Multifunctional nine-surface release agent spraying equipment

Abstract

The utility model discloses multifunctional nine-surface release agent spraying equipment which comprises a truss, a spraying device and a spraying device, wherein the truss is used for supporting the equipment and positioning a mold; the nine-axis mechanical arm is arranged above the truss and is used for driving the spraying head to perform accurate spraying operation on the mold; the 3D visual camera is arranged in the middle of the nine-axis mechanical arm and is used for shooting and identifying the boundary dimension and the spraying surface of the mold in a working area below the truss; the release agent spraying head is arranged at the execution end of the nine-axis mechanical arm and is used for spraying a release agent to the mold; and the retarder brush head is arranged at the execution end of the nine-axis mechanical arm and is used for brushing the mold with a retarder. According to the equipment, by integrating the 3D visual system and the nine-axis mechanical arm, automatic spraying operation in nine directions of the inner surface and the outer surface of the mold is achieved, and the operation efficiency and precision are remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying equipment, in particular to a multifunctional nine-sided release agent spraying equipment. Background Art

[0002] A release agent is a functional substance that sits between the mold and the finished product. It is chemically resistant and does not dissolve when exposed to the chemical components of different resins (particularly styrene and amines). It is also heat-resistant and stress-resistant, resisting decomposition or wear. It adheres to the mold without transferring to the finished part, preventing it from interfering with painting or other secondary processing operations. Due to the rapid development of processes such as injection molding, extrusion, calendering, molding, and lamination, the use of release agents has increased significantly.

[0003] Currently, construction sites in my country almost exclusively use brushes to apply release agent to concrete test blocks. The concrete test molds used are plastic molds with vent holes at the bottom. When a site has many areas or volumes to pour concrete on the same day, dozens or even hundreds of concrete test pieces need to be prepared. Workers often have to squat or climb high, spending tens or even dozens of minutes applying the release agent. This not only increases physical labor, but fatigue can easily lead to uneven application, over- or under-application, affecting release and wasting release agent. It also wastes time and is inefficient. Utility Model Content

[0004] In response to the above-mentioned deficiencies or improvement needs of the prior art, the purpose of this utility model is to provide a multifunctional nine-sided release agent spraying device. By integrating a 3D vision system and a nine-axis robotic arm, the device realizes automated spraying operations on nine directions inside and outside the mold, significantly improving work efficiency and precision. The device also adopts an automatic retarder pumping design, eliminating the tedious steps of the traditional "spray first, then brush" method and simplifying the operation process. At the same time, the integrated spray head design enables the device to flexibly switch between release agent and retarder without the need for additional material changes, further improving work efficiency. In addition, the device's intelligent control system can automatically generate the optimal spraying trajectory based on the mold information obtained by the 3D vision system, ensuring the consistency and uniformity of the spraying operation.

[0005] To achieve this purpose, the utility model provides a multifunctional nine-sided release agent spraying device, comprising:

[0006] Trusses used to support equipment and position molds;

[0007] The nine-axis robotic arm located above the truss is used to drive the spray head to perform precise spraying operations on the mold;

[0008] A 3D vision camera located in the middle of the nine-axis robotic arm is used to photograph and identify the mold dimensions and spraying surface within the working area below the truss;

[0009] A release agent spraying head provided at the execution end of the nine-axis robotic arm is used to spray the release agent on the mold;

[0010] And the retarder brush head provided at the execution end of the nine-axis robotic arm is used to apply retarder to the mold. Through the combination of the spray brush head and the nine-axis robotic arm, in conjunction with the 3D vision system, the release agent and retarder application operations on the nine surfaces of the inner and outer molds can be automatically completed.

[0011] Furthermore, the device also includes a three-axis truss manipulator, which is fixed on the truss and is used to provide the nine-axis manipulator with the ability to move on the truss.

[0012] Furthermore, the three-axis truss manipulator includes three motion axes, three sets of guide rails and sliders, one set in each of three orthogonal directions, and controls the smooth and precise movement of the device in the three orthogonal directions on the truss.

[0013] Furthermore, the equipment also includes a six-axis robotic arm, which is connected to a three-axis truss robot and is used to drive the release agent spray head or the retarder brush head to perform precise spraying operations on the mold.

[0014] Furthermore, the six-axis robotic arm includes at least six rotation axes, providing multi-directional rotation and bending capabilities.

[0015] Furthermore, the device further comprises a delivery pipe connected to the retarder brush head and used for pumping the retarder directly onto the retarder brush head.

[0016] Furthermore, the release agent spray brush head and the retarder brush head can be switched according to operation requirements.

[0017] Furthermore, the equipment also includes an intelligent control system that receives information transmitted by the 3D vision camera, combines the mold dimensions and spray surface information obtained by the equipment from the factory system, corrects relative errors, forms actual three-dimensional model information, and automatically generates a spray operation motion trajectory based on the corrected actual data, and controls the nine-axis robotic arm to drive the spray head to perform spray operations on the spray surface.

[0018] Beneficial effects of the utility model:

[0019] 1. This utility model uses a combination of a spray head and a nine-axis robotic arm, in conjunction with a 3D vision system, to automatically complete the application of release agent and retarder to nine surfaces of the inner and outer molds.

[0020] 2. The utility model adopts an automatic pumping retarder design through the retarder brush head. The retarder is directly pumped to the brush head, eliminating the need to spray first and then brush;

[0021] 3. The utility model concentrates the retarder brush head and the release agent spray brush head on the multifunctional nine-sided release agent spraying device for alternate use. One machine can spray two kinds of materials without the need for material changing operation, and the spraying efficiency is higher.

[0022] Additional aspects and advantages of the present application will be given in part in the following description, which will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0024] Figure 1 This is a general schematic diagram of a multifunctional nine-sided release agent spraying device in an embodiment of the present utility model;

[0025] Figure 2 This is a detailed schematic diagram of the nine-axis robotic arm portion of the embodiment of the present utility model;

[0026] In all the drawings, the same reference numerals represent the same technical features, specifically: truss 1, nine-axis robotic arm 2, three-axis truss robot 21, six-axis robotic arm 22, 3D vision camera 3, release agent spray head 4, retarder brush head 5, and conveying pipe 6. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0028] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0029] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0030] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as in the examples of this application.

[0031] This utility model provides a multifunctional nine-sided release agent spraying device. By integrating a 3D vision system and a nine-axis robotic arm, the device enables automated spraying in nine directions, both inside and outside the mold. This significantly improves operational efficiency and precision. The device also utilizes an automatic retarder pumping design, eliminating the tedious "spray first, then brush" process and simplifying the operation process. Furthermore, the integrated spray head design enables flexible switching between release agent and retarder without requiring additional material changes, further improving operational efficiency. Furthermore, the device's intelligent control system automatically generates the optimal spraying trajectory based on mold information acquired by the 3D vision system, ensuring consistent and uniform spraying.

[0032] Example 1

[0033] like Figure 1 Figure 2 As shown, this embodiment provides a multifunctional nine-sided release agent spraying device, comprising:

[0034] Truss 1 for supporting the equipment and positioning the mold;

[0035] The nine-axis robotic arm 2 provided above the truss 1 is used to drive the spraying head to perform precise spraying operations on the mold;

[0036] The 3D vision camera 3 provided in the middle of the nine-axis robotic arm 2 is used to photograph and identify the outer dimensions and spraying surface of the mold in the working area below the truss; the execution end of the nine-axis robotic arm 2 is located above the working area and can automatically adjust its position and direction according to the information provided by the 3D vision camera to adapt to the spraying requirements of different molds.

[0037] A release agent spraying head 4 provided at the execution end of the nine-axis robotic arm 2 is used to spray the mold with a release agent;

[0038] And the retarder brush head 5 provided on the execution end of the nine-axis robot arm 2 is used to apply the retarder to the mold.

[0039] Furthermore, the device also includes a three-axis truss manipulator 21, which is fixed on the truss and is used to provide the nine-axis manipulator 2 with the ability to move on the truss 1.

[0040] Furthermore, the three-axis truss manipulator 21 includes three motion axes, three sets of guide rails and sliders, one set in each of three orthogonal directions, and controls the device to move smoothly and accurately in the three orthogonal directions on the truss 1.

[0041] Furthermore, the equipment also includes a six-axis robotic arm 22, which is connected to the three-axis truss robot 21 and is used to drive the release agent spray head 4 or the retarder brush head 5 to perform precise spraying operations on the mold.

[0042] Furthermore, the six-axis robotic arm 22 includes at least six rotation axes, providing multi-directional rotation and bending capabilities.

[0043] Furthermore, the device also includes a delivery pipe 6, which is connected to the retarder brush head 5 and is used to pump the retarder directly to the retarder brush head 5, without the need to adopt the action of spraying first and then brushing to achieve retarder brushing.

[0044] Furthermore, the release agent spray head 4 and the retarder brush head 5 can be switched according to operation requirements.

[0045] Furthermore, the equipment also includes an intelligent control system that receives information transmitted by the 3D vision camera, combines the mold dimensions and spray surface information obtained by the equipment from the factory system, corrects relative errors, forms actual three-dimensional model information, and automatically generates a spray operation motion trajectory based on the corrected actual data, and controls the nine-axis robotic arm to drive the spray head to perform spray operations on the spray surface.

[0046] This embodiment also provides a method for using a multifunctional nine-sided release agent spraying device, comprising:

[0047] S100, placing the mold in the working area below the truss;

[0048] S200, using a 3D vision camera to take pictures of the mold and identify it, and transmit the information to the control system;

[0049] S300, the control system combines the mold information, corrects the relative error of the recognition, forms the actual three-dimensional model information, and automatically generates the motion trajectory of the spraying operation based on the corrected actual data;

[0050] S400, the control system drives the nine-axis robotic arm to spray the nine surfaces of the mold using a release agent spray head or a retarder brush head.

[0051] In some optional embodiments, the present invention may further include multiple 3D vision cameras to achieve all-round inspection of the mold.

[0052] In some optional embodiments, the robotic arm of the present invention may be made of high-strength and lightweight materials to reduce the weight of the robotic arm and improve the response speed;

[0053] In some optional embodiments, the robotic arm of the present invention is designed with replaceable modular components to facilitate quick maintenance and upgrading.

[0054] In some optional embodiments, the present invention may also design an automatic cleaning system for the spray brush head to reduce maintenance time and cost.

[0055] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0056] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A multifunctional nine-sided release agent spraying device, characterized in that: include: a truss (1) for supporting the equipment and positioning the mold; A nine-axis robotic arm (2) disposed above the truss (1) is used to drive a spraying head to perform precise spraying operations on the mold; A 3D vision camera (3) provided in the middle of the nine-axis robotic arm (2) is used to photograph and identify the outer dimensions and spraying surface of the mold in the working area below the truss (1); A mold release agent spraying head (4) provided at the execution end of the nine-axis robotic arm (2) is used for spraying the mold with the mold release agent; The retarder brush head (5) provided at the execution end of the nine-axis robotic arm (2) is used for applying retarder to the mold; through the combination of the spray brush head and the nine-axis robotic arm, in conjunction with the 3D vision system, the release agent and retarder application operation on the nine surfaces of the inner and outer molds can be automatically completed.

2. The multifunctional nine-sided release agent spraying device according to claim 1, characterized in that: The device also includes a three-axis truss manipulator (21), which is fixed on the truss (1) and is used to provide the nine-axis manipulator (2) with the ability to move on the truss (1).

3. The multifunctional nine-sided release agent spraying device according to claim 2, characterized in that: The three-axis truss manipulator (21) includes three motion axes, three sets of guide rails and sliders, one set in each of three orthogonal directions, and controls the smooth and precise movement of the device in the three orthogonal directions on the truss (1).

4. The multifunctional nine-sided release agent spraying device according to claim 1, characterized in that: The device further comprises a six-axis robotic arm (22), which is connected to a three-axis truss robotic arm (21) and is used to drive the release agent spraying head (4) or the retarder brushing head (5) to perform precise spraying operations on the mold.

5. The multifunctional nine-sided release agent spraying device according to claim 4, characterized in that: The six-axis robotic arm (22) includes at least six rotation axes, providing multi-directional rotation and bending capabilities.

6. The multifunctional nine-sided release agent spraying device according to claim 1, characterized in that: The device further comprises a delivery pipe (6), which is connected to the retarder brush head (5) and is used for pumping the retarder directly onto the brush head of the retarder brush head (5).

7. The multifunctional nine-sided release agent spraying device according to claim 1, characterized in that: The release agent spray brush head (4) and the retarder brush head (5) can be switched according to operation requirements.

8. A multifunctional nine-sided release agent spraying device according to any one of claims 1 to 7, characterized in that: The device also includes an intelligent control system that receives information transmitted by the 3D vision camera (3), combines the mold dimensions and spraying surface information obtained by the device from the factory system, corrects relative errors, forms actual three-dimensional model information, automatically generates a spraying operation motion trajectory based on the corrected actual data, and controls the nine-axis robotic arm (2) to drive the spraying head to perform the spraying operation on the spraying surface.

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