Independent teaching spray room

Abstract

The utility model relates to the technical field of spraying teaching, and aims to solve the problems that in the traditional independent teaching process, an encoder and an inductive switch need to be independently arranged, the action track of a workpiece is obtained, and teaching spraying and information acquisition are started when the workpiece reaches a designated area, so that inevitable errors exist in acquired information and the like. The embodiment of the utility model provides an independent teaching spraying room. The independent teaching spraying room comprises a box body, a conveying device, a servo motor and a teaching device, the conveying device and the teaching device are arranged in the box body, and the servo motor is arranged on the box body and is in transmission connection with the conveying device; a to-be-sprayed workpiece is fixed to the conveying device, the servo motor is provided with an encoder, the initial state of the servo motor is associated with the initial position of the conveying device, the servo motor drives the conveying device to drive the to-be-sprayed workpiece to move, and the teaching device completes teaching and collects operation information in the servo motor. Through the arrangement, the structure is more compact, and the obtained data is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of spray teaching, in particular to an independent teaching spray room. Background Art

[0002] As the application of spraying robots becomes more and more widespread, teaching is a very important thing for the application of spraying robots. Through teaching, the spraying robot can move along the teaching trajectory to complete the spraying operation. In the traditional programming-free teaching method, special tools such as the teaching box and the teaching handle are generally placed in a suitable position next to the spraying robot to measure the relative position relationship between the tool and the robot, but this has problems such as contaminating the teaching box, affecting the normal operation of the robot, and low efficiency.

[0003] The existing solution is to use an independent offline teaching device and set the teaching process in an independent teaching spray room. Usually, the workpiece is fixed on a conveyor belt and the teaching spraying work is completed through the conveyor belt. However, the existing conveyor belt is powered by a traditional motor. During the teaching spraying process of the workpiece, an encoder needs to be set up to obtain the movement trajectory of the workpiece. At the same time, an induction switch needs to be set up to start teaching spraying and information collection when the workpiece reaches the designated area. In the existing solution, the various components need to be linked to each other, and their connection relationships and lines are complicated. There are high requirements for the timing of information collection on the workpiece. The opening and closing channels of information collection are controlled by induction switches, which leads to inevitable errors in the collected information. Utility Model Content

[0004] (I) Purpose of the utility model

[0005] The utility model aims to provide an independent teaching spray booth, which adopts a servo motor with an encoder to replace the traditional motor to provide kinetic energy to a conveying device, and sets the initial state of the servo motor and the starting position of the conveying device in association.

[0006] (II) Technical solution

[0007] In order to solve the above problems, the utility model provides an independent teaching spray booth, including a box body, a conveying device, a servo motor and a teaching device;

[0008] The conveying device and the teaching device are arranged inside the box, and the servo motor is arranged on the box and is transmission-connected to the conveying device;

[0009] The workpiece to be sprayed is fixed on the conveying device, the initial state of the servo motor is associated with the starting position of the conveying device, the servo motor drives the conveying device to move the workpiece to be sprayed, and the teaching device completes the teaching and collects the operation information of the servo motor.

[0010] With such a setting, a servo motor with a built-in encoder replaces the traditional motor and the separately provided encoder, making the structure more compact and the acquired data more accurate; the servo motor can record its own rotation data, associate the initial state of the servo motor with the starting position of the conveying device, so that when obtaining the rotation data of the servo motor, the running position of the conveying device can be obtained, and thus the operation information of the servo motor and the running position of the conveying device during the teaching process are transmitted to the teaching device to complete the acquisition of the complete teaching information.

[0011] Preferably, the conveying device includes a conveyor belt, the conveying path of the conveyor belt is circular, and the servo motor drives the conveyor belt to move in a cycle.

[0012] With such a setting, the conveying path of the conveyor belt is set to be circular. During the teaching process, the conveyor belt drives the workpiece to be sprayed to run one week in the box body, and the front and back sides of the workpiece to be sprayed can be taught and sprayed, making the teaching process smoother and the teaching effect better.

[0013] Preferably, the conveyor belt is arranged at the inner top of the box body.

[0014] With such a setting, the conveyor belt is arranged at the inner top of the box body, and at the same time, the servo motor can also be installed on the top of the box body, reducing the pollution of the spraying material to the conveyor belt and the servo motor during the spraying process.

[0015] Preferably, the conveying device further includes a connecting member, and the conveyor belt is connected to the workpiece to be sprayed through the connecting member.

[0016] With such a setting, a connecting member is arranged on the conveyor belt, which is convenient for determining the specific position of the workpiece to be sprayed. At the same time, taking the position of the connecting member as a reference, it is convenient to record the initial position of the conveyor belt, making the collected teaching information more accurate.

[0017] Preferably, the conveying device further includes a gantry fixed to the inner top wall of the box body, the servo motor is fixedly connected to the gantry, and the conveyor belt is connected to the gantry in a rolling or sliding manner.

[0018] With such a setting, the gantry is used to fix the servo motor and the conveyor belt, making the overall structure more stable. The conveyor belt rotates more smoothly under the support of the gantry. At the same time, the gantry supports the transmission connection between the servo motor and the conveyor belt, making the transmission effect better and the accuracy of the information collected by the servo motor higher.

[0019] Preferably, the conveyor belt can also be arranged at the bottom of the box body.

[0020] With such a setting, the conveyor belt is arranged at the bottom of the box body. During its operation, the bottom of the box body has a good supporting effect on it, making the workpiece to be sprayed move more smoothly during the movement.

[0021] Preferably, the teaching device includes a teaching box and a spray gun. The teaching box is fixed inside the box body and close to the conveying device. The spray gun is arranged inside the box body, corresponding to the position of the workpiece to be sprayed. The spray gun is fixed on the teaching robotic arm or held manually for teaching.

[0022] With such a setting, the teaching box and the spray gun are connected to directly obtain the running track of the spray gun. At the same time, the teaching box is connected to the servo motor to obtain the running data of the servo motor, thereby realizing the collection of all information in the teaching process, making the teaching result accurate and improving the teaching efficiency.

[0023] Preferably, the teaching box is screwed or clamped on the inner wall of the box body.

[0024] With such a setting, the position of the teaching box is fixed during the teaching process, which is convenient for setting the data transmission lines of the spray gun and the servo motor. At the same time, in a detachable manner, it can adapt to multiple teaching working conditions, and the position of the teaching box can be adjusted, so that the devices can be flexibly arranged to adapt to the teaching spraying of more different models of workpieces.

[0025] Preferably, the independent teaching spray booth further includes a ventilation device, and the ventilation device is arranged at the bottom of the box body.

[0026] With such a setting, by using the ventilation device, the spraying materials in the spray booth are cleaned and recycled more quickly, reducing the influence of the spraying materials on the workers when taking the workpieces manually. Arranging the ventilation device at the bottom of the box body is more conducive to the recovery and cleaning of the spraying materials.

[0027] Preferably, the ventilation device is arranged directly below the conveying device.

[0028] With such a setting, during the teaching spraying process, there will be relatively more spraying materials directly below the conveying device, improving the recovery rate of the spraying materials.

[0029] (III) Beneficial effects

[0030] The above technical solutions of the present utility model have the following beneficial technical effects:

[0031] 1. Replace the traditional motor and separately installed encoder with a servo motor with a built-in encoder. At the same time, the servo motor can record its own rotation data, associating the initial state of the servo motor with the starting position of the conveying device. Thus, the teaching information can be completely obtained through a single servo motor with a built-in encoder, greatly improving the accuracy of the teaching information. At the same time, the structure of the teaching spray booth is made simpler, the structure of the power equipment is made more compact, and the operation is smoother.

[0032] 2. Adopt a circular conveyor belt that rotates cyclically. When the workpiece to be sprayed moves in one direction on the conveyor belt, the teaching spraying of one side is completed. When the workpiece to be sprayed moves with the conveyor belt to move in the opposite direction, it is automatically turned over to complete the teaching spraying of the other side.

[0033] 3. Set up a teaching box in the spray booth to collect the teaching trajectory of the spray gun and the operation data of the servo motor at the same time, making the teaching information more complete and accurate, avoiding errors caused by multiple data information processing during the process, improving the teaching efficiency at the same time, and saving the rest of the information acquisition equipment. Description of the Drawings

[0034] Figure 1 is a schematic diagram of the overall structure of an independent teaching spray booth according to an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of the structure of the conveying device according to an embodiment of the present invention;

[0036] Figure 3 is a front view structural schematic diagram of an independent teaching spray booth according to an embodiment of the present invention.

[0037] List of Reference Numerals:

[0038] 1. Box body;

[0039] 2. Conveying device; 21. Conveyor belt; 22. Connector; 23. Gantry;

[0040] 3. Servo motor;

[0041] 4. Teaching device; 41. Teaching box;

[0042] 5. Ventilation device. Detailed Embodiment

[0043] To make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0044] The technical solution of the present utility model will be described in detail below with reference to the accompanying drawings. According to an embodiment of the present utility model, an independent teaching spray booth is provided, as Figure 1 shown. The independent teaching spray booth includes a box body 1, a conveying device 2, a servo motor 3 and a teaching device 4; the conveying device 2 and the teaching device 4 are arranged inside the box body 1, and the servo motor 3 is arranged on the box body 1 and is in transmission connection with the conveying device 2; a workpiece to be sprayed is fixed on the conveying device 2, the servo motor 3 is equipped with an encoder, the initial state of the servo motor 3 is associated with the starting position of the conveying device 2, the servo motor 3 drives the conveying device 2 to drive the workpiece to be sprayed to move, and the teaching device 4 completes teaching and collects the operation information in the servo motor 3. Through such a setting, the traditional motor and the separately arranged encoder are replaced by the servo motor 3 with a built-in encoder, making the structure more compact and the obtained data more accurate; the servo motor 3 can record its own rotation data, and the initial state of the servo motor 3 is associated with the starting position of the conveying device 2, so that when obtaining the rotation data of the servo motor 3, the path position of the conveying device 2 is obtained, and thus the operation information of the servo motor 3 and the path position of the conveying device 2 during the teaching process are transmitted to the teaching device 4 to complete the acquisition of teaching information. It should be noted that the positions of the conveying device 2, the servo motor 3 and the teaching device 4 can be flexibly arranged on the box body 1. Optionally, the servo motor 3 is arranged outside the box body 1, and the output end of the servo motor 3 passes through the box body 1 and is in transmission connection with the conveying device, avoiding being contaminated by spraying materials and affecting the accuracy, and eliminating unnecessary maintenance procedures; it can also be arranged at the top or bottom inside the box body 1 and flexibly arranged according to the position of the conveying device 2. In addition, the servo motor 3 and the conveying device 2 can be gear transmission, or belt transmission or other forms. The position of the conveying device 2 can be at the top inside the box body 1, and at this time, the workpiece to be sprayed is taught and sprayed in a suspended manner; the conveying device 2 can also be arranged at the bottom inside the box body 1, and at this time, the workpiece to be sprayed is directly fixed on the conveying device 2 to complete the teaching and spraying.

[0045] Combined with Figure 1 and Figure 2 , Figure 2It is a schematic structural diagram of the conveying device 2 in an embodiment. In a preferred case, the conveying device 2 includes a conveyor belt 21. The conveying path of the conveyor belt 21 is circular. The servo motor 3 drives the conveyor belt to move in a cycle. Through such a setting, the conveying path of the conveyor belt 32 is set to be circular. During the teaching process, the conveyor belt 32 drives the workpiece to be sprayed to run one week in the box body 1, and the teaching spraying of the front and back sides of the workpiece to be sprayed can be completed. Compared with the traditional teaching process, the workpiece to be sprayed needs to run back and forth twice, and manual turning is required during the process to complete the teaching spraying. In this actual example, setting the conveying path of the conveyor belt 21 to be circular makes the teaching process smoother, improves the efficiency of teaching spraying, and the teaching effect is also better. Further, the conveyor belt 21 is arranged at the inner top of the box body. The conveying device 2 further includes a connecting piece 22. The conveyor belt 21 is connected to the workpiece to be sprayed through the connecting piece 22. Through such a setting, the conveyor belt 21 is arranged at the inner top of the box body 1, and at the same time, the servo motor 3 can also be installed on the top of the box body 1. During the spraying process, the pollution of the spraying material to the conveyor belt 21 and the servo motor 3 is reduced; by setting the connecting piece 21 on the conveyor belt 21, it is convenient to determine the specific position of the workpiece to be sprayed, and at the same time, taking the position of the connecting piece 22 as a reference, it is convenient to record the initial position of the conveyor belt 21, making the collected teaching information more accurate. Preferably, the connecting piece 22 is made of a rigid material, such as metal or hard plastic, etc. The connecting piece 22 is fixed on the conveyor belt 21. During the running process of the conveyor belt 21, when the connecting piece 22 moves together with the workpiece to be sprayed, the connecting piece 22 does not deform, thus avoiding teaching data errors. In addition, the number of the connecting pieces 22 is not limited here. Under the condition of meeting the requirements of fixing the workpiece to be sprayed and the stiffness, it can be one or more.

[0046] In a preferred scenario, the conveying device 2 further includes a gantry 23 fixed to the inner top wall of the box body 1. The servo motor 3 is fixedly connected to the gantry 23, and the conveyor belt 21 is connected to the gantry 23 in a rolling or sliding manner. Through such a setting, the gantry 23 is used to fix the servo motor 3 and the conveyor belt 21, making the overall structure more stable. The conveyor belt 21 rotates more smoothly under the support of the gantry 23. At the same time, the gantry 23 supports the transmission connection between the servo motor 3 and the conveyor belt 21, resulting in a better transmission effect and higher accuracy of the information collected by the servo motor 3. It should be noted that the position of the gantry 23 is fixed on the box body 1 according to the actual teaching requirements. Optionally, the gantry 23 is fixed on the outer or inner side of the top of the box body 1, as long as the installation conditions of the servo motor 3 and the conveyor belt 21 are met. At the same time, it can also improve the stiffness of the top of the box body 1, making the teaching process more stable. Optionally, the gantry 23 can also be arranged inside the box body 1 and fixedly connected to the two opposite side walls of the box body 1 to form a crossbeam structure inside the box body 1 for fixing equipment such as the conveyor belt 21 and the servo motor. Preferably, the number of gantries 23 is two, and a single gantry 23 corresponds to the circulation path of the conveyor belt 21. Two turning positions of the conveyor belt 21 are provided on the gantry 23, so that the conveyor belt 21 forms a closed-loop conveying path, and the servo motor 3 is arranged at the turning position. Optionally, the number of servo motors 3 can be one or two. When the number of servo motors 3 is two, they are respectively arranged at the two turning positions, which can provide better power for the conveyor belt 21. At this time, one of the servo motors 3 can record the operation data, and the other only provides power during normal operation. When the first servo motor 3 has a large data error or needs calibration, the other servo motor 3 can enable data recording to improve work efficiency. In an alternative scenario, the conveyor belt 21 can also be arranged at the bottom of the box body 1. At this time, the workpiece to be sprayed is fixed on the conveyor belt 21. Through such a setting, when the conveyor belt 21 is arranged at the bottom of the box body, the bottom of the box body 1 has a good supporting effect on it during its operation, making the workpiece to be sprayed move more smoothly. At this time, the servo motor 3 is arranged at the bottom of the box body 1 and is arranged corresponding to the position of the conveyor belt 21.

[0047] Combined Figures 1 to 3 , Figure 3 is a front view of an independent teaching spray booth of an embodiment, in which the teaching device 4 includes a teaching box 41 and a spray gun. The spray gun uses common equipment in the technical field. Figure 3Not shown in the figure, the teaching box 41 is fixed inside the box body 1 and close to the conveying device 2. The spray gun is arranged inside the box body and corresponds to the position of the workpiece to be sprayed. Optionally, the spray gun is fixed on the teaching robot arm or held manually for teaching. It should be noted that in this embodiment, the teaching box 41 and the spray gun are connected by wire, and the teaching travel trajectory of the spray gun can be obtained. At the same time, the teaching box 41 and the servo motor 3 are connected by wire. The servo motor 3 uploads the operation data and the initial position to the teaching box 41. The teaching box 41 collects and processes the data of the servo motor 3 and the spray gun during the teaching process, obtains the teaching data of the workpiece to be sprayed and saves it, and then uses the teaching data of the teaching box 41 to complete the spraying reproduction in the production process. Through such a setting, the teaching result is accurate and the teaching efficiency is improved. In a preferred case, the teaching box 41 is screwed or clamped on the inner wall of the box body 1. Through such a setting, the position of the teaching box 41 is fixed during the teaching process, which is convenient for setting the data transmission lines of the spray gun and the servo motor 3. At the same time, the detachable method is adopted to adapt to multiple teaching working conditions, and the position of the teaching box 41 can be adjusted, so that the devices can be flexibly arranged to adapt to the teaching spraying of more different types of workpieces. In a preferred case, the independent teaching spray booth of this embodiment further includes a ventilation device 5. The ventilation device 5 is arranged at the bottom of the box body 1. Optionally, the ventilation device 5 is arranged directly below the conveying device 2. It should be noted that the ventilation device 5 is in the form of a funnel, and the fan is arranged at the bottom of the funnel. While exhausting the air outwards, the ventilation device 5 also cleans and recovers the excess spraying material, reducing the influence of the spraying material on the operator when taking the workpiece. During the teaching spraying process, there will be relatively more spraying materials directly below the conveying device 2, improving the recovery rate of the spraying material. In an optional case, a partition layer for the ventilation device 5 is arranged at the bottom of the box body 1, and the cleaned and recovered spraying material can be temporarily stored, separated from the teaching space inside the box body 1 to avoid mutual influence.

[0048] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. An independent teaching spray booth, characterized in that, The independent teaching spray booth includes a box body (1), a conveying device (2), a servo motor (3) and a teaching device (4); The conveying device (2) and the teaching device (4) are arranged inside the box body (1), and the servo motor (3) is arranged on the box body (1) and is in driving connection with the conveying device (2); The workpiece to be sprayed is fixed on the conveying device (2), the initial state of the servo motor (3) is associated with the starting position of the conveying device (2), the servo motor (3) drives the conveying device (2) to drive the workpiece to be sprayed to move, and the teaching device (4) completes teaching and collects the operation information in the servo motor (3).

2. The independent teaching spray booth according to claim 1, characterized in that, The conveying device (2) includes a conveyor belt (21), the conveying path of the conveyor belt (21) is circular, and the servo motor (3) drives the conveyor belt (21) to move in a cycle.

3. The independent teaching spray booth according to claim 2, characterized in that, The conveyor belt (21) is arranged at the inner top of the box body (1).

4. The independent teaching spray booth according to claim 3, characterized in that, The conveying device (2) further includes a connecting member (22), and the conveyor belt (21) is connected to the workpiece to be sprayed through the connecting member (22).

5. The independent teaching spray booth according to claim 4, characterized in that, The conveying device (2) further includes a truss (23) fixed on the inner top wall of the box body (1), the servo motor (3) is fixedly connected to the truss (23), and the conveyor belt (21) is in rolling or sliding connection with the truss (23).

6. The independent teaching spray booth according to claim 2, wherein The conveyor belt (21) is arranged at the bottom of the box body (1).

7. The independent teaching spray booth according to claim 1, wherein The teaching device (4) includes a teaching box (41) and a spray gun. The teaching box (41) is fixed inside the box body (1) and close to the conveying device (2). The spray gun is arranged inside the box body (1) and corresponds to the position of the workpiece to be sprayed. The spray gun is fixed on a teaching robot arm or held manually for teaching.

8. The independent teaching spray booth according to claim 7, wherein, The teaching box (41) is screwed and / or clamped on the inner wall of the box body (1).

9. The independent teaching spray booth according to claim 1, wherein The independent teaching spray booth further includes a ventilation device (5), and the ventilation device (5) is arranged at the bottom of the box body (1).

10. The independent teaching spray booth according to claim 9, characterized in that The ventilation device (5) is arranged directly below the conveying device (2).

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