CN106622793B - Bridge type automatic spraying equipment - Google Patents
Bridge type automatic spraying equipment Download PDFInfo
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- CN106622793B CN106622793B CN201611145626.7A CN201611145626A CN106622793B CN 106622793 B CN106622793 B CN 106622793B CN 201611145626 A CN201611145626 A CN 201611145626A CN 106622793 B CN106622793 B CN 106622793B
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- longitudinal
- transverse
- linear guide
- annular rack
- guide rail
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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
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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Abstract
The invention discloses bridge type automatic spraying equipment which comprises a spray head, a longitudinal traveling mechanism, a transverse traveling mechanism, a longitudinal linear guide rail and a transverse linear guide rail, and is characterized in that the transverse traveling mechanism and the longitudinal traveling mechanism respectively comprise an annular rack, a traveling device, a driving motor and a sliding frame for supporting the driving motor; the walking device consists of a driving gear, a roller and a connecting arm, wherein one end of the connecting arm is sleeved on a wheel shaft of the driving gear, and the other end of the connecting arm is provided with the roller; gear teeth are arranged on the inner side face of the annular rack and meshed with a driving gear in the traveling device, and a connecting arm in the traveling device spans the annular rack to enable the roller to cling to the outer side face of the annular rack; the sliding frame is a sliding mechanism with the moving direction vertical to the length direction of the annular rack, the driving motor is fixed on the sliding frame, and the output shaft of the driving motor is connected with the wheel shaft of the driving gear.
Description
Technical Field
The present invention relates to apparatus for applying liquids or other fluids to surfaces, and in particular to apparatus for automatically spraying liquids or other fluids onto the surface of a workpiece.
Background
In the plate manufacturing industry, it is often necessary to coat the surface of a plate to improve the corrosion resistance and the aesthetic appearance of the surface of a workpiece. However, the traditional coating process is mainly finished by people, the spraying is uneven, the efficiency is low, and the requirement of mass production is difficult to adapt. In addition, most of the existing coatings are chemical coatings which are harmful to human bodies, and during manual spraying, operators need to contact with the coating for spraying in a close distance, so that the physical health of the operators is greatly damaged.
The existing automatic coating method for plates, especially for plates with large coating area, basically adopts a two-dimensional travelling mechanism to scan line by line. Although the two-dimensional travelling mechanism in the existing spraying equipment has various types, people usually think that the reciprocating motion of the travelling mechanism is controlled by controlling the forward and reverse rotation of a driving motor. According to the principle of controlling the forward and reverse rotation of the motor, the motor must undergo the transition process of deceleration → stop → reverse acceleration → reverse uniform rotation in the process of changing from forward uniform rotation to reverse uniform rotation. Therefore, the following two methods are not adopted to ensure the coating quality of the two plates in the reciprocating movement direction of the spray head: firstly, the spray head is reversed outside the edge of the plate, and secondly, the spray head is controlled not to spray paint during reversing. Obviously, the former wastes a large amount of paint, and the latter brings difficulty to the discharge of the spray head, because the valve also has a transition process of opening and closing, and the flow of the paint in the process can be changed to influence the coating quality.
The patent application with publication number CN 105903615A discloses a spraying device, which comprises a frame and a three-dimensional movement mechanism which is arranged on the frame and comprises an X-axis transverse movement assembly, a Y-axis longitudinal movement assembly and a Z-axis vertical movement assembly, wherein the Z-axis vertical movement assembly is provided with a coating execution assembly. The spraying equipment can spray five surfaces of a hexahedral workpiece, but the reciprocating movement of a spraying valve (namely a spray head) is controlled by controlling the forward and reverse rotation of the synchronous belt (which should be composed of the synchronous belt and a synchronous pulley), so that the equipment is adopted to coat plates, and obviously, the defects of the prior art exist.
Disclosure of Invention
The invention aims to solve the technical problem of providing bridge type automatic spraying equipment which is not only suitable for coating plates, especially plates with larger areas, but also has uniform thickness of a sprayed coating and good coating quality.
The technical scheme for solving the technical problems is as follows:
a bridge type automatic spraying device comprises a spray head, a longitudinal traveling mechanism, a transverse traveling mechanism, a longitudinal linear guide rail and a transverse linear guide rail, and is characterized in that,
the transverse traveling mechanism and the longitudinal traveling mechanism respectively comprise an annular rack, a traveling device, a driving motor and a sliding frame for supporting the driving motor; the annular rack consists of two parallel straight line sections and two semicircular transition sections positioned at two ends of the two straight line sections; the walking device consists of a driving gear, a roller and a connecting arm, wherein one end of the connecting arm is sleeved on a wheel shaft of the driving gear, and the other end of the connecting arm is provided with the roller; gear teeth are arranged on the inner side surface of the annular rack and are meshed with a driving gear in the traveling device, and the connecting arm spans across the annular rack to enable the roller to be tightly attached to the outer side surface of the annular rack; the sliding frame is a sliding mechanism with the sliding direction vertical to the length direction of the annular rack, and the sliding range of the sliding mechanism is larger than the difference between the reference circle diameter of the semicircular transition section of the annular rack and the reference circle diameter of the driving gear; the driving motor is fixed on the sliding frame, and the output shaft of the driving motor is connected with the wheel shaft of the driving gear;
the two transverse linear guide rails are parallel to each other; the longitudinal linear guide rail is one, and two ends of the longitudinal linear guide rail are respectively provided with a transverse travelling wheel which is respectively supported on the travelling working surfaces of the two transverse linear guide rails positioned on the outer side wall, so that the longitudinal linear guide rail is suspended below the transverse linear guide rails;
the annular rack in the transverse traveling mechanism is fixed on a support beam, and the axis of the support beam is positioned on the symmetrical central line of the two transverse linear guide rails; the annular rack in the transverse travelling mechanism is fixed on the upper surface of the supporting beam along the length direction, and the sliding frame for fixing the driving motor in the transverse travelling mechanism is positioned above the annular rack in the transverse travelling mechanism and is fixed on the upper surface of the longitudinal linear guide rail by two fixing plates;
the annular rack in the longitudinal traveling mechanism is fixed on the lower surface of the longitudinal linear guide rail along the length direction, a sliding frame for fixing a driving motor in the longitudinal traveling mechanism is positioned below the annular rack in the longitudinal traveling mechanism and is fixed in two side edges of a rectangular frame, the middle part of the upper edge of the rectangular frame is provided with a longitudinal notch, the lower surfaces of two sides of the notch are respectively provided with a longitudinal traveling wheel, the longitudinal traveling wheels are respectively supported on the traveling working surface of the longitudinal linear guide rail positioned on the outer side wall, and the rectangular frame is suspended below the longitudinal linear guide rail; the spray head is fixed on the lower surface of the rectangular frame;
the two ends of each annular rack are respectively provided with a stroke control device which consists of a stroke switch, an arc-shaped member surrounding the outer side of the semicircular transition section of the annular rack and two spring guide rods; the spring guide rods are parallel to the straight line sections of the annular racks, the arc-shaped components are fixedly supported at the free ends of the two spring guide rods, an arc-shaped control groove with the same width is formed between the arc-shaped components and the semicircular transition section, and the width of the arc-shaped control groove is smaller than the diameter of a roller in the walking device; the contact of the travel switch is abutted against the back of the arc-shaped component; the radian alpha of the arc-shaped component satisfies the following formula
Wherein D is the spraying diameter of the spray head, and R is the radius of the semicircular transition section of the annular rack.
The carriage of the bridge type automatic spraying equipment can be various long-term sliding mechanisms, and the two recommended by the invention are as follows:
the first sliding frame is composed of two optical axes, four sliding sleeves matched with the optical axes and a motor mounting seat, wherein the four sliding sleeves are fixed on the motor mounting seat in a pairwise mode, and the two optical axes are respectively sleeved in the sliding sleeves in a penetrating mode.
The second kind balladeur train is for being become by dovetail guide rail and the motor mount pad of taking the forked tail structure sliding mechanism, wherein, dovetail structure on the motor mount pad and the dovetail cooperation on the dovetail guide rail, just be equipped with the round hole of wearing to establish the driving motor output shaft on the motor mount pad, be equipped with the slot hole that supplies driving motor's output shaft reciprocating motion on the dovetail guide rail of this round hole relative position.
The working principle of the travelling mechanism in the scheme is as follows:
the driving motor drives the driving gear to rotate, and the driving gear always circularly and circularly moves along the inner side of the annular rack under the limitation of the roller; in the process, although the driving motor moves along the annular rack in an annular manner, after the driving gear enters the transition section from the straight line section, because a sliding frame is arranged between the driving motor and an object (such as a longitudinal travelling mechanism and a spray head) fixedly connected with the driving motor, and the sliding direction of the sliding frame is vertical to the length direction of the annular rack (namely the driving motor is free in the direction vertical to the length direction of the annular rack), the object fixedly connected with the driving motor cannot move in the direction vertical to the length direction of the annular rack at the moment. Therefore, as long as the sliding range of the sliding frame is larger than the diameter of the semicircle of the transition section of the annular rack, when the driving gear moves along the inner side of the annular rack in a circulating and winding way, the driving motor moves along the annular rack in a circulating way, but the object fixedly connected with the driving motor only moves in a reciprocating and linear way.
The control process of the spraying equipment of the invention is as follows:
one of the transverse traveling mechanism and the longitudinal traveling mechanism is used for transverse scanning, and the other one is used for longitudinal feeding, wherein the transverse scanning traveling mechanism is used as a driving motor in the transverse scanning traveling mechanism to continuously operate to drive the inner side of the annular rack along which the driving gear moves in an annular mode, the longitudinal feeding traveling mechanism is used as a driving motor in the longitudinal feeding traveling mechanism and is controlled by travel switches arranged in travel control devices at two ends of the annular rack in the transverse scanning traveling mechanism, the corresponding travel switches are triggered when the transverse scanning traveling mechanism is used as a driving gear in the transverse scanning traveling mechanism to move to the semicircular transition section, and the longitudinal feeding traveling mechanism is used as a driving motor in the longitudinal feeding traveling mechanism to temporarily operate to drive the driving gear to feed for a certain distance. As mentioned above, the transverse scanning traveling mechanism drives the spray head to scan in a reciprocating way, and the stroke switch in the transverse scanning traveling mechanism controls the longitudinal feeding traveling mechanism to drive the spray head to feed one line each time the spray head is turned around, so that the automatic spraying on one plane can be realized by feeding one line at a time.
The two ends of the longitudinal linear guide rail are easy to lose balance due to uneven stress when walking on the two transverse linear guide rails respectively, so that the two ends of the longitudinal linear guide rail do not move uniformly; in view of the above deficiency, an improved scheme of the invention is as follows: the bridge type automatic spraying equipment further comprises a balancing device, wherein the balancing device is composed of a balancing shaft, two balancing gears and two linear racks, the two linear racks are respectively fixed on the two transverse linear guide rails, the balancing shaft is supported on the upper surface of the longitudinal beam through two bearing supports, and the two balancing gears are fixed at two ends of the balancing shaft and are respectively meshed with the linear racks.
When the plate processed by spraying is thick, one side and the peripheral side edges of the plate need to be sprayed, and if the spraying direction of the spray head is vertical to the upper surface of the plate, the spraying effect of the side edges is poor. In order to solve the above problems, the bridge type automatic spraying equipment of the present invention further includes a spraying direction control device, which has the following two schemes.
A first aspect of the injection direction control device is composed of a "shape member, a first 90 ° rotation cylinder, and a second 90 ° rotation cylinder, wherein,
the rotating arm of the first 90-degree rotating cylinder is fixed on the cross edge of the upper part of the' shaped member;
the base of the second 90-degree rotary cylinder is fixed on the vertical edge of the shape component, and the included angle between the bisector of the rotary angle and the side surface of the vertical edge of the shape component is 45 degrees;
the base of the first 90-degree rotary cylinder is fixed on the lower surface of the rectangular frame, one of two edges of a rotary angle of the base is parallel to the longitudinal linear guide rail, and the other edge of the rotary angle of the base is parallel to the transverse linear guide rail;
the spray head is fixed on a rotary arm of the second 90-degree rotary cylinder, and the spray direction of the spray head is consistent with the direction of an angular bisector of a rotary angle of the rotary cylinder.
A control method of a first aspect of the above-described injection direction control device is as follows: when the spraying machine works, according to the reciprocating motion direction of the transverse scanning travelling mechanism, the first 90-degree rotary cylinder is controlled to enable the rotary central line of the second 90-degree rotary cylinder to be perpendicular to the reciprocating motion direction of the transverse scanning travelling mechanism, then the second 90-degree rotary cylinder is controlled to be reversed by two stroke switches in the transverse scanning travelling mechanism, so that the spraying direction of the sprayer is always inclined to 45 degrees below the advancing direction in the reciprocating motion process, and the side edge of a plate is sprayed.
A second version of the injection direction control device consists of a "shape member with a third 90 ° rotary cylinder and a 180 ° rotary cylinder, wherein,
the 180-degree rotary cylinder is coaxially fixed on a rotary arm of a third 90-degree rotary cylinder, and a straight line where two edges of the 180-degree rotary cylinder rotary angle are located is parallel to one edge of the two edges of the third 90-degree rotary cylinder rotary angle; the upper surface of the upper transverse edge of the' shaped component is fixed on a rotary arm of a 180-degree rotary cylinder;
the spray head is fixed on the vertical edge of the ' shape component, the spray direction of the spray head is consistent with the direction of the vertical edge of the ' shape component, and the included angle between the spray head and the vertical edge of the ' shape component is 45 degrees;
and the base of the third 90-degree rotary cylinder is fixed on the lower surface of the rectangular frame, one of two edges of a rotary angle of the base is parallel to the longitudinal linear guide rail, and the other edge of the rotary angle of the base is parallel to the transverse linear guide rail.
A control method of a second aspect of the above-described injection direction control device is as follows: when the spraying device works, according to the reciprocating motion direction of the transverse scanning traveling mechanism, the third 90-degree rotary cylinder is controlled to enable the straight line where two sides of the rotating angle of the 180-degree rotary cylinder are located to be consistent with the reciprocating motion direction of the transverse scanning traveling mechanism, then the two stroke switches in the transverse scanning traveling mechanism control the 180-degree rotary cylinder to change the direction, so that the spraying direction of the spray head is always inclined 45 degrees below the advancing direction in the reciprocating motion process, and the side edge of a plate is sprayed.
The spraying equipment provided by the invention has the following beneficial effects:
1. the motor continuously runs in the linear reciprocating motion without the process of deceleration → stop → reverse acceleration, so the reversing is smooth and quick without influencing the spraying quality of the edge of the plate.
2. In the work, the motor does not need to change the steering frequently, so that the heating value of the motor is low, the loss is small, and the service life of the motor is prolonged.
3. Because the longitudinal traveling mechanism is the same as the transverse traveling mechanism, the spraying in two vertical directions can be realized without rotating the workpiece, and the spraying quality and efficiency can be further improved.
Drawings
Fig. 1 to 9 are schematic structural views of an embodiment ofbase:Sub>A bridge type automatic spray apparatus according to the present invention, in which fig. 1 isbase:Sub>A front view, fig. 2 isbase:Sub>A plan view, fig. 3 isbase:Sub>A left side view, fig. 4 isbase:Sub>A cross-sectional view D-D of fig. 3, fig. 5 isbase:Sub>A cross-sectional viewbase:Sub>A-base:Sub>A of fig. 3, fig. 6 isbase:Sub>A cross-sectional view B-B of fig. 3, fig. 7 isbase:Sub>A cross-sectional view C-C of fig. 3, fig. 8 is an enlarged view ofbase:Sub>A portion i of fig. 3, and fig. 9 is an enlarged view ofbase:Sub>A portion ii of fig. 4.
Fig. 10 is a schematic view of the working principle of the traveling mechanism in the embodiment shown in fig. 1 to 9.
Fig. 11 is a schematic view of the operation state of the showerhead in the embodiment shown in fig. 1 to 9.
Fig. 12 to 14 are schematic structural views of a carriage of a transverse traveling mechanism in another embodiment of the bridge type automatic spray coating device according to the present invention, in which fig. 12 is a front view, fig. 13 is a left side view, and fig. 14 is a cross-sectional view taken along line E-E of fig. 12.
Fig. 15 is a schematic view of the installation operation state of the spray head in another embodiment of the bridge type automatic spraying equipment of the invention.
Detailed Description
Example 1
Referring to fig. 1 to 4, the spraying apparatus in this example includes a nozzle 22, a longitudinal traveling mechanism, a transverse traveling mechanism, a longitudinal linear guide, and a transverse linear guide.
Referring to fig. 1 to 5, the two transverse linear guide rails are parallel to each other, each transverse linear guide rail is composed of a transverse beam 1 transversely fixed in the plant and a linear rail 4 with an arc-shaped cross section fixed on the transverse beam 1 along the length direction, wherein the transverse beam 1 is H-shaped steel, and the linear rail 4 is fixed on the flange of the H-shaped steel below the flange. The longitudinal linear guide rail is composed of a longitudinal beam 2 perpendicular to the cross beam 1 and two linear rails 4 with arc-shaped cross sections fixed on the longitudinal beam 2 along the length direction, wherein the longitudinal beam 2 is also H-shaped steel, and the two linear rails 4 are respectively fixed on two sides of a flange below the H-shaped steel. Two ends of the longitudinal beam 2 are respectively provided with a transverse travelling wheel 27, and the two transverse travelling wheels 27 are respectively fixed above the longitudinal beam 2 through a Z-like connecting piece 5; the two transverse traveling wheels 27 are respectively supported on the traveling working surfaces of the upper surfaces of the linear rails 4 of the two transverse linear guide rails, and suspend the longitudinal linear guide rails below the transverse linear guide rails.
Referring to fig. 4 in combination with fig. 9 and 10, the transverse traveling mechanism and the longitudinal traveling mechanism are identical in structure, and both comprise an annular rack 6, a traveling device, a driving motor 8 and a carriage for mounting the driving motor 8; wherein:
the annular rack 6 consists of two straight line sections and two semicircular transition sections, the two straight line sections are parallel to each other, the two semicircular transition sections are respectively connected with the two straight line sections at two ends of the straight line sections to form a closed annular shape similar to a football field runway, and gear teeth of the annular rack 6 are arranged on an annular inner ring;
the walking device consists of a driving gear 7, a roller 20 and a connecting arm 21, wherein one end of the connecting arm 21 is sleeved on a wheel shaft of the driving gear 7 and is hinged with the wheel shaft, the other end of the connecting arm is provided with the roller 20, and the axis of the roller 20 is parallel to the axis of the driving gear 7;
the driving gear 7 is meshed with the inner side of the annular rack 6, and the distance between the tooth tops of two straight line segments of the annular rack 6 is greater than the diameter of a tooth top circle of the driving gear 7; a connecting arm 21 in the walking device strides over the edge of the annular rack 6, so that the roller 20 is tightly attached to the outer side surface of the annular rack 6, and the driving gear 7 can be limited to be always meshed with the gear teeth on the inner side of the annular rack 6;
the sliding frame is composed of a motor installation seat 12, two optical axes 10 and four sliding sleeves 11 matched with the optical axes 10, the sliding sleeves 11 are linear bearings, the four sliding sleeves 11 are divided into two pairs and fixed on the motor installation seat 12 respectively, the two optical axes 10 are sleeved in the pair of sliding sleeves 11 respectively in a penetrating manner, so that the motor installation seat 12 can slide back and forth along the optical axes 10, and the back and forth sliding range of the motor installation seat 12 is larger than the difference between the reference circle diameter of the semicircular transition section of the annular rack 6 and the reference circle diameter of the driving gear 7; the driving motor 8 is arranged on the motor mounting seat 12, and an output shaft is connected with a wheel shaft of the driving gear 7;
the annular rack 6 in the transverse walking mechanism is fixed on a supporting beam 26 along the length direction, and the supporting beam 26 is positioned on the symmetrical central line of the two transverse linear guide rails; two ends of two optical axes 10 in the sliding frame of the transverse travelling mechanism are respectively fixed on two fixing plates 9 extending from the upper surface of the longitudinal beam 2, so that the two optical axes 10 are perpendicular to a straight line section of the annular rack 6 in the transverse travelling mechanism;
the annular rack 6 in the longitudinal travelling mechanism is fixed on the lower surface of the longitudinal beam 2 along the length direction; a sliding frame for fixing a driving motor 8 in the longitudinal travelling mechanism is positioned below an annular rack 6 in the longitudinal travelling mechanism and is fixed in two side edges of a rectangular frame 3, and two ends of two optical axes 10 in the sliding frame are respectively fixed on two side edges of the rectangular frame 3, so that the two optical axes 10 are perpendicular to a straight line section of the annular rack 6 in the longitudinal travelling mechanism; a longitudinal cut is arranged in the middle of the upper edge of the rectangular frame 3, longitudinal travelling wheels 28 are respectively arranged on the lower surfaces of the two sides of the cut, the longitudinal travelling wheels 28 are respectively supported on the working surfaces of the two linear tracks 4 arranged on the longitudinal beam 2 in the longitudinal linear guide rail, and the rectangular frame 3 is suspended below the longitudinal linear guide rail; the spray head 22 is fixed on the lower surface of the rectangular frame.
Referring to fig. 3 in conjunction with fig. 6 and 7, the balancing device is composed of two identical sets of linear rack and pinion mechanisms and a balancing shaft 18, wherein the linear rack and pinion mechanisms are composed of a linear rack 16 and a balancing gear 17 which are meshed with each other; two linear racks 16 in the two groups of linear gear rack mechanisms are respectively fixed on the lower surfaces of the two cross beams 1 along the length direction; the balance shaft 18 is supported and fixed on the upper surface of the longitudinal beam 2 by a bearing support 19, and two ends of the balance shaft coaxially and fixedly connect two balance gears 17 in the two groups of linear gear rack mechanisms together. Therefore, the asynchronous sliding of the two ends of the longitudinal linear guide rail on the two transverse linear guide rails can be avoided through the action of the balance shaft.
Referring to fig. 1 to 4 in combination with fig. 9 and 10, the two ends of the annular rack 6 in the transverse traveling mechanism and the longitudinal traveling mechanism are respectively provided with a stroke control device, and each stroke control device is composed of a stroke switch 15, a circular arc member 14 surrounding the outer side of the semicircular transition section of the annular rack 6, and two spring guide rods 13; the spring guide rods 13 are parallel to the straight line sections of the annular rack 6, the arc-shaped component 14 is fixedly supported at the free ends of the two spring guide rods 13, an arc-shaped control groove with the same width is formed between the arc-shaped component and the semicircular transition section, and the width of the arc-shaped control groove is smaller than the diameter of the roller 20 in the walking device; the contact of said travel switch 15 abuts against the back of the arc-shaped member 14. When the driving gear 7 passes through the semicircular transition section, the roller 20 is pushed through the arc control groove, and the circular arc member 14 is forced to retreat to trigger the rear travel switch 15; when the roller 20 leaves the arc gap, the arc-shaped member 14 is reset under the action of the spring guide rod 13, and the travel switch 15 is switched off.
Referring to fig. 1 and 3 in conjunction with fig. 8, the spray head 22 is suspended below the rectangular frame 3 by a spray direction control device;
the injection direction control means is composed of a "shape member 23, a first 90 ° rotary cylinder 24, and a second 90 ° rotary cylinder 25, wherein,
the rotating arm of the first 90-degree rotating cylinder 24 is fixed on the transverse edge of the upper part of the 'shape member 23, and the rotating center line of the first 90-degree rotating cylinder 24 is vertical to the transverse edge of the upper part of the' shape member 23;
the base of the second 90 ° rotary cylinder 25 is fixed to the lower end of the vertical side of the "shape component 23, and the angle bisector of the rotary angle forms an included angle of 45 ° with the side of the vertical side of the" shape component 23;
the base of the first 90-degree rotary cylinder 24 is fixed on the lower surface of the rectangular frame 3, one of two edges of a rotary angle of the base is parallel to the longitudinal linear guide rail, and the other edge of the rotary angle of the base is parallel to the transverse linear guide rail;
the spray head 22 is fixed on a rotary arm of the second 90-degree rotary cylinder 25, and the spray direction of the spray head 22 is consistent with the direction of the angular bisector of the rotary angle of the rotary cylinder.
The control method of the spray equipment in this example is as follows:
when the device works, one of the two walking mechanisms (namely the transverse walking mechanism and the longitudinal walking mechanism) is used for transverse scanning, and the other one is used for longitudinal feeding; taking the longitudinal traveling mechanism as an example for transverse scanning analysis, the driving motor 8 in the longitudinal traveling mechanism continuously rotates, the corresponding driving gear 7 drives the driving motor 8 to circularly move along the inner side of the circular rack 6, and because the sliding frame is arranged between the rectangular frame 3 and the driving motor 8, even if the driving motor 8 moves in a winding way, the rectangular frame 3 actually does reciprocating linear motion along a longitudinal linear guide rail; in addition, when the longitudinal traveling mechanism is started, the first 90-degree rotary cylinder 24 is controlled to rotate, so that the rotary central line of the second 90-degree rotary cylinder 25 is perpendicular to the reciprocating direction of the longitudinal traveling mechanism, and the second 90-degree rotary cylinder 25 is controlled to rotate, so that the spraying direction of the spray head 22 is obliquely and downwards directed to the moving direction of the spray head (shown by a solid line in fig. 11); when the driving gear 7 in the longitudinal travelling mechanism continuously moves to pass through the semicircular transition section of the annular rack 6, the corresponding travel switch 15 is triggered briefly, so that the transverse travelling mechanism runs briefly, the longitudinal linear guide rail is driven to translate for a certain distance to complete the feeding action, and meanwhile, the second 90-degree rotary cylinder 25 is controlled to rotate, and at the moment, as the spray head 22 turns around and moves back, the spray direction of the spray head still points downwards obliquely to the movement direction of the spray head (see the dotted line in fig. 11).
The feeding distance of the transverse travelling mechanism in the working process is controlled by the radian of an arc-shaped member 14 of a stroke control device in the longitudinal travelling mechanism, in the embodiment, the spraying diameter D of a spray head is selected to be 20cm, and the radius r of a semicircular transition section of the annular rack 6 in the embodiment is designed to be 7cm, so that the radian alpha of the arc-shaped member 14 is 1.83-2.86, and the radian of the arc-shaped member 14 is designed to be 2.8 in the embodiment.
Example 2
Compared with example 1, the structure of the carriage and the injection direction control device are mainly improved;
referring to fig. 12 to 14, the embodiment of the carriage in the transverse traveling mechanism and the embodiment of the carriage in the longitudinal traveling mechanism are the same in this example, and the carriage in the transverse traveling mechanism is taken as an example for description; the sliding frame is composed of a dovetail groove guide rail 31 and a motor mounting seat 30 with a dovetail structure, wherein the dovetail groove direction of the dovetail groove guide rail 31 is vertical to the length direction of the annular rack 6 in the transverse traveling mechanism, the dovetail structure on the motor mounting seat 30 is matched with the dovetail groove on the dovetail groove guide rail 31, and the range of the back-and-forth sliding of the motor mounting seat 30 is larger than the difference between the reference circle diameter of the semicircular transition section of the annular rack 6 and the reference circle diameter of the driving gear 7; the driving motor 8 is arranged on the motor mounting seat 30, and an output shaft 8-1 of the driving motor passes through the motor mounting seat 30 and the dovetail groove guide rail 31 to be connected with a wheel shaft of the corresponding driving gear 7; a round hole penetrating through the output shaft 8-1 of the driving motor 8 is formed in the position, through which the output shaft 8-1 of the driving motor 8 penetrates, of the motor mounting seat 30, and a long hole 31-1 in the dovetail groove direction is formed in the position, through which the output shaft 8-1 of the driving motor 8 penetrates, of the dovetail groove guide rail 31.
Referring to fig. 15, the injection direction control means in this example is composed of the "shape member 23 and the third 90 ° rotary cylinder 32 and the 180 ° rotary cylinder 29, wherein,
the 180-degree rotary cylinder 29 is coaxially fixed on a rotary arm of the third 90-degree rotary cylinder 32, and a straight line where two edges of the rotary angle of the 180-degree rotary cylinder 29 are located is parallel to one edge of two edges of the rotary angle of the third 90-degree rotary cylinder 32; the upper surface of the upper lateral edge of the "shape member 23 is fixed on the rotary arm of the 180 ° rotary cylinder 29;
the spray head 22 is fixed on the vertical edge of the 'shape component 23, the spray direction of the spray head is consistent with the vertical edge of the' shape component 23, and the included angle between the spray head and the vertical edge is 45 degrees;
the base of the third 90-degree rotary cylinder 32 fixes the lower surface of the rectangular frame 3, and one of two edges of the rotary angle is parallel to the longitudinal linear guide rail, and the other is parallel to the transverse linear guide rail.
The method for controlling the injection direction of the nozzle 22 in this embodiment is similar to that in example 1, except that the signals for controlling the rotation of the first 90 ° rotary cylinder and the second 90 ° rotary cylinder in example 1 are respectively used for controlling the rotation of the third 90 ° rotary cylinder 32 and the 180 ° rotary cylinder 29, that is, during operation, according to the reciprocating direction of the transverse scanning traveling mechanism, the third 90 ° rotary cylinder 32 is controlled to make the straight line where the two sides of the rotation angle of the 180 ° rotary cylinder 29 are located coincide with the reciprocating direction of the transverse scanning traveling mechanism, and then the two-stroke switch 15 in the transverse scanning traveling mechanism controls the direction change of the 180 ° rotary cylinder 29, so that the injection direction of the nozzle 22 is always inclined by 45 ° below the advancing direction during the reciprocating motion. As shown by the dotted line in fig. 15, when the head 22 is turned around and moved back, the 180 ° rotation cylinder 29 rotates 180 ° in the horizontal plane, while the head 22 is still directed obliquely downward toward its moving direction.
In this example, the nozzle 22 and the annular rack 6 are the same as in example 1, so the radian alpha of the arc-shaped member 14 of the stroke control device still ranges from 1.83 to 2.86, and the radian of the arc-shaped member 14 is designed to be 1.9 in this example.
The embodiment other than the above in this example is the same as example 1.
Claims (6)
1. A bridge type automatic spraying device comprises a spray head, a longitudinal walking mechanism, a transverse walking mechanism, a longitudinal linear guide rail and a transverse linear guide rail, and is characterized in that,
the transverse traveling mechanism and the longitudinal traveling mechanism respectively comprise an annular rack, a traveling device, a driving motor and a sliding frame for supporting the driving motor; the annular rack consists of two parallel straight line sections and two semicircular transition sections positioned at two ends of the two straight line sections; the walking device consists of a driving gear, a roller and a connecting arm, wherein one end of the connecting arm is sleeved on a wheel shaft of the driving gear, and the other end of the connecting arm is provided with the roller; gear teeth are arranged on the inner side face of the annular rack and meshed with the driving gear in the traveling device, and the connecting arm spans the annular rack to enable the roller to cling to the outer side face of the annular rack; the sliding frame is a sliding mechanism with the sliding direction vertical to the length direction of the annular rack, and the sliding range of the sliding mechanism is larger than the difference between the reference circle diameter of the semicircular transition section of the annular rack and the reference circle diameter of the driving gear; the driving motor is fixed on the sliding frame, and the output shaft of the driving motor is connected with the wheel shaft of the driving gear;
the two transverse linear guide rails are parallel to each other; the longitudinal linear guide rail is one, and two ends of the longitudinal linear guide rail are respectively provided with a transverse travelling wheel which is respectively supported on the travelling working surfaces of the two transverse linear guide rails positioned on the outer side wall, so that the longitudinal linear guide rail is suspended below the transverse linear guide rails;
the annular rack in the transverse traveling mechanism is fixed on a support beam, and the axis of the support beam is positioned on the symmetrical central line of the two transverse linear guide rails; the annular rack in the transverse travelling mechanism is fixed on the upper surface of the supporting beam along the length direction, and the sliding frame for fixing the driving motor in the transverse travelling mechanism is positioned above the annular rack in the transverse travelling mechanism and is fixed on the upper surface of the longitudinal linear guide rail by two fixing plates;
the annular rack in the longitudinal traveling mechanism is fixed on the lower surface of the longitudinal linear guide rail along the length direction, a sliding frame for fixing a driving motor in the longitudinal traveling mechanism is positioned below the annular rack in the longitudinal traveling mechanism and is fixed in two side edges of a rectangular frame, the middle part of the upper edge of the rectangular frame is provided with a longitudinal notch, the lower surfaces of two sides of the notch are respectively provided with a longitudinal traveling wheel, the longitudinal traveling wheels are respectively supported on the traveling working surface of the longitudinal linear guide rail positioned on the outer side wall, and the rectangular frame is suspended below the longitudinal linear guide rail; the spray head is fixed on the lower surface of the rectangular frame;
the two ends of each annular rack are respectively provided with a stroke control device which consists of a stroke switch, an arc-shaped member surrounding the outer side of the semicircular transition section of the annular rack and two spring guide rods; the spring guide rods are parallel to the straight line sections of the annular racks, the arc-shaped component is fixedly supported at the free ends of the two spring guide rods, an arc-shaped control groove with the same width is formed between the arc-shaped component and the semicircular transition section, and the width of the arc-shaped control groove is smaller than the diameter of a roller in the walking device; the contact of the travel switch is abutted against the back of the arc-shaped component; the radian alpha of the arc-shaped component satisfies the following formula
Wherein D is the spraying diameter of the spray head, and R is the radius of the semicircular transition section of the annular rack.
2. The bridge type automatic spraying equipment of claim 1, wherein the carriage is the sliding mechanism composed of two optical axes, four sliding sleeves matching with the optical axes and a motor mounting seat, wherein the four sliding sleeves are respectively fixed on the motor mounting seat in pairs, and the two optical axes are respectively sleeved in one sliding sleeve.
3. The bridge type automatic spraying equipment of claim 1, wherein the sliding frame is the sliding mechanism composed of a dovetail groove guide rail and a motor mounting seat with a dovetail structure, wherein the dovetail structure on the motor mounting seat is matched with the dovetail groove on the dovetail groove guide rail, a circular hole penetrating through an output shaft of the driving motor is arranged on the motor mounting seat, and a long hole for the output shaft of the driving motor to reciprocate is arranged on the dovetail groove guide rail at the position opposite to the circular hole.
4. A bridge type automatic spraying apparatus according to claim 1, 2 or 3, further comprising a balancing device, wherein the balancing device comprises a balancing shaft, two balancing gears and two linear racks, wherein the two linear racks are respectively fixed on two transverse linear guide rails, the balancing shaft is supported on the upper surface of the longitudinal beam by two bearing supports, and the two balancing gears are fixed at two ends of the balancing shaft and are respectively engaged with one linear rack.
5. A bridge type automatic coating apparatus according to claim 1, 2 or 3, further comprising a spray direction control means comprising a "shape member, a first 90 ° rotation cylinder and a second 90 ° rotation cylinder, wherein,
the rotary arm of the first 90-degree rotary cylinder is fixed on the cross edge of the upper part of the 'shaped member';
the base of the second 90-degree rotary cylinder is fixed on the vertical edge of the shape component, and the included angle between the angular bisector of the rotary angle and the side surface of the vertical edge of the shape component is 45 degrees;
the base of the first 90-degree rotary cylinder is fixed on the lower surface of the rectangular frame, one of two edges of a rotary angle of the base is parallel to the longitudinal linear guide rail, and the other edge of the rotary angle of the base is parallel to the transverse linear guide rail;
the spray head is fixed on a rotary arm of the second 90-degree rotary cylinder, and the spray direction of the spray head is consistent with the direction of an angular bisector of a rotary angle of the rotary cylinder.
6. A bridge type automatic coating apparatus according to claim 1, 2 or 3, further comprising a spray direction control means comprising a "shape member and a third 90 ° rotary cylinder and a 180 ° rotary cylinder, wherein,
the 180-degree rotary cylinder is coaxially fixed on a rotary arm of a third 90-degree rotary cylinder, and a straight line where two edges of the 180-degree rotary cylinder rotary angle are located is parallel to one edge of two edges of the third 90-degree rotary cylinder rotary angle; the upper surface of the upper transverse edge of the' shaped component is fixed on a rotary arm of a 180-degree rotary cylinder;
the spray head is fixed on the vertical edge of the ' shape component, the spray direction of the spray head is consistent with the direction of the vertical edge of the ' shape component, and the included angle between the spray head and the vertical edge of the ' shape component is 45 degrees;
and the base of the third 90-degree rotary cylinder is fixed on the lower surface of the rectangular frame, one of two edges of a rotary angle of the base is parallel to the longitudinal linear guide rail, and the other edge of the rotary angle of the base is parallel to the transverse linear guide rail.
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| CN111804461A (en) * | 2020-08-01 | 2020-10-23 | 中电建成都混凝土制品有限公司 | Shield constructs section of jurisdiction mould automatic spraying release agent equipment |
| CN114260112A (en) * | 2022-01-07 | 2022-04-01 | 郑州大学 | Non-contact light heating auxiliary matrix spraying device and matrix spraying method |
| CN114682422B (en) * | 2022-03-29 | 2023-07-28 | 江苏迪盛智能科技有限公司 | Method for controlling thickness of target spray coating |
| CN114870321A (en) * | 2022-03-30 | 2022-08-09 | 浙江唯品健康科技有限公司 | Intelligent height-sarking training device |
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