fixed between two slide plates, and a first spur rack is arranged on one side of the truss along the first direction. The first reducer and the first servo motor are arranged above the slide plate corresponding to the first spur rack, and the driving shaft of the first reducer passes through the slide plate and is equipped with a first gear that meshes with the first spur rack.

3. A rotary spraying robot according to claim 2, characterized in that: It also includes a second servo motor with a second reducer connected to its output shaft, a second spur rack is arranged on one side of the trolley cross beam along the second direction, a group of second guide rails are arranged above the trolley cross beam along the second direction, the base is slidably connected to the second guide rails, the second reducer and the second servo motor are arranged above the base near the second spur rack, and the driving shaft of the second reducer passes through the base and is equipped with a second gear that meshes with the second spur rack.

4. A rotary spraying robot according to claim 3, characterized in that: A circular guide rail is arranged above the base, the rotating base is slidably connected to the circular guide rail, a circular rack is sleeved on the outer periphery of the circular guide rail, the rotating drive mechanism includes a third servo motor whose output shaft is connected to a third reducer, the third reducer and the third servo motor are both arranged at the bottom of one side of the base away from the second spur rack, and the driving shaft of the third reducer passes through the base and is equipped with a third gear which is meshed with the circular rack.

5. The rotary spraying robot according to claim 1, characterized in that: Stoppers are respectively arranged on both sides of the truss in the first direction, and touch switches are respectively arranged on the opposite sides of the two stoppers.

6. A rotary spraying robot according to claim 1, characterized in that: The suspended robot is a six-axis industrial robot.

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