CN114192304A - Spraying robot - Google Patents
Spraying robot Download PDFInfo
- Publication number
- CN114192304A CN114192304A CN202111573821.0A CN202111573821A CN114192304A CN 114192304 A CN114192304 A CN 114192304A CN 202111573821 A CN202111573821 A CN 202111573821A CN 114192304 A CN114192304 A CN 114192304A
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- pipe
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- control valve
- electric control
- spraying
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- 238000005507 spraying Methods 0.000 title claims abstract description 57
- 239000007788 liquid Substances 0.000 claims abstract description 63
- 238000002347 injection Methods 0.000 claims abstract description 28
- 239000007924 injection Substances 0.000 claims abstract description 28
- 239000000463 material Substances 0.000 claims abstract description 4
- 238000010438 heat treatment Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- 230000001815 facial effect Effects 0.000 claims 1
- 239000003814 drug Substances 0.000 abstract description 28
- 239000012459 cleaning agent Substances 0.000 description 12
- 239000000126 substance Substances 0.000 description 10
- 230000006872 improvement Effects 0.000 description 8
- 239000000941 radioactive substance Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 239000012535 impurity Substances 0.000 description 4
- 238000009792 diffusion process Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000012857 radioactive material Substances 0.000 description 1
- 238000003904 radioactive pollution Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Classifications
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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
- B05B9/0406—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 with several pumps
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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
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
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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
- B05B9/0423—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 for supplying liquid or other fluent material to several spraying apparatus
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The invention relates to the field of special robots, in particular to a spraying robot, which comprises a vehicle body, wherein wheels are arranged at the bottom of the vehicle body, an upper mounting system is arranged on the vehicle body, and the upper mounting system comprises a storage box, a first conveying pump, a second conveying pump, a power motor, a remote spraying gun and a ground spraying device; the material storage box is connected with a first liquid outlet pipe and a second liquid outlet pipe, the first liquid outlet pipe is connected with a first flow through pipe, the second liquid outlet pipe is connected with a second flow through pipe, the first flow through pipe and the second flow through pipe are jointly connected with a collecting pipe, and the collecting pipe is connected with a first injection pipe and a second injection pipe; the remote spraying gun is connected to a first spraying pipe, a first electric control valve is arranged on the first spraying pipe, the ground sprayer is connected to a second spraying pipe, and a second electric control valve is arranged on the second spraying pipe; the first conveying pump is connected to the first flow pipe, and the second conveying pump is connected to the second flow pipe. The scheme improves the remote spraying distance of the medicament.
Description
Technical Field
The invention relates to the field of special robots, in particular to a spraying robot.
Background
For the site with the nuclear power station leakage, some medicaments need to be sprayed, and the medicaments can react with substances leaked from the nuclear power station to reduce nuclear pollution and radiation and further reduce radioactive substances from releasing into the environment.
At present, because a leakage site of a nuclear power station has certain radiativity, a medicament cannot be sprayed in a manual mode, and a spraying robot is required to be used for automatically spraying the medicament. Because the closer to the radioactive substance release source, the greater the radiation intensity, so the spraying robot cannot excessively approach the radioactive substance release source, otherwise, strong radiation can cause damage to electronic devices inside the spraying robot, the spraying stroke of the spraying robot is limited, and remote spraying cannot be realized, so that when the spraying robot is far away from the radioactive substance release source, medicaments cannot be sprayed to the radioactive substance release source far away, and further leakage and diffusion of radioactive contamination cannot be controlled.
Disclosure of Invention
The invention aims to provide a spraying robot to improve the remote spraying distance of a medicament.
In order to achieve the purpose, the invention adopts the following technical scheme: a jet robot comprises a vehicle body, wherein wheels are arranged at the bottom of the vehicle body, and an upper mounting system is arranged on the vehicle body and comprises a storage box, a first delivery pump, a second delivery pump, a power motor, a remote jet gun and a ground distributor; the material storage box is connected with a first liquid outlet pipe and a second liquid outlet pipe, the first liquid outlet pipe is connected with a first flow through pipe, the second liquid outlet pipe is connected with a second flow through pipe, the first flow through pipe and the second flow through pipe are jointly connected with a collecting pipe, and the collecting pipe is connected with a first injection pipe and a second injection pipe; the remote spraying gun is connected to a first spraying pipe, a first electric control valve is arranged on the first spraying pipe, the ground sprayer is connected to a second spraying pipe, and a second electric control valve is arranged on the second spraying pipe; the first conveying pump is connected to the first flow through pipe, the second conveying pump is connected to the second flow through pipe, and the power motor provides power for the first conveying pump and the second conveying pump to work.
The principle and the advantages of the scheme are as follows: the storage box is used for storing liquid medicaments. And the power motor provides power for the work of the first delivery pump and the second delivery pump. The remote spraying gun is used for remotely spraying the medicament, and the ground sprayer is used for spraying the medicament onto the ground. When the chemicals are required to be sprayed onto the ground, the spraying distance of the chemicals is short at the moment, the power for spraying the chemicals is not required to be large, at the moment, only any one of the first delivery pump or the second delivery pump needs to be started, and meanwhile, the second electric control valve is opened and the first electric control valve is closed, so that when the first delivery pump is started and the second delivery pump is closed, the chemicals in the storage tank enter the confluence pipe along the first liquid outlet pipe and the first flow pipe, finally enter the second injection pipe, and are sprayed out from the ground spraying device; or when the second delivery pump is started and the first delivery pump is closed, the medicament in the storage box enters the collecting pipe along the second liquid outlet pipe and the second flow pipe, finally enters the second injection pipe, and is sprayed out from the ground distributor. Therefore, the scheme can select two flowing routes of the medicaments to enable the medicaments to be sprayed out from the ground distributor, when one of the flowing routes is overhauled or damaged, the other flowing route enables the medicaments to be sprayed out from the ground distributor, and therefore the problem that only one flowing route affects normal spraying of the medicaments from the ground distributor during overhauling or damage is avoided.
When the remote spraying of the medicament is carried out, the first delivery pump and the second delivery pump are started at the same time, the first electric control valve is opened, the second electric control valve is closed, the medicament in the storage box enters the collecting pipe along the first liquid outlet pipe and the first flow pipe, finally enters the first spraying pipe, and is sprayed out from the remote spraying gun; simultaneously, the medicament in the storage box is along the second drain pipe, the second flows in the management and enters into the collecting pipe, and finally enter into first injection pipe, then also spout from long-range injection big gun, work simultaneously through two routes of flowing through like this, thereby make flow and the pressure of spun medicament great in the long-range injection big gun of follow, the jet distance of long-range injection big gun has been improved greatly, thereby can make the medicament spray farther distance, can spray the medicament to the radioactive substance release source far away, do benefit to the further leakage and the diffusion of control radioactive contamination.
Preferably, as an improvement, the storage tank is further connected with a first return pipe and a second return pipe, the first return pipe is connected with the first flow through pipe, and the connecting part of the first return pipe and the first flow through pipe is positioned between the first delivery pump and the collecting pipe; the second return pipe is connected to the second flow pipe, and the connecting part of the second return pipe and the second flow pipe is positioned between the second delivery pump and the collecting pipe; a third electric control valve is arranged on the first liquid outlet pipe, and a fourth electric control valve is arranged on the second liquid outlet pipe; the first return pipe is provided with a fifth electric control valve, and the second return pipe is provided with a sixth electric control valve. Therefore, the first electric control valve and the second electric control valve are closed, the third electric control valve and the fifth electric control valve are opened, the first conveying pump is started, cleaning agents are put into the storage box, the cleaning agents in the storage box continuously and circularly flow along the first liquid outlet pipe, the first flow pipe and the first return pipe, and the cleaning agents continuously and repeatedly wash the first flow pipe, so that the blockage caused by the fact that impurities adhere to the inner wall of the first flow pipe can be avoided; in a similar way, the second delivery pump is started, the cleaning agent is placed into the storage box, the cleaning agent in the storage box flows along the second liquid outlet pipe, the second flow through pipe and the continuous circulation of the second return pipe, the cleaning agent continuously and repeatedly washes the second flow through pipe, and therefore impurities are adhered to the inner wall of the second flow through pipe and blockage can be avoided.
Preferably, as an improvement, the first flow pipe and the second flow pipe are both provided with liquid inlets, and a seventh electric control valve is installed at the liquid inlet on the first flow pipe; an eighth electric control valve is arranged at the liquid inlet of the second flow pipe. Thus, the first electric control valve and the second electric control valve are closed, and the third electric control valve and the fourth electric control valve are closed; and opening the seventh electric control valve and the fifth electric control valve, connecting the liquid inlet on the first flow through pipe with an external feeding pipeline, starting the first conveying pump, and enabling external liquid to enter from the liquid inlet on the first flow through pipe and enter the storage box along the first flow through pipe and the first return pipe, so that self-suction feeding of the storage box is realized. Similarly, the eighth electric control valve and the sixth electric control valve are opened, the liquid inlet on the second flow pipe is connected with an external feeding pipeline, the second conveying pump is started, external liquid enters from the liquid inlet on the second flow pipe, and enters the storage box along the second flow pipe and the second return pipe, so that self-suction feeding is performed on the storage box through another pipeline.
Preferably, as an improvement, a ninth electric control valve is installed on the first flow pipe, and the ninth electric control valve is positioned between the junction of the first return pipe and the first flow pipe and the collecting pipe; and a tenth electric control valve is arranged on the second flow pipe and is positioned between the connecting part of the second return pipe and the second flow pipe and the collecting pipe. Therefore, the liquid in the first flow pipe can be prevented from entering the collecting pipe by closing the ninth electric control valve, and the liquid in the second flow pipe can be prevented from entering the collecting pipe by closing the tenth electric control valve.
Preferably, as an improvement, the top loading system further comprises a high-pressure gas cylinder, the high-pressure gas cylinder is connected between the first flow through pipe and the second flow through pipe, and an eleventh electric control valve is arranged on the high-pressure gas cylinder. High-pressure gas is stored in the high-pressure gas bottle, and the gas in the high-pressure gas bottle enters the first flow through pipe and the second flow through pipe by opening the eleventh electric control valve, so that the gas can be filled in the first flow through pipe and the second flow through pipe, the gas can flow into other pipelines in the first flow through pipe and the second flow through pipe, and the residual liquid in the first flow through pipe, the second flow through pipe and other pipelines can be dried.
Preferably, as an improvement, a first pressure relief valve is connected between the first flow through pipe and the first return pipe, and one end of the first pressure relief valve connected to the first flow through pipe is positioned between the connecting part of the first flow through pipe and the first return pipe and the first delivery pump; and a second pressure relief valve is connected between the second flow through pipe and the second return pipe, and one end of the second pressure relief valve, which is connected to the second flow through pipe, is positioned between the connection part of the second flow through pipe and the second return pipe and the second delivery pump. The arrangement of the first pressure release valve and the second pressure release valve can prevent the liquid pressure pumped by the first delivery pump and the second delivery pump or the gas pressure in the high-pressure gas cylinder from being overlarge, thereby avoiding the pressure overpressure in the pipeline and being beneficial to protecting the safety of the pipeline.
Preferably, as an improvement, the storage tank is provided with a first auxiliary heating pipeline. Under low temperature environment, can heat the storage case.
Preferably, as an improvement, a second auxiliary heat pipeline is arranged on the collecting pipe. Under low temperature environment, can heat the collecting pipe.
Preferably, as an improvement, the vehicle body and the loading system are remotely controlled by a hand-held remote controller. From this, control injection robot through long-range, need not artifical closely controlling, be favorable to guaranteeing personnel's safety.
Drawings
Fig. 1 is a schematic diagram of an upper system pipeline in a jetting robot.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the system comprises a storage tank 1, a liquid temperature sensor 2, a liquid level sensor 3, a first auxiliary heat pipeline 4, a seventh electric control valve 5, a third electric control valve 6, an eighth electric control valve 7, a fourth electric control valve 8, a second delivery pump 9, a power motor 10, a first delivery pump 11, a first pressure release valve 12, a pressure sensor 13, a fifth electric control valve 14, a ninth electric control valve 15, a remote injection gun 16, a flow sensor 17, an eleventh electric control valve 18, a high-pressure gas cylinder 19, a one-way gas valve 20, a second auxiliary heat pipeline 21, a first electric control valve 22, a second electric control valve 23, a sixth electric control valve 24, a tenth electric control valve 25, a ground sprinkler 26, a first flow pipe 29, a second flow pipe 30, a second flow pipe 31, a first return pipe 32, a flow collecting pipe 33, a first injection pipe 34 and a second injection pipe 35.
The embodiment is basically as shown in the attached figure 1: a spraying robot comprises a vehicle body, wheels are arranged at the bottom of the vehicle body, the vehicle body is driven by an engine to move, and speed change control is performed through a gearbox, which are all the prior art and are not described again. The vehicle body is provided with an upper loading system, and the upper loading system comprises a material storage tank 1, a first delivery pump 11, a second delivery pump 9, a power motor 10, a remote spraying gun 16 and a ground spraying device 26; be connected with level sensor 3 and liquid temperature sensor 2 on the storage case 1, the bottom upper berth of storage case 1 is equipped with first auxiliary heating pipeline 4 to can heat the liquid in the storage case 1 when low temperature. Be connected with first drain pipe and second drain pipe on the side about storage case 1, be connected with first class management pipe 29 on the first drain pipe, be connected with the second on the second drain pipe and manage 31, the bottom of first class management pipe 29 and the bottom accessible three way connection head that the second flows through 31 are connected with collecting pipe 33 jointly, and collecting pipe 33 upper berth is equipped with the second and assists hot line 21 to can heat the medicament liquid in the collecting pipe 33. The bottom end of the collecting pipe 33 is connected with a first injection pipe 34 and a second injection pipe 35 through a three-way connector; the remote spraying gun 16 is connected to the left end of the first spraying pipe 34, the first spraying pipe 34 is provided with a first electric control valve 22, the ground sprinkling device 26 is connected to the right end of the second spraying pipe 35, the second spraying pipe 35 is provided with a second electric control valve 23, the remote spraying gun 16 in the embodiment is installed on the top of the vehicle body, and the ground sprinkling device 26 is installed on the bottom of the vehicle body. The first conveying pump 11 is connected to the first flow pipe 29, the second conveying pump 9 is connected to the second flow pipe 31, and the power motor 10 provides power for the first conveying pump 11 and the second conveying pump 9 to work in a direct (belt or chain) or indirect (reduction gearbox) mode. In this embodiment, the pressure sensor 13 and the flow sensor 17 are disposed on the first flow pipe 29 and the second flow pipe 31, the pressure sensor 13 and the flow sensor 17 on the first flow pipe 29 are disposed between the first delivery pump 11 and the collecting pipe 33, and the pressure sensor 13 and the flow sensor 17 on the second flow pipe 31 are disposed between the second delivery pump 9 and the collecting pipe 33.
The storage tank 1 is further connected with a first return pipe 32 and a second return pipe 30, the bottom end of the first return pipe 32 is connected with the first flow through pipe 29, and the connecting part of the first return pipe 32 and the first flow through pipe 29 is positioned between the first delivery pump 11 and the collecting pipe 33, and is specifically positioned between the flow sensor 17 and the collecting pipe 33. The bottom end of the second return pipe 30 is connected to the second flow pipe 31, and the connection point of the second return pipe 30 and the second flow pipe 31 is located between the second feed pump 9 and the manifold 33, specifically, between the flow sensor 17 and the manifold 33. And a third electric control valve 6 is arranged on the first liquid outlet pipe, and a fourth electric control valve 8 is arranged on the second liquid outlet pipe. The first return pipe 32 is provided with the fifth electronic control valve 14, and the second return pipe 30 is provided with the sixth electronic control valve 24. Liquid inlets are respectively arranged on the first flow through pipe 29 and the second flow through pipe 31, in the embodiment, the liquid inlet of the first flow through pipe 29 is positioned at the right side of the first liquid outlet pipe, the liquid inlet of the second flow through pipe 31 is positioned at the left side of the second liquid outlet pipe, and a seventh electric control valve 5 is arranged at the liquid inlet of the first flow through pipe 29; an eighth electrically controlled valve 7 is installed at the inlet of the second flow pipe 31.
The ninth electric control valve 15 is arranged on the first flow pipe 29, and the ninth electric control valve 15 is positioned between the connecting part of the first return pipe 32 and the first flow pipe 29 and the collecting pipe 33; the tenth electric control valve 25 is mounted on the second flow pipe 31, and the tenth electric control valve 25 is located between the junction of the second return pipe 30 and the second flow pipe 31 and the collecting pipe 33. The upper assembling system in the embodiment further comprises a high-pressure gas bottle 19, the high-pressure gas bottle 19 is connected between the first flow pipe 29 and the second flow pipe 31, and the eleventh electronic control valve 18 is arranged on the high-pressure gas bottle 19. A one-way gas valve 20 is also arranged between the high-pressure gas cylinder 19 and the first flow pipe 29 and between the high-pressure gas cylinder 19 and the second flow pipe 31. A first pressure relief valve 12 is connected between the first flow through pipe 29 and the first return pipe 32, one end of the first pressure relief valve 12 connected to the first flow through pipe 29 is positioned between the connecting part of the first flow through pipe 29 and the first return pipe 32 and the first conveying pump 11, and the specific end of the first pressure relief valve 12 connected to the first flow through pipe 29 is positioned between the first conveying pump 11 and the pressure sensor 13 on the first flow through pipe 29; a second pressure relief valve is connected between the second flow passing pipe 31 and the second return pipe 30, one end of the second pressure relief valve connected to the second flow passing pipe 31 is positioned between the connecting part of the second flow passing pipe 31 and the second return pipe 30 and the second delivery pump 9, and the other end of the specific second pressure relief valve connected to the second flow passing pipe 31 is positioned between the second delivery pump 9 and the pressure sensor 13 on the second flow passing pipe 31.
The whole spraying robot is controlled by a remote communication control system. The control end of the communication control system consists of a remote control station and a handheld remote controller, wherein the handheld remote controller consists of 1 touch screen with 7 inches and 1 wireless communication radio station. The traveling instruction and the operation instruction can be issued through the touch screen, and the working state, the operation picture and the environmental information of the robot and the upper system can be monitored through the touch screen. The remote control station is disposed in a control cabin of the vehicle body and mainly comprises 1 7-inch touch screen, 1 wireless communication radio station, 1 switch and 1 industrial personal computer.
The specific implementation process is as follows: closing the first electric control valve 22, the second electric control valve 23, the third electric control valve 6 and the fourth electric control valve 8; and closing the ninth electronic control valve 15, opening the seventh electronic control valve 5 and the fifth electronic control valve 14, connecting the liquid inlet of the first flow pipe 29 with an external feeding pipeline, so as to start the first conveying pump 11, and allowing external liquid to enter from the liquid inlet of the first flow pipe 29 and enter the storage tank 1 along the first flow pipe 29, the first conveying pump 11 and the first return pipe 32, thereby realizing self-priming feeding of the storage tank 1. Similarly, the tenth electronic control valve 25 is closed, the eighth electronic control valve 7 and the sixth electronic control valve 24 are opened, the second flow pipe 31 is connected to an external feeding pipeline, so that the second delivery pump 9 is started, external liquid enters from the second flow pipe 31 through the liquid inlet, and enters the storage tank 1 through the second flow pipe 31, the second delivery pump 9 and the second return pipe 30, and self-suction feeding is performed on the storage tank 1 through another pipeline.
When the chemicals are required to be sprayed onto the ground, the distance of the chemicals spraying is short at this time, the power of the chemicals spraying does not need to be large, at this time, only one of the first delivery pump 11 or the second delivery pump 9 needs to be started, at the same time, the second electronic control valve 23 is opened, the first electronic control valve 22 is closed, the third electronic control valve 6 is opened, the fourth electronic control valve 8, the fifth electronic control valve 14 and the seventh electronic control valve 5 are closed, and when the first delivery pump 11 is started and the second delivery pump 9 is closed, the chemicals in the storage box 1 enter the collecting pipe 33 along the first liquid outlet pipe and the first flow pipe 29, and finally enter the second injection pipe 35, and then are sprayed out from the ground sprayer 26. Alternatively, when the second electric control valve 23 is opened, the first electric control valve 22 is closed, the fourth electric control valve 8 is opened, the third electric control valve 6, the sixth electric control valve 24 and the eighth electric control valve 7 are closed, the second delivery pump 9 is started and the first delivery pump 11 is closed, the chemicals in the storage tank 1 enter the collecting pipe 33 along the second liquid outlet pipe and the second flow pipe 31, and finally enter the second injection pipe 35, and then are sprayed out from the ground sprayer 26.
When the medicine is remotely sprayed, the first delivery pump 11 and the second delivery pump 9 are simultaneously started, the first electronic control valve 22 is opened, the second electronic control valve 23 is closed, the third electronic control valve 6 and the fourth electronic control valve 8 are opened, the fifth electronic control valve 14, the sixth electronic control valve 24, the seventh electronic control valve 5 and the eighth electronic control valve 7 are closed, the ninth electronic control valve 15 and the tenth electronic control valve 25 are opened, the eleventh electronic control valve 18 is closed, and the medicine in the storage box 1 enters the confluence pipe 33 along the first liquid outlet pipe and the first flow pipe 29 under the action of the first delivery pump 11 and finally enters the first injection pipe 34 and then is sprayed out of the remote spray gun 16; meanwhile, the medicament in the storage box 1 enters the collecting pipe 33 through the second liquid outlet pipe and the second flowing pipe 31 under the action of the second delivery pump 9, finally enters the first injection pipe 34, and is then injected from the remote injection gun 16, so that the two flowing routes work simultaneously, the flow and the pressure of the medicament injected from the remote injection gun 16 are large, the injection distance of the remote injection gun 16 is greatly increased, the medicament can be injected at a long distance, the medicament can be injected from a radioactive material release source at a long distance, and the control of further leakage and diffusion of radioactive pollution is facilitated.
After the robot finishes working, when the first flow pipe 29, the second flow pipe 31 and other pipelines need to be cleaned, at this time, the first electric control valve 22 and the second electric control valve 23 are closed, the ninth electric control valve 15, the tenth electric control valve 25, the seventh electric control valve 5 and the eighth electric control valve 7 are closed, the third electric control valve 6 and the fifth electric control valve 14 are opened, so that the first conveying pump 11 is started, cleaning agents are put into the storage box 1, the cleaning agents in the storage box 1 continuously and circularly flow along the first liquid outlet pipe, the first flow pipe 29 and the first return pipe 32, and the cleaning agents continuously and repeatedly rinse the first flow pipe 29 and the storage box 1, so that the blockage caused by impurities adhered to the inner wall of the first flow pipe 29 and the inner wall of the storage box 1 can be avoided; similarly, the fourth electric control valve 8 and the sixth electric control valve 24 are opened, the eighth electric control valve 7 and the tenth electric control valve 25 are closed, the second delivery pump 9 is started, the cleaning agent is put into the storage box 1, the cleaning agent in the storage box 1 flows along the second liquid outlet pipe and the second flow pipe 31 and the second return pipe 30 continuously and circularly, the cleaning agent continuously and repeatedly washes the second flow pipe 31 and the storage box 1, and therefore the blockage caused by the impurities adhered to the inner wall of the second flow pipe 31 and the inner wall of the storage box 1 can be avoided.
After the cleaning is finished or the robot works, the eleventh electric control valve 18 is opened, so that the gas in the high-pressure gas cylinder 19 enters the first flow through pipe 29 and the second flow through pipe 31, the first flow through pipe 29 and the second flow through pipe 31 can be filled with the gas, the gas flows into other pipelines (the first return pipe 32, the second return pipe 30, the confluence pipe 33, the first injection pipe 34 and the second injection pipe 35 and the like) from the first flow through pipe 29 and the second flow through pipe 31, and residual liquid in the first flow through pipe 29, the second flow through pipe 31 and other pipelines can be dried.
The foregoing is merely an example of the present invention and common general knowledge in the art of designing and/or characterizing particular aspects and/or features is not described in any greater detail herein. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. The utility model provides a spray robot, includes the automobile body, be equipped with the wheel on the bottom of automobile body, be equipped with facial make-up system, its characterized in that on the automobile body: the loading system comprises a storage box, a first delivery pump, a second delivery pump, a power motor, a remote spraying gun and a ground spraying device; the storage box is connected with a first liquid outlet pipe and a second liquid outlet pipe, the first liquid outlet pipe is connected with a first flow through pipe, the second liquid outlet pipe is connected with a second flow through pipe, the first flow through pipe and the second flow through pipe are jointly connected with a collecting pipe, and the collecting pipe is connected with a first injection pipe and a second injection pipe; the remote spraying gun is connected to a first spraying pipe, a first electric control valve is arranged on the first spraying pipe, the ground spraying device is connected to a second spraying pipe, and a second electric control valve is arranged on the second spraying pipe; the first conveying pump is connected to the first flow through pipe, the second conveying pump is connected to the second flow through pipe, and the power motor provides power for the first conveying pump and the second conveying pump to work.
2. A jetting robot as claimed in claim 1, wherein: the material storage tank is also connected with a first return pipe and a second return pipe, the first return pipe is connected with a first flow through pipe, and the connecting part of the first return pipe and the first flow through pipe is positioned between the first conveying pump and the collecting pipe; the second return pipe is connected to the second flow pipe, and the connecting part of the second return pipe and the second flow pipe is positioned between the second delivery pump and the collecting pipe; a third electric control valve is arranged on the first liquid outlet pipe, and a fourth electric control valve is arranged on the second liquid outlet pipe; and a fifth electric control valve is arranged on the first return pipe, and a sixth electric control valve is arranged on the second return pipe.
3. A jetting robot as claimed in claim 2, characterized in that: liquid inlets are formed in the first flow passing pipe and the second flow passing pipe, and a seventh electric control valve is installed at the liquid inlet on the first flow passing pipe; and an eighth electric control valve is arranged at the liquid inlet of the second flow pipe.
4. A jetting robot as claimed in claim 3, characterized in that: a ninth electric control valve is arranged on the first flow pipe and is positioned between the junction of the first return pipe and the first flow pipe and the collecting pipe; and a tenth electric control valve is arranged on the second flow pipe and is positioned between the connecting part of the second return pipe and the second flow pipe and the collecting pipe.
5. A jetting robot as claimed in claim 2, characterized in that: the upper assembling system further comprises a high-pressure gas cylinder, the high-pressure gas cylinder is connected between the first flow through pipe and the second flow through pipe, and an eleventh electric control valve is arranged on the high-pressure gas cylinder.
6. A jetting robot as claimed in claim 5, characterized in that: a first pressure relief valve is connected between the first flow through pipe and the first return pipe, and one end of the first pressure relief valve, which is connected to the first flow through pipe, is positioned between the connecting part of the first flow through pipe and the first return pipe and the first delivery pump; and a second pressure relief valve is connected between the second flow through pipe and the second return pipe, and one end of the second pressure relief valve, which is connected to the second flow through pipe, is positioned between the connection part of the second flow through pipe and the second return pipe and the second delivery pump.
7. A jetting robot as claimed in any one of claims 1-6, characterized in that: the storage box is provided with a first auxiliary heating pipeline.
8. A jetting robot as claimed in any one of claims 1-6, characterized in that: and a second auxiliary heating pipeline is arranged on the collecting pipe.
9. A jetting robot as claimed in any one of claims 1-6, characterized in that: the vehicle body and the loading system are remotely controlled through a handheld remote controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573821.0A CN114192304A (en) | 2021-12-21 | 2021-12-21 | Spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573821.0A CN114192304A (en) | 2021-12-21 | 2021-12-21 | Spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114192304A true CN114192304A (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111573821.0A Pending CN114192304A (en) | 2021-12-21 | 2021-12-21 | Spraying robot |
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| CN (1) | CN114192304A (en) |
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Application publication date: 20220318 |