CN112317190A - Automatic switching nozzle for spraying robot - Google Patents
Automatic switching nozzle for spraying robot Download PDFInfo
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- CN112317190A CN112317190A CN202011098307.1A CN202011098307A CN112317190A CN 112317190 A CN112317190 A CN 112317190A CN 202011098307 A CN202011098307 A CN 202011098307A CN 112317190 A CN112317190 A CN 112317190A
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- shower nozzle
- nozzle
- spraying robot
- spray head
- spraying
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an automatic switching spray head for a spraying robot, which comprises a spray gun connecting pipe, wherein a paint conveying pipe is fixedly arranged at the right end of the spray gun connecting pipe, a sliding groove is formed in the upper surface of the spray gun connecting pipe, a sliding block is connected to the inner wall of the sliding groove in a sliding manner, a brake block is fixedly arranged on the lower surface of the sliding block, a limiting rod is fixedly arranged on the right inner wall of the spray gun connecting pipe, a first return spring is sleeved on the outer surface of the limiting rod, a sealing plug is fixedly arranged at the right end of the brake block, and a spray head sleeve is connected to the. This automatic switch-over shower nozzle, through first shower nozzle of installation and second shower nozzle on the shower nozzle connecting block, when first shower nozzle blockked up, through rotating the shower nozzle connecting block, be converted into first shower nozzle position with the second shower nozzle, make it replace first shower nozzle to continue to accomplish current work, avoid changing the shower nozzle because of the shower nozzle blocks up, and cause spraying work to accomplish in succession, influence holistic spraying effect.
Description
Technical Field
The invention relates to the technical field of spraying robots, in particular to an automatic switching spray head for a spraying robot.
Background
The pneumatic spraying robot is also called as low-pressure pneumatic spraying, the spraying machine enables paint to form atomized airflow to act on the surface of an object after being sprayed out of a gun mouth by means of low-pressure air, the pneumatic spraying is free of brush marks relative to a hand brush, the plane is relatively uniform, the unit working time is short, and the construction period can be effectively shortened.
The traditional robot that has gas spraying's shower nozzle only has one, if the shower nozzle blocks up when carrying out the spraying, then need stand immediately to shut down and detect or change the shower nozzle, and the spraying paint of work piece needs one shot forming, and the spraying of fractional order influences holistic spraying effect.
Disclosure of Invention
The invention aims to provide an automatic switching spray head for a spraying robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic switching nozzle for a spraying robot comprises a spray gun connecting pipe, wherein a coating conveying pipe is fixedly arranged at the right end of the spray gun connecting pipe, a sliding groove is formed in the upper surface of the spray gun connecting pipe, a sliding block is slidably connected to the inner wall of the sliding groove, a brake block is fixedly arranged on the lower surface of the sliding block, a limiting rod is fixedly arranged on the right inner wall of the spray gun connecting pipe, a first reset spring is sleeved on the outer surface of the limiting rod, a sealing plug is fixedly arranged at the right end of the brake block, a nozzle sleeve is in threaded connection with the outer surface of the left side of the spray gun connecting pipe, a nozzle connecting block is sleeved on the inner wall of the nozzle sleeve, a first nozzle and a second nozzle are fixedly arranged on the left side of the nozzle connecting block, a protective sleeve is in threaded connection with the outer surface of the second, and the upper end of the second return spring is provided with a ball.
Preferably, the outer surface of the sliding block is fixedly provided with a baffle, the baffle is tightly attached to the upper surface of the sliding groove, and the length of the baffle is greater than that of the sliding groove.
Preferably, the right end of the brake block is provided with a limiting groove, the outer surface of the left end of the limiting rod is in sliding connection with the inner wall of the limiting groove, and the left end of the first return spring is fixedly connected with the right end of the brake block.
Preferably, the first spray head and the second spray head are Z-shaped, and the second spray head of the first spray head is symmetrically arranged on the upper side and the lower side of the left end of the spray head connecting block.
Preferably, the outer surface fixed mounting of shower nozzle connecting block has the snap ring, the snap ring is located between shower nozzle cover and the stopper, the right-hand member and the external manipulator fixed connection of coating conveyer pipe.
Preferably, the quantity of stopper is four, four the stopper is the surface that the circumference array symmetry set up at the shower nozzle connecting block, four recesses of looks adaptation are seted up to the position that the inner wall of shower nozzle cover corresponds four stoppers.
Preferably, before spraying, the automatic switching nozzle comprises:
detecting the spraying robot based on an image detection technology, wherein the detecting step comprises the following steps:
firstly, shooting images simulating the presence of flames and images simulating the absence of flames in the environment by using an external camera to acquire image data, and acquiring an image data set according to the acquired images;
performing image enhancement on the acquired image data set based on an image enhancement technology to acquire an image enhanced image data set, wherein the image enhancement comprises: denoising the image, smoothing the image, improving the image contrast and exposing the image for one or more types;
labeling class labels on the enhanced images by using labeling software to obtain labeled image data sets, wherein the class labels comprise the flame class, the non-flame class and the position information of the flame in the flame class in the images;
sending the marked image data set into a convolutional neural network model for model training to obtain a trained convolutional neural network model;
deploying the trained convolutional neural network model on a server, connecting the server to the external camera, acquiring images of the environment where the spraying robot is located, importing the acquired images into the trained convolutional neural network model, detecting the flame in the environment where the spraying robot is located when an output result is that the environment where the spraying robot is located does not acquire a detection result through the external camera, and not sending out an alarm based on an alarm arranged on the spraying robot, detecting the flame in the environment where the spraying robot is located when the output result is that the environment where the spraying robot is located acquires the detection result through the external camera, and sending out an alarm based on the alarm arranged on the spraying robot, wherein the acquired detection result comprises: flame information and the corresponding flame position in the environment of the spraying robot.
Preferably, the brake pad includes a protection device, the protection device measures pressure of the pollutant to the sealing plug in real time, whether the protection device is started is determined according to the detected pressure of the pollutant to the sealing plug according to a preset method, and after the protection device is started, the spraying robot stops working to protect the spraying robot, wherein the preset method specifically includes the following steps:
step a1, determining the dynamic concentration of the contaminant according to the following formula:
wherein c (t) represents the concentration of the pollutants at the time t, R represents the instantaneous discharge amount of the pollutants, h represents the depth of the pollutants, t represents the dynamic time, f represents the instantaneous discharge amount of the pollutants, andxcoefficient representing diffusion of contaminant to the right, fyCoefficient representing diffusion of contaminant to the left, l represents lateral distance between detection point distance and contaminant, x represents length of protection device, vxRepresenting the flow velocity of the contaminant in the right direction, the distance between the z detection point and the longitudinal distance between the contaminant, y representing the width of the protective device, vyRepresenting the flowing speed of the pollutants in the left direction, delta representing the comprehensive attenuation coefficient of the pollutants, and e representing a natural constant;
step a2, the pressure of the contaminant against the sealing plug is determined according to the following formula:
F＝(C(t)*g*h)*S
wherein c (t) represents the concentration of the pollutant at the time t, h represents the depth of the pollutant, S represents the area of the sealing plug occupied by the pollutant, g represents the gravity acceleration of the physical quantity, and F represents the pressure of the sealing plug on the pollutant;
step A3, judging whether the spraying robot needs to start the protection device according to the following formula:
wherein, F represents the pressure that the sealing plug bore to the pollutant, k represents the coefficient of stiffness, m represents the intrinsic property value of first reset spring self, need the spraying robot to start protection device when G equals 1, need not start protection device when G equals 0 by the spraying robot
Advantageous effects
The invention provides an automatic switching nozzle for a spraying robot, which has the following beneficial effects:
1. this automatic switch-over shower nozzle, through first shower nozzle of installation and second shower nozzle on the shower nozzle connecting block, when first shower nozzle blockked up, through rotating the shower nozzle connecting block, be converted into first shower nozzle position with the second shower nozzle, make it replace first shower nozzle and continue to accomplish current work, avoid changing the shower nozzle because of the shower nozzle blocks up, and cause the emergence that the spraying work can not accomplish the phenomenon in succession, improved holistic spraying effect.
2. This automatic switch-over shower nozzle through setting up gag lever post and sealing plug, utilizes the sealing plug to seal the second shower nozzle, keeps its pipeline unblocked, when first shower nozzle blockked up and uses the second shower nozzle, the sealing plug can seal first shower nozzle, prevents that the pollutant backward flow in the first shower nozzle from causing the jam of second shower nozzle.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic front sectional view of the present invention;
fig. 3 is a schematic view of a front section structure of the limiting block.
In the figure: 1 spray gun connecting pipe, 2 coating conveyer pipes, 3 sliding tray, 4 sliders, 5 brake pads, 6 gag lever posts, 7 first reset springs, 8 sealing plugs, 9 shower nozzle covers, 10 shower nozzle connecting blocks, 11 first shower nozzle, 12 second shower nozzles, 13 lag, 14 stopper, 15 second reset springs, 16 balls, 17 baffles.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an automatic switch-over shower nozzle for spraying robot, includes spray gun connecting pipe 1, and spray gun connecting pipe 1's right-hand member fixed mounting has coating conveyer pipe 2, and sliding tray 3 has been seted up to spray gun connecting pipe 1's upper surface, and the inner wall sliding connection of sliding tray 3 has slider 4, and the fixed surface of slider 4 installs baffle 17, and the upper surface of sliding tray 3 is hugged closely to baffle 17, and the length of baffle 17 is greater than the length of sliding tray 3.
Lower fixed surface of slider 4 installs brake block 5, the right inner wall fixed mounting of spray gun connecting pipe 1 has gag lever post 6, the surface cover of gag lever post 6 is equipped with first reset spring 7, the spacing groove has been seted up to brake block 5's right-hand member, the left end surface of gag lever post 6 and the inner wall sliding connection of spacing groove, the left end of first reset spring 7 and brake block 5's right-hand member fixed connection, brake block 5's right-hand member fixed mounting has sealing plug 8, through setting up gag lever post 6 and sealing plug 8, utilize sealing plug 8 to seal second shower nozzle 12, keep its pipeline unblocked, when first shower nozzle 11 blocks up and uses the second shower nozzle, sealing plug 8 can seal first shower nozzle 11, prevent that the pollutant backward flow in the first shower nozzle 11 from causing the jam of second shower nozzle 12.
The outer surface of the left side of the spray gun connecting pipe 1 is in threaded connection with a spray head sleeve 9, the inner wall of the spray head sleeve 9 is sleeved with a spray head connecting block 10, the outer surface of the spray head connecting block 10 is fixedly provided with a snap ring, the snap ring is positioned between the spray head sleeve 9 and a limiting block 14, the right end of the coating conveying pipe 2 is fixedly connected with an external manipulator, the left side of the spray head connecting block 10 is fixedly provided with a first spray head 11 and a second spray head 12, the first spray head 11 and the second spray head 12 are Z-shaped, the second spray head 12 of the first spray head 11 is symmetrically arranged on the upper side and the lower side of the left end of the spray head connecting block 10, the first spray head 11 and the second spray head 12 are arranged on the spray head connecting block 10, when the first spray head 11 is blocked, the second spray head 12 is switched to the position of the first spray head 11, the phenomenon that the spraying work can not be continuously finished is caused, and the whole spraying effect is improved.
The outer surface threaded connection of second shower nozzle 12 has lag 13, the outer fixed surface of shower nozzle connecting block 10 installs stopper 14, stopper 14's quantity is four, four stoppers 14 are the circumference array symmetry and set up the surface at shower nozzle connecting block 10, the recess of four looks adaptations is seted up to the position that the inner wall of shower nozzle cover 9 corresponds four stoppers 14, stopper 14's interior diapire fixed mounting has second reset spring 15, second reset spring 15's upper end is provided with ball 16.
The working principle is as follows: when using this automatic switch-over shower nozzle to carry out the spraying, coating passes through coating conveyer pipe 2 and is jetted and go out by first shower nozzle 11 through spray gun connecting pipe 1, when first shower nozzle 11 blocks up, promote slider 4 right, rotate 180 degrees with shower nozzle connecting block 10, replace the position of first shower nozzle 11 with second shower nozzle 12, loosen slider 4, make sealing plug 8 on the slider 4 block up first shower nozzle 11, prevent that the pollutant backward flow in the first shower nozzle 11 from causing the jam of second shower nozzle 12, this automatic switch-over shower nozzle has realized not shutting down and has changed the shower nozzle temporarily, avoid changing the shower nozzle because of the shower nozzle jam, and the phenomenon that causes spraying work can not accomplish in succession takes place, the spraying effect has been improved.
Before the automatic switching spray head sprays, the automatic switching spray head comprises:
detecting the spraying robot based on an image detection technology, wherein the detecting step comprises the following steps:
firstly, shooting and simulating images with flames and images without flames in a working environment by using an external camera to acquire image data, and acquiring an image data set according to the acquired images;
performing image enhancement on the acquired image data set based on an image enhancement technology to acquire an image enhanced image data set, wherein the image enhancement comprises: denoising the image, smoothing the image, improving the image contrast and exposing the image for one or more types;
labeling class labels on the enhanced images by using labeling software to obtain labeled image data sets, wherein the class labels comprise the flame class, the non-flame class and the position information of the flame in the flame class in the images;
sending the marked image data set into a convolutional neural network model for model training to obtain a trained convolutional neural network model;
the trained convolutional neural network model is deployed on a server, the server is connected with the external camera, the image acquisition is carried out on the working environment where the spraying robot is located, the acquired image is led into the trained convolutional neural network model, when the output result is that the working environment where the spraying robot is located does not obtain a detection result through the external camera, the flame is not detected in the working environment where the spraying robot is located, an alarm is not sent out based on the alarm arranged on the spraying robot, when the output result is that the working environment where the spraying robot is located obtains the detection result through the external camera, the flame is detected in the working environment where the spraying robot is located, and the alarm is sent out based on the alarm arranged on the spraying robot, wherein the obtained detection result comprises: flame information and corresponding flame positions in the working environment of the spraying robot.
The beneficial effects of the above technical scheme are: the image acquisition, the image enhancement and the class marking are carried out on the working environment where the spraying robot is located, the convolutional neural network model is trained, the convolutional neural network model recognizes the image class information, the convolutional neural network model detection is carried out on the image to be detected, whether a fire occurs in the working environment where the spraying robot is located or not is effectively detected, the condition of fire sending is effectively restrained, the working environment is effectively guaranteed, and the working efficiency is improved.
The brake pad comprises a protection device, the protection device measures the pressure of pollutants on a sealing plug in real time, whether the protection device is started or not is determined according to the detected pressure of the pollutants on the sealing plug, after the protection device is started, the spraying robot stops working to protect the spraying robot, and the preset method comprises the following specific steps:
step a1, determining the dynamic concentration of the contaminant according to the following formula:
wherein c (t) represents the concentration of the pollutants at the time t, R represents the instantaneous discharge amount of the pollutants, h represents the depth of the pollutants, t represents the dynamic time, f represents the instantaneous discharge amount of the pollutants, andxcoefficient representing diffusion of contaminant to the right, fyCoefficient representing diffusion of contaminant to the left, l represents lateral distance between detection point distance and contaminant, x represents length of protection device, vxRepresenting the flow velocity of the contaminant in the right direction, the distance between the z detection point and the longitudinal distance between the contaminant, y representing the width of the protective device, vyRepresents the leftward flow velocity of the pollutant, δ represents the comprehensive attenuation coefficient of the pollutant, and e represents a natural constant with a value of 2.71828;
step a2, the pressure of the contaminant against the sealing plug 8 is determined according to the following formula:
F＝(C(t)*g*h)*S
wherein c (t) represents the concentration of the contaminant at time t, h represents the depth of the contaminant, S represents the area of the sealing plug 8 occupied by the contaminant, g represents the acceleration of gravity, and F represents the pressure of the sealing plug 8 on the contaminant;
step A3, judging whether the spraying robot needs to start the protection device according to the following formula:
wherein F represents the pressure of the sealing plug 8 to the contaminant, k represents the stiffness coefficient, and m represents the intrinsic property value of the first return spring 7 itself, and the spraying robot needs to start the protection device when G is 1, and does not need to start the protection device when G is 0.
The beneficial effects of the above technical scheme are: by utilizing the technology, the pressure born by the sealing plug 8 can be calculated according to the concentration of the pollutants and different environments, and whether the detected first return spring 7 reaches the warning state or not is automatically and intelligently judged according to the comparison between the pressure born by the sealing plug 8 and the elastic force born by the first return spring 7, so that whether a protection device needs to be started or not is determined, the pressure is reduced, and the frequent replacement of the spray head is reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a spraying robot is with automatic switch-over shower nozzle, includes spray gun connecting pipe (1), its characterized in that: the paint spraying device is characterized in that a paint conveying pipe (2) is fixedly mounted at the right end of the spray gun connecting pipe (1), a sliding groove (3) is formed in the upper surface of the spray gun connecting pipe (1), a sliding block (4) is connected to the inner wall of the sliding groove (3), a brake block (5) is mounted at the lower surface of the sliding block (4), a limiting rod (6) is fixedly mounted at the right inner wall of the spray gun connecting pipe (1), a first reset spring (7) is sleeved on the outer surface of the limiting rod (6), a sealing plug (8) is fixedly mounted at the right end of the brake block (5), a nozzle sleeve (9) is in threaded connection with the outer surface of the left side of the spray gun connecting pipe (1), a nozzle connecting block (10) is sleeved on the inner wall of the nozzle sleeve (9), a first nozzle (11) and a second nozzle (12) are fixedly mounted at the left side of the nozzle, the outer fixed surface of shower nozzle connecting block (10) installs stopper (14), the interior diapire fixed mounting of stopper (14) has second reset spring (15), the upper end of second reset spring (15) is provided with ball (16).
2. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: the outer surface fixed mounting of slider (4) has baffle (17), the upper surface of sliding tray (3) is hugged closely in baffle (17), and the length of baffle (17) is greater than the length of sliding tray (3).
3. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: the right end of the brake block (5) is provided with a limiting groove, the outer surface of the left end of the limiting rod (6) is in sliding connection with the inner wall of the limiting groove, and the left end of the first return spring (7) is fixedly connected with the right end of the brake block (5).
4. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: the first spray head (11) and the second spray head (12) are Z-shaped, and the second spray head (12) of the first spray head (11) is symmetrically arranged at the upper side and the lower side of the left end of the spray head connecting block (10).
5. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: the outer fixed surface of shower nozzle connecting block (10) installs the snap ring, the snap ring is located between shower nozzle cover (9) and stopper (14), the right-hand member and external manipulator fixed connection of coating conveyer pipe (2).
6. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: the number of the limiting blocks (14) is four, the limiting blocks (14) are symmetrically arranged on the outer surface of the spray head connecting block (10) in a circumferential array mode, and four grooves matched with each other are formed in the positions, corresponding to the four limiting blocks (14), of the inner wall of the spray head sleeve (9).
7. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: before the automatic switching spray head sprays, the automatic switching spray head comprises:
detecting the spraying robot based on an image detection technology, wherein the detecting step comprises the following steps:
firstly, shooting images simulating the presence of flames and images simulating the absence of flames in the environment by using an external camera to acquire image data, and acquiring an image data set according to the acquired images;
performing image enhancement on the acquired image data set based on an image enhancement technology to acquire an image enhanced image data set, wherein the image enhancement comprises: denoising the image, smoothing the image, improving the image contrast and exposing the image for one or more types;
labeling class labels on the enhanced images by using labeling software to obtain labeled image data sets, wherein the class labels comprise flame classes, non-flame classes and position information of the flame in the flame classes in the images;
sending the marked image data set into a convolutional neural network model for model training to obtain a trained convolutional neural network model;
deploying the trained convolutional neural network model on a server, connecting the server to the external camera, acquiring images of the environment where the spraying robot is located, importing the acquired images into the trained convolutional neural network model, detecting the flame in the environment where the spraying robot is located when an output result is that the environment where the spraying robot is located does not acquire a detection result through the external camera, and not sending out an alarm based on an alarm arranged on the spraying robot, detecting the flame in the environment where the spraying robot is located when the output result is that the environment where the spraying robot is located acquires the detection result through the external camera, and sending out an alarm based on the alarm arranged on the spraying robot, wherein the acquired detection result comprises: flame information and the corresponding flame position in the environment of the spraying robot.
8. The automatic switching nozzle for a painting robot according to claim 1, characterized in that: the brake block (5) further comprises a protection device, the protection device measures the pressure of pollutants on the sealing plug in real time, whether the protection device is started or not is determined according to the detected pressure of the pollutants on the sealing plug, after the protection device is started, the spraying robot stops working to protect the spraying robot, and the preset method comprises the following specific steps:
step a1, determining the dynamic concentration of the contaminant according to the following formula:
wherein c (t) represents the concentration of the pollutants at the time t, R represents the instantaneous discharge amount of the pollutants, h represents the depth of the pollutants, t represents the dynamic time, f represents the instantaneous discharge amount of the pollutants, andxcoefficient representing diffusion of contaminant to the right, fyCoefficient representing diffusion of contaminant to the left, l represents lateral distance between detection point distance and contaminant, x represents length of protection device, vxRepresenting the flow velocity of the contaminant in the right direction, the distance between the z detection point and the longitudinal distance between the contaminant, y representing the width of the protective device, vyRepresenting the flowing speed of the pollutants in the left direction, delta representing the comprehensive attenuation coefficient of the pollutants, and e representing a natural constant;
step a2, the pressure of the contamination on the sealing plug (8) is determined according to the following formula:
F＝(C(t)*g*h)*S
wherein c (t) represents the concentration of the pollutant at the time t, h represents the depth of the pollutant, S represents the area of the sealing plug (8) occupied by the pollutant, g represents the gravity acceleration of the physical quantity, and F represents the pressure of the sealing plug (8) on the pollutant;
step A3, judging whether the spraying robot needs to start the protection device according to the following formula:
wherein, F represents the pressure of the sealing plug (8) to the pollutant, k represents the stiffness coefficient, m represents the inherent attribute value of the first return spring (7), and the spraying robot needs to start the protection device when G is 1 and does not need to start the protection device when G is 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011098307.1A CN112317190A (en) | 2020-10-14 | 2020-10-14 | Automatic switching nozzle for spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011098307.1A CN112317190A (en) | 2020-10-14 | 2020-10-14 | Automatic switching nozzle for spraying robot |
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| CN112317190A true CN112317190A (en) | 2021-02-05 |
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| CN202011098307.1A Withdrawn CN112317190A (en) | 2020-10-14 | 2020-10-14 | Automatic switching nozzle for spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115143482A (en) * | 2022-07-25 | 2022-10-04 | 淮南中建材腾锋环保科技有限公司 | High-temperature-resistant organic waste liquid incineration spray gun |
-
2020
- 2020-10-14 CN CN202011098307.1A patent/CN112317190A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115143482A (en) * | 2022-07-25 | 2022-10-04 | 淮南中建材腾锋环保科技有限公司 | High-temperature-resistant organic waste liquid incineration spray gun |
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Application publication date: 20210205 |
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