CN101396682B - Intelligent arm mechanism for spray painting - Google Patents
Intelligent arm mechanism for spray painting Download PDFInfo
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- CN101396682B CN101396682B CN 200710009618 CN200710009618A CN101396682B CN 101396682 B CN101396682 B CN 101396682B CN 200710009618 CN200710009618 CN 200710009618 CN 200710009618 A CN200710009618 A CN 200710009618A CN 101396682 B CN101396682 B CN 101396682B
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- Prior art keywords
- arm
- automatically controlled
- bar
- rotary part
- displacement component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
Abstract
The invention discloses an intelligent arm mechanism used for spraying, which comprises a straight-bar first arm, a straight-bar second arm, a third arm with a stretchable internal and external mechanism and a forth arm with a multi-sectional sleeve structure. An electronic swaying part is linked between the first arm and the second arm and between the forth arm and a base. An electronic rotating part is linked between the second arm and the third arm and between the third arm and the forth arm. By the induction of a sensing part to distance and attitude, a control device is used for driving the electronic swaying part, the electronic rotating part and an electronic displacement part to move, resulting in the combined motion of the first arm, the second arm, the third arm and the forth arm. A hammerhead is locked at the position which has the fixed distance from a working face and at the state which is always vertical to the working face, therefore, the automatic or semi-automatic operation is realized, the influences of human factors and environmental factors are avoided, the quality of products is improved greatly, raw materials are brought into full play and economic benefit is improved. Simultaneously, the intelligent arm mechanism has the advantages of fast construction speed and reduced labor resources and labor intensity.
Description
Technical field
The invention belongs to the device that relates to a kind of intellectual technology, electromechanical, particularly relate to a kind of puma arm mechanism that is used to spray.
Background technology
Fast development along with Chinese national economy, the significantly raising of living standards of the people, and country is to implementing the attention of Comfortable Housing Project, increasing building stands among city or rural area, along with increasing of building, the power saving of building has just become the problem of the most important thing, in fact, building energy conservation just is the hot technology problem of global building industry always, China is shouldered heavy responsibilities especially, China's construction market is that the whole world is maximum, is equivalent to American-European sum, about 2,000,000,000 square metres of China's annual town and country newly constructed house construction area, wherein 80% is the high energy consumption building, nearly 40,000,000,000 square metres of existing building is the high energy consumption building more than 95%, make energy supply more and more nervous especially.On the other hand, building " seepage " is perplexing building industry always, is the much-talked-about topic that people pay close attention to always, and leakproof is impervious to be one technical barrier of building industry.For solving the problems of the technologies described above, patent application formerly discloses a kind of thermal-insulating waterproof spray-coating envelope structure of building, " the civil buildings administration of energy conservation regulation " that meets nation-building portion fully, with the making of once constructing of a kind of material, can realize multiple function, has energy-conservation province material, insulation, impervious leakage-stopping, sound insulation is eliminated the noise and is protected the building characteristic in service life, be a kind of can save energy, in the building of waterproof, the peripheral structure body, but, because the thermal-insulating waterproof spray-coating envelope structure of this building forms in arbitrary shape constructure body structure working face foaming back by the spraying equipment disposable directly spray coating, still there are the following problems and adopt existing spraying equipment: the one, because of manually-operated, be difficult to realize meeting the goods of high standard quality requirement, as flatness, perpendicularity etc.; The 2nd, because of affected by environment, pollute environment, waste material; The 3rd, because of the restriction of structure part, be difficult to realize high efficiency, large-scale industrialization economy.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of puma arm mechanism that is used to spray is provided, can realize full-automatic or semiautomation operation, avoid human factor and Effect of Environmental, quality of item is improved greatly, raw material are not fully exerted, increase economic efficiency, simultaneously, it is fast to have a speed of application, reduces the characteristics of human resources and labour intensity.
The technical solution adopted for the present invention to solve the technical problems is: a kind of puma arm mechanism that is used to spray comprises:
One the first arm, be the straight-bar shape, its front end is equipped with the rifle head that is used to spray material, be used for sensing rifle head and working face distance and sensing rifle head attitude signal infrared observing and controlling locator, be used for MA monitoring agency action and the camera of duty and the conveying pipeline interface that is used to be connected feeding pipe;
One second arm is the straight-bar shape, its front end by can upper and lower 180 ° of swings the first automatically controlled yaw parts and the tail end of the first arm link;
One the 3rd arm is telescopic inside and outside bar structure, the front end of interior bar by can left and right 180 ° of rotations the first automatically controlled rotary part and the tail end of second arm link; Slide and link in the rear portion of interior bar and the front portion of outer bar, bar in being used for the driving first automatically controlled displacement component that slides of bar and the sensor that is used to provide sliding position variation transducing signal outside are housed between inside and outside bar;
One the 4th arm is telescopic more piece tube-in-tube structure, the front end of its inner core core by can left and right 180 ° of rotations the second automatically controlled rotary part and the tail end of the outer bar of the 3rd arm link; Each saves to be equipped with between the sleeve and is used to drive the second automatically controlled displacement component that corresponding sleeve slides;
One movable base is equipped with control device in the pedestal; The outer sleeve of the 4th arm links by the second automatically controlled yaw parts and pedestal;
The output of infrared observing and controlling locator, sensor is connected to the input of control device respectively, and the output of control device is connected to the first automatically controlled yaw parts, the first automatically controlled rotary part, the first automatically controlled displacement component, the second automatically controlled rotary part, the second automatically controlled displacement component and the second automatically controlled yaw parts respectively.
A kind of puma arm mechanism that is used to spray of the present invention links by the first automatically controlled yaw parts between the first arm and second arm, makes the first arm can do 180 ° upper and lower swing with respect to second arm; Link by the first automatically controlled rotary part between second arm and the 3rd arm, make second arm can do 180 ° turning left and right with respect to the 3rd arm, just the first arm, this two arms integral body of second arm can be done 180 ° turning left and right with respect to the 3rd arm; The 3rd arm is telescopic inside and outside bar structure, and bar links by the first automatically controlled rotary part and second arm in it, and then the interior bar of the 3rd arm can be done elastic motion with respect to the outer bar of the 3rd arm together with the integral body of the first arm and the formation of second arm; Link by the second automatically controlled rotary part between the 4th arm and the 3rd arm, make the 3rd arm can do 180 ° turning left and right, that is to say that the first arm, second arm and the formed integral body of the 3rd arm can do 180 ° turning left and right with respect to the 4th arm with respect to the 4th arm; The 4th arm is telescopic more piece tube-in-tube structure, and by the expanding-contracting action of sleeve, such as elongating or shortening, then the 3rd arm, second arm and the formed integral body of the first arm can be done elastic motion with respect to the outermost sleeve of the 4th arm; Link by the second automatically controlled yaw parts between the outer sleeve of the 4th arm and the pedestal, the 4th arm can be rotated up and down around pedestal.
A kind of puma arm mechanism that is used to spray of the present invention, be to realize Based Intelligent Control to puma arm mechanism by the software program of the control device in the pedestal, during use, puma arm of the present invention mechanism is by the interior software of establishing, by the puma arm maximum length, the anglec of rotation that allows, the first arm, second arm, the length of the 3rd arm, and working face size, optimum position when determining the equipment admission jointly, and show at the console video screen, when equipment arrives the optimum position, put down auxiliary support frame, loop bar in the flexibility launches to balance each arm, makes puma arm mechanism be in the greatest limit state.By the locator on the first arm, measure rifle head particular location, by given distance (being rifle head and working reference plane distance), regulate puma arm, muzzle is positioned on the range points of setting, and lock this distance, then by regulating the first automatically controlled yaw parts, make muzzle on the first arm all the time vertically towards working reference plane, and remain this given pose, and lock this posture by control device by the signal of infrared observing and controlling locator feedback, monitor this posture by camera simultaneously.Then, according to mass flow, in the 3rd arm, slip ultimate range and products thickness requirement between the outer bar, by the swaying direction between the software decision the first arm and second arm, angle, rotation direction between second arm and the 3rd arm, angle, rotation direction between the 3rd arm and the 4th arm, angle, swaying direction between the 4th arm and the pedestal, angle, and by this speed driving the first arm, second arm, the 3rd arm, the 4th arm carries out aggregate motion, in whole aggregate motion process, by software to the first automatically controlled tilting member, the first automatically controlled rotary part, the first automatically controlled displacement component, the second automatically controlled rotary part, the second automatically controlled displacement component, adjusting voluntarily between the control of the second automatically controlled tilting member and the parts, guarantee that muzzle is in locking distance and the locking vertical position state all the time, make the first arm, the 4th arm is by predetermined amplitude of fluctuation, cycle and angular speed motion, second arm, the 3rd arm is by predetermined rotation amplitude, cycle and angular speed motion, the 3rd arm, the 4th arm is by predetermined requirement stretching motion, thereby control the first arm, second arm, the 3rd arm, the 4th arm is by the track of setting, keep setting attitude, fixed point ground uniform motion, above-mentioned exercises and motion are all sent instruction by predefined software program and are finished the work to executive item.By expanding the 3rd arm and being connected of the 4th arm the application space of puma arm, the 4th arm is the more piece sleeve that the needs according to purposes or user are provided with, and is scalable, nimbly and freely.If in equipment wide-angle scope, set up three cameras, just see the overall process of overall operation on can the display screen in console intuitively.
The invention has the beneficial effects as follows, owing to adopted the first arm of straight-bar shape, second arm of straight-bar shape, the 3rd arm of telescopic inside and outside bar structure, the 4th arm of telescopic more piece tube-in-tube structure is used as the puma arm mechanism that is used to spray, and link by the first automatically controlled yaw parts between the first arm and second arm, link by the first automatically controlled rotary part between second arm and the 3rd arm, link by the second automatically controlled rotary part between the 3rd arm and the 4th arm, link by the second automatically controlled yaw parts between the 4th arm and the pedestal, make that the first arm can be with respect on second arm, lower swing, second arm can be done a left side with respect to the 3rd arm, it is moving to turn right, the 3rd arm can be done a left side with respect to the 4th arm, it is moving to turn right, the 4th arm can be done with respect to pedestal, lower swing, again by infrared observing and controlling locator, camera, sensing elements such as sensor are adjusted the distance, the induction of attitude, drive the first automatically controlled yaw parts by control device, the first automatically controlled rotary part, the first automatically controlled displacement component, the second automatically controlled rotary part, the second automatically controlled displacement component and the second automatically controlled yaw parts action, drive the first arm, second arm, the 3rd arm, the 4th arm carries out aggregate motion, make the rifle head be locked in the fixing distance and position place of working face and with the perpendicular all the time attitude shape of working face, thereby full-automatic or semiautomation operation have been realized, avoid human factor and Effect of Environmental, quality of item is improved greatly, raw material are not fully exerted, increase economic efficiency, simultaneously, it is fast to have speed of application, reduces the characteristics of human resources and labour intensity.
Below in conjunction with drawings and Examples the present invention is described in further detail; But a kind of puma arm mechanism that is used to spray of the present invention is not limited to embodiment.
Description of drawings
Fig. 1 is an organigram of the present invention;
Fig. 2 is local structure of the present invention (main apparent direction) schematic diagram;
Fig. 3 is local structure of the present invention (overlooking a direction) schematic diagram;
Fig. 4 is the user mode figure that the present invention is used for the horizontal operation face;
Fig. 5 is the route trajectory diagram of the present invention's rifle head when being used for the horizontal operation face;
Fig. 6 is the user mode figure that the present invention is used for vertical working face;
Fig. 7 is an organigram of using spraying equipment one of the present invention;
Fig. 8 is an organigram of using spraying equipment two of the present invention;
Fig. 9 is an organigram of using spraying equipment three of the present invention.
The specific embodiment
Referring to Fig. 1, Fig. 2, shown in Figure 3, a kind of puma arm mechanism that is used to spray of the present invention comprises:
One the first arm 1, be the straight-bar shape, its front end is equipped with the rifle head 11 that is used to spray material, be used for sensing rifle head and working face distance and sensing rifle head attitude signal infrared observing and controlling locator 12, be used for MA monitoring agency action and the camera 13 of duty and the conveying pipeline interface 14 that is used to be connected feeding pipe; Wherein, conveying pipeline interface 14 is connected with drawing mechanism by pipeline, making material give the rifle head by pipeline uses, the rifle head is installed in the front end of the first arm 1 and is connected with conveying pipeline interface 14, material can be sprayed from the rifle head, and interface 14 also can be used as the import of the various signal of telecommunication pipelines of transmission;
One second arm 2 is the straight-bar shape, and the first automatically controlled yaw parts 10 of its front end by can upper and lower 180 ° of swings link with the tail end of the first arm 1; The first automatically controlled yaw parts 10 can adopt parts such as electronic bearing to realize connecting of the first arm 1 and second arm 2, and under the control of the signal of telecommunication, can make two arms along upper and lower to relative swing;
One the 3rd arm 3, be telescopic inside and outside bar structure, the front end of interior bar 31 by can left and right 180 ° of rotations the first automatically controlled rotary part 20 and the tail end of second arm 2 link, like this, when the first automatically controlled rotary part 20 is subjected to signal of telecommunication control, can rotate mutually along left and right direction between the interior bar 31 of the 3rd arm 3 and second arm 2; Slide with the front portion of outer bar 32 and link in the rear portion of interior bar 31, the first automatically controlled displacement component (not shown) of bar 31 bar 32 slips outside in being used for driving is housed between interior bar 31, outer bar 32 and is used to provide sliding position to change the sensor 30 of transducing signal, when the first automatically controlled displacement component was subjected to signal of telecommunication control, bar 31 slided with respect to outer bar 32 in can driving; Sliding distance in sensor 30 is used to respond between bar 31 and the outer bar 32;
One the 4th arm 4 is telescopic more piece tube-in-tube structure, the front end of its inner core core (the promptly interior sleeve) 41 by can left and right 180 ° of rotations the second automatically controlled rotary part 40 and the tail end of the outer bar 32 of the 3rd arm link; Each saves to be equipped with between the sleeve and is used to drive the second automatically controlled displacement component (not shown) that corresponding sleeve slides;
One movable base 5 is equipped with control device and other function device (the relevant foaming machine when for example, using in the foaming technique field) in the pedestal 5; The outer sleeve 42 of the 4th arm 4 links by the second automatically controlled yaw parts and pedestal 5; Wherein, the second automatically controlled yaw parts comprise articulated part 51 and the bracing frame 52 that is connected between outer sleeve 42 and the pedestal 5, articulated part 51 can rotate the outer sleeve 42 of the 4th arm 4 along the vertical direction with respect to pedestal 5, the automatically controlled mode that adopts bracing frame 52 realizes rising or descending, by control, can realize that the 4th arm 4 is with respect to pedestal 5 upper and lower swing and supporting roles to bracing frame 52;
The output of infrared observing and controlling locator 12, sensor 30 is connected to the input of control device respectively, and the output of control device is connected to first automatically controlled yaw parts 10, first automatically controlled rotary part 20, the first automatically controlled displacement component, second automatically controlled rotary part 40, the second automatically controlled displacement component and the second automatically controlled yaw parts (being articulated part 51 and bracing frame 52) respectively.Wherein, automatically controlled yaw parts, automatically controlled rotary part can be selected electronic bearing, electric oil pressure device or Rare-Earth Magnetic coupled drive device etc. for use, and automatically controlled displacement component can be selected linear servo-actuator, electric oil pressure device etc. for use.
A kind of puma arm mechanism that is used to spray of the present invention links by the first automatically controlled yaw parts 10 between the first arm 1 and second arm 2, makes the first arm 1 can do 180 ° upper and lower swing with respect to second arm 2; Link by the first automatically controlled rotary part 20 between second arm 2 and the 3rd arm 3, make second arm 2 can do 180 ° turning left and right with respect to the 3rd arm 3, just the first arm 1, second arm, 2 these two arms integral body can be done 180 ° turning left and right with respect to the 3rd arm 3; The 3rd arm 3 is telescopic inside and outside bar structure, and bar 31 links by the first automatically controlled rotary part 20 and second arm 2 in it, and then the interior bar 31 of the 3rd arm can be done elastic motion with respect to the outer bar 32 of the 3rd arm together with the integral body of the first arm 1 and 2 formation of second arm; Link by the second automatically controlled rotary part 40 between the 4th arm 4 and the 3rd arm 3, make the 3rd arm 3 can do 180 ° turning left and right, that is to say that the first arm 1, second arm 2 and the 3rd arm 3 formed integral body can do 180 ° turning left and right with respect to the 4th arm 4 with respect to the 4th arm 4; The 4th arm 4 is telescopic more piece tube-in-tube structure, and by the expanding-contracting action of sleeve, such as elongating or shortening, then the 3rd arm 3, second arm 2 and the first arm 1 formed integral body can be done elastic motion with respect to the outermost sleeve 42 of the 4th arm 4; Link by the second automatically controlled yaw parts between the outer sleeve 42 of the 4th arm and the pedestal, the 4th arm 4 can be rotated up and down around pedestal 5.
Below in conjunction with Fig. 4, Fig. 5 illustrates the course of work when a kind of puma arm mechanism that is used to spray of the present invention is used for the horizontal operation face, the present invention realizes Based Intelligent Control to puma arm mechanism by the software program of the control device in the pedestal 5, during use, puma arm of the present invention mechanism is by the interior software of establishing, by the puma arm maximum length, the anglec of rotation that allows, the first arm 1, second arm 2, the length of the 3rd arm 3, and working face size, optimum position when determining the equipment admission jointly, and show at the console video screen, when equipment arrives the optimum position, put down auxiliary support frame 52, loop bar in the flexibility, each arm is balanced in expansion, makes puma arm mechanism be in the greatest limit state.By the locator on the first arm 1, measure rifle head 11 particular locations, by given distance (being rifle head and working reference plane distance), regulate puma arm, muzzle is positioned on the range points of setting, and lock this distance, then by regulating the first automatically controlled yaw parts, make muzzle on the first arm 1 all the time vertically towards working reference plane, and remain this given pose, and lock this posture by control device by the signal of infrared observing and controlling locator 12 feedbacks, monitor this posture by camera 13 simultaneously.Then, according to mass flow, in the 3rd arm, slip ultimate range and products thickness requirement between the outer bar, by the swaying direction between the software decision the first arm 1 and second arm 2, angle, rotation direction between second arm 2 and the 3rd arm 3, angle, rotation direction between the 3rd arm 3 and the 4th arm 4, angle, swaying direction between the 4th arm 4 and the pedestal 5, angle, and by this speed driving the first arm 1, second arm 2, the 3rd arm 3, the 4th arm 4 carries out aggregate motion, in whole aggregate motion process, by software to the first automatically controlled tilting member 10, the first automatically controlled rotary part 20, the first automatically controlled displacement component, the second automatically controlled rotary part 40, the second automatically controlled displacement component, adjusting voluntarily between the control of the second automatically controlled tilting member and the parts, guarantee that muzzle is in locking distance and the locking vertical position state all the time, make the first arm 1, the 4th arm 4 is by predetermined amplitude of fluctuation, cycle and angular speed motion, second arm 2, the 3rd arm 3 is by predetermined rotation amplitude, cycle and angular speed motion, the 3rd arm 3, the 4th arm 4 is by predetermined requirement stretching motion, thereby control the first arm 1, second arm 2, the 3rd arm 3, the 4th arm 4 is by the track of setting, keep setting attitude, fixed point ground uniform motion, above-mentioned exercises and motion are all sent instruction by predefined software program and are finished the work to executive item.During beginning, the muzzle of the first arm 1 is in M point position, after the startup, by control device issue control instruction, with the conveying pipeline switch opens, make muzzle ejection material, simultaneously, control device is to the first automatically controlled rotary part 20, the first automatically controlled displacement component, the second automatically controlled rotary part 40 output control instructions, drive the first automatically controlled rotary part 20, the first automatically controlled displacement component, second automatically controlled rotary part 40 corresponding actions, second arm, 2 relative the 3rd arms 3 are rotated counterclockwise, the 3rd arm 3 relative the 4th arms 4 clockwise rotate, make relative contractile motion between the interior bar 31 of the 3rd arm 3 and the outer bar 32, to guarantee that muzzle is moved by the route on establishing by M point position, when muzzle moves to the M point to centre position that N is ordered, the first arm 1, second arm 2, the 3rd arm 3, the 4th arm 4 is in alignment, then, still relative the 3rd arm 3 of second arm 2 rotates counterclockwise, also still relative the 4th arm 4 of the 3rd arm 3 clockwise rotates, then make relative stretching routine between the interior bar 31 of the 3rd arm 3 and the outer bar 32, make muzzle move to the N point, when arriving the N point, the aggregate motion of each arm stops, control device sends two instructions simultaneously, an instruction control conveying pipeline switch, stop material spray, the second automatically controlled displacement component is defeated by in another instruction, make the 4th arm carry out contractile motion, promptly shrink the length of ON, make muzzle move to the O point by the N point, after muzzle arrives the O point, control device is again to the first automatically controlled rotary part 20, the first automatically controlled displacement component, the second automatically controlled rotary part 40 output control instructions, drive the first automatically controlled rotary part 20, the first automatically controlled displacement component, second automatically controlled rotary part 40 corresponding actions, second arm, 2 relative the 3rd arms 3 are clockwise rotated, the 3rd arm 3 relative the 4th arms 4 rotate counterclockwise, between the interior bar 31 of the 3rd arm 3 and the outer bar 32 then is to do earlier to make relative stretching routine behind the relative contractile motion, make muzzle move to the P point by the O point, when each arm begins to move, control device sends instruction control conveying pipeline switch opens simultaneously, muzzle begins material spray, under the combination action effect of each arm, muzzle arrives the P point, the aggregate motion of each arm stops again, control device sends two instructions again simultaneously, an instruction control conveying pipeline switch, stop material spray, the second automatically controlled displacement component is defeated by in another instruction, make the 4th arm carry out contractile motion, promptly shrink the length of PQ, make muzzle move to the Q point by the P point, muzzle motion one-period, then, repeat said process, restart second period, each arm repeats above-mentioned motion again, as muzzle from the Q point again to the R point, go round and begin again, until the spraying task of finishing whole horizontal operation face.
Fig. 6 is the working state schematic representation when being used for vertical working face of the present invention, perpendicular with working face all the time in order to guarantee muzzle with the locking distance and the muzzle of vertical working face, at this moment, will utilize the effect of first automatically controlled tilting member 10, the first automatically controlled displacement component, the second automatically controlled displacement component and the second automatically controlled tilting member, and make to keep constant and all the time perpendicular to working face in the process that muzzle moves from top to bottom with the distance of working face.
Fig. 7 to Fig. 9 is the application example of the present invention on different spraying equipments.Fig. 7 is a kind of vehicular spraying equipment, has adopted puma arm structure of the present invention, and the type equipment is applicable to ceiling, interior wall or the energy-saving heat preserving system of multi-story structure external wall of building below 50 meters of building or the spraying equipment of using as facing.Fig. 8 is a kind of climb type spraying equipment, has adopted puma arm structure of the present invention, and this equipment is mainly used in the high-rise building outer wall heat-insulation system more than 50 meters, as the spraying equipment of spraying PU foaming product or veneer coating.Fig. 9 is a kind of lightweight spraying equipment, adopted puma arm structure of the present invention, this equipment is applied in working reference planes such as ground or aspect emphatically, and especially private savings room, villa, farm house etc. are than the working reference plane of small size, both straighforward operation can be adopted to this kind equipment, also manually-operated can be carried out.
In a word, no matter be the raw material that adopts two components or one-component spray coating liquor, all can use a kind of puma arm mechanism that is used to spray of the present invention easily, it has suitable flexibility, compatibility and versatility.
The foregoing description only is used for further specifying a kind of puma arm mechanism that is used to spray of the present invention; but the present invention is not limited to embodiment; every foundation technical spirit of the present invention all falls in the protection domain of technical solution of the present invention any simple modification, equivalent variations and modification that above embodiment did.
Claims (1)
1. puma arm mechanism that is used to spray is characterized in that: comprising:
One the first arm, be the straight-bar shape, its front end is equipped with the rifle head that is used to spray material, be used for sensing rifle head and working face distance and sensing rifle head attitude signal infrared observing and controlling locator, be used for MA monitoring agency action and the camera of duty and the conveying pipeline interface that is used to be connected feeding pipe;
One second arm is the straight-bar shape, its front end by can upper and lower 180 ° of swings the first automatically controlled yaw parts and the tail end of the first arm link;
One the 3rd arm is telescopic inside and outside bar structure, the front end of interior bar by can left and right 180 ° of rotations the first automatically controlled rotary part and the tail end of second arm link; Slide and link in the rear portion of interior bar and the front portion of outer bar, bar in being used for the driving first automatically controlled displacement component that slides of bar and the sensor that is used to provide sliding position variation transducing signal outside are housed between inside and outside bar;
One the 4th arm is telescopic more piece tube-in-tube structure, the front end of its inner core core by can left and right 180 ° of rotations the second automatically controlled rotary part and the tail end of the outer bar of the 3rd arm link; Each saves to be equipped with between the sleeve and is used to drive the second automatically controlled displacement component that corresponding sleeve slides;
One movable base is equipped with control device in the pedestal; The outer sleeve of the 4th arm links by the second automatically controlled yaw parts and pedestal;
The output of infrared observing and controlling locator, sensor is connected to the input of control device respectively, and the output of control device is connected to the first automatically controlled yaw parts, the first automatically controlled rotary part, the first automatically controlled displacement component, the second automatically controlled rotary part, the second automatically controlled displacement component and the second automatically controlled yaw parts respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710009618 CN101396682B (en) | 2007-09-28 | 2007-09-28 | Intelligent arm mechanism for spray painting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710009618 CN101396682B (en) | 2007-09-28 | 2007-09-28 | Intelligent arm mechanism for spray painting |
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| Publication Number | Publication Date |
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| CN101396682A CN101396682A (en) | 2009-04-01 |
| CN101396682B true CN101396682B (en) | 2010-09-15 |
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| CN 200710009618 Expired - Fee Related CN101396682B (en) | 2007-09-28 | 2007-09-28 | Intelligent arm mechanism for spray painting |
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|---|---|
| CN101396682A (en) | 2009-04-01 |
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