CN217450660U - Multi-angle spraying device and automatic coating system - Google Patents

Abstract

The utility model discloses a multi-angle spraying device and an automatic painting system, wherein the multi-angle spraying device comprises: a spraying control mechanism, a multi-angle moving mechanism and a spraying mechanism respectively electrically connected with the spraying control mechanism; The mechanism includes: a support frame; a mechanical arm sliding assembly fixed on the top of the supporting frame and electrically connected with the spraying control mechanism; a multi-angle rotating mechanical arm connected to the robotic arm sliding assembly and electrically connected with the spraying control mechanism The end of the arm is connected with the spraying mechanism; wherein, the mechanical arm sliding assembly is used to control the radial rotation and axial sliding of the multi-angle rotating mechanical arm along the mechanical arm sliding assembly, and the multi-angle rotating mechanical arm is a six-degree-of-freedom mechanical arm. The technical scheme of the utility model aims to solve the problems of uneven coating on various areas of the surface of mechanical equipment and poor spraying effect by the robot automatic spraying method in the prior art.

Description

A multi-angle spraying device and automatic coating system

technical field

The utility model relates to the technical field of mechanical equipment, in particular to a multi-angle spraying device and an automatic painting system.

Background technique

With the development of economy and society, the frequency of use of machinery and equipment is getting higher and higher, which leads to an increasing demand for coating the surface of machinery and equipment. Taking the wind power industry as an example, with the rapid development of offshore wind power and onshore wind power, the anti-corrosion requirements of the wind power equipment used are getting higher and higher, which requires improving the coating specifications of wind power equipment.

Painting is the process of spraying paint on the surface of a base material to form a protective coating. Usually, the painting operation is completed in the spray booth of the paint shop, and the spray device is the main component of the spray booth. Existing painting devices are usually manually-held spraying equipment or painting robots. Taking a painting robot as an example, as shown in FIG. 1 , the painting robot includes: a platform 1 , a grounding fixing ring 2 and a supporting base plate 3 ; A support base plate 3 is arranged on the inner side, a control box 4 is installed on one side of the bearing platform 1 , and a sliding rail and a sliding table 5 are installed on the upper end of the grounding fixing ring 2 . During spraying, the control box 4 controls the painting robot 6 on the sliding table 5 to run along the grounding fixed ring 2 , so that the mechanical equipment arranged on the support base plate 3 can be sprayed.

However, the spraying method of manually holding the spraying equipment is more harmful to the health of the painter, and the existing automatic spraying method of the spraying robot can only spray around the surrounding of the mechanical equipment, and it is difficult to spray the mechanical equipment from multiple angles, resulting in Uneven coating of various areas on the surface of mechanical equipment and poor spraying effect.

Utility model content

The utility model provides a multi-angle spraying device and an automatic coating system, which aims to solve the problem that the spraying robot in the prior art can only spray the periphery of the mechanical equipment around the mechanical equipment, resulting in uneven coating of various areas on the surface of the mechanical equipment, and the spraying effect Bad question.

In order to achieve the above purpose, according to the first aspect of the present utility model, the present utility model proposes a multi-angle spraying device, comprising:

Multi-angle moving mechanism and spraying mechanism; of which,

The multi-angle moving mechanism includes:

support frame;

The sliding assembly of the robotic arm fixed on the top of the support frame;

The multi-angle rotating mechanical arm connected to the sliding component of the mechanical arm, and the end of the multi-angle rotating mechanical arm is connected with the spraying mechanism;

in,

The mechanical arm sliding assembly is used to control the multi-angle rotating mechanical arm to rotate and slide axially along the radial direction of the mechanical arm sliding assembly;

The multi-angle rotating mechanical arm is a six-degree-of-freedom mechanical arm.

Preferably, in the above-mentioned multi-angle spraying device, the support frame includes:

Pairs of vertically arranged supporting columns;

respectively vertically connected to the support rails of each support column;

respectively slidingly fit the beam sliders connected to each support rail;

And, a slide rail beam, the slide rail beam is connected to the beam slider between the support columns, and a robotic arm sliding assembly is fixed at the bottom of the slide rail beam.

Preferably, in the above-mentioned multi-angle spraying device, the mechanical arm sliding assembly includes:

Slider servo motor;

The sliding rail bearing seat connected to both sides of the top of the support frame;

The ball screw connected to the bearing seat of the slide rail;

And, the guide rail slider of the multi-angle rotating mechanical arm is fixed, and the guide rail slider is provided with a threaded hole and the ball screw to form a screw nut matching relationship;

Wherein, the slide rail servo motor is used to drive the ball screw to rotate, so as to drive the slide rail bearing seat to reciprocate in the axial direction of the ball screw.

Preferably, in the above-mentioned multi-angle spraying device, the multi-angle rotating mechanical arm comprises:

The mechanical arm support seat fixed on the guide rail slider;

The first arm rod rotatably connected with the support base of the mechanical arm;

a second boom that is rotatably connected to the first boom;

And, a third arm rod rotatably connected with the second arm rod, wherein a spraying mechanism is connected to the end of the third arm rod.

Preferably, in the above-mentioned multi-angle spraying device, the spraying mechanism comprises:

Sprayer;

And, the spray nozzle is fixed on the end of the multi-angle rotating mechanical arm and communicated with the sprayer.

Preferably, the above-mentioned multi-angle spraying device also includes a trailer mechanism, and the trailer mechanism includes:

ground track;

Track trailers slidingly connected to ground tracks;

And, the track motor fixed to the track trailer.

Preferably, the above-mentioned multi-angle spraying device also includes a turntable mechanism connected to the trailer mechanism, and the turntable mechanism includes:

Workbench base fixed on rail trailer;

The slewing support bearing fixed on the base of the worktable;

And, the work turntable fixedly connected to the slewing support bearing.

Preferably, in the above-mentioned multi-angle spraying device, the turntable mechanism further comprises:

The hydraulic lift is fixed to the center of the work turntable and fixedly connected to the base of the worktable.

Preferably, the above-mentioned multi-angle spraying device also includes a spraying control mechanism, and the spraying control mechanism includes:

Trailer position sensor fixed to the ground track;

The spray image sensor fixed on the support frame;

And, the system control cabinet is respectively electrically connected with the trailer position sensor and the spraying image sensor, and the system control cabinet is also electrically connected with the multi-angle moving mechanism, the spraying mechanism and the trailer mechanism respectively.

According to the second aspect of the present utility model, the present utility model also provides an automatic coating system, comprising:

A spray booth ground platform; and the multi-angle spray device provided by any of the above technical solutions; wherein, the multi-angle spray device is fixedly arranged on the spray booth floor platform.

The working process of the multi-angle spraying device provided by the technical solution of the present utility model is as follows:

The multi-angle moving mechanism includes a support frame, and the robotic arm slide assembly is fixed at the top of the support frame. When there is mechanical equipment that needs to be painted, the robotic arm slide assembly can rotate along the support frame, so that the multiple end of the robotic arm slide assembly can be rotated. The angle-rotating mechanical arm rotates to the mechanical equipment that needs to be painted, and the multi-angle rotating mechanical arm can rotate radially and slide axially along the sliding assembly of the robotic arm, so as to move the spraying mechanism at the end of the robotic arm to the position that needs to be painted. At the mechanical equipment installed, and the multi-angle rotating manipulator is a six-degree-of-freedom manipulator, so that the multi-angle rotating manipulator can rotate at any angle in space within a certain distance radius, so as to connect the mechanical arm at the end of the manipulator. The spraying mechanism is adjusted to the corresponding position to paint various areas of the mechanical equipment.

In the multi-angle spraying device and the automatic painting system provided by the technical solution of the present invention, in the multi-angle spraying device, the multi-angle rotating mechanical arm can rotate along the radial direction of the mechanical arm sliding assembly, and can rotate along the radial direction of the mechanical arm sliding assembly. Axial sliding, and the multi-angle rotating manipulator is a six-degree-of-freedom manipulator, which can rotate at any angle in space, so that the spraying mechanism connected to the end of the multi-angle rotating manipulator can achieve multiple orientations, and the number of mechanical equipment This solves the problem that in the prior art, the spraying robot can only spray around the surrounding of the mechanical equipment, and it is difficult to spray the mechanical equipment from multiple angles, resulting in uneven coating of various areas on the surface of the mechanical equipment and poor spraying effect. question.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained based on the structures shown in these drawings without any creative effort.

Fig. 1 is the structural representation of a kind of painting robot provided by the prior art;

2 is a schematic structural diagram of an automatic painting system provided by an embodiment of the present invention;

Fig. 3 is the structural representation of a kind of multi-angle spraying device provided by the embodiment shown in Fig. 2;

FIG. 4 is a front view of the multi-angle spraying device provided by the embodiment shown in FIG. 3 .

Description of reference numbers:

The realization, functional characteristics and advantages of the purpose of the present utility model will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

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

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the difference between the various components under a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only used for description purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present utility model, unless otherwise expressly specified and limited, the terms "connection", "fixed" and the like should be understood in a broad sense, for example, "fixed" can be a fixed connection, a detachable connection, or an integrated; The "connection" can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise expressly defined . For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such technical solutions The combination does not exist and is not within the protection scope required by the present invention.

The problems to be solved in the embodiments of the present application are as follows:

The existing automatic spraying method of spraying robots can only spray the periphery of the mechanical equipment around the mechanical equipment, and it is difficult to achieve multi-angle spraying of the mechanical equipment, resulting in uneven coating on the surface of the mechanical equipment and poor spraying effect.

In order to solve the above problems, the following embodiments of the present application provide a multi-angle spraying device and an automatic painting system. The arm can be rotated at multiple angles, so that the spraying mechanism connected to the end of the multi-angle rotating mechanical arm can be controlled to achieve multiple orientations and multiple areas of the mechanical equipment.

It should be noted that the multi-angle spraying device and the automatic painting system provided by the following embodiments of the present application can not only realize the painting operation on the surface of the equipment, but also the zinc spraying operation on the surface of the equipment. You can change to different spraying materials.

Referring specifically to FIG. 2 , FIG. 2 is a schematic structural diagram of an automatic coating system provided by an embodiment of the present invention. As shown in Figure 2, the automatic coating system includes:

The spray booth ground platform 12 and the multi-angle spraying device 100 ; wherein, the multi-angle spraying device 100 is fixedly arranged on the spray booth ground platform 12 .

Before spraying the equipment, the equipment needs to be pulled to the spray booth by the rail trailer 1002 of the multi-angle spraying device 100, and then placed on the work turntable 1103. Pull into the spray booth, close the spray booth door, and use the multi-angle spray device to complete the spray operation.

Wherein, the structure of the multi-angle spraying device 100 is shown in FIG. 3. As shown in FIG. 3, the multi-angle spraying device includes:

Multi-angle moving mechanism 8 and spraying mechanism 9; wherein,

The multi-angle moving mechanism 8 includes:

Support frame 801; The support frame 801 includes a support column 8011 and a beam for suspending the robotic arm, so that the spraying equipment can be sprayed at multiple angles through the spraying mechanism 9 at the end of the robotic arm.

The robotic arm slide assembly 802 fixed on the top of the support frame 801; the robotic arm slide assembly 802 is fixed on the top of the support frame 801, that is, on the beam of the support frame 801, so that the robotic arm slide assembly 802 can slide laterally along the top of the support frame 801 to facilitate The robotic arm performs a horizontal spraying operation on the equipment to be sprayed.

The multi-angle rotating mechanical arm 803 is connected to the mechanical arm sliding assembly 802 , and the end of the multi-angle rotating mechanical arm 803 is connected to the spraying mechanism 9 .

The multi-angle rotating mechanical arm 803 is used for radial rotation and axial sliding of the mechanical arm sliding assembly 802;

The multi-angle rotating robotic arm 803 is a six-degree-of-freedom robotic arm.

The multi-angle rotating mechanical arm 803 can be slid laterally along the support frame 801 through the mechanical arm sliding assembly 802, and the multi-angle rotating mechanical arm 803 can rotate at multiple angles, so that the spraying mechanism 9 at the end can be used to perform multiple operations on the equipment to be sprayed. Spraying in multiple areas at an angle. Wherein, the spraying mechanism 9 disposed at the end of the multi-angle rotating mechanical arm 803 can be a spraying gun.

The working process of the multi-angle spraying device provided by the embodiment of the present invention is as follows:

The multi-angle moving mechanism includes a support frame, and the robotic arm slide assembly is fixed at the top of the support frame. When there is mechanical equipment that needs to be painted, the robotic arm slide assembly can rotate along the support frame, so that the multiple end of the robotic arm slide assembly can be rotated. The angle-rotating mechanical arm rotates to the mechanical equipment that needs to be painted, and the multi-angle rotating mechanical arm can rotate radially and slide axially along the sliding assembly of the robotic arm, so as to move the spraying mechanism at the end of the robotic arm to the position that needs to be painted. At the installed mechanical equipment, and the multi-angle rotating mechanical arm is a six-degree-of-freedom mechanical arm, so that the multi-angle rotating mechanical arm can rotate at any angle in the space within a certain distance radius, so that the spraying control mechanism is connected to the support. The mechanical arm sliding component of the frame sends a sliding control signal, and sends a movement control signal to the multi-angle rotating mechanical arm connected to the mechanical arm sliding component, which controls the multi-angle rotating mechanical arm to rotate at multiple angles, and connects the spraying mechanism at the end of the mechanical arm. Adjust to the corresponding position to paint various areas of the mechanical equipment.

To sum up, in the multi-angle spraying device and the automatic painting system provided by the embodiments of the present invention, in the multi-angle spraying device, the multi-angle rotating mechanical arm 803 can rotate along the radial direction of the mechanical arm sliding assembly 802, and can rotate along the radial direction of the mechanical arm sliding assembly 802. The axial sliding of the mechanical arm sliding assembly 802 can realize multiple angles of rotation by rotating the mechanical arm 803 at multiple angles, so that the spraying mechanism 9 connected to the end of the multi-angle rotating mechanical arm 803 can be controlled to achieve multiple orientations. Coating in multiple areas, thus solving the problem that in the prior art, the sprayer 901 robot can only spray around the surrounding of the mechanical equipment, and it is difficult to spray the mechanical equipment from multiple angles, resulting in uneven coating of various areas on the surface of the mechanical equipment. Ineffective problem.

In order to realize the fixation of the multi-angle rotating mechanical arm 803 and the spraying mechanism 9, as a preferred embodiment, as shown in FIG. 4, the support frame 801 in the above-mentioned multi-angle spraying device includes:

The supporting columns 8011 are arranged in pairs; the supporting columns 8011 are arranged oppositely, and the equipment to be sprayed, such as automobiles, electromechanical and wind power equipment, can be placed between the supporting columns 8011 .

respectively vertically connected to the support rails 8012 of each support column 8011;

respectively slidingly fit the cross beam sliders 8013 connected to each support guide rail 8012;

And, the slide rail beam 8014, the slide rail beam 8014 is connected to the beam slider 8013 between the support columns 8011, and the robot arm sliding assembly 802 is fixed to the bottom of the slide rail beam 8014.

In the embodiment of the present application, the support columns 8011 are arranged in pairs, the equipment to be sprayed is placed between the support columns 8011, and then the support rails 8012 are connected to the support columns 8011, and the slide rail beams 8014 are installed through the beam sliders 8013. The cross beam slider 8013 and the support guide rail 8012 can be moved vertically along the support column 8011, thereby changing the setting height of the multi-angle rotating mechanical arm 803 under the sliding rail beam 8014, which is convenient for the multi-angle rotating mechanical arm 803 to perform multiple operations on the equipment to be sprayed. Angled spraying to enhance spraying effect.

In addition, in order to improve the rotational amplitude and rotational flexibility of the multi-angle rotating mechanical arm 803, as a preferred embodiment, as shown in FIG. 4, in the above-mentioned multi-angle spraying device, the mechanical arm sliding assembly 802 includes:

Slide rail servo motor 8021;

The sliding rail bearing seats 8022 connected to both sides of the top end of the support frame 801;

The ball screw 8023 connected to the sliding rail bearing seat 8022; the ball screw 8023 is connected to the sliding rail bearing seat 8022, so that the rotation of the ball screw 8023 can realize the left and right swing of the multi-angle rotating mechanical arm 803.

And, a guide rail slider (8024) of the multi-angle rotating mechanical arm (803) is fixed, the guide rail slider (8024) is provided with a threaded hole and the ball screw (8023) forms a screw nut matching relationship;

The slide rail servo motor (8021) is used to drive the ball screw (8023) to rotate, so as to drive the slide rail bearing seat (8022) to reciprocate in the axial direction of the ball screw (8023).

In the embodiment of the present application, the slide rail servo motor 8021 is electrically connected to the spray control mechanism 7, and under the control of the spray control mechanism 7, the slide rail servo motor 8021 outputs power to drive the guide rail slider 8024 to move laterally along the ball screw 8023, Because the multi-angle rotating mechanical arm 803 is fixed on the guide rail slider 8024, the multi-angle rotating mechanical arm 803 can move laterally along the ball screw 8023, and the ball screw 8023 is connected to the top of the support frame 801 through the sliding rail bearing seat 8022 In this way, with the rotation of the ball screw 8023, the multi-angle rotating mechanical arm 803 can also swing left and right, thereby increasing the moving range and distance of the multi-angle rotating mechanical arm 803, and increasing the spraying range of the spraying mechanism 9.

As a preferred embodiment, in order to improve the rotation range of the multi-angle rotating mechanical arm 803, thereby increasing the spraying range of the spraying mechanism 9, the multi-angle rotating mechanical arm 803 provided in the embodiment of the present application is a six-degree-of-freedom mechanical arm, specifically as follows As shown in Figure 4, the six-degree-of-freedom robotic arm includes:

The robotic arm support base 8031 fixed to the guide rail slider 8024;

The first arm rod 8032 rotatably connected to the mechanical arm support base 8031;

a second arm 8033 rotatably connected to the first arm 8032;

And, a third arm rod 8034 rotatably connected to the second arm rod 8033, wherein the spraying mechanism 9 is connected to the end of the third arm rod 8034.

In the technical solution provided by the embodiments of the present application, the manipulator support seat 8031 is used to fix the arm of the six-degree-of-freedom manipulator, and the manipulator support seat 8031 is rotatably connected to the first arm rod 8032, and the first arm rod 8032 can surround the support base The center rotates, the second arm 8033 is rotatably connected with the first arm 8032, and the third arm 8034 is rotatably connected with the second arm 8033, so that the multi-angle rotating mechanical arm 803 can realize six degrees of freedom rotation, wherein The end of the third arm rod 8034 is connected to the spraying mechanism 9, so that the spraying mechanism 9 can spray the equipment to be sprayed with multiple angles and multiple areas. In addition, the multi-angle rotating mechanical arm 803 is slidably connected to the mechanical arm sliding assembly 802, so that the spraying mechanism can be realized by the sliding and swinging of the multi-angle rotating mechanical arm 803 and the swinging of each arm of the multi-angle rotating mechanical arm 803 9 Spraying at any angle.

In addition, as a preferred embodiment, as shown in Figure 3, in the above-mentioned multi-angle spraying device, the spraying mechanism 9 includes:

sprayer 901;

And, the spraying nozzle 902 communicated with the spraying machine 901 and fixed to the end of the multi-angle rotating mechanical arm 803 .

In the technical solution provided in the embodiment of the present application, the spraying machine 901 is connected to the spraying control mechanism 7, so that after the spraying control mechanism 7 determines that the equipment to be sprayed is in place, the spraying machine 901 is controlled to send the paint to the spraying gun nozzle 902, and rotate through multiple angles. The robotic arm 803 controls the spraying angle, and controls the spraying flow rate of the spraying nozzle 902 through the spraying machine 901, thereby improving the spraying efficiency of the multi-angle spraying device, wherein the spraying machine 901 and the spraying nozzle 902 can be communicated through a conduit.

In addition, the multi-angle spraying device provided in the embodiment of the present application is arranged in the spraying room, and the equipment to be sprayed needs to be dragged into the spraying room for spraying during use. As a preferred embodiment, the multi-angle spraying device provided in the embodiment of the present application The spraying device includes a trailer mechanism 10 through which the equipment to be sprayed is dragged into a predetermined position in the spray booth for spraying. Specifically as shown in FIG. 2 , the trailer mechanism 10 includes:

ground track 1001;

A rail trailer 1002 slidably connected to the ground rail 1001;

And, the rail motor 1003 fixed to the rail trailer 1002 .

According to the technical solution provided in the embodiment of the present application, the rail trailer 1002 is slidably connected along the ground rail 1001, and under the control of the spray control mechanism 7, along with the transmission of the rail motor 1003, the rail trailer 1002 drags the mechanical equipment to be sprayed into the spray booth , move to the bottom of the support frame 801, and spray with a multi-angle spraying device.

In addition, in order to fix the equipment to be sprayed on the rail trailer 1002, as a preferred embodiment, as shown in FIG. The turntable mechanism 11 includes:

The worktable base 1101 fixed on the rail trailer 1002;

The slewing support bearing 1102 fixed on the table base 1101;

And, the work turntable 1103 is fixedly connected to the slewing support bearing 1102 . The work turntable 1103 is used to carry the equipment to be sprayed, and the work turntable 1103 is rotatably connected to the worktable base 1101 through the slewing support bearing 1102, so that with the rotation of the work turntable 1103, it can cooperate with the rotation of the multi-angle rotating mechanical arm 803 to realize the treatment of the work turntable 1103. Spraying in any area of spraying equipment.

In the technical solution provided by the embodiment of the present application, by setting the worktable base 1101, and installing the slewing support bearing 1102 on the worktable base 1101, the slewing support bearing 1102 is arranged on the work turntable 1103 which is rotatably connected to the worktable base 1101, so that the work can be driven. The spraying equipment on the turntable 1103 rotates along the center line of the worktable base 1101, and cooperates with the rotation of the multi-angle rotating mechanical arm 803 to realize spraying at any angle and any area of the equipment to be sprayed.

In addition, there may be problems that the height of the equipment to be sprayed is relatively low, the spraying mechanism 9 at the end of the multi-angle rotating mechanical arm 803 is far away, and the spraying effect is not good. In order to solve this problem, as a preferred embodiment, as shown in FIG. 4 , the turntable mechanism 11 provided in the embodiment of the present application further includes:

The hydraulic lift 1104 fixed to the center of the work turntable 1103 and fixedly connected to the worktable base 1101, wherein,

The hydraulic lift 1104 is also electrically connected to the spray control mechanism 7 .

In the technical solution provided in the embodiment of the present application, the hydraulic lifter 1104 can lift and lower the equipment to be sprayed on the work turntable 1103, and raise the equipment to be sprayed to within a predetermined distance close to the multi-angle rotating mechanical arm 803, thereby increasing the spray nozzle 902 spray effect.

In addition, when spraying the equipment to be sprayed, it is first necessary to judge whether the equipment to be sprayed is in place. After it is in place, it is necessary to determine the spraying area and spraying angle of the equipment to be sprayed. This requires setting up corresponding sensors to monitor the spraying equipment. In order to realize the above-mentioned functions, as a preferred embodiment, as shown in FIG. 4 , the embodiment of the present application provides a spraying control mechanism, and the spraying control mechanism includes:

The trailer in-position sensor 701 is fixed on the ground track 1001; the trailer in-position sensor 701 is fixed on the ground rail 1001, which can monitor whether the trailer is in place, and send an in-position signal to the system control cabinet 703 after the trailer is in place, so that the system control cabinet 703 calls related The angle moving mechanism 8 and the spraying mechanism 9 perform spraying. Wherein, the trailer position sensor 701 can be configured as a structure such as a block ruler and an infrared sensor.

The spraying image sensor 702 fixed on the support frame 801; the spraying image sensor 702 is used to monitor the spraying area and spraying effect of the equipment to be sprayed, and send the spraying image signal to the system control cabinet 703, so that the system control cabinet 703 controls the spraying mechanism 9 to spray . Wherein, the spray image sensor 702 can be configured as an infrared sensor, a camera and other structures

And, the system control cabinet 703 is electrically connected to the trailer position sensor 701 and the painting image sensor 702, and the system control cabinet 703 is also electrically connected to the multi-angle moving mechanism 8, the spraying mechanism 9 and the trailer mechanism 10, respectively.

In the technical solution provided by the embodiments of the present application, whether the trailer is in place is monitored by the trailer in-position sensor 701 fixed on the ground rail 1001 , when the trailer is in place, a position signal is sent to the system control cabinet 703 , and the painting image sensor 702 is used to monitor each of the equipment to be painted. The system control cabinet 703 controls the corresponding multi-angle moving mechanism 8 to adjust the spraying orientation and spraying angle of the spraying mechanism 9, and then controls the spraying mechanism 9 to spray the equipment to be sprayed.

To sum up, the multi-angle spraying device and the automatic coating system provided by the above-mentioned embodiments of the present application take the zinc spraying operation as an example, and its working process is as follows:

Before the painting system works, the rail trailer 1002 is pulled out of the spray booth by the track motor 1003 of the multi-angle spraying device, the workpiece equipment to be sprayed is placed on the work turntable 1103, and the track trailer 1002 is pulled to the paint booth by the track motor 1003 Inside, close the door of the spray booth;

After the trailer is in place, call out or input the control program through the system control cabinet 703 to control the operation of each mechanism of the multi-angle spraying equipment.

The slide rail servo motor 8021 is activated to drive the multi-angle rotating mechanical arm 803 to move left and right along the rail slide block 8024 . At the same time, the servo motor of the work turntable 1103 is activated to drive the work turntable 1103 to rotate in a clockwise direction. The rotation speed of the turntable and the left and right movement speed of the multi-angle rotating mechanical arm 803 are adjusted and controlled by the program in the system control cabinet 703 to make it meet the painting requirements.

The zinc spraying machine is started, and the multi-angle rotating mechanical arm 803 drives the zinc spraying gun nozzle to spray zinc in all directions.

After the zinc spraying is completed, the rail trailer 1002 is pulled out of the spray booth by the rail motor 1003 to remove the workpiece equipment, and then the new workpiece equipment to be sprayed is placed on the work turntable 1103, and the rail trailer 1002 is pulled by the rail motor 1003 to In the spraying room, close the spraying room door and repeat the cycle of painting;

To sum up, after actual production operation, the automatic coating system provided by the above embodiments of the present application has the following advantages:

1. Save labor costs. Originally, spraying required at least 2 skilled sprayers. Now, only one person is needed for loading and unloading, which realizes a simple operation.

2. The work efficiency is improved, and the robot automatically sprays, especially for large-volume and heavy-weight parts, which improves the processing efficiency by nearly 3 times.

3. The spraying quality is improved, and the device can spray automatically. As long as the parameters are adjusted properly, the spraying quality is stable, and there will be no unqualified fluctuations, which greatly improves the control of the spraying quality.

4. Health and environmental protection, automatic spraying by robots avoids manual spraying operations and reduces personal health injuries.

In a word, through the above automatic painting system and multi-angle spraying device, the quality, work efficiency and productivity of zinc spraying and painting are effectively improved, labor costs and health injuries are reduced, and the operation competitiveness of zinc spraying and painting is improved.

The above descriptions are only the preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model patent. Any equivalent structural transformations made by using the contents of the present utility model description and accompanying drawings under the utility model concept of the present utility model, Or directly/indirectly applied in other related technical fields are included in the scope of patent protection of the present invention.

Claims (10)

1. A multi-angle spray coating device, comprising:

a multi-angle moving mechanism (8) and a spraying mechanism (9); wherein,

the multi-angle moving mechanism (8) includes:

a support frame (801);

a mechanical arm sliding assembly (802) fixed at the top end of the supporting frame (801) and electrically connected with the top end of the supporting frame;

the multi-angle rotating mechanical arm (803) is electrically connected with the mechanical arm sliding assembly (802), and the tail end of the multi-angle rotating mechanical arm (803) is connected with the spraying mechanism (9); wherein,

the multi-angle rotating mechanical arm (803) is used for rotating along the radial direction and sliding along the axial direction of the mechanical arm sliding assembly (802);

the multi-angle rotating mechanical arm (803) is a six-degree-of-freedom mechanical arm.

2. The multi-angle spray coating device of claim 1, characterized in that said supporting frame (801) comprises:

supporting columns (8011) arranged vertically in pairs;

a support rail (8012) vertically connected to each support post (8011) respectively;

a beam slider (8013) connected to each of the support rails (8012) in a sliding fit manner;

and the sliding rail cross beam (8014), the sliding rail cross beam (8014) is connected to the cross beam slider (8013) between the support columns (8011), and the mechanical arm sliding assembly (802) is fixed at the bottom of the sliding rail cross beam (8014).

3. The multi-angle spray coating device according to claim 1 or 2, wherein said robot arm slide assembly (802) comprises:

a slide rail servo motor (8021);

slide rail bearing seats (8022) connected to two sides of the top end of the supporting frame (801);

a ball screw (8023) connected to the slide rail bearing seat (8022);

the guide rail sliding block (8024) is fixed with the multi-angle rotating mechanical arm (803), and a threaded hole formed in the guide rail sliding block (8024) is matched with the ball screw (8023) to form a screw nut;

the slide rail servo motor (8021) is used for driving the ball screw (8023) to rotate so as to drive the slide rail bearing seat (8022) to reciprocate in the axial direction of the ball screw (8023).

4. The multi-angle spraying device according to claim 3, wherein the multi-angle rotating mechanical arm (803) comprises:

a mechanical arm support seat (8031) fixed on the guide rail slide block (8024);

a first arm lever (8032) rotatably connected to the robot arm support base (8031);

a second arm (8033) rotatably connected to the first arm (8032);

and a third arm lever (8034) rotatably connected with the second arm lever (8033), wherein the tail end of the third arm lever (8034) is connected with the spraying mechanism (9).

5. The multi-angle spraying device according to claim 1, wherein the spraying mechanism (9) comprises:

a sprayer (901);

and a spraying gun nozzle (902) which is fixed at the tail end of the multi-angle rotating mechanical arm (803) and is communicated with the spraying machine (901).

6. The multi-angle spraying device according to claim 1, further comprising a trailer mechanism (10), the trailer mechanism (10) comprising:

a ground track (1001);

a rail trailer (1002) slidably coupled to the ground rail (1001);

and a rail motor (1003) fixed to the rail trailer (1002).

7. The multi-angle spraying device according to claim 6, further comprising a turntable mechanism (11) connected to said trailer mechanism (10), said turntable mechanism (11) comprising:

a table base (1101) secured to the rail trailer (1002);

a slewing bearing (1102) fixed to the table base (1101);

and a working turntable (1103) fixedly connected to the slewing support bearing (1102).

8. The multi-angle painting apparatus according to claim 7, wherein said turntable mechanism (11) further comprises:

and the hydraulic lifter (1104) is fixed at the center of the working turntable (1103) and is fixedly connected with the working table base (1101).

9. The multi-angle spraying apparatus of claim 6, further comprising: a spray control mechanism (7), the spray control mechanism (7) comprising:

a trailer in position sensor (701) secured to the ground track (1001);

a paint image sensor (702) secured to the support frame (801);

and the system control cabinet (703) is electrically connected with the trailer in-place sensor (701) and the spraying image sensor (702) respectively, and the system control cabinet (703) is also electrically connected with the multi-angle moving mechanism (8), the spraying mechanism (9) and the trailer mechanism (10) respectively.

10. An automatic coating system, comprising:

a spray booth floor platform (12); and the number of the first and second groups,

the multi-angle spray coating device of any one of claims 1 to 9; the multi-angle spraying device is fixedly arranged on the spraying room ground platform (12).

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