CN111871648B - Nozzle device and spraying equipment - Google Patents
Nozzle device and spraying equipment Download PDFInfo
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- CN111871648B CN111871648B CN202010636194.XA CN202010636194A CN111871648B CN 111871648 B CN111871648 B CN 111871648B CN 202010636194 A CN202010636194 A CN 202010636194A CN 111871648 B CN111871648 B CN 111871648B
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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
- B05B13/0278—Arrangement or mounting of spray heads
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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
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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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
- 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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to the technical field of construction machinery, in particular to a nozzle device and spraying equipment. The nozzle device comprises a mounting frame, a nozzle assembly and a driving mechanism, wherein the nozzle assembly comprises a fixed frame, a first nozzle and a second nozzle; the driving mechanism is arranged on the mounting frame, the output end of the driving mechanism is in transmission connection with the fixing frame, the driving mechanism can drive the fixing frame and the mounting frame to be overlapped and unfolded, and when the fixing frame and the mounting frame are in an overlapped state, the spraying direction of the first nozzle is intersected with the spraying direction of the second nozzle; when the fixed frame and the mounting frame are in the unfolded state, the spraying direction of the first nozzle is the same as that of the second nozzle. The spray nozzle device improves the spraying efficiency, improves the wall surface adaptability of the spray nozzle device and enables the spraying operation to be more flexible.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a nozzle device and spraying equipment.
Background
Spraying is an important link in the decoration process, and the quality of the spraying directly influences the final appearance of the wall surface. The spraying operation has the following characteristics: firstly, the market demand is large; secondly, the production efficiency is low; thirdly, the labor cost is high; fourthly, the spraying quality requirement is high; fifthly, the repeated operability is strong, and the intelligent operation equipment is suitable for being realized.
At present, most of the existing spraying equipment utilizes a multi-degree-of-freedom mechanical arm to carry a nozzle to realize spraying operation at any spatial position. The mechanical arm carries a single nozzle, is suitable for spraying operation in a narrow space, but has low spraying efficiency. The mechanical arm carries a plurality of nozzles to carry out spraying operation, although spraying efficiency can be improved, the size of the nozzle device is large, the nozzle device is suitable for spraying operation in a large space, and spraying operation is inconvenient for a spraying area with limited space, and spraying quality is influenced.
Therefore, a nozzle device is needed to solve the above problems.
Disclosure of Invention
One object of the present invention is to provide a nozzle device which has good wall surface adaptability, more flexible spraying operation and high spraying efficiency.
Another object of the present invention is to provide a spraying apparatus, which has good wall surface adaptability, more flexible spraying operation and high spraying efficiency by using the nozzle device.
In order to realize the purpose, the following technical scheme is provided:
in one aspect, a nozzle device is provided, which includes a mounting rack, a nozzle assembly and a driving mechanism, wherein the nozzle assembly includes a fixing rack, a first nozzle and a second nozzle, the fixing rack is movably disposed on the mounting rack, and the first nozzle and the second nozzle are both disposed on the fixing rack; the driving mechanism is arranged on the mounting frame, the output end of the driving mechanism is in transmission connection with the fixing frame, the driving mechanism can drive the fixing frame and the mounting frame to be overlapped and unfolded, and when the fixing frame and the mounting frame are in an overlapped state, the spraying direction of the first nozzle is intersected with the spraying direction of the second nozzle; when the fixed frame and the mounting frame are in an unfolded state, the spraying direction of the first nozzle is the same as that of the second nozzle.
As an alternative of the nozzle device, the fixing frame comprises a first fixing piece and a second fixing piece, the first fixing piece is movably arranged on the mounting frame, and the first nozzle is arranged on the first fixing piece; the second fixing piece is movably arranged on the mounting rack, and the second nozzle is arranged on the second fixing piece; the driving mechanism can drive the first fixing piece to rotate relative to the mounting frame and to be overlapped with the mounting frame, and drive the second fixing piece to move relative to the mounting frame and to be overlapped with the mounting frame.
As an alternative to the nozzle arrangement, the mounting comprises a first mounting on which the drive mechanism is mounted and a second mounting; the second mounting piece and the first mounting piece are arranged at an included angle, and the first fixing piece is rotatably connected with the second mounting piece and can be overlapped with the first mounting piece; the second fixing piece is connected with the second mounting piece in a sliding mode and can be overlapped with the second mounting piece.
As an alternative to the nozzle device, the driving mechanism comprises a driving member, a first transmission module and a second transmission module, the driving member is arranged on the first mounting member; the first transmission module is in transmission connection with the driving piece and the first fixing piece and can drive the first fixing piece to rotate relative to the second mounting piece; the second transmission module is in transmission connection with the driving piece and the second fixing piece, and the second transmission module can drive the second fixing piece to slide relative to the second mounting piece.
As an alternative to the nozzle device, the driving member is a linear driving member, the first transmission module includes a connecting rod, one end of the connecting rod is hinged to the output end of the driving member, the other end of the connecting rod is hinged to the first fixing member, and the output end of the driving member can extend and retract to enable the first fixing member to rotate relative to the second fixing member.
As an alternative of the nozzle device, the second transmission module comprises a first transmission assembly and a second transmission assembly, the first transmission assembly comprises a first transmission wheel, a first transmission belt and a second transmission wheel, the first transmission belt is wound on the first transmission wheel and the second transmission wheel, and the output end of the driving piece is fixedly connected with the first transmission belt; the second transmission assembly and the first transmission assembly are arranged at an included angle, the second transmission assembly comprises a third transmission wheel, a second transmission belt and a fourth transmission wheel, the second transmission belt is wound on the third transmission wheel and the fourth transmission wheel, the third transmission wheel is coaxially and fixedly connected with the first transmission wheel, and the second transmission belt is fixedly connected with the second fixing piece; the output end of the driving piece can stretch out and draw back to enable the first transmission belt to drive the first transmission wheel and the second transmission wheel to rotate, and further drive the third transmission wheel and the fourth transmission wheel to rotate, so that the second fixing piece moves along with the second transmission belt.
As an alternative to the nozzle device, the fixing frame includes a rotating member and a rotating member, the rotating member is rotatably provided on the mounting frame, and the first nozzle is provided on the rotating member; the rotating part is rotatably arranged on the rotating part, and the second nozzle is arranged on the rotating part; the driving mechanism can drive the rotating member to rotate relative to the mounting frame and overlap with the mounting frame, and drive the rotating member to rotate relative to the rotating member, so that the spraying direction of the second nozzle is crossed with the spraying direction of the first nozzle.
As an alternative to the nozzle device, the driving mechanism includes a driving member, a third transmission module and a third transmission module, the driving member is mounted on the mounting frame; the third transmission module is in transmission connection with the driving piece and the rotating piece and can drive the rotating piece to rotate relative to the mounting frame; the fourth transmission module is in transmission connection with the rotating part and can drive the rotating part to rotate relative to the rotating part.
As an alternative of the nozzle device, the third transmission module comprises a swing rod, one end of the swing rod is hinged to the output end of the driving part, the other end of the swing rod is fixedly connected with the rotating part, and the output end of the driving part can stretch out and draw back to enable the swing rod to drive the rotating part to rotate relative to the mounting frame.
As an alternative to the nozzle device, the fourth transmission module includes a fifth transmission wheel, a third transmission belt and a sixth transmission wheel, the third transmission belt is wound around the fifth transmission wheel and the sixth transmission wheel, the fifth transmission wheel is fixed on the rotating shaft of the rotating member, and the sixth transmission wheel is fixedly connected with the rotating member; when the rotating member rotates, the fifth driving wheel can rotate, and the sixth driving wheel drives the rotating member to rotate through the third driving belt.
In another aspect, there is provided a spray coating device comprising a mobile manipulator and a nozzle arrangement as described above, the output end of the mobile manipulator being connected to a mounting of the nozzle arrangement for adjusting the position of the nozzle arrangement.
Compared with the prior art, the invention has the beneficial effects that:
the nozzle device provided by the invention can realize the unfolding or folding of the fixing frame and the mounting frame according to the size of the spraying space, so that the appearance size of the nozzle device is reduced adaptively, the spraying efficiency is improved, the wall surface adaptability of the nozzle device is improved, and the spraying operation is more flexible.
The spraying equipment provided by the invention has the advantages that the wall surface adaptability is good, the spraying operation is more flexible, and the spraying efficiency is high by applying the nozzle device.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic view of a nozzle device according to an embodiment of the present invention;
FIG. 2 is a schematic view of another embodiment of a nozzle assembly according to the present invention;
FIG. 3 is a schematic diagram illustrating a spraying operation under a first scenario according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a spraying operation under a second scenario according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a spraying operation under a third scenario according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a spraying operation under a fourth scenario according to a first embodiment of the present invention;
fig. 7 is a schematic diagram of a spraying operation under a fifth scenario according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating a spraying operation in a sixth scenario according to an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating a spray coating operation under a seventh scenario according to an embodiment of the present invention;
FIG. 10 is a schematic view of a nozzle device according to a second embodiment of the present invention;
FIG. 11 is a schematic structural view of a second embodiment of a nozzle device according to the present invention;
FIG. 12 is a schematic diagram of a spraying operation under a first scenario according to a second embodiment of the present invention;
fig. 13 is a schematic diagram of a spraying operation under a second scenario according to a second embodiment of the present invention;
FIG. 14 is a schematic diagram of a spraying operation under a third scenario according to the second embodiment of the present invention;
fig. 15 is a schematic diagram of a spraying operation under a fourth scenario according to the second embodiment of the present invention;
fig. 16 is a schematic diagram of a spraying operation under a fifth scenario according to the second embodiment of the present invention;
fig. 17 is a schematic diagram of a spraying operation under a sixth scenario according to the second embodiment of the present invention;
fig. 18 is a schematic diagram of a spraying operation under a seventh scenario according to the second embodiment of the present invention.
Reference numerals:
100-a nozzle arrangement; 200-moving the manipulator;
1-a mounting frame; 11-a first mount; 12-a second mount;
2-a fixing frame; 21-a first fixing member; 22-a second fixture; 23-a rotating member; 24-a rotating member;
3-a first nozzle;
4-a second nozzle;
5-a drive mechanism; 51-a drive member; 52-a connecting rod; 53-a first transmission assembly; 531-first drive wheel; 532-first drive belt; 533-second driving wheel; 54-a second transmission assembly; 541-a third driving wheel; 542-a second drive belt; 543-a fourth driving wheel; 55-swing link; 56-fifth driving wheel; 57-a third drive belt; 58-sixth transmission wheel.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally laid out when the product is used, and are only for convenience of description of the present invention, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", and the like are used for descriptive purposes only or to distinguish between different structures or components and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 9, the present embodiment provides a nozzle device 100, which includes a mounting frame 1, a nozzle assembly and a driving mechanism 5, wherein the nozzle assembly includes a fixing frame 2, a first nozzle 3 and a second nozzle 4, the fixing frame 2 is movably disposed on the mounting frame 1, and the first nozzle 3 and the second nozzle 4 are both disposed on the fixing frame 2; the driving mechanism 5 is arranged on the mounting frame 1, the output end of the driving mechanism 5 is in transmission connection with the fixing frame 2, the driving mechanism 5 can drive the fixing frame 2 to be overlapped and unfolded with the mounting frame 1, and when the fixing frame 2 and the mounting frame 1 are in an overlapped state, the spraying direction of the first nozzle 3 is intersected with the spraying direction of the second nozzle 4; when the fixed frame 2 and the mounting frame 1 are in the unfolded state, the spraying direction of the first nozzle 3 is the same as that of the second nozzle 4.
When the fixing frame 2 and the mounting frame 1 are in the unfolded state, at this time, the external dimension of the nozzle device 100 is large, the nozzle device is suitable for large-space spraying operation, the spraying direction of the first nozzle 3 is the same as that of the second nozzle 4, large-area spraying is carried out on the first nozzle 3 and the second nozzle 4, and the spraying efficiency is improved.
When the fixing frame 2 and the mounting frame 1 are in an overlapped state, at the time, the external dimension of the nozzle device 100 is small, and the nozzle device is suitable for small-space spraying operation, the spraying direction of the first nozzle 3 is intersected with the spraying direction of the second nozzle 4, and small-area spraying can be performed by only using the first nozzle 3 or the second nozzle 4, so that the flexibility of the spraying operation is improved.
In short, the nozzle device 100 can unfold or fold the fixing frame 2 and the mounting frame 1 according to the size of the spraying space, so that the overall dimension of the nozzle device 100 is reduced adaptively, the spraying efficiency is improved, and meanwhile, the wall surface adaptability of the nozzle device 100 is improved, and the spraying operation is more flexible.
As shown in fig. 1-2, the present embodiment provides an alternative nozzle device 100, which is embodied as:
the fixed frame 2 comprises a first fixed part 21 and a second fixed part 22, the first fixed part 21 is movably arranged on the mounting frame 1, and the first nozzle 3 is arranged on the first fixed part 21; the second fixing piece 22 is movably arranged on the mounting rack 1, and the second nozzle 3 is arranged on the second fixing piece 22; the driving mechanism 5 can drive the first fixing member 21 to rotate relative to the mounting frame 1 and to be overlapped with the mounting frame 1, and drive the second fixing member 22 to move relative to the mounting frame 1 and to be overlapped with the mounting frame 1, so that the external dimension of the nozzle device 100 can be reduced.
Optionally, the mounting frame 1 comprises a first mounting 11 and a second mounting 12, the drive mechanism 5 being mounted on the first mounting 11; the second mounting part 12 and the first mounting part 11 form an included angle, and the first fixing part 21 is rotatably connected with the second mounting part 12 and can be overlapped with the first mounting part 11; the second fixing member 22 is slidably connected to the second mounting member 12 and is capable of folding with the second mounting member 12.
Illustratively, the first mounting part 11 is perpendicular to the second mounting part 12, and when the fixing frame 2 and the mounting frame 1 are in the overlapped state, the first fixing part 21 and the second fixing part 22 are perpendicular to each other, and the spraying direction of the first nozzle 3 is perpendicular to the spraying direction of the second nozzle 4, respectively facing to two directions. When the fixing frame 2 and the mounting frame 1 are in an unfolded state, the first fixing piece 21 and the second fixing piece 22 are parallel, the spraying direction of the first nozzle 3 is parallel to the spraying direction of the second nozzle 4, and high-efficiency spraying is carried out on the same direction.
Optionally, the driving mechanism 5 includes a driving member 51, a first transmission module and a second transmission module, the driving member 51 is disposed on the first mounting member 11, the first transmission module is in transmission connection with the driving member 51 and the first fixing member 21, and the first transmission module can drive the first fixing member 21 to rotate relative to the second mounting member 12 and overlap with the first mounting member 11. The second transmission module is in transmission connection with the driving member 51 and the second fixing member 52, and the second transmission module can drive the second fixing member 52 to slide relative to the second mounting member 12 and overlap with the second mounting member 12.
The first transmission module comprises a connecting rod 52, and a driving piece 51 is arranged on the first mounting piece 11; one end of the connecting rod 52 is hinged to the output end of the driving member 51, and the other end is hinged to the first fixing member 21, and the output end of the driving member 51 can extend and retract to enable the first fixing member 21 to rotate relative to the second mounting member 12.
Illustratively, the driving member 51 may be a cylinder, a hydraulic cylinder, an electric push rod, or a linear motor.
Alternatively, one end of the first fixing member 21 is rotatably connected to the second mounting member 12, one end of the connecting rod 52 is hinged to the first fixing member 21, and the other end of the connecting rod 52 is hinged to the output end of the driving member 51. Then, the output end of the driving member 51 is extended to push the first fixing member 21 to rotate outwards to be parallel to the second mounting member 12; the output end of the driving member 51 is pulled back to pull the first fixing member 21 to rotate inward to overlap with the first mounting member 11 in parallel.
Further, in order to avoid interference between the link 52 and the rotation shaft of the first fixing member 21, the link 52 is bent or curved.
Illustratively, the first mounting member 11 is in the shape of a long straight bar, the second mounting member 12 is in the shape of a flat plate, and the second mounting member 12 is vertically fixed to the first mounting member 11. The first fixing member 21 is flat, so that the first fixing member 21 and the second mounting member 12 are stacked in parallel.
Optionally, the second transmission module includes a first transmission assembly 53 and a second transmission assembly 54, the first transmission assembly 53 includes a first transmission wheel 531, a first transmission belt 532 and a second transmission wheel 533, the first transmission belt 532 is wound on the first transmission wheel 531 and the second transmission wheel 533, and the output end of the driving member 51 is fixedly connected to the first transmission belt 532. The second transmission assembly 54 is disposed at an angle to the first transmission assembly 53, the second transmission assembly 54 includes a third transmission wheel 541, a second transmission belt 542 and a fourth transmission wheel 543, the second transmission belt 542 is wound around the third transmission wheel 541 and the fourth transmission wheel 543, the third transmission wheel 541 is coaxially and fixedly connected with the first transmission wheel 531, and the second transmission belt 542 is fixedly connected with the second fixing member 22. The output end of the driving member 51 can extend and contract to make the first transmission belt 532 drive the first transmission wheel 531 and the second transmission wheel 533 to rotate, and further drive the third transmission wheel 541 and the fourth transmission wheel 543 to rotate, so that the second fixing member 22 moves along with the second transmission belt 542.
In short, when the driving member 51 drives the first fixing member 21 to rotate, the second fixing member 22 can be driven to move simultaneously, so that the first fixing member 21 is overlapped with the first mounting part 11, and the second fixing member 22 is overlapped with the second mounting part 12.
In other embodiments, the transmission module is a rack-and-pinion transmission mechanism, specifically, the transmission module includes a first rack, a first gear, a second gear and a second rack, wherein the first rack is installed at the output end of the driving member 51, the first rack is engaged with the first gear, the first gear is coaxially and fixedly connected with the second gear, the second gear is engaged with the second rack, the second rack is installed on the second fixing member 22, and when the driving member 51 drives the first rack to move, the second rack can be driven by the first gear and the second gear to drive the second fixing member 22 to move.
Of course, in other embodiments, the transmission module may also be another transmission mechanism, as long as the driving member 51 can drive the second fixing member 22 to move relative to the second mounting member 12 through the transmission mechanism, which is not illustrated herein.
Illustratively, the second mounting part 12 is provided with a slide rail, the second fixing part 22 is provided with a slide groove, and the slide groove on the second fixing part 22 is in sliding fit with the slide rail on the second mounting part 12, so that the second fixing part 22 can move in a stable and directional manner.
The present embodiment also provides a spraying apparatus comprising the moving manipulator 200 and the nozzle device 100 described above, wherein the output end of the moving manipulator 200 is connected with the mounting frame 1 of the nozzle device 100 to adjust the position of the nozzle device 100. As shown in fig. 3 to 9, the spraying apparatus has good wall surface adaptability, more flexible spraying operation and high spraying efficiency by applying the nozzle device 100.
As shown in fig. 3, when the spraying equipment performs large-area vertical wall spraying operation, the spaces on both sides of the spraying equipment are free from obstructions, the fixing frame 2 and the mounting frame 1 can be unfolded, and the first nozzle 3 and the second nozzle 4 are opened simultaneously to perform the spraying operation. Illustratively, when the spacing between the two nozzles is 470mm, the ideal spray width overlap effect can be achieved, and the maximum spray width can reach 940 mm.
As shown in figure 4, when the spraying equipment is used for spraying the left end of the vertical wall, the first nozzle 3 can be independently opened to realize the spraying of the final residual wall surface, and the maximum spraying width can reach 470 mm.
As shown in fig. 5, when the spraying equipment is used for spraying the right end of the vertical wall, the second nozzle 4 can be independently opened to realize the spraying of the final residual wall surface, and the maximum spraying width can reach 470 mm.
As shown in fig. 6, when the spraying equipment sprays the internal corner of the vertical surface, the nozzle device 100 cannot be accommodated in the space, and the first fixing member 21 is driven by the driving member 51 to rotate and be perpendicular to the second mounting member 12, and the second fixing member 22 is overlapped with the second mounting member 12, so as to reduce the width of the nozzle device 100. At this time, the first nozzle 3 is folded to be perpendicular to the second mounting member 12, and the second nozzle 4 is contracted to the middle of the second mounting member 12. The second nozzle 4 is opened alone to achieve inside corner spraying. At the moment, the whole width of the nozzle device is greatly reduced, the nozzle device can carry out spraying operation on the internal corner in a short distance, meanwhile, two sides of the spraying equipment and the wall surface keep sufficient safe space, and the operation mode is also suitable for spraying the internal corner of the ceiling.
As shown in fig. 7-9, when the spraying equipment sprays a special narrow area, all-around spraying can be realized by using all nozzles. The diversified nozzle control strategies realize the diversified arrangement and combination of the spray amplitude and can be independently arranged according to scenes. The nozzle device has diversified functions, can reduce the complexity of the motion executing mechanism, reduce the number of whole machine control program modules, improve the motion reliability and improve the operation efficiency and the coverage rate of spraying operation.
Example two
As shown in fig. 10 to 11, the present embodiment provides an alternative nozzle device 100, which is different from the first embodiment in that:
the mounting 1 comprises only the first mounting 11 and no second mounting 12, the drive mechanism 5 being mounted on the first mounting 11.
Further, the fixing frame 2 includes a rotating member 23 and a rotating member 24, the rotating member 23 is rotatably disposed on the mounting frame 1 (i.e., the first mounting member 11), and the first nozzle 3 is disposed on the rotating member 23; the rotary member 24 is rotatably provided on the rotary member 23, and the second nozzle 4 is provided on the rotary member 24; the driving mechanism 5 can drive the rotating member 23 to rotate relative to the mounting frame 1 and overlap with the mounting frame 1, and drive the rotating member 24 to rotate relative to the rotating member 23, so that the spraying direction of the second nozzle 4 is crossed with the spraying direction of the first nozzle 3.
In short, the nozzle device 100 provided by the embodiment rotatably mounts the fixing frame 2 on the mounting frame 1, and then drives the fixing frame 2 to rotate to overlap with the mounting frame 1 through the driving mechanism 5, so as to reduce the external dimension of the nozzle device 100, improve the wall surface adaptability, and facilitate the spraying operation.
Optionally, the driving mechanism 5 includes a driving member 51, a third transmission module and a fourth transmission module, the driving member 51 is mounted on the first mounting member 11, the third transmission module is in transmission connection with the driving member 51 and the rotating member 23, and the third transmission module can drive the rotating member 23 to rotate relative to the mounting frame. The fourth transmission module is in transmission connection with the rotating member 23 and the rotating member 24, and the fourth transmission module can drive the rotating member 24 to rotate relative to the rotating member 23.
The third transmission module comprises a swing rod 55, and the driving piece 51 is arranged on the mounting rack 1; one end of the swing rod 55 is hinged to the output end of the driving part 51, the other end of the swing rod is fixedly connected with the rotating part 23, and the output end of the driving part 51 can stretch out and draw back to enable the swing rod 55 to drive the rotating part 23 to rotate relative to the mounting frame 1, so that the mounting frame 2 is overlapped with the mounting frame 1.
Illustratively, the swing link 55 is an arc-shaped plate, so that the driving member 51 drives the rotating member 23 to rotate through the swing link 55.
Illustratively, the driving member 51 may be a cylinder, a hydraulic cylinder, an electric push rod, or a linear motor.
The fourth transmission module comprises a fifth transmission wheel 56, a third transmission belt 57 and a sixth transmission wheel 58, the third transmission belt 57 is wound on the fifth transmission wheel 56 and the sixth transmission wheel 58, the fifth transmission wheel 56 is fixed on the rotating shaft of the rotating member 23, and the sixth transmission wheel 58 is fixedly connected with the rotating member 24; when the rotating member 23 rotates, the fifth transmission wheel 56 can rotate, and the sixth transmission wheel 58 drives the rotating member 24 to rotate through the third transmission belt 57, so that the spraying direction of the second nozzle 4 still faces forward when the fixed frame 2 is overlapped with the mounting frame 1.
In short, when the driving member 51 drives the rotating member 23 to rotate and overlap with the mounting frame 1 (i.e. the first mounting member 11), the rotating member 24 can be rotated relative to the rotating member 23 by the second transmission wheel 56, the third transmission belt 57 and the second transmission wheel 58 in the fourth transmission module, and the spraying direction of the second nozzle 4 on the rotating member 24 is directed forward and perpendicular to the spraying direction of the first nozzle 3.
The present embodiment also provides a spraying apparatus comprising the moving manipulator 200 and the nozzle device 100 described above, wherein the output end of the moving manipulator 200 is connected with the mounting frame 1 of the nozzle device 100 to adjust the position of the nozzle device 100. As shown in fig. 12 to 18, the coating apparatus has good wall surface adaptability, more flexible coating operation and high coating efficiency by using the nozzle device 100.
As shown in fig. 12, when the spraying equipment performs large-area vertical wall spraying operation, the spaces on both sides of the spraying equipment are free from obstructions, the fixing frame 2 and the mounting frame 1 can be unfolded, and the first nozzle 3 and the second nozzle 4 are opened simultaneously to perform the spraying operation. Illustratively, when the spacing between the two nozzles is 470mm, the ideal spray width overlap effect can be achieved, and the maximum spray width can reach 940 mm.
As shown in fig. 13, when the spraying equipment is used for spraying the left end of the vertical wall, the first nozzle 3 can be independently opened to spray the last remaining wall surface due to the limited remaining space, and the maximum spraying width can reach 470 mm.
As shown in fig. 14, when the spraying equipment is used for spraying the right end of the vertical wall, the second nozzle 4 can be independently opened to realize the spraying of the final residual wall surface, and the maximum spraying width can reach 470 mm.
As shown in fig. 15, when the spraying equipment sprays the vertical internal corner, the rotating member 23 is driven to rotate by the driving member 51 and is overlapped with the mounting frame 1 (i.e. the first mounting member 11), and simultaneously the rotating member 24 rotates to enable the spraying direction of the second nozzle 4 to face the front, and the second nozzle 4 is opened independently to realize the internal corner spraying. At this time, the overall width of the nozzle device 100 is greatly reduced, the spraying equipment can perform spraying operation on the internal corner in a short distance, meanwhile, both sides of the spraying equipment and the wall surface keep sufficient safe space, and the operation mode is also suitable for spraying the internal corner of the ceiling.
As shown in fig. 16-18, when the spraying equipment sprays a special narrow area, all-around spraying can be realized by using all nozzles. The diversified nozzle control strategies realize the diversified arrangement and combination of the spray amplitude and can be independently arranged according to scenes. The nozzle device has diversified functions, can reduce the complexity of the motion executing mechanism, reduce the number of whole machine control program modules, improve the motion reliability and improve the operation efficiency and the coverage rate of spraying operation.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A nozzle arrangement, comprising:
a mounting frame;
the nozzle assembly comprises a fixed frame, a first nozzle and a second nozzle, wherein the fixed frame is movably arranged on the mounting frame, and the first nozzle and the second nozzle are both arranged on the fixed frame;
the driving mechanism is arranged on the mounting rack and can drive the fixing rack and the mounting rack to be overlapped and unfolded, and when the fixing rack and the mounting rack are in an overlapped state, the spraying direction of the first nozzle is intersected with the spraying direction of the second nozzle, and the second nozzle is coaxial with the extension direction of the mounting rack; when the fixed frame and the mounting frame are in an unfolded state, the spraying direction of the first nozzle is the same as that of the second nozzle, and the first nozzle and the second nozzle are located on two sides of the extension direction of the mounting frame.
2. The nozzle arrangement of claim 1, wherein the mount comprises:
the first fixing piece is movably arranged on the mounting rack, and the first nozzle is arranged on the first fixing piece;
the second fixing piece is movably arranged on the mounting rack, and the second nozzle is arranged on the second fixing piece;
the driving mechanism can drive the first fixing piece to rotate relative to the mounting frame and to be overlapped with the mounting frame, and drive the second fixing piece to move relative to the mounting frame and to be overlapped with the mounting frame.
3. The nozzle arrangement of claim 2, wherein the mounting bracket comprises:
a first mount on which the drive mechanism is mounted;
the first mounting piece is rotatably connected with the second mounting piece and can be overlapped with the first mounting piece; the second fixing piece is connected with the second mounting piece in a sliding mode and can be overlapped with the second mounting piece.
4. A nozzle arrangement according to claim 3, wherein the drive mechanism comprises:
a driving member disposed on the first mounting member;
the first transmission module is in transmission connection with the driving piece and the first fixing piece and can drive the first fixing piece to rotate relative to the second mounting piece;
and the second transmission module is in transmission connection with the driving piece and the second fixing piece and can drive the second fixing piece to slide relative to the second mounting piece.
5. A nozzle arrangement according to claim 4, wherein said drive member is a linear drive member, said first drive module comprising:
and one end of the connecting rod is hinged with the output end of the driving piece, the other end of the connecting rod is hinged with the first fixing piece, and the output end of the driving piece can stretch out and draw back to enable the first fixing piece to rotate relative to the second mounting piece.
6. The nozzle arrangement of claim 4, wherein the second transmission module comprises:
the first transmission assembly comprises a first transmission wheel, a first transmission belt and a second transmission wheel, the first transmission belt is wound on the first transmission wheel and the second transmission wheel, and the output end of the driving piece is fixedly connected with the first transmission belt;
the second transmission assembly is arranged at an included angle with the first transmission assembly and comprises a third transmission wheel, a second transmission belt and a fourth transmission wheel, the second transmission belt is wound on the third transmission wheel and the fourth transmission wheel, the third transmission wheel is coaxially and fixedly connected with the first transmission wheel, and the second transmission belt is fixedly connected with the second fixing piece;
the output end of the driving piece can stretch out and draw back to enable the first transmission belt to drive the first transmission wheel and the second transmission wheel to rotate, and further drive the third transmission wheel and the fourth transmission wheel to rotate, so that the second fixing piece moves along with the second transmission belt.
7. The nozzle arrangement of claim 1, wherein the mount comprises:
the rotating part is rotatably arranged on the mounting rack, and the first nozzle is arranged on the rotating part;
the rotating part is rotatably arranged on the rotating part, and the second nozzle is arranged on the rotating part;
the driving mechanism can drive the rotating member to rotate relative to the mounting frame and overlap with the mounting frame, and drive the rotating member to rotate relative to the rotating member, so that the spraying direction of the second nozzle is crossed with the spraying direction of the first nozzle.
8. The nozzle arrangement of claim 7, wherein the drive mechanism comprises:
the driving piece is arranged on the mounting rack;
the third transmission module is in transmission connection with the driving piece and the rotating piece and can drive the rotating piece to rotate relative to the mounting frame;
and the fourth transmission module is in transmission connection with the rotating part and can drive the rotating part to rotate relative to the rotating part.
9. The nozzle device according to claim 8, wherein the third transmission module comprises a swing link, one end of the swing link is hinged to the output end of the driving member, the other end of the swing link is fixedly connected to the rotating member, and the output end of the driving member can stretch and contract to enable the swing link to drive the rotating member to rotate relative to the mounting frame; and/or
The fourth transmission module comprises a fifth transmission wheel, a third transmission belt and a sixth transmission wheel, the third transmission belt is wound on the fifth transmission wheel and the sixth transmission wheel, the fifth transmission wheel is fixed on a rotating shaft of the rotating member, and the sixth transmission wheel is fixedly connected with the rotating member; when the rotating member rotates, the fifth driving wheel can rotate, and the sixth driving wheel drives the rotating member to rotate through the third driving belt.
10. A spray assembly comprising a mobile manipulator and a nozzle arrangement according to any one of claims 1 to 9, the output end of the mobile manipulator being connected to a mounting frame of the nozzle arrangement for adjusting the position of the nozzle arrangement.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010636194.XA CN111871648B (en) | 2020-07-03 | 2020-07-03 | Nozzle device and spraying equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010636194.XA CN111871648B (en) | 2020-07-03 | 2020-07-03 | Nozzle device and spraying equipment |
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| CN111871648B true CN111871648B (en) | 2021-11-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112593678B (en) * | 2020-12-07 | 2022-01-11 | 何绍成 | Intelligent robot for building wall spraying |
| CN112593683B (en) * | 2020-12-07 | 2022-03-04 | 上海金砼宝科技集团有限公司 | A spraying device and intelligent spraying robot for building decoration |
| CN115217287A (en) * | 2021-04-19 | 2022-10-21 | 广东博智林机器人有限公司 | Spraying treatment robot |
| CN114508218B (en) * | 2022-04-19 | 2022-07-19 | 安徽同湃特机器人科技有限公司 | Indoor spraying robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| NL1032970C2 (en) * | 2006-11-30 | 2008-06-04 | Alcre Best B V | Awning with a mist installation included therein. |
| CN200998703Y (en) * | 2007-01-18 | 2008-01-02 | 中国国际海运集装箱(集团)股份有限公司 | Spraying device and spraying system having the same |
| US9107555B2 (en) * | 2011-02-16 | 2015-08-18 | Meridian International Co., Ltd. | Water broom |
| CN202027343U (en) * | 2011-03-24 | 2011-11-09 | 石啸天 | Clothes rack with mutually foldable bodies |
| CN202655176U (en) * | 2012-05-24 | 2013-01-09 | 广东友通工业有限公司 | Automatic gun adjusting rack of coating equipment |
| CN110778076B (en) * | 2019-11-27 | 2021-11-30 | 广东博智林机器人有限公司 | Spraying device and spraying robot |
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