Paint conditioning apparatus

Abstract

The utility model provides a kind of paint mixing equipment.The paint mixing equipment includes: cabinet body;Multiple racks, each rack is provided with color master unit fixed assembly, color master unit fixed assembly includes frame body and multiple color master unit fixed parts, one end of frame body forms material taking station, each color master unit fixed part is installed on frame body and can rotate relative to around frame, material taking station is located on the movement path of color master unit fixed part;Mechanical hand component, including longitudinal beam and the mechanical hand capable of grabbing and placing color master unit, mechanical hand can move in vertical direction relative to longitudinal beam, and material taking station is located in the material taking range of mechanical hand;And material beating component, material beating component is set in the end of rack close to mechanical hand component.The technical scheme of the utility model can solve the problem that the existing paint mixing equipment must be frequently moved between multiple fixed positions during the deployment process, so that the color master can be extracted from different storage tanks in sequence, which limits the further improvement of color deployment efficiency.

Description

Technical Field

[0001] This utility model relates to the field of paint mixing and color matching technology, and more specifically, to a paint mixing device. Background Technology

[0002] With the increasing demand for personalized customization, the coatings industry faces unprecedented challenges and opportunities. Whether it's latex paint for architectural decoration, automotive paint widely used in the automotive industry, or various industrial coatings and inks, the market's requirements for color diversity and rapid mixing capabilities continue to escalate. While traditional paint mixers' manual mixing methods can handle relatively complex color needs, their subjective nature and time-consuming nature make them difficult to meet the demands of large-scale industrial production and the modern market's pursuit of high efficiency and standardized operations.

[0003] In recent years, the widespread adoption of automated paint mixing equipment has significantly improved the efficiency and accuracy of paint blending. These devices typically consist of a series of storage tanks pre-loaded with color masterbatches and auxiliary materials, along with a sophisticated dispensing and conveying system. Through calculation and control technology, the equipment can accurately measure and mix various color masterbatches according to the user-provided formula, ultimately producing paint products that meet specifications. However, even so, existing paint mixing equipment still has significant limitations, especially when handling a wide variety of color masterbatches. Currently, most automated paint mixing equipment fixes the color masterbatch storage tanks in different positions on a rack, forming a static layout. This design approach is acceptable in terms of efficiency when the variety of color masterbatches is small, but with the development of color customization trends, the variety of color masterbatches has surged, and the number of color masterbatch storage tanks has also increased, leading to a wider distribution of storage tanks on the rack. During the mixing process, the robotic arm must frequently move between multiple fixed positions to sequentially extract color masterbatches from different storage tanks, limiting further improvements in color mixing efficiency. Utility Model Content

[0004] The main objective of this invention is to provide a paint mixing device that solves the problem that existing paint mixing devices require the robotic arm to move frequently between multiple fixed positions during the mixing process to extract color masterbatch from different storage tanks in sequence, thus limiting the further improvement of color mixing efficiency.

[0005] To achieve the above objectives, this utility model provides a paint mixing device, comprising: a cabinet; multiple placement racks installed on the cabinet, the multiple placement racks being arranged sequentially in a vertical direction, each placement rack being provided with a color masterbatch unit fixing assembly, the color masterbatch unit fixing assembly including a frame and multiple color masterbatch unit fixing parts, the frame being installed on the placement rack, one end of the frame forming a material picking station, the multiple color masterbatch unit fixing parts being arranged circumferentially along the frame, each color masterbatch unit fixing part being installed on the frame and capable of rotating relative to the frame, the material picking station being located on the moving path of the color masterbatch unit fixing parts; a robotic arm assembly including a longitudinal beam and a robotic arm capable of gripping and placing color masterbatch units, the robotic arm being capable of moving in a vertical direction relative to the longitudinal beam, and the material picking station being located within the material picking range of the robotic arm; and a material dispensing assembly installed inside the cabinet, the material dispensing assembly being located at one end of the placement rack near the robotic arm assembly.

[0006] Furthermore, the color masterbatch unit fixing part includes a base for placing the color masterbatch unit. The base includes a back plate and a bottom plate arranged at an angle, the back plate and the bottom plate are connected, and a stop edge is provided at the end of the bottom plate away from the back plate.

[0007] Furthermore, the color masterbatch unit fixing part also includes a limiting structure, which is installed on the base and can limit the color masterbatch unit in the vertical direction.

[0008] Furthermore, the limiting structure is rotatably mounted on the back plate. The limiting structure has a limiting position for limiting the color masterbatch unit in the vertical direction and an unlocking position for releasing the limit. The paint mixing equipment also includes an adjustment component mounted on the frame. The adjustment component is used to switch the limiting structure between the limiting position and the unlocking position.

[0009] Furthermore, the adjustment assembly includes an adjustment member and a first elastic member, and the limiting structure includes a rotating shaft and a limiting member. The rotating shaft passes through the back plate, and the limiting member is rotatably mounted on the rotating shaft. The first elastic member is located on the side of the back plate facing the adjustment member and elastically abuts against the back plate and the limiting member. When the first elastic member is in the initial state, the limiting member is in the limiting position. The adjustment member can apply a squeezing force to the limiting member located at the material picking station to compress the first elastic member and switch the limiting member from the limiting position to the unlocked position.

[0010] Furthermore, the paint mixing equipment also includes a mounting bracket, and the adjustment component includes a first position sensor, a second position sensor, and a first sensing element. The adjustment component and the first position sensor are both mounted on the mounting bracket, and the second position sensor is mounted on the material picking station. The adjustment component includes a first driving part and a telescopic part that is driven and connected to the first driving part. The first driving part can drive the telescopic part to move towards or away from the back plate located at the material picking station. The first sensing element is disposed on the telescopic part and can sense and cooperate with the first position sensor.

[0011] Furthermore, the telescopic part is provided with a linkage component, and the first sensing component is provided on the linkage component; and / or, the mounting bracket and the frame are a separate structure or an integrated structure.

[0012] Furthermore, the frame includes a first track, a top plate, and multiple support members. The first track is installed on the placement frame, and the support members are connected between the top plate and the placement frame. A second track is provided on the top plate. The top of the color masterbatch unit fixing part is slidably disposed on the second track, and the bottom of the color masterbatch unit fixing part is slidably disposed on the first track. The color masterbatch unit fixing assembly also includes a first drive mechanism, which is drivenly connected to the color masterbatch unit fixing part.

[0013] Furthermore, the first drive mechanism includes a second drive unit, a first driving wheel, a driven wheel, and a first transmission chain plate. The second drive unit is drivenly connected to the first driving wheel. The first transmission chain plate is wound around the first driving wheel and the driven wheel. The first transmission chain plate is connected to the color masterbatch unit fixing part. A first bearing is provided on the top of the color masterbatch unit fixing part, and the outer ring of the first bearing rolls with the side wall of the first track. And / or, a second bearing is provided at the bottom of each color masterbatch unit fixing part, and the outer ring of the second bearing rolls with the side wall of the second track.

[0014] Furthermore, the paint mixing equipment also includes a color mixing tray assembly, which is located on the side of the material dispensing assembly facing the robotic arm assembly. The color mixing tray assembly includes a mounting base, a turntable, two sensing components, and three third position sensors. The turntable is rotatably mounted on the mounting base, and two fixed frames are provided on the turntable. Each fixed frame and the turntable together form a color masterbatch unit accommodating space. The openings of the two fixed frames are arranged opposite to each other. The sensing components include second sensors, both of which are connected to the turntable. The two second sensors are arranged one-to-one with the two fixed frames. The second sensors are movably arranged relative to the turntable in the vertical direction. The three third position sensors are all mounted on the mounting base and are spaced apart along the circumference of the turntable. The first end of the second sensor can penetrate into the corresponding color masterbatch unit accommodating space, and the second end of the second sensor can sense and cooperate with the third position sensor.

[0015] Furthermore, the mounting base has a mounting cavity, in which three third position sensors are installed. The sensing assembly also includes a housing and a second elastic member. The top of the housing is connected to the turntable, and the housing is fitted around the outer periphery of the second sensing member. A strip-shaped limiting groove is provided on the housing, which extends vertically. A protruding structure is provided on the second sensing member, which is slidably disposed in the strip-shaped limiting groove. One end of the second elastic member abuts against the protruding structure, and the other end of the second elastic member abuts against the bottom wall of the mounting cavity.

[0016] Furthermore, the paint mixing equipment also includes a weighing component, which is installed on the cabinet and located below the dispensing component. The weighing component includes an electronic scale, a mounting frame, and a movable frame. The movable frame is movably mounted on the mounting frame in the vertical direction, and the electronic scale is mounted on the movable frame.

[0017] The present invention utilizes a cabinet with multiple placement racks. Each placement rack has a color masterbatch unit fixing assembly, which includes a rack and multiple color masterbatch unit fixing parts. These fixing parts secure the color masterbatch units. One end of the rack forms a picking station. Since each fixing part can rotate around the central axis of the rack, each fixing part can move to the picking station, driving the color masterbatch unit on it to the picking station. During the material handling process, the robotic arm only needs to move to the picking station to grab the color masterbatch unit. The robotic arm does not need to frequently move to different locations to grab multiple units. When grabbing color masterbatch units located on different layers of placement racks, it only needs to move vertically to the corresponding height of the placement rack and then grab the color masterbatch unit from the picking station. Compared to existing paint mixing equipment that fixes the masterbatch unit in different positions, the paint mixing equipment of this application has a movable masterbatch unit. The material picking process does not rely on the movement of the robot arm between multiple static fixed positions. The robot arm only needs to move vertically to the picking station at the corresponding height to perform the picking operation to complete the material picking, which greatly reduces the robot arm's movement distance and time, and thus can significantly improve the mixing efficiency. Attached Figure Description

[0018] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 A schematic diagram of the paint mixing device according to an embodiment of the present invention is shown from one angle.

[0020] Figure 2 A top view of a paint mixing device according to an embodiment of the present invention is shown;

[0021] Figure 3 This diagram shows a paint mixing device according to an embodiment of the present invention from another angle.

[0022] Figure 4 This diagram shows a structural schematic of the paint mixing device according to an embodiment of the present invention from another angle.

[0023] Figure 5 This diagram shows a structural schematic of the paint mixing device according to an embodiment of the present invention from another angle;

[0024] Figure 6 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0025] Figure 7 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0026] Figure 8 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0027] Figure 9 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0028] Figure 10 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0029] Figure 11 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0030] Figure 12 A top view of a paint mixing device according to an embodiment of the present invention is shown;

[0031] Figure 13 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0032] Figure 14 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0033] Figure 15 A schematic diagram of the base at one angle according to an embodiment of the present invention is shown;

[0034] Figure 16 A partial structural schematic diagram of the base according to an embodiment of the present invention is shown;

[0035] Figure 17 A structural schematic diagram of the base from another angle of an embodiment of the present invention is shown;

[0036] Figure 18 A partial structural schematic diagram of the base according to an embodiment of the present invention is shown;

[0037] Figure 19 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0038] Figure 20 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0039] Figure 21 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0040] Figure 22 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0041] Figure 23 A schematic diagram of the structure of the sensing component according to an embodiment of the present invention is shown;

[0042] Figure 24 A partial structural schematic diagram of the sensing component according to an embodiment of the present invention is shown;

[0043] Figure 25 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0044] Figure 26 A schematic diagram of the weighing assembly of an embodiment of the present invention at one angle is shown;

[0045] Figure 27 A structural schematic diagram of the weighing assembly according to an embodiment of the present invention is shown from another angle;

[0046] Figure 28 A schematic diagram of the structure of a robotic arm assembly according to an embodiment of the present invention is shown;

[0047] Figure 29 A schematic diagram of the feeding assembly of an embodiment of the present invention is shown at one angle;

[0048] Figure 30 This diagram shows a structural schematic of the feeding assembly from another angle, according to an embodiment of the present invention.

[0049] Figure 31 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0050] Figure 32 A partial structural schematic diagram of a paint mixing device according to an embodiment of the present invention is shown;

[0051] Figure 33 A schematic diagram of the color masterbatch unit of the paint mixing device according to an embodiment of the present invention is shown;

[0052] Figure 34 This diagram shows a structural schematic of a robotic arm assembly from one angle according to an embodiment of the present invention.

[0053] Figure 35 This invention provides a schematic diagram of the robotic arm assembly from another angle, representing one embodiment of the present invention.

[0054] Figure 36 A schematic diagram of the structure of a robotic arm assembly according to an embodiment of the present invention is shown;

[0055] Figure 37 A schematic diagram of the structure of a robotic arm assembly according to an embodiment of the present invention is shown.

[0056] The above figures include the following reference numerals:

[0057] 10. Cabinet; 20. Shelf; 30. Color masterbatch unit fixing assembly; 31. Frame; 311. First track; 312. Top plate; 313. Support component; 314. Second track; 32. Color masterbatch unit fixing part; 321. Base; 3211. Back plate; 3212. First bottom plate; 3213. Stop edge; 322. Limiting structure; 3221. Rotating shaft; 3222. Limiting component; 3223. First elastic component; 323. First bearing; 324. Second bearing; 325. Third bearing; 326. U-shaped limiting component; 3261. First limiting section; 3262. Second limiting section; 326 3. Connecting section; 33. First drive mechanism; 331. Second drive unit; 332. First driving wheel; 333. Driven wheel; 334. First transmission chain plate; 40. Robot arm assembly; 41. Longitudinal beam; 42. Robot arm; 43. Rotary motor; 44. First fixing plate; 45. Second fixing plate; 46. Color masterbatch unit fork; 47. Swing motor; 48. Linear slide rail; 49. Lead screw; 401. Lead nut; 402. Slider; 403. Fourth position sensor; 404. Second drive motor; 405. First base plate; 406. Chain pressure plate; 407. Mounting plate; 408. Second base plate; 410. Photoelectric switch; 411. Fifth position sensor; 412. Fifth drive motor; 413. Third transmission chain plate; 414. Sprocket; 415. Counterweight; 50. Feeding assembly; 51. Screw; 52. Lifting clamp; 521. Clamping gap; 53. Nut seat; 54. Third drive motor; 55. Valve lever; 56. Rotating structure; 57. Fourth drive motor; 58. Base; 59. Valve motor assembly; 60. Adjustment assembly; 61. Adjustment component; 611. First drive unit; 612. Telescopic unit; 613. Linkage component; 614. First sensing component; 62. Mounting bracket; 63. First position sensor; 64. Second position sensor; 70. Palette assembly; 71. Mounting base; 711. Mounting cavity; 72. Turntable; 73. Sensing assembly; 731. Second sensing component; 732. Housing; 733 734. Second elastic element; 735. Strip-shaped limiting groove; 736. Protruding structure; 74. Magnet; 75. Third position sensor; 76. Fixing frame; 77. First plate segment; 78. Second plate segment; 79. Color masterbatch unit accommodating space; 70. Rotary motor; 81. Transmission belt; 82. Rotating component; 83. Weighing assembly; 84. Electronic scale; 85. Mounting bracket; 86. Guide column; 87. Connecting bracket; 88. Support column; 83. Movable frame; 831. Pallet; 832. Hanger; 833. Lifting seat; 834. Guide wheel; 84. Position sensor; 85. First limit switch; 86. Second limit switch; 87. Second transmission chain plate; 88. Second drive wheel; 89. First drive motor; 90. Color masterbatch unit; 91. Second base plate; 92. Plunger pump; 93. Multi-way valve; 931. Connecting rod; 94. Pump rod head;100. Cleaning mechanism; 200. Gear; 201. Rack; 202. Handrail; 203. Sixth drive motor; 204. Connecting block; 205. Guide rod. Detailed Implementation

[0058] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0059] See also Figures 1 to 37 As shown, this utility model provides a paint mixing device, which includes: a cabinet 10; multiple placement racks 20 installed on the cabinet 10, the multiple placement racks 20 being arranged sequentially in a vertical direction, each placement rack 20 being provided with a color masterbatch unit fixing assembly 30, the color masterbatch unit fixing assembly 30 including a frame 31 and multiple color masterbatch unit fixing parts 32, the frame 31 being installed on the placement rack 20, one end of the frame 31 forming a material picking station, the multiple color masterbatch unit fixing parts 32 being arranged circumferentially along the frame 31, each color... The mother unit fixing part 32 is mounted on the frame 31 and can rotate relative to the frame 31. The material picking station is located on the moving path of the mother unit fixing part 32. The robot arm assembly 40 includes a longitudinal beam 41 and a robot arm 42 capable of gripping and placing the mother unit 90. The robot arm 42 can move vertically relative to the longitudinal beam 41, and the material picking station is located within the material picking range of the robot arm 42. The material feeding assembly 50 is installed inside the cabinet 10 and is located at one end of the placement rack 20 near the robot arm assembly 40.

[0060] In this embodiment, the color masterbatch unit fixing part 32 is used to fix the color masterbatch unit 90, and one end of the frame 31 forms a material picking station. Since the color masterbatch unit fixing part 32 can rotate relative to the frame 31, each color masterbatch unit fixing part 32 can move to the material picking station, and the color masterbatch unit fixing part 32 can drive the color masterbatch unit 90 on it to move to the material picking station. During the material picking process, the robot arm 42 only needs to move to the material picking station to grab the color masterbatch unit 90. The robot arm 42 does not need to frequently move to the location of the color masterbatch unit 90 fixed in different positions in the horizontal plane to pick up materials multiple times. When grabbing the color masterbatch unit 90 located on different layer placement racks 20, it only needs to move vertically to the placement rack 20 at the corresponding height position, and then grab the color masterbatch unit 90 from the material picking station. Compared to existing paint mixing equipment that fixes the color masterbatch unit 90 in different positions, the paint mixing equipment of this application allows the color masterbatch unit 90 on the same placement rack 20 to move horizontally. The material handling process does not rely on the robot arm 42 moving left and right on different layers of the placement rack 20. The robot arm 42 only needs to move vertically to the corresponding height of the material handling station to perform the grabbing and placing operation, greatly reducing the movement distance and time of the robot arm 42, thus significantly improving mixing efficiency. Simultaneously, the dispensing component 50 is located at the end of the placement rack 20 near the robot arm component 40, adjacent to the robot arm 42's working area. This allows the robot arm 42 to quickly move the color masterbatch unit 90 to the dispensing component 50 for the next operation after material handling, reducing material transfer time and distance, further improving mixing efficiency.

[0061] It should be noted that other structures can be arranged between two adjacent color master units 90 as needed.

[0062] See also Figures 1 to 20 As shown, in one embodiment of the present invention, the color masterbatch unit fixing part 32 includes a base 321, which is used to place the color masterbatch unit 90. The base 321 includes a back plate 3211 and a first bottom plate 3212 arranged at an angle. The back plate 3211 and the first bottom plate 3212 are connected, and a stop edge 3213 is provided at the end of the first bottom plate 3212 away from the back plate 3211.

[0063] In this embodiment, the stop edge 3213 is located at the end of the first base plate 3212 away from the back plate 3211 to prevent the color masterbatch unit 90 from slipping off the base 321 due to centrifugal force during rotation with the base 321. Furthermore, the structural characteristics of the base 321 (including the angle between the back plate 3211 and the first base plate 3212, the position of the stop edge 3213, etc.) provide a clear reference point for the gripper 42. When performing the gripping action, the gripper 42 can accurately position the color masterbatch unit 90. The stop edge 3213 serves as a fixed reference point, helping to ensure that each gripping operation is accurate and error-free.

[0064] In one embodiment, the back plate 3211 and the first base plate 3212 are arranged at 90°.

[0065] See also Figures 1 to 35 As shown, in one embodiment of the present invention, the color masterbatch unit fixing part 32 further includes a limiting structure 322, which is installed on the base 321 and can limit the color masterbatch unit 90 in the vertical direction.

[0066] In this embodiment, the limiting structure 322 can limit the color masterbatch unit 90 in the vertical direction. In conjunction with the stop edge 3213, it can further improve the stability of the color masterbatch unit 90 during the rotation with the base 321, and prevent the color masterbatch unit 90 from tilting forward or shaking due to centrifugal force during the rotation with the base 321, thereby reducing the risk of color masterbatch spillage caused by instability.

[0067] In one embodiment, the limiting structure 322 is an electric telescopic rod. The color masterbatch unit 90 includes a second base plate 91 and a color masterbatch unit 90 mounted on the second base plate 91. When the color masterbatch unit 90 is placed on the first base plate 3212, the electric telescopic rod extends and stops above the second base plate 91 to limit the color masterbatch unit 90 in the vertical direction. When picking up materials, the electric telescopic rod can be retracted to avoid the second base plate 91 so that the robot arm 42 can grasp the color masterbatch unit 90.

[0068] See also Figures 1 to 35 As shown, in one embodiment of the present invention, the limiting structure 322 is rotatably mounted on the back plate 3211. The limiting structure 322 has a limiting position for limiting the color masterbatch unit 90 in the vertical direction and an unlocking position for releasing the limiting position. The paint mixing equipment also includes an adjustment component 60 mounted on the frame 31. The adjustment component 60 is used to switch the limiting structure 322 between the limiting position and the unlocking position.

[0069] In this embodiment, after the color masterbatch unit 90 is placed on the first base plate 3212, the limiting structure 322 is switched to the limiting position by the adjusting component 60 to limit the color masterbatch unit 90 in the vertical direction. This prevents the color masterbatch unit 90 from tilting forward or swaying due to centrifugal force during the rotation of the base 321, reducing the risk of color masterbatch spillage due to instability and enhancing the safety and reliability of the equipment. When the robot arm 42 needs to grasp the color masterbatch unit 90, the limiting structure 322 can be switched from the limiting position to the unlocked position by the adjusting component 60, so that the robot arm 42 can remove the color masterbatch unit 90 without obstruction.

[0070] See also Figures 1 to 33As shown, in one embodiment of the present invention, the adjusting component 60 includes an adjusting member 61 and a first elastic member 3223, and the limiting structure 322 includes a rotating shaft 3221 and a limiting member 3222. The rotating shaft 3221 passes through the back plate 3211, and the limiting member 3222 is rotatably disposed on the rotating shaft 3221. The first elastic member 3223 is disposed on the side of the back plate 3211 facing the adjusting member 61. The first elastic member 3223 elastically abuts between the back plate 3211 and the limiting member 3222. When the first elastic member 3223 is in the initial state, the limiting member 3222 is in the limiting position. The adjusting member 61 can apply a squeezing force to the limiting member 3222 located at the material picking station to compress the first elastic member 3223, so that the limiting member 3222 switches from the limiting position to the unlocked position.

[0071] In this embodiment, the initial state of the first elastic element 3223 refers to the state in which the first elastic element 3223 is not subjected to any external force. The rotating shaft 3221 passes through the back plate 3211, and the limiting member 3222 is sleeved on the rotating shaft 3221 and can rotate relative to the rotating shaft 3221 about its central axis. The color masterbatch unit 90 includes a second base plate 91 and a plunger pump 92 mounted on the second base plate 91. To facilitate understanding of the switching process between the limiting position and the unlocking position, the following is based on... Figure 18 The base 321 is described in two position switching processes. When the first elastic member 3223 is in the initial state, the first elastic member 3223 is in the extended state. Under the elastic force of the first elastic member 3223, the limiting member 3222 rotates clockwise. The end of the limiting member 3222 near the first base plate 3212 can rotate to stop above the second base plate 91. At this time, the limiting member 3222 is in the limiting position and can limit the color master unit 90 in the vertical direction. When the robot arm 42 needs to pick up the color masterbatch unit 90 from the picking station, the adjusting member 61 can apply a squeezing force to the end of the limiting member 3222 away from the first base plate 3212. At this time, the limiting member 3222 rotates counterclockwise under the squeezing force of the adjusting member 61, the first elastic member 3223 is compressed, and the end of the limiting member 3222 near the first base plate 3212 rotates counterclockwise until it moves away from the second base plate 91. At this time, the limiting member 3222 is in the unlocked position, and the robot arm 42 can directly pick up the color masterbatch unit 90 from the picking station to complete the picking operation.

[0072] In one embodiment, the first elastic element 3223 is a spring.

[0073] See also Figures 1 to 33As shown, in one embodiment of the present invention, the paint mixing equipment further includes a mounting bracket 62, and the adjustment component 60 further includes a first position sensor 63, a second position sensor 64, and a first sensing element 614. The adjustment component 61 and the first position sensor 63 are both mounted on the mounting bracket 62, and the second position sensor 64 is mounted on the material picking station. The adjustment component 61 includes a first driving part 611 and a telescopic part 612 that is driven to connect with the first driving part 611. The first driving part 611 can drive the telescopic part 612 to move towards or away from the back plate 3211 located at the material picking station. The first sensing element is disposed on the telescopic part 612, and the first sensing element 614 can sense and cooperate with the first position sensor 63.

[0074] In this embodiment, the telescopic part 612, driven by the first driving part 611, can move towards or away from the back plate 3211 located at the material picking station. When the telescopic part 612 moves towards the back plate 3211 located at the material picking station, it can apply a squeezing force to the limiting member 3222 located at the material picking station to compress the first elastic member 3223, so that the limiting member 3222 switches from the limiting position to the unlocking position, making it convenient for the robot arm 42 to grasp the color masterbatch unit 90 at the material picking station. When it is necessary to limit the color masterbatch unit 90 in the vertical direction, the first drive unit 611 can drive the telescopic part 612 to move away from the back plate 3211 located at the material picking station until the telescopic part 612 disengages from the limiting member 3222. At this time, under the action of the elastic restoring force of the first elastic member 3223, the end of the limiting member 3222 away from the first base plate 3212 rotates towards the side where the adjusting member 61 is located, and the end of the limiting member 3222 near the first base plate 3212 lifts up and stops above the second base plate 91. The limiting member 3222 switches from the unlocked position to the limiting position to limit the color masterbatch unit 90 in the vertical direction.

[0075] When the telescopic part 612 moves to a position where it can apply a squeezing force to the limiting member 3222 located at the material picking station, the first sensing element 614 on the telescopic part 612 moves into the sensing area of ​​the first position sensor 63. The first sensing element 614 can cooperate with the first position sensor. At this time, the first position sensor 63 can send a control signal to stop the first driving part 611 from driving the telescopic part 612.

[0076] The second position sensor 64 is installed on the material picking station. Each first base plate 3212 has a third sensing element at its bottom. When the base 321 moves to the material picking station, the third sensing element on the first base plate 3212 can sense and cooperate with the second position sensor 64. At this time, the second position sensor 64 sends a control signal, causing the first drive unit 611 to drive the telescopic unit 612 to move towards the back plate 3211 located at the material picking station, thereby realizing the switching of the limiting member 3222 from the limiting position to the unlocking position.

[0077] As described above, when the robotic arm 42 reaches the material handling station, the first drive unit 611 drives the telescopic unit 612 to move via the control signal from the second position sensor 64, compressing the first elastic element 3223. This causes the limiting element 3222 to switch from the limiting position to the unlocked position, facilitating the robotic arm 42 to quickly and accurately grasp the color masterbatch unit 90. This configuration allows the robotic arm 42 to quickly perform unlocking and limiting operations when picking up and placing the color masterbatch unit 90, significantly shortening the picking and placing time and thus improving the overall production efficiency and mixing speed of the paint mixing equipment.

[0078] like Figures 8 to 10 As shown, in one embodiment, a linkage 613 is provided on the telescopic part 612, and a first sensing element 614 is provided on the linkage 613.

[0079] In this embodiment, the linkage 613 on the telescopic part 612 moves synchronously with the telescopic part 612. The linkage 613 moves with the telescopic part 612 toward or away from the back plate 3211 located at the material picking station. When the telescopic part 612 moves to a position where it can apply a squeezing force to the limiting member 3222 located at the material picking station, the first sensing element 614 on the linkage 613 moves into the sensing area of ​​the first position sensor 63. The first sensing element 614 can cooperate with the first position sensor. At this time, the first position sensor 63 can send a control signal to stop the first driving part 611 from driving the telescopic part 612.

[0080] In one embodiment, the mounting bracket 62 and the frame 31 are either separate structures or an integrated structure.

[0081] In one embodiment, the first drive unit 611 is a motor, and the telescopic unit 612 is a rod structure.

[0082] In one embodiment, the adjusting member 61 can be an electric push rod.

[0083] See also Figures 1 to 30As shown, in one embodiment of the present invention, the frame 31 includes a first track 311, a top plate 312 and a plurality of support members 313. The first track 311 is installed on the placement rack 20, and the support members 313 are connected between the top plate 312 and the placement rack 20. A second track 314 is provided on the top plate 312. The top of the color masterbatch unit fixing part 32 is slidably disposed on the second track 314, and the bottom of the color masterbatch unit fixing part 32 is slidably disposed on the first track 311. The color masterbatch unit fixing assembly 30 also includes a first driving mechanism 33, which is drivenly connected to the color masterbatch unit fixing part 32.

[0084] In this embodiment, since the top and bottom of the color masterbatch unit fixing part 32 are slidably engaged with the second track 314 and the first track 311 respectively, the shaking of the color masterbatch unit fixing part 32 during movement can be reduced, ensuring its stability during movement. The support member 313 realizes the connection between the top plate 312 and the placement frame 20, and at the same time, it also strengthens the structural stability between the top plate 312 and the placement frame 20, making the entire frame 31 more robust and able to resist external impacts and vibrations while bearing a large number of color masterbatch units 90.

[0085] The first drive mechanism 33 is driven to connect with the color masterbatch unit fixing part 32 to drive the color masterbatch unit fixing part 32 to rotate relative to the frame 31, so that each color masterbatch unit fixing part 32 can move to the material picking station without manual intervention, which greatly speeds up the dispensing speed, reduces the possibility of human error, and improves the overall automation level and dispensing efficiency.

[0086] See also Figures 1 to 30 As shown, in one embodiment of the present invention, the first drive mechanism 33 includes a second drive unit 331, a first drive wheel 332, a driven wheel 333, and a first transmission chain plate 334. The second drive unit 331 is drivenly connected to the first drive wheel 332. The first transmission chain plate 334 is wound around the first drive wheel 332 and the driven wheel 333. The first transmission chain plate 334 is connected to the color masterbatch unit fixing part 32. A first bearing 323 is provided at the top of the color masterbatch unit fixing part 32. The outer ring of the first bearing 323 rolls with the side wall of the second track 314. And / or, a second bearing 324 is provided at the bottom of each color masterbatch unit fixing part 32. The outer ring of the second bearing 324 rolls with the side wall of the first track 311.

[0087] In this embodiment, the second drive unit 331 is driven to connect with the first drive wheel 332. The second drive unit 331 drives the first drive wheel 332 to rotate. The rotation of the first drive wheel 332 is transmitted to the driven wheel 333 via the first transmission chain plate 334. The first transmission chain plate 334 is not only wound around the first drive wheel 332 and the driven wheel 333, but also connected to the color master unit fixing part 32. As the first drive wheel 332 rotates, the first transmission chain plate 334 begins to move, thereby driving each color master unit fixing part 32 to move along a set path. By rolling the outer ring of the first bearing 323 with the side wall of the second track 314 and / or rolling the outer ring of the second bearing 324 with the side wall of the first track 311, the friction during movement can be greatly reduced, wear can be reduced, and the service life of the equipment can be extended.

[0088] See also Figures 15 to 20 As shown, in one embodiment of this utility model, two third bearings 325 are provided at the bottom of the back plate 3211 on the side facing the first base plate 3212. The two third bearings 325 are spaced apart along the width direction of the back plate 3211. The cross-section of the first track 311 is U-shaped, and both third bearings 325 are in rolling contact with the top surface of the outer side wall of the first track 311. The arrangement of the third bearings 325 can not only improve the movement stability of the base on the first track, but also further reduce the friction between the base and the first track during the movement.

[0089] See also Figures 17 to 20 As shown, in one embodiment of this utility model, the base 321 further includes a U-shaped limiting member 326. The U-shaped limiting member is connected to the back plate 3211, and the U-shaped limiting member 326 and the first base plate 3212 are located on the same side of the back plate 3211, with the U-shaped limiting member 326 located above the first base plate 3212. The U-shaped limiting member 326 includes a first limiting segment 3261 and a second limiting segment 3262 arranged opposite to each other along the width direction of the back plate 3211, and a connecting segment 3263 connecting the first limiting segment 3261 and the second limiting segment 3262. The color masterbatch unit 90 is located between the first limiting segment 3261 and the second limiting segment 3262, which can limit the color masterbatch unit 90 in the width direction of the back plate 3211, preventing the color masterbatch unit 90 from shaking during the movement of the base.

[0090] In one embodiment, the second drive unit 331 is a motor.

[0091] See also Figures 1 to 30As shown, in one embodiment of this utility model, the paint mixing device further includes a color mixing tray assembly 70. The color mixing tray assembly 70 is disposed on the side of the material dispensing assembly 50 facing the robotic arm assembly 40. The color mixing tray assembly 70 includes a mounting base 71, a turntable 72, two sensing components 73, and three third position sensors 74. The turntable 72 is rotatably mounted on the mounting base 71. Two fixing brackets 75 are provided on the turntable 72. Each fixing bracket 75 and the turntable 72 together form a color masterbatch unit accommodating space 76. The openings of the two fixing brackets 75 are arranged opposite to each other. The sensing components 73 include the third position sensor 74. Two sensors 731 are connected to the turntable 72. The two sensors 731 are correspondingly set with two fixed brackets 75. The sensors 731 are movably set in the vertical direction relative to the turntable 72. Three third position sensors 74 are mounted on the mounting base 71 and are spaced apart around the circumference of the turntable 72. The first end of the second sensor 731 can penetrate into the corresponding color masterbatch unit accommodating space 76, and the second end of the second sensor 731 can sense and cooperate with the third position sensor 74.

[0092] In this embodiment, the color master unit 90 can enter the color master unit accommodating space 76 formed by the fixing frame 75 and the turntable 72 through the opening of the fixing frame 75. When the color master unit 90 enters the color master unit accommodating space 76, the color master unit 90 can press down the first end of the second sensing element 731, so that the second end of the second sensing element 731 can cooperate with the third position sensor 74.

[0093] Three third position sensors 74 are used to detect whether the masterbatch unit 90 has reached the loading position, the discharging position, and the unloading position, respectively. As the masterbatch unit 90 enters the masterbatch unit accommodating space 76 and rotates with the turntable 72, when the second sensing element 731 rotates to the position of the third position sensor 74 at the loading position, it can sense and cooperate with the third position sensor 74. The third position sensor 74 can then send a control signal indicating that the masterbatch unit 90 is in the loading position. When the second sensing element 731 rotates to the position of the third position sensor 74 at the discharging position... When the second sensor 731 is in the feeding position, it can sense and cooperate with the third position sensor 74. The third position sensor 74 can send a control signal indicating that the color masterbatch unit 90 is in the feeding position. When the second sensor 731 rotates to the position where the third position sensor 74 is in the unloading position, it can sense and cooperate with the third position sensor 74. The third position sensor 74 can send a control signal indicating that the color masterbatch unit 90 is in the unloading position. At this time, the color masterbatch unit 90 at the fixing frame 75 corresponding to the second sensor 731 can be removed from the turntable 72 by the robot arm 42. As can be seen from the above, by sensing and cooperating with the third position sensor 74 at different positions, the position of the color masterbatch unit 90 can be monitored in real time, so as to perform corresponding operations.

[0094] The turntable 72 is equipped with two fixed frames 75, with the openings of the two fixed frames 75 facing away from each other. On the one hand, this can reduce the space occupied by the two fixed frames 75 and reduce the diameter of the turntable 72. On the other hand, it can realize the sequential feeding operation of the two color masterbatch units 90. When one of the color masterbatch units 90 located on the fixed frame 75 is feeding, the other color masterbatch unit 90 can be pre-placed on the other fixed frame 75 by the robot arm, saving the time of waiting for feeding and unloading.

[0095] It should be noted that the above-mentioned unloading position also serves as the replenishment position. The replenishment position means that when the color masterbatch inside the color masterbatch unit 90 is used up, the staff will take out the empty color masterbatch unit 90 from the cabinet outside the color mixing tray assembly 70, replenish the color masterbatch, and then put the replenished color masterbatch unit 90 back into the color masterbatch unit receiving space 76 from that position.

[0096] In one embodiment, both fixing brackets 75 are U-shaped structures. Each fixing bracket 75 includes a first plate segment 751 and two second plate segments 752, with the two second plate segments 752 connected to opposite sides of the first plate segment 751. The openings of the two fixing brackets 75 face away from each other, and the first plate segments 751 of the two fixing brackets 75 are connected.

[0097] In one embodiment, both fixing frames 75 are U-shaped structures. Each fixing frame 75 includes a first plate segment 751 and two second plate segments 752, with the two second plate segments 752 connected to opposite sides of the first plate segment 751. The two fixing frames 75 are arranged side by side, with their openings facing away from each other, and adjacent second plate segments 752 of the two fixing frames 75 are connected to form an S-shaped structure.

[0098] With the above settings, on the one hand, the space occupied by the two fixed frames 75 can be reduced and the diameter of the turntable 72 can be reduced. On the other hand, the two color masterbatch units 90 can be loaded in sequence. When one of the color masterbatch units 90 located on the fixed frame 75 is loading, the other color masterbatch unit 90 can be pre-placed on the other fixed frame 75 by the robot, saving the time of waiting for loading and unloading. At the same time, the volume of this part can be appropriately reduced.

[0099] See also Figures 1 to 30As shown, in one embodiment of the present invention, the mounting base 71 has a mounting cavity, and three third position sensors 74 are all installed in the mounting cavity. The sensing component 73 also includes a housing 732 and a second elastic member 733. The top of the housing 732 is connected to the turntable 72. The housing 732 is sleeved on the outer periphery of the second sensing member 731. A strip-shaped limiting groove 734 is provided on the housing 732, which extends vertically. A protruding structure 735 is provided on the second sensing member 731, which is slidably disposed in the strip-shaped limiting groove 734. One end of the second elastic member 733 abuts against the protruding structure 735, and the other end of the second elastic member 733 abuts against the bottom wall of the mounting cavity.

[0100] In this embodiment, all three third position sensors 74 are installed inside the mounting cavity and are not exposed, which makes the overall device more aesthetically pleasing. The housing 732 provides mounting space for the second sensing element 731. By providing a protruding structure 735 on the second sensing element 731, it slides and engages with the strip-shaped limiting groove 734 on the housing 732. This not only prevents the second sensing element 731 from falling out of the housing 732, but also guides the second sensing element 731 to move linearly in the vertical direction. The second elastic element 733 abuts against the protruding structure 735 and the bottom wall of the mounting cavity. When the color master unit 90 is placed in the color master unit accommodating space 76, the color master unit 90 presses down the second sensing element 731. At this time, the protruding structure 735 moves away from the turntable 72 along the strip-shaped limiting groove 734. At this time, the second elastic element 733 is compressed. When the color master unit 90 is taken out from the color master unit accommodating space 76, under the action of the elastic restoring force of the second elastic element 733, the second sensing element 731 can automatically return to the initial position. At this time, the protruding structure 735 abuts against the top of the strip-shaped limiting groove 734, and the first end of the second sensing element 731 penetrates into the corresponding color master unit accommodating space 76.

[0101] See also Figures 21 to 25 As shown, in one embodiment of the present invention, the first end of the second sensing element 731 is a slope. Along the direction close to the opening of the fixing frame 75, the height of the slope gradually decreases until it is almost flush with the upper surface of the turntable 72. This setting can ensure that the color master unit 90 can be smoothly inserted into the color master unit accommodating space 76.

[0102] See also Figures 21 to 25 As shown, in one embodiment of the present invention, the paint mixing equipment further includes a cleaning mechanism 100. The cleaning mechanism 100 is mounted on the mounting base 71 and is located on the outer periphery of the turntable 72. The cleaning mechanism 100 is used to clean the outlet of the color masterbatch unit 90 after the paint mixing is completed.

[0103] See also Figures 23 to 25As shown, in one embodiment of this utility model, the sensing component 73 further includes a magnet 736, which is installed at the bottom of the second sensing element 731. When the color master unit 90 is placed in the color master unit accommodating space 76, the color master unit 90 presses down on the second sensing element 731. At this time, the protruding structure 735 moves away from the turntable 72 along the strip-shaped limiting groove 734. The magnet 736 moves away from the turntable 72 along with the second sensing element 731. At this time, as the magnet 736 rotates with the turntable, the third position sensor 74 at different positions can sense the magnet 736, thereby knowing the location of the color master unit 90 in the fixing frame 75 corresponding to the second sensing element 731, so as to perform corresponding operations (such as loading operation, feeding operation, and unloading operation).

[0104] In one embodiment, the second elastic element 733 is a spring.

[0105] See also Figures 1 to 30 As shown, in one embodiment of the present invention, the paint mixing equipment further includes a weighing component 80, which is installed on the cabinet 10 and located below the material dispensing component 50. The weighing component 80 includes an electronic scale 81, a mounting frame 82 and a movable frame 83. The movable frame 83 is movably arranged on the mounting frame 82 in the vertical direction, and the electronic scale 81 is installed on the movable frame 83.

[0106] In this embodiment, during actual use, the container for holding the color masterbatch needs to be placed on the electronic scale 81. The robot arm 42 transports the color masterbatch unit 90 from the material handling station to the fixed frame 75 on the turntable 72. The turntable 72 rotates and drives the color masterbatch unit 90 to the side where the dispensing component 50 is located for dispensing. The required color masterbatch is dispensed into the container placed on the electronic scale 81. The above operation is repeated multiple times until all the color masterbatch is dispensed according to the formula. The movable frame 83 is movably mounted on the mounting frame 82 in the vertical direction. The electronic scale 81 is mounted on the movable frame 83. The vertical mobility of the movable frame 83 allows the electronic scale 81 and the container placed on the electronic scale 81 to be flexibly raised and lowered according to the dispensing requirements, thereby moving the container to a suitable position. This not only prevents splashing during the dispensing process but also facilitates the retrieval of the container after dispensing.

[0107] See also Figures 1 to 30As shown, in one embodiment of this utility model, the movable frame 83 includes a tray 831, a hanging frame 832, and a lifting seat 833. The electronic scale 81 is mounted on the tray 831. One end of the hanging frame 832 is connected to the tray 831, and the other end of the hanging frame 832 is hung on the lifting seat 833. The weighing assembly 80 also includes a position sensor 84, a first limit switch 85, a second limit switch 86, a second drive wheel 88, a second transmission chain plate 87, and a first drive motor 89. The mounting frame 82 includes two guide columns 821 arranged opposite to each other, a connecting frame 822 connecting the two guide columns 821, and a support column 823 connected to the connecting frame 822. The second drive wheel 88 is mounted on the connecting frame 822. The first drive motor 89 is drivenly connected to one end of the second transmission chain plate 87. The second transmission chain plate 87 is wound around the second drive wheel 88, and the other end of the second transmission chain plate 87 is connected to the lifting seat 833. With the above configuration, the lifting seat 833 can move vertically relative to the mounting frame 82. Furthermore, two sets of guide wheels 834 are provided at each opposite end of the lifting seat 833. These two sets of guide wheels 834 are positioned opposite each other on the guide column 821 on their respective sides. Each set of guide wheels 834 includes two guide wheels 834 spaced apart vertically. The guide wheels 834 guide the lifting seat 833, ensuring that it does not wobble during vertical movement and improving the stability of the lifting seat 833.

[0108] The first limit switch 85 and the second limit switch 86 are vertically spaced on the support column 823. The first limit switch 85 and the second limit switch 86 limit the travel of the lifting seat 833. The position of the first limit switch 85 indicates the highest position of the lifting seat 833, and the position of the second limit switch 86 indicates the lowest position of the lifting seat 833. The position sensor 84 is mounted on the tray 831 and is used to detect whether the electronic scale 81 is properly installed, i.e., whether the electronic scale 81 is installed on the tray.

[0109] See also Figure 28 , Figure 34 as well as Figure 35As shown, in one embodiment of this utility model, the robotic arm 42 includes a rotary motor 43, a first fixed plate 44, a second fixed plate 45, a swing motor 47, a second drive motor 404, a first base plate 405, a chain pressure plate 406, a mounting plate 407, a second base plate 408, and a photoelectric switch. The output shaft of the rotary motor 43 is fixedly connected to the first base plate 405, and the housing of the rotary motor 43 is fixedly connected to the second fixed plate 45. When the rotary motor 43 is working, it can drive the second fixed plate 45 to rotate. The other end of plate 45 is connected to the first fixed plate 44. A rocking motor 47 is mounted on the first fixed plate 44. The output shaft of the rocking motor 47 passes through the first fixed plate 44 and connects to the color masterbatch unit fork 46. The first base plate 405 is connected to the mounting plate 407, and the first base plate 405 is perpendicular to the mounting plate 407. Two sliders 402 and a nut 401 are fixedly mounted on the side of the mounting plate 407 away from the rotary motor 43. The two sliders 402 are arranged at intervals in the vertical direction, and the nut 401 is located between the two sliders 402. Two linear slide rails 48 are spaced at intervals on the side of the second base plate 408 facing the rotary motor. The two sliders 402 and the two linear slide rails 48 are arranged in a one-to-one correspondence, and the sliders 402 slide on the corresponding linear slide rails 48. A chain pressure plate 406 is fixedly mounted on the side of the second base plate 408 facing the rotary motor 43. A lead screw 49 is also provided on the side of the second base plate 408 facing the rotary motor. The lead screw 49 can rotate relative to the second base plate 408. The lead screw nut 401 is threadedly engaged with the lead screw 49. A second drive motor 404 is provided on the side of the second base plate 408 away from the rotary motor. The extension direction of the linear slide rail 48 is the same as the extension direction of the lead screw 49. The output shaft of the second drive motor 404 is connected to one end of the lead screw 49 via a transmission belt. Rotation of the output shaft of the second drive motor 404 can drive the lead screw 49 to rotate. This causes the mounting plate 407 to move along the length of the lead screw 49, bringing the color master unit fork 46 close to the color master unit 90. Finally, it inserts into the second base plate 91 and both sides of the color master unit 90, and can grasp the color master unit 90. Then, the robot arm 42 rises a certain height relative to the longitudinal beam 41, and the second drive motor 404 rotates in the opposite direction, driving the lead screw 49 to move the slider 402 on the linear slide rail 48, so that the color master unit fork 46 leaves the placement frame 20.

[0110] Simultaneously, the rotary motor 43 rotates in the reverse direction. At this time, the second fixed plate 45 can drive the first fixed plate 44 to rotate to the side where the color palette assembly 70 is located. Then, the robot arm 42 moves relative to the longitudinal beam 41 to the height of the color palette assembly 70. Then, the rotation of the second drive motor 404 drives the lead screw 49 to rotate, which in turn allows the mounting plate 407 to drive the color masterbatch unit fork 46 to insert the color masterbatch unit 90 into the color masterbatch unit receiving space 76. The robot arm 42 moves downward along the longitudinal beam 41 a distance until the color masterbatch unit fork 46 disengages from the color masterbatch unit 90. The turntable 72 rotates, sending the color masterbatch unit 90 to the feeding assembly for feeding. In addition, if it is necessary to mix the color masterbatch in the color masterbatch unit 90, the swing motor 47 can be controlled by the program to frequently rotate forward and reverse, so that the color masterbatch in the color masterbatch unit 90 can be mixed evenly and prevent the color masterbatch from settling. The first fixed plate 44 is also equipped with a photoelectric switch 410 to detect whether the color masterbatch unit fork 46 has grasped the color masterbatch unit 90.

[0111] In addition, four fourth position sensors 403 are provided on the second base plate 408. The four fourth position sensors 403 are spaced apart along the length of the lead screw 49. The fourth position sensors 403 are used to detect the position of the first base plate 405 on the linear slide rail 48. A fifth position sensor 411 is provided on the first base plate 405 to detect the rotational position of the second fixed plate 45.

[0112] See also Figures 19 to 25 As shown in one embodiment of this utility model, the color palette assembly 70 further includes a rotary motor 77, a transmission belt 78, and a rotating component 79. Both the rotary motor 77 and the rotating component 79 are mounted on a mounting base 71. The output shaft of the rotary motor 77 passes through a mounting cavity 711. The turntable 72 is mounted on the rotating component 79 and can rotate with it. The rotating component 79 and the output shaft of the rotary motor 77 are connected by the transmission belt 78. Driven by the rotary motor 77, the rotating component 79 rotates and drives the turntable 72 to rotate. Since the fixing frame 75 is mounted on the turntable 72, the fixing frame 75 also rotates with the turntable 72, thereby changing the placement direction of the color masterbatch unit 90 and facilitating the feeding operation of the color masterbatch unit 90.

[0113] See also Figure 29 and Figure 30As shown, in one embodiment of this utility model, the feeding assembly 50 includes a base 58, a third drive motor 54, a fourth drive motor 57, and a valve motor assembly 59. The base 58 is fixedly installed on the cabinet 10, the third drive motor 54 is installed on the base 58, one end of the screw 51 is rotatably connected to the base 58, and the other end of the screw 51 is drivenly connected to the third drive motor 54. The screw nut 53 is connected to the screw 51 through the screw nut, and the lifting plate 52 is fixedly installed on the side of the screw nut 53 away from the third drive motor 54. The third drive motor 54 can drive the screw 51 to rotate, thereby causing the screw nut 53 to drive the lifting plate 52 to move vertically relative to the base. The lifting plate 52 is provided with a locking gap 521.

[0114] The color masterbatch unit 90 includes a second base plate 91, a multi-way valve 93, and a plunger pump 92. The multi-way valve 93 is mounted on the second base plate 91, and the plunger pump 92 is mounted on the second base plate 91 and connected to the multi-way valve 93. The inlet of the multi-way valve 93 is replaceably equipped with a color masterbatch barrel (not shown). The plunger pump 92 includes a pump rod head 94, which can be engaged in the locking gap 521 of the lifting plate 52. When the lifting plate 52 moves vertically relative to the base plate, it can drive the pump rod head 94 to move up and down, quantitatively injecting the color masterbatch in the color masterbatch barrel through the multi-way valve 93.

[0115] The valve motor assembly 59 is mounted on the base 58. The fourth drive motor 57 is driven and connected to the valve motor assembly 59. The valve motor assembly 59 includes a rotating structure 56 and a valve lever 55 mounted on the rotating structure 56. The multi-way valve 93 is provided with two connecting rods 931. The valve lever 55 can move the connecting rods 931, thereby driving the spindle of the multi-way valve 93 to rotate, changing the working state of the multi-way valve 93 to inject or suck up color paste, and cooperating with the screw, nut seat and other related structures to complete the feeding or discharging process.

[0116] See also Figure 28 , Figure 34 as well as Figure 35 As shown, in one embodiment of this utility model, the robotic arm assembly 40 further includes a fifth drive motor 412, a third transmission chain plate 413, a sprocket 414, and a counterweight 415. The fifth drive motor 412 is mounted on the top of the longitudinal beam 41. The sprocket 414 is mounted on the output shaft of the fifth drive motor 412. The third transmission chain plate 413 is mounted on the sprocket 414. One end of the third transmission chain plate 413 is fixedly connected to the counterweight 415, and the other end of the third transmission chain plate 413 is fixedly connected to the chain pressure plate 406. With the above configuration, the robotic arm 42 can move vertically relative to the longitudinal beam 41.

[0117] See also Figures 1 to 30As shown, in one embodiment of the present invention, the feeding assembly 50 further includes a sixth drive motor 203, a gear 200, a rack 201, a guide rod 205, a connecting block 204, and a handrail 202, which reciprocates relative to the base 58 along the width direction of the base 58. The guide rod 205 is slidably mounted on the base 58 along the width direction of the base 58. The handrail 202 is connected to one end of the guide rod 205 and is located outside the base 58. The connecting block 204 is connected to the other end of the guide rod 205. The bottom of the rack 201 is connected to the top of the connecting block 204. The gear 200 is mounted on the drive shaft of the sixth drive motor 203 and meshes with the rack 201. The gear 200 rotates under the drive of the sixth drive motor 203. When the gear 200 meshes with the rack 201, the rack 201 can drive the connecting block 204 to reciprocate along the width direction of the base 58, so that the connecting block 204 drives the guide rod 205 to reciprocate relative to the base 58 along the width direction of the base 58, thereby enabling the guide rod 205 to drive the handrail 202 to reciprocate relative to the base 58 along the width direction of the base 58.

[0118] When the color masterbatch unit 90 feeds material through the feeding assembly 50, the handle 202 moves away from the rotating structure 56 along the width direction of the base 58 relative to the base 58 under the cooperation of the sixth drive motor 203, gear 200, and rack 201. The extended handle 202 is used to straighten the color masterbatch unit 90, prevent the color masterbatch unit 90 from shaking during the feeding process, make the color masterbatch unit 90 more stable during the feeding process, and thus ensure feeding accuracy.

[0119] like Figure 36 and Figure 37 As shown, in one embodiment of the present invention, the first fixing plate 44 and the second fixing plate 45 are formed by bending the same plate.

[0120] From the above description, it can be seen that the above embodiments of this utility model achieve the following technical effects: A cabinet is provided, on which multiple placement racks are installed. Each placement rack is equipped with a color masterbatch unit fixing assembly. The color masterbatch unit fixing assembly includes a frame and multiple color masterbatch unit fixing parts. The color masterbatch unit fixing parts are used to fix the color masterbatch units. One end of the frame forms a material picking station. Since the color masterbatch unit fixing parts can rotate around the central axis of the frame, each color masterbatch unit fixing part can move to the material picking station, and the color masterbatch unit fixing part can drive the color masterbatch unit on it to move to the material picking station. During the material picking process, the robot only needs to move to the material picking station to grab the color masterbatch unit. The robot does not need to frequently move to the location of color masterbatch units fixed in different positions to pick up materials multiple times. When grabbing color masterbatch units located on different layers of placement racks, it only needs to move vertically to the placement rack at the corresponding height position, and then grab the color masterbatch unit from the material picking station. Compared to existing paint mixing equipment that fixes the masterbatch unit in different positions, the paint mixing equipment of this application has a movable masterbatch unit. The material picking process does not rely on the movement of the robot arm between multiple static fixed positions. The robot arm only needs to move vertically to the picking station at the corresponding height to perform the picking operation to complete the material picking, which greatly reduces the robot arm's movement distance and time, and thus can significantly improve the mixing efficiency.

[0121] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0122] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0123] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A paint mixing device, characterized in that, include: Cabinet (10); Multiple placement racks (20) are installed on the cabinet (10). The multiple placement racks (20) are arranged in sequence along the vertical direction. Each placement rack (20) is provided with a color masterbatch unit fixing assembly (30). The color masterbatch unit fixing assembly (30) includes a frame (31) and multiple color masterbatch unit fixing parts (32). The frame (31) is installed on the placement rack (20). One end of the frame (31) forms a material picking station. The multiple color masterbatch unit fixing parts (32) are arranged around the frame (31). Each color masterbatch unit fixing part (32) is installed on the frame (31) and can rotate relative to the frame (31). The material picking station is located on the moving path of the color masterbatch unit fixing part (32). A robotic arm assembly (40) includes a longitudinal beam (41) and a robotic arm (42) capable of gripping and placing color masterbatch units (90), the robotic arm (42) being movable relative to the longitudinal beam (41) in the vertical direction, and the material handling station being located within the material handling range of the robotic arm (42); and A feeding assembly (50) is installed inside the cabinet (10), and the feeding assembly (50) is located at one end of the placement rack (20) near the robotic arm assembly (40).

2. The paint mixing equipment according to claim 1, characterized in that, The color masterbatch unit fixing part (32) includes a base (321) for placing the color masterbatch unit (90). The base (321) includes a back plate (3211) and a first bottom plate (3212) arranged at an angle. The back plate (3211) and the first bottom plate (3212) are connected, and a stop edge (3213) is provided at the end of the first bottom plate (3212) away from the back plate (3211).

3. The paint mixing equipment according to claim 2, characterized in that, The color masterbatch unit fixing part (32) also includes a limiting structure (322), which is installed on the base (321) and can limit the color masterbatch unit (90) in the vertical direction.

4. The paint mixing equipment according to claim 3, characterized in that, The limiting structure (322) is rotatably mounted on the back plate (3211). The limiting structure (322) has a limiting position for limiting the color masterbatch unit (90) in the vertical direction and an unlocking position for releasing the limiting position. The paint mixing equipment also includes an adjustment component (60) installed on the frame (31). The adjustment component (60) is used to switch the limiting structure (322) between the limiting position and the unlocking position.

5. The paint mixing equipment according to claim 4, characterized in that, The adjusting assembly (60) includes an adjusting member (61) and a first elastic member (3223). The limiting structure (322) includes a rotating shaft (3221) and a limiting member (3222). The rotating shaft (3221) passes through the back plate (3211), and the limiting member (3222) is rotatably mounted on the rotating shaft (3221). The first elastic member (3223) is disposed on the side of the back plate (3211) facing the adjusting member (61). The first elastic member (3223) is elastically abutted between the back plate (3211) and the limiting member (3222). When the first elastic member (3223) is in the initial state, the limiting member (3222) is in the limiting position. The adjusting member (61) can apply a squeezing force to the limiting member (3222) located at the material picking station to compress the first elastic member (3223) and switch the limiting member (3222) from the limiting position to the unlocking position.

6. The paint mixing equipment according to claim 5, characterized in that, The paint mixing equipment also includes a mounting bracket (62). The adjustment component (60) includes a first position sensor (63), a second position sensor (64), and a first sensing element (614). The adjustment element (61) and the first position sensor (63) are both mounted on the mounting bracket (62). The second position sensor (64) is mounted on the material picking station. The adjustment element (61) includes a first driving part (611) and a telescopic part (612) that is driven and connected to the first driving part (611). The first driving part (611) can drive the telescopic part (612) to move towards or away from the back plate (3211) located at the material picking station. The first sensing element (614) is disposed on the telescopic part (612) and can sense and cooperate with the first position sensor (63).

7. The paint mixing equipment according to claim 6, characterized in that, The telescopic part (612) is provided with a linkage (613), and the first sensing element (614) is provided on the linkage (613); and / or, the mounting bracket (62) and the frame (31) are a separate structure or an integrated structure.

8. The paint mixing equipment according to any one of claims 1 to 7, characterized in that, The frame (31) includes a first track (311), a top plate (312) and a plurality of support members (313). The first track (311) is installed on the placement rack (20). The support members (313) are connected between the top plate (312) and the placement rack (20). A second track (314) is provided on the top plate (312). The top of the color master unit fixing part (32) is slidably disposed on the second track (314), and the bottom of the color master unit fixing part (32) is slidably disposed on the first track (311). The color master unit fixing assembly (30) also includes a first drive mechanism (33), which is drivenly connected to the color master unit fixing part (32).

9. The paint mixing equipment according to claim 8, characterized in that, The first drive mechanism (33) includes a second drive unit (331), a first drive wheel (332), a driven wheel (333), and a first transmission chain plate (334). The second drive unit (331) is drivenly connected to the first drive wheel (332). The first transmission chain plate (334) is wound around the first drive wheel (332) and the driven wheel (333). The first transmission chain plate (334) is connected to the color masterbatch unit fixing part (32). A first bearing (323) is provided at the top of the color masterbatch unit fixing part (32). The outer ring of the first bearing (323) rolls with the side wall of the first track (311). And / or, a second bearing (324) is provided at the bottom of each color masterbatch unit fixing part (32). The outer ring of the second bearing (324) rolls with the side wall of the second track (314).

10. The paint mixing equipment according to any one of claims 1 to 7, characterized in that, The paint mixing equipment also includes a color mixing tray assembly (70), which is disposed on the side of the material dispensing assembly (50) facing the robotic arm assembly (40). The color mixing tray assembly (70) includes a mounting base (71), a turntable (72), two sensing components (73), and three third position sensors (74). The turntable (72) is rotatably mounted on the mounting base (71). Two fixing brackets (75) are provided on the turntable (72). Each fixing bracket (75) and the turntable (72) together form a color masterbatch unit accommodating space (76). The openings of the two fixing brackets (75) are arranged opposite to each other. The sensing components (73) include a second sensing element (731). Both of the second sensors (731) are connected to the turntable (72), and the two second sensors (731) are correspondingly set with the two fixed brackets (75). The second sensors (731) are movably set relative to the turntable (72) along the vertical direction. The three third position sensors (74) are all mounted on the mounting base (71). The three third position sensors (74) are spaced apart along the circumference of the turntable (72). The first end of the second sensor (731) can penetrate into the corresponding color masterbatch unit accommodating space (76), and the second end of the second sensor (731) can sense and cooperate with the third position sensor (74).

11. The paint mixing equipment according to claim 10, characterized in that, The mounting base (71) has a mounting cavity (711), and the three third position sensors (74) are all installed in the mounting cavity (711). The sensing component (73) also includes a housing (732) and a second elastic member (733). The top of the housing (732) is connected to the turntable (72). The housing (732) is sleeved on the outer periphery of the second sensing member (731). A strip-shaped limiting groove (734) is provided on the housing (732). The strip-shaped limiting groove (734) extends along the vertical direction. A protruding structure (735) is provided on the second sensing member (731). The protruding structure (735) is slidably disposed in the strip-shaped limiting groove (734). One end of the second elastic member (733) abuts against the protruding structure (735), and the other end of the second elastic member (733) abuts against the bottom wall of the mounting cavity (711).

12. The paint mixing equipment according to any one of claims 1 to 7, characterized in that, The paint mixing equipment also includes a weighing component (80), which is installed on the cabinet (10) and located below the material dispensing component (50). The weighing component (80) includes an electronic scale (81), a mounting frame (82), and a movable frame (83). The movable frame (83) is movably mounted on the mounting frame (82) along the vertical direction, and the electronic scale (81) is mounted on the movable frame (83).

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