Robot automatic spraying device

Abstract

The utility model relates to the technical field of spraying equipment, in particular to a robot automatic spraying device which comprises a working platform, a conveying belt is arranged on the working platform, products are placed on the conveying belt, a spraying robot is arranged on the platform, and the spraying robot is located on one side of the conveying belt. A swing shaft set is arranged below the conveying belt. An air bag assembly is connected to the top of the swing shaft set and connected with a product. The bottom of the swing shaft set is connected with the telescopic end of the telescopic assembly, and the telescopic assembly is arranged on the rotating assembly. The rotating assembly is installed in the working platform, and the rotating axis of the rotating assembly and the swing point of the swing shaft set are vertically and coaxially arranged. The swing shaft set comprises a shaft rod, and the swing point of the shaft rod is provided with a universal joint structure. The top of the shaft rod is connected with a displacement part, and the displacement end of the displacement part is connected with the airbag assembly. The utility model solves the technical problem that a low-axis robot auxiliary swing structure easy to maintain and debug can quickly and automatically spray multiple surfaces of a product.

Description

Technical Field

[0001] This utility model relates to the field of spraying equipment technology, and more specifically, to a robotic automatic spraying device. Background Technology

[0002] Most products we encounter in daily life have their surfaces coated with paint for purposes such as anti-oxidation and decoration. Manual spraying is time-consuming and difficult to achieve even coverage, so automatic spraying equipment is used. To quickly and automatically spray different surfaces of a product, robots are typically used for this purpose.

[0003] Existing robotic automatic spraying devices typically employ multi-axis robots (usually four-axis or higher) to automatically spray various surfaces of products quickly and automatically. However, in actual spraying processes, the operation procedures of multi-axis robots are too complex. When a multi-axis robot malfunctions, it requires a long time for repairs and readjustment of the robot's trajectory parameters. The high maintenance costs and long time involved can reduce spraying efficiency.

[0004] A Chinese utility model patent, titled "An Automatic Robotic Spraying System" with publication number CN213315787U, includes a robot base and a high-atomization spray gun assembly. The robot base houses the industrial spraying robot assembly, and an aluminum alloy connecting rod is screwed to the top of the assembly. The high-atomization spray gun assembly is connected to the top of the aluminum alloy connecting rod. This utility model facilitates assembly and disassembly, and the entire device utilizes a robot to replace manual labor, achieving automated spraying.

[0005] Although this invention can achieve automatic spraying, it still requires a complex PLC control program to control the spraying trajectory of the multi-axis robot, making the entire spraying robot expensive and complex to operate. Utility Model Content

[0006] The purpose of this application is to provide a robotic automatic spraying device that solves the technical problem of using an easy-to-maintain and debug low-axis robot-assisted swing structure for rapid and automatic multi-faceted spraying of products.

[0007] To solve the above-mentioned technical problems, the solution adopted in this application is as follows:

[0008] An automated robotic spraying device includes a workstation with a conveyor belt on it, a product placed on the conveyor belt, and a spraying robot positioned on one side of the conveyor belt.

[0009] Preferably, a swing shaft assembly is provided below the conveyor belt, and the swing point of the swing shaft assembly is located inside the workstation.

[0010] Preferably, the top of the swing shaft group is connected with an air bag assembly, and the air bag assembly is connected with the product.

[0011] Preferably, the bottom of the swing shaft group is connected with the telescopic end of the telescopic assembly, and the telescopic assembly is arranged on the rotating assembly.

[0012] Preferably, the rotating assembly is arranged in the work platform, and the rotating shaft of the rotating assembly is arranged vertically coaxially with the swing point of the swing shaft group.

[0013] Preferably, the swing shaft group comprises a shaft rod, the swing point of the shaft rod is provided with a universal joint structure, the swing end of the universal joint structure is fixedly connected with the shaft rod, and the fixed end of the universal joint structure is fixedly connected with the work platform.

[0014] Preferably, the top of the shaft rod is connected with a displacement member, the displacement end of the displacement member is connected with the air bag assembly, and the displacement direction of the displacement member is consistent with the axial direction of the shaft rod.

[0015] Preferably, the universal joint structure comprises a swing ball and a fixed ring, the swing ball is fixedly arranged at the swing point of the shaft rod, the swing ball is sleeved in the fixed ring, the fixed ring is fixed in the work platform, a spherical cavity is arranged in the fixed ring, and the shape of the spherical cavity is matched with the shape of the swing ball.

[0016] Preferably, the spherical cavity vertically penetrates a through port, the shaft rod is arranged through the through port, and the diameter of the shaft rod is smaller than the diameter of the through port.

[0017] Preferably, the air bag assembly comprises an air bag cavity and an inflation assembly, the inflation assembly is fixedly arranged at the displacement end of the displacement member, the inflation assembly is communicated with a plurality of air bag cavities, and the plurality of air bag cavities are arranged uniformly in a circle along the shaft of the shaft rod.

[0018] Preferably, the rotating assembly comprises a rotating disc, the bottom of the rotating disc is coaxially and fixedly connected with a rotating motor, a vertical chute is vertically arranged in the rotating disc, and the slot of the chute penetrates the shaft of the rotating disc.

[0019] Preferably, the shaft rod is slidably connected with the chute, and the bottom end of the shaft rod penetrates the chute.

[0020] Preferably, the telescopic assembly comprises a pneumatic cylinder, a hinged rod is rotationally connected with the push rod of the pneumatic cylinder, the hinged rod is fixed below the shaft rod, and the cylinder body of the pneumatic cylinder is hinged on the rotating disc.

[0021] Preferably, the spraying robot comprises a multi-axis robot, and the working end of the multi-axis robot is provided with a spraying head.

[0022] Preferably, the number of axes of the multi-axis robot is set to four axes or less.

[0023] Preferably, the conveying belt comprises two baffle plates, the two baffle plates are arranged on the table top of the work station, driving motors are arranged on the two ends of the baffle plates, and driving shafts of the driving motors are sleeved with belts.

[0024] Preferably, the two baffle plates are matched with the belts on the opposite plate surfaces, and the belts are hollowly arranged at the middle positions along the conveying direction of the conveying belt.

[0025] The technical scheme has at least the following advantages and beneficial effects:

[0026] In the utility model, the spraying work is carried out through the four-axis and below robot, the different axial movement of the robot is reduced, the maintenance difficulty and the debugging time of the robot are reduced, and the spraying work can be carried out quickly.

[0027] In the utility model, the box type structure and the barrel type structure are fixed by using the inflation of the plurality of separated air bags, and the product with the special-shaped inner wall is fixed by using the large inflation deformation.

[0028] In the utility model, the shaft rod is driven to swing freely by the universal joint structure, the shaft rod is driven to tilt by the telescopic assembly, the side of the product is deflected to the spraying range for spraying, and finally the shaft rod and the product after tilting are driven to carry out the circumferential movement by the rotating assembly, so that the whole side of the product enters the spraying range for automatic spraying. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a sectional view structural schematic diagram of the utility model.

[0030] Figure 2 It is a structural schematic diagram of the utility model.

[0031] Figure 3 It is a structural schematic diagram of another angle in the utility model.

[0032] Figure 4 It is a sectional view structural schematic diagram of the swing shaft group in the utility model.

[0033] Figure 5 It is a sectional view structural schematic diagram of the rotating assembly in the utility model.

[0034] Figure 6 It is a sectional view structural schematic diagram of the telescopic assembly in the utility model.

[0035] In the figure: 1-workstation platform, 2-conveyer belt, 201-baffle, 202-driving motor, 203-belt, 3-tray, 4-spraying robot, 401-multi-axis robot, 402-spraying head, 5-product, 6-oscillating shaft group, 601-shaft rod, 602-oscillating ball, 603-fixed ring, 604-displacement piece, 7-air bag assembly, 701-air bag cavity, 702-inflating assembly, 8-telescopic assembly, 801-hinged plate, 802-cylinder, 9-rotating assembly, 901-rotating disc, 902-rotating motor, 903-slotted link. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. If the terms "center", "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. It should also be noted that, unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection" appear, they should be understood broadly, for example, they can be fixedly connected, or detachably connected, or integrally connected; they can be mechanically connected, or electrically connected; they can be directly connected, or indirectly connected through an intermediate medium, or the connection between two elements can be internal. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] EMBODIMENT

[0039] Please refer to Figures 1-5 The present application provides a kind of robot automatic spraying device, including workstation platform 1, conveyer belt 2, tray 3, spraying robot 4, product 5, oscillating shaft group 6, air bag assembly 7, telescopic assembly 8, rotating assembly 9.

[0040] Further, the workstation 1 is provided with a conveying belt 2, and a plurality of trays 3 are installed on the conveying belt 2, and products 5 to be sprayed are placed in the trays 3, and the trays 3 are used to carry the products 5, so as to avoid abrasion of the surfaces of the products 5 when the conveying belt 2 conveys the products 5.

[0041] The workstation 1 is provided with a spraying robot 4, which is located on one side of the conveying belt 2 and is used for automatically spraying the products 5 conveyed by the conveying belt 2.

[0042] The spraying robot 4 comprises a multi-axis robot 401 and a spraying head 402.

[0043] The working end of the multi-axis robot 401 is fixedly provided with the spraying head 402, and the spraying head 402 is connected with an external liquid supply pipe and is used for spraying a spraying material to the surface of the product 5.

[0044] The number of axes of the multi-axis robot 401 is set to be four or less, and only simple vertical height adjustment or horizontal displacement adjustment is performed, so as to ensure automatic spraying and reduce the use cost of the robot.

[0045] Further, the conveying belt 2 is provided below with a swing shaft group 6, and the swing point of the swing shaft group 6 is arranged in the workstation 1 and performs circumferential swinging.

[0046] The top of the swing shaft group 6 is connected with an air bag assembly 7, and the air bag assembly 7 extends into the product 5 on the conveying belt 2 to inflate and fix the product 5.

[0047] It is worth noting that the middle part of the tray 3 is hollow, so that the swing shaft group 6 and the air bag assembly 7 below the conveying belt 2 can contact the product 5, and the product 5 is arranged in a box structure or a barrel structure with different diameters in this embodiment, and the inside of the product 5 is a cavity, and the opening of the cavity faces the lower side of the conveying belt 2, so that the air bag assembly 7 can extend into the inside of the product 5, and when the air bag assembly 7 inflates, the product 5 and the swing shaft group 6 are fixed together and swing together in a circle.

[0048] Further, the bottom of the swing shaft group 6 is connected with the extension end of a telescopic assembly 8, and the telescopic assembly 8 is arranged on a rotating assembly 9, and the rotating assembly 9 is installed in the workstation 1, and the rotating shaft of the rotating assembly 9 is vertically coaxially arranged with the swing point of the swing shaft group 6.

[0049] Preferably, after the air bag assembly 7 fixes the product 5, the telescopic assembly 8 pushes the swing shaft assembly 6 to make the swing assembly tilt, the bottom end of the swing assembly is eccentrically arranged on the rotating assembly 9, when the rotating assembly 9 works, the bottom end of the swing assembly will be driven to move in a circle, so that the swing assembly drives the top end to also move in a circle through the swing point, thereby making the product 5 fixed by the air bag assembly 7 at the top end of the swing assembly also tilt at an angle, and then move in a circle to deflect the side of the product 5 towards the upward spraying head 402, so that the spraying head 402 can spray the side of the product 5.

[0050] Please refer to Figures 4-6 In the embodiment, the swing shaft assembly 6 includes a shaft rod 601, a universal joint structure, and a displacement piece 604.

[0051] Specifically, the top of the shaft rod 601 is connected with the displacement piece 604, the displacement end of the displacement piece 604 is connected with the air bag assembly 7, and the displacement direction of the displacement piece 604 is consistent with the axial direction of the shaft rod 601.

[0052] The displacement piece 604 is arranged as a telescopic cylinder, which is responsible for driving the air bag assembly 7 to extend into the product 5, and before the product 5 is conveyed to the spraying position, the telescopic cylinder is retracted to avoid the air bag assembly 7 interfering with the tray 3 and the product 5 on the conveying belt 2; when the product 5 is sprayed, the telescopic cylinder 802 is extended to displace the air bag assembly 7 to different depths of the product 5 to fix the product 5.

[0053] And the universal joint structure is arranged at the swing point of the shaft rod 601, the swing end of the universal joint structure is fixedly connected with the shaft rod 601, and the fixed end of the universal joint structure is fixedly connected with the working platform 1, so that the shaft rod 601 can be swung in a circle through the universal joint structure.

[0054] The universal joint structure includes a swing ball 602 and a fixed ring 603.

[0055] The swing ball 602 is fixedly arranged at the swing point of the shaft rod 601, the swing ball 602 is sleeved in the fixed ring 603, the fixed ring 603 is fixed in the working platform 1, the fixed ring 603 is provided with a spherical cavity, the shape of the spherical cavity is matched with the shape of the swing ball 602, the spherical cavity is vertically penetrated through a through opening, the shaft rod 601 is arranged through the through opening, and the diameter of the shaft rod 601 is smaller than the diameter of the through opening.

[0056] Preferably, when the swing ball 602 rotates in the spherical cavity, the connected shaft rod 601 will also rotate, and the relatively large through opening vertically penetrating through the spherical cavity can ensure that the shaft rod 601 will not interfere with the wall surface of the through opening when the shaft rod 601 swings with the rotating ball, so that the shaft rod 601 cannot swing at a large angle relative to the fixed ring 603.

[0057] It is worth mentioning that the diameter of the through port of the spherical cavity is smaller than the diameter of the rotating sphere, so that the spherical cavity can cover the rotating sphere and the rotating sphere cannot be separated out.

[0058] In the embodiment, the air bag assembly 7 comprises a plurality of air bag cavities 701 and an inflation assembly 702.

[0059] Specifically, the inflation assembly 702 is fixedly arranged on the displacement end of the displacement member 604, the inflation assembly 702 is communicated with the plurality of air bag cavities 701, and the plurality of air bag cavities 701 are uniformly circumferentially arranged along the axis of the shaft 601.

[0060] Through the arrangement of the plurality of separated air bag cavities 701, compared with a single air bag cavity 701, the inflation assembly 702 can better fill and fit the inner wall of the special-shaped structure of the product 5, the deformation amount of the air bag cavity 701 is larger, and the fixing effect is better.

[0061] In the embodiment, the rotating assembly comprises a rotating disc 901, a rotating motor 902 and a sliding groove 903.

[0062] Specifically, the rotating disc 901 is coaxially fixedly connected with the rotating motor 902 at the bottom, the rotating motor 902 drives the rotating disc 901 to rotate, the sliding groove 903 vertically penetrates the rotating disc 901, the slot of the sliding groove 903 penetrates the axis of the rotating disc 901, the sliding groove 903 is slidably connected with the shaft 601, and the bottom end of the shaft 601 penetrates the sliding groove 903.

[0063] The telescopic assembly 8 is arranged as a pneumatic cylinder 802, a pushing rod of the pneumatic cylinder 802 is rotatably connected with a hinged rod, the hinged rod is fixed below the shaft 601, a cylinder body of the pneumatic cylinder 802 is hinged to the rotating disc 901, when the pneumatic cylinder 802 is extended, the pushing rod pushes the bottom end of the shaft 601 to slide in the sliding groove 903, and the bottom end of the shaft 601 slides from the position close to the axis of the rotating disc 901 to the position close to the edge of the rotating disc 901 in the sliding groove 903, so that the shaft 601 is inclined, and the bottom end of the shaft 601 cannot slide out of the sliding groove 903 in the process.

[0064] When the top surface of the product 5 is sprayed, the telescopic assembly 8 is in the retracted state, the shaft 601 is vertically arranged and coaxial with the rotating disc 901, the displacement member 604 on the shaft 601 is vertically displaced, the air bag assembly 7 is used to vertically lift and fix the product 5, and then the spraying robot 4 above the product 5 uses the spraying head 402 to perform the spraying work.

[0065] When the side of the product 5 is sprayed, the telescopic assembly 8 is in the extended state, the shaft rod 601 is arranged obliquely relative to the rotating disc 901, at this time, the air bag assembly 7 at the top end of the shaft rod 601 has fixed the product 5, therefore, the shaft rod 601 drives the product 5 to tilt synchronously, so that the side of the product 5 is deflected towards the top, until the side of the product 5 is deflected into the spraying range of the spraying head 402, then the rotating disc 901 rotates to drive the shaft rod 601 to move in a circle, so that the tilted product 5 rotates, so that the spraying head 402 can spray the whole side of the product 5, thereby realizing automatic spraying.

[0066] Please refer to Figures 1-3 In the embodiment, the conveying belt 2 comprises a baffle 201, a driving motor 202 and a belt 203.

[0067] Specifically, two baffles 201 are arranged on the table top of the work station 1, the driving motor 202 is arranged on the two ends of the baffle 201, the belt 203 is sleeved on the driving shaft of the driving motor 202, the driving motor 202 drives the belt 203 to rotate, so as to convey the tray 3 placed on the belt 203, thereby realizing the conveying of the product 5.

[0068] The two baffles 201 are matched with the belt 203 on the opposite surfaces, the belt 203 is hollowly arranged at the middle position along the conveying direction of the conveying belt 2, the hollow part can facilitate the air bag assembly 7 below the conveying belt 2 in the work station 1 to move upwards and connect with the product 5, and will not interfere.

[0069] So far, the embodiments of the utility model have been described in detail. In order to avoid shielding the concept of the utility model, some details known in the art are not described. According to the above description, those skilled in the art can fully understand how to implement the technical scheme of the utility model, and the scope of the utility model is defined by the appended claims.

Claims

1. A robotized automatic painting device comprising a work station (1) provided with a conveyor belt (2) on which products (5) are placed, a painting robot (4) being provided on the station, the painting robot (4) being located on one side of the conveyor belt (2), Characterized in that; The conveying belt (2) is provided with a swing shaft group (6) below, and a swing point of the swing shaft group (6) is arranged in the workbench (1); The top of the swing shaft group (6) is connected with an air bag assembly (7), and the air bag assembly (7) is connected with the product (5); The bottom of the swing shaft group (6) is connected with the extension end of a telescopic assembly (8), and the telescopic assembly (8) is arranged on a rotating assembly (9); The rotating assembly (9) is installed in the workbench (1), and a rotating shaft of the rotating assembly (9) is vertically arranged on the same axis as the swing point of the swing shaft group (6); The swing shaft group (6) comprises a shaft rod (601), and a swing point of the shaft rod (601) is provided with a universal joint structure, a swing end of the universal joint structure is fixedly connected with the shaft rod (601), and a fixed end of the universal joint structure is fixedly connected with the workbench (1); The top of the shaft rod (601) is connected with a displacement element (604), a displacement end of the displacement element (604) is connected with the air bag assembly (7), and the displacement direction of the displacement element (604) is consistent with the axial direction of the shaft rod (601).

2. A robotic automatic painting apparatus as claimed in claim 1, wherein, The universal joint structure comprises a swing ball (602) and a fixed ring (603), the swing ball (602) is fixedly arranged at the swing point of the shaft rod (601), the swing ball (602) is sleeved in the fixed ring (603), the fixed ring (603) is fixedly arranged in the workbench (1), and a spherical cavity is arranged in the fixed ring (603) and is matched with the shape of the swing ball (602); The spherical cavity is vertically penetrated by a through hole, the shaft rod (601) is arranged in the through hole, and the diameter of the shaft rod (601) is smaller than the diameter of the through hole.

3. A robotic automatic spray painting apparatus as defined in claim 1, wherein The air bag assembly (7) comprises an air bag cavity (701) and an inflation assembly (702), the inflation assembly (702) is fixedly arranged at the displacement end of the displacement element (604), the inflation assembly (702) is communicated with a plurality of air bag cavities (701), and the plurality of air bag cavities (701) are uniformly arranged in a circumferential direction along the shaft of the shaft rod (601).

4. A robotic automatic spray painting apparatus as defined in claim 1, wherein The rotating assembly comprises a rotating disc (901), a rotating motor (902) is coaxially and fixedly connected to the bottom of the rotating disc (901), a vertical sliding groove (903) is vertically arranged in the rotating disc (901), and the shaft of the rotating disc (901) is arranged in the slot of the sliding groove (903); The shaft rod (601) is slidably connected to the sliding groove (903), and the bottom end of the shaft rod (601) is arranged in the sliding groove (903).

5. A robotic automatic spray painting apparatus as defined in claim 1, wherein The telescopic assembly (8) comprises an air cylinder (802), a push rod of the air cylinder (802) is rotatably connected with a hinged rod, the hinged rod is fixedly arranged below the shaft rod (601), and a cylinder body of the air cylinder (802) is hingedly arranged on the rotating disc (901).

6. A robotic automatic spray painting apparatus as defined in claim 1, wherein The spraying robot (4) comprises a multi-axis robot (401), and a working end of the multi-axis robot (401) is provided with a spraying head (402); The number of axes of the multi-axis robot (401) is four or less.

7. A robotic automatic spray painting apparatus as defined in claim 1, wherein The conveying belt (2) comprises a baffle (201), two baffles (201) are arranged on the table top of the workbench (1), drive motors (202) are arranged at two ends of the baffle (201), and belts (203) are sleeved on drive shafts of the drive motors (202). Two baffle plates (201) are matched with a belt (203) on the opposite plate surfaces, and the belt (203) is hollowly arranged at the middle position along the conveying direction of the conveying belt (2).

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