CN114950799A - Movable spraying robot - Google Patents

Abstract

The invention discloses a mobile spraying robot, in particular to the field of workpiece spraying, which comprises a walking mechanism and an actuating mechanism, the actuating mechanism is arranged on a walking mechanism, the walking mechanism comprises a moving component and a transmission component, a motor for controlling the movement of the moving component is arranged on one side of the moving component, the motor is started to drive the actuating mechanism to spray the inner wall and the outer wall of the workpiece by the motor, the workpiece is driven to move while being sprayed by the traveling mechanism, when the spraying is finished, the workpiece also moves for a certain distance, and the certain distance also plays a role in converting the working procedure, so that the time and labor consumed by manual spraying and then carrying are saved, thereby the efficiency of spraying work piece has been improved, moreover for current multiaxis link gear, only use a motor to also reduce follow-up probability of frequently renovating, and this design structure is simpler.

Description

A mobile spraying robot

technical field

The present invention relates to the field of workpiece spraying, and more particularly, the present invention relates to a mobile spraying robot.

Background technique

Common robots used in spraying production lines are mostly three-level or even higher-level linkage structures. This structure makes the robot itself relatively fragile, especially the dust generated when spraying workpieces cannot be inhaled too much. When spraying, the position of the robot is mostly fixed, while the workpiece moves, which results in a small range of motion of the robot's nozzle. Especially for pipe fittings, the effect of spraying may not be satisfactory.

The Chinese patent with the publication number CN207240235U discloses that the spraying robot connection structure, the spraying robot and the spraying experiment platform are simple in structure and convenient to use, and have the characteristics of firm connection and high safety performance at the same time. Improve the efficiency of spraying.

The Chinese patent with publication number CN215964376U records the change from static detection to dynamic detection, which eliminates the need to install equipment on the first and second guide rails, increases the independence of the anti-collision device, and facilitates installation and operation; the use of springs avoids collisions. The damage of the equipment reduces the customer's after-sales maintenance costs, but does not involve how to improve the spraying effect.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned defects of the prior art, the present invention provides a mobile spraying robot. The technical problem to be solved by the present invention is: when the workpiece is sprayed, the position of the robot is mostly fixed, while the workpiece moves, which As a result, the movable range of the robot's nozzle is small, and the spraying effect may be unsatisfactory.

In order to achieve the above purpose, the present invention provides the following technical solutions: a mobile spraying robot, comprising a walking mechanism and an executive mechanism, the executive mechanism is installed on the walking mechanism, and the walking mechanism includes a moving assembly and a transmission assembly, the moving One side of the assembly is provided with a motor for controlling the movement of the moving assembly.

Preferably, the moving assembly includes a base, a support table is fixed on the base, an actuator is mounted on the support table, and a plurality of wheels are rotatably arranged on both the base and the support table, and the wheels are formed by The motor drives the rotation.

Preferably, the transmission assembly includes a driven gear, each wheel is correspondingly and fixedly provided with a driving gear, and the corresponding two driving gears are arranged through a chain transmission, and one of the driving gears and the output end of the motor are fixedly arranged, so The motor is installed on the base, and one side of the chain is fixedly provided with a plurality of groups of meshing groups, each group of meshing groups includes a plurality of external teeth, and a driven gear is provided on the base for elastic rotation, and the driven gear Gears and external teeth meshing transmission.

Preferably, the actuator includes a spray assembly, a limit assembly and a blanking assembly, the spray assembly includes a spray head, the swing rod and the driven gear are fixedly arranged, and the two ends of the swing rod are respectively fixed with spray heads No. 1 and No. 2, the No. 1 and No. 2 are both communicated with an external paint source. The paint source supplies paint to No. 1 and No. 2 through a pump and other equipment. The swing head and the resistance block are rotated and arranged, the material of the resistance block is rubber, the interference block is in contact with the lower end of the workpiece, the workpiece is arranged on the limit assembly, the interference block is wrapped with a sponge layer, the spray head and the spray head are in contact with each other. Both are fan-shaped.

Preferably, the material of the abutting block is rubber.

Preferably, the swing head is fixedly provided with a nozzle through a pipeline, and the nozzle is communicated with an external gas source through a pipeline.

Preferably, a baffle is fixed on the swing rod.

Preferably, the position-limiting assembly includes a guide rail 1, the sliding block is slidably arranged between the guide rail 1 and the guide rail 2, an elastic rod is elastically provided on the sliding block, and a contact head is rotatably provided on the elastic rod, so The contact head is in contact with the inner wall of the workpiece.

Preferably, the blanking assembly includes a pressure plate, the blanking rod is rotatably arranged on the second guide rail, the cross-section of the blanking rod is U-shaped, and one end of the slider is fixedly provided with a pressure plate, and the blanking rod is It is located on the rotation path of the pressing plate, and the upper end of the workpiece is located on the swing path of the blanking rod.

The technical effects and advantages of the present invention: turn on the motor, let the motor drive the actuator to spray the inner wall and outer wall of the workpiece, and use the traveling mechanism to drive the workpiece to move while being sprayed, and when the spraying is finished, the workpiece also moves a certain distance , This distance also plays the role of the conversion process, saving the time and manpower consumed by manual spraying and then handling, thereby improving the efficiency of spraying the workpiece, and compared with the existing multi-axis linkage mechanism, only use One motor also reduces the probability of subsequent frequent repairs, and the design structure is simpler.

Description of drawings

FIG. 1 is a schematic structural diagram of a mobile spraying robot of the present invention.

FIG. 2 is a schematic diagram of the structure of the interference block of the present invention.

FIG. 3 is a schematic structural diagram of the pressing plate of the present invention.

FIG. 4 is a schematic view of the structure of the baffle plate of the present invention.

FIG. 5 is a schematic structural diagram of a blanking rod of the present invention.

FIG. 6 is a schematic structural diagram of the driven gear of the present invention.

The reference numbers are:

1. Guide rail one; 2. Guide rail two; 3. Guide rail three; 4. Base; 5. Workpiece; 6. Slider; Nozzle one; 12, Nozzle two; 13, baffle plate; 14, nozzle; 15, pipeline; 16, swing head; 17, resistance block; 18, elastic rod; 19, resistance head; 20, driven gear; 21, drive Gear; 22, swing rod; 23, chain; 24, external teeth.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

Please refer to FIG. 1, a mobile spraying robot includes a traveling mechanism and an actuator, the actuator is mounted on the traveling mechanism, and the traveling mechanism includes a moving component and a transmission component, and one side of the moving component is provided with a The motor that controls the movement of the moving component. Turn on the motor, let the motor drive the actuator to spray the inner and outer walls of the workpiece 5, and use the walking mechanism to drive the workpiece 5 to move while being sprayed. It plays the role of converting the process, saves the time and manpower consumed by manual spraying and then handling, thereby improving the efficiency of spraying the workpiece 5. Moreover, compared with the existing multi-axis linkage mechanism, only using one motor also reduces the cost. The probability of subsequent frequent repairs is reduced, and the design structure is simpler.

As shown in FIG. 1 , the moving assembly includes a base 4 , a support table 9 and wheels 10 , a support table 9 is fixedly connected to the base 4 , an actuator is mounted on the support table 9 , and the base 4 and A plurality of wheels 10 are rotatably connected to the support table 9, and the wheels 10 are driven to rotate by a motor. Through the rotation of the wheels 10 , the entire robot can be driven to move, thereby improving the efficiency of the robot in handling the workpiece 5 .

As shown in FIG. 6 , the transmission assembly includes a driven gear 20 , a driving gear 21 , a chain 23 and external teeth 24 , and a driving gear 21 is fixedly connected to each wheel 10 , and a chain passes between the corresponding two driving gears 21 . 23 transmission connection, in which a driving gear 21 is fixedly connected with the output end of the motor, the motor is mounted on the base 4, and one side of the chain 23 is fixedly connected with a plurality of sets of meshing groups, and each meshing group includes a plurality of meshing groups. External teeth 24, the base 4 is elastically rotatably connected with a driven gear 20, and the driven gear 20 and the external teeth 24 are engaged for transmission. The motor drives the drive gear 21 to rotate, and through the transmission relationship between the drive gear 21 and the chain 23, the drive gear 21 drives a plurality of wheels 10 to rotate at the same time, thereby driving the entire robot to move. When the drive gear 21 drives the chain 23 to rotate, the chain 23 goes up. The external tooth 24 will rotate when it meshes with the driven gear 20, and the actuator is driven to spray the workpiece 5. When the external tooth 24 does not mesh and drive with the driven gear 20, the driven gear 20 is in the elasticity of the torsion spring. Under the action of force, the actuator is reset, and the actuator is driven to move back. During the back-and-forth movement of the actuator, the area that the actuator can spray on the workpiece 5 is enlarged, and the efficiency and quality of spraying are improved.

Embodiment 2

Please refer to FIG. 2 , the actuator includes a spray assembly, a limit assembly and a blanking assembly, the spray assembly includes a spray head 11, a spray head 2 12 and a swing rod 22, the swing rod 22 and the driven gear 20 are fixedly connected , the two ends of the pendulum rod 22 are respectively fixedly connected with the nozzle one 11 and the nozzle two 12, the nozzle one 11 and the nozzle two 12 are both connected with the external paint source, and the paint source is sent to the nozzle one 11 and the nozzle through equipment such as a pump. Paint is supplied in the spray head 2 12 , the swing rod 22 is fixedly connected with a swing head 16 , and the swing head 16 is rotatably connected with the interference block 17 , the material of the interference block 17 is rubber, and the lower end of the interference block 17 and the workpiece 5 In the interference contact, the workpiece 5 is arranged on the limiting component, the interference block 17 is wrapped with a sponge layer, and the shapes of the first nozzle 11 and the nozzle two 12 are fan-shaped. When the driven gear 20 is reversing, it drives the swing rod 22 to swing within the range, so as to drive the fan-shaped spray head 11 and spray head 2 12 to spray the workpiece 5, because the sprayed area expands with the swing of the swing rod 22, so Nozzle 11 and Nozzle No. 2 12 can spray paint on both the inner and outer walls of the workpiece 5, and the pendulum rod 22 can resist the workpiece 5 under the interference action of the interference block 17 when swinging, thereby pushing the workpiece 5 to the limit. It rotates under the limiting action of the position component, which improves the spraying area and spraying effect of the first spray head 11 and the second spray head 12 on the workpiece 5 . Further, the setting angles of the first nozzle 11 and the second nozzle 12 can be determined manually, the position of the nozzle one 11 and the nozzle two 12 relative to the workpiece 5 depends on the specific situation, and the surface of the interference block 17 is wrapped with a layer of sponge. Using the adsorption and wiping ability of the sponge layer, the paint sliding off the workpiece 5 can be adsorbed and the lower end surface of the workpiece 5 can be infiltrated, so that the contact part of the interference block 17 and the workpiece 5 can also be coated with paint.

As shown in FIG. 2 , the swing head 16 is fixedly connected with a nozzle 14 through a pipeline 15 , and the nozzle 14 is communicated with an external air source through the pipeline 15 . The swing head 16 will drive the nozzle 14 to swing when it swings, and the hot air ejected from the nozzle 14 radiates outward in a fan shape, thereby improving the drying efficiency of the paint on the workpiece 5 and saving the subsequent manual transportation of the workpiece 5 to the oven. The manpower and material resources spent on drying on the drying mechanism.

As shown in FIG. 4 , a baffle 13 is fixedly connected to the swing rod 22 . The baffle 13 can play a certain role in blocking the spread of paint.

Embodiment 3

Please refer to FIG. 3 , the limiting assembly includes a guide rail 1 , a guide rail 2 2 , a slider 6 , an elastic rod 18 and a contact head 19 , and the slider 6 is slidably connected between the guide rail 1 and the guide rail 2 , so An elastic rod 18 is elastically connected to the slider 6 , and a contact head 19 is rotatably connected to the elastic rod 18 , and the contact head 19 is in contact with the inner wall of the workpiece 5 . When the interference block 17 abuts against the workpiece 5, the wheel 10 is driving the workpiece 5 to move. At this time, the slider 6, the elastic rod 18 and the interference head 19 can play the role of connecting the guide rail 1 and the workpiece 5, so that the base The seat 4 can drive the workpiece 5 to move along the guide rail 1 and the guide rail 2 2. The workpiece 5 will rotate when it is subjected to the interference force of the interference block 17, and then the slider 6 will be driven to rotate under the action of the interference head 19 and the elastic rod 18. , so that the slider 6 not only moves on the guide rail one 1 but also rotates on the guide rail one 1 .

As shown in FIG. 3 and FIG. 5 , the blanking assembly includes a pressing plate 7 and a blanking rod 8. The blanking rod 8 is rotatably connected to the guide rail 2 2. The cross-section of the blanking rod 8 is U-shaped, and the sliding One end of the block 6 is fixedly connected with a pressing plate 7 , the blanking rod 8 is located on the rotation path of the pressing plate 7 , and the upper end of the workpiece 5 is located on the swing path of the blanking rod 8 . When the slider 6 drives the pressing plate 7 to rotate to the feeding rod 8, the pressing plate 7 will press the upper end of the feeding rod 8, so that the feeding rod 8 is deflected, and the feeding rod 8 uses the lower part to squeeze the workpiece 5, and then Because of the deformability of the interference block 17, the workpiece 5 slides off the interference head 19, which is convenient for the user to collect. The user can collect the workpiece 5 by using the clamping device. To repeat, the interference head 19 can also be covered with sponge to improve the effect of coating on the workpiece 5 .

As shown in FIG. 1 , one side of the guide rail 1 is fixedly connected with a guide rail three 3 . The slideway formed by the guide rail one 1 and the guide rail two 2 is in the shape of "return", so that after a workpiece 5 is removed, the corresponding slider 6 can be moved back to the starting point through the guide rail one 1 and the guide rail two 2 to clamp. Hold the next workpiece 5, and the guide rail 1 opens a port at the "return"-shaped slideway, which is convenient for feeding the slide block 6 into the guide rail one 1 and the guide rail 2 2 or withdrawing the slide block 6, so that the The whole design is more practical.

The last points that should be noted are: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, and may be mechanical connection. Or electrical connection, or internal communication between two components, or direct connection, "up", "down", "left", "right", etc. are only used to indicate relative positional relationship, when the absolute position of the object being described changes, the relative positional relationship may change;

Secondly: in the drawings of the disclosed embodiments of the present invention, only the structures involved in the embodiments of the present disclosure are involved, other structures may refer to the general design, and the same embodiment and different embodiments of the present invention can be combined with each other under the condition of no conflict;

Finally: the above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the present invention. within the scope of protection.

Claims (10)

1. a mobile spraying robot comprises a running mechanism and an executive mechanism, and the executive mechanism is installed on the running mechanism, it is characterized in that: the walking mechanism comprises a moving assembly and a transmission assembly, and one side of the moving assembly is provided with a useful Motors used to control the movement of moving components. 2. A mobile spraying robot according to claim 1, characterized in that: the mobile assembly comprises a base (4), a support table (9) and a wheel (10), and the base (4) is on the A support table (9) is fixedly connected, an actuator is mounted on the support table (9), a plurality of wheels (10) are rotatably connected to the base (4) and the support table (9), and the wheels (10) ) is driven by the motor to rotate. 3. A mobile spraying robot according to claim 2, characterized in that: the transmission assembly comprises a driven gear (20), a driving gear (21), a chain (23) and an external tooth (24), each A driving gear (21) is correspondingly and fixedly connected to each of the wheels (10), the corresponding two driving gears (21) are connected by a chain (23), and one of the driving gears (21) is fixedly connected to the output end of the motor. , the motor is installed on the base (4), and one side of the chain (23) is fixedly connected with a plurality of sets of meshing groups at intervals, each meshing set includes a plurality of external teeth (24), the base (4) ) is elastically rotatably connected with a driven gear (20), and the driven gear (20) meshes with the external teeth (24) for transmission. 4. A mobile spraying robot according to claim 3, characterized in that: the actuator comprises a spraying assembly, a limit assembly and a blanking assembly, and the spraying assembly comprises a nozzle one (11), a nozzle two ( 12) and a pendulum rod (22), the pendulum rod (22) is fixedly connected with the driven gear (20), and the two ends of the pendulum rod (22) are respectively fixedly connected with a nozzle one (11) and a nozzle two (12) ), the first spray head (11) and the second spray head (12) are connected with the external paint source, the swing rod (22) is fixedly connected with a swing head (16), the swing head (16) and the resistance block (17) Rotating connection, the interference block (17) is in contact with the lower end of the workpiece (5), the workpiece (5) is arranged on the limit assembly, the interference block (17) is wrapped with a sponge layer, and the spray head The first (11) and the second nozzle (12) are fan-shaped. 5. A mobile spraying robot according to claim 4, characterized in that: the material of the interference block (17) is rubber. 6 . A mobile spraying robot according to claim 5 , wherein the swing head ( 16 ) is fixedly connected with a nozzle ( 14 ) through a pipeline ( 15 ), and the nozzle ( 14 ) passes through the pipeline ( 15 ). 7 . ) is connected to an external air source. 7. A mobile spraying robot according to any one of claims 4-6, wherein a baffle plate (13) is fixedly connected to the swing rod (22). 8. A mobile spraying robot according to claim 7, characterized in that: the limit component comprises a guide rail (1), a guide rail two (2), a slider (6), an elastic rod (18) and The friction head (19), the slider (6) is slidably connected between the guide rail one (1) and the guide rail two (2), the slider (6) is elastically connected with an elastic rod (18), the elastic A contact head (19) is rotatably connected to the rod (18), and the contact head (19) is in contact with the inner wall of the workpiece (5). 9. A mobile spraying robot according to claim 8, characterized in that: the blanking assembly comprises a pressing plate (7) and a blanking rod (8), and the blanking rod (8) is rotatably connected to the guide rail On the second (2), the section of the feeding rod (8) is U-shaped, one end of the sliding block (6) is fixedly connected with a pressing plate (7), and the feeding rod (8) is located on the pressing plate (7) On the rotation path of the workpiece (5), the upper end of the workpiece (5) is located on the swing path of the unloading rod (8). 10. A mobile spraying robot according to claim 9, characterized in that: one side of the guide rail one (1) is fixedly connected with a guide rail three (3).

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