CN108940677A - A kind of robot shells inner sunken face segmented spray equipment - Google Patents
A kind of robot shells inner sunken face segmented spray equipment Download PDFInfo
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- CN108940677A CN108940677A CN201810873230.7A CN201810873230A CN108940677A CN 108940677 A CN108940677 A CN 108940677A CN 201810873230 A CN201810873230 A CN 201810873230A CN 108940677 A CN108940677 A CN 108940677A
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- Prior art keywords
- conical nozzle
- feeder sleeve
- spray head
- diversion pipe
- flow
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
- B05B1/06—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape in annular, tubular or hollow conical form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
- B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/26—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with means for mechanically breaking-up or deflecting the jet after discharge, e.g. with fixed deflectors; Breaking-up the discharged liquid or other fluent material by impinging jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/34—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to influence the nature of flow of the liquid or other fluent material, e.g. to produce swirl
- B05B1/3405—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to influence the nature of flow of the liquid or other fluent material, e.g. to produce swirl to produce swirl
- B05B1/341—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to influence the nature of flow of the liquid or other fluent material, e.g. to produce swirl to produce swirl before discharging the liquid or other fluent material, e.g. in a swirl chamber upstream the spray outlet
-
- 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
- B05B12/085—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 flow or pressure of liquid or other fluent material to be discharged
-
- 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
- B05B12/085—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 flow or pressure of liquid or other fluent material to be discharged
- B05B12/087—Flow or presssure regulators, i.e. non-electric unitary devices comprising a sensing element, e.g. a piston or a membrane, and a controlling element, e.g. a valve
-
- 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
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/1472—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate supply lines supplying different materials to separate outlets of the spraying apparatus
-
- 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
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Nozzles (AREA)
Abstract
The invention discloses a kind of robot shells inner sunken face segmented spray equipments, including spray head, the spray head to be mounted on five degree of freedom mechanical hand, and laser range sensor is provided on the outside of spray head；Spray head includes first conical nozzle in outside and the second conical nozzle positioned at the setting of the first conical nozzle internal activity, first conical nozzle and the second conical nozzle are connected separately with the first feeder sleeve and the second feeder sleeve, second feeder sleeve is internally provided with the first diversion pipe, it is connected between first diversion pipe and the second conical nozzle by cylinder, the telescopic direction of cylinder and the flow direction of coating are parallel to each other, the bottom of first diversion pipe is located in the second conical nozzle, and the inner surface of the second conical nozzle is provided with spiral groove.The present invention can improve the deficiencies in the prior art, and uniformity when improving for the spraying of concave curved surface structure controls precision.
Description
Technical field
The present invention relates to surface spraying technology field, especially a kind of robot shells inner sunken face segmented spraying dress
It sets.
Background technique
With the development of automatic technology, it is configured with many robots on automatic assembly line and carries out production operation, effect
Rate is high, and stability is strong, plays liberation human resources, reduces the effect of production cost.In order to guarantee the service life of robot,
Its surface needs to spray antirust lacquer painting and is protected.Existing spraying equipment is when spraying the surface of concave curved surface structure, for applying
The uniformity control of layer spraying is not accurate enough.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of robot shells inner sunken face segmented spray equipment and its
Spraying method is able to solve the deficiencies in the prior art, and uniformity when improving for the spraying of concave curved surface structure controls precision.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of robot shells inner sunken face segmented spray equipment, including spray head, the spray head are mounted on five degree of freedom
On mechanical hand, laser range sensor is provided on the outside of spray head；Spray head include outside the first conical nozzle and be located at first
Second conical nozzle of conical nozzle internal activity setting, the first conical nozzle and the second conical nozzle are connected separately with the first confession
Expects pipe and the second feeder sleeve, the second feeder sleeve are wrapped on wheel disc, and wheel disc is connected with the servo motor of its rotation of driving, and second supplies
Expects pipe is internally provided with the first diversion pipe, is connected between the first diversion pipe and the second conical nozzle by cylinder, and cylinder stretches
Direction and the flow direction of coating are parallel to each other, and the bottom of the first diversion pipe is located in the second conical nozzle, the second conical nozzle
Inner surface be provided with spiral groove；It is provided with first pressure sensor and first flow sensor in first feeder sleeve, second
Second pressure sensor and second flow sensor are provided in feeder sleeve；It further include controller and being connected on the first feeder sleeve
The first charging pump, the second charging pump being connected on the second feeder sleeve, the input terminal of controller respectively with laser ranging sense
Device, first pressure sensor, first flow sensor, second pressure sensor are connected with second flow sensor, controller
Output end is connected with five degree of freedom mechanical hand, servo motor and cylinder respectively.
Preferably, there are two the first deflector hole, the tops of the first deflector hole for the bottom symmetrical setting of the spiral groove
It is interconnected, is provided with the second deflector hole, the second deflector hole and spiral between the top and spiral groove bottom surface of the first deflector hole
The bottom surface of groove is mutually perpendicular to；It is provided with the first deflector above the interface of first deflector hole and spiral groove bottom surface, first leads
The bottom surface of flowing plate is fixed on the bottom surface of spiral groove, and towards coating, in the flow direction of spiral groove, inclination is set the first deflector
It sets, the angle of the first deflector and spiral groove is 27 °, and the bottom surface of the first deflector is provided with curved flanges.
Preferably, the junction of first deflector hole and the second deflector hole is provided with the second diversion pipe, the second water conservancy diversion
The axis of pipe and the axis of the second deflector hole overlap, and the second diversion pipe is hyperboloid of one sheet shape, the second diversion pipe side wall
Midpoint be provided with first through hole, the inner wall of first through hole is provided with several first spring bodies of annular arrangement, first
It is connected with several the first baffle plates at the top of spring body, the top surface of the first baffle plate is provided with arc groove, and adjacent first
Baffle plate mutually slides overlap joint.
Preferably, tapered portion and the cylindrical portion below tapered portion that first diversion pipe includes top.
Preferably, the junction of the tapered portion and cylindrical portion is provided with flow guiding disc, several are provided on flow guiding disc
Second through-hole is connected with third diversion pipe below the second through-hole, and the bottom surface of third diversion pipe and the bottom surface of cylindrical portion are concordant, and
The side wall of three diversion pipes is provided with several third through-holes.
Preferably, the bottom of the cylindrical portion is provided with the second deflector, slit, slit are provided on the second deflector
Outside is provided with the second baffle plate.
A kind of spraying method of above-mentioned robot shells inner sunken face segmented spray equipment, comprising the following steps:
A, controller detects concave surface central point by laser range sensor, and spray head is moved to recessed by control five degree of freedom mechanical hand
Face central point；
B, the first charging pump is opened, concave surface is preliminarily sprayed using five degree of freedom mechanical hand control spray head；
C, after the coating layer thickness of concave surface reaches 3~5 μm, the second charging pump is opened, the flow of the first charging pump of adjustment is initial flow
The 70%~80% of amount, the flow of the second charging pump are the 40%~50% of the first charging pump initial flow.
Preferably, in the initial state, the second conical nozzle bottom surface is located on the first conical nozzle bottom surface in step C
At square 10mm~15mm, with the increase of coating layer thickness, the second conical nozzle is gradually mobile to the outside of the first conical nozzle；Control
Device processed controls gas according to the requirement of changes in flow rate and the second conical nozzle injection rotation area in the first feeder sleeve monitored
Cylinder drives the first diversion pipe to be adjusted.
Brought beneficial effect is by adopting the above technical scheme: the present invention is by designing the spray being socketed inside and outside two
Mouth realizes that state is sprayed in the outside rotation of paint vehicle using the spiral groove of the second conical nozzle inner surface, with the first tapered injection
The paint vehicle that outspoken line sprays is mixed at spray head, is changed the spraying state of paint vehicle, is realized the even application of paint vehicle.Spiral shell
When paint vehicle in rotation groove flows through the first deflector, the first deflector plays guide functions to paint vehicle, so that the first deflector
Lower section forms low-pressure area.Under the action of pressure difference, paint vehicle is flowed into from the second deflector hole, is flowed out, is made by the first deflector hole
It obtains the paint vehicle in spiral groove and the trend of local circulation flowing occurs, to play the work for expanding paint vehicle rotational flow range
With.Curved flanges can reduce the paint vehicle flowed out from the first deflector hole for the dry of the second conical nozzle inside paint vehicle flow direction
It disturbs.The flowing velocity of paint vehicle inside the first deflector hole and the second deflector hole can be improved in second diversion pipe, to improve paint vehicle office
The range of portion's flowing.The internal structure of first diversion pipe can reduce the turbulent flow of paint vehicle flow process inside the first diversion pipe, from
And the trend of rotational flow is formed convenient for spiral groove.Second deflector can reduce the linear flowing sprayed by cylindrical portion
The paint vehicle and paint vehicle of rotational flow influences each other in the second conical nozzle.It is carried out by using two nozzles mutually independent
Spray painting control can effectively adjust the abundance and spray angle of paint vehicle on spray head different location, to improve for concave curved surface
Spraying accuracy.
Detailed description of the invention
Fig. 1 is the structure chart of a specific embodiment of the invention.
Fig. 2 is the structure chart of spray head in a specific embodiment of the invention.
Fig. 3 is the structure chart of spiral groove in a specific embodiment of the invention.
Fig. 4 is the structure chart of the first deflector in a specific embodiment of the invention.
Fig. 5 is the structure chart in a specific embodiment of the invention inside first through hole.
Fig. 6 is the structure chart of the first diversion pipe in a specific embodiment of the invention.
In figure: 1, spray head；2, five degree of freedom mechanical hand；3, laser range sensor；4, the first conical nozzle；5, the second cone
Shape nozzle；6, the first feeder sleeve；7, the second feeder sleeve；8, wheel disc；9, servo motor；10, the first diversion pipe；11, cylinder；12,
Spiral groove；13, the first deflector hole；14, the second deflector hole；15, the first deflector；16, curved flanges；17, the second diversion pipe；
18, first through hole；19, the first spring body；20, the first baffle plate；21, tapered portion；22, cylindrical portion；23, flow guiding disc；24, second
Through-hole；25, third diversion pipe；26, third through-hole；27, the second deflector；28, slit；29, the second baffle plate；30, controller；
31, first pressure sensor；32, first flow sensor；33, second pressure sensor；34, second flow sensor；35,
One ring baffle；36, the second ring baffle；37, fourth hole；38, arc groove；39, the first charging pump；40, the second feed
Pump.
Specific embodiment
The standardized element used in the present invention can commercially, and shaped piece is according to specification and attached drawing
Record can carry out customized, and the specific connection type of each part is all made of in the prior art mature bolt, rivet, weldering
The conventional means such as connect, paste, this will not be detailed here.
Referring to Fig.1-6, a specific embodiment of the invention includes spray head 1, and the spray head 1 is mounted on five degree of freedom machine
On hand 2, the outside of spray head 1 is provided with laser range sensor 3；First conical nozzle 4 of spray head 1 including outside and it is located at first
Second conical nozzle 5 of 4 internal activity of conical nozzle setting, the first conical nozzle 4 and the second conical nozzle 5 are connected separately with the
One feeder sleeve 6 and the second feeder sleeve 7, the second feeder sleeve 7 are wrapped on wheel disc 8, and wheel disc 8 is connected with the servo electricity of its rotation of driving
Machine 9, the second feeder sleeve 7 are internally provided with the first diversion pipe 10, pass through cylinder between the first diversion pipe 10 and the second conical nozzle 5
11 connections, the telescopic direction of cylinder 11 and the flow direction of coating are parallel to each other, and the bottom of the first diversion pipe 10 is located at the second cone
In shape nozzle 5, the inner surface of the second conical nozzle 5 is provided with spiral groove 12；First pressure biography is provided in first feeder sleeve 6
Sensor 31 and first flow sensor 32 are provided with second pressure sensor 33 and second flow sensor in second feeder sleeve 7
34；The first charging pump 39 for further including controller 30 and being connected on the first feeder sleeve 6, be connected on the second feeder sleeve 7
Two charging pumps 40, the input terminal of controller 30 are passed with laser range sensor 3, first pressure sensor 31, first flow respectively
Sensor 32, second pressure sensor 33 are connected with second flow sensor 34, the output end of controller 30 respectively with five degree of freedom
Mechanical hand 2, servo motor 9 are connected with cylinder 11.First deflector hole 13 that there are two the bottom symmetrical settings of spiral groove 12, first
The top of deflector hole 13 is interconnected, and is provided with the second deflector hole between 12 bottom surface of top and spiral groove of the first deflector hole 13
14, the second deflector hole 14 and the bottom surface of spiral groove 12 are mutually perpendicular to；The interface of first deflector hole 13 and 12 bottom surface of spiral groove
Top is provided with the first deflector 15, and the bottom surface of the first deflector 15 is fixed on the bottom surface of spiral groove 12, the first deflector
15 are obliquely installed towards coating in the flow direction of spiral groove 12, and the angle of the first deflector 15 and spiral groove 12 is 27 °,
The bottom surface of first deflector 15 is provided with curved flanges 16.The junction of first deflector hole 13 and the second deflector hole 14 is provided with
Two diversion pipes 17, the axis of the second diversion pipe 17 and the axis of the second deflector hole 14 overlap, and the second diversion pipe 17 is single leaf
Double-curved shapes, the midpoint of 17 side wall of the second diversion pipe are provided with first through hole 18, and the inner wall of first through hole 18 is provided with
Several first spring bodies 19 of annular arrangement, the top of the first spring body 19 are connected with several the first baffle plates 20, and first
The top surface of baffle plate 20 is provided with arc groove 38, adjacent the first baffle plate 20 mutually sliding overlap joint.First diversion pipe 10 packet
Include the tapered portion 21 at top and the cylindrical portion 22 positioned at 21 lower section of tapered portion.Tapered portion 21 and the junction of cylindrical portion 22 are provided with
Flow guiding disc 23 is provided with several the second through-holes 24 on flow guiding disc 23, and the lower section of the second through-hole 24 is connected with third diversion pipe 25,
The bottom surface of third diversion pipe 25 is concordant with the bottom surface of cylindrical portion 22, and the side wall of third diversion pipe 25 is provided with several third through-holes
26.The bottom of cylindrical portion 22 is provided with the second deflector 27, and slit 28 is provided on the second deflector 27, is arranged on the outside of slit 28
There is the second baffle plate 29.
A kind of spraying method of above-mentioned robot shells inner sunken face segmented spray equipment, comprising the following steps:
A, controller 30 detects concave surface central point by laser range sensor 3, and control five degree of freedom mechanical hand 2 moves spray head 1
It moves to concave surface central point；
B, the first charging pump 39 is opened, spray head 1 is controlled using five degree of freedom mechanical hand 2 and concave surface is preliminarily sprayed；
C, after the coating layer thickness of concave surface reaches 3~5 μm, the second charging pump 40 is opened, the flow of the first charging pump 39 of adjustment is first
The 75% of beginning flow, the flow of the second charging pump 40 are the 50% of 39 initial flow of the first charging pump.
In step C, in the initial state, 5 bottom surface of the second conical nozzle be located at 10mm above 4 bottom surface of the first conical nozzle~
At 15mm, with the increase of coating layer thickness, the second conical nozzle 5 is gradually mobile to the outside of the first conical nozzle 4；Controller 30
According to the requirement of changes in flow rate and the second conical nozzle 5 injection rotation area in the first feeder sleeve 6 monitored, cylinder is controlled
11 the first diversion pipes 10 of drive are adjusted.
In spraying process, controller 30 presses the spraying flow of the first conical nozzle 4 and the second conical nozzle 5 and spraying
Power is monitored in real time, the control transmission function of flow are as follows:
Wherein,。
The control transmission function of pressure are as follows:
Wherein。
k1~k8For proportionality coefficient, h is film thickness, and P is the real-time pressure of target nozzle, and F is the real-time of target nozzle
Flow.The design parameter for controlling transmission function test and then is determined according to operating condition.Wherein for k1And k6Optimization, can be with
Effectively improve the relatively stable of nozzle flow and pressure.
In addition, influence when in order to further decrease spray head adjustment for flow and pressure, in the first conical nozzle 4
Wall is provided with first annular baffle 35, and the outer wall of the second conical nozzle 5 is provided with the second ring baffle 36, first annular baffle 35
And the second angle between plane locating for ring baffle 36 is 35 °, first annular baffle 35 is located at the upper of the second ring baffle 36
It is square, several fourth holes 37 are provided on the second ring baffle 36.When the second conical nozzle 5 is to outside the first conical nozzle 4
When side is mobile, the spray painting flow channel space of the first conical nozzle 4 is gradually reduced by compression, at the same time first annular baffle 35 for
The blocking area of fourth hole 37 is gradually reduced on second ring baffle 36, so that the spray painting runner to the first conical nozzle 4 is empty
Between by compression reduce buffered.
The present invention can effectively improve the uniformity of concave curved surface spraying.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (1)
1. a kind of robot shells inner sunken face segmented spray equipment, including spray head (1), it is characterised in that: the spray head (1)
It is mounted on five degree of freedom mechanical hand (2), laser range sensor (3) is provided on the outside of spray head (1)；Spray head (1) includes outer
The first conical nozzle (4) of side and the second conical nozzle (5) for being located at the setting of the first conical nozzle (4) internal activity, the first cone
Shape nozzle (4) and the second conical nozzle (5) are connected separately with the first feeder sleeve (6) and the second feeder sleeve (7), the second feeder sleeve
(7) it is wrapped on wheel disc (8), wheel disc (8) is connected with the servo motor (9) of its rotation of driving, setting inside the second feeder sleeve (7)
Have the first diversion pipe (10), is connect between the first diversion pipe (10) and the second conical nozzle (5) by cylinder (11), cylinder (11)
Telescopic direction and the flow direction of coating be parallel to each other, the bottom of the first diversion pipe (10) is located in the second conical nozzle (5),
The inner surface of second conical nozzle (5) is provided with spiral groove (12)；First pressure sensor is provided in first feeder sleeve (6)
(31) and first flow sensor (32) second pressure sensor (33) and second flow biography, are provided in the second feeder sleeve (7)
Sensor (34)；Further include controller (30) and the first charging pump (39) being connected on the first feeder sleeve (6), is connected to the second confession
The second charging pump (40) in expects pipe (7), the input terminal of controller (30) respectively with laser range sensor (3), first pressure
Sensor (31), first flow sensor (32), second pressure sensor (33) are connected with second flow sensor (34), control
The output end of device (30) is connected with five degree of freedom mechanical hand (2), servo motor (9) and cylinder (11) respectively；
It is provided with first annular baffle (35) in the inner wall of the first conical nozzle (4), the outer wall of the second conical nozzle (5) is provided with
Second ring baffle (36), the angle between plane locating for first annular baffle (35) and the second ring baffle (36) is 35 °,
One ring baffle (35) is located at the top of the second ring baffle (36), and the second ring baffle is provided with several four-ways on (36)
Hole (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810873230.7A CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810873230.7A CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
| CN201610914333.4A CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610914333.4A Division CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108940677A true CN108940677A (en) | 2018-12-07 |
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Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810873230.7A Withdrawn CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
| CN201610914333.4A Active CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
| CN201810873219.0A Withdrawn CN109174513A (en) | 2016-10-20 | 2016-10-20 | Robot shells inner sunken face segmented spray equipment |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610914333.4A Active CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
| CN201810873219.0A Withdrawn CN109174513A (en) | 2016-10-20 | 2016-10-20 | Robot shells inner sunken face segmented spray equipment |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2537669B2 (en) * | 1987-09-28 | 1996-09-25 | エービービー・インダストリー株式会社 | Robot spray gun |
| EP1955776A1 (en) * | 2007-02-09 | 2008-08-13 | Abb As | Method and apparatus for improved control of air pressure delivered to a spray applicator |
| CN104525418A (en) * | 2014-12-19 | 2015-04-22 | 天津立中车轮有限公司 | Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process |
| CN105214876A (en) * | 2015-09-29 | 2016-01-06 | 深圳瑞和建筑装饰股份有限公司 | From mobile spray robot |
| CN105396727A (en) * | 2015-11-23 | 2016-03-16 | 江苏长虹智能装备集团有限公司 | Five-degree-of-freedom hybrid mechanism for automotive body spraying |
| CN105459107A (en) * | 2016-02-16 | 2016-04-06 | 北京建筑大学 | Mechanical arm for spraying inner wall of large-diameter pipelines |
| CN105737919A (en) * | 2016-02-02 | 2016-07-06 | 贺成 | Insertion type ultrasonic flowmeter with washing sprayer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2117212U (en) * | 1992-02-01 | 1992-09-30 | 侯致发 | Nozzle with adjustable range and atomization degree |
| JP2006130406A (en) * | 2004-11-05 | 2006-05-25 | Kagawa Industry Support Foundation | Subcritical or supercritical fluid spraying nozzle, and producing method of fine particle |
| CN200954472Y (en) * | 2006-09-04 | 2007-10-03 | 韩铁夫 | Thin-spray nozzle |
| KR20120084013A (en) * | 2011-01-19 | 2012-07-27 | 김영권 | Nozzle |
| CN105251629A (en) * | 2015-11-03 | 2016-01-20 | 吉首大学 | Water rotating gas direct spraying type pole plate spraying washing device |
| CN206122020U (en) * | 2016-10-20 | 2017-04-26 | 刘辉 | Shell concave curved surface of robot sectional type spraying device |
-
2016
- 2016-10-20 CN CN201810873230.7A patent/CN108940677A/en not_active Withdrawn
- 2016-10-20 CN CN201610914333.4A patent/CN106311532B/en active Active
- 2016-10-20 CN CN201810873219.0A patent/CN109174513A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2537669B2 (en) * | 1987-09-28 | 1996-09-25 | エービービー・インダストリー株式会社 | Robot spray gun |
| EP1955776A1 (en) * | 2007-02-09 | 2008-08-13 | Abb As | Method and apparatus for improved control of air pressure delivered to a spray applicator |
| CN104525418A (en) * | 2014-12-19 | 2015-04-22 | 天津立中车轮有限公司 | Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process |
| CN105214876A (en) * | 2015-09-29 | 2016-01-06 | 深圳瑞和建筑装饰股份有限公司 | From mobile spray robot |
| CN105396727A (en) * | 2015-11-23 | 2016-03-16 | 江苏长虹智能装备集团有限公司 | Five-degree-of-freedom hybrid mechanism for automotive body spraying |
| CN105737919A (en) * | 2016-02-02 | 2016-07-06 | 贺成 | Insertion type ultrasonic flowmeter with washing sprayer |
| CN105459107A (en) * | 2016-02-16 | 2016-04-06 | 北京建筑大学 | Mechanical arm for spraying inner wall of large-diameter pipelines |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106311532A (en) | 2017-01-11 |
| CN106311532B (en) | 2018-09-25 |
| CN109174513A (en) | 2019-01-11 |
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Application publication date: 20181207 |