A spray robot end effector anti-collision device

Abstract

The utility model provides an end effector anti -collision device of spraying robot, including soft steel wire spring contact, positioning card, spraying robot, intermediate plug, isolation relay and controller, wherein, be provided with a plurality of positioning card on spraying robot, at least install one soft steel wire spring contact on each positioning card, and soft steel wire spring contact surrounds the nozzle arrangement of spraying robot, soft steel wire spring contact is connected with intermediate plug, intermediate plug is connected with isolation relay, isolation relay is connected with controller, and controller is connected with spraying robot, the utility model discloses can effectively protect the spraying end effector, prevent and workpiece from happening the collision, and have the advantages such as small volume and not reducing the operation flexibility of end effector, high reliability, fast response, and contact sensor adopts soft steel wire spring type, and workpiece surface is not easy to damage, and the fixed mounting of using card board to contact sensor is convenient to replace.

Description

Technical Field

[0001] This utility model relates to the field of protection device technology, and in particular to an anti-collision device for the end effector of a spraying robot. Background Technology

[0002] With the development of mechanical structures and electrical control technologies, as well as cost reductions, painting robots have gradually replaced traditional manual painting operations and are widely used in manufacturing industries such as automobiles, ships, and aircraft, offering significant advantages in improving coating quality, material utilization, and environmental protection. However, while industrial painting robots are generally heavy and bulky and operate at high speeds, they lack protective devices at the spray gun position. During the actual execution of painting commands, the end effector frequently collides with the workpiece, causing serious damage. To avoid this, a common method is to install anti-collision blocks and CMOS laser displacement sensors on the end effector. However, adding anti-collision blocks makes the end effector bulky, unsuitable for multi-angle painting, and reduces its flexibility. CMOS laser displacement sensors are suitable for general industrial robots but not for the special environment of painting, especially when the painting robot is painting from bottom to top, as the sprayed paint may splatter onto the laser emission and reception window, damaging the CMOS laser displacement sensor. Utility Model Content

[0003] The technical problem solved by this utility model is to provide an anti-collision device for the end effector of a painting robot, so as to solve the problems existing in the background art.

[0004] The technical problem solved by this utility model is achieved by the following technical solution: A collision avoidance device for the end effector of a painting robot includes a soft steel wire spring contactor, positioning plates, a painting robot, an intermediate plug, an isolation relay, and a controller. The painting robot is equipped with multiple positioning plates, each with at least one soft steel wire spring contactor, arranged around the nozzle of the painting robot. The soft steel wire spring contactor is connected to the intermediate plug, the intermediate plug is connected to the isolation relay, the isolation relay is connected to the controller, and the controller is connected to the painting robot.

[0005] In this utility model, the positioning plate has an L-shaped structure.

[0006] In this invention, the angle between adjacent soft steel wire spring contactors is 90° to effectively protect the end effector from all angles.

[0007] In this invention, the length of the soft steel wire spring in the soft steel wire spring contactor is 100mm~130mm, the sensing safety distance is ≤130mm, and a PE film is sprayed on the circuit surface of the soft steel wire spring contactor to prevent the circuit from being corroded by paint.

[0008] In this invention, when the spraying robot is running, the paint is sprayed through the feed hole and sprayed by the nozzle. At this time, when the soft steel wire spring contactor surrounding the nozzle of the spraying robot comes into contact with the workpiece or other objects and deforms or displaces, a signal is generated. The signal is transmitted to the controller through the intermediate plug and the isolation relay. The controller then immediately sends a stop signal to the spraying robot, and the spraying robot controls the nozzle of the spray gun to stop working, thereby realizing the anti-collision function.

[0009] Beneficial effects: This utility model can effectively protect the end effector of spraying and prevent it from colliding with the workpiece; it also has the advantages of small size, no reduction in the operational flexibility of the end effector, high reliability, and fast response speed. In addition, the contact sensor adopts a soft steel wire spring type, which is not easy to damage the workpiece surface. The soft steel wire spring has an IP67 protection level, which can be effectively used in the special environment of spraying. The contact sensor is fixedly installed using a clamp, which is convenient to replace and is suitable for most industrial robots. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a preferred embodiment of the present invention.

[0011] Figure 2 This is a schematic diagram showing the connection between the soft steel wire spring contactor and the controller in a preferred embodiment of the present invention. Detailed Implementation

[0012] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this utility model.

[0013] See Figures 1-2A collision avoidance device for the end effector of a painting robot includes a first soft steel wire spring contactor 1, a front positioning plate 2, a second soft steel wire spring contactor 3, a third soft steel wire spring contactor 4, a side positioning plate 5, a nozzle 6, a fourth soft steel wire spring contactor 7, an upper positioning plate 8, a fifth soft steel wire spring contactor 9, a feed port 10, a painting robot 11, an intermediate plug 12, an isolation relay 13, and a controller 14. The front positioning plate 2 is located at the front end of the painting robot 11, and the first and second soft steel wire spring contactors 1 and 3 are mounted on the front positioning plate 2. An upper positioning plate is located on the upper part of the painting robot 11. The system includes a positioning plate 8, a nozzle 6, and a feed hole 10. The upper positioning plate 8 is equipped with a No. 4 soft steel wire spring contactor 7 and a No. 5 soft steel wire spring contactor 9. The side positioning plate 5 is provided on the side of the painting robot 11. The side positioning plate 5 is equipped with a No. 3 soft steel wire spring contactor 4. The No. 1 soft steel wire spring contactor 1, the No. 2 soft steel wire spring contactor 3, the No. 3 soft steel wire spring contactor 4, the No. 4 soft steel wire spring contactor 7, and the No. 5 soft steel wire spring contactor 9 are respectively connected to the intermediate plug 12. The intermediate plug 12 is connected to the isolation relay 13. The isolation relay 13 is connected to the controller 14. The controller 14 is connected to the painting robot 11.

[0014] In this embodiment, the front positioning plate 2, the side positioning plate 5, and the upper positioning plate 8 have the same structure, all of which are L-shaped structures.

[0015] In this embodiment, the No. 1 soft steel wire spring contactor 1, the No. 2 soft steel wire spring contactor 3, the No. 3 soft steel wire spring contactor 4, the No. 4 soft steel wire spring contactor 7, and the No. 5 soft steel wire spring contactor 9 have the same structure and are arranged around the nozzle 6. The angle between adjacent soft steel wire spring contactors is 90° to effectively protect the end effector from all directions.

[0016] In this embodiment, the length of the soft steel wire spring in the No. 1 soft steel wire spring contactor 1 is 100mm~130mm, the sensing safety distance is ≤130mm, and a PE film is sprayed on the circuit surface of the No. 1 soft steel wire spring contactor 1 to prevent the circuit from being corroded by paint.

[0017] In this embodiment, when the spraying robot 11 is running, the paint is sprayed through the feed hole 10 and the nozzle 6. At this time, when the first soft steel wire spring contactor 1, the second soft steel wire spring contactor 3, the third soft steel wire spring contactor 4, the fourth soft steel wire spring contactor 7 and the fifth soft steel wire spring contactor 9 come into contact with the workpiece or other objects and deform or displace, a signal is generated. The signal is transmitted to the controller 14 through the intermediate plug 12 and the isolation relay 13. The controller 14 then immediately sends a stop signal to the spraying robot 11, and the spraying robot 11 controls the nozzle 6 of the spray gun to stop working, thereby realizing the anti-collision function.

[0018] In this embodiment, the number and distribution of soft steel wire contact springs can be adjusted according to the protection requirements of different models of painting robots 11 and the end effector of painting robots 11. The fixing plate is connected by bolts, which is convenient for loading and unloading and can effectively cover various commonly used painting robots.

[0019] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A collision avoidance device for the end effector of a painting robot, comprising a soft steel wire spring contactor, a positioning plate, a painting robot, an intermediate plug, an isolation relay, and a controller, characterized in that, The painting robot is equipped with multiple positioning plates, each with at least one soft steel wire spring contactor, which are arranged around the nozzle of the painting robot. The soft steel wire spring contactor is connected to the intermediate plug, the intermediate plug is connected to the isolation relay, the isolation relay is connected to the controller, and the controller is connected to the painting robot.

2. The anti-collision device for the end effector of a painting robot according to claim 1, characterized in that, The positioning plate has an L-shaped structure.

3. The anti-collision device for the end effector of a painting robot according to claim 1, characterized in that, The angle between adjacent soft steel wire spring contactors is 90°.

4. The anti-collision device for the end effector of a painting robot according to claim 1, characterized in that, The length of the soft steel wire spring in the soft steel wire spring contactor is 100mm~130mm, and the sensing safety distance is ≤130mm.

5. The anti-collision device for the end effector of a painting robot according to claim 1, characterized in that, The circuit surface of the soft steel wire spring contactor is coated with PE film.

Images