CN114733668A - Automatic spraying robot and spraying method for steel bridge deck two-component coating - Google Patents
Automatic spraying robot and spraying method for steel bridge deck two-component coating Download PDFInfo
- Publication number
- CN114733668A CN114733668A CN202210384035.4A CN202210384035A CN114733668A CN 114733668 A CN114733668 A CN 114733668A CN 202210384035 A CN202210384035 A CN 202210384035A CN 114733668 A CN114733668 A CN 114733668A
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- spraying
- paint
- bridge deck
- spray head
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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
- B05B13/005—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 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/625—Arrangements for supporting spraying apparatus, e.g. suction cups designed to be placed on the ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses an automatic spraying robot for a double-component coating of a steel bridge deck, which comprises a movable base, wherein Mecanum wheels are arranged at the bottom of the movable base and are in transmission connection with a power system of the movable base; the movable base is provided with a translation rail, a translation platform is arranged on the translation rail, a lifting device is installed on the translation platform, a telescopic rod horizontally arranged is installed on a lifting end of the lifting device, a first spray head and a second spray head are installed on the telescopic rod, the first spray head is communicated with a first paint spraying box through a pump body, and the second spray head is communicated with the second paint spraying box through the pump body. The invention adopts the omnidirectional moving wheel platform to drive the spraying arm to automatically walk along the direction vertical to the direction of the bridge deck, thereby greatly improving the spraying efficiency and uniformity. When the mobile platform moves, the spraying arm moves automatically along the track on the platform, so that the spraying arm can walk efficiently.
Description
Technical Field
The invention relates to spraying equipment, in particular to an automatic spraying robot and a spraying method for a steel bridge deck double-component coating.
Background
At present, the two-component spraying operation of the steel bridge deck mostly adopts manual construction, and semi-automatic equipment for spraying by adopting a truss manipulator and manually dragging construction is also adopted. Because the requirement on the spraying quality is very high, the efficiency is low during manual operation, and a protective mask needs to be worn, so the labor intensity is high; when semi-mechanized equipment is constructed, the phenomenon of uneven manual dragging also exists, the whole equipment is large, the construction operation is greatly limited by the site, and the application range is narrow. Meanwhile, when the two components are constructed, the components react with each other, so that the solidification is fast, and the blockage phenomenon is easy to occur.
Disclosure of Invention
The invention aims to provide an automatic spraying robot for double-component paint on a steel bridge deck, which adopts an omnidirectional moving wheel platform to drive a spraying arm to automatically walk along the direction vertical to the direction of the bridge deck, and can greatly improve the spraying efficiency and uniformity. When the mobile platform moves, the spraying arm moves automatically along the track on the platform, so that the spraying arm can walk efficiently.
In order to solve the technical problems, the invention adopts the following technical scheme:
a double-component coating automatic spraying robot for a steel bridge deck comprises a moving base, wherein Mecanum wheels are mounted at the bottom of the moving base and are in transmission connection with a power system of the moving base; the movable base is provided with a translation rail, a translation platform is arranged on the translation rail, a lifting device is installed on the translation platform, a telescopic rod horizontally arranged is installed on a lifting end of the lifting device, a first spray head and a second spray head are installed on the telescopic rod, the first spray head is communicated with a first paint spraying box through a pump body, and the second spray head is communicated with the second paint spraying box through the pump body.
The two-component coating automatic spraying robot for the steel bridge deck is characterized in that the front end and the rear end of the movable base are respectively provided with a thickness measuring device facing downwards, the power system, the translation platform, the lifting device, the telescopic rod, the pump body and the thickness measuring devices are electrically connected with a controller of the spraying robot, and the controller is electrically connected with a power system of the spraying robot.
In the automatic spraying robot for the double-component coating on the steel bridge deck, the translation platform comprises a supporting plate, a driving gear and a driven gear are mounted at the bottom of the supporting plate, the number of the translation tracks is two, and the driving gear and the driven gear are both positioned between the two translation tracks; one translation track is provided with a rack on the side, and the driving gear is meshed with the rack; and a driving motor is installed above the supporting plate and electrically connected with the controller, and the driving gear is installed on an output shaft of the driving motor.
In the automatic spraying robot for the two-component coating on the steel bridge deck, the head and the tail of the mobile base are both provided with the ranging sensors, and the ranging sensors are electrically connected with the controller.
In the automatic spraying robot for the two-component coating on the steel bridge deck, the lifting device comprises a vertically arranged screw rod, and the lower end of the screw rod is in transmission connection with a driving device; one side of the screw rod is provided with a vertically arranged limiting rod, a lifting end is sleeved on the limiting rod, a mounting hole is formed in the lifting end, a bearing is mounted in the mounting hole, a threaded sleeve is mounted in the bearing, and the threaded sleeve is sleeved on the screw rod.
A steel bridge deck two-component coating method adopts the automatic spraying robot for the steel bridge deck two-component coating, and comprises the following steps: controlling the spraying robot to move along a direction vertical to the direction of the bridge deck, spraying paint in the first paint spraying box through the first spray head in the moving process, and spraying paint in the second paint spraying box through the second spray head; controlling the spraying robot to move from one side of the bridge deck to the other side along the walking direction perpendicular to the bridge deck, and finishing the spraying area with the width of X and the length of the bridge deck width in the moving process; the bridge deck paint is uniformly sprayed by controlling the moving speed of the spraying robot and the paint spraying speed in the spraying process.
In the method for preparing the steel bridge deck two-component coating, the method further comprises the following steps: a solenoid valve and a flow detection device are arranged on a pipeline between the first spray head and the first spray box, a solenoid valve and a flow detection device are arranged on a pipeline between the second spray head and the second spray box, and both the solenoid valve and the flow detection device are electrically connected with the controller; the method comprises the steps of calculating the volume of paint sprayed by a first spray head in unit time, calculating the volume of paint sprayed by a second spray head in unit time, calculating the moving distance of the spraying robot in unit time, calculating the volume of the paint sprayed in unit distance, and controlling the paint spraying rate of the first spray head, the paint spraying rate of the second spray head and the moving speed of the spraying robot according to the volume of the paint sprayed in unit distance, so that the thickness of the paint on the bridge floor is uniform.
In the method for preparing the steel bridge deck two-component coating, the method further comprises the following steps: detect the distance of spraying robot apart from the steel bridge border through range finding sensor, if the distance along steel bridge border reaches the specified distance, control spraying robot slows down, and the in-process of slowing down is according to the paint blowout rate of the volume control first shower nozzle of blowout paint in the unit distance, the paint blowout rate of second shower nozzle and spraying robot's translation rate, makes the thickness of paint on the bridge floor even.
Compared with the prior art, the invention adopts the omnidirectional moving wheel platform to drive the spraying arm to automatically walk along the direction vertical to the direction of the bridge floor, thereby greatly improving the spraying efficiency and uniformity. When the mobile platform moves, the spraying arm moves automatically along the track on the platform, so that the spraying arm can walk efficiently.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Reference numerals: 1-a first spray head, 2-a second spray head, 3-a thickness measuring device, 4-a driving gear, 5-a rack, 6-a distance measuring sensor, 7-a translation track, 8-a moving base, 9-a support plate, 10-a lifting device, 11-a lifting end, 12-a limiting rod, 13-a mounting hole, 14-a screw rod, 15-a driving motor, 16-a translation platform and 17-a telescopic rod.
The invention is further described with reference to the following figures and detailed description.
Detailed Description
Example 1 of the invention: a double-component coating automatic spraying robot for a steel bridge deck comprises a moving base 8, wherein Mecanum wheels are mounted at the bottom of the moving base 8 and are in transmission connection with a power system of the moving base 8; the movable base 8 is provided with a translation rail 7, the translation rail 7 is provided with a translation platform 16, the translation platform 16 is provided with a lifting device 10, a lifting end 11 of the lifting device 10 is provided with a telescopic rod 17 horizontally arranged, the telescopic rod 17 is provided with a first spray head 1 and a second spray head 2, the first spray head 1 is communicated with a first paint spraying box through a pump body, and the second spray head 2 is communicated with the second paint spraying box through the pump body. The thickness measuring device 3 towards the lower side is respectively installed at the front end and the rear end of the movable base 8, the power system, the translation platform 16, the lifting device 10, the telescopic rod 17, the pump body and the thickness measuring device 3 are electrically connected with a controller of the spraying robot, and the controller is electrically connected with a power supply system of the spraying robot.
Example 2: a double-component coating automatic spraying robot for a steel bridge deck comprises a moving base 8, wherein Mecanum wheels are mounted at the bottom of the moving base 8 and are in transmission connection with a power system of the moving base 8; the movable base 8 is provided with a translation rail 7, the translation rail 7 is provided with a translation platform 16, the translation platform 16 is provided with a lifting device 10, a lifting end 11 of the lifting device 10 is provided with a telescopic rod 17 horizontally arranged, the telescopic rod 17 is provided with a first spray head 1 and a second spray head 2, the first spray head 1 is communicated with a first paint spraying box through a pump body, and the second spray head 2 is communicated with the second paint spraying box through the pump body. The thickness measuring device 3 towards the lower side is respectively installed at the front end and the rear end of the movable base 8, the power system, the translation platform 16, the lifting device 10, the telescopic rod 17, the pump body and the thickness measuring device 3 are electrically connected with a controller of the spraying robot, and the controller is electrically connected with a power supply system of the spraying robot.
The translation platform 16 comprises a support plate 9, a driving gear 4 and a driven gear are mounted at the bottom of the support plate 9, the number of the translation tracks 7 is two, and the driving gear 4 and the driven gear are both positioned between the two translation tracks 7; one translation track 7 is provided with a rack 5 at the side, and the driving gear 4 is meshed with the rack 5; a driving motor 15 is installed above the supporting plate 9, the driving motor 15 is electrically connected with the controller, and the driving gear 4 is installed on an output shaft of the driving motor 15.
Example 3: a double-component coating automatic spraying robot for a steel bridge deck comprises a moving base 8, wherein Mecanum wheels are mounted at the bottom of the moving base 8 and are in transmission connection with a power system of the moving base 8; the movable base 8 is provided with a translation rail 7, the translation rail 7 is provided with a translation platform 16, the translation platform 16 is provided with a lifting device 10, a lifting end 11 of the lifting device 10 is provided with a telescopic rod 17 horizontally arranged, the telescopic rod 17 is provided with a first spray head 1 and a second spray head 2, the first spray head 1 is communicated with a first paint spraying box through a pump body, and the second spray head 2 is communicated with the second paint spraying box through the pump body. The thickness measuring device 3 towards the lower side is respectively installed at the front end and the rear end of the movable base 8, the power system, the translation platform 16, the lifting device 10, the telescopic rod 17, the pump body and the thickness measuring device 3 are electrically connected with a controller of the spraying robot, and the controller is electrically connected with a power supply system of the spraying robot. The first paint spray booth and the second paint spray booth contain different types of paint.
The translation platform 16 comprises a support plate 9, a driving gear 4 and a driven gear are mounted at the bottom of the support plate 9, the number of the translation rails 7 is two, and the driving gear 4 and the driven gear are both located between the two translation rails 7; one translation track 7 is provided with a rack 5 at the side, and the driving gear 4 is meshed with the rack 5; and a driving motor 15 is installed above the supporting plate 9, the driving motor 15 is electrically connected with the controller, and the driving gear 4 is installed on an output shaft of the driving motor 15. The driving motor 15 operates to drive the driving gear 4 to rotate, and the rotating driving gear 4 cooperates with the rack 5 to drive the translation platform 16 to move along the translation track 7.
The locomotive and the rear of a vehicle of the mobile base 8 are both provided with a distance measuring sensor 6, and the distance measuring sensor 6 is electrically connected with the controller. The lifting device comprises a screw 14 which is vertically arranged, and the lower end of the screw 14 is in transmission connection with a driving device; one side of screw rod 14 has the gag lever post 12 of vertical setting, and the cover is equipped with lift end 11 on the gag lever post 12, has mounting hole 13 on the lift end 11, installs the bearing in the mounting hole 13, installs the thread bush in the bearing, and the thread bush is established on screw rod 14. The driving device drives the screw 14 to rotate, the rotating screw 14 is matched with the thread sleeve in the bearing, and the thread sleeve is driven to rotate, but the screw 14 can only rotate axially and cannot move up and down, so the lifting end moves up or down under the action of interaction force.
A method for steel bridge deck two-component coating, which adopts the automatic spraying robot for steel bridge deck two-component coating described in embodiment 3, and comprises the following steps: controlling the spraying robot to move along the direction vertical to the direction of the bridge deck, spraying the paint in the first paint spraying box through the first spray nozzle 1 in the moving process, and spraying the paint in the second paint spraying box through the second spray nozzle 2; controlling the spraying robot to move from one side of the bridge deck to the other side along the walking direction perpendicular to the bridge deck, and finishing the spraying area with the width of X and the length of the bridge deck width in the moving process; the bridge deck paint is uniformly sprayed by controlling the moving speed of the spraying robot and the paint spraying speed in the spraying process.
The method also comprises the following steps: a solenoid valve and a flow detection device are arranged on a pipeline between the first spray nozzle 1 and the first spray painting box, a solenoid valve and a flow detection device are arranged on a pipeline between the second spray nozzle 2 and the second spray painting box, and both the solenoid valve and the flow detection device are electrically connected with the controller; the method comprises the steps of calculating the volume of paint sprayed by a first spray head 1 in unit time, calculating the volume of paint sprayed by a second spray head 2 in unit time, calculating the moving distance of the spraying robot in unit time, calculating the volume of the paint sprayed in unit distance, and controlling the spraying speed of the paint of the first spray head 1, the spraying speed of the paint of the second spray head 2 and the moving speed of the spraying robot according to the volume of the paint sprayed in unit distance, so that the thickness of the paint on the bridge floor is uniform.
The method also comprises the following steps: detect the distance of spraying robot apart from the steel bridge border through range sensor 6, if the distance along steel bridge border reaches the specified distance, control spraying robot slows down, and the in-process of slowing down is according to the paint blowout rate of the volume control first shower nozzle 1 of blowout paint in the unit distance, the paint blowout rate of second shower nozzle 2 and spraying robot's translation rate, makes the thickness of paint on the bridge floor even.
Claims (6)
1. The automatic spraying robot for the double-component coating on the steel bridge deck is characterized by comprising a moving base (8), wherein a Mecanum wheel is mounted at the bottom of the moving base (8), and the Mecanum wheel is in transmission connection with a power system of the moving base (8); the movable base (8) is provided with a translation rail (7), a translation platform (16) is arranged on the translation rail (7), a lifting device (10) is installed on the translation platform (16), a horizontally-arranged telescopic rod (17) is installed at a lifting end (11) of the lifting device (10), a first spray head (1) and a second spray head (2) are installed on the telescopic rod (17), the first spray head (1) is communicated with a first paint spraying box through a pump body, and the second spray head (2) is communicated with a second paint spraying box through the pump body;
the front end and the rear end of the movable base (8) are respectively provided with a downward thickness measuring device (3), the power system, the translation platform (16), the lifting device (10), the telescopic rod (17), the pump body and the thickness measuring device (3) are electrically connected with a controller of the spraying robot, and the controller is electrically connected with a power supply system of the spraying robot;
the locomotive and the tail of the mobile base (8) are both provided with a distance measuring sensor (6), and the distance measuring sensor (6) is electrically connected with the controller.
2. The automatic spraying robot for the two-component coating on the steel bridge deck as claimed in claim 1, wherein the translation platform (16) comprises a support plate (9), a driving gear (4) and a driven gear are mounted at the bottom of the support plate (9), the number of the translation tracks (7) is two, and the driving gear (4) and the driven gear are both located between the two translation tracks (7); one translation track (7) is provided with a rack (5) on the side, and the driving gear (4) is meshed with the rack (5); driving motor (15) are installed to the top of backup pad (9), driving motor (15) with the controller electricity is connected, install on driving motor's (15) output shaft drive gear (4).
3. The automatic spraying robot for the two-component coating on the steel bridge deck as claimed in claim 1, wherein the lifting mechanism comprises a vertically arranged screw (14), and the lower end of the screw (14) is in transmission connection with a driving device; one side of screw rod (14) has gag lever post (12) of vertical setting, and the cover is equipped with lift end (11) on gag lever post (12), has mounting hole (13) on lift end (11), installs the bearing in mounting hole (13), installs the thread bush in the bearing, and the thread bush is established on screw rod (14) to the thread bush cover.
4. A steel bridge deck two-component coating method is characterized in that the automatic spraying robot for the steel bridge deck two-component coating, disclosed by claim 1, is adopted, and the method comprises the following steps: controlling the spraying robot to move along the direction vertical to the direction of the bridge deck, spraying paint in the first paint spraying box through the first spray nozzle (1) in the moving process, and spraying paint in the second paint spraying box through the second spray nozzle (2); controlling the spraying robot to move from one side of the bridge deck to the other side along the walking direction perpendicular to the bridge deck, and finishing the spraying area with the width of X and the length of the bridge deck width in the moving process; the bridge deck paint is uniformly sprayed by controlling the moving speed of the spraying robot and the paint spraying speed in the spraying process.
5. The method for the steel bridge deck two-component coating according to claim 4, further comprising the following steps: a solenoid valve and a flow detection device are arranged on a pipeline between the first spray nozzle (1) and the first spray painting box, a solenoid valve and a flow detection device are arranged on a pipeline between the second spray nozzle (2) and the second spray painting box, and both the solenoid valve and the flow detection device are electrically connected with the controller; the method comprises the steps of calculating the volume of paint sprayed by a first spray head (1) in unit time, calculating the volume of paint sprayed by a second spray head (2) in unit time, calculating the moving distance of a spraying robot in unit time, calculating the volume of the paint sprayed in unit distance, and controlling the paint spraying speed of the first spray head (1), the paint spraying speed of the second spray head (2) and the moving speed of the spraying robot according to the volume of the paint sprayed in unit distance, so that the thickness of the paint on the bridge floor is uniform.
6. The method for the steel bridge deck two-component coating according to claim 5, further comprising the following steps: detect the distance of spraying robot apart from the steel bridge border through range sensor (6), if the distance along steel bridge border reaches the specified distance, control spraying robot and slow down, the in-process of slowing down is according to the paint blowout rate of the volume control first shower nozzle (1) of blowout paint in the unit distance, the paint blowout rate of second shower nozzle (2) and spraying robot's translation rate, makes the thickness of paint on the bridge floor even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210384035.4A CN114733668B (en) | 2022-04-13 | 2022-04-13 | Automatic spraying robot and spraying method for steel bridge floor double-component paint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210384035.4A CN114733668B (en) | 2022-04-13 | 2022-04-13 | Automatic spraying robot and spraying method for steel bridge floor double-component paint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114733668A true CN114733668A (en) | 2022-07-12 |
| CN114733668B CN114733668B (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210384035.4A Active CN114733668B (en) | 2022-04-13 | 2022-04-13 | Automatic spraying robot and spraying method for steel bridge floor double-component paint |
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| CN (1) | CN114733668B (en) |
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| WO2021191662A1 (en) * | 2020-03-26 | 2021-09-30 | Tavakolian Amirhossein | Smart robot for preparation and painting buildings walls |
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| CN105665187A (en) * | 2016-03-26 | 2016-06-15 | 山东孚胜工程技术有限公司 | Waterproof paint automatic spraying trolley and spraying construction method |
| CN107971166A (en) * | 2017-12-25 | 2018-05-01 | 苏州塔比诺机电有限公司 | A kind of paint-spray robot |
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| Publication number | Publication date |
|---|---|
| CN114733668B (en) | 2023-07-18 |
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