Six-axis automatic oil spraying machine

Abstract

The utility model relates to a kind of six-axis automatic oil spraying machine, and the equipment includes rack, moving mechanism, spraying mechanism, rotating mechanism, positioning mechanism, control mechanism and safety protection assembly.Moving mechanism is constituted by X, Y, Z three-axis linear motion assembly, and spraying mechanism includes spray gun and the three-axis rotating assembly of driving its rotation around vertical axis, horizontal axis and its own axis, and the combination of both forms six movement degrees of freedom;Rotating mechanism includes rotatable carousel and rotating fixture with gripper, jacking cylinder and positioning pin, realizing workpiece automatic positioning, clamping and multi-surface indexing;Control mechanism is multi-axis motion controller, coordinates each mechanism movement.The utility model is combined by six degrees of freedom space movement and workpiece automatic indexing, realizes the spraying of complex workpiece multi-curved surface, improves spraying precision and adaptability by positioning mechanism online compensation;Integrated safety protection guarantees operation safety.The equipment is highly automated, significantly improves production efficiency and coating quality.

Description

Technical Field

[0001] This utility model relates to the technical field of spraying equipment, specifically a six-axis automatic spraying machine. Background Technology

[0002] In modern manufacturing, surface coating of complex curved workpieces (such as precision electronic housings, automotive interior and exterior parts, and irregularly shaped structural parts) is a critical process. Currently, most common automated coating equipment adopts a three-axis or four-axis structure, and its spray guns usually only have basic linear motion and limited attitude adjustment capabilities, which easily leads to problems such as excessively thin coatings, missed areas, or poor uniformity, seriously affecting the appearance and quality of products. Utility Model Content

[0003] This invention provides a six-axis automatic spraying machine to solve the problems of excessively thin coating, missed spraying, and uneven spraying in existing spraying equipment mentioned in the background art.

[0004] To solve the above-mentioned technical problems, this utility model provides a six-axis automatic oil injection machine, comprising: frame, The moving mechanism includes an X-axis translation component, a Y-axis translation component, and a Z-axis lifting component. The Z-axis lifting component is vertically mounted on the X-axis translation component and moves back and forth along the X-axis. The X-axis translation component is mounted on the Y-axis translation component and moves back and forth along the Y-axis. The Y-axis translation component is mounted on the frame. The spraying mechanism is mounted on the Z-axis lifting assembly and moves up and down along the Z-axis. The spraying mechanism includes a spray gun and a rotating assembly that drives the spray gun to rotate at multiple angles. The rotating assembly includes a first rotating shaft for driving the spray gun to rotate around a vertical axis, a second rotating shaft for driving the spray gun to pitch and swing around a horizontal axis, and a third rotating shaft for driving the spray gun to rotate around its own axis. A rotating mechanism is mounted on the frame and located below the spraying mechanism. The rotating mechanism includes a turntable and a rotating fixture mounted on the turntable.

[0005] In one embodiment, the rotation angle of the first rotating shaft is greater than or equal to 270 degrees.

[0006] In one embodiment, the rotary fixture includes a fixture mounting base, at least two symmetrically arranged and relatively movable grippers, and a clamping cylinder that drives the grippers to perform opening and closing movements to clamp or release the workpiece.

[0007] In one embodiment, a lifting cylinder is also included, wherein a positioning block is provided at the end of the piston rod of the lifting cylinder for lifting the workpiece to a predetermined height for pre-positioning before the grippers clamp it.

[0008] In one embodiment, the fixture mounting base is further provided with a positioning pin for quick positioning of the workpiece to be sprayed.

[0009] In one embodiment, the X-axis translation assembly includes a first drive motor and a first synchronous belt drive mechanism driven by the first drive motor. The first synchronous belt drive mechanism is connected to a movable part of the X-axis translation assembly to drive the movable part to move relative to the frame along the X-axis. The Y-axis translation assembly includes a second drive motor and a second synchronous belt drive mechanism driven by the second drive motor. The second synchronous belt drive mechanism is connected to a movable part of the Y-axis translation assembly to drive the movable part to move relative to the X-axis translation assembly along the Y-axis.

[0010] In one embodiment, the Z-axis lifting assembly includes a third drive motor, a ball screw, and a screw nut. The third drive motor is mounted on the X-axis translation assembly. The ball screw is connected to the output shaft of the third drive motor. The screw nut cooperates with the ball screw and is fixedly connected to the base of the spraying mechanism. When the third drive motor rotates, it drives the spraying mechanism to move up and down along the Z-axis.

[0011] In one embodiment, a positioning mechanism is also included, which is disposed on one side of the spraying mechanism and is used to detect and obtain the actual position coordinates of the workpiece in order to compensate and correct the spraying path.

[0012] In one embodiment, a safety protection component is also included, comprising a safety light curtain disposed at the working window of the rack, and an emergency stop button and a status alarm indicator light disposed on the rack.

[0013] In one embodiment, a control mechanism is also included, which is electrically connected to the moving mechanism, the spraying mechanism and the rotating mechanism. The control mechanism is a multi-axis motion controller used to control the coordinated movement of the moving mechanism, the spraying mechanism and the rotating mechanism to complete the multi-angle spraying operation on the workpiece.

[0014] The aforementioned six-axis automatic spraying machine includes a frame, a moving mechanism, a spraying mechanism, a rotating mechanism, a positioning mechanism, a control mechanism, and safety protection components. The moving mechanism consists of X, Y, and Z-axis linear motion components. The spraying mechanism includes a spray gun and a three-axis rotating component that drives the spray gun to rotate around a vertical axis, a horizontal axis, and its own axis, forming six degrees of freedom. The rotating mechanism, located below the spraying mechanism, includes a rotatable turntable and a rotating fixture equipped with grippers, a lifting cylinder, and a positioning pin, enabling automatic workpiece positioning, clamping, and multi-faceted rotation. The control mechanism is a multi-axis motion controller that coordinates the movements of all mechanisms. This invention achieves uniform, dead-angle-free spraying of complex workpieces with multiple curved surfaces through a combination of six-degree-of-freedom spatial motion and automatic workpiece rotation. Online compensation through the positioning mechanism improves accuracy and adaptability, and integrated safety protection ensures operator safety. This equipment has a high degree of automation, significantly improving production efficiency and coating quality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a six-axis automatic oil injection machine according to the present invention; Figure 2 This is a schematic diagram of the structure of a six-axis automatic oil injection machine according to this utility model from another angle; Figure 3 This is a top view schematic diagram of a six-axis automatic oil injection machine according to the present invention; Figure 4 This is a schematic diagram of the X-axis translation component of a six-axis automatic oil injection machine according to the present invention; Figure 5 This is a schematic diagram of the Y-axis translation component of a six-axis automatic oil injection machine according to the present invention; Figure 6 This is a schematic diagram of the Z-axis lifting assembly of a six-axis automatic oil injection machine according to the present invention; Figure 7 This is a schematic diagram of the spraying mechanism of a six-axis automatic spraying machine according to the present invention; Figure 8 This is a schematic diagram of the rotating mechanism of a six-axis automatic oil injection machine according to the present invention.

[0016] Among them, 10 is the frame, 110 is the working window, 20 is the moving mechanism, 210 is the X-axis translation assembly, 211 is the first drive motor, 212 is the first driving wheel, 213 is the first driven wheel, 214 is the first synchronous belt, 215 is the first mounting base, 216 is the first sliding seat, 220 is the Y-axis translation assembly, 221 is the second drive motor, 222 is the second driving wheel, 223 is the second driven wheel, 224 is the second synchronous belt, 230 is the Z-axis lifting assembly, 231 is the third drive motor, 232 is the ball screw, and 23 is the... 3. Screw nut; 30. Spraying mechanism; 310. Spray gun; 320. Rotating assembly; 321. First rotating shaft; 322. Second rotating shaft; 323. Third rotating shaft; 40. Rotating mechanism; 410. Turntable; 420. Rotating fixture; 421. Fixture mounting base; 422. Gripper; 423. Clamping cylinder; 424. Positioning pin; 425. Lifting cylinder; 50. Control mechanism; 60. Positioning mechanism; 70. Safety protection assembly; 710. Safety light curtain; 720. Emergency stop button; 730. Status alarm indicator light. Detailed Implementation

[0017] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0018] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediary component present. Conversely, when a component is said to be "directly" connected to another component, there is no intermediary component.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] like Figures 1 to 2As shown, a six-axis automatic spraying machine includes a frame 10, a moving mechanism 20, a spraying mechanism 30, a rotating mechanism 40, and a control mechanism 50. The control mechanism 50 is electrically connected to the moving mechanism 20, the spraying mechanism 30, and the rotating mechanism 40. The frame 10 is a cubic frame structure welded from metal profiles and enclosed with a protective plate on the outside. An open working window 110 is provided on the front side of the frame 10 for loading and unloading materials. The control mechanism 50 is a multi-axis motion controller used to control the coordinated movement of the moving mechanism 20, the spraying mechanism 30, and the rotating mechanism 40 to complete multi-angle spraying operations on the workpiece.

[0021] Combination Figure 3 As shown, the moving mechanism 20 is mounted on the frame 10 and is used to provide movement in three linear directions, including an X-axis translation component 210, a Y-axis translation component 220, and a Z-axis lifting component 230.

[0022] Combination Figure 4 and Figure 6As shown, the Y-axis translation assembly 220 is mounted on the frame and includes a second drive motor 221 and a second synchronous belt drive mechanism driven by the second drive motor 221. The second synchronous belt drive mechanism includes a second driving pulley 222, a second driven pulley 223, and a second synchronous belt 224. The second driving pulley 222 is connected to the output shaft of the second drive motor 221, the second driven pulley 223 is mounted on a second mounting base, and the second synchronous belt 224 is sleeved on the second driving pulley 222 and the second driven pulley 223. The belt 224 is connected to the X-axis translation assembly 210 via a slider. The second drive motor 221 drives the second drive wheel 222 to rotate, which in turn drives the X-axis translation assembly 210 to move linearly along the Y-axis direction via the second synchronous belt 224. The X-axis translation assembly 210 is mounted on the top of the frame 10 and includes a first drive motor 211 and a first synchronous belt transmission mechanism driven by the first drive motor 211. The first synchronous belt transmission mechanism includes a first drive wheel 212, a first driven wheel 213, and a first synchronous belt 214. A drive wheel 212 is connected to the output shaft of a first drive motor 211. A first driven wheel 213 is mounted on a first mounting base 215. A first synchronous belt 214 is sleeved on the first drive wheel 212 and the second driven wheel 223. A first sliding seat 216 is connected to the first synchronous belt 214. The first drive motor 211 drives the first drive wheel 212 to rotate. The first synchronous belt 214 drives the first sliding seat 216 and the Z-axis lifting assembly 230 carried on the first sliding seat 216 to move linearly along the X-axis direction. The Z-axis lifting assembly 230 is mounted on the first sliding seat 216 and includes a third drive motor 231, a ball screw 232, and a screw nut 233. The output shaft of the third drive motor 231 is connected to the vertically arranged ball screw 232 through a coupling. The screw nut 233 cooperates with the ball screw 232 and is fixedly connected to the base of the spraying mechanism 30. When the third drive motor 231 rotates, it drives the ball screw 232 to rotate, thereby driving the screw nut 233 and the spraying mechanism 30 to move up and down along the Z-axis.

[0023] Combination Figure 7As shown, the spraying mechanism 30 is used to perform the spraying action. The base of the spraying mechanism 30 is connected to the lead screw nut 233 of the Z-axis lifting assembly 230. The spraying mechanism 30 includes a spray gun 310 and a rotating assembly 320 that drives the spray gun 310 to rotate at multiple angles. The rotating assembly 320 includes a first rotating shaft 321, a second rotating shaft 322, and a third rotating shaft 323. The first rotating shaft 321 is mounted on the base of the spraying mechanism 30 and is used to drive the spray gun 310 to rotate around a vertical axis. In one embodiment, the first rotating shaft 321... A first rotating shaft 321 can be a hollow rotating platform, with a rotation angle range greater than 270 degrees. A second rotating shaft 322 is mounted on the output end of the first rotating shaft 321 and is used to drive the spray gun 310 to pitch and swing around a horizontal axis. The second rotating shaft 322 can be implemented using a servo electric cylinder or a swing cylinder. A third rotating shaft 323 is directly mounted on the clamping seat of the spray gun 310 and is used to drive the spray gun 310 to rotate around its own axis. The third rotating shaft 323 can be implemented using a compact rotary cylinder or a micro servo motor. Thus, the spray gun 310 has six degrees of freedom of motion, enabling it to reach any position in space and maintain any desired posture, ensuring precise alignment and spraying of various surfaces of complex workpieces, and greatly improving the uniformity of the coating.

[0024] Combination Figure 8 As shown, the rotating mechanism 40 is installed in the working area of ​​the frame 10 and located below the spraying mechanism 30. The rotating mechanism 40 includes a turntable 410 and a rotating fixture 420 mounted on the turntable 410. The rotating fixture 420 includes a fixture mounting base 421, at least two symmetrically arranged and relatively movable grippers 422, and a clamping cylinder 423 that drives the grippers 422 to perform opening and closing movements to clamp or release the workpiece. The fixture mounting base 421 is also provided with a positioning pin 424 for engaging with positioning holes on the workpiece to achieve rapid coarse positioning. In addition, this utility model also includes a lifting cylinder 425. The piston rod end is equipped with a positioning block. Before the gripper 422 clamps the workpiece, the lifting cylinder 425 is activated to lift the workpiece, so that the positioning hole of the workpiece is fully engaged with the positioning pin 424 to achieve precise pre-positioning. Then the clamping cylinder 423 drives the gripper 422 to clamp the workpiece. The turntable 410 can be indexed and rotated under the control of the control mechanism 50, so that different surfaces of the workpiece are turned to the spray gun 310 in sequence. Without manual intervention, continuous spraying of multiple surfaces of the workpiece can be completed, which significantly improves production efficiency and automation level.

[0025] Furthermore, this invention also includes a positioning mechanism 60, which is disposed on one side of the spraying mechanism 30 and communicatively connected to the control mechanism 50. Specifically, the positioning mechanism 60 is a vision positioning system, including an industrial camera and a light source. The industrial camera captures an image of the clamped workpiece, and after image processing, identifies the actual position of the workpiece and sends the position deviation data to the control mechanism 50. Based on this, the control mechanism 50 compensates for the preset trajectories of all motion axes to ensure spraying accuracy.

[0026] Furthermore, this utility model also includes a safety protection component 70, which includes a safety light curtain 710 installed at the working window 110 of the frame 10. When the safety light curtain 710 detects an intrusion of an object, it sends a signal to the control mechanism 50 to trigger an emergency stop. In addition, the safety protection component 70 also includes an emergency stop button 720 and a status alarm indicator 730 installed on the frame 10 for emergency manual shutdown and working status indication.

[0027] The working process of this utility model is as follows: First, the operator places the workpiece in the working area of ​​the rotating fixture 420. After starting, the lifting cylinder 425 lifts the workpiece for pre-positioning. Then, the gripper 422 clamps the workpiece. The positioning mechanism 60 accurately positions the workpiece and provides feedback on any deviation. According to the processing program, the control mechanism 50 first controls the turntable 410 to rotate, so that the surface of the workpiece to be sprayed faces the spray gun 310. At the same time, it controls the six motion axes to move in tandem, so that the spray gun 310 approaches the workpiece surface with the optimal posture and distance and moves along the planned path. Simultaneously, the paint is turned on for spraying. After one surface is completed, the turntable 410 rotates to index and sprays the next surface until all processes are completed. Throughout the entire process, the safety light curtain 710 monitors in real time to ensure the personal safety of the operator.

[0028] The aforementioned six-axis automatic spraying machine, through the cooperation of the moving mechanism 20, the spraying mechanism 30, the rotating mechanism 40, the positioning mechanism 60, and the control mechanism 50, solves the problem of uniform coverage in the spraying of complex workpieces with multiple curved surfaces. The control mechanism 50 precisely controls the X, Y, and Z axis motors and the drive units of the three rotating axes through a multi-axis motion controller, and simultaneously receives feedback signals from the rotating mechanism 40, the positioning mechanism 60, and the safety protection component 70, realizing six-axis linkage interpolation motion, which greatly improves spraying efficiency and accuracy.

[0029] It should be noted that the drive motors of the X-axis translation component 210 and the Y-axis translation component 220 can also be stepper motors, and the positioning mechanism 60 uses a pair of laser rangefinders to obtain the three-dimensional coordinates of the workpiece corner points through triangulation.

[0030] In summary, the six-axis automatic spraying machine provided by this utility model achieves uniform spraying of complex workpieces with multiple curved surfaces without dead angles by combining six-degree-of-freedom spatial motion with automatic workpiece rotation; the online compensation of the positioning mechanism 60 improves the spraying accuracy and adaptability to workpiece material deviations; and the integrated safety protection component 70 ensures operational safety. This equipment has a high degree of automation, effectively replacing manual labor and significantly improving production efficiency and product quality.

[0031] The options described in the above method embodiments are also applicable to this embodiment, and will not be detailed here. The remaining contents of this utility model embodiment can be referred to the contents of the above method embodiments, and will not be repeated in this embodiment.

[0032] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0033] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A six-axis automatic oil injection machine, characterized in that, include: frame, The moving mechanism includes an X-axis translation component, a Y-axis translation component, and a Z-axis lifting component. The Z-axis lifting component is vertically mounted on the X-axis translation component and moves back and forth along the X-axis. The X-axis translation component is mounted on the Y-axis translation component and moves back and forth along the Y-axis. The Y-axis translation component is mounted on the frame. The spraying mechanism is mounted on the Z-axis lifting assembly and moves up and down along the Z-axis. The spraying mechanism includes a spray gun and a rotating assembly that drives the spray gun to rotate at multiple angles. The rotating assembly includes a first rotating shaft for driving the spray gun to rotate around a vertical axis, a second rotating shaft for driving the spray gun to pitch and swing around a horizontal axis, and a third rotating shaft for driving the spray gun to rotate around its own axis. A rotating mechanism is mounted on the frame and located below the spraying mechanism. The rotating mechanism includes a turntable and a rotating fixture mounted on the turntable.

2. The six-axis automatic oil injection machine according to claim 1, characterized in that, The rotation angle of the first rotating shaft is greater than or equal to 270 degrees.

3. A six-axis automatic oil injection machine according to claim 1, characterized in that, The rotary fixture includes a fixture mounting base, at least two symmetrically arranged and relatively movable grippers, and a clamping cylinder that drives the grippers to perform opening and closing movements to clamp or release the workpiece.

4. A six-axis automatic oil injection machine according to claim 3, characterized in that, It also includes a lifting cylinder, the piston rod end of which is provided with a positioning block, used to lift the workpiece to a predetermined height for pre-positioning before the gripper clamps it.

5. A six-axis automatic oil injection machine according to claim 4, characterized in that, The fixture mounting base is also equipped with positioning pins for quick positioning of the workpiece to be sprayed.

6. A six-axis automatic oil injection machine according to claim 1, characterized in that, The X-axis translation assembly includes a first drive motor and a first synchronous belt drive mechanism driven by the first drive motor. The first synchronous belt drive mechanism is connected to a movable part of the X-axis translation assembly to drive the movable part to move relative to the frame along the X-axis. The Y-axis translation assembly includes a second drive motor and a second synchronous belt drive mechanism driven by the second drive motor. The second synchronous belt drive mechanism is connected to a movable part of the Y-axis translation assembly to drive the movable part to move relative to the X-axis translation assembly along the Y-axis.

7. A six-axis automatic oil injection machine according to claim 1, characterized in that, The Z-axis lifting assembly includes a third drive motor, a ball screw, and a screw nut. The third drive motor is mounted on the X-axis translation assembly. The ball screw is connected to the output shaft of the third drive motor. The screw nut cooperates with the ball screw and is fixedly connected to the base of the spraying mechanism. When the third drive motor rotates, it drives the spraying mechanism to move up and down along the Z-axis.

8. A six-axis automatic oil injection machine according to claim 1, characterized in that, It also includes a positioning mechanism, which is located on one side of the spraying mechanism and is used to detect and obtain the actual position coordinates of the workpiece in order to compensate and correct the spraying path.

9. A six-axis automatic oil injection machine according to claim 1, characterized in that, It also includes safety protection components, which include a safety light curtain installed at the working window of the rack, and an emergency stop button and a status alarm indicator installed on the rack.

10. A six-axis automatic oil injection machine according to claim 1, characterized in that, It also includes a control mechanism electrically connected to the moving mechanism, the spraying mechanism and the rotating mechanism. The control mechanism is a multi-axis motion controller used to control the coordinated movement of the moving mechanism, the spraying mechanism and the rotating mechanism to complete the multi-angle spraying operation on the workpiece.

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