CN107081236A - A kind of draining box drain automatic spraying robot and its operating method - Google Patents
A kind of draining box drain automatic spraying robot and its operating method Download PDFInfo
- Publication number
- CN107081236A CN107081236A CN201710441907.5A CN201710441907A CN107081236A CN 107081236 A CN107081236 A CN 107081236A CN 201710441907 A CN201710441907 A CN 201710441907A CN 107081236 A CN107081236 A CN 107081236A
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- Prior art keywords
- walking
- vertical
- central shaft
- guide rail
- guide
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Classifications
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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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
-
- 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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
- B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
-
- 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
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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Abstract
The present invention relates to deep vertical Construction Technology field, and provide a kind of draining box drain automatic spraying robot.Draining box drain automatic spraying robot includes：Frame, frame includes central shaft；Guide assembly, guide assembly is removably mounted on central shaft；Spray gun mechanism, spray gun mechanism is connected to central shaft, and can be walked along guide assembly；On horizontal running mechanism, the slidably centrally disposed axle of horizontal running mechanism, and expand or retract in the horizontal direction when being slided along along central shaft；And vertical walking mechanism, on the slidably centrally disposed axle of vertical walking mechanism, and in the vertical direction expansion or retracted when being slided along along central shaft.It according to the draining box drain automatic spraying robot of the present invention, can be sprayed instead of workman under severe working environment, and be adapted to the inner-wall spraying task of various sizes draining box drain, and reduce possible personnel's injury.
Description
Technical field
It is automatic more particularly to a kind of draining box drain the present invention relates to pipe robot and pipeline corrosion protection apparatus field
Spray robot and its operating method.
Background technology
Pipe robot is one of robot emphasis application field, belongs to the research category of specialized robot, and it is a kind of
Can along pipeline automatically walk, carry one or more sensors and Working mechanism, can be severe under remote control or computer control
A series of electro-mechanical system of the pipeline operations such as pipeline constructions, maintenance and detection is carried out in environment.Pipeline spraying reparation is applied
Work is simple to operate, high financial profit, disclosure satisfy that the requirement of pipeline corrosion protection, leak stopping and structural reinforcement.
The draining box drain system run in city, after decades of completing for use, heavy corrosion has occurred for inwall, so that
Generation seepage, the harm such as cave in.General box drain reparation uses hand spray mode, causes that automaticity is low, labor intensity is big,
And working environment is severe.Importantly, small-sized box drain can not carry out hand spray construction.
It is then desired to a kind of following draining box drain automatic spraying robot and its operating method：It can be solved or extremely
Mitigate the part or all of shortcoming in the presence of above-mentioned prior art less.
The content of the invention
The technical problems to be solved by the invention are：There is provided one kind aim to solve the problem that or at least mitigate it is above-mentioned in the prior art
The draining box drain automatic spraying robot and its operating method of existing part or all of shortcoming.
The technical solution adopted in the present invention is as described below.
According to an aspect of the present invention there is provided a kind of draining box drain automatic spraying robot, wherein, the draining box drain is certainly
Dynamic spray robot includes：Frame, the frame includes the first central shaft and the second central shaft；Guide assembly, the set of rails
Part is removably mounted on first central shaft；Spray gun mechanism, the spray gun mechanism is connected to first center
Axle, and can be walked along the guide assembly；Horizontal running mechanism, the horizontal running mechanism is slidably arranged on
On second central shaft, and expand or retract in the horizontal direction when being slided along along second central shaft；And it is perpendicular
Straight walking mechanism, the vertical walking mechanism is slidably arranged on second central shaft, and when along described the
In the vertical direction expansion or retraction when being slided on two central shafts.
Preferably, the guide assembly includes the first guide rail, the second guide rail, guide-rail coupling member and rail brackets, described
First guide rail and second guide rail parallel arrangement, the guide-rail coupling member connect first guide rail and second guide rail,
First guide rail described in the rail brackets from first guide rail, second guide rail and the guide-rail coupling member medial support,
Second guide rail and the guide-rail coupling member.
Preferably, first guide rail and second guide rail are set to the rounding rectangle formed by tubes buckle,
The rail brackets includes bracket loop and four guide supports, the shape of the bracket loop and first guide rail and described
The shape of second guide rail is identical, the bracket loop against and connect the guide-rail coupling member, the one of four guide supports
End connection first central shaft, and the other end of four guide supports is respectively connecting to four of the bracket loop
Angle.
Preferably, the spray gun mechanism includes spray gun drive component, nozzle case assembly and roller, and the roller is connected to
The nozzle case assembly, the spray gun drive component drive the nozzle case assembly so that the nozzle case assembly by means of
The roller is advanced along first guide rail and second guide rail.
Preferably, the spray gun drive component includes the first motor, with first motor connection and by the described first electricity
Drive gear mechanism and be connected with the drive gear mechanism and rotation is driven by the drive gear mechanism that machine drives
Spring piston, the drive gear mechanism includes rotatable gear shaft, and the rotatable gear bush is located at described first
On central shaft, one end of the spring piston is connected to the rotatable gear shaft, the other end connection of the spring piston
To the nozzle case assembly, the drive gear mechanism includes outer case, and one end of first central shaft is connected by adaptor
One end of four guide supports is connected to, the other end of first central shaft is fixedly attached to the one of the outer case
End, one end of second central shaft is fixedly attached to the other end of the outer case.
Preferably, 4 rollers that the spray gun mechanism is included in 8 rollers, 8 rollers are matched two-by-two is folded in institute
State on the first guide rail and can be advanced along first guide rail, other 4 rollers in 8 rollers are matched two-by-two to be folded in
It can advance on second guide rail and along second guide rail.
Preferably, the horizontal running mechanism includes being arranged on second central shaft and being symmetrically located at described the
The first level walking unit of the two central shaft left and right sides and the second walking in a horizontal state unit, the first level walking unit and institute
State the second walking in a horizontal state unit and be respectively included in first level walking hinge bar and the second walking in a horizontal state hinge that midpoint crossing is hinged
Extension bar, drive the first level walking unit and the first level of the second walking in a horizontal state unit to walk respectively to be hinged
First level hoofing part oil cylinder that the first end of bar is slided on second central shaft and the second walking in a horizontal state driving oil cylinder,
It is separately positioned on the first level row at the second end of the first level walking hinge bar and the second walking in a horizontal state hinge bar
Walk driving wheel support bar and the second walking in a horizontal state driving wheel support bar and installed in first level running wheel support
The walking in a horizontal state driving wheel at the two ends of bar and the second walking in a horizontal state driving wheel support bar, the first level hoofing part oil
First level walking unit and the second walking in a horizontal state unit described in cylinder and second walking in a horizontal state driving hydraulic oil cylinder driving
When the first end of the first level walking hinge bar is slided on second central shaft, the first level walking hinge bar
Extend or retract in the horizontal direction with the second walking in a horizontal state hinge bar.
Preferably, the vertical walking mechanism includes being arranged on second central shaft and being symmetrically located at described the
The first of both sides vertical walking unit and the second vertical walking unit above and below two central shafts, the first vertical walking unit and institute
State the second vertical walking unit and be respectively included in the first vertical walking hinge bar and the second vertical walking hinge that midpoint crossing is hinged
Extension bar, the described first vertical walking of the described first vertical walking unit and the second vertical walking unit is driven to be hinged respectively
The first vertical hoofing part oil cylinder and the second vertical hoofing part oil cylinder that the first end of bar is slided on second central shaft,
It is separately positioned on first vertical rows at the second end of the described first vertical walking hinge bar and the second vertical walking hinge bar
Walk driving wheel support bar and the second vertical running wheel support bar and installed in the described first vertical running wheel support
The vertical running wheel at the two ends of bar and the second vertical running wheel support bar, the first vertical hoofing part oil
First vertical walking unit described in cylinder and the second vertical hoofing part hydraulic oil cylinder driving and the second vertical walking unit
When the first end of described first vertical walking hinge bar is slided on second central shaft, the described first vertical walking hinge bar
With the described second vertical extension of walking hinge bar in the vertical direction or retraction.
Preferably, the walking in a horizontal state driving wheel and the vertical running wheel are connected to servomotor and by described
Servomotor drives.
Preferably, the draining box drain automatic spraying robot also includes control system and feed tank, the control system
It is arranged on the feed tank on second central shaft.
According to another aspect of the present invention there is provided a kind of operating method of draining box drain automatic spraying robot, wherein, institute
Operating method is stated to comprise the following steps：
Start the walking in a horizontal state driving oil cylinder of horizontal running mechanism so that the first level walking of the horizontal running mechanism
Hinge bar and the second walking in a horizontal state hinge bar are expanded to and matched with the horizontal size of draining box drain；
Start the vertical hoofing part oil cylinder of vertical walking mechanism so that the vertical walking of the first of the vertical walking mechanism
Hinge bar and the second vertical walking hinge bar are expanded to and matched with the vertical size of draining box drain；
Start the first motor, drive gear mechanism is driven by first motor, the drive gear mechanism drives rotation
Spring piston, the spring piston drives nozzle case assembly to be advanced around the first guide rail and the second guide rail again, so as to complete to make a reservation for
The spraying of position；
Start each walking in a horizontal state driving wheel of the horizontal running mechanism and each vertical walking of the vertical walking mechanism
Servomotor corresponding to driving wheel, so that displacement before and after realizing the automatic spraying robot in draining box drain.
According to one or more embodiments of the present invention, beneficial effect as described below can be realized.
According to the present invention, draining box drain automatic spraying robot can be sprayed instead of workman under severe working environment,
So as to reduce human cost and reduce possible personnel's injury.Moreover, draining box drain automatic spraying robot can basis
Different draining box drain size and the guide assembly for changing different size, and pass through walking in a horizontal state and drive oil cylinder and vertical walking to drive
Dynamic oil cylinder adjusts walking in a horizontal state driving wheel and vertical running wheel respectively, to adapt to the inner-wall spraying of various sizes draining box drain
Task, so that the situation of spraying application can not be carried out by avoiding the middle-size and small-size box drain of prior art.
Brief description of the drawings
With reference to the accompanying drawings by the technical and industrial meaning of the feature, advantage and illustrative embodiments of invention
Justice is described, in the accompanying drawings, and identical reference indicates identical element, and wherein：
Fig. 1 shows the schematic isometric of the draining box drain automatic spraying robot according to exemplary embodiment of the invention
Structure chart；
Fig. 2 shows the schematic diagram of the spray gun mechanism of Fig. 1 draining box drain automatic spraying robot；
Fig. 3 shows the schematic side elevational structure chart of Fig. 1 draining box drain automatic spraying robot；
Fig. 4 show according to the draining box drain automatic spraying robot of exemplary embodiment of the invention it is another schematically
Each walking in a horizontal state hinge bar of structure chart, wherein horizontal running mechanism is horizontally outward expanded, each vertical rows of vertical walking mechanism
Walk that hinge bar is expanded outwardly vertically and spray gun mechanism rotates through an angle on guide rail.
Embodiment
Exemplary embodiment of the invention is described in detail with reference to the accompanying drawings.Description to illustrative embodiments
Merely for the sake of demonstration purpose, and it is definitely not to the present invention and its application or the limitation of usage.Moreover, in figure each part size
Also it is only schematical with ratio, does not exactly correspond to actual product.
Below to being illustrated including the draining box drain automatic spraying robot according to exemplary embodiment of the invention.Figure
1 shows the schematic isometric structure chart of the draining box drain automatic spraying robot according to exemplary embodiment of the invention.Fig. 2
Show the schematic diagram of the spray gun mechanism of Fig. 1 draining box drain automatic spraying robot.Fig. 3 shows Fig. 1 draining
The schematic side elevational structure chart of box drain automatic spraying robot.Fig. 4 shows the draining according to exemplary embodiment of the invention
Each walking in a horizontal state hinge bar level of the another schematic diagram of box drain automatic spraying robot, wherein horizontal running mechanism to
Outer expansion, each vertical walking hinge bar of vertical walking mechanism are expanded outwardly and spray gun mechanism rotates through one on guide rail vertically
Angle.
As shown in figure 1, including frame according to the draining box drain automatic spraying robot of exemplary embodiment of the invention, leading
Rail assembly, spray gun mechanism, horizontal running mechanism, vertical walking mechanism and miscellaneous part.Guide assembly, spray gun mechanism, level
Walking mechanism and vertical walking mechanism are installed in frame.Specifically, frame includes the first frame and the second frame, the
It is provided with first central shaft of one frame on guide assembly and spray gun mechanism, the second central shaft of the second frame and level is installed
Walking mechanism and vertical walking mechanism, the first frame and the second frame are bolted.
Guide assembly includes guide rail 1, guide-rail coupling member 2 and rail brackets 3.Guide rail 1 is led including the first guide rail and second
Rail.First guide rail and the second guide rail are set to the rounding rectangle formed by tubes buckle, just adapt to the interior of draining box drain
Wall profile.First guide rail and the second guide rail parallel are placed and are welded and fixed by guide-rail coupling member 2.Pad is located at the first guide rail
With the opposed facing side surface of the second guide rail, facilitate spray gun mechanism will not be hindered when making orbital movement.
In Fig. 1, ten guide-rail coupling members 2 are provided with altogether, in the top edge and second of the rounding rectangle of the first guide rail
Two guide-rail coupling members 2 are uniformly arranged between the top edge of the rounding rectangle of guide rail, similarly in the rounding of the first guide rail
Two guide-rail coupling members 2 are correspondingly arranged between the lower edge of the rounding rectangle of the lower edge of rectangle and the second guide rail, first
Three guide rail companies are uniformly arranged between the left hand edge of the left hand edge of the rounding rectangle of guide rail and the rounding rectangle of the second guide rail
Fitting 2, similarly the first guide rail rounding rectangle right hand edge and the second guide rail rounding rectangle right hand edge between
It is correspondingly arranged three guide-rail coupling members 2.So, because 10 guide-rail coupling members 2 are uniformly arranged on the first guide rail and the second guide rail
Between, so being not in the irregular situation of stress.
Rail brackets 3 includes bracket loop and four guide supports, and the shape of bracket loop is led with the first guide rail and second
The shape of rail is identical, i.e. bracket loop is also configured as rounding rectangle, but the size of bracket loop is slightly smaller than the first guide rail and second and led
The size of rail.Specifically, bracket loop from the inner side of the first guide rail and the second guide rail against and connect ten guide-rail coupling members, four
One end of guide support is connected to the first central shaft of the first frame by adaptor, and states the another of four guide supports
One end is respectively connecting to four angles of bracket loop.Whole guide assembly is fixed on by rail brackets 3 in the first of first frame
On heart axle.
Although it is understood that the shape of the first guide rail and the second guide rail preferably rounding rectangle, it is also possible to be
Other shapes, such as annular, ellipse；The number and set-up mode of guide-rail coupling member 2, the number of guide support with
And set-up mode can also change as needed.
As Figure 2-3, spray gun mechanism 4 includes spray gun drive component 41, nozzle case assembly 42 and roller 43.Spray gun drives
Dynamic component 41 includes the first motor (not shown), with the first motor connection and by the first motor-driven drive gear mechanism 411,
And the spring piston 412 of rotation is connected and driven by drive gear mechanism 411 with drive gear mechanism 411.Spring piston 412
One end be hinged with nozzle case assembly 42, the other end is connected to the rotatable gear shaft of drive gear mechanism 411, rotatably
Gear bush is located on the first central shaft.Drive gear mechanism includes outer case, and one end of the first central shaft is connected by adaptor
One end of four guide supports is connected to, the other end of the first central shaft is fixedly attached to one end of outer case.Second central shaft
One end be fixedly attached to the other end of outer case.So, when the first electric motor starting, the first motor belt motor nutating gear mechanism
411 actions, rotatable gear shaft is rotated, so as to drive spring piston 412 to rotate, so that being hinged with spring piston 412
Nozzle case assembly 42 walked around the first guide rail and the second guide rail.Because the length of spring piston 412 is variable, so nozzle can be solved
First guide rail and second guide rail of the case assembly along rounding rectangle make free telescoping problem required during orbital movement.
Specifically, the piston rod of spring piston 412 is connected to the box body 421 of nozzle case assembly 42.Nozzle 422 is arranged on spray
On the box body 421 of mouth case assembly 42.Spray gun mechanism 4 is provided with 8 rollers 43.8 rollers 43 are connected to by bindiny mechanism
On the box body 421 of nozzle case assembly 42, specifically, 4 rollers in 8 rollers 43 are matched two-by-two to be folded on the first guide rail simultaneously
It can be moved on the first guide rail, other 4 rollers in 8 rollers 43 are matched two-by-two to be folded on the second guide rail and can be second
Moved on guide rail.
More specifically, roller 43 is in inner concave shape, the outer surface of its contour surface the first guide rail of laminating and the second guide rail, this
Sample enables to spray gun not derail.Each two roller 43 is one group, and its interior concave point spacing is the cross-sectional diameter of guide rail 1.If
Put two on the first guide rail groups of rollers 43 to be hinged by articulated elements, be arranged on two groups of rollers 43 on the second guide rail also by hinge
Fitting is hinged, and pin joint can realize that spray gun mechanism does orbital movement along guide rail 1 as shown in Fig. 2 44, so.
As shown in figure 1, horizontal running mechanism 9 includes being arranged on the second central shaft of the second frame and being symmetrically located at
The first level walking unit of the second central shaft left and right sides and the second walking in a horizontal state unit.First level walking unit includes the
One walking in a horizontal state hinge bar 91, the second walking in a horizontal state hinge bar 92, first level running wheel support bar 93, the second horizontal line
Walk driving wheel support bar 94, first level hoofing part oil cylinder and installed in first level running wheel support bar 93 and
The walking in a horizontal state driving wheel 99 at the two ends of two walking in a horizontal state driving wheel support bar 94.First level walking unit and the second walking in a horizontal state
The walking in a horizontal state driving oil cylinder of unit is integrally shown as 97.The midpoint of first level walking hinge bar 91 is hinged to the second horizontal line
Walk the midpoint of hinge bar 92.The first end of first level walking hinge bar 91 is set on the second central shaft of the second frame, and
Slided by first level hoofing part hydraulic oil cylinder driving in the second central shaft.The first end of second walking in a horizontal state hinge bar 92 can turn
The second central shaft of the second frame is connected to dynamicly.The of the first level walking walking in a horizontal state hinge bar 92 of hinge bar 91 and second
Two ends are respectively connecting to the midpoint of first level running wheel support bar 93 and the second walking in a horizontal state driving wheel support bar 94.Class
As, the structure of the second walking in a horizontal state unit is identical with first level walking unit.When the first water of first level walking unit
When the second walking in a horizontal state driving oil cylinder of flat hoofing part oil cylinder and the second walking in a horizontal state unit is flexible, first level walking unit
Driven with the first end of the first level walking hinge bar 91 of the second walking in a horizontal state unit so as to be slided on the second central shaft,
The second walking in a horizontal state hinge bar 92 being hinged with first level walking hinge bar 91 is caused also to be servo-actuated, so that first level walking is single
Member and the length change of the second walking in a horizontal state unit in the horizontal direction, i.e. change the first level walking water of hinge bar 91 and second
It is parallel walk hinge bar 92 opening and closing degree, walking in a horizontal state driving wheel 99 is close to the left and right sides inwall of draining box drain, so as to
To adapt to various sizes of draining box drain.
It is similar with horizontal running mechanism 9, vertical walking mechanism 10 is described below.Vertical walking mechanism 10 includes being arranged on putting
On the second central shaft of the second frame and be symmetrically located at both sides above and below the second central shaft the first vertical walking unit and
Second vertical walking unit.First vertical walking unit includes the first vertical walking hinge bar 101, second walking hinge bar vertically
102nd, the first vertical running wheel support bar 103, the second vertical running wheel support bar 104, the first vertical hoofing part
Oil cylinder and installed in the first vertical vertical two ends of running wheel support bar 104 of running wheel support bar 103 and second
Vertical running wheel 1010.The vertical hoofing part oil cylinder of first vertical walking unit and the second vertical walking unit integrally shows
Go out for 108.The midpoint of first vertical walking hinge bar 101 is hinged to the midpoint of the second vertical walking hinge bar 102.First is vertical
The first end of walking hinge bar 101 is set on the second central shaft, and by the first vertical hoofing part hydraulic oil cylinder driving second
Central shaft is slided.The first end of second vertical walking hinge bar 102 is rotatably connected to the second central shaft of the second frame.The
Second end of the one vertical vertical walking hinge bar 102 of walking hinge bar 101 and second is respectively connecting to the first vertical hoofing part
Take turns the midpoint of the vertical running wheel support bar 104 of support bar 103 and second.Similarly, the structure of the second vertical walking unit
It is identical with the first vertical walking unit.When the first vertical hoofing part oil cylinder of the first vertical walking unit and the second vertical walking
When second vertical hoofing part oil cylinder of unit is flexible, the first of the first vertical walking unit and the second vertical walking unit is vertical
The first end of walking hinge bar 101, so as to be slided on the second central shaft, is caused and the first vertical hinge bar 101 of walking by driving
The second vertical walking hinge bar 102 being hinged also is servo-actuated, so that the first vertical walking unit and the second vertical walking unit are perpendicular
Nogata to length change, i.e. change first vertically walking hinge bar 101 and second vertically walking hinge bar 102 opening and closing journey
Degree, makes vertical running wheel 1010 be close to the both sides inwall up and down of draining box drain, so as to adapt to various sizes of draining
Box drain.
Specifically, in the above examples, two group oil cylinders, including 2 levels are installed on the second central shaft of the second frame
Hoofing part oil cylinder and 2 vertical hoofing part oil cylinders, 2 walking in a horizontal state driving oil cylinders and 2 vertical hoofing part oil
Cylinder is axially disposed along the second central shaft of the second frame, specifically, and 2 walking in a horizontal state driving oil cylinders are close to be arranged in second
The two sides up and down of heart axle, 2 vertical hoofing part oil cylinders 108 are also close to the upper and lower surface for being arranged in the second central shaft, this
Sample can provide uniform power.Certainly, the number of walking in a horizontal state driving oil cylinder and vertical hoofing part oil cylinder can also be on demand
Other numbers are set to, for example, 1 or 4 walking in a horizontal state driving oil cylinders can be set, and set 1 or 4 vertical walking to drive
Dynamic oil cylinder.
Fig. 4 show according to the draining box drain automatic spraying robot of exemplary embodiment of the invention it is another schematically
Each walking in a horizontal state hinge bar of structure chart, wherein horizontal running mechanism is horizontally outward expanded, each vertical rows of vertical walking mechanism
Walk that hinge bar is expanded outwardly vertically and spray gun mechanism rotates through an angle on guide rail.
Moreover, in the above examples, the pin joint of each vertical walking hinge bar and each walking in a horizontal state hinge bar is arranged at
Midpoint, and the setting of each walking in a horizontal state driving wheel and vertical running wheel so that add the contact with draining box drain inwall
Area, so that the walking of draining box drain automatic spraying robot is more steady.
Each walking in a horizontal state driving wheel and vertical running wheel provide power by servomotor (not shown), the row of can be achieved
The automatically walk of water box drain automatic spraying robot and the gait of march for accurately controlling draining box drain automatic spraying robot, with this
Control coating thickness simultaneously finally ensures coating quality.
As shown in figure 1, the control system and feed tank 11 of draining box drain automatic spraying robot are arranged on the second frame
The afterbody of second central shaft, and be connected by cable and conveying pipeline with ground installation.
It should be noted that can be changed in draining box drain automatic spraying robot according to different draining box drain sizes
The guide assembly of different size, and drive oil cylinder and vertical hoofing part oil cylinder to adjust walking in a horizontal state drive respectively by walking in a horizontal state
Driving wheel and vertical running wheel, to adapt to the inner-wall spraying task of various sizes draining box drain.
In operation, draining box drain automatic spraying robot is placed in pipeline, starting walking in a horizontal state by remote operation drives
Dynamic oil cylinder so that first level walking hinge bar and the second walking in a horizontal state hinge bar expand to the horizontal size with draining box drain
Match somebody with somebody；Restart vertical hoofing part oil cylinder so that the first vertical walking hinge bar and the second vertical walking hinge bar expand to
The vertical size matching of draining box drain；The motor of subsequent start-up first, drive gear mechanism, driving cog turbine are driven by the first motor
Structure drives the spring piston of rotation, and spring piston drives nozzle case assembly to advance to complete around the first guide rail and the second guide rail again
The spraying in precalculated position；Start each walking in a horizontal state driving wheel and the servomotor corresponding to vertical running wheel, so as to realize
Automatic spraying robot in draining box drain before and after displacement.
In above steps, starting the order of walking in a horizontal state driving oil cylinder and the vertical hoofing part oil cylinder of startup can adjust
Change.
In this manual, whenever referring to " illustrative embodiments ", " preferred embodiment ", " embodiment " etc.
When mean for the embodiment describe specific feature, structure or feature be included in the present invention at least one embodiment party
In formula.The appearance of these words different places in this manual is not necessarily all referring to same embodiment.In addition, when for appointing
When one embodiment/embodiment describes specific feature, structure or feature, it will be understood that those skilled in the art also can be
This feature, structure or feature are realized in other embodiment in all embodiments.
Embodiments of the present invention described in detail above.However, the aspect of the present invention is not limited to above-mentioned embodiment.
Without departing from the scope of the invention, various remodeling and replacement may apply in above-mentioned embodiment.
Claims (10)
1. a kind of draining box drain automatic spraying robot, it is characterised in that the draining box drain automatic spraying robot includes：
Frame, the frame includes the first central shaft and the second central shaft；
Guide assembly, the guide assembly is removably mounted on first central shaft；
Spray gun mechanism, the spray gun mechanism is connected to first central shaft, and can be walked along the guide assembly；
Horizontal running mechanism, the horizontal running mechanism is slidably arranged on second central shaft, and works as edge
Expand or retract in the horizontal direction when being slided on second central shaft；And
Vertical walking mechanism, the vertical walking mechanism is slidably arranged on second central shaft, and works as edge
In the vertical direction expansion or retraction when being slided on second central shaft.
2. draining box drain automatic spraying robot according to claim 1, it is characterised in that the guide assembly includes the
One guide rail, the second guide rail, guide-rail coupling member and rail brackets, first guide rail and second guide rail parallel arrangement, institute
State guide-rail coupling member and connect first guide rail and second guide rail, the rail brackets is from first guide rail, described the
First guide rail, second guide rail and the guide-rail coupling member described in two guide rails and the guide-rail coupling member medial support.
3. draining box drain automatic spraying robot according to claim 2, it is characterised in that first guide rail and described
Second guide rail is set to the rounding rectangle formed by tubes buckle, and the rail brackets includes bracket loop and four guide rails
Support member, the shape of the bracket loop is identical with the shape of first guide rail and second guide rail, the bracket loop against
And the guide-rail coupling member is connected, one end of four guide supports connects first central shaft, and described four
The other end of guide support is respectively connecting to four angles of the bracket loop.
4. draining box drain automatic spraying robot according to claim 3, it is characterised in that the spray gun mechanism includes spray
Rifle drive component, nozzle case assembly and roller, the roller are connected to the nozzle case assembly, and the spray gun drive component drives
Move the nozzle case assembly so that the nozzle case assembly by means of the roller along first guide rail and described second
Guide rail is advanced.
5. draining box drain automatic spraying robot according to claim 4, it is characterised in that the spray gun drive component bag
Include the first motor and first motor connection and passed by the described first motor-driven drive gear mechanism and with described
Moving gear mechanism connects and the spring piston of rotation is driven by the drive gear mechanism, and the drive gear mechanism includes turning
Dynamic gear shaft, the rotatable gear bush is located on first central shaft, and one end of the spring piston is connected to
The rotatable gear shaft, the other end of the spring piston is connected to the nozzle case assembly, the drive gear mechanism
Including outer case, one end of first central shaft is connected to one end of four guide supports by adaptor, described
The other end of first central shaft is fixedly attached to one end of the outer case, and one end of second central shaft is fixedly attached to institute
State the other end of outer case.
6. draining box drain automatic spraying robot according to claim 5, it is characterised in that the spray gun mechanism includes 8
4 rollers in individual roller, 8 rollers are matched two-by-two to be folded on first guide rail and can be along first guide rail
Advance, other 4 rollers in 8 rollers are matched two-by-two to be folded on second guide rail and can be led along described second
Rail is advanced.
7. the draining box drain automatic spraying robot according to any one of claim 1-6, it is characterised in that the level
Walking mechanism includes being arranged on second central shaft and being symmetrically located at the first of the second central shaft left and right sides
Walking in a horizontal state unit and the second walking in a horizontal state unit, the first level walking unit and the second walking in a horizontal state unit difference
It is included in first level walking hinge bar and the second walking in a horizontal state hinge bar that midpoint crossing is hinged, drives first water respectively
Flat walking unit and the first end of the first level of the second walking in a horizontal state unit walking hinge bar are in described second
The first level hoofing part oil cylinder slided on heart axle and the second walking in a horizontal state drive oil cylinder, are separately positioned on the first level
The first level running wheel support bar and the second water at the second end of walking hinge bar and the second walking in a horizontal state hinge bar
Flat running wheel support bar and driven installed in the first level running wheel support bar and second walking in a horizontal state
The walking in a horizontal state driving wheel at the two ends of driving wheel support bar, the first level hoofing part oil cylinder and second walking in a horizontal state drive
First level walking unit described in dynamic hydraulic oil cylinder driving and the first level of the second walking in a horizontal state unit walking hinge bar
First end when being slided on second central shaft, the first level walking hinge bar and second walking in a horizontal state are hinged
Bar extends or retracted in the horizontal direction.
8. draining box drain automatic spraying robot according to claim 7, it is characterised in that the vertical walking mechanism bag
Include the first vertical walking list for being arranged on second central shaft and being symmetrically located at both sides above and below second central shaft
Member and the second vertical walking unit, the first vertical walking unit and the second vertical walking unit are respectively included in midpoint
First vertical walking hinge bar of cross-articulation and the second vertical walking hinge bar, the described first vertical walking unit is driven respectively
Slided with the described first first end for walking hinge bar vertically of the described second vertical walking unit on second central shaft
The first vertical hoofing part oil cylinder and the second vertical hoofing part oil cylinder, be separately positioned on the described first vertical walking hinge bar
With the first vertical running wheel support bar and the second vertical hoofing part at the second end of the described second vertical walking hinge bar
Take turns support bar and installed in the described first vertical running wheel support bar and the second vertical running wheel support bar
Two ends vertical running wheel, the first vertical hoofing part oil cylinder and the second vertical hoofing part hydraulic oil cylinder driving
The first end of described first vertical walking hinge bar of the first vertical walking unit and the second vertical walking unit exists
When being slided on second central shaft, the described first vertical walking hinge bar and the second vertical walking hinge bar are in vertical side
Extend up or retract.
9. draining box drain automatic spraying robot according to claim 8, it is characterised in that the walking in a horizontal state driving wheel
Servomotor is connected to the vertical running wheel and is driven by the servomotor.
10. a kind of operating method of draining box drain automatic spraying robot according to claim 1-9, it is characterised in that
The operating method comprises the following steps：
Start the walking in a horizontal state driving oil cylinder of horizontal running mechanism so that the first level walking of the horizontal running mechanism is hinged
Bar and the second walking in a horizontal state hinge bar are expanded to and matched with the horizontal size of draining box drain；
Start the vertical hoofing part oil cylinder of vertical walking mechanism so that the vertical walking of the first of the vertical walking mechanism is hinged
Bar and the second vertical walking hinge bar are expanded to and matched with the vertical size of draining box drain；
Start the first motor, drive gear mechanism is driven by first motor, the drive gear mechanism drives the bullet of rotation
Spring piston, the spring piston drives nozzle case assembly to be advanced around the first guide rail and the second guide rail again, so as to complete precalculated position
Spraying；
Start each walking in a horizontal state driving wheel of the horizontal running mechanism and each vertical hoofing part of the vertical walking mechanism
The corresponding servomotor of wheel, so that displacement before and after realizing the automatic spraying robot in draining box drain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710441907.5A CN107081236A (en) | 2017-06-13 | 2017-06-13 | A kind of draining box drain automatic spraying robot and its operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710441907.5A CN107081236A (en) | 2017-06-13 | 2017-06-13 | A kind of draining box drain automatic spraying robot and its operating method |
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| Publication Number | Publication Date |
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| CN107081236A true CN107081236A (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710441907.5A Pending CN107081236A (en) | 2017-06-13 | 2017-06-13 | A kind of draining box drain automatic spraying robot and its operating method |
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| CN117139016A (en) * | 2023-10-30 | 2023-12-01 | 山东金诚联创管业股份有限公司 | Pipeline inner wall spraying device |
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Application publication date: 20170822 |