CN112452597B - Multi-gun mixed control paint spraying robot based on visual servo - Google Patents

Abstract

The invention discloses a multi-gun mixed control paint spraying robot based on visual servo, which comprises a chassis and a workbench, the top of the workbench is provided with a support, the top of the support is rotatably connected with a large arm through a bearing, one side of the support is provided with a main motor, one side of the large arm is rotatably connected with a connecting shell through a bearing, a wrist part is arranged on one side of the connecting shell, a spray head is arranged on one side of the wrist part, a single-point balancing device is arranged at the bottom of the chassis, a static pressure detection device is arranged inside the chassis, an annular groove is arranged at the bottom of the chassis, the single-point balancing device comprises a hydraulic prop, one end of the hydraulic prop is connected with a slide block, the slide block and the annular groove form a sliding pair, the hydraulic prop has the characteristics of wide working range and capability of mixing multi-color paint.

Description

Multi-gun mixed control paint spraying robot based on visual servo

Technical Field

The invention relates to the technical field of paint spraying, in particular to a multi-gun mixed control paint spraying robot based on visual servo.

Background

The spraying robot is an industrial robot which can automatically spray paint or other coatings. The spray painting robot mainly comprises a robot body, a computer and a corresponding control system, and the hydraulically driven spray painting robot further comprises a hydraulic oil source, such as an oil pump, an oil tank, a motor and the like. It is classified into an air spraying robot and an airless spraying robot.

The existing paint spraying robot intelligently sprays single-color paint or after spraying one color, a paint bucket is replaced, the other color is switched, and the multi-color mixed spraying effect cannot be finished; the existing spraying robot mechanical arm cannot move in a far posture, otherwise, the existing spraying robot mechanical arm needs to be adapted to a larger chassis area to maintain stability; present paint spraying robot has been in the spraying one place position, if fill electric pile back, need pack up the arm when moving to another place and be convenient for keep the focus stable when moving, need expand the arm once more when advancing to next place, work efficiency is low. Therefore, it is necessary to design a multi-gun hybrid control painting robot based on visual servo, which has a wide working range and can mix multi-color paint.

Disclosure of Invention

The invention aims to provide a multi-gun mixed control paint spraying robot based on visual servo to solve the problems in the background technology.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a multi-gun mixed control paint spraying robot based on visual servoing, includes chassis and workstation, the support is installed at the top of workstation, the top of support is rotated through the bearing and is connected with big arm, main motor is installed to one side of support, one side of big arm is rotated through the bearing and is connected with the connection shell, one side of connection shell is provided with the wrist, the shower nozzle is installed to one side of wrist, single-point balancing unit is installed to the bottom on chassis, the inside on chassis is provided with static pressure detection device.

Further, the ring channel has been seted up to the bottom on chassis, single-point balancing unit includes hydraulic prop, hydraulic prop's one end is connected with the slider, the slider constitutes the slip pair with the ring channel, hydraulic prop's the other end is connected with the supporting leg, the bottom of supporting leg is inwards sunken slottedly, and the inner wall in groove evenly installs the gyro wheel, the rotating electrical machines is installed to one side of supporting leg, the output shaft of rotating electrical machines is connected with the gyro wheel.

Further, the static pressure detection device includes the oil pump, there is the oil tank input of oil pump through the tube coupling, there is the overflow valve output of oil pump through the tube coupling, there are a plurality of choke valves output of oil pump still through the tube coupling, the bottom protrusion of workstation is provided with the sliding part, the top protrusion on chassis is provided with down the sliding part, the sliding part constitutes the sliding pair with last sliding part down, set up hydraulic pressure oil pocket in the sliding part down, and hydraulic pressure oil pocket passes through the tube coupling with the overflow valve.

Furthermore, the bottom of workstation evenly installs the locating lever, the spring has been cup jointed to the outside of locating lever, the locating lever activity passes the ring channel, and the bottom and the slider of locating lever contact.

Furthermore, the two sides of the support are correspondingly provided with a hybrid drive system, the hybrid drive system comprises a direction adjusting motor arranged between the two supports, an output shaft of the direction adjusting motor is sleeved with a belt wheel, the outside of the belt wheel is sleeved with a synchronous toothed belt, the belt wheel is meshed with the synchronous toothed belt, the two ends of the synchronous toothed belt are connected with hoses, one side of the support is provided with a fixing plate, one side of the big arm and one side of the wrist are both rotatably provided with a disc sheave, the outside of the disc sheave is sleeved with steel wire ropes, and the two ends of the two steel wire ropes are respectively connected with the hoses positioned at the two sides of the support.

Further, paint mixing arrangement is including installing in the epitheca of the bottom of connecting the shell, the inside of epitheca is run through and is provided with a plurality of spiral pipe, the spiral pipe is including spiraling outer tube, well pipe and the inner tube that the circumference radius reduces in proper order, the quantity of outer tube is more than well pipe, the quantity of well pipe is more than the inner tube, the bottom through connection of spiral pipe has the inferior valve, inferior valve and shower nozzle link up each other.

Further, it is provided with the paint kettle to pile up from top to bottom in the inside of connecting the shell, the through-hole has evenly been seted up to one side of paint kettle, the spiral pipe passes the through-hole, the top of paint kettle has into oil pipe through welded fastening, it link up each other with the paint kettle to advance oil pipe, every advance oil pipe and distribute in the different positions of every paint kettle's circumference, the spiral pipe links up mutually with advancing oil pipe, advance oil pipe and be connected outside pressure source.

Further, the bottom on chassis is seted up slottedly, and the inside in groove is rotated through the bearing and is connected with the revolving stage, the bottom inner wall on chassis is installed and is turned to the motor, it is vice to be provided with gear fluted disc between the output shaft of motor and the revolving stage to turn to, the bottom of revolving stage is inwards sunken, and the depressed part is provided with telescopic cylinder, telescopic cylinder's bottom is connected with the track wheelset, the track wheelset is connected with external drive moment.

Compared with the prior art, the invention has the following beneficial effects: in the invention, the raw materials are mixed,

(1) the hybrid driving system provided by the motor and the rope replaces the traditional mechanical arm driving mode, and the rope has flexibility in the transmission process, so that the motor can be moved backwards onto the rear seat, the weight of the wrist joint is reduced, and the whole machine is simpler and more compact;

(2) the flexible hose is sleeved outside the rope, so that the rope slides in the flexible hose during driving, the flexible hose keeps that the two ends of the rope can transmit torque all the time, the large arm can drive the wrist joint to various positions, and the flexible hose is a plastic body with higher hardness and does not obstruct the normal work of the mechanical arm;

(3) the single-point balancing device is arranged at the bottom of the chassis, so that the whole body can be kept balanced when the center of gravity of the mechanical arm is shifted due to any posture, the size of the chassis is reduced, the device is more flexible, the mechanical arm can be extended to a farther position, and the working range of the robot is improved;

(4) the static pressure detection device is arranged at the joint of the chassis and the workbench, the balance of the mechanical arm is maintained by static pressure, and the mechanical arm can be buffered by hydraulic force when lifted and put down, so that the noise is reduced, and the device runs stably; when the posture of the mechanical arm is greatly changed, the pressure in the cavity is changed through the throttle valve, so that the angle of the workbench deviates, then the support legs are driven to rotate around the axle center, the positioning rod sinks, so that the support legs can move to the gravity center deviation position, and the gravity center position can be automatically judged for adaptive adjustment;

(6) through being provided with paint mixing arrangement, can make the paint of different colours fully premix according to the proportion of wanting, spout polychrome paint from the shower nozzle again for spun paint can change the colour according to user's needs more fast more conveniently.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the construction of the chassis of the present invention;

FIG. 3 is a side cross-sectional structural view of the chassis of the present invention;

FIG. 4 is a hydraulic schematic diagram of the static pressure test apparatus of the present invention;

FIG. 5 is a schematic view of the mounting of the support and boom of the present invention;

FIG. 6 is a schematic diagram of the hybrid propulsion system configuration of the present invention;

FIG. 7 is a schematic view of the paint mixing apparatus of the present invention;

FIG. 8 is a schematic view from A-A of FIG. 7 of the present invention;

FIG. 9 is a schematic view of the installation of the paint bucket and coil of the present invention;

in the figure: 1. a chassis; 2. a work table; 3. a static pressure detection device; 4. a single point balancing device; 5. a hybrid drive system; 6. a paint mixing device; 11. a turntable; 111. a gear fluted disc pair; 12. a crawler belt wheel group; 13. a telescopic cylinder; 14. an annular groove; 15. a steering motor; 16. a lower sliding part; 21. a support; 211. a main motor; 22. a large arm; 23. a connecting shell; 24. a wrist portion; 241. a spray head; 25. an upper sliding part; 31. a spring; 32. positioning a rod; 33. a throttle valve; 34. an overflow valve; 35. an oil pump; 36. an oil tank; 41. supporting legs; 42. a hydraulic prop; 43. a rotating electric machine; 44. a roller; 45. a slider; 51. a fixing plate; 52. a pulley; 53. a hose; 54. a disk sheave; 55. a synchronous toothed belt; 56. a wire rope; 57. a direction-adjusting motor; 61. an upper shell; 62. a spiral tube; 621. an inner tube; 622. a middle tube; 623. an outer tube; 63. a lower case; 64. a paint bucket; 641. an oil inlet pipe; 642. and a through hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a technical solution: a multi-gun mixed control paint spraying robot based on visual servo comprises achassis 1 and aworkbench 2, wherein the top of theworkbench 2 is provided with asupport 21, the top of thesupport 21 is rotatably connected with alarge arm 22 through a bearing, one side of thesupport 21 is provided with amain motor 211, one side of thelarge arm 22 is rotatably connected with a connectingshell 23 through a bearing, one side of the connectingshell 23 is provided with awrist 24, one side of thewrist 24 is provided with aspray head 241, the bottom of thechassis 1 is provided with a single-point balancing device 4, thechassis 1 is internally provided with a staticpressure detection device 3, the staticpressure detection device 3 is used for detecting the gravity center position of the mechanical arm, the single-point balancing device 4 is used for balancing the whole robot by utilizing a fulcrum, the size of thechassis 1 is reduced, and the device is more flexible, meanwhile, the mechanical arm can be extended to a farther position, the working range of the robot is improved, and themain motor 211 drives thelarge arm 22 to move;

as shown in fig. 2-3, the bottom of thechassis 1 is provided with anannular groove 14, the single-point balancing device 4 comprises a hydraulic prop 42, one end of the hydraulic prop 42 is connected with aslide block 45, theslide block 45 and theannular groove 14 form a sliding pair, the other end of the hydraulic prop 42 is connected with a supportingleg 41, the bottom of the supportingleg 41 is recessed inwards to form a groove, the inner wall of the groove is uniformly provided with aroller 44, one side of the supportingleg 41 is provided with arotating motor 43, the output shaft of therotating motor 43 is connected with theroller 44, when the center of gravity shifts and needs to be rebalanced, therotating motor 43 is started to drive theroller 44 to roll, so that theslide block 45 slides in theannular groove 14 to drive the supportingleg 41 to move to a position where the center of gravity needs to be supported, and the hydraulic prop 42 is lengthened and shortened to adapt to the situations of moving and stopping;

as shown in fig. 3-4, the static pressure detection device 3 includes an oil pump 35, an input end of the oil pump 35 is connected with an oil tank 36 through a pipeline, an output end of the oil pump 35 is connected with an overflow valve 34 through a pipeline, an output end of the oil pump 35 is further connected with a plurality of throttle valves 33 through pipelines, an upper sliding portion 25 is convexly arranged at the bottom of the workbench 2, a lower sliding portion 16 is convexly arranged at the top of the chassis 1, the lower sliding portion 16 and the upper sliding portion 25 form a sliding pair, a hydraulic oil chamber is arranged in the lower sliding portion 16, and the hydraulic oil chamber is connected with the overflow valve 34 through a pipeline, so that the balance of the mechanical arm is normally maintained by static pressure, the mechanical arm can be buffered by hydraulic when being lifted and put down, noise is reduced, and the device is stable in operation; when the posture of the mechanical arm is greatly changed, the pressure in the cavity is changed through the throttle valve 33, so that the angle of the workbench deviates, then the support legs are driven to rotate around the axle center, the positioning rod 32 sinks, so that the support legs 41 can be moved to the gravity center deviation position, and the gravity center position can be automatically judged for adaptive adjustment;

as shown in fig. 3, thepositioning rods 32 are uniformly installed at the bottom of theworkbench 2, thesprings 31 are sleeved outside thepositioning rods 32, thepositioning rods 32 movably penetrate through theannular groove 14, the bottom of thepositioning rods 32 is in contact with the slidingblocks 45, and when the center of gravity is deviated, thepositioning rods 32 enter theannular groove 14 to block the position of the slidingblocks 45, so that the supportinglegs 41 are moved to the center of gravity;

referring to fig. 1, 5 and 6, the hybrid driving system 5 is correspondingly installed on two sides of the support 21, the hybrid driving system 5 includes a direction-adjusting motor 57 installed between the two supports 21, a pulley 52 is sleeved on an output shaft of the direction-adjusting motor 57, a synchronous cog belt 55 is sleeved on the outside of the pulley 52, the pulley 52 is meshed with the synchronous cog belt 55, two ends of the synchronous cog belt 55 are connected with hoses 53, a fixing plate 51 is installed on one side of the support 21, a disc sheave 24 is rotatably installed on one side of the boom 22 and one side of the wrist 24, a steel wire rope 56 is sleeved on the outside of the disc sheave 24, two ends of the two steel wire ropes 56 are respectively connected with the hoses 53 located on two sides of the support 21, when the hybrid driving is performed, the hoses keep that two ends of the steel wire rope 56 can always transmit torque, so that the boom can drive the wrist to various positions, the hoses 53 are high-hardness plastic bodies, the normal work of the mechanical arm is not hindered, the steel wire rope 56 can be prevented from being randomly deformed, the driving replaces the traditional mechanical arm driving mode, and the steel wire rope 56 has flexibility in the transmission process, so that the motor can be moved backwards to a rear seat, the weight of a wrist joint is reduced, and the whole machine is simpler and more compact;

as shown in fig. 7-8, thepaint mixing device 6 includes anupper shell 61 installed at the bottom of the connectingshell 23, a plurality ofspiral pipes 62 are arranged in theupper shell 61 in a penetrating manner, eachspiral pipe 62 includes anouter pipe 623, amiddle pipe 622 and aninner pipe 621, the radius of the spiral circumference of each spiral pipe is sequentially reduced, the number of theouter pipes 623 is greater than that of themiddle pipes 622, the number of themiddle pipes 622 is greater than that of theinner pipes 621, the bottom of eachspiral pipe 62 is connected with alower shell 63 in a penetrating manner, thelower shell 63 is communicated with thespray head 241, the arrangement mode of thespiral pipes 62 increases resistance, so that the spiral pipes cannot leak downwards when the pressure source is not applied, and thespiral pipes 62 are used for introducing paint to thespray head 241;

as shown in fig. 9,paint buckets 64 are stacked up and down inside the connectingshell 23, throughholes 642 are uniformly formed in one side of eachpaint bucket 64, thespiral pipe 62 penetrates through the throughholes 642, anoil inlet pipe 641 is fixed to the top of eachpaint bucket 64 through welding, theoil inlet pipe 641 is communicated with thepaint buckets 64, eachoil inlet pipe 641 is distributed at different positions of the circumference of eachpaint bucket 64, thespiral pipe 62 is communicated with theoil inlet pipe 641, theoil inlet pipe 641 is connected with an external pressure source, eachoil inlet pipe 641 is used for supplying paint to thepaint bucket 64, when the device is used, the pressure source enables the paint in thepaint bucket 64 to be injected into thespray head 241 through theoil inlet pipe 641, and thestacked paint buckets 64 enable the paint of various colors to be loaded into the device, and when the paint is mixed, theoil inlet pipes 641 have different pressures according to the mixed amount, so that the mixing can achieve free quantification;

as shown in fig. 2-3, a groove is formed in the bottom of thechassis 1, a rotating table 11 is rotatably connected inside the groove through a bearing, asteering motor 15 is installed on the inner wall of the bottom of thechassis 1, a gear-toothed disc pair 111 is arranged between an output shaft of thesteering motor 15 and the rotating table 11, the bottom of the rotating table 11 is recessed inwards, atelescopic cylinder 13 is arranged at the recessed position, acrawler wheel group 12 is connected to the bottom of thetelescopic cylinder 13, thecrawler wheel group 12 is connected with an external driving torque, when steering is performed, thesteering motor 15 is driven, the rotating table 11 drives thechassis 1 to steer through the gear-toothed disc pair 111, when positioning, thecrawler wheel group 12 is retracted by thetelescopic cylinder 13, when moving, thetelescopic cylinder 13 pushes out the crawler wheel group again, and switching between a moving state and a static state is facilitated;

example (b): when using this robot that sprays paint, move whole device and remove to waiting to spray the operating position before drivingcaterpillar band wheelset 12, it is accurate with the arm orientation through turning tomotor 15, adjustbig arm 22, connect the angle ofshell 23 andshower nozzle 241 respectively according to the procedure that control system set for after that, makeshower nozzle 241 spray paint according to the orbit of settlement, utilize staticpressure detection device 3 to detect the focus position when the focus shifts by a wide margin, make single-point balancing unit 4 just support whole robot, utilizepaint mixing arrangement 6 homogeneous mixing paint during the mixed paint.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1. The utility model provides a multi-gun mixed control paint spraying robot based on visual servo, includes chassis (1) and workstation (2), support (21) are installed at the top of workstation (2), the top of support (21) is rotated through the bearing and is connected with big arm (22), main motor (211) are installed to one side of support (21), one side of big arm (22) is rotated through the bearing and is connected with connection shell (23), one side of connecting shell (23) is provided with wrist (24), shower nozzle (241), its characterized in that are installed to one side of wrist (24): the single-point balance device (4) is installed at the bottom of the chassis (1), and the static pressure detection device (3) is arranged in the chassis (1);

the bottom of the chassis (1) is provided with an annular groove (14), the single-point balancing device (4) comprises a hydraulic support (42), one end of the hydraulic support (42) is connected with a sliding block (45), the sliding block (45) and the annular groove (14) form a sliding pair, the other end of the hydraulic support (42) is connected with a supporting leg (41), the bottom of the supporting leg (41) is inwards recessed to form a groove, rollers (44) are uniformly arranged on the inner wall of the groove, one side of the supporting leg (41) is provided with a rotating motor (43), and the output shaft of the rotating motor (43) is connected with the rollers (44);

the hybrid driving system (5) is correspondingly mounted on two sides of the support (21), the hybrid driving system (5) comprises a direction adjusting motor (57) mounted between the two supports (21), a belt wheel (52) is sleeved on an output shaft of the direction adjusting motor (57), a synchronous toothed belt (55) is sleeved on the outside of the belt wheel (52), the belt wheel (52) is meshed with the synchronous toothed belt (55), hoses (53) are connected to two ends of the synchronous toothed belt (55), a fixing plate (51) is mounted on one side of each support (21), disc sheaves (24) are rotatably mounted on one side of the large arm (22) and one side of the wrist (24), steel wire ropes (56) are sleeved on the outside of the disc sheaves (24), and two ends of the two steel wire ropes (56) are respectively connected with the hoses (53) located on two sides of the supports (21);

paint mixing arrangement (6) is including installing in upper shell (61) of the bottom of connecting shell (23), the inside of upper shell (61) is run through and is provided with a plurality of spiral pipe (62), spiral pipe (62) are including outer tube (623), well pipe (622) and inner tube (621) that spiral circumference radius reduces in proper order, the quantity of outer tube (623) is more than well pipe (622), the quantity of well pipe (622) is more than inner tube (621), the bottom through connection of spiral pipe (62) has lower casing (63), lower casing (63) link up each other with shower nozzle (241).

2. The multi-gun hybrid control painting robot based on visual servo as claimed in claim 1, wherein: connect the inside of shell (23) to pile up from top to bottom and be provided with paint kettle (64), through-hole (642) have evenly been seted up to one side of paint kettle (64), through-hole (642) are passed in spiral pipe (62), the top of paint kettle (64) is fixed with into oil pipe (641) through the welding, advance oil pipe (641) and link up each other with paint kettle (64), every advance oil pipe (641) and distribute in the different positions of the circumference of every paint kettle (64), spiral pipe (62) link up mutually with advancing oil pipe (641), advance oil pipe (641) and connect outside pressure source.

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