CN111111960B - Spraying system and spraying method - Google Patents

Spraying system and spraying method Download PDF

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Publication number
CN111111960B
CN111111960B CN201911413328.5A CN201911413328A CN111111960B CN 111111960 B CN111111960 B CN 111111960B CN 201911413328 A CN201911413328 A CN 201911413328A CN 111111960 B CN111111960 B CN 111111960B
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Prior art keywords
spraying
spray head
motor
target
gear
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CN111111960A (en
Inventor
庞明瑜
林嘉亮
曾红斌
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Foshan Haitian Flavoring and Food Co Ltd
Foshan Haitian Gaoming Flavoring and Food Co Ltd
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Foshan Haitian Flavoring and Food Co Ltd
Foshan Haitian Gaoming Flavoring and Food Co Ltd
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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
    • B05B13/0421—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 rotating spray heads
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying

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  • Nozzles (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

The invention discloses a spraying system and a spraying method, relates to the field of intelligent control, and aims to optimize the performance of the spraying system. The spraying system comprises a fixed pipe, a driving device, a spray head and a control device. The fixed tube includes a first flow passage. The driving device is mounted on the fixed pipe. The driving device comprises a first driving component and a second driving component; the first driving assembly is arranged on the fixed pipe and is configured to drive the spray head to rotate in a horizontal plane relative to the fixed pipe; the second drive assembly is mounted to the first drive assembly and is configured to drive the spray head to pitch relative to the fixed pipe. The spray head is communicated with the first flow channel and is in driving connection with the driving device. The control device is in driving connection with the driving device, so that the driving device drives the spray head to adjust the posture relative to the fixed pipe according to the set rotating angle range. According to the technical scheme, the driving angle of the driving device is controlled through the control device, and then the posture angle of the spray head is adjusted, so that the spraying path is accurately controlled.

Description

Spraying system and spraying method
Technical Field
The invention relates to the field of intelligent control, in particular to a spraying system and a spraying method.
Background
In the field of food processing and manufacturing, material airing is an important link in a food production flow. In the process of sun-curing materials, liquid needs to be sprayed on sun-cured materials.
In the related art, liquid is manually sprayed onto the material. The amount of the sprayed liquid is determined manually according to experience, physical strength and the like, so that the phenomenon of uneven spraying is easily caused.
Disclosure of Invention
The invention provides a spraying system and a spraying method, which are used for optimizing the performance of the spraying system.
An embodiment of the present invention provides a spraying system, including:
a fixed tube including a first flow passage;
a driving device installed at the fixed pipe; the driving device comprises a first driving component and a second driving component; the first driving assembly is mounted on the fixed pipe and is configured to drive the spray head to rotate in a horizontal plane relative to the fixed pipe; the second driving assembly is arranged on the first driving assembly;
a spray head in communication with the first flow passage and in driving connection with the drive device, the second drive assembly configured to drive the spray head to pitch relative to the stationary tube; and
and the control device is in driving connection with the driving device, so that the driving device drives the spray head to adjust the posture relative to the fixed pipe according to a set rotation angle range.
In some embodiments, the first drive assembly comprises:
a base plate rotatably mounted to the fixing tube; the second driving assembly is arranged on the substrate;
a rotating tube including a second flow passage communicating with the first flow passage; the rotating pipe is rotatably connected with the fixed pipe;
a first motor mounted on the substrate;
the first gear is in driving connection with the first motor; and
and a second gear fixed to the fixed pipe and engaged with the first gear.
In some embodiments, the spray system further comprises:
a first limit assembly configured to limit a range of rotational angles of the first gear.
In some embodiments, the second drive assembly comprises:
a second motor mounted on the substrate;
the third gear is in driving connection with the second motor; and
and the fourth gear is fixedly connected with the spray head and is meshed with the third gear.
In some embodiments, the spray system further comprises:
a second limit assembly configured to limit a range of rotational angles of the third gear.
In some embodiments, the control device comprises:
a first path calculation module configured to calculate the first motor rotation angle α using a first formula:
Figure BDA0002350544500000021
wherein the position coordinate of the spraying target is (X)n,Yn) The coordinate of the fixed tube is (x)1,y1)。
In some embodiments, the control device comprises:
a second path calculation module configured to calculate the second motor rotation angle θ using a second formula:
Figure BDA0002350544500000022
wherein the position coordinate of the spraying target is (X)n,Yn) The coordinate of the fixed tube is (x)1,y1) And h is the vertical height between the spray head and the material.
In some embodiments, the spray targets are respective locations on a contour line of a plurality of concentric circles within the target spray area; or the spraying targets are all positions on the contour lines of a plurality of concentric squares in the target spraying area.
In some embodiments, the spray system further comprises:
and the cover body is arranged on the outer sides of the driving device and the control device.
Other embodiments of the present invention provide a spraying method implemented by using the spraying system provided in any technical solution of the present invention, where the spraying method includes the following steps:
setting a target spraying area;
and controlling the spraying track of the sprayer so that the spraying track of the sprayer covers the target spraying area.
In some embodiments, the spraying method further comprises the steps of:
calculating the plane rotation angle alpha of the spray head according to the following formula:
Figure BDA0002350544500000031
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube is (x)1,y1)。
In some embodiments, the spraying method further comprises the steps of:
calculating the pitch angle theta of the spray head according to the following formula:
Figure BDA0002350544500000032
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube is (x)j,y1) And h is the vertical height between the spray head and the material.
According to the spraying system provided by the technical scheme, the driving angle of the driving device is controlled through the control device, and then the posture angle of the spray head is accurately adjusted, so that the spraying path is accurately controlled. The spraying system not only realizes the automation of spraying operation, but also realizes the uniform spraying of liquid while saving labor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic perspective view of a spraying system according to an embodiment of the present invention;
FIG. 2 is a schematic front view, in cross-section, of a sprinkler system provided in accordance with an embodiment of the present invention;
FIG. 3 is another schematic cross-sectional view of a sprinkler system according to an embodiment of the present invention;
FIG. 4 is a schematic front view of a spraying system according to an embodiment of the present invention;
FIG. 5 is a schematic top view of a spraying system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a spraying range of a spraying system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a coordinate system of a circular trajectory of a sprinkler system provided in accordance with an embodiment of the present invention;
FIG. 8 is a schematic view of a circular spray trajectory of a spray system provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of a square spray trajectory of a spray system provided by an embodiment of the present invention;
FIG. 10 is a schematic diagram of coordinates of a square spray trajectory of a spray system provided by an embodiment of the present invention;
FIG. 11 is a schematic flow chart of a method for spraying a circular track according to the spraying method of the present invention;
fig. 12 is a schematic flow chart of a method for spraying a square track by the spraying method according to the embodiment of the present invention.
Detailed Description
The technical solution provided by the present invention will be explained in more detail with reference to fig. 1 to 12.
Referring to fig. 1 to 9, an embodiment of the present invention provides a spraying system, which includes a fixed pipe 1, a driving device 2, a spraying head 3, and a control device (not shown). The stationary pipe 1 includes a first flow passage 11. The driving device 2 is mounted to the fixed pipe 1. The nozzle 3 is communicated with the first flow passage 11 and is in driving connection with the driving device 2. The control device is in driving connection with the driving device 2, so that the driving device 2 drives the spray head 3 to adjust the posture relative to the fixed pipe 1 according to the set rotating angle range.
The spraying system is in use secured to a side wall of a spraying site 7 (alternatively referred to as a site side wall). Specifically, during spraying, the fixed pipe 1 and the side wall of the spraying field 7 are fixed, and no relative movement exists between the fixed pipe and the side wall. An external spraying liquid, such as water, is introduced into the spray head 3 through the fixed pipe 1 and then sprayed out to wet the materials dried inside the spraying field 7.
The driving device 2 is used to adjust the posture of the head 3. The attitude ranges of the spray heads 3 to be adjusted are different according to the shapes of the target areas to be sprayed. Alternatively, the shower head 3 can rotate within a range of six degrees of freedom. Specifically, the head 3 is rotatable in a horizontal plane and is rotatable in a pitch in a vertical plane. I.e., the attitude of the head 3 is related to the plane rotation angle and the pitch angle. A specific implementation of adjusting the attitude of the head 3 will be given below.
Referring to fig. 1, in some embodiments, the drive device 2 includes a first drive assembly 21 and a second drive assembly 22. The first driving assembly 21 is mounted to the fixed pipe 1, and the first driving assembly 21 is configured to rotate the spray head 3 in a horizontal plane with respect to the fixed pipe 1. The second driving assembly 22 is mounted to the first driving assembly 21, and the second driving assembly 22 is configured to tilt the spray head 3 with respect to the fixed pipe 1.
The first drive assembly 21 may be, for example, an electric motor or other source of rotational power. The first driving assembly 21 is used for realizing the adjustment of the plane rotation angle of the spray head 3. The second drive assembly 22 employs, for example, an electric motor or other rotatable power source. The second drive assembly 22 is used to effect adjustment of the pitch angle of the sprinkler head 3.
Referring to fig. 1, in the process of driving the spray head 3 to rotate in a plane, the first driving assembly 21 rotates the second driving assembly 22 along with the rotation of the spray head 3. In addition, during the process of driving the head 3 to tilt by the second driving unit 22, the first driving unit 21 does not tilt accordingly.
Referring to fig. 2, in some embodiments, the sprinkler system further comprises a cover 6, the cover 6 being adapted to cover most of the mechanism, such as the drive means 2, the control means 4, etc. The majority of the spray head 3 may be located inside the enclosure 6 or the entire spray head 3 may be located outside the enclosure 6.
Referring to fig. 2, the cover 6 includes a first cover 61 and a second cover 62. A connecting member 8 is provided between the first cover 61 and the base plate 211. The connecting member 8 is embodied as a column. The plurality of connection members 8 are provided along the circumferential direction of the substrate 211. The first cover 61 and the base plate 211 are fixed together by a connecting member 8. The second cover 62 and the base plate 211 are fixedly connected by bolts.
A specific implementation of the first drive assembly 21 is described below.
Referring to fig. 1 to 3, the first driving assembly 21 includes a base plate 211, a rotating pipe 212, a first motor 213, a first gear 214, and a second gear 215.
The base plate 211 is rotatably mounted to the fixed pipe 1, and a rotation gap may be provided between the base plate 21 and the fixed pipe 1. A buffer member may be provided between the base plate 211 and the fixed pipe 1 to reduce friction at the time of relative rotation. The stationary pipe 1 is vertically arranged, and the stationary pipe 1 passes through the center of the second gear 215.
Referring to fig. 1, the rotating pipe 212 includes a second flow passage 212a, and the second flow passage 212a communicates with the first flow passage 11. The rotating tube 212 is rotatably connected with the stationary tube 1, in particular by a bearing 216. The rotation axis of the rotation tube 212 and the fixed tube 1 is L1, and the rotation tube 212 is rotatably connected with the fixed tube 1 to realize the rotation of the rotation tube 212 relative to the fixed tube 1 in the horizontal plane. A sealing member 9 is provided between the rotating tube 212 and the fixed tube 1 to achieve sealing to prevent leakage of the sprayed liquid. The liquid outlet of the rotating pipe 212 is rotatably connected with the spray head 3, the rotating axis of the rotating pipe 212 and the spray head 3 is L2, and the rotating pipe 212 and the spray head 3 are rotatably connected to realize the pitching of the spray head 3. The provision of the rotating pipe 212 can simplify the coupling relationship between the shower head 3 and the fixed pipe 1. L1 is for example vertical and L2 is for example horizontal.
Referring to fig. 1, the first motor 213 is mounted to the substrate 211. The first gear 214 is in driving connection with a first motor 213. The second gear 215 is fixed to the fixed pipe 1, and the second gear 215 is engaged with the first gear 214.
The operation of the first drive assembly 21 is as follows: the first motor 213 is operated to rotate the first gear 214. Since the first gear 214 is engaged with the second gear 215, and the second gear 215 is fixedly connected to the fixed pipe 1, the second gear 215 does not rotate, but the first gear 214 drives the base plate 211 and all components mounted on the base plate 211 to rotate around the second gear 215 together, that is, the whole base plate 211 and the components mounted on the base plate 211 rotate in a horizontal plane.
Referring to fig. 1, in some embodiments, the spray system further comprises a first limit stop assembly 23, the first limit stop assembly 23 is mounted to the base plate 211, and the first limit stop assembly 23 is configured to limit the range of rotational angles of the first gear 214.
Referring to fig. 1, the first limit stopper assembly 23 includes a first photoelectric switch 231 and a first detecting member 232. The first photoelectric switch 231 is mounted on the first gear 214 or the base plate 211 and rotates synchronously with the first gear 214. In some embodiments, the first photo switch 231 is mounted on the substrate 211 as an example. The first detection member 232 is fixed to the fixed pipe 1. Whether the range of the rotation angle of the first gear 214 is within the set range is determined by the relative positional relationship between the first photoelectric switch 231 and the first detection member 232.
The implementation of the second drive assembly 22 is described below.
Referring to fig. 1 to 3, the second driving assembly 22 is mounted on the substrate 211. The second driving assembly 22 is integrally rotated with the rotation of the base plate 211.
Referring to fig. 1-3, in some embodiments, the second drive assembly 22 includes a second motor 221, a third gear 222, and a fourth gear 223. The second motor 221 is mounted on the base plate 211; the third gear 222 is in driving connection with the second motor 221. The fourth gear 223 is fixedly connected to the head 3 and is engaged with the third gear 222.
Referring to fig. 1 to 3, the second motor 221 drives the third gear 222 to rotate, and the third gear 222 drives the fourth gear 223 to rotate synchronously as the third gear 222 is meshed with the fourth gear 223. The fourth gear 223 is fixed with the spray head 3, so that the fourth gear 223 rotates to drive the spray head 3 to rotate synchronously, thereby realizing pitching adjustment.
Referring to fig. 1, in some embodiments, the sprinkler system further includes a second limit stop assembly 24, the second limit stop assembly 24 being mounted to the base plate 211 and configured to limit the range of rotational angles of the third gear 222.
Referring to fig. 1, the second limiting assembly 24 specifically includes a second photoelectric switch 241 and a second detecting member 242. The second photoelectric switch 241 is installed at the housing of the second motor 221, and the second detecting member 242 is installed at the fourth gear 23 to detect the rotation angle range of the fourth gear 23.
The spraying path of the spray head 3 is determined by the rotation angle ranges of the first motor 213 and the second motor 221, and the precise control of the spraying path of the spray head 3 can be achieved in the following manner.
Before describing the spray path control, the coordinate system used in the use of the spray system is described.
Referring to fig. 2 to 7, above the spray site 7 is used to install a spray system. The installation position of the spraying system is fixed, and a coordinate system is established by taking the horizontal plane where the liquid inlet of the spray head 3 is positioned as a reference. The position coordinate is represented by (x)1,y1) See, fig. 7 for a representation. The initial target position of spraying is determined by the vertical height h of the spray head 3 from the material and the diameter d of the spraying field 70And (6) determining. This position is at the same height as the vertical height of the spray head 3 from the material and on the circumferential contour of the inner wall of the spraying field 7, and this position should be the farthest distance of spraying. Referring to fig. 1 to 6, assuming that the spraying pressure can make the sprayed liquid be sprayed in a straight line, the origin position of the second motor 221 is perpendicular to the semi-finished product in the field, the liquid sprayed by the spraying system is manually operated to the farthest spraying position, and the current encoder angle of the second motor 221 is recorded, which is the initial angle θ0. According to the initial angle theta0Then the vertical height of the spray head 3 from the material can be calculated
Figure BDA0002350544500000071
Referring to fig. 6 to 8, taking the spraying field 7 as a circle as an example, in some embodiments, the spraying target positions are positions on the contour lines of a plurality of concentric circles in the target area.
Referring to fig. 1 to 7, the ranges of the rotation angles of the first motor 213 and the second motor 221 are ranged, as follows, respectively.
The second motor 221 is angled at an angle theta,
Figure BDA0002350544500000081
second limiting component for angle range of second motor 221Limit of 24. The first motor 213 has an angle α, and since the spraying system sprays the whole spraying field 7 and rotates 360 degrees, α ∈ [ - π, π]. For a coordinate point (X) on a circle of arbitrary radiusn,Yn) Can be calculated by the following formula:
Figure BDA0002350544500000082
beta is an arbitrary value, beta belongs to [2k pi, 2 pi +2k pi]，k∈Z，n∈Z+。
In some embodiments, the control device includes a first path calculation module configured to calculate the rotation angle α of the first motor 213 using a first formula:
Figure BDA0002350544500000083
wherein the position coordinate of the spraying target is (X)n,Yn) The coordinate of the fixed tube 1 is (x)1,y1)。
In some embodiments, the control device includes a second path calculation module configured to calculate the rotation angle θ of the second motor 221 using a second formula:
Figure BDA0002350544500000084
wherein the position coordinate of the spraying target is (X)n,Yn) The coordinate of the fixed tube 1 is (x)1,y1)。
Referring to fig. 1 to 6, a circumferential track sprayed around the circumferential contour line of the inner wall of the spraying field 7 is calculated according to the diameter d of the spraying field 7 and the vertical height h of the spray head 3 from the material. This trajectory contains the angle that the first motor 213 and the second motor 221 need to rotate at each moment. When the diameter of the side wall of the field is d0At time t, the spray target position is (X)n,Yn). The first motor 213 has an angle of
Figure BDA0002350544500000085
Second motor 221 Angle
Figure BDA0002350544500000086
From this relationship, the required diameter d of the sprinkler system can be calculated0When the circumferential contour line of the inner wall of the spraying field 7 moves, the track curves of the first motor 213 and the second motor 221.
Diameter d of the spraying area 70Reduced by a certain proportion, denoted dn，A∈Z+，dn＜d0. According to the two formulas of step 3, a new circumferential trajectory is calculated which is sprayed around the plane in the spraying site 7 and which does not coincide with the site sidewall trajectory.
Repeating the above steps, and continuously reducing the diameter d of the spraying field 70And calculating a plurality of circumferential tracks until the calculated spraying tracks cover the circular surface of the side wall of the whole field. And starting a spraying system, and realizing uniform spraying according to the calculated track path.
The following describes a trajectory calculation process when the spray site 7 is square and the spray target position is square. In some embodiments, the spray targets are locations on the outline of multiple concentric squares within the target area.
Referring to fig. 10, fig. 10 is a coordinate system for establishing a square spray trajectory.
Firstly, the initial angle theta is obtained by adopting the same method as the calculation method of the circular spraying track0And the vertical height h of the spray head 3 from the material.
Referring to fig. 1 to 6, assuming that the spraying pressure can make the sprayed liquid be sprayed in a straight line, the origin position of the second motor 221 is perpendicular to the semi-finished product in the field, the liquid sprayed by the spraying system is manually operated to the farthest spraying position, and the current encoder angle of the second motor 221 is recorded, which is the initial angle θ0. According to the initial angle theta0Then the vertical height of the spray head 3 from the material can be calculated
Figure BDA0002350544500000091
If the track needing spraying is square, acquiring coordinates of four corner points, and recording as (X)n,Yn) And n is 1, 2, 3, 4. If the side length of the square is A0At this time, the coordinate values of the four corner points are obtained. For accurate tracking control of the trajectory process, a plurality of coordinate points, such as (X), are cut at equal distances between the corner points on both sides1,Y1) To (X)2,Y2) Between, j points are cut at equal distance, then (X)11,Y11)＝(X1-A0/j,Y1),(X12,Y12)＝(X11-A0/j,Y1),…,(X1j,Y1j)＝(X2,Y2)。
And according to the plurality of the cut coordinate points, calculating each coordinate point through the following relational expression to obtain a corresponding motor angle. The first motor 213 has an angle of
Figure BDA0002350544500000092
Second motor 221 Angle
Figure BDA0002350544500000093
According to the relation, the side length A of the square needed by the spraying system can be calculated0The first motor 213 and the second motor 221 trace curves as the perimeter profile moves.
The side length of the square is A0Reduced by a certain proportion, denoted as Mi，i∈Z+，An＜A0. Calculating a new motion track around the circumference of the square edge length according to the relation in the step 3, wherein the track is not equal to the edge length A0The perimeter contours coincide.
Repeating the above steps, and continuously reducing the side length of the square to A0Until the calculated spray trajectory covers the entire spray face. And starting a spraying system, and realizing uniform spraying according to the calculated track path.
In some embodiments, the control device includes a third path calculation module configured to calculate the rotation angle α of the first motor 213 using a third equation:
Figure BDA0002350544500000101
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube 1 is (x)1,y1)。
In some embodiments, the control apparatus includes a fourth path calculation module configured to calculate the rotation angle θ of the second motor 221 using a fourth equation:
Figure BDA0002350544500000102
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube 1 is (x)1,y1)。
Above-mentioned technical scheme is applicable to the operational environment of multiple spray shape, can spray arbitrary plane position in working range through the rotation of two-axis linkage, for example circular have the leg or do not have the place of leg, square have the leg or do not have the place of leg, the oval has the leg or do not have the place of leg, the rectangle has the leg or does not have the place of leg etc.. Corresponding spraying trajectories are set according to scenes of different shapes, and the above paths are correspondingly realized through the first motor 213 and the second motor 221. The spacing between two adjacent spray trajectories may be determined according to the single point coverage of the spray gun (taking into account the diameter and area of coverage).
It should be noted that, in some embodiments, the present disclosure is made in a scenario with a surrounding wall, and it is understood that the applicable scenario of the spraying system is not limited to a site with a surrounding wall, and the same applies to a scenario without a surrounding wall.
Referring to fig. 10 and 12, an embodiment of the present invention further provides a spraying method, which can be implemented by using the spraying system provided in any of the above embodiments of the present invention.
The spraying method comprises the following steps:
and step S100, setting a target spraying area.
If the spraying field 7 is circular, the spraying target is the whole circumferential plane, and the spraying track is a strip of concentric circles.
And step S200, controlling the spraying track of the spray head 3 so that the spraying track of the spray head 3 covers the target spraying area.
If the spraying track is a circular track, a plurality of spraying track curves are obtained through calculation according to the first formula and the second formula.
In some embodiments, the spraying method further comprises the steps of:
step S300, if the spraying track is circular, calculating the plane rotation angle alpha of the spray head 3 according to the following first formula:
Figure BDA0002350544500000111
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube 1 is (x)1,y1)。
In some embodiments, the spraying method further comprises the steps of:
step S400, if the spraying track is circular, calculating the pitch angle theta of the spray head 3 according to the following second formula:
Figure BDA0002350544500000112
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube 1 is (x)1,y1) And h is the vertical height of the spray head 3 from the material.
In some embodiments, the spraying method further comprises the steps of:
step S500, if the spraying trajectory is square, calculating the rotation angle α of the first motor 213 according to a third formula:
Figure BDA0002350544500000113
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube 1 is (x)1,y1)。
In some embodiments, the spraying method further comprises the steps of:
step S600, if the spraying trajectory is square, calculating a rotation angle θ of the second motor 221 according to a fourth formula:
Figure BDA0002350544500000114
wherein the spraying meshThe coordinate of the mark position is (X)nj,Ynj) The coordinate of the fixed tube 1 is (x)1,y1)。
For a detailed description of the meaning of the letters in the formulas, please refer to the above contents of the spraying system, and the detailed description is omitted here.
It should be noted that, in some embodiments, the description is made in a scenario with a surrounding wall, and it is understood that the applicable scenario of the spraying method is not limited to a site with a surrounding wall, and the application is also applicable to a scenario without a surrounding wall.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. A sprinkling system, characterized in that the sprinkling system is configured to wet material aired inside a sprinkling site (7); the sprinkler system includes:
a stationary tube (1) comprising a first flow channel (11);
a drive device (2) attached to the fixed pipe (1); the drive device (2) comprises a first drive assembly (21) and a second drive assembly (22), the first drive assembly (21) comprising a first motor (213) and the second drive assembly (22) comprising a second motor (221); the first driving assembly (21) is mounted on the fixed pipe (1) and is configured to drive the spray head (3) to rotate in a horizontal plane relative to the fixed pipe (1); the second drive assembly (22) is mounted to the first drive assembly (21);
the spray head (3) is communicated with the first flow channel (11) and is in driving connection with the driving device (2); the second drive assembly (22) is configured to bring the spray head (3) to pitch relative to the fixed pipe (1); and
the control device is in driving connection with the driving device (2) so that the driving device (2) drives the spray head (3) to adjust the posture relative to the fixed pipe (1) according to a set rotating angle range; the control device comprises a third path calculation module and a fourth path calculation module; the third path calculation module is configured to calculate the rotation angle of the first motor (213) using a third formula
Figure FDA0003105403490000011
Wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube (1) is (x)1,y1) (ii) a The fourth path calculation module is configured to calculate a rotation angle θ of the second motor (221) using a fourth equation:
Figure FDA0003105403490000012
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube (1) is (x)1,y1) H is the vertical height between the spray head (3) and the material;
the spray target includes locations on the contour lines of a plurality of concentric squares within the target spray area.
2. The sprinkling system of claim 1, wherein the first drive assembly (21) comprises:
a base plate (211) rotatably mounted to the fixed pipe (1); the second driving assembly (22) is mounted on the base plate (211);
a rotating tube (212) including a second flow passage (212a), the second flow passage (212a) communicating with the first flow passage (11); the rotating pipe (212) is rotatably connected with the fixed pipe (1); the first motor (213) is mounted to the substrate (211);
a first gear (214) in driving connection with the first motor (213); and
a second gear (215) fixed to the fixed pipe (1) and engaged with the first gear (214).
3. The spraying system of claim 2, further comprising:
a first limit stop assembly (23) configured to limit a range of rotational angles of the first gear (214).
4. The spraying system of claim 2, wherein the second drive assembly (22) comprises:
a third gear (222) in driving connection with the second motor (221); and
the fourth gear (223) is fixedly connected with the spray head (3) and is meshed with the third gear (222);
wherein the second motor (221) is mounted to the base plate (211).
5. The spraying system of claim 4, further comprising:
a second limit stop assembly (24) configured to limit a range of rotational angles of the third gear (222).
6. The spraying system of claim 2, wherein said control means further comprises:
a first path calculation module configured to calculate a rotation angle of the first motor (213) using a first formula
Figure FDA0003105403490000021
Wherein the position coordinate of the spraying target is (X)n,Yn) The coordinate of the fixed tube (1) is (x)1,y1)。
7. The spraying system of claim 4, wherein said control means further comprises:
a second path calculation module configured to calculate a rotation angle θ of the second motor (221) using a second formula:
Figure FDA0003105403490000031
wherein the position coordinate of the spraying target is (X)n,Yn) The coordinate of the fixed tube (1) is (x)1,y1) And h is the vertical height between the spray head (3) and the material.
8. The spray system of claim 6 or 7 wherein said spray target further comprises locations on the contour of a plurality of concentric circles within the target spray area.
9. A spraying method is realized by adopting the spraying system of any one of claims 1 to 8, and the spraying method comprises the following steps:
setting a target spraying area;
and controlling the spraying track of the sprayer so that the spraying track of the sprayer covers the target spraying area.
10. The spraying method of claim 9, further comprising the steps of:
calculating the plane rotation angle alpha of the spray head according to the following formula:
Figure FDA0003105403490000032
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube is (x)1,y1)。
11. The spraying method of claim 9, further comprising the steps of:
calculating the pitch angle theta of the spray head according to the following formula:
Figure FDA0003105403490000033
wherein the position coordinate of the spraying target is (X)nj,Ynj) The coordinate of the fixed tube is (x)1,y1) And h is the vertical height of the spray head from the material.
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