CN112221785B - Automatic change spraying equipment - Google Patents
Automatic change spraying equipment Download PDFInfo
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- CN112221785B CN112221785B CN202010861884.5A CN202010861884A CN112221785B CN 112221785 B CN112221785 B CN 112221785B CN 202010861884 A CN202010861884 A CN 202010861884A CN 112221785 B CN112221785 B CN 112221785B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—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
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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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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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
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
An automatic spraying device relates to a spraying machine, which comprises a spraying robot and a paint stirring and pumping vehicle, wherein the spraying robot and the paint stirring and pumping vehicle are controlled by a remote controller, the paint stirring and pumping vehicle is connected with the spraying robot through a pipeline, the spraying robot comprises a crawler chassis A at the lower part of a bottom plate, a control system, a telescopic mechanical arm, a feeding pump, a storage box and a main motor, which are arranged at the upper part of the bottom plate, the control system is respectively connected with the main motor and the feeding pump, a feeding port of the feeding pump is connected with the storage box through a pipeline, the telescopic mechanical arm is provided with a material pipeline, and a discharging port of the feeding pump is connected with the material pipeline; the invention has good spraying effect and high automation degree, meets the thin spraying requirement of high-speed tunneling roadways, reduces the labor intensity of operation and has higher safety.
Description
Technical Field
The invention relates to a spraying machine, in particular to automatic spraying equipment.
Background
It is known that, with the thin spraying technology and thin spraying material series based on polymer materials, the sealing of the wall surface of the tunnel can be completed in some tunnels instead of sprayed concrete, so as to prevent the wall surface from weathering and spontaneous combustion, and even solve the work that the sprayed concrete can not realize the isolation of gas and other harmful gases. With the acceptance of thin spraying materials and thin spraying technologies for more and more coal mines, the existing construction process and equipment have great problems in construction roadways of large mines, large sections and the like. Along with the large construction amount and the high requirement of the construction efficiency, the length of a thin spraying construction roadway under a coal mine well reaches kilometers, the height of a part of the roadway is large, the operation and implementation of workers are difficult, and the spraying quality cannot be ensured. The common thin-spraying construction process and equipment can not meet the construction requirements, the existing equipment has low mechanization and automation degree, is difficult to meet the requirements of high-speed tunneling, and needs thin-spraying construction equipment with higher technical level and automation degree.
Based on the problems, the invention provides the robot for the underground coal mine spraying operation, which aims to enhance the occupational safety of operators, reduce the labor intensity of the operation and improve the efficiency of thin spraying operation, and becomes a basic appeal for technical personnel in the field.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses automatic spraying equipment.
In order to realize the purpose, the invention adopts the following technical scheme:
an automatic spraying device comprises a spraying robot and a paint stirring and pumping vehicle, wherein the spraying robot and the paint stirring and pumping vehicle are controlled by a remote controller, the paint stirring and pumping vehicle is connected with the spraying robot through a pipeline, the spraying robot comprises a crawler chassis A at the lower part of a bottom plate, a control system arranged at the upper part of the bottom plate, a telescopic mechanical arm, a feeding pump, a storage box and a main motor, the control system is respectively connected with the main motor and the feeding pump, a feeding port of the feeding pump is connected with the storage box through a pipeline, the telescopic mechanical arm is provided with a material pipeline, and a discharging port of the feeding pump is connected with the material pipeline;
a rotary speed reducer is fixed on one side of the upper surface of the bottom plate, the rotary speed reducer realizes horizontal rotation of the telescopic mechanical arm, and the rotation angle is 0-360 degrees; the upper part of the rotary speed reducer is provided with a swing oil cylinder, the lower part of the telescopic mechanical arm is fixed on the swing oil cylinder, the swing oil cylinder realizes the vertical swing of the telescopic mechanical arm, and the swing range is 0-250 degrees;
the telescopic mechanical arm comprises a telescopic shell, a telescopic oil cylinder, a stretching pulley block, a retracting pulley block, wherein the telescopic shell comprises a basic arm, a two-section arm and a three-section arm which are sequentially connected in a sliding manner from bottom to top; the retracting pulley block comprises a steel wire rope B and a pulley B arranged in the two-section arm, one end of the steel wire rope B is fixed on the adjusting bolt of the basic arm, and the other end of the steel wire rope B is fixed on the three-section arm by bypassing the pulley B;
a pipeline drag chain is fixed between the outside of the basic arm and the upper end part of the three-section arm, a material pipeline is installed in the pipeline drag chain, a nozzle is installed at the upper end opening of the material pipeline, and a distance measuring sensor is arranged outside the basic arm.
The automatic spraying equipment is characterized in that a displacement sensor is arranged in the telescopic oil cylinder, and a wiring port of the displacement sensor extends out of the position of the lower steel pipe base.
Automatic spraying equipment, control system including power box, motor control case and the total control case of setting on the bottom plate, the power box passes through circuit connection with motor control case, total control case respectively, motor control case passes through line connection with main motor, main motor is connected with the main hydraulic pump that sets up on the bottom plate, the oil inlet of main hydraulic pump is connected with the oil tank that sets up the middle part above the bottom plate, the oil-out of main hydraulic pump is connected with the operation valves at power box rear portion, the operation valves is manual or electronic valves, including six valves, installs a valves respectively on the both sides of track chassis A both sides walking motor, respectively is provided with a valves on flexible arm, swing hydro-cylinder, gyration reduction gear and material loading pump.
The automatic spraying equipment is characterized in that dustproof sealing rings are arranged at the upper ports of the basic arm, the two-section arm and the three-section arm.
Automatic spraying equipment, crawler chassis A's side is equipped with the chassis encoder, rotary encoder is installed to one side of rotary reducer, all is equipped with the direction sensor in the above four corners of bottom plate, installs the swing encoder in one side of swing hydro-cylinder, total control box pass through signal or line connection with chassis encoder, rotary encoder, direction sensor, swing encoder, range finding sensor respectively.
The automatic spraying equipment is characterized in that a cooler is arranged on the front portion of the oil tank and above the bottom plate, an oil way pipeline is arranged inside the cooler, and two ends of the oil way pipeline are respectively connected with a hydraulic oil return pipeline and the oil tank.
The automatic spraying equipment is characterized in that the paint stirring and pump conveying vehicle comprises a crawler chassis B, a pumping device, a feeding stirring pump and a driving device, the pumping device, the feeding stirring pump and the driving device are respectively installed on the upper portion of a bottom plate of the crawler chassis B, the pumping device is connected with a storage box of the spraying robot through a pipeline, the driving device is a driving motor, the pumping device is connected with the feeding stirring pump through a pipeline, and the pumping device is an electric conveying pump or a hydraulic conveying pump.
The automatic spraying equipment further comprises a hydraulic valve group arranged on the bottom plate, and the hydraulic valve group is used for controlling the swing oil cylinder, the telescopic oil cylinder, the two-side walking motors and the rotary speed reducer.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. according to the automatic spraying equipment, the telescopic mechanical arm is rotated by 0-360 degrees in the horizontal direction by arranging the rotary speed reducer, the swing oil cylinder is arranged at the upper part of the rotary speed reducer, the lower part of the telescopic mechanical arm is fixed on the swing oil cylinder, the telescopic mechanical arm is swung by 0-250 degrees in the vertical direction, the telescopic mechanical arm is provided with the material pipeline and is connected with the discharge hole of the feeding pump, the spraying effect is good, the automation degree is high, and the thin spraying requirement of a high-speed tunneling roadway is met;
2. the spraying robot and the coating stirring and pumping vehicle are controlled by the remote controller, and the coating stirring and pumping vehicle and the spraying robot are connected through the pipeline, so that the requirements on large construction quantity and high construction efficiency are met, the construction is relatively simple, the labor intensity of operation is reduced, and the safety is higher.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the telescopic robotic arm of the present invention;
FIG. 3 is a schematic structural view of the paint agitating pump truck of the present invention;
FIG. 4 is a schematic view of the connection structure of the paint stirring pump truck and the spraying robot of the present invention;
FIG. 5 is a schematic view of the horizontal rotation operation of the telescopic robot arm of the present invention;
FIG. 6 is a schematic view of the swing of the telescopic robot arm of the present invention in the vertical direction
In the figure: 1. a crawler chassis A; 2. a base plate; 3. a rotary speed reducer; 4. a rotary encoder; 5. a swing oil cylinder; 6. a wobble encoder; 7. a telescopic mechanical arm; 8. a pipeline drag chain; 9. a material conduit; 10. an oil tank; 11. a ranging sensor; 12. a master control box; 13. a hydraulic valve block; 14. a power supply box; 15. operating the valve block; 16. a material storage box; 17. a cooler; 18. a feeding pump; 19. a motor control box; 20. a guide sensor; 21. a chassis encoder; 22. a main motor; 23. a main hydraulic pump; 24. a displacement sensor; 25. a telescopic oil cylinder; 26. a dustproof sealing ring; 27. a steel wire rope A; 28. a pulley A; 29. a steel wire rope B; 30. a pulley B; 31. a base arm; 32. a two-section arm; 33. a three-section arm; 34. adjusting the bolt; 35. a crawler chassis B; 36. a charging stirring pump; 37. a pumping device; 38. a drive device; 39. a pipeline; 40. a spraying robot; 41. stirring the paint and conveying the paint to a pump truck; 42. roadway surfaces; 43. the inner wall of the roadway; 44. a power source; 45. a water source.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
The automatic spraying equipment described with reference to fig. 1-6 comprises a spraying robot 40 and a paint stirring and pumping vehicle 41, wherein the spraying robot 40 and the paint stirring and pumping vehicle 41 are controlled by a remote controller, the paint stirring and pumping vehicle 41 is connected with the spraying robot 40 through a pipeline 39, the spraying robot 40 comprises a crawler chassis a1 at the lower part of a bottom plate 2, a control system arranged at the upper part of the bottom plate 2, a telescopic mechanical arm 7, a feeding pump 18, a storage box 16 and a main motor 22, the control system is respectively connected with the main motor 22 and the feeding pump 18, a feeding port of the feeding pump 18 is connected with the storage box 16 through a pipeline, the telescopic mechanical arm 7 is provided with a material pipeline 9, and a discharging port of the feeding pump 18 is connected with the material pipeline 9;
the crawler chassis A1 is used for providing support for the whole spraying robot 40 and realizing the running function of the whole vehicle; the pipeline 39 realizes a material conveying passage from the paint stirring pump truck 41 to the spraying robot 40;
a rotary speed reducer 3 is fixed on one side of the upper surface of the bottom plate 2, the rotary speed reducer 3 realizes the horizontal rotation of the telescopic mechanical arm 7, and the rotation angle is 0-360 degrees; the upper part of the rotary speed reducer 3 is provided with a swing oil cylinder 5, the lower part of the telescopic mechanical arm 7 is fixed on the swing oil cylinder 5, the swing oil cylinder 5 realizes the vertical swing of the telescopic mechanical arm 7, and the swing range is 0-250 degrees;
the telescopic mechanical arm 7 comprises a telescopic shell, a telescopic oil cylinder 25, a stretching pulley block, a retracting pulley block, wherein the telescopic shell comprises a basic arm 31, a two-section arm 32 and a three-section arm 33 which are sequentially connected in a sliding manner from bottom to top, a flange outside the basic arm 31 is provided with a mounting fixing hole and is fixedly connected with the swing oil cylinder 5 through a bolt, the telescopic oil cylinder 25 is mounted in the basic arm 31, the jacking end of the telescopic oil cylinder 25 is fixed in the two-section arm 32, the stretching pulley block comprises a steel wire rope A27 and a pulley A28 arranged in the two-section arm, one end of the steel wire rope A27 is fixed on a base of the basic arm 31, and the other end of the steel wire rope A27 bypasses the pulley A28 and is fixed on the three-section arm 33; the retraction pulley block comprises a steel wire rope B29 and a pulley B30 arranged in the two-section arm, one end of the steel wire rope B29 is fixed on the adjusting bolt 34 of the basic arm 31, and the other end of the steel wire rope B3526 is fixed on the three-section arm 33 by passing through the pulley B30;
a pipeline drag chain 8 is fixed between the outside of the basic arm 31 and the upper end of the three-link arm 33, a material pipeline 9 is installed in the pipeline drag chain 8, a nozzle is installed at the upper end opening of the material pipeline 9, and a distance measuring sensor 11 is installed outside the basic arm 31.
In the automatic spraying equipment, a displacement sensor 24 is arranged in a telescopic oil cylinder 25, and a wiring port of the displacement sensor extends out of the position of a lower steel pipe base;
when the telescopic mechanical arm 7 acts, a remote controller sends an instruction to the controller, the controller controls the telescopic oil cylinder 25 to extend or retract according to the instruction requirement, the displacement sensor 24 provides actual displacement information of the telescopic oil cylinder for the system, and the controller carries out PID adjustment according to the difference value of the sent instruction and the actual displacement feedback, so that the telescopic length and the speed of the mechanical arm meet the actual process requirements.
The automatic spraying equipment comprises a control system, wherein the control system comprises a power supply box 14, a motor control box 19 and a master control box 12 which are arranged on a bottom plate 2, the power supply box 14 is respectively connected with the motor control box 19 and the master control box 12 through circuits, the motor control box 19 is connected with a main motor 22 through circuits, the main motor 22 is connected with a main hydraulic pump 23 arranged on the bottom plate 2, an oil inlet of the main hydraulic pump 23 is connected with an oil tank 10 arranged in the middle of the upper surface of the bottom plate 2, an oil outlet of the main hydraulic pump 23 is connected with an operation valve group 15 arranged at the rear part of the power supply box 14, the operation valve group 15 is a manual or electric valve group and comprises six valve groups, two valve groups are respectively arranged on two sides of a walking motor on two sides of a track chassis A1, and a valve group is respectively arranged on a telescopic mechanical arm 7, a swing oil cylinder 5, a rotary speed reducer 3 and a feeding pump 18.
The automatic spraying equipment is characterized in that the upper ports of the basic arm 31, the two-section arm 32 and the three-section arm 33 are respectively provided with a dustproof sealing ring 26.
In the automatic spraying equipment, a chassis encoder 21 is arranged on the side surface of a crawler chassis A1, a rotary encoder 4 is installed on one side of a rotary speed reducer 3, guide sensors 20 are arranged at four corners of the upper surface of a bottom plate 2, a swing encoder 6 is installed on one side of a swing oil cylinder 5, and a master control box 12 is respectively connected with the chassis encoder 21, the rotary encoder 4, the guide sensors 20, the swing encoder 4 and a distance measuring sensor 11 through signals or lines;
the rotary encoder 4 provides horizontal rotation position detection and system control for the rotary speed reducer 3 to provide data support; the swing encoder 6 provides data support for horizontal rotation position detection and system control of the swing cylinder 5.
The automatic spraying equipment is characterized in that a cooler 17 is arranged on the front portion of the oil tank 10 and positioned on the bottom plate 2, an oil way pipeline is arranged inside the cooler 17, and two ends of the oil way pipeline are respectively connected with a hydraulic oil return pipeline and the oil tank 10.
In the automatic spraying equipment, the paint stirring and pump feeding vehicle 41 comprises a crawler chassis B35, a pumping device 37, a feeding stirring pump 36 and a driving device 38, wherein the pumping device 37, the feeding stirring pump 36 and the driving device 38 are respectively installed on the upper part of the bottom plate of the crawler chassis B35, the pumping device 38 is connected with the storage box 16 of the spraying robot 40 through a pipeline 39, the driving device 38 is a driving motor, the pumping device 38 is connected with the feeding stirring pump 36 through a pipeline, and the pumping device 37 is an electric conveying pump or a hydraulic conveying pump;
wherein, the charging stirring pump 36 realizes the stirring function of the material, so that the powdery thin spraying material and water are stirred into slurry spraying material; the pumping device 37 pumps the well-stirred slurry into the storage box 16 of the spraying robot 40 to realize spraying operation; the driving device 38 realizes the movement of the paint agitating pump truck 41, the supply of the kinetic energy of the pumping device 37, and the control function of the agitating pump truck 41.
The automatic spraying equipment further comprises a hydraulic valve group 13 arranged on the base plate 2, and the hydraulic valve group 13 is used for controlling the swing oil cylinder 5, the telescopic oil cylinder 25, the two-side walking motors and the rotary speed reducer 3.
When the automatic spraying equipment and the spraying method thereof are implemented, as shown in figure 4, a spraying robot 40 walks in the middle of a roadway surface 42, and a power supply 44 and a water source 45 of the spraying robot 40 and a paint stirring and pumping vehicle 41 are prepared and are in a standby state; the paint stirring and pumping vehicle 41 is manually fed with materials, water is added according to a proportion, the paint is stirred to be slurry, the spraying requirement is met, the stirred slurry is pumped into the storage tank 16 by the pumping device 37, the slurry in the storage tank 16 is pumped into the material pipeline 9 on the telescopic mechanical arm 7 by the feeding pump 18, and when the spraying is needed, the slurry is sprayed to the inner wall 43 of the roadway by the nozzle at the upper end of the material pipeline 9;
operating the telescopic mechanical arm 7 to swing to an initial position by a remote controller, as shown in fig. 5, driving the telescopic mechanical arm 7 to horizontally rotate to the 1# position or the 2# position by the rotary speed reducer 3, driving the two-section arm 32 to extend out by the telescopic oil cylinder 25 in the basic arm 31 of the telescopic mechanical arm 7, driving the pulley A28 to move forward while the two-section arm 32 extends out, pushing the three-section arm 33 to extend out, and sensing the distance between the extending distance of the telescopic mechanical arm 7 and the inner wall 43 of the roadway by the ranging sensor 11 outside the basic arm 31 to prepare for spraying operation;
as shown in fig. 6, the swing oil cylinder 5 works to drive the telescopic mechanical arm 7 to swing according to the 3# position-5 # position-4 # position or 4# position-5 # position-3 # position, meanwhile, the feeding pump 18 pumps the slurry in the storage tank 16 into the material pipeline 9 and sprays the slurry onto the inner wall 43 of the roadway through the nozzle at the upper port of the material pipeline 9, after one cycle is finished, the swinging spraying is returned, the path sequence is 4# position-5 # position-3 # position or 3# position-5 # position-4 # position, and the spraying is repeated; after one operation cycle is completed, after the spraying thickness meets the requirement, the spraying is stopped, the telescopic mechanical arm 7 is stopped at the position 3# or 4#, after the spraying at the current position is completed, the spraying robot 40 automatically steps for a certain distance according to set parameters or by operation, then the swinging spraying operation flow is repeated, and when the spraying meets the requirement, the spraying is further stepped to the next operation area, and the operation is circulated in this way, and the spraying is uninterrupted; after the spraying operation is finished, the telescopic mechanical arm 7 swings to a horizontal position according to the operation sequence, then rotates to an initial position, waits for the next operation, and the whole operation flow is finished.
The present invention is not described in detail in the prior art.
The embodiments selected for the purpose of disclosing the invention, are presently considered to be suitable, it being understood, however, that the invention is intended to cover all variations and modifications of the embodiments which fall within the spirit and scope of the invention.
Claims (8)
1. The utility model provides an automatic change spraying equipment, includes spraying robot and coating stirring pump truck, and spraying robot and coating stirring pump truck are controlled by the remote controller, characterized by: the coating stirring pump-feeding vehicle is connected with the spraying robot through a pipeline, the spraying robot comprises a crawler chassis A at the lower part of a bottom plate, and a control system, a telescopic mechanical arm, a feeding pump, a storage box and a main motor which are arranged at the upper part of the bottom plate, the control system is respectively connected with the main motor and the feeding pump, the feeding port of the feeding pump is connected with the storage box through a pipeline, the telescopic mechanical arm is provided with a material pipeline, and the discharge port of the feeding pump is connected with the material pipeline;
a rotary speed reducer is fixed on one side of the upper surface of the bottom plate, the rotary speed reducer realizes horizontal rotation of the telescopic mechanical arm, and the rotation angle is 0-360 degrees; the upper part of the rotary speed reducer is provided with a swing oil cylinder, the lower part of the telescopic mechanical arm is fixed on the swing oil cylinder, the swing oil cylinder realizes the vertical swing of the telescopic mechanical arm, and the swing range is 0-250 degrees;
the telescopic mechanical arm comprises a telescopic shell, a telescopic oil cylinder, a stretching pulley block, a retracting pulley block, wherein the telescopic shell comprises a basic arm, a two-section arm and a three-section arm which are sequentially connected in a sliding manner from bottom to top; the retracting pulley block comprises a steel wire rope B and a pulley B arranged in the two-section arm, one end of the steel wire rope B is fixed on the adjusting bolt of the basic arm, and the other end of the steel wire rope B is fixed on the three-section arm by bypassing the pulley B;
a pipeline drag chain is fixed between the outside of the basic arm and the upper end part of the three-section arm, a material pipeline is installed in the pipeline drag chain, a nozzle is installed at the upper end opening of the material pipeline, and a distance measuring sensor is arranged outside the basic arm.
2. The automated spray coating device of claim 1 wherein: a displacement sensor is arranged in the telescopic oil cylinder, and a wiring port of the displacement sensor extends out of the position of the lower steel pipe base.
3. The automated spray coating device of claim 1 wherein: control system is including setting up power box, motor control case and the total control case on the bottom plate, and the power box passes through circuit connection with motor control case, total control case respectively, and motor control case passes through line connection with main motor, and main motor is connected with the main hydraulic pump that sets up on the bottom plate, and the oil inlet of main hydraulic pump is connected with the oil tank that sets up the middle part above the bottom plate, and the oil-out of main hydraulic pump is connected with the operation valves at power box rear portion, the operation valves is manual or electronic valves, including six valves, installs a valves respectively on the both sides of track chassis A both sides walking motor, respectively is provided with a valves on flexible arm, swing hydro-cylinder, slewing reducer and material loading pump.
4. The automated spray coating device of claim 1 wherein: the upper ports of the basic arm, the two-section arm and the three-section arm are all provided with dustproof sealing rings.
5. The automated spray coating device of claim 3 wherein: the side of track chassis A is equipped with the chassis encoder, and rotary encoder is installed to one side of rotary reducer, all is equipped with the direction sensor in the higher authority four corners of bottom plate, installs the swing encoder in one side of swing hydro-cylinder, total control box pass through signal or line connection with chassis encoder, rotary encoder, direction sensor, swing encoder, range finding sensor respectively.
6. The automated spray coating device of claim 3 wherein: the cooler is arranged on the front part of the oil tank and positioned on the bottom plate, an oil way pipeline is arranged in the cooler, and two ends of the oil way pipeline are respectively connected with the hydraulic oil return pipeline and the oil tank.
7. The automated spray coating device of claim 1 wherein: the coating stirring pump conveying vehicle comprises a crawler chassis B, a pumping device, a feeding stirring pump and a driving device, wherein the pumping device, the feeding stirring pump and the driving device are respectively installed on the upper portion of a bottom plate of the crawler chassis B, the pumping device is connected with a storage box of the spraying robot through a pipeline, the driving device is a driving motor, the pumping device is connected with the feeding stirring pump through a pipeline, and the pumping device is an electric conveying pump or a hydraulic conveying pump.
8. The automated spray coating device of claim 1 wherein: the hydraulic valve group is used for controlling the swing oil cylinder, the telescopic oil cylinder, the two-side walking motors and the rotary speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010861884.5A CN112221785B (en) | 2020-08-25 | 2020-08-25 | Automatic change spraying equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010861884.5A CN112221785B (en) | 2020-08-25 | 2020-08-25 | Automatic change spraying equipment |
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| CN112221785A CN112221785A (en) | 2021-01-15 |
| CN112221785B true CN112221785B (en) | 2022-04-01 |
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| CN202010861884.5A Active CN112221785B (en) | 2020-08-25 | 2020-08-25 | Automatic change spraying equipment |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112221784B (en) * | 2020-08-25 | 2022-05-24 | 南京科工煤炭科学技术研究有限公司 | Automatic spraying equipment and spraying method thereof |
| CN113019765B (en) * | 2021-02-07 | 2023-05-12 | 中信重工机械股份有限公司 | Mechanical arm of tunnel thin spraying robot and spraying method using mechanical arm |
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| CN112221784A (en) * | 2020-08-25 | 2021-01-15 | 南京科工煤炭科学技术研究有限公司 | Automatic spraying equipment and spraying method thereof |
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2020
- 2020-08-25 CN CN202010861884.5A patent/CN112221785B/en active Active
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|---|---|---|---|---|
| DE19641193A1 (en) * | 1996-09-24 | 1998-03-26 | Mannesmann Ag | Telescopic jib for stationary or mobile cranes |
| CN201214601Y (en) * | 2008-05-07 | 2009-04-01 | 长沙中联重工科技发展股份有限公司 | Main arm telescopic mechanism for crane |
| CN204673487U (en) * | 2015-03-19 | 2015-09-30 | 宁夏共享精密加工有限公司 | A kind of automatic sand blasting machine telescopic arm |
| CN105971284A (en) * | 2016-05-19 | 2016-09-28 | 三汽车制造有限公司 | Multifunctional distribution pump truck |
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| CN112221785A (en) | 2021-01-15 |
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