Self-adaptive clamping device of automatic spray gun

Abstract

The utility model discloses a self-adaptive clamping device of an automatic spray gun, and belongs to the technical field of spraying robots. The device comprises a driving unit, a clamping unit and an automatic spray gun, a driving motor in the driving unit drives a screw rod to rotate, and then a clamping jaw linkage driving main plate is driven to move up and down, so that a clamping jaw movable connecting plate, a clamping jaw grabbing plate and a clamping jaw clamping front end structure move up and down; and then the three clamping jaw mechanisms are driven to do opening and closing movement to simulate finger movement of a person to clamp the automatic spray gun. The side soft cushions and the middle soft cushion are connected to the lower portion of the claw clamping front end fixing base through springs, can adapt to automatic spray guns of different shapes and can be well attached to gun bodies of the automatic spray guns, so that the automatic spray guns can be tightly attached to the clamping claws, and vibration during spraying operation is reduced. The device is compact in structure and high in space utilization rate; the clamping jaw combination is adopted to cope with automatic spray guns of different sizes and different shapes, and the advantages of flexibility, neatness, high efficiency and the like are achieved.

Description

Technical Field

[0001] This utility model is specifically an automatic spray gun adaptive clamping device, which belongs to the technical field of spraying robots. Background Technology

[0002] Currently, painting robots are widely used in various industries, such as painting surfaces on automated production lines in light industry and painting the exterior steel plates of ships in the shipbuilding industry. Existing automatic spray guns are typically fixed by placing them inside a clamping plate and using the pressure generated by tightening bolts. Because there are many types of automatic spray guns with different sizes and installation methods, workers need to adapt different mounting bases to different automatic spray guns and the painting robot's actuation end. Often, the structure of the automatic spray gun necessitates significant adjustments to the actuation end structure of the painting equipment, resulting in low painting efficiency, long working times, and high costs.

[0003] Due to the current urgent need for efficiency in spraying processes, it is necessary to solve the problem of adapting the spraying robot's spraying execution end to different automatic spray guns. Utility Model Content

[0004] To address the problems existing in the prior art, this utility model provides an automatic spray gun adaptive clamping device, which uses multiple clamping structures to clamp the automatic spray gun together, in order to solve the problem that previous painting robots needed to deal with different automatic spray guns and that the automatic spray gun mounting base structure was complex.

[0005] The technical solution adopted by this utility model is as follows: an automatic spray gun adaptive clamping device, which includes a drive unit, a clamping unit and an automatic spray gun. In the drive unit, the drive motor is mounted on the drive motor mounting plate. The drive motor is connected to one end of the screw through the drive motor coupling. An automatic spray gun buffer is set at the other end of the screw that passes through the clamping jaw fixing plate. The drive motor mounting plate and the clamping jaw fixing plate are fixedly connected by bolts. The clamping jaw linkage drive main board is connected to the screw through threads.

[0006] The clamping unit includes a clamping mechanism mounted on a clamping jaw fixing plate. The upper end of the clamping jaw fixing plate is fixed to the clamping jaw fixing plate by bolts, and the lower end of the clamping jaw fixing plate is connected to a movable clamping jaw connecting plate and a clamping jaw gripping plate in sequence. The clamping jaw gripping plate is provided with a clamping jaw gripping front end structure. The clamping mechanism also includes a clamping jaw linkage drive sub-plate. One end of the clamping jaw linkage drive sub-plate is connected to the clamping jaw linkage drive main plate, and the other end of the clamping jaw linkage drive sub-plate is connected to the movable clamping jaw connecting plate. The movable clamping jaw connecting plate, the clamping jaw gripping plate, and the clamping jaw gripping front end structure move up and down by moving the movable clamping jaw connecting plate up and down through the up and down movement of the clamping jaw linkage drive main plate.

[0007] The automatic spray gun is mounted on the automatic spray gun buffer.

[0008] Furthermore, the drive unit is also provided with a drive motor guard plate, which is connected to the drive motor mounting plate by bolts.

[0009] Furthermore, the gripper mechanism includes a first gripper mechanism, a second gripper mechanism, and a third gripper mechanism, and the fixed positions of the three gripper mechanisms form an equilateral triangle.

[0010] Furthermore, the gripper holding front end structure is connected to the fixed base via a fixed connecting rod, and the fixed base is equipped with side soft pads and middle soft pads via springs.

[0011] An automatic spray gun adaptive clamping device includes a drive unit, a clamping unit, and an automatic spray gun buffer unit. The specific structure includes: a first gripper mechanism, a gripper fixing plate, a gripper movable connecting plate, a gripper grasping plate, a gripper clamping front end structure for the automatic spray gun clamping device, a gripper linkage drive sub-plate, a second gripper mechanism, a third gripper mechanism, a drive motor guard plate, a drive motor, a drive motor mounting plate, a drive motor coupling, a gripper fixing plate, a gripper linkage drive main plate, a screw, an automatic spray gun buffer, a gripper clamping front end fixing base, a spring, a side soft pad, a middle soft pad, and several bolts.

[0012] The drive unit has a drive motor mounted on a drive motor mounting plate. The drive motor coupling rotates the screw, causing the gripper to move up and down along the screw, which in turn drives the three grippers of the automatic spray gun to open and close, simulating the movement of human fingers to grip the automatic spray gun.

[0013] Furthermore, the drive motor is fixed above the drive motor mounting plate, and the drive motor guard plate is connected to the drive motor mounting plate by three sets of bolts to protect the drive motor from external forces. The drive motor coupling is fixed below the drive motor mounting plate, and the gripper fixing plate is connected to the drive motor coupling and the gripper fixing plate, ensuring the overall structure is stable. The gripper linkage drive main board cooperates with the screw, which is connected to the drive motor coupling. The drive motor rotates the screw through the drive motor coupling, causing the gripper linkage drive main board to move up and down along the screw.

[0014] Furthermore, the clamping unit consists of three identical grippers, which mainly include: a gripper fixing plate, a gripper movable connecting plate, a gripper grasping plate, a front-end structure for clamping the automatic spray gun device grippers, and a gripper linkage drive sub-plate. The upper end of the gripper fixing plate is fixed to the gripper fixing plate, and the lower end of the gripper fixing plate is connected to four identical gripper movable connecting plates via bolts. The gripper movable connecting plates are connected to the gripper grasping plates via bolts, and the front-end structure for clamping the automatic spray gun device grippers is fixed to the gripper grasping plates. One end of the gripper linkage drive sub-plate is connected to the middle of the steel plate at the lower part of the gripper movable connecting plate, and the other end is connected to the gripper linkage drive main plate. The up-and-down movement of the gripper linkage drive main plate drives the three grippers of the automatic spray gun device to open and close.

[0015] Furthermore, the buffer unit is divided into two parts. The first part is the automatic spray gun buffer, located at the bottom of the screw, used to clamp the automatic spray gun during operation and reduce the impact of vibration generated during spraying. The second part is the single-jaw clamping front structure of the automatic spray gun clamping device. This structure contacts the side of the automatic spray gun and includes: a jaw clamping front fixing base, a spring, side soft pads, and a middle soft pad. The jaw clamping front fixing base is fixed to the front end of the jaw gripping plate. The side soft pads and the middle soft pads are connected to the bottom of the jaw clamping front fixing base by springs. This allows it to accommodate automatic spray guns of different shapes and to fit well with the spray gun body, ensuring the automatic spray gun fits tightly against the jaws, reducing vibration during spraying, and thus reducing the impact on the spraying operation.

[0016] The beneficial effects of this utility model are as follows: The first, second, and third gripper mechanisms of this device cooperate with each other, and the linkage of the grippers drives the main board to move up and down, thereby driving the three grippers of the automatic spray gun device to open and close. This allows it to handle automatic spray guns of different sizes and shapes, and has the advantages of flexibility, neatness, and high efficiency. The device is equipped with two shock absorption mechanisms: one is an automatic spray gun buffer located at the bottom of the screw, used to grip the automatic spray gun and reduce the impact of vibration generated during spraying; the other is a spring between the side soft pad, the middle soft pad, and the fixed base, which allows the grippers and the body of the automatic spray gun to fit well, so that the automatic spray gun can fit tightly against the grippers, reducing vibration during spraying and thus reducing the impact on the spraying operation.

[0017] This device fully considers the shortcomings of the existing spray gun actuator of the painting robot and the actual requirements. It has a novel structure, complete functions, convenient operation, and compact overall design, avoiding the complex installation and operation of the spray actuator of the painting robot. This painting robot makes the overall equipment compact and makes great space utilization, which is of great application value. Attached Figure Description

[0018] Figure 1This is a schematic diagram of an automatic spray gun adaptive clamping device.

[0019] Figure 2 This is a front view of an automatic spray gun adaptive clamping device.

[0020] Figure 3 This is a structural diagram of the drive unit and the clamping unit.

[0021] Figure 4 This is a schematic diagram of the drive unit.

[0022] Figure 5 This is a schematic diagram of the clamping unit.

[0023] Figure 6 This is an enlarged view of the gripper holding the front end structure.

[0024] In the diagram: 1. Drive unit, 2. Clamping unit, 3. Automatic spray gun, 4. First gripper mechanism, 4a. Gripper fixing plate, 4b. Gripper movable connecting plate, 4c. Gripper grasping plate, 4d. Gripper clamping front end structure, 4e. Gripper linkage drive sub-plate, 5. Second gripper mechanism, 6. Third gripper mechanism, 7. Drive motor guard plate, 8. Drive motor, 9. Drive motor mounting plate, 10. Drive motor coupling, 11. Gripper fixing plate, 12. Gripper linkage drive main board, 13. Screw, 14. Automatic spray gun buffer, 15. Fixed base, 16. Spring, 17. Side soft pad, 18. Middle soft pad, 19. Fixed connecting rod. Detailed Implementation

[0025] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description relating to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements.

[0026] An automatic spray gun adaptive clamping device includes a drive unit 1, a clamping unit 2, and an automatic spray gun 3. In the drive unit 1, a drive motor 8 is mounted on a drive motor mounting plate 9. The drive motor 8 is connected to one end of a screw 13 via a drive motor coupling 10. An automatic spray gun buffer 14 is installed at the other end of the screw 13, which passes through a gripper fixing plate 11. The drive motor mounting plate 9 and the gripper fixing plate 11 are fixedly connected by bolts. A gripper linkage drive main board 12 is threadedly connected to the screw 13. The drive unit 1 also includes a drive motor guard plate 7, which is bolted to the drive motor mounting plate 9.

[0027] The clamping unit 2 includes a clamping mechanism mounted on the clamping jaw fixing plate 11, including a first clamping jaw mechanism 4, a second clamping jaw mechanism 5 and a third clamping jaw mechanism 6, and the fixed positions of the three clamping jaw mechanisms form an equilateral triangle. In the gripper mechanism, the upper end of the gripper fixing plate 4a is fixed to the gripper fixing disk 11 by bolts. The lower end of the gripper fixing plate 4a is connected to the gripper movable connecting plate 4b and the gripper grasping plate 4c in sequence. The gripper grasping plate 4c is provided with a gripper clamping front end structure 4e. The gripper mechanism also includes a gripper linkage drive sub-plate 4e. One end of the gripper linkage drive sub-plate 4e is connected to the gripper linkage drive main plate 12, and the other end of the gripper linkage drive sub-plate 4e is connected to the gripper movable connecting plate 4b. The gripper movable connecting plate 4b, gripper grasping plate 4c and gripper clamping front end structure 4d are moved up and down by the up and down movement of the gripper linkage drive main plate 12. The gripper clamping front end structure 4d is connected to the fixed base 15 through the fixed connecting rod 19. The fixed base 15 is provided with a side soft pad 17 and a middle soft pad 18 through the spring 16.

[0028] The automatic spray gun 3 is mounted on the automatic spray gun buffer 14. Example

[0029] Figures 1 to 6 An automatic spray gun adaptive clamping device is shown, comprising a drive unit 1, a clamping unit 2, and an automatic spray gun 3. To develop a novel automatic spray gun clamping device for use by a painting robot to clamp an automatic spray gun for painting operations, this embodiment provides an automatic spray gun adaptive clamping device, see [link to documentation]. Figure 1 The figure shows an overall view of an automatic spray gun adaptive clamping device, which is in the state when the device is performing automatic spray gun clamping operation. It mainly includes a drive unit 1, a clamping device 2 and an automatic spray gun 3.

[0030] See Figure 2 The figure shows a front view of the device when it is clamping an automatic spray gun, mainly including: a first gripper mechanism 4, a second gripper mechanism 5, and a third gripper mechanism 6. The three grippers of the automatic spray gun clamping device are located in the lower half of the automatic spray gun adaptive clamping device, and the automatic spray gun is fixed by the three single grippers.

[0031] See Figure 3 , Figure 4This diagram shows a 3D side view of the automatic spray gun clamping device and its drive body, which mainly includes: a drive motor guard plate 7, a drive motor 8, a drive motor mounting plate 9, a drive motor coupling 10, a gripper fixing plate 11, a gripper linkage drive main plate 12, a screw 13, and an automatic spray gun buffer 14. The drive motor guard plate 7 protects the drive motor 8 from external interference, acting as a protective mechanism. The drive motor 8 is fixed above the drive motor mounting plate 9, and the guard plate 7 is connected to the plate via three sets of bolts, protecting the drive motor from external forces. The drive motor coupling 10 is fixed below the drive motor mounting plate 9, and the gripper fixing plate 11 is connected to it. The drive motor mounting plate 9 is also connected to the gripper fixing plate 11 via three sets of bolts, ensuring the overall structure is stable. The first gripper mechanism 4, the second gripper mechanism 5, and the third gripper mechanism 6 are fixed to the bottom of the gripper fixing plate 11 by bolts, and the fixing positions of the three individual grippers form an equilateral triangle, as shown below. Figure 2 As shown. The gripper linkage drive main board 12 cooperates with the screw 13. The automatic spray gun buffer 14 is located at the bottom of the screw 13 to reduce the impact of vibration generated during automatic spray gun operation on the spraying operation. The screw 13 is connected to the drive motor coupling 10. The drive motor 8 rotates the screw 13 through the drive motor coupling 10, thereby causing the gripper linkage drive main board 12 to move up and down.

[0032] See Figure 5This diagram illustrates the structure of a single gripper of an automatic spray gun clamping device. Since the structures of all three grippers are identical, only one gripper will be described in detail here. It mainly includes: a gripper fixing plate 4a, a gripper movable connecting plate 4b, a gripper grasping plate 4c, a gripper clamping front end structure 4d, and a gripper linkage drive sub-plate 4e. The upper end of the gripper fixing plate 4a is fixed to the gripper fixing disk 11, and the lower end of the gripper fixing plate 4a is connected to the gripper movable connecting plate 4b by bolts. The gripper movable connecting plate 4b is composed of four identical steel plates. The gripper movable connecting plate 4b is connected to the gripper grasping plate 4c by bolts, and the gripper fixing plate 4a, gripper movable connecting plate 4b, and gripper grasping plate 4c are in a movable state. The gripper clamping front end structure 4d is fixed to the gripper grasping plate 4c and contacts the automatic spray gun. One end of the gripper linkage drive sub-plate 4e is bolted to the middle of the steel plate at the lower part of the gripper movable connecting plate 4b, and the other end is bolted to the gripper linkage drive main plate 12. The up-and-down movement of the gripper linkage drive main plate 12 drives the gripper movable connecting plate 4b, the gripper grasping plate 4c, and the gripper holding front structure 4d of the automatic spray gun device to move up and down. Since the three grippers of the automatic spray gun device have the same structure and are all bolted to the gripper linkage drive main plate 12, the three grippers of the automatic spray gun device perform opening and closing movements, which can handle automatic spray guns of different sizes.

[0033] See Figure 6 The diagram shows the front-end structure of a single gripper of an automatic spray gun clamping device. This structure contacts the automatic spray gun and includes: a gripper front-end fixing base 15, a spring 16, side pads 17, a middle pad 18, and a fixing link 19. The gripper front-end fixing base 15 is fixed to the front end of the gripper gripping plate 4c. Below the gripper front-end fixing base 15 are three pads. The side pads 17 are connected to both sides of the gripper front-end fixing base 15 by springs, and the middle pad 18 is connected to the middle of the gripper front-end fixing base 15 by springs. This design can accommodate automatic spray guns of different shapes and fits well with the spray gun body.

[0034] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0035] It should be understood that this invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this invention is limited only by the appended claims.

Claims

1. An automatic spray gun self-adapting clamping device, characterized in that, The device comprises a driving unit (1), a clamping unit (2) and an automatic spray gun (3), a driving motor (8) is installed on a driving motor mounting fixed plate (9) in the driving unit (1), one end of the driving motor (8) is connected with a screw rod (13) through a driving motor coupling (10), the other end of the screw rod (13) penetrating through a clamping jaw fixing disc (11) is provided with an automatic spray gun buffer (14), the driving motor mounting fixed plate (9) is fixedly connected with the clamping jaw fixing disc (11) through bolts, a clamping jaw linkage driving main plate (12) is connected with the screw rod (13) through threads; The automatic spray gun (3) is arranged on the automatic spray gun buffer (14); The clamping unit (2) comprises a clamping jaw mechanism arranged on the clamping jaw fixing disc (11), a clamping jaw fixing plate (4a) is fixedly arranged on the clamping jaw fixing disc (11) through bolts at the upper end, the lower end of the clamping jaw fixing plate (4a) is sequentially connected with a clamping jaw movable connecting plate (4b) and a clamping jaw grabbing plate (4c), a clamping jaw clamping front end structure (4d) is arranged on the clamping jaw grabbing plate (4c); the clamping jaw mechanism further comprises a clamping jaw linkage driving sub-plate (4e), one end of the clamping jaw linkage driving sub-plate (4e) is connected with the clamping jaw linkage driving main plate (12), the other end of the clamping jaw linkage driving sub-plate (4e) is connected with the clamping jaw movable connecting plate (4b), the clamping jaw movable connecting plate (4b), the clamping jaw grabbing plate (4c) and the clamping jaw clamping front end structure (4d) are driven to move up and down through the up-and-down movement of the clamping jaw linkage driving main plate (12).

2. The automatic spray gun self-adaptive clamping device according to claim 1, characterized in that: The driving unit (1) further comprises a driving motor guard plate (7), the driving motor guard plate (7) is connected with the driving motor mounting fixed plate (9) through bolts.

3. The automatic spray gun self-adaptive clamping device according to claim 1, characterized in that: The clamping jaw mechanism comprises a first clamping jaw mechanism (4), a second clamping jaw mechanism (5) and a third clamping jaw mechanism (6), and the fixed positions of the three clamping jaw mechanisms present a regular triangle shape.

4. The automatic spray gun self-adaptive clamping device according to claim 1, characterized in that: The clamping jaw clamping front end structure (4d) is connected with a fixed base (15) through a fixed connecting rod (19), a side soft pad (17) and a middle soft pad (18) are arranged in the fixed base (15) through springs (16).

Images