CN108772231A - A kind of hemi-closure space auxiliary spray robot - Google Patents
A kind of hemi-closure space auxiliary spray robot Download PDFInfo
- Publication number
- CN108772231A CN108772231A CN201810965494.5A CN201810965494A CN108772231A CN 108772231 A CN108772231 A CN 108772231A CN 201810965494 A CN201810965494 A CN 201810965494A CN 108772231 A CN108772231 A CN 108772231A
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- hemi
- guide groove
- head rod
- closure space
- upper bracket
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- 239000007921 spray Substances 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 9
- 238000007592 spray painting technique Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 abstract description 18
- 239000010959 steel Substances 0.000 abstract description 18
- 238000010276 construction Methods 0.000 abstract description 15
- 238000005507 spraying Methods 0.000 abstract description 15
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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
- B05B13/02—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
- B05B13/0431—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 spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Abstract
The present invention provides a kind of hemi-closure space auxiliary spray robot, including：Spray equipment；Transmission device, it includes first base, the first upper bracket, the first telescopic rod, head rod and driving mechanism, first telescopic rod is connected between first base and the first upper bracket, first upper bracket is equipped with the first guide groove and the second guide groove, described head rod one end connects spray equipment through the first clamping member, and the driving mechanism drives head rod to be moved in the first guide groove and the second guide groove.The present invention is compared to the prior art, it drives spray equipment to stretch into the hemi-closure space inner cavity of steel construction by the head rod of transmission device and completes spraying operation, since spray equipment and head rod are more elongated, it can adapt to the steel construction with the semiclosed inner space in different size/cross section, the muscle steric hindrance gear inside hemi-closure space can be avoided, realizes effective spraying operation.
Description
Technical field
The present invention relates to a kind of auxiliary spray equipment, especially a kind of hemi-closure space assists spray robot.
Background technology
Steel construction occupies important role in ship and building, and steel construction corrodes in order to prevent to be needed to carry out application, if
Application is not thorough, and holiday part will produce serious corrosion.Most of position of steel construction is still easier spraying, but
The hemi-closure space of steel construction is because complicated or narrow space is difficult to be sprayed.As shown in Fig. 1, in order to half-and-half seal
It closes space and carries out application, occur a kind of pipe inner-wall spraying device being exclusively used in circular cross section steel pipe in the market, mainly by leading
Body portion 91, walking mechanism 92 and spray equipment 93 form, and wherein walking mechanism 92 ensures whole device in the steady of inner wall of the pipe
Fixed mobile, which can effectively spray the inner wall of the pipe of rule, efficient, and coating quality is high.But spray equipment master
Be applicable in the pipeline of circular cross section, reluctantly applicable square cross section pipeline, for other shapes cross section steel construction less
It is applicable in；Some steel constructions can install reinforcing plate additional for factors such as stable structure in inside, and walking mechanism is difficult to be applicable in；For non-
When the interior finishing of the steel construction hemi-closure space of circular cross section, the distance of each point is different on nozzle to cross section, therefore
It is difficult to obtain relatively uniform film thickness.
Invention content
In order to overcome the above-mentioned deficiencies of the prior art, the object of the present invention is to provide a kind of hemi-closure space auxiliary to spray
Robot.
In order to achieve the above objectives, the technical solution adopted by the present invention to solve the technical problems is：
A kind of hemi-closure space auxiliary spray robot, including：
Spray equipment comprising nozzle, air motor, main pipe and the first clamping member, the first clamping member are mounted on
One end of the main pipe, the air motor are connected to the other end of main pipe, and the nozzle is mounted on turning for air motor
On moving axis, supervisor's intracoelomic cavity is equipped with spray painting pipe and high-pressure air hose, and the spray painting pipe is connect with nozzle, the high-pressure air hose
It is connect with air motor；
Transmission device comprising first base, the first upper bracket, the first telescopic rod, head rod and driving mechanism, institute
It states the first telescopic rod to be connected between first base and the first upper bracket, first upper bracket is equipped with the first guide groove and the
Two guide grooves, described head rod one end are connected in the first clamping member, and the driving mechanism drives head rod
It is moved in the first guide groove and the second guide groove.
The present invention drives spray equipment to stretch into steel construction compared to the prior art, by the head rod of transmission device
Spraying operation is simultaneously completed in hemi-closure space inner cavity, since spray equipment and head rod are more elongated, can adapt to have not
The steel construction of the semiclosed inner space in same specification/cross section can avoid the muscle steric hindrance gear inside hemi-closure space, realize effective
Spraying operation.
Further, the cross section of the head rod is rectangular, and the lower surface of head rod is equipped with transmission rack,
The two sides of first guide groove and the second guide groove are equipped with directive wheel, and the side of the directive wheel and head rod is supported
It touches, the bottom surface of first guide groove and the second guide groove is equipped with guide gear, and the guide gear is meshed with transmission rack.
Using the above preferred scheme, it can be ensured that the steady movement of head rod.
Further, limit locking bar to be opened/closed, the limit are equipped with above first guide groove and the second guide groove
When locking bar is sealed, the top position for limiting head rod.
Using the above preferred scheme, facilitate picking and placeing for head rod, it is ensured that the positional stability of head rod.
Further, the driving mechanism includes motor, driving gear, the first transmission gear and the second transmission gear, institute
It states driving gear to be mounted in the shaft of motor, first transmission gear is meshed with driving gear, first driving cog
Wheel and the second transmission gear are coaxially connected, and second transmission gear is meshed with the transmission rack of head rod.
Further, second transmission gear side is equipped with wind.
Using the above preferred scheme, motor can steadily drive stablizing for head rod to move；In debugging or short of electricity feelings
Under condition, also the movement that the second transmission gear realizes head rod can be rotated by wind.
Further, first telescopic rod includes the first mobile jib, the first secondary bar and retaining mechanism, first mobile jib
The part body of rod is sheathed on the first secondary bar periphery, and the retaining mechanism is used to fix the relative position of the first mobile jib and the first secondary bar.
It using the above preferred scheme, can be to the highly effective adjusting of the first upper bracket, it is ensured that spray equipment is located at half
The central axis of enclosure space.
Further, the first base is equipped with the idler wheel with brake gear；The first base is equipped with and is used for
Carry out mobile push rod.
Using the above preferred scheme, it is convenient for the movement and fixation of transmission device.
Further, further include auxiliary stand, the auxiliary stand includes second base, the second telescopic rod, props up on second
Seat, the second connecting rod and the second clamping piece, second telescopic rod are vertically installed between second base and the second upper bracket, institute
It states the second upper bracket and is equipped with third guide groove, second connecting rod is arranged in third guide groove, second connecting rod
One end is clamped on second clamping piece, and second clamping piece is rotatably connected to the shaft of air motor by bearing
On.
Using the above preferred scheme, both ends are carried out to spray equipment using auxiliary stand and transmission device coaxially to position,
Substantially increase the positional precision and the moving stability of spray equipment.
Further, further include controller, volume control damper is additionally provided on the high-pressure air hose, the nozzle, which is equipped with, to incline
Angle transducer, first upper bracket are equipped with the laser velocimeter device for detecting head rod movement speed, the air quantity
Control valve, obliquity sensor, laser velocimeter device and motor are connected with the controller in a signal way.；The controller receives inclination angle and passes
The nozzle rotating position signal of sensor detection, sends out the command signal of control volume control damper circulation after processing；The control
Device receives the head rod movement speed signal of laser velocimeter device detection, and the instruction letter of control motor speed is sent out after processing
Number.
Using the above preferred scheme, control journey can be write according to the concrete structure shape of steel construction hemi-closure space
Sequence suitably reduces the movement speed of spray equipment in the big region in cross section and reduces the intake of air motor to reduce nozzle
Velocity of rotation, to obtain uniform and stable spraying film thickness.
Further, further include the infrared distance sensor group being arranged on the outside of spray equipment main pipe, the infrared survey
Include multiple circumferential sensors away from sensor group, the infrared distance sensor group connects with the controller signals
It connects, the controller receives the hemi-closure space size signal of the infrared distance sensor detection, and control wind is sent out after processing
The command signal of control valve and motor action.
Using the above preferred scheme, the ruler of hemi-closure space to be sprayed is detected in real time by infrared distance sensor group
It is very little, and carry out by controller the adjusting of motor speed and air motor rotating speed automatically, it is automatic realize it is semiclosed to different sizes
The adjusting of spraying process condition in space, obtains stable spraying effect.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the pipe inner-wall spraying device that the prior art is exclusively used in circular cross section steel pipe；
Fig. 2 is the structural schematic diagram of one embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of embodiment of spray equipment of the present invention；
Fig. 4 is a kind of structural schematic diagram of embodiment of transmission device of the present invention；
Fig. 5 is a kind of structural schematic diagram of embodiment of transmission device of the present invention；
Fig. 6 is a kind of structural schematic diagram of embodiment of driving mechanism of the present invention；
Fig. 7 is the structural schematic diagram of another embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of embodiment of auxiliary stand of the present invention；
Fig. 9 is the structural schematic diagram of another embodiment of the present invention；
Figure 10 is the structural schematic diagram of another embodiment of the present invention.
The title of number and the corresponding component represented by letter in figure：
1- spray equipments；11- nozzles；111- obliquity sensors；12- air motors；13- main pipes；14- first is clamped
Part；15- spray painting pipes；16- high-pressure air hoses；2- transmission devices；21- first bases；The first upper brackets of 22-；The first guide grooves of 221-；
The second guide grooves of 222-；223- limits locking bar；224- laser velocimeter device mounting boxs；The first telescopic rods of 23-；The first mobile jibs of 231-；
The first secondary bars of 232-；233- retaining mechanisms；24- head rods；25- driving mechanisms；251- motors；252- drives gear；
The first transmission gears of 253-；The second transmission gears of 254-；255- winds；26- idler wheels；27- push rods；261- brake gears；3-
Auxiliary stand；31- second bases；The second telescopic rods of 32-；The second upper brackets of 33-；331- third guide grooves；The connections of 34- second
Bar；The second clamping pieces of 35-；36- bearings；91- main parts；92- walking mechanisms；93- spray equipments.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 2-5, a kind of hemi-closure space assists spray robot, including：
Spray equipment 1 comprising nozzle 11, air motor 12, main pipe 13 and the first clamping member 14, the first clamping member 14
Mounted on one end of main pipe 13, air motor 12 is connected to the other end of main pipe 13, and nozzle 11 is mounted on air motor 12
Rotation axis on, 13 inner cavity of main pipe is equipped with spray painting pipe 15 and high-pressure air hose 16, and spray painting pipe 15 is connect with nozzle 11, high-pressure blast
Pipe 16 is connect with air motor 12；
Transmission device 2 comprising first base 21, the first upper bracket 22, the first telescopic rod 23, head rod 24 and drive
Motivation structure 25, the first telescopic rod 23 are connected between first base 21 and the first upper bracket 22, and the first upper bracket 22 is equipped with the
One guide groove 221 and the second guide groove 222,24 one end of head rod are connected in the first clamping member 14,25 band of driving mechanism
Dynamic head rod 24 moves in the first guide groove 221 and the second guide groove 222.
It is using the advantageous effect of above-mentioned technical proposal：Spray equipment 1 is driven by the head rod 24 of transmission device 2
It stretches into the hemi-closure space inner cavity of steel construction and completes spraying operation, since spray equipment 1 and head rod 24 are more elongated,
The steel construction with the semiclosed inner space in different size/cross section is can adapt to, the muscle position inside hemi-closure space can be avoided
Blocking, realizes effective spraying operation.
In other embodiments of the present invention, spray equipment 1 can be exclusively used in circular cross section from the prior art
Related walking mechanism 92 is removed on the basis of the pipe inner-wall spraying device of steel pipe, and increase as needed necessary component or into
Other necessity of row are improved.
In other embodiments of the present invention, the cross section of head rod 24 is rectangular, head rod 24
Lower surface, which is equipped with, transmits rack, and the two sides of the first guide groove 221 and the second guide groove 222 are equipped with directive wheel, the directive wheel
It is contradicted with the side of head rod 24, the bottom surface of the first guide groove 221 and the second guide groove 222 is equipped with guide gear, described
Guide gear is meshed with transmission rack.It is using the advantageous effect of above-mentioned technical proposal：It can ensure the flat of head rod
It is steady mobile.
As shown in Figure 4,5, in other embodiments of the present invention, on the first guide groove 221 and the second guide groove 222
Side is equipped with limit locking bar 223 to be opened/closed, when limit locking bar 223 is sealed, the top position for limiting head rod 24.It adopts
It is with the advantageous effect of above-mentioned technical proposal：Facilitate picking and placeing for head rod, it is ensured that the positional stability of head rod.
As shown in fig. 6, in other embodiments of the present invention, driving mechanism 25 includes motor 251, driving gear
252, the first transmission gear 253 and the second transmission gear 254, driving gear 252 are mounted in the shaft of motor 251, and first passes
Moving gear 253 is meshed with driving gear 252, and the first transmission gear 253 and the second transmission gear 254 are coaxially connected, and second passes
Moving gear 254 is meshed with the transmission rack of head rod 24；Second transmission gear, 254 side is equipped with wind 255.Using
The advantageous effect of above-mentioned technical proposal is：Motor can steadily drive stablizing for head rod to move；In debugging or short of electricity situation
Under, also it can rotate the movement that the second transmission gear realizes head rod by wind.
As shown in figure 4, in other embodiments of the present invention, the first telescopic rod 23 includes the first mobile jib 231, first
The part body of rod of secondary bar 232 and retaining mechanism 233, the first mobile jib 231 is sheathed on 232 periphery of the first secondary bar, and retaining mechanism 233 is used
In the relative position for fixing the first mobile jib 231 and the first secondary bar 232.It is using the advantageous effect of above-mentioned technical proposal：It can be right
The highly effective adjusting of first upper bracket 22, it is ensured that spray equipment 1 is located at the central axis of hemi-closure space.
As shown in Figure 4,5, in other embodiments of the present invention, first base 21, which is equipped with, carries brake gear
261 idler wheel 26；First base 21 is equipped with for carrying out mobile push rod 27.Using the advantageous effect of above-mentioned technical proposal
It is：Convenient for the movement and fixation of transmission device.
As Figure 7-9, further include auxiliary stand 3, auxiliary stand 3 includes in other embodiments of the present invention
Second base 31, the second telescopic rod 32, the second upper bracket 33, the second connecting rod 34 and the second clamping piece 35, the second telescopic rod 32
It is vertically installed between second base 31 and the second upper bracket 33, the second upper bracket 33 is equipped with third guide groove 331, and second connects
Extension bar 34 is arranged in third guide groove 331, and 34 one end of the second connecting rod is clamped on second clamping piece 35, the second clamping
Part 35 is rotatably connected to by bearing 36 in the shaft of air motor 12.It is using the advantageous effect of above-mentioned technical proposal：
Both ends are carried out to spray equipment 1 coaxially to position, substantially increase the position of spray equipment 1 using auxiliary stand 3 and transmission device 2
Precision and the moving stability.
In other embodiments of the present invention, further includes controller, volume control damper is additionally provided on high-pressure air hose 16,
In Figure 10, nozzle 11 is equipped with obliquity sensor 111, in Fig. 5, the laser velocimeter device mounting box 224 of the first upper bracket 22
It is interior to be equipped with laser velocimeter device for detecting 24 movement speed of head rod, the volume control damper, obliquity sensor 111,
Laser velocimeter device and motor 251 are connected with the controller in a signal way.；The controller receives the spray that obliquity sensor 111 detects
11 rotating position signal of mouth sends out the command signal of control volume control damper circulation after processing；The controller receives laser
The head rod movement speed signal of velometer detection, sends out the command signal of control 251 rotating speed of motor after processing.Using upper
Stating the advantageous effect of technical solution is：Control program can be write according to the concrete structure shape of steel construction hemi-closure space,
The big region in cross section suitably reduces the movement speed of spray equipment 1 and reduces the intake of air motor 12 to reduce nozzle 11
Velocity of rotation, it is ensured that spray-on coating quality.
Further include the infrared survey being arranged in 1 main pipe of spray equipment, 13 outside in other embodiments of the present invention
Away from sensor group, the infrared distance sensor group includes multiple circumferential sensors, the infrared distance sensor
Group is connected with the controller in a signal way., and the controller receives the hemi-closure space size letter of the infrared distance sensor detection
Number, the command signal of control volume control damper and motor action is sent out after processing.It is using the advantageous effect of above-mentioned technical proposal：
It detects the size of hemi-closure space to be sprayed in real time by infrared distance sensor group, and motor is carried out by controller automatically and is turned
The adjusting of speed and air motor rotating speed, the automatic adjusting realized to spraying process condition in different size hemi-closure spaces, obtains
Stable spraying effect.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow ordinary skill people
Member can understand present disclosure and be implemented, and it is not intended to limit the scope of the present invention, all according to the present invention
Equivalent change or modification made by Spirit Essence should all cover within the scope of the present invention.
Claims (10)
1. a kind of hemi-closure space assists spray robot, which is characterized in that including：
Spray equipment comprising nozzle, air motor, main pipe and the first clamping member, the first clamping member are mounted on described
One end of main pipe, the air motor are connected to the other end of main pipe, and the nozzle is mounted on the rotation axis of air motor
On, supervisor's intracoelomic cavity is equipped with spray painting pipe and high-pressure air hose, and the spray painting pipe is connect with nozzle, the high-pressure air hose and wind
Dynamic motor connection；
Transmission device comprising first base, the first upper bracket, the first telescopic rod, head rod and driving mechanism, described
One telescopic rod is connected between first base and the first upper bracket, and first upper bracket is led equipped with the first guide groove and second
To slot, described head rod one end is connected in the first clamping member, and the driving mechanism drives head rod the
It is moved in one guide groove and the second guide groove.
2. hemi-closure space according to claim 1 assists spray robot, which is characterized in that the head rod
Cross section is rectangular, and the lower surface of head rod is equipped with transmission rack, the both sides of first guide groove and the second guide groove
Face is equipped with directive wheel, the side conflict of the directive wheel and head rod, the bottom of first guide groove and the second guide groove
Face is equipped with guide gear, and the guide gear is meshed with transmission rack.
3. hemi-closure space according to claim 2 assists spray robot, which is characterized in that first guide groove and
Limit locking bar to be opened/closed is equipped with above second guide groove, when the limiting lock lever lock closes, for limiting head rod
It sets in orientation.
4. hemi-closure space according to claim 3 assists spray robot, which is characterized in that the driving mechanism includes
Motor, driving gear, the first transmission gear and the second transmission gear, the driving gear is mounted in the shaft of motor, described
First transmission gear is meshed with driving gear, and first transmission gear and the second transmission gear are coaxially connected, and described second
Transmission gear is meshed with the transmission rack of head rod.
5. hemi-closure space according to claim 4 assists spray robot, which is characterized in that second transmission gear
Side is equipped with wind.
6. hemi-closure space according to claim 5 assists spray robot, which is characterized in that the first telescopic rod packet
The first mobile jib, the first secondary bar and retaining mechanism are included, the part body of rod of first mobile jib is sheathed on the first secondary bar periphery, the lock
Tight mechanism is used to fix the relative position of the first mobile jib and the first secondary bar.
7. hemi-closure space according to claim 6 assists spray robot, which is characterized in that set in the first base
There is the idler wheel with brake gear；The first base is equipped with for carrying out mobile push rod.
8. hemi-closure space according to claim 7 assists spray robot, which is characterized in that further include auxiliary stand,
The auxiliary stand includes second base, the second telescopic rod, the second upper bracket, the second connecting rod and the second clamping piece, and described
Two telescopic rods are vertically installed between second base and the second upper bracket, and second upper bracket is equipped with third guide groove, institute
It states the second connecting rod to be arranged in third guide groove, second connecting rod one end is clamped on second clamping piece, described
Second clamping piece is rotatably connected to by bearing in the shaft of air motor.
9. hemi-closure space according to claim 8 assists spray robot, which is characterized in that further include controller, institute
It states and is additionally provided with volume control damper on high-pressure air hose, the nozzle is equipped with obliquity sensor, and first upper bracket, which is equipped with, to be used
In the laser velocimeter device of detection head rod movement speed, the volume control damper, obliquity sensor, laser velocimeter device and electricity
Machine is connected with the controller in a signal way.；The controller receives the nozzle rotating position signal of obliquity sensor detection, processing
The command signal of control volume control damper circulation is sent out afterwards；The controller receives the head rod of laser velocimeter device detection
Movement speed signal sends out the command signal of control motor speed after processing.
10. hemi-closure space according to claim 9 assists spray robot, which is characterized in that further include that setting is being sprayed
Infrared distance sensor group on the outside of coating device main pipe, the infrared distance sensor group include multiple circumferential biographies
Sensor, the infrared distance sensor group are connected with the controller in a signal way., and the controller receives the infrared distance measurement sensing
The hemi-closure space size signal of device detection sends out the command signal of control volume control damper and motor action after processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810965494.5A CN108772231A (en) | 2018-08-22 | 2018-08-22 | A kind of hemi-closure space auxiliary spray robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810965494.5A CN108772231A (en) | 2018-08-22 | 2018-08-22 | A kind of hemi-closure space auxiliary spray robot |
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| CN108772231A true CN108772231A (en) | 2018-11-09 |
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| CN201810965494.5A Pending CN108772231A (en) | 2018-08-22 | 2018-08-22 | A kind of hemi-closure space auxiliary spray robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365431A (en) * | 2018-11-16 | 2019-02-22 | 南通理工学院 | A kind of pipe internal coating plucking and soot blowing dust exhaust apparatus |
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| CN107051789A (en) * | 2017-04-27 | 2017-08-18 | 广州市晋丰实业有限公司 | A kind of inner wall of wind-power tower drum auto spray painting device and auto spray painting method |
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Application publication date: 20181109 |