Intelligent self-adapting painting robot
Patent Information
- Application Number
- CN202521770773.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-20
- Publication Date
- 2026-09-22
- Estimated Expiration
- 2035-08-20
AI Technical Summary
[0002]在现代制造业中，喷涂工艺作为产品表面处理的关键环节，直接影响产品的外观质量、防护性能和使用寿命，传统喷涂设备在实际应用中存在诸多局限，难以满足高精度、高灵活性的生产需求；
通过设置调节机构，与现有技术相比，第一步进电机驱动转台在水平方向灵活转动，大幅扩展了机械臂的作业覆盖范围，确保能适配不同尺寸工件的喷涂需求，解决了传统固定结构覆盖范围有限的问题，而且第二、第三步进电机分别带动第一、第二连接臂进行俯仰和伸展运动，通过多级联动调整机械臂的整体姿态，使喷涂机构能轻松抵达工件的复杂区域，提升了对异型工件的喷涂适应性，其次，小型步进电机驱动第三连接臂实现精准微调，结合各关节的灵活运动，显著提高了喷涂机构位置和姿态的控制精度，保证喷头始终处于最优喷涂位置，整体结构紧凑且联动高效，有效提升了喷涂效率和质量的稳定性；
Smart Images
Figure CN224778346U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of spraying equipment technology, and more specifically, to an intelligent adaptive spraying robot. Background Technology
[0002] In modern manufacturing, spraying is a key step in product surface treatment, which directly affects the appearance quality, protective performance and service life of products. Traditional spraying equipment has many limitations in practical applications and is difficult to meet the production needs of high precision and high flexibility. Currently, most spraying equipment on the market adopts a fixed structure or a simple robotic arm design, which has a limited operating range. For workpieces of different sizes and shapes, manual adjustment of the workpiece position is often required, which not only increases the complexity of operation but also reduces production efficiency. Moreover, when facing workpieces with concave and convex structures and edge features, the robotic arm is difficult to adjust its posture flexibly to ensure full coverage, often requiring manual touch-up spraying, which not only increases labor costs but also poses the risk of paint waste and environmental pollution. Utility Model Content
[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides an intelligent adaptive spraying robot to solve the problems mentioned in the background art.
[0004] To achieve the above objectives, this utility model provides the following technical solution: An intelligent adaptive spraying robot includes a workbench, a mounting cylinder is fixedly installed on the top of the workbench, a first stepper motor is fixedly installed inside the mounting cylinder, a rotating shaft is fixedly installed at the output end of the first stepper motor, and an adjustment mechanism is provided at one end of the rotating shaft; The adjustment mechanism includes a turntable fixedly mounted on one side of the rotating shaft. A first heat sink is fixedly mounted on the top of the turntable. A second stepper motor is fixedly mounted inside the first heat sink. A first rotating rod is fixedly mounted on the output end of the second stepper motor. A first connecting arm is fixedly mounted on one end of the first rotating rod. A second heat sink is fixedly mounted on one end of the first connecting arm. A third stepper motor is fixedly mounted inside the second heat sink. A second rotating rod is fixedly mounted on the output end of the third stepper motor. A second connecting arm is fixedly mounted on one end of the second rotating rod. A third heat sink is fixedly mounted on one end of the second connecting arm. A small stepper motor is fixedly installed inside the third heat sink. A third rotating rod is fixedly installed at the output end of the small stepper motor, and a third connecting arm is fixedly installed at one end of the third rotating rod.
[0005] By adopting the above technical solutions, multi-dimensional flexible movement is achieved, which greatly improves the movement flexibility and adjustment accuracy of the robotic arm. Moreover, each heat sink provides a stable working environment for the motor, ensuring long-term reliable operation of the equipment. The overall structure is compact and highly efficient, and can adapt to the spraying needs of workpieces of different shapes and sizes, providing solid structural support for high-quality spraying operations.
[0006] As a further description of the above technical solution: an L-shaped fixing plate is fixedly provided at one end of the third connecting arm, and a spraying mechanism is provided on one side of the L-shaped fixing plate. The spraying mechanism includes a mounting frame fixedly provided on one side of the L-shaped fixing plate, a slider is slidably provided inside the mounting frame, an electric telescopic rod is fixedly installed on one side of the slider, a spray box is fixedly provided on the surface of the slider, and a spray nozzle is provided through one end of the spray box. A conveying hose is provided through the surface of the spray box, and one end of the conveying hose passes through the slider and the L-shaped fixing plate and extends outward from the L-shaped fixing plate.
[0007] By adopting the above technical solution, the robot can adapt to the detailed spraying requirements of the workpiece by sliding the slider, and ensure a continuous and reliable supply of paint, providing structural protection for uniform spraying and enhancing the robot's ability to adapt to complex workpieces.
[0008] As a further description of the above technical solution: a retaining strip is fixedly provided on one side of each of the third heat sink, the second heat sink, and the first heat sink, and the retaining strip is sleeved on the surface of the delivery hose; A vision sensor is fixedly installed on the top of the spray box, an ultrasonic sensor is fixedly installed on one side of the vision sensor, a force sensor is fixedly installed on one side of the ultrasonic sensor, a controller is fixedly installed on one side of the worktable, and multiple support legs are fixedly installed on the bottom of the worktable, with casters fixedly installed on the bottom of the support legs.
[0009] By adopting the above technical solution: the controller centrally receives and processes sensor data to achieve coordinated control of various mechanisms and improve adaptive adjustment capabilities. Moreover, the support legs enhance the stability of the workbench, and the omnidirectional wheels give the robot flexible movement capabilities, making it easy to adjust its position according to work requirements. The overall structure takes into account operational reliability, control precision, and usage flexibility.
[0010] The technical effects and advantages of this utility model are as follows: By setting up an adjustment mechanism, compared with existing technologies, the first stepper motor drives the turntable to rotate flexibly in the horizontal direction, which greatly expands the working coverage of the robotic arm and ensures that it can adapt to the spraying needs of workpieces of different sizes. This solves the problem of limited coverage of traditional fixed structures. Moreover, the second and third stepper motors drive the first and second connecting arms to perform pitch and extension movements, respectively. Through multi-level linkage, the overall posture of the robotic arm is adjusted, enabling the spraying mechanism to easily reach the complex areas of the workpiece and improving the adaptability to spraying irregularly shaped workpieces. Secondly, the small stepper motor drives the third connecting arm to achieve precise micro-adjustment. Combined with the flexible movement of each joint, the control accuracy of the position and posture of the spraying mechanism is significantly improved, ensuring that the nozzle is always in the optimal spraying position. The overall structure is compact and highly efficient, effectively improving the stability of spraying efficiency and quality. By setting up a spraying mechanism, compared with existing technologies, ultrasonic sensors monitor the spraying distance in real time and feed it back to the controller, ensuring that the nozzle and the workpiece maintain the optimal distance and avoiding problems such as coatings that are too thick or too thin due to improper distance. Moreover, force sensors dynamically monitor the force during spraying, and the data is transmitted back to the controller in real time, enabling instant adjustment of the robotic arm speed, spraying pressure and flow rate, ensuring that the spraying process is stable and controllable. Secondly, the controller plans the optimal path based on visual and distance data, and drives the slider through the electric telescopic rod to move the spray box precisely, ensuring that the paint evenly covers the workpiece. In addition, the clamping strip fixes the conveying hose to prevent tangling and falling off, ensuring continuous and stable paint delivery. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model.
[0012] Figure 2 This is a schematic diagram of the overall side cross-sectional structure of this utility model.
[0013] Figure 3 This is a schematic diagram of the overall top sectional structure of this utility model.
[0014] Figure 4 This is a cross-sectional structural diagram of the adjustment mechanism of this utility model.
[0015] Figure 5 This is a schematic diagram of the spraying mechanism of this utility model.
[0016] Figure 6 This is a schematic diagram of the system of this utility model.
[0017] The attached diagram is labeled as follows: 1. Workbench; 2. Mounting cylinder; 3. First stepper motor; 4. Rotating shaft; 5. Turntable; 6. First heat sink; 7. Second stepper motor; 8. First rotating rod; 9. First connecting arm; 10. Second heat sink; 11. Second rotating rod; 12. Second connecting arm; 13. Third heat sink; 14. Small stepper motor; 15. Third rotating rod; 16. Third connecting arm; 17. L-shaped fixing plate; 18. Mounting bracket; 19. Slider; 20. Spray box; 21. Spray nozzle; 22. Delivery hose; 23. Clamping strip; 24. Vision sensor; 25. Ultrasonic sensor; 26. Force sensor; 27. Controller; 28. Support leg; 29. Caster wheel. Detailed Implementation
[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0019] The embodiments disclosed in this application are as follows: Figure 1-6 The intelligent adaptive spraying robot shown includes a workbench 1, an installation cylinder 2 fixedly installed on the top of the workbench 1, a first stepper motor 3 fixedly installed inside the installation cylinder 2, a rotating shaft 4 fixedly installed at the output end of the first stepper motor 3, and an adjustment mechanism installed at one end of the rotating shaft 4. The adjustment mechanism includes a turntable 5 fixedly mounted on one side of the rotating shaft 4. A first heat sink 6 is fixedly mounted on the top of the turntable 5. A second stepper motor 7 is fixedly mounted inside the first heat sink 6. A first rotating rod 8 is fixedly mounted at the output end of the second stepper motor 7. A first connecting arm 9 is fixedly mounted at one end of the first rotating rod 8. A second heat sink 10 is fixedly mounted at one end of the first connecting arm 9. A third stepper motor is fixedly mounted inside the second heat sink 10. A second rotating rod 11 is fixedly mounted at the output end of the third stepper motor. A second connecting arm 12 is fixedly mounted at one end of the second rotating rod 11. A third heat sink 13 is fixedly mounted at one end of the second connecting arm 12. A small stepper motor 14 is fixedly installed inside the third heat sink 13. A third rotating rod 15 is fixedly installed at the output end of the small stepper motor 14. A third connecting arm 16 is fixedly installed at one end of the third rotating rod 15. The operator places the workpiece to be sprayed in a suitable position on the workbench 1 to ensure that the workpiece will not be displaced during the subsequent spraying process. Then, the operator inputs the relevant parameters of the spraying task through the controller 27, and the system starts the adjustment mechanism to make preliminary position adjustments based on the parameters. The first stepper motor 3 is started inside the mounting cylinder 2, and its output end drives the rotating shaft 4 to rotate, thereby causing the turntable 5 fixed on one side of the rotating shaft 4 to rotate. The horizontal position of the turntable 5 is adjusted so that the robotic arm can cover the approximate spraying area of the workpiece. Next, the second stepper motor 7 inside the first heat sink 6 starts, and its output drives the first rotating rod 8 to rotate. The first rotating rod 8 drives the first connecting arm 9 to perform pitch movement, adjusting the angle of the first connecting arm 9. At the same time, the third stepper motor inside the second heat sink 10 starts, and its output drives the second rotating rod 11 to rotate. The second rotating rod 11 drives the second connecting arm 12 to perform corresponding movements, further adjusting the extension range and posture of the robotic arm. Next, the small stepper motor 14 inside the third heat sink 13 starts, and the output end drives the third rotating rod 15 to rotate. The third rotating rod 15 drives the third connecting arm 16 to move, precisely adjusting the position and posture of the L-shaped fixing plate 17 and the spraying mechanism installed on one side of it.
[0020] Reference Figure 2-4 As shown, an L-shaped fixing plate 17 is fixedly installed at one end of the third connecting arm 16. A spraying mechanism is installed on one side of the L-shaped fixing plate 17. The spraying mechanism includes a mounting bracket 18 fixedly installed on one side of the L-shaped fixing plate 17. A slider 19 is slidably installed inside the mounting bracket 18. An electric telescopic rod is fixedly installed on one side of the slider 19. A spray box 20 is fixedly installed on the surface of the slider 19. A spray nozzle 21 is provided through one end of the spray box 20. A conveying hose 22 is provided through the surface of the spray box 20. One end of the conveying hose 22 passes through the slider 19 and the L-shaped fixing plate 17 and extends outward from the L-shaped fixing plate 17. As the position of the spraying mechanism is adjusted, the vision sensor 24 fixedly installed on the top of the spraying box 20 starts to work, acquires images of the workpiece surface, obtains feature information such as the shape, size, position and surface defects of the workpiece, and transmits the data to the controller 27. The ultrasonic sensor 25 on one side of the vision sensor 24 is activated to measure the distance information between the spray box 20 and the workpiece surface in real time, ensuring that the spray nozzle 21 maintains a suitable spraying distance from the workpiece surface during the spraying process, and feeding the distance data back to the controller 27. The force sensor 26 on one side of the ultrasonic sensor 25 is in standby mode, ready to monitor the force between the spray nozzle 21 and the workpiece surface during the spraying process.
[0021] Reference Figure 5-6 As shown, a retaining strip 23 is fixedly provided on one side of the third heat sink 13, the second heat sink 10 and the first heat sink 6, and the retaining strip 23 is sleeved on the surface of the delivery hose 22. A vision sensor 24 is fixedly installed on the top of the spray box 20, an ultrasonic sensor 25 is fixedly installed on one side of the vision sensor 24, a force sensor 26 is fixedly installed on one side of the ultrasonic sensor 25, a controller 27 is fixedly installed on one side of the workbench 1, and multiple support legs 28 are fixedly installed on the bottom of the workbench 1, with casters 29 fixedly installed on the bottom of the support legs 28. The controller 27 plans the optimal spraying path based on the data collected by the vision sensor 24 and the ultrasonic sensor 25, and sends control commands to each stepper motor and spraying mechanism. The delivery hose 22 delivers the paint from the external paint supply device to the spray box 20. The delivery hose 22 is fixed to the third heat sink 13, the second heat sink 10 and the first heat sink 6 by the clip 23 to prevent tangling or falling off during the movement of the robotic arm. Then the controller 27 controls the extension and retraction of the electric telescopic rod, which in turn drives the slider 19 inside the mounting bracket 18 to slide, so that the spray box 20 moves along the planned path, and the spray nozzle 21, which is provided through one end of the spray box 20, sprays the paint evenly onto the surface of the workpiece. During the spraying process, the force sensor 26 monitors the force between the nozzle 21 and the workpiece surface in real time. When the force is detected to be too large or too small, the data is fed back to the controller 27. The controller 27 adjusts parameters such as the movement speed of the robotic arm, the spraying pressure of the nozzle 21, or the spraying flow rate in a timely manner based on the data fed back by the force sensor 26, so as to ensure the stability of the spraying process and the uniformity of the spraying quality. Multiple support legs 28 fixedly installed at the bottom of the workbench 1 ensure the stability of the workbench, and the casters 29 at the bottom of the support legs 28 make it convenient for operators to move the robot's position as needed.
[0022] Working principle of this utility model: This utility model is an intelligent adaptive spraying robot. When using the device, the operator places the workpiece to be sprayed in a suitable position on the workbench 1 to ensure that the workpiece will not be displaced during the subsequent spraying process. Then, the operator inputs the relevant parameters of the spraying task through the controller 27, and the system starts the adjustment mechanism to make preliminary position adjustment according to the parameters. The first stepper motor 3 is started inside the mounting cylinder 2, and its output end drives the rotating shaft 4 to rotate, thereby causing the turntable 5 fixed on one side of the rotating shaft 4 to rotate. The horizontal position of the turntable 5 is adjusted so that the robotic arm can cover the approximate spraying area of the workpiece. Next, the second stepper motor 7 inside the first heat sink 6 starts, and its output drives the first rotating rod 8 to rotate. The first rotating rod 8 drives the first connecting arm 9 to perform pitch movement, adjusting the angle of the first connecting arm 9. At the same time, the third stepper motor inside the second heat sink 10 starts, and its output drives the second rotating rod 11 to rotate. The second rotating rod 11 drives the second connecting arm 12 to perform corresponding movements, further adjusting the extension range and posture of the robotic arm. Then, the small stepper motor 14 inside the third heat sink 13 starts, and the output end drives the third rotating rod 15 to rotate. The third rotating rod 15 drives the third connecting arm 16 to move, precisely adjusting the position and posture of the L-shaped fixing plate 17 and the spraying mechanism installed on one side of it. As the position of the spraying mechanism is adjusted, the vision sensor 24 fixedly installed on the top of the spraying box 20 starts to work, acquires images of the workpiece surface, obtains feature information such as the shape, size, position and surface defects of the workpiece, and transmits the data to the controller 27. The ultrasonic sensor 25 on one side of the vision sensor 24 is activated to measure the distance information between the spray box 20 and the workpiece surface in real time, ensuring that the spray nozzle 21 maintains a suitable spraying distance from the workpiece surface during the spraying process, and feeding the distance data back to the controller 27. The force sensor 26 on one side of the ultrasonic sensor 25 is in standby mode, ready to monitor the force between the spray nozzle 21 and the workpiece surface during the spraying process. Then, the controller 27 plans the optimal spraying path based on the data collected by the vision sensor 24 and the ultrasonic sensor 25, and sends control commands to each stepper motor and spraying mechanism. The delivery hose 22 delivers the paint from the external paint supply device to the spray box 20. The delivery hose 22 is fixed to the third heat sink 13, the second heat sink 10 and the first heat sink 6 by the clip 23 to prevent tangling or falling off during the movement of the robotic arm. Then the controller 27 controls the extension and retraction of the electric telescopic rod, which in turn drives the slider 19 inside the mounting bracket 18 to slide, so that the spray box 20 moves along the planned path, and the spray nozzle 21, which is provided through one end of the spray box 20, sprays the paint evenly onto the surface of the workpiece. During the spraying process, the force sensor 26 monitors the force between the nozzle 21 and the workpiece surface in real time. When the force is detected to be too large or too small, the data is fed back to the controller 27. The controller 27 adjusts parameters such as the movement speed of the robotic arm, the spraying pressure of the nozzle 21, or the spraying flow rate in a timely manner based on the data fed back by the force sensor 26, so as to ensure the stability of the spraying process and the uniformity of the spraying quality. Multiple support legs 28 fixedly installed at the bottom of the workbench 1 ensure the stability of the workbench, and the casters 29 at the bottom of the support legs 28 make it convenient for operators to move the robot's position as needed.
[0023] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. An intelligent adaptive spraying robot, comprising a workbench (1), characterized in that: The top of the workbench (1) is fixedly installed with a mounting cylinder (2), and a first stepper motor (3) is fixedly installed inside the mounting cylinder (2). A rotating shaft (4) is fixedly installed at the output end of the first stepper motor (3), and an adjustment mechanism is provided at one end of the rotating shaft (4). The adjustment mechanism includes a turntable (5) fixedly installed on one side of the rotating shaft (4). A first heat sink (6) is fixedly installed on the top of the turntable (5). A second stepper motor (7) is fixedly installed inside the first heat sink (6). A first rotating rod (8) is fixedly installed at the output end of the second stepper motor (7). A first connecting arm (9) is fixedly installed at one end of the first rotating rod (8). A second heat sink (10) is fixedly installed at one end of the first connecting arm (9). The second heat sink (10) is fixedly equipped with a third stepper motor. The output end of the third stepper motor is fixedly equipped with a second rotating rod (11). One end of the second rotating rod (11) is fixedly equipped with a second connecting arm (12). One end of the second connecting arm (12) is fixedly equipped with a third heat sink (13).
2. The intelligent adaptive spraying robot according to claim 1, characterized in that: A small stepper motor (14) is fixedly installed inside the third heat sink (13). A third rotating rod (15) is fixedly installed at the output end of the small stepper motor (14). A third connecting arm (16) is fixedly installed at one end of the third rotating rod (15).
3. The intelligent adaptive spraying robot according to claim 2, characterized in that: One end of the third connecting arm (16) is fixedly provided with an L-shaped fixing plate (17). A spraying mechanism is provided on one side of the L-shaped fixing plate (17). The spraying mechanism includes a mounting bracket (18) fixedly provided on one side of the L-shaped fixing plate (17). A slider (19) is slidably provided inside the mounting bracket (18). An electric telescopic rod is fixedly installed on one side of the slider (19). A spray box (20) is fixedly provided on the surface of the slider (19). A spray nozzle (21) is provided through one end of the spray box (20).
4. The intelligent adaptive spraying robot according to claim 3, characterized in that: A conveying hose (22) is provided through the surface of the spray box (20). One end of the conveying hose (22) passes through the slider (19) and the L-shaped fixing plate (17) and extends outward from the L-shaped fixing plate (17).
5. The intelligent adaptive spraying robot according to claim 4, characterized in that: A retaining strip (23) is fixedly provided on one side of the third heat sink (13), the second heat sink (10) and the first heat sink (6), and the retaining strip (23) is sleeved on the surface of the delivery hose (22).
6. The intelligent adaptive spraying robot according to claim 3, characterized in that: A vision sensor (24) is fixedly installed on the top of the spray box (20), an ultrasonic sensor (25) is fixedly installed on one side of the vision sensor (24), and a force sensor (26) is fixedly installed on one side of the ultrasonic sensor (25).
7. The intelligent adaptive spraying robot according to claim 1, characterized in that: A controller (27) is fixedly installed on one side of the workbench (1), and multiple support legs (28) are fixedly installed at the bottom of the workbench (1). Universal wheels (29) are fixedly installed at the bottom of the support legs (28).