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CN-121972340-A - Movable cantilever type automatic spraying device

CN121972340ACN 121972340 ACN121972340 ACN 121972340ACN-121972340-A

Abstract

The invention discloses a movable cantilever type automatic spraying device, which belongs to the technical field of automatic spraying and comprises a robot, a cantilever guide rail, a gesture adjusting mechanism and a carrying device. The robot is arranged at the tail end of the cantilever expansion device, the spraying operation range of the robot is prolonged through the movement stroke of the moving arm, the mechanical arm of the robot is of a multi-degree-of-freedom serial structure, the posture adjustment of the spray gun actuator is realized, the normal vertical spraying surface of the spray gun actuator in the spraying process is ensured, the robot is suitable for automatic spraying of long and narrow part coatings, the posture adjustment mechanism has the functions of vertical surface pitching, horizontal surface transverse movement, horizontal surface rotation and vertical surface lifting multi-degree-of-freedom posture adjustment, the actual posture of the cantilever guide rail can be adjusted to the required posture of the robot offline spraying track program, and the accuracy of the actual running track of the robot and the cantilever guide rail relative to the offline programming theoretical track when the spraying program is executed is ensured.

Inventors

  • WANG FEI
  • JIANG WEI
  • GAO MENG
  • LV ZHIYUAN
  • LIU HUASEN
  • SUN SIYU
  • LIU DAWEI
  • CHEN YAHUI
  • LEI PEI
  • LUO LINGLING
  • TU FUQUAN
  • HUANG JINGJIN
  • LIANG JIE
  • TANG KAI

Assignees

  • 成都飞机工业（集团）有限责任公司

Dates

Publication Date
20260505
Application Date
20260407

Claims (10)

  1. 1. The utility model provides a portable cantilever type automatic spraying device, its characterized in that, including carrier device (4), gesture adjusting device (3) are installed at the top of carrier device (4), gesture adjusting device (3) are including every single move unit (31), gyration unit (32), sideslip unit (33), lift stabilizer blade unit (34), sideslip unit (33) set up at the top of carrier device (4), the bottom of sideslip unit (33) is provided with lift stabilizer blade unit (34), be provided with gyration unit (32) on the sideslip end of sideslip unit (33), be provided with every single move unit (31) on the gyration end of gyration unit (32), be provided with cantilever telescoping device (2) on the every single move end of every single move unit (31), be provided with spraying robot (1) on the telescoping end of cantilever telescoping device (2).
  2. 2. The movable cantilever type automatic spraying device according to claim 1, wherein the pitching unit (31) comprises a workbench frame (311), a swinging mechanism (312), a first linear driving device and a revolving frame (315), the revolving frame (315) is arranged on a revolving end of the revolving unit (32), the top of the revolving frame (315) is slidably provided with the swinging mechanism (312) parallel to the telescopic direction of the cantilever telescopic device (2), one side of the swinging mechanism (312) is connected with the linear driving device, the swinging mechanism (312) comprises at least one swinging contact part with an adjustable inclination angle, one end of the workbench frame (311) is rotatably hinged with the top of the revolving frame (315), and the bottom of the other end of the workbench frame (311) is provided with an inclination guide part which is in sliding fit contact with the swinging contact part.
  3. 3. The movable cantilever type automatic spraying device according to claim 2, wherein the swinging mechanism (312) comprises a sliding table (3121), a hinged support (3122) and a swinging table (3123), the top of the swinging table (315) is slidably provided with the sliding table (3121) parallel to the telescopic direction of the cantilever telescopic device (2), one side of the sliding table (3121) is connected with the first linear driving device, the top of the sliding table (3121) is rotatably hinged with the swinging table (3123) through the hinged support (3122), and the top of the swinging table (3123) is provided with an inclined surface capable of being in sliding contact fit with an inclined guide piece at the bottom of the workbench (311).
  4. 4. A movable cantilever type automatic spraying device according to claim 3, wherein the inclined guide member comprises a linear guide rail sliding block pair I (3111), a guide inclined surface is arranged at the bottom of the other end of the working bench (311), and the guide inclined surface is connected with the inclined surface at the top of the swinging bench (3123) in a sliding fit manner through the linear guide rail sliding block pair I (3111).
  5. 5. The movable cantilever type automatic spraying device according to claim 4, wherein the working bench (311) is provided with an angle measuring sensor I (316).
  6. 6. The movable cantilever type automatic spraying device according to claim 2, wherein the rotary unit (32) comprises a rotary driving device (321), an arc-shaped guide rail pair (322), a support bearing (323) and a traversing rack (324), one end of the rotary rack (315) is rotatably connected with the top of the traversing unit (33) around a vertical axis through the support bearing (323), the bottom of the other end of the rotary rack (315) is slidably connected with the top of the traversing unit through the arc-shaped guide rail pair (322), the rotary axis of the arc-shaped guide rail pair (322) is coaxially arranged with the central axis of the support bearing (323), and the rotary driving device (321) for driving the rotary rack (315) to rotate around the axis of the support bearing (323) is arranged between the bottom of the rotary rack (315) and the top of the traversing unit (33).
  7. 7. The movable cantilever type automatic spraying device according to claim 6, wherein the rotary driving device (321) comprises a rotary gear, an arc-shaped rack and a rotary motor, the arc-shaped rack is arranged at the top of the transverse moving rack (324), a round mandrel of the arc-shaped rack is coaxially arranged with the central axis of the supporting bearing (323), the rotary motor is fixedly arranged on the rotary rack (315), and the rotary gear in meshed connection with the arc-shaped rack is sleeved on an output shaft of the rotary motor.
  8. 8. A movable cantilever type automatic spraying device according to claim 7, characterized in that the central axis of the support bearing (323) is provided with an angle measuring sensor II.
  9. 9. The movable cantilever type automatic spraying device according to claim 6, wherein the transverse moving unit (33) comprises a bottom frame (331), a carriage (334) and a second linear driving device, the bottom frame (331) is installed at the top of the carrying device (4), a plurality of lifting support leg units (34) are arranged at the bottom of the bottom frame (331), the carriage (334) is arranged at the top of the bottom frame (331) in a sliding mode perpendicular to the extending and retracting direction of the cantilever extending and retracting device (2), the second linear driving device for driving the carriage (334) to slide is arranged between the carriage (334) and the bottom frame (331), and the transverse moving rack (324) is arranged at the top of the carriage (334).
  10. 10. The movable cantilever type automatic spraying device according to claim 9, wherein the lifting support leg unit (34) comprises a fixed body (341), a movable body (342) and a foot plate (343), one end of the fixed body (341) is fixedly arranged at the bottom of the bottom frame (331), the movable body (342) is slidably arranged in the other end of the fixed body (341), and the foot plate (343) is rotatably connected to the end of the movable body (342) through a spherical hinge structure.

Description

Movable cantilever type automatic spraying device Technical Field The invention belongs to the technical field of automatic spraying, and particularly relates to a movable cantilever type automatic spraying device. Background When spraying is performed on the inside of the long and narrow part, the existing spraying equipment is difficult to adapt to long and narrow spraying space for spraying. For example, in the patent application with the patent number of CN112282306A, an automatic spraying device for an outer wall with six degrees of freedom is disclosed, a walking track of a robot needs to occupy a bottom working surface as a bearing surface of a walking path of the robot when spraying operation is performed, one-time spraying of a product spraying surface can not be realized, and the operation efficiency is influenced. In addition, because the inner space of the long and narrow part is very limited, accurate posture adjustment is needed for the spraying equipment, once the posture adjustment precision cannot be guaranteed, the spraying equipment and the long and narrow part are interfered, so that spraying failure is caused, and even the long and narrow part is damaged. Therefore, in order to overcome the defects in the prior art, the invention discloses a movable cantilever type automatic spraying device. Disclosure of Invention The invention discloses a movable cantilever type automatic spraying device which can solve the problems of space accessibility and pose accurate adjustment of a spraying end effector in a long and narrow space and realize accurate and efficient automatic spraying of an internal coating of a long and narrow part. The invention is realized by the following technical scheme: The utility model provides a portable cantilever type automatic spraying device, includes carrier, carrier's top is installed and is transferred appearance device, it includes every single move unit, gyration unit, sideslip unit, lift stabilizer blade unit to transfer appearance device, the sideslip unit sets up at carrier's top, the bottom of sideslip unit is provided with the lift stabilizer blade unit, be provided with gyration unit on sideslip unit's sideslip end, be provided with every single move unit on gyration unit's the gyration end, be provided with cantilever telescoping device on every single move unit's the every single move end, be provided with spraying robot on cantilever telescoping device's the telescoping end. In order to better realize the invention, the pitching unit further comprises a pitching unit, a working bench, a swinging mechanism, a first linear driving device and a rotating bench, wherein the rotating bench is arranged on the rotating end of the rotating unit, the top of the rotating bench is provided with the swinging mechanism in a sliding manner parallel to the extending and retracting direction of the cantilever extending and retracting device, one side of the swinging mechanism is connected with the linear driving device, the swinging mechanism comprises at least one swinging contact part with an adjustable inclination angle, one end of the working bench is rotationally hinged with the top of the rotating bench, and the bottom of the other end of the working bench is provided with an inclination guide piece in sliding fit contact with the swinging contact part. In order to better realize the invention, the swing mechanism further comprises a sliding table, a hinged support and a swing table, wherein the top of the rotary table is slidably provided with the sliding table parallel to the telescopic direction of the cantilever telescopic device, one side of the sliding table is connected with the first linear driving device, the top of the sliding table is rotatably hinged with the swing table through the hinged support, and the top of the swing table is provided with an inclined surface which can be in sliding contact fit with an inclined guide piece at the bottom of the workbench. In order to better realize the invention, the inclined guide piece further comprises a linear guide rail sliding block pair I, a guide inclined plane is arranged at the bottom of the other end of the working bench, and the guide inclined plane is connected with the inclined plane at the top of the swing bench in a sliding fit manner through the linear guide rail sliding block pair I. In order to better realize the invention, the workbench is further provided with an angle measuring sensor I. In order to better realize the invention, the rotary unit further comprises a rotary driving device, an arc-shaped guide rail pair, a supporting bearing and a transverse moving rack, one end of the rotary rack is rotationally connected with the top of the transverse moving unit around a vertical axis through the supporting bearing, the bottom of the other end of the rotary rack is slidingly connected with the top of the transverse moving unit through the arc-shaped guide rail pair, the rotary axis of the arc