CN109876974A - Control During Paint Spraying by Robot equipment and its control method - Google Patents
Control During Paint Spraying by Robot equipment and its control method Download PDFInfo
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- CN109876974A CN109876974A CN201910250813.9A CN201910250813A CN109876974A CN 109876974 A CN109876974 A CN 109876974A CN 201910250813 A CN201910250813 A CN 201910250813A CN 109876974 A CN109876974 A CN 109876974A
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Abstract
Control During Paint Spraying by Robot equipment, including the defeated paint pump of high pressure, car body, wheel, battery, wireless remote control device, spray gun, camera, display screen, headlamp, charging socket, power switch, aerofoil fan, also there is wireless receiving circuit, fixing seat, fixed cylinder, wheel is mounted on car body lower end surrounding, in the middle part of fixing seat installation on the car body, spray gun gun barrel sleeve is in the through-hole of fixing seat, aerofoil fan is mounted in the middle part of the interior bottom of fixed cylinder, camera, headlamp is separately mounted to the inner end of fixed cylinder partition aperture, there is an aperture in the middle part of the left end of car body, the upper end of fixed cylinder is mounted on aperture inner end, wheel, battery, camera, display screen, headlamp, charging socket, power switch, aerofoil fan, wireless receiving circuit is connected through conducting wire.Its control method of Control During Paint Spraying by Robot equipment is divided into four steps.Car body of the present invention can be remotely controlled multi-faceted movement inside required spraying equipment, and nozzle angle is adjustable, be conducive to spraying operation.
Description
Technical field
The present invention relates to spray robot field, especially a kind of Control During Paint Spraying by Robot equipment and its control method.
Background technique
Spray robot is widely used a kind of automatic spraying equipment in production field, and spray robot passes through when work
It is that the sprayings such as equipment surface are painted that PLC program, which controls its spray gun,.Existing spray robot can only generally realize flat state
Under Workpiece painting, can not to equipment inside, automatic spraying operating is carried out inside pipeline etc., thus in actual use, exist
Certain limitation.Based on above-mentioned, a kind of be able to achieve be provided, the robot for carrying out spraying operation inside pipeline inside, equipment is set
Standby and its control method seems particularly necessary.
Summary of the invention
In order to overcome existing spray robot because structure is limited, cannot achieve inside equipment, the spraying operations such as inside pipeline
There are the drawbacks of, the present invention provides one kind can by remote control and photographic technique, realize have spray head car body required
Inside spraying equipment or pipeline etc. is internal all around moves, and the angle of spray head is adjustable in advance connects, to reach non-contact
Control the direction of motion of car body, effectively realize pipeline or required spraying equipment internal spray operation Control During Paint Spraying by Robot equipment and its
Control method.
The technical solution adopted by the present invention to solve the technical problems is:
Control During Paint Spraying by Robot equipment including the defeated paint pump of high pressure, car body, four wheels with motor decelerating mechanism driving, stores
Battery, wireless remote control device, spray gun, camera, display screen, headlamp, charging socket, power switch, aerofoil fan, feature
It is that also there is wireless receiving circuit, fixing seat, fixed cylinder, end housing is fixed respectively on the motor decelerating mechanism of four wheels
It is mounted on the lower end surrounding of car body, fixing seat lower, transverse is mounted on car body upper center, and the middle part of fixing seat laterally has one
There are tool internal thread aperture in through-hole, fixing seat upper end, and a hand screw is screwed in aperture, and the front end gun barrel of spray gun laterally covers
In the through-hole of fixing seat, the right side of gun barrel and the defeated paint pump liquid outlet of matched high pressure link together through flexible rubber hose, axis stream wind
Fan is mounted in the middle part of the interior bottom of fixed cylinder, and fixed cylinder lower end is Open architecture, and the upper center of fixed cylinder has one
Partition, the partition front side of fixed cylinder and rear side are Open architecture, and there are two aperture, cameras, illumination for partition upper and lower ends
Lamp is separately mounted to the inner end of partition aperture, have an aperture in the middle part of the left end of car body, the upper end of fixed cylinder is mounted on out
Hole inner end, fixed cylinder are laterally positioned in car body, and charging socket, power switch, wireless receiving circuit are installed on circuit boards,
Circuit board and battery, display screen are installed along in subassembly wrapper, and subassembly wrapper is located in production area equipment box, and the two of battery
Pole is connected through conducting wire respectively with two terminals of charging socket, and battery positive voltage is connected with power switch one end through conducting wire, power supply
Switch the other end, battery terminal negative respectively with headlamp, camera, display screen, aerofoil fan, wireless receiving circuit positive and negative polarities
Power input is connected through conducting wire, and the wireless receiving circuit first via, the second road power output end are respectively and positioned at car body rear side end
Positive and negative polarities power input, the negative and positive the two poles of the earth power input of two wheels in left and right are connected through conducting wire, wireless receiving circuit the
Three tunnels, four-way power supply output end respectively and positioned at two wheels of car body front side end or so positive and negative polarities power input, negative
Positive the two poles of the earth power input is connected through conducting wire.
The wireless receiving circuit is also configured with resistance, NPN triode, relay, connects therebetween through circuit board wiring, nothing
Line receives 1 foot of circuit anode power input and four relay cathode power supply input terminals and anode control power input connects
It connects, four output ends, 4,5,6,7 foot of wireless receiving circuit is connected with four resistance one end respectively, four resistance other ends and four
NPN transistor base is separately connected, and four NPN triode collectors connect with four relay negative power supply input terminals respectively
It connects, four NPN triode emitters and four relay cathode control power inputs, the inputs of wireless receiving circuit negative power supply
2 feet are held to connect.
Its control method of Control During Paint Spraying by Robot equipment is as follows, step 1: the gun barrel for fixing spray gun is located at position in fixing seat
It sets, the paint solution for guaranteeing that the spray head of gun barrel front sprays can be sprayed on required spraying equipment surface；Step 2: car body is put into pipe
It road and needs in the inner space of spraying equipment, and turns on the power switch；Step 3: opening the power switch of the defeated paint pump of high pressure,
There is the defeated paint pump liquid outlet output of high pressure pressure paint solution to spray from the spray head mist of hose, gun barrel and gun barrel front end to setting
Surface is sprayed；Step 4: operator is by observing the video information passed back through camera of display screen, it is thus understood that pipeline and
Screen situation in the inner space of spraying equipment is needed, four through wireless remote control device press the work of key control wireless receiving circuit
Make mode, and then control the motor decelerating mechanism working method of four wheels respectively, control car body is needing in spraying equipment
Running track in portion space and pipeline, the spray head for controlling spray gun spray required work surface multi-angle.
In the step 1, after the spray head orientation of gun barrel and gun barrel front end fixes, by the hand screw of fixing seat upper end
After screwing respectively, hand screw lower end and gun barrel upside are in close contact, gun barrel cannot again along fixed block hole side-to-side movement and
Circular-rotation, when guaranteeing spraying operation, gun barrel and spray head will not rotate and side-to-side movement.
In the step 2, car body is put into pipeline, is needed in the inner space of spraying equipment, after turning on the power switch,
Headlamp and camera, display screen, aerofoil fan can work once electrified, headlamp be enter need spraying equipment inner space and
Car body illumination in pipeline, guarantees the normal work of camera, aerofoil fan obtain it is electric after the wind that blows out reduce paint solution in spraying
Cover the probability before camera, headlamp.
In the step 3, the paint solution that spray head mist sprays can be directed at the pipeline of side to spray head and need spraying equipment
Inner surface is sprayed.
In the step 4, when body movement, the paint solution energy continuous spray that spray head sprays in pipeline and needs spraying equipment
Inner space corresponds on the surface of one end.
The medicine have the advantages that the present invention use through wireless remote control, control car body as carrier, operator is through showing
Screen obtains the video information of the pipeline or required spraying equipment inner space that transmit from camera, and then can be as needed through wireless
Remote control equipment controls car body motion profile all around, controls the spray head table inside pipeline or required spraying equipment as needed
The each orientation in face carries out spraying operation；By preset spray head orientation, can facilitate to inside pipeline or required spraying equipment
Surface all angles carry out spraying operation.The present invention can be by remote control and photographic technique, and realizing has the car body of spray head
Inside required spraying equipment or pipeline etc. is internal all around moves, and the angle of spray head is adjustable in advance connects, to reach
The direction of motion of non-contact control car body effectively realizes the spraying operation inside pipeline or required spraying equipment.Based on above-mentioned, institute
The application prospect having had with the present invention.
Detailed description of the invention
The present invention is described further below in conjunction with drawings and examples.
Fig. 1 is overall structure of the present invention.
Fig. 2 is aerofoil fan of the present invention, fixed cylinder, camera, structural schematic diagram between headlamp.
Fig. 3 is circuit diagram of the present invention.
Specific embodiment
Fig. 1, shown in 2, Control During Paint Spraying by Robot equipment, including the defeated paint pump of high pressure, car body 1, there is motor decelerating mechanism driving
Four wheels 2, battery 3, wireless remote control device 4, spray gun 5, camera 6, display screen 7, headlamp 8, charging socket 9, electricity
Source switch 10, aerofoil fan 11, car body 1 are square casing structures, and enclosure interior is hollow structure, also have wireless receiving circuit
12, fixing seat 13, fixed cylinder 14, end housing passes through the fixed peace of bolt and nut respectively on the motor decelerating mechanism of four wheels 2
Mounted in the lower end surrounding of car body 1,13 lower, transverse of fixing seat is welded on 1 upper center of car body, and the middle part of fixing seat 13 laterally has
One through-hole 131,13 upper end of fixing seat screw in a hand screw in each aperture there are two having internal thread aperture 132
133, the front end gun barrel 15 of spray gun laterally covers in the through-hole of fixing seat 131, and the spray head 151 of gun barrel 15 is located at 1 front left side of car body,
The right side of gun barrel 15 and the defeated paint pump liquid outlet of matched high pressure link together through flexible rubber hose 16, on the downside of the shell of aerofoil fan 11
End is mounted in the middle part of the interior bottom of fixed cylinder 14 by bolt and nut, and 14 lower end of fixed cylinder is Open architecture, fixed cylinder
14 upper center has a partition 141, and 141 front side of partition of fixed cylinder and rear side are Open architecture, about 141 partition
There are two aperture, the fixing seat of camera 6, the fixing seat of headlamp 8, which pass through bolt and nut respectively and be mounted on partition 141, to be opened at both ends
The inner end in hole, camera 6,8 front end of headlamp are located at outside before two apertures, have an aperture 1- in the middle part of the left end of car body 1
1, the upper end of fixed cylinder 14 is mounted on aperture inner end by bolt and nut, and fixed cylinder 14 is laterally positioned in car body 1, charging
On circuit boards, circuit board and battery 3, display screen 7 are installed together for socket 9, power switch 10, the installation of wireless receiving circuit 12
In subassembly wrapper 17, subassembly wrapper 17 is located in production area equipment box, and the operation handle of power switch 10, charging socket 9 are inserted
Hole, display screen 7 screen be located at the subassembly wrapper aperture of 17 front end two and an opening is outer and four wheels 2, camera 6,
The wire sleeve that headlamp 8, aerofoil fan 11 connect is in rubber hose and has certain length, meets real work needs, nothing
4 operator of line remote control equipment carries.
Shown in Fig. 3, wheel M1, M2 brand with motor decelerating mechanism driving is that ASLONG/ Austria is grand, and model is
JGB37-3530TC, motor decelerating mechanism operating voltage are direct current 12V.Battery G is 12V/20Ah lithium storage battery.Wireless remote
Control equipment A2 is the radio transmitter finished product of model TX315B1, and enclosure interior has 12V radio transmitter Special electric
There are four wireless transmission keys S1, S2, S3, S4 can send out respectively after four keys S1, S2, S3, S4 are pressed respectively in pond
Send out the different wireless signal in four tunnels.Camera SX, display screen XS are brand YOELBAER/ reputation despot, the prison of model YB-403FA
Visual organ finished product, operating voltage direct current 12V, camera SX and display screen XS are split type structure, are connected through video line.Headlamp
H is 12V bulb.Charging socket CZ is shaft power source socket.Power switch S is commonly to stir power switch.Aerofoil fan M is
The small-sized fans of operating voltage direct current 12V.Wireless receiving circuit includes the wireless receiving circuit finished product A1 of model TX315B1, electricity
R1, R2, R3, R4 are hindered, NPN triode Q1, Q2, Q3, Q4, relay K1, K2, K3, K4 are connected through circuit board wiring, nothing therebetween
Line receive 1 foot (VCC) of circuit finished product A1 cathode power supply input terminal and four relay K1, K2, K3, K4 cathode power supply input terminals and
Anode control power input connection, four output ends, 4,5,6,7 foot of wireless receiving circuit finished product A1 respectively with four resistance
The connection of the one end R1, R2, R3, R4, four resistance R1, R2, R3, R4 other ends and four NPN triode Q1s, Q2, Q3, Q4 base stage point
It does not connect, four NPN triode Q1s, Q2, Q3, Q4 collector are inputted with four relay K1, K2, K3, K4 negative power supplies respectively
End connection, four NPN triode Q1s, Q2, Q3, Q4 emitter and four relay K1, K2, K3, K4 cathode control power input
End, the connection of 2 foot (GND) of wireless receiving circuit finished product A1 negative power supply input terminal.The two poles of the earth of battery G and charging socket CZ two
Terminals are connected through conducting wire respectively, and battery G anode is connected with the one end power switch S through conducting wire, and the power switch S other end stores
Battery G cathode respectively with headlamp H positive and negative polarities power input, camera SX positive and negative polarities power input, display screen XS
Positive and negative polarities power input, aerofoil fan M positive and negative polarities power input, wireless receiving circuit positive and negative polarities power input
1 and 2 feet (VCC, GND) of wireless receiving circuit finished product A1 are connected through conducting wire, wireless receiving circuit first via power output end after
The two normally opened contact ends electric appliance K1, second road two normally opened contact ends power output end relay K2 are respectively and on rear side of car body
Motor M1 positive and negative polarities power input, the negative and positive the two poles of the earth power input of two wheels in end left and right are connected through conducting wire, are wirelessly connect
Receive the two normally opened contact ends circuit third road output end relay K3, four-way power supply output end relay two normally opened contacts of K4
End is respectively and positioned at the motor M2 positive and negative polarities power input of two wheels of car body front side end or so, negative and positive the two poles of the earth power input
End is connected through conducting wire.
Fig. 1, shown in 2, the control method of Control During Paint Spraying by Robot equipment is as follows, step 1: fixing gun barrel 15 of spray gun
Position in fixing seat 13, the paint solution for guaranteeing that the spray head 151 of 15 front of gun barrel sprays can be sprayed at required spraying equipment surface
On；Step 2: car body 1 is put into pipeline or is needed in the inner space of spraying equipment, and turns on the power switch 10；Step 3:
Open high pressure it is defeated paint pump power switch, high pressure it is defeated paint pump liquid outlet output have pressure paint solution from hose 16, gun barrel 15 and
Misty spray of the spray head 151 of gun barrel front end sprays setting surface；Step 4: operator passes through observation display screen 7
The video information passed back through camera 6, it is thus understood that pipeline needs screen situation in the inner space of spraying equipment, through wireless remote
Four for controlling equipment 4 press the working method of key control wireless receiving circuit 12, and then control the decelerating through motor of four wheels 2 respectively
Mechanism working method controls the running track in the inner space or pipeline for needing spraying equipment of car body 1, controls the spray head of spray gun
Work surface multi-angle needed for 151 pairs sprays.In step 1, (spray after 151 orientation of spray head of gun barrel and gun barrel front end fixes
First 151 rotation different angle can spray different angle inside pipeline and required spraying equipment), by 13 upper end of fixing seat
Two hand screws 133 screw respectively after, 133 lower end of hand screw and 15 upside of gun barrel are in close contact, and gun barrel 15 cannot
Again along 15 through-hole side-to-side movement of fixing seat and circular-rotation, when guaranteeing spraying operation, gun barrel and spray head 151 will not rotate and
Side-to-side movement.In step 2, car body 1 is put into pipeline or is needed in the inner space of spraying equipment, after turning on the power switch 10,
Headlamp 8 and camera 6, display screen 7, aerofoil fan 11 can work once electrified, headlamp 8 is to enter to need inside spraying equipment
Car body 1 in space and pipeline illuminates, and guarantees the normal work of camera 6, aerofoil fan 11 it is electric after the wind that blows out reduce
Paint solution covers the probability before camera 6 or headlamp 8 in spraying.In step 3, the misty paint solution sprayed of spray head 151 can be to spray
The pipeline of head alignment side needs the inner surface of spraying equipment to be sprayed.In step 4, when car body 1 moves, spray head 151 sprays
Paint solution energy continuous spray out is on the surface that the inner space of pipeline or required spraying equipment corresponds to one end.
Shown in Fig. 1,2,3, when car body 1 is put into inside pipeline and required spraying equipment, operator turns on the power switch S
Afterwards, camera SX, display screen XS, aerofoil fan M, wireless receiving circuit are in work once electrified state；Operator opens high pressure
After the power switch of defeated paint pump, the front end spray head 151 with pressure paint solution from gun barrel of the defeated paint pump output of high pressure is misty to be sprayed, spray
The first 151 misty paint solutions sprayed can be directed at the pipeline of side to spray head or the inner surface of spraying equipment is needed to spray.Illumination
Lamp H obtain it is electric after can be for pipeline and required spraying equipment interior lighting, the video of such camera SX shooting can be in real time through video line
The display screen XS of operator at one's side is passed to, operator can levy the fortune to property control car body 1 according to the video information of display screen XS
Dynamic rail mark, for example move ahead, retreat, turn left, turn right etc., the spray head 151 while car body 1 changes motion profile, before gun barrel
Orientation can be changed correspondingly, with the car body 1 of movement, the paint solution energy continuous spray that spray head 151 sprays is in pipeline or required spraying equipment
Inner space correspond on the surface of one end；User, by preset 151 circumference different directions of spray head, can be divided using preceding
The other surface all angles to inside pipeline or required spraying equipment carry out spraying operation.
It,, will be wireless if operator needs car body to move ahead after wireless receiving circuit A1 work once electrified shown in Fig. 3
Two transmitting keys S1, S3 of transmitting equipment A2 are pressed simultaneously, and then, wireless transmitting device A2 launches the first via, third road
Wireless closure signal, after wireless receiving circuit A1 receives the wireless closure signal of two-way, 4,6 feet can export high level and respectively enter
Then the one end resistance R1, R3 respectively enters two NPN triode Q1s, the base stage of Q3, the high electricity of two-way through resistance R1, R3 other end
After two NPN triode Q1s of mean longitude, the power amplification of Q3 difference, paraphase, the negative power supply input terminal of relay K1, K3 are respectively enterd
(relay K1, K3 cathode power supply input terminal and anode control power input are communicated with battery G anode this moment, relay K1,
K3 cathode control power input communicated this moment with battery G cathode), then, relay K1, K3 respectively it is electric actuation two
Control power input and two normally opened contact ends are respectively closed, respectively and vehicle due to, two normally opened contact ends of relay K1
The motor M1 positive and negative polarities power input of two wheels of body rear side end or so is connected through conducting wire, two normally opened touchings of relay K3
Point end is connected with the motor M2 positive and negative polarities power input of two wheels of car body front side end or so through conducting wire respectively, so this
It carves, motor meeting its shaft of work once electrified of four wheel electrical machine deceleration mechanisms rotates clockwise, in four wheel electrical machine speed reducers
In structure under reduction gearing effect, the wheel of four wheels rotates synchronously counterclockwise, then vehicle forward；When user does not need vehicle
Body moves ahead, and two transmitting keys S1, S3 of wireless transmitting device A2 are pressed simultaneously again, then, wireless transmitting device A2 hair
Project the first via, third road is wireless open circuit signaling, after wireless receiving circuit A1 receives the wireless open circuit signaling of two-way, 4,6 feet
It can stop the high level of output, then, relay K1, K3 power loss are no longer attracted two control power input and two normally opened
Tip side is each turned off, and the motor meeting power loss of four wheel electrical machine deceleration mechanisms no longer works, and then vehicle stops moving ahead.If
Operator needs car body to retreat, and two transmitting keys S2, S4 of wireless transmitting device A2 are pressed simultaneously, then, wireless to send out
Jet device A2 launches the second tunnel, the 4th wireless closure signal in road, after wireless receiving circuit A1 receives the wireless closure signal of two-way,
5,7 feet can export high level and respectively enter the one end resistance R2, R4, then respectively enter two NPN through resistance R2, R4 other end
The base stage of triode Q2, Q4, two-way high level respectively enter after two power amplifications of NPN triode Q2, Q4 difference, paraphase
(relay K2, K4 cathode power supply input terminal and anode control power input are this moment for the negative power supply input terminal of relay K2, K4
Communicated with battery G anode, relay K2, K4 cathode control power input is communicated with battery G cathode this moment), then, after
Electric appliance K2, K4 respectively it is electric be attracted two control power input and two normally opened contact ends be respectively closed, due to relay
Two normally opened contact ends of K2 respectively motor M1 negative and positive the two poles of the earth power input with two wheels of car body rear side end or so through leading
Line connection, two normally opened contact ends of relay K4 respectively with motor M2 negative and positive the two poles of the earth electricity of two wheels of car body front side end or so
Source input terminal is connected through conducting wire, so this moment, motor meeting its shaft of work once electrified of four wheel electrical machine deceleration mechanisms is counterclockwise
Rotation, in four wheel electrical machine deceleration mechanisms under reduction gearing effect, the wheel of four wheels rotates synchronously clockwise, then
Vehicle rollback；It is retreated when user does not need car body, two transmitting keys S2, S4 of wireless transmitting device A2 is pressed simultaneously again
Under, then, wireless transmitting device A2 launches the second tunnel, the 4th wireless open circuit signaling in road, and wireless receiving circuit A1 receives two
After road is wireless open circuit signaling, 5,7 feet can stop the high level of output, and then, relay K2, K4 power loss is no longer attracted two
Control power input and two normally opened contact ends are each turned off, and the motor of four wheel electrical machine deceleration mechanisms can power loss no longer work
Make, then vehicle stops retreating.
Shown in Fig. 3, after wireless receiving circuit A1 work once electrified, if operator needs car body to turn left, by nothing
The transmitting key S1 of line transmitting equipment A2 is pressed, and then, wireless transmitting device A2 launches the wireless closure signal of the first via, wirelessly
After receiving the wireless closure signal of circuit A1 reception, 4 feet can export high level and enter the one end resistance R1, then another through resistance R1
End enters the base stage of NPN triode Q1, and high level is after NPN triode Q1 power amplification, paraphase, into the cathode of relay K1
Power input, then, relay K1 obtains two control power input of electric actuation and two normally opened contact ends are respectively closed,
Due to, two normally opened contact ends of relay K1 motor M1 positive and negative polarities power supply with two wheels of car body rear side end or so respectively
Input terminal is connected through conducting wire, so this moment, the motor of two wheel electrical machine deceleration mechanisms of car body rear side end or so can work once electrified
Its shaft rotates clockwise, in two wheel electrical machine deceleration mechanisms of car body rear side end or so under reduction gearing effect, after car body
The wheel of two wheels in side or so rotates synchronously counterclockwise, and then vehicle turns left；When user do not need car body turn left,
The transmitting key S1 of wireless transmitting device A2 is pressed again, then, wireless transmitting device A2 launches the first via and wirelessly opens a way
Signal, after wireless receiving circuit A1 receives wireless open circuit signaling, 4 feet can stop exporting high level, and relay K1 power loss is not
It is attracted two control power input again and two normally opened contact ends are each turned off, the electricity of two wheels of car body rear side end or so
Chance power loss no longer works, and then vehicle stops turning left.After wireless receiving circuit A1 work once electrified, if operator needs
It wants car body to turn right, the transmitting key S3 of wireless transmitting device A2 is pressed, then, wireless transmitting device A2 launches third road
Wireless closure signal, after wireless receiving circuit A1 receives wireless closure signal, 6 feet can export high level and enter resistance R3 mono-
End, then enters the base stage of NPN triode Q3, high level is through NPN triode Q3 power amplification, paraphase through the resistance R3 other end
Afterwards, into the negative power supply input terminal of relay K3, then, relay K3 obtains two control power input and two of electric actuation
A normally opened contact end is respectively closed, due to, two normally opened contact ends of relay K3 respectively with two vehicles of car body front side end or so
The motor M2 positive and negative polarities power input of wheel is connected through conducting wire, so this moment, two wheel electrical machines of car body front side end or so subtract
Motor meeting its shaft of work once electrified of fast mechanism rotates clockwise, in the deceleration of two wheel deceleration mechanisms of car body front side end or so
Under gearing, the wheel of two wheels of car body front side end or so rotates synchronously counterclockwise, and then vehicle is turned right；Work as user
Car body right-hand bend is not needed, the transmitting key S3 of wireless transmitting device A2 is pressed again, then, wireless transmitting device A2 transmitting
The wireless open circuit signaling in third road out, after wireless receiving circuit A1 receives wireless open circuit signaling, 6 feet can stop the height electricity of output
Flat, then, relay K3 power loss is no longer attracted two control power input and two normally opened contact ends are each turned off, car body
The motor meeting power loss of two wheels of front side end or so no longer works, and vehicle stops turning right.Relay K1, K2, K3, K4 brand is
Song Le, model are SLA-24VDC-SL, tool there are two power input, two control power inputs, two normally-closed contact ends,
Two normally opened contact ends.Resistance R1, R2, R3, R4 resistance value is 1K.NPN triode Q1, Q2, Q3, Q4 model are 9013.Battery G
When without electricity, the plug of external 12V mains charger can be inserted into charging socket CZ and be charged for battery G.In practical operation, behaviour
Author can control car body fallback procedures spraying operation, and the spraying that prevents from moving ahead subsequent causes the operation surface sprayed when exiting
Lacquer painting damage.
Basic principles and main features and advantages of the present invention of the invention have been shown and described above, for this field skill
For art personnel, it is clear that the present invention is limited to the details of above-mentioned exemplary embodiment, and without departing substantially from spirit or base of the invention
In the case where eigen, the present invention can be realized in other specific forms.It therefore, in all respects, should all be by reality
Apply example and regard exemplary as, and be non-limiting, the scope of the present invention by appended claims rather than above description
It limits, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. Control During Paint Spraying by Robot equipment, including the defeated paint pump of high pressure, car body, four wheels, electric power storages with motor decelerating mechanism driving
Pond, wireless remote control device, spray gun, camera, display screen, headlamp, charging socket, power switch, aerofoil fan, feature exist
In also having wireless receiving circuit, fixing seat, fixed cylinder, end housing is fixed respectively on the motor decelerating mechanism of four wheels pacifies
Mounted in the lower end surrounding of car body, fixing seat lower, transverse is mounted on car body upper center, and the middle part of fixing seat laterally has one to lead to
There are tool internal thread aperture in hole, fixing seat upper end, screw in a hand screw in aperture, the front end gun barrel of spray gun laterally covers
In the through-hole of fixing seat, the right side of gun barrel and the defeated paint pump liquid outlet of matched high pressure link together through flexible rubber hose, aerofoil fan
Be mounted in the middle part of the interior bottom of fixed cylinder, fixed cylinder lower end is Open architecture, the upper center of fixed cylinder have one every
Plate, the partition front side of fixed cylinder and rear side are Open architecture, and there are two aperture, cameras, headlamp for partition upper and lower ends
It is separately mounted to the inner end of partition aperture, have an aperture in the middle part of the left end of car body, the upper end of fixed cylinder is mounted on aperture
Inner end, fixed cylinder are laterally positioned in car body, and charging socket, power switch, wireless receiving circuit installation are on circuit boards, electric
Road plate and battery, display screen are installed along in subassembly wrapper, and subassembly wrapper is located in production area equipment box, the two poles of the earth of battery
It is connected respectively through conducting wire with two terminals of charging socket, battery positive voltage is connected with power switch one end through conducting wire, and power supply is opened
It is electric with headlamp, camera, display screen, aerofoil fan, wireless receiving circuit positive and negative polarities respectively to close the other end, battery terminal negative
Source input terminal is connected through conducting wire, and the wireless receiving circuit first via, the second road power output end are respectively and left positioned at car body rear side end
Positive and negative polarities power input, the negative and positive the two poles of the earth power input of right two wheels are connected through conducting wire, wireless receiving circuit third
Road, four-way power supply output end are respectively and the positive and negative polarities power input positioned at two wheels of car body front side end or so, negative and positive
The two poles of the earth power input is connected through conducting wire.
2. Control During Paint Spraying by Robot equipment according to claim 1, it is characterised in that wireless receiving circuit be also configured with resistance,
NPN triode, relay, connect through circuit board wiring therebetween, 1 foot of wireless receiving circuit cathode power supply input terminal and four relays
Device cathode power supply input terminal and anode control power input connection, four output ends, 4,5,6,7 foot point of wireless receiving circuit
It is not connected with four resistance one end, four resistance other ends and four NPN transistor bases are separately connected, four NPN triodes
Collector is connected with four relay negative power supply input terminals respectively, four NPN triode emitters and four relay cathode
Control power input, the connection of 2 foot of wireless receiving circuit negative power supply input terminal.
3. its control method of Control During Paint Spraying by Robot equipment according to claim 1 is as follows, step 1: the gun barrel of spray gun is fixed
Position in fixing seat, the paint solution for guaranteeing that the spray head of gun barrel front sprays can be sprayed on required spraying equipment surface；Step
Rapid two: car body being put into pipeline and is needed in the inner space of spraying equipment, and is turned on the power switch；Step 3: high pressure is opened
The power switch of defeated paint pump, the defeated paint pump liquid outlet output of high pressure have spray of the pressure paint solution from hose, gun barrel and gun barrel front end
Misty spray of head sprays setting surface；Step 4: the view that operator is passed back by observing display screen through camera
Frequency information, it is thus understood that pipeline and need screen situation in the inner space of spraying equipment, four keys through wireless remote control device
The working method of wireless receiving circuit is controlled, and then controls the motor decelerating mechanism working method of four wheels respectively, controls vehicle
Body running track in the inner space and pipeline for needing spraying equipment, control the spray head of spray gun to required work surface multi-angle into
Row spraying.
4. its control method of Control During Paint Spraying by Robot equipment according to claim 3 is as follows, in step 1, gun barrel and gun barrel front end
Spray head orientation fix after, after the hand screw of fixing seat upper end is screwed respectively, hand screw lower end and gun barrel upside
It is in close contact, gun barrel cannot be again along fixed block hole side-to-side movement and circular-rotation, and when guaranteeing spraying operation, gun barrel and spray head are not
It can rotate and side-to-side movement.
5. its control method of Control During Paint Spraying by Robot equipment according to claim 3 is as follows, in step 2, car body is put into pipe
Road needs in the inner space of spraying equipment, and after turning on the power switch, headlamp and camera, display screen, aerofoil fan can
Work once electrified, headlamp are to guarantee the normal of camera into needing the car body in spraying equipment inner space and pipeline to illuminate
Work, aerofoil fan obtain it is electric after the wind that blows out reduce paint solution in spraying and cover the probability before camera, headlamp.
6. its control method of Control During Paint Spraying by Robot equipment according to claim 3 is as follows, in step 3, what spray head mist sprayed
Paint solution can be directed at the pipeline of side to spray head and the inner surface of spraying equipment is needed to spray.
7. its control method of Control During Paint Spraying by Robot equipment according to claim 3 is as follows, in step 4, when body movement, spray
The paint solution energy continuous spray that head sprays is on pipeline and the surface for needing the inner space of spraying equipment to correspond to one end.
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Application publication date: 20190614 |
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