CN111451055A - 3D printing robot for waterproof layer construction and construction method thereof - Google Patents
3D printing robot for waterproof layer construction and construction method thereof Download PDFInfo
- Publication number
- CN111451055A CN111451055A CN202010328206.2A CN202010328206A CN111451055A CN 111451055 A CN111451055 A CN 111451055A CN 202010328206 A CN202010328206 A CN 202010328206A CN 111451055 A CN111451055 A CN 111451055A
- Authority
- CN
- China
- Prior art keywords
- spray gun
- spraying
- fixed
- sliding
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- 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
- B05B12/08—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
- 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
- B05B12/124—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 distance between spray apparatus and target
-
- 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
- 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
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
- B05B7/02—Spray pistols; Apparatus for discharge
- B05B7/04—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
- B05B7/0408—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge with arrangements for mixing two or more liquids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
- B05B7/02—Spray pistols; Apparatus for discharge
- B05B7/04—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
- B05B7/0416—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge with arrangements for mixing one gas and one liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
- B05B7/02—Spray pistols; Apparatus for discharge
- B05B7/12—Spray pistols; Apparatus for discharge designed to control volume of flow, e.g. with adjustable passages
Abstract
The invention discloses a 3D printing robot for waterproof layer construction and a construction method thereof, wherein the 3D printing robot comprises a chassis device, a spraying device and a mechanical arm for driving the spraying device to move are arranged on the chassis device, and the mechanical arm is fixed on the chassis device; the spraying device comprises a feeding mechanism fixed on the chassis device, a spraying gun mechanism used for spraying, at least two independent feeding pipelines, an air supply pipeline, an air compressor and a spraying gun mechanism, wherein the input end of the air supply pipeline is communicated with the feeding mechanism, the output end of the air supply pipeline is communicated with the spraying gun mechanism, the spraying gun mechanism is fixed on the clamping end of the mechanical arm in a sliding manner, the input end of the air supply pipeline is communicated with the output end of the air compressor fixed on the chassis device, and the output end of the air supply pipeline; by adopting the device, the materials are mixed in the spraying device, and frequent cleaning and blockage of the feeding pipeline are effectively avoided.
Description
Technical Field
The invention relates to the field of high-speed railway precast beam construction, in particular to a 3D printing robot for waterproof layer construction and a construction method thereof.
Background
After the high-speed rail prefabricated box girder is poured, a polyurethane waterproof coating needs to be made on the end face, and waterproof layer construction is one of important railway prefabricated box girder construction procedures and is also a procedure with quality difficult to guarantee. The coating thickness has definite requirements (>2.5mm) in the specification, the coating is manually coated with the paint according to the past experience, A, B components of the paint are premixed in advance, the coating is generally coated for about 7-8 times, each side of the coating has a coating area of about 13 square meters, each beam needs 3-4 persons to work at the same time, the coating construction efficiency is low, the labor consumption is high, the labor intensity of carrying a paint bucket, a rolling brush and an escalator for many times is high, materials are wasted to a certain extent, and the uniformity of the coating is difficult to control; the waterproof layer at the beam end is made of polyurethane waterproof paint which is harmful to human bodies, and operators are close to the coating and inhale more volatile substances, so that the waterproof layer is not favorable for body health.
Disclosure of Invention
Based on the background, the invention provides the 3D printing robot for waterproof layer construction and the construction method thereof, which replace manual spraying work to finish spraying work, automatically adjust the spraying amount, mix materials in a spraying device, effectively avoid frequent cleaning and blockage of a feeding pipeline, and improve the coating uniformity.
The invention provides a 3D printing robot for waterproof layer construction, which comprises a chassis device, wherein a spraying device and a mechanical arm for driving the spraying device to move are arranged on the chassis device, and the mechanical arm is fixed on the chassis device; the spraying device comprises a feeding mechanism fixed on the chassis device, a spray gun mechanism used for spraying and at least two independent feeding pipelines, the input end of each feeding pipeline is communicated with the feeding mechanism, the output end of each feeding pipeline is communicated with the spray gun mechanism, and the spray gun mechanism is fixed at the clamping end of the mechanical arm in a sliding mode.
Furthermore, the spraying device also comprises an air supply pipeline, wherein the input end of the air supply pipeline is communicated with the output end of an air compressor fixed on the chassis device, and the output end of the air compressor is communicated with the spray gun mechanism.
Furthermore, the input end of the feeding pipeline is also connected with a pulse eliminating device arranged in a high-pressure pump of a high-pressure pump for controlling the material conveying flow in the feeding pipeline;
one side of the high-pressure pump is provided with a pressure sensor for detecting the pressure in the feed pipeline and a flow sensor for detecting the flow in the feed pipeline.
Furthermore, the mechanical arm comprises an X-axis transmission mechanism, a Y-axis transmission mechanism, a cross beam connected with the Y-axis transmission mechanism and a support fixed on the chassis device, the Y-axis transmission mechanism is connected with the support in a sliding mode, the X-axis transmission mechanism is connected with the Y-axis transmission mechanism in a sliding mode through the cross beam, and the spray gun mechanism is fixed on the X-axis transmission mechanism.
Furthermore, slide rails are arranged on two opposite sides of the support, first racks fixed on the support are respectively arranged on one sides of the two slide rails, and the first racks and the slide rails are arranged in parallel and in the same direction;
the Y-axis transmission mechanism comprises a first sliding mechanism, a first servo motor, a worm and gear mechanism and a first gear, the first sliding mechanism is connected with the support in a sliding mode through a sliding rail, the first servo motor and the worm and gear mechanism are fixed on the first sliding mechanism, the output end of the first servo motor and the output end of the worm and gear mechanism are connected with a worm wheel of the worm and gear mechanism in a transmission mode, two ends of a worm of the worm and gear mechanism are connected with the first gear, and the first gear is meshed with the first rack;
the X-axis transmission mechanism comprises a second sliding mechanism and a second servo motor, the second sliding mechanism is connected with the cross beam in a sliding mode through a pulley, the output end of the second servo motor penetrates through the second sliding mechanism to be connected with a second gear, and the second gear is meshed with a second rack arranged on the cross beam.
Furthermore, the spray gun mechanism comprises a spray gun and a telescopic mechanism, the spray gun is arranged at the telescopic end of the telescopic mechanism, and the fixed end of the telescopic mechanism is fixed on the second sliding mechanism;
the spray gun comprises one or more independently arranged spray nozzles, and an electromagnetic valve for controlling the opening/closing of the spray nozzles is arranged at each spray nozzle.
Furthermore, the telescopic mechanism comprises a telescopic rod and a third servo motor for driving the telescopic rod to stretch, the spray gun is arranged at the telescopic end of the telescopic rod, and the third servo motor is fixed on the second sliding mechanism;
a lug is fixed on a fixed rod of the telescopic mechanism, and an edge detection sensor for detecting the front edge of the spray gun is fixedly arranged on the lug.
The projection is provided with a detection rod, two ends of the detection rod are respectively provided with a movable edge detection sensor, the spray gun comprises a plurality of nozzles which are arranged in sequence, and the arrangement direction of the nozzles is parallel to the length direction of the detection rod.
Furthermore, an ultrasonic sensor, a laser direction indicator and a controller are arranged on the support, and the input end of the controller is respectively connected with the output ends of the ultrasonic sensor, the laser direction indicator, the pressure sensor and the flow sensor, and the output end of the flow sensor is connected with the output end of the controller in a branch manner and is connected with the input end of the first servo motor, the input end of the second servo motor, the input end of the third servo motor and the input end of the high-pressure pump.
A construction method of a 3D printing robot for waterproof layer construction includes:
the chassis device moves to a region to be coated, and the mechanical arm is adjusted according to the spraying range of the spraying gun mechanism;
and opening at least two independent feeding pipelines, and mixing the materials of different types in the cavity of the spray gun mechanism and then atomizing and spraying the materials.
Further, when the at least two independent feeding pipelines are opened, different types of materials are mixed in the cavity of the spray gun mechanism (22) and then atomized and sprayed out, the method specifically comprises the following steps:
the controller controls the opening of the air supply pipeline, and high-pressure air enters a cavity of the spray gun mechanism;
the controller controls pumping parameters of the high-pressure pump according to pressure and flow data detected by the pressure sensor and the flow sensor;
the controller controls the mechanical arm to move according to the boundary of the area to be coated, which is detected by the edge detection sensor, so that the spraying direction of the spray gun moves along the boundary;
the controller controls the working states of the third servo motor and the mechanical arm according to the concave-convex state of the area to be coated detected by the laser pointer so as to adjust the movement track of the spray gun;
and the controller controls the working state of the third servo motor according to the distance between the spray gun and the area to be coated, which is detected by the ultrasonic sensor, so as to adjust the distance between the spray gun and the area to be coated.
The 3D printing robot for waterproof layer construction and the construction method thereof provided by the invention have the advantages that: according to the 3D printing robot for waterproof layer construction and the construction method thereof, provided by the invention, different feeding pipelines are independently arranged, so that materials are independently conveyed, the materials are mixed in a spraying device, and the mode of material post-fusion avoids the defect that the feeding pipelines are easy to block when the materials are fused and conveyed, so that frequent cleaning of the feeding pipelines is effectively avoided; the high-pressure air is adopted to assist the mixing of the materials, so that the atomization degree of the mixed materials is improved, the mixed materials can be uniformly sprayed to an area to be sprayed through a nozzle, the dynamic control of pressure and flow in the material conveying process is realized through the arrangement of the flow sensor and the pressure sensor, and the defects of blockage, material shortage and the like of a feeding pipeline can be prevented; the mechanical arm enables the spray gun mechanism to move freely; the edge detection sensor enables the spray gun to spray along the edge of the area with spraying, so that material waste and environmental pollution are avoided; the whole robot can realize automatic walking, automatic edge positioning, automatic shifting, automatic distance adjustment and automatic edge identification, thereby improving the efficiency, improving the coating uniformity, saving manpower and materials, reducing the influence on the personal health of operators and improving the automatic production level of beam yard factories.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a robotic arm;
FIG. 3 is a schematic structural view of a Y-axis transmission mechanism;
FIG. 4 is a schematic view of the structure of the spray coating device;
FIG. 5 is a schematic structural view of a supply pipeline, an air supply pipeline and a spraying device;
FIG. 6 is a flowchart of the working steps of the printing robot;
wherein, 1-chassis device, 2-spraying device, 3-mechanical arm, 4-air compressor, 5-high pressure pump, 21-feeding mechanism, 22-spray gun mechanism, 23-feeding pipeline, 24-air supply pipeline, 31-X axis transmission mechanism, 32-Y axis transmission mechanism, 33-beam, 34-bracket, 221-spray gun, 222-telescoping mechanism, 223-telescopic rod, 224-third servo motor, 2225-lug, 226-edge detection sensor, 311-second sliding mechanism, 12-second servo motor, 313-second gear, 321-first sliding mechanism, 322-first servo motor, 323-worm gear mechanism, 324-first gear, 341-sliding rail, 342-first rack, 331-second rack.
Detailed Description
The present invention is described in detail below with reference to specific embodiments, and in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Referring to fig. 1 to 5, the 3D printing robot for waterproof layer construction and the construction method thereof according to the present invention includes a chassis device 1, a spraying device 2 and a mechanical arm 3 for driving the spraying device 2 to move are disposed on the chassis device 1, and the mechanical arm 3 is fixed on the chassis device 1; the spraying device 2 comprises a feeding mechanism 21 fixed on the chassis device 1, a spray gun mechanism 22 used for spraying and at least two independent feeding pipelines 23, the input end of each feeding pipeline 23 is communicated with the feeding mechanism 21, the output end of each feeding pipeline 23 is communicated with the spray gun mechanism 22, and the spray gun mechanism 22 is fixed at the clamping end of the mechanical arm 3 in a sliding mode.
The chassis device 1 moves, so that the mechanical arm 3 moves, the spray gun mechanism 22 moves through the mechanical arm 3, the mechanical arm 3 can move in different directions, and the spray gun mechanism 22 moves in different directions. Independent setting between the different feed pipelines 23, realize independent transported substance material, make the material mix in spraying device 2, the mode that fuses behind the material, when having avoided the material to fuse earlier and carry again, cause the easy defect of blockking up of feed pipeline, consequently, effectively avoided the frequent washing of feed pipeline, spray after shutting down, only need wash or change the nozzle can, avoid the pipeline to pollute and block up, spraying device 2's spraying stability and efficiency have effectively been protected, the spraying cost is reduced simultaneously, the economic nature of spraying has been improved.
For example, as shown in fig. 5, the spraying material in the present application is a polyurethane material, and the materials are divided into A, B groups and A, B groups, which are respectively pumped by the high pressure of the feeding pipe 23, mixed in a fixed ratio in the spray gun mechanism 22, and mixed in the spray gun, so that the problem of rapid solidification after A, B groups of materials are mixed is avoided, the effective operation time of the material is effectively ensured, and meanwhile, the material which is not used up every day can be continuously used the next day.
Further, the spraying device 2 further comprises an air supply pipeline 24, wherein an input end of the air supply pipeline 24 is communicated with an output end of an air compressor 4 fixed on the chassis device 1, and an output end of the air compressor is communicated with the spray gun mechanism 22. The input end of the feeding pipeline 23 is also connected with a high-pressure pump 5 for controlling the material conveying flow in the feeding pipeline 23, and a pulse eliminating device is arranged in the high-pressure pump 5; one side of the high-pressure pump 5 is provided with a pressure sensor for detecting the pressure in the feed pipeline 23 and a flow sensor for detecting the flow in the feed pipeline 23, and the controller is respectively in wireless connection with the pressure sensor and the flow sensor. The pulse eliminating device can more stably convey materials into the feeding pipeline 23 in the process of enabling the high-pressure pump 5 to work.
In order to improve the degree of atomization of waterproof material, adopt highly-compressed air to assist, highly-compressed air passes through air supply line 24 and carries in spray gun mechanism 22 for the misce bene in the atomizing spray gun mechanism 22 has not only improved the degree of mixing of different materials, has improved the degree of atomization of misce bene moreover, makes the misce bene can treat through even spraying of nozzle and sprays the region. Meanwhile, the defect that the nozzle is blocked or the spraying area to be sprayed is uneven due to uneven mixing of the mixed materials is avoided.
The flow sensor and the pressure sensor detect the material conveying pressure and the conveying flow in the feeding pipeline 23 in real time, convey pressure and flow data to the controller, and can control the working state of the high-pressure pump 5 through the controller so as to realize dynamic control of the pressure and the flow in the material conveying process and prevent the defects of blockage, material shortage and the like of the feeding pipeline 23. Meanwhile, a corresponding flow sensor and a corresponding pressure sensor can be arranged in the air supply pipeline 24 to realize the flow and the pressure of the mixture entering the spray gun mechanism 22 so as to meet the requirements of the mixture on different flow and pressure of high-pressure air.
Further, as shown in fig. 2 and 3, the robot arm 3 includes an X-axis transmission mechanism 31, a Y-axis transmission mechanism 32, a beam 33 connected to the Y-axis transmission mechanism 32, and a bracket 34 fixed to the chassis device 1, the Y-axis transmission mechanism 32 is slidably connected to the bracket 34, the X-axis transmission mechanism 31 is slidably connected to the Y-axis transmission mechanism 32 through the beam 33, and the spray gun mechanism 22 is fixed to the X-axis transmission mechanism 31. The arrangement of the X-axis transmission mechanism 31 and the Y-axis transmission mechanism 32 enables the spray gun mechanism 22 to move on the X axis and the Y axis, manual operation is not needed in the spraying process, and mechanization and automation in the spraying process are achieved.
Wherein, the beam 33 and the Y-axis transmission mechanism 32 can be fixedly connected or can be connected in a sliding way; when the connection is fixed, the beam 33 and the Y-axis transmission mechanism 32 can be directly connected by bolts, pins, welding, etc.; when the connection is sliding connection, the clamping end of the Y-axis transmission mechanism 32 is provided with a pulley, the pulley is in sliding connection with the surface of the cross beam 33 in the length direction so as to realize the free movement of the cross beam 33 on the Y-axis transmission mechanism 32, and the two ends of the cross beam 33 are provided with limiting mechanisms so as to ensure that the cross beam 33 cannot be separated from the Y-axis transmission mechanism 32 in the movement process, so that the sliding connection improves the movement range of the spray gun mechanism 22 connected with the cross beam 33.
Specifically, for the robot arm, the following structure is adopted to realize the movement of the spray gun mechanism 22; the two opposite sides of the bracket 34 are provided with sliding rails 341, one sides of the two sliding rails 341 are respectively provided with a first rack 342 fixed on the bracket 34, and the first rack 342 and the sliding rails 341 are arranged in parallel and in the same direction;
the Y-axis transmission mechanism 32 comprises a first sliding mechanism 321, a first servo motor 322, a worm and gear mechanism 323 and a first gear 324, the first sliding mechanism 321 is connected with the bracket 34 in a sliding manner through a sliding rail 341, the first servo motor 322 and the worm and gear mechanism 323 are both fixed on the first sliding mechanism 321, the output end of the first sliding mechanism is connected with the worm gear of the worm and gear mechanism 323 in a transmission manner, the two ends of the worm and gear mechanism 323 are connected with the first gear 324, and the first gear 324 is meshed with the first rack 342; the first servo motor 322 drives the worm and gear mechanism 323 to rotate, so as to drive the first gear 324 fixed on the worm and gear mechanism 323 to rotate, and according to the engagement between the first gear 324 and the first rack 342, the engagement transmission of the first gear 324 is realized, so as to realize the up-and-down movement of the X-axis transmission mechanism 31 fixed on the Y-axis transmission mechanism 32, and finally, the up-and-down movement adjustment of the spray gun mechanism 22 fixed on the X-axis transmission mechanism 31 is realized, so as to realize mechanized spraying.
The X-axis transmission mechanism 31 includes a second sliding mechanism 311 and a second servo motor 312, the second sliding mechanism 311 is slidably connected to the cross beam 33 through a pulley, an output end of the second servo motor 312 passes through the second sliding mechanism 311 and is connected to a second gear 313, and the second gear 313 is engaged with a second rack 331 provided on the cross beam 33. The cross beam 33 fixed on the Y-axis transmission mechanism 32 is provided with a slide way and a second rack 331, the second servo motor 312 drives the second gear 313 to rotate, and the second gear 313 is meshed with the second rack 331 to move along the direction of the second rack 331 according to the meshing of the gear and the rack, because the second sliding mechanism 311 provides a pulley to be matched with the slide way arranged on the cross beam 33, the second sliding mechanism 311 moves back and forth along the length direction of the cross beam 33 along with the rotation of the second gear 313, so that the left and right movement adjustment of the spray gun mechanism 22 fixed on the X-axis transmission mechanism 31 is realized, and the mechanized spraying is realized.
Further, in order to achieve the front-rear adjustment of the spray gun mechanism 22, i.e., in combination with the up-down, left-right adjustment of the robot arm, the three-dimensional spatial adjustment of the spray gun mechanism 22 is achieved. As shown in fig. 4, the spray gun mechanism 22 includes a spray gun 221 and a telescopic mechanism 222, the spray gun 221 is disposed at a telescopic end of the telescopic mechanism 222, and a fixed end of the telescopic mechanism 222 is fixed on the second sliding mechanism 311; the telescopic mechanism 222 comprises a telescopic rod 223 and a third servo motor 224 for driving the telescopic rod 223 to extend and retract, the spray gun 221 is arranged at the telescopic end of the telescopic rod 223, and the third servo motor 224 is fixed on the second sliding mechanism 311. The spray gun 221 includes one to a plurality of nozzles independently provided, and a solenoid valve for controlling opening/closing of the nozzles is provided at each nozzle.
The third servo motor 224 drives the telescopic rod 223 to move in a telescopic manner, so that the spray gun 221 can be adjusted forwards and backwards; in order to accurately adjust the movement of the spray gun 221 according to the edge of the area to be sprayed, a projection 225 is fixed on the fixing rod of the telescopic mechanism 222, and an edge detection sensor 226 for detecting the front edge of the spray gun 221 is fixed on the projection 225. The projection 225 does not move with the movement of the telescopic bar of the telescopic mechanism 222, and therefore the position of the edge detection sensor 226 fixed to the projection 225 with respect to the torch 221 does not change. When the edge detection sensor 226 detects the edge of the area to be sprayed, on the one hand the movement of the spray gun 221 can be adjusted by the robot arm 3 so that the spraying direction of the spray gun 221 moves along the edge; on the other hand, in the case where at least two nozzles are provided, the open/close state of the nozzles can be adjusted by controlling the solenoid valve to realize the movement of the spray direction of the spray gun 221 along the edge, thereby preventing material waste and environmental pollution.
In order to realize that the distance between the spray gun 221 and the area to be sprayed is in the spraying set distance, the ultrasonic sensor is arranged on the support 34, and the ultrasonic sensor can detect the distance between the vehicle body of the printing robot and the area to be sprayed, that is, the distance between the spray gun 221 and the area to be sprayed can be obtained, so that the distance between the spray gun 221 and the area to be sprayed is in the set distance in the spraying process.
When there is unevenness's position in waiting to spray the region, be provided with the laser director on support 34, the error that the difference of roof beam piece height brought in the region is sprayed in the laser director reason mark waiting to spray makes printing robot be in the track of setting for all the time with ultrasonic sensor cooperation.
It should be understood that the chassis device 1 is a crawler-type traveling chassis, the crawler of the crawler-type traveling chassis is made of rubber material, and the chassis device 1 can drive the spraying device to rotate in place or move along the moving direction of the crawler. The printing robot can adopt 1 electric starting diesel engine with 5-7kW of power to provide AC380V power for the whole device, and the generator has the characteristics of ultra-silence, no vibration, low oil consumption and the like.
In the above embodiment, the input end of the controller is respectively connected to the output ends of the ultrasonic sensor, the laser pointer, the pressure sensor and the flow sensor, and the output end of the flow sensor is respectively connected to the output branches of the controller, and is connected to the input end of the first servo motor 322, the input end of the second servo motor 312, the input end of the third servo motor 224 and the input end of the high-pressure pump 5.
In order to realize wireless remote control, a wireless remote controller is arranged, the wireless remote controller is wirelessly connected with the controller, and the purpose of controlling the printing robot to work through the wireless remote controller is realized.
The construction method of the invention adopts an intelligent robot to circularly spray each beam one by one in the beam storage area of the precast beam yard according to a set route. As shown in fig. 6, a construction method of a 3D printing robot for waterproof layer construction includes the following steps:
the method comprises the following steps: the printing robot frame is completely installed, and a material mixing ratio calibration test is firstly carried out before the high-pressure pump body is installed, so that the material mixing ratio is accurately adjusted. After the assembly is finished, the information connection condition of the equipment, the smooth condition of a spray head of the spray gun and a pipeline are checked, the robot is moved to a beam storage area to be sprayed through a remote controller, and A, B groups of materials are added into the charging basket.
Step two: according to the field planning and the beam storage area layout, the intelligent robot walking path and the spraying task are well set on the controller, and a row of beams in the beam storage area are generally planned to serve as the spraying task.
Step three: and loading the outline to be sprayed at the beam end on a controller, and clicking the outline to form a surface to be sprayed. The spray parameters such as the number of passes, the thickness of each pass (recommended to be set to 0.3mm each time) are set.
The controller is provided with a profile formed by parameters, the spraying mechanism sprays according to the profile, and then in the spraying process, the laser pointer 227, the ultrasonic sensor, the pressure sensor, the flow sensor and the like are used for spraying adjustment.
Step four: after the spraying machine is started, the robot can move forwards to the left position of a first beam to be sprayed, the distance between a vehicle body and the beam surface is automatically checked in the movement process, the vehicle body posture is dynamically adjusted to be parallel to the beam section, after the robot is in place, the vehicle body stops, the controller controls to open the feeding pipeline 23 and the air supply pipeline 24 to start spraying, and the spray head is enabled to uniformly cover each area under the operation of the mechanical arm 3; when each beam is sprayed specifically, the spraying is automatically carried out according to the outline of the beam-end waterproof layer which is set, one beam stops for three times, and the mechanical arm 3 and the spray gun mechanism 22 are controlled by the controller to finish the left side, right side and lower part spraying.
In the process of printing and spraying, the controller controls the pumping parameters of the high-pressure pump 5 according to the pressure and flow data detected by the pressure sensor and the flow sensor;
the controller controls the robot arm 3 to move so that the ejection direction of the spray gun 221 moves along the boundary, based on the boundary of the area to be coated detected by the edge detection sensor 226;
the controller controls the working states of the third servo motor 224 and the mechanical arm 3 according to the concave-convex state of the area to be coated detected by the laser pointer 227 so as to adjust the motion track of the spray gun 221;
the controller controls the operating state of the third servo motor 224 according to the distance between the spray gun 221 and the area to be coated, which is detected by the ultrasonic sensor, to adjust the distance between the spray gun 221 and the area to be coated.
Step five: after the first spraying of the beam is finished, the robot moves to the next beam, and then the subsequent beam pieces are sprayed in sequence until all the beam pieces are sprayed.
Step six: and after the spraying of all the beams of the first piece is finished, the robot walks to the initial beam and starts the second spraying. Until the set times of spraying are finished.
Step seven: after the spraying operation is finished, the robot returns to the initial position, the spray gun is disassembled, the special paint cleaning agent is used for cleaning, and the residual materials are poured into the barrel for sealing.
Printing robot possesses the automatic walking in this application, according to edge location, aversion, adjustment distance, discernment edge, through the characteristics of high-pressure pump adjustment volume of spraying, the overall process need not artificial interference, has that intelligent degree is high, the spraying is of high quality, the material is extravagant few, environmental pollution is little characteristics, the efficiency is more than 5 times for traditional instrument, the roof beam end waterproof layer quality has showing the improvement, has the value that the general use widely of beam yard class.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A3D printing robot for waterproof layer construction comprises a chassis device (1) and is characterized in that a spraying device (2) and a mechanical arm (3) for driving the spraying device (2) to move are arranged on the chassis device (1), and the mechanical arm (3) is fixed on the chassis device (1);
the spraying device (2) comprises a feeding mechanism (21) fixed on the chassis device (1), a spray gun mechanism (22) used for spraying and at least two independent feeding pipelines (23), the input end of each feeding pipeline (23) is communicated with the feeding mechanism (21), the output end of each feeding pipeline is communicated with the spray gun mechanism (22), and the spray gun mechanism (22) is fixed at the clamping end of the mechanical arm (3) in a sliding mode.
2. The 3D printing robot for waterproof layer construction according to claim 1, wherein the spraying device (2) further comprises an air supply pipeline (24), an input end of the air supply pipeline (24) is communicated with an output end of an air compressor (4) fixed on the chassis device (1), and an output end of the air supply pipeline is communicated with the spray gun mechanism (22);
the input end of the feeding pipeline (23) is also connected with a high-pressure pump (5) for controlling the material conveying flow in the feeding pipeline (23);
one side of the high-pressure pump (5) is provided with a pressure sensor for detecting the pressure in the feed pipeline (23) and a flow sensor for detecting the flow in the feed pipeline (23).
3. The 3D printing robot for waterproof layer construction according to any one of claims 1-2, wherein the mechanical arm (3) comprises an X-axis transmission mechanism (31), a Y-axis transmission mechanism (32), a cross beam (33) connected with the Y-axis transmission mechanism (32), and a bracket (34) fixed on the chassis device (1), the Y-axis transmission mechanism (32) is slidably connected with the bracket (34), the X-axis transmission mechanism (31) is slidably connected with the Y-axis transmission mechanism (32) through the cross beam (33), and the spray gun mechanism (22) is fixed on the X-axis transmission mechanism (31).
4. The 3D printing robot for waterproof layer construction according to claim 3, wherein the opposite sides of the bracket (34) are provided with sliding rails (341), one sides of the two sliding rails (341) are respectively provided with a first rack (342) fixed on the bracket (34), and the first racks (342) and the sliding rails (341) are arranged in parallel and in the same direction;
the Y-axis transmission mechanism (32) comprises a first sliding mechanism (321), a first servo motor (322), a worm and gear mechanism (323) and a first gear (324), the first sliding mechanism (321) is in sliding connection with the bracket (34) through a sliding rail (341), the first servo motor (322) and the worm and gear mechanism (323) are both fixed on the first sliding mechanism (321), the output end of the first sliding mechanism is in transmission connection with a worm wheel of the worm and gear mechanism (323), two ends of a worm of the worm and gear mechanism (323) are in transmission connection with the first gear (324), and the first gear (324) is meshed with a first rack (342);
the X-axis transmission mechanism (31) comprises a second sliding mechanism (311) and a second servo motor (312), the second sliding mechanism (311) is connected with the cross beam (33) in a sliding mode through a pulley, the output end of the second servo motor (312) penetrates through the second sliding mechanism (311) to be connected with a second gear (313), and the second gear (313) is meshed with a second rack (331) arranged on the cross beam (33).
5. The 3D printing robot for waterproof layer construction according to claim 4, wherein the spray gun mechanism (22) comprises a spray gun (221) and a telescopic mechanism (222), the spray gun (221) is arranged at a telescopic end of the telescopic mechanism (222), and a fixed end of the telescopic mechanism (222) is fixed on the second sliding mechanism (311);
the spray gun (221) includes one to a plurality of nozzles independently provided, and a solenoid valve for controlling opening/closing of the nozzles is provided at each nozzle.
6. The 3D printing robot for waterproof layer construction according to claim 5, wherein the telescopic mechanism (222) comprises a telescopic rod (223) and a third servo motor (224) for driving the telescopic rod (223) to stretch, the spray gun (221) is arranged at the telescopic end of the telescopic rod (223), and the third servo motor (224) is fixed on the second sliding mechanism (311);
a projection (225) is fixed on a fixing rod of the telescopic mechanism (222), and an edge detection sensor (226) and a laser pointer (227) for detecting the front edge of the spray gun (221) are fixedly arranged on the projection (225).
7. The 3D printing robot for waterproof layer construction according to claim 6, wherein a detection rod (6) is provided on the projection (225), the detection rod (6) is provided at both ends thereof with a movable edge detection sensor (226), the spray gun (221) comprises a plurality of nozzles (228) arranged in sequence, and the arrangement direction of the nozzles (228) is parallel to the length direction of the detection rod (6).
8. The 3D printing robot for waterproof layer construction according to claim 7, wherein the bracket (34) is provided with an ultrasonic sensor and a controller, and the input end of the controller is respectively connected with the output end of the ultrasonic sensor, the output end of the laser pointer 227, the output end of the pressure sensor and the output end of the flow sensor, and the output end subsections of the controller are connected with the input end of the first servo motor (322), the input end of the second servo motor (312), the input end of the third servo motor (224) and the input end of the high-pressure pump (5).
9. A construction method of a 3D printing robot for waterproof layer construction is characterized by comprising the following steps:
the chassis device (1) moves to a region to be coated, and the mechanical arm (3) is adjusted according to the spraying range of the spraying gun mechanism (22);
at least two independent feed pipelines (23) are opened, and different types of materials are mixed in the cavity of the spray gun mechanism (22) and then atomized and sprayed out.
10. The construction method of the 3D printing robot for waterproof layer construction according to claim 9, wherein opening at least two independent feeding pipelines (23) and mixing different kinds of materials in the cavity of the spray gun mechanism (22) for atomization and spraying specifically comprises:
loading a profile to be sprayed at the beam end on a controller, and clicking the profile to form a surface to be sprayed;
the controller controls the opening of the air supply pipeline (24), and high-pressure air enters a cavity of the spray gun mechanism (22);
the controller controls the pumping parameters of the high-pressure pump (5) according to the pressure and flow data detected by the pressure sensor and the flow sensor;
the controller controls the mechanical arm (3) to move according to the boundary of the area to be coated detected by the edge detection sensor (226), so that the spraying direction of the spray gun (221) moves along the boundary;
the controller controls the working states of the third servo motor (224) and the mechanical arm (3) according to the concave-convex state of the area to be coated detected by the laser pointer (227) so as to adjust the motion track of the spray gun (221);
the controller controls the working state of the third servo motor (224) according to the distance between the spray gun (221) and the area to be coated, which is detected by the ultrasonic sensor, so as to adjust the distance between the spray gun (221) and the area to be coated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010328206.2A CN111451055A (en) | 2020-04-23 | 2020-04-23 | 3D printing robot for waterproof layer construction and construction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010328206.2A CN111451055A (en) | 2020-04-23 | 2020-04-23 | 3D printing robot for waterproof layer construction and construction method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111451055A true CN111451055A (en) | 2020-07-28 |
Family
ID=71674167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010328206.2A Pending CN111451055A (en) | 2020-04-23 | 2020-04-23 | 3D printing robot for waterproof layer construction and construction method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111451055A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439603A (en) * | 2020-11-18 | 2021-03-05 | 西安远景智能控制有限公司 | Box girder end face spraying device and spraying method |
| CN113021382A (en) * | 2021-04-29 | 2021-06-25 | 西安建筑科技大学 | Full-automatic intelligent spraying robot |
| CN113638318A (en) * | 2021-08-19 | 2021-11-12 | 北京好运达智创科技有限公司 | Multifunctional robot for box girder machining |
| CN113996458A (en) * | 2021-11-08 | 2022-02-01 | 陈保庆 | Coating spraying device for building decoration engineering |
| CN115318469A (en) * | 2022-08-29 | 2022-11-11 | 江西万橡家具集团有限公司 | Surface plastic spraying device for steel-wood furniture processing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202399458U (en) * | 2011-11-24 | 2012-08-29 | 胜利油田胜利石油化工建设有限责任公司 | Jet suction foaming gun for foaming machine |
| 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 |
| CN105665187A (en) * | 2016-03-26 | 2016-06-15 | 山东孚胜工程技术有限公司 | Waterproof paint automatic spraying trolley and spraying construction method |
| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| US10618179B1 (en) * | 2018-02-28 | 2020-04-14 | Philip See | Remote-controlled robot for spray painting |
| CN212493610U (en) * | 2020-04-23 | 2021-02-09 | 中铁四局集团第五工程有限公司 | A3D printing robot for waterproof layer construction |
-
2020
- 2020-04-23 CN CN202010328206.2A patent/CN111451055A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202399458U (en) * | 2011-11-24 | 2012-08-29 | 胜利油田胜利石油化工建设有限责任公司 | Jet suction foaming gun for foaming machine |
| 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 |
| CN105665187A (en) * | 2016-03-26 | 2016-06-15 | 山东孚胜工程技术有限公司 | Waterproof paint automatic spraying trolley and spraying construction method |
| US10618179B1 (en) * | 2018-02-28 | 2020-04-14 | Philip See | Remote-controlled robot for spray painting |
| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN212493610U (en) * | 2020-04-23 | 2021-02-09 | 中铁四局集团第五工程有限公司 | A3D printing robot for waterproof layer construction |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439603A (en) * | 2020-11-18 | 2021-03-05 | 西安远景智能控制有限公司 | Box girder end face spraying device and spraying method |
| CN113021382A (en) * | 2021-04-29 | 2021-06-25 | 西安建筑科技大学 | Full-automatic intelligent spraying robot |
| CN113021382B (en) * | 2021-04-29 | 2022-02-01 | 西安建筑科技大学 | Full-automatic intelligent spraying robot |
| US11498224B1 (en) | 2021-04-29 | 2022-11-15 | Xi'an University Of Architecture And Technology | Fully automatic intelligent spraying robot |
| CN113638318A (en) * | 2021-08-19 | 2021-11-12 | 北京好运达智创科技有限公司 | Multifunctional robot for box girder machining |
| CN113996458A (en) * | 2021-11-08 | 2022-02-01 | 陈保庆 | Coating spraying device for building decoration engineering |
| CN115318469A (en) * | 2022-08-29 | 2022-11-11 | 江西万橡家具集团有限公司 | Surface plastic spraying device for steel-wood furniture processing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111451055A (en) | 3D printing robot for waterproof layer construction and construction method thereof | |
| CN212493610U (en) | A3D printing robot for waterproof layer construction | |
| CN102177002B (en) | Painting device and corresponding operation method | |
| CN101977695B (en) | Painting robot and associated operating method | |
| KR100968910B1 (en) | External ostensible coating compound automatic application equipment of railway car | |
| CN101104163B (en) | Container outside paint spraying system | |
| CN104631801A (en) | Architectural coating spraying robot | |
| JP7249623B2 (en) | Steel frame automatic coating device and steel frame coating method | |
| CN111871663B (en) | Insulating paint brushing device and using method | |
| CN101579791B (en) | Soldering flux sprayer | |
| CN108860075A (en) | A kind of method of carwash intelligent robot carwash | |
| KR100760261B1 (en) | apparatus for painting letters on road surface | |
| CN209255059U (en) | A kind of multiple gun mixing paint-spray robot of view-based access control model servo | |
| CN210729933U (en) | Automatic spraying equipment | |
| CN114345576A (en) | Spraying machine and spraying method for maintaining automobile paint surface | |
| JP2990124B2 (en) | Robotic cleaning equipment for large parts | |
| CN112808498A (en) | High-precision crawler horizontal paint spraying robot | |
| CN202803503U (en) | Automatic paint sprayer for container bottom frame | |
| CN205914311U (en) | A intelligent robot for construction of spraying rapid hardening rubber asphalt waterproof coating | |
| JP2003225596A (en) | Automatic coating apparatus for lower part of vehicle and method for using the same | |
| CN220716280U (en) | Automobile body spraying device convenient for controlling spraying distance | |
| CN216655156U (en) | Automatic leather brushing device of changing | |
| CN220514472U (en) | Paint spraying device for girder of crane | |
| CN217967541U (en) | Automatic oil spraying device for template mold | |
| CN212156598U (en) | Automatic quantitative oil spraying and lubricating system for engine bearing bush |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210728 Address after: 332000 no.968 Changhong Avenue, Lianxi District, Jiujiang City, Jiangxi Province Applicant after: THE FIFITH CONSTRUCTION LTD.OF CHINA TIESIJU CIVIL ENGINEERING Group Applicant after: CHINA RAILWAY NO.4 ENGINEERING GROUP Co.,Ltd. Applicant after: XI'AN MODERN CONTROL Co.,Ltd. Address before: 332000 no.369, Qingnian South Road, Jiujiang City, Jiangxi Province Applicant before: THE FIFITH CONSTRUCTION LTD.OF CHINA TIESIJU CIVIL ENGINEERING Group Applicant before: CHINA RAILWAY NO.4 ENGINEERING GROUP Co.,Ltd. |