CN116556164A

CN116556164A - Spraying end device and scribing robot

Info

Publication number: CN116556164A
Application number: CN202210102119.4A
Authority: CN
Inventors: 贾玉涛; 刘斌; 梁圣豪; 杨锦生; 刘春涨
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-01-27
Filing date: 2022-01-27
Publication date: 2023-08-08

Abstract

The application provides a spraying end device and marking robot relates to construction robot technical field. The spray tip device includes: a mounting base; the spray gun is arranged on the mounting seat and is used for spraying the working surface; a ranging sensor; the ranging sensor is arranged on the blowing shield, an air cavity is formed in the blowing shield, and the blowing shield is provided with a first opening and a second opening; the distance measuring sensor can detect the distance between the spray gun and the working surface, and when the gas is introduced into the air cavity of the blowing shield, the gas is blown out from the second opening to prevent external impurities from entering the air cavity from the second opening. Spraying end device is through setting up the guard shield that blows on range finding sensor, can block the spray gun during operation, and the paint that the working face splashed is sputtered to range finding sensor on to first opening and second opening do not influence the propagation of detection light, can not influence range finding sensor's normal work, make the marking robot that uses this spraying end device have better spraying effect.

Description

Spraying end device and scribing robot

Technical Field

The application relates to the technical field of construction robots, in particular to a spraying tail end device and a scribing robot.

Background

With the development of automation technology, the application of the automatic spraying technology is mature, such as automatic wall surface spraying, and automatic robots for automatic pavement marking are more and more. At present, a conical nozzle and a fan-shaped nozzle are adopted in the spraying application, namely, paint sprayed is conical or fan-shaped paint mist is sprayed on the surface to be sprayed. In this case, once the error between the distance between the spray gun and the surface to be sprayed is too large, the error of the sprayed edge is too large, such as road marking, and when the road surface is uneven, the edge of the sprayed line is bent. If this is to be solved, a distance measuring sensor is typically installed near the lance, which together with the actuator adjusting the height of the lance forms a closed-loop control of the height relative to the ground. However, this brings a new problem, because the distance measuring sensor is closer to the spray gun, paint often splashes back onto the sensor during spraying, contaminates the sensor, and causes sensor failure, but if the shield is made of transparent materials, the shield is contaminated and shields the distance measurement as well.

Disclosure of Invention

The purpose of this application is to provide a spraying end device, and it can improve current range finding sensor and be easily by the problem that paint splashback pollutes.

It is a further object of the present application to provide a scribing robot comprising the above spray tip device, which has all the characteristics of the spray tip device.

Embodiments of the present application are implemented as follows:

embodiments of the present application provide a spray tip device comprising:

a mounting base;

the spray gun is arranged on the mounting seat and is used for spraying the working surface;

a ranging sensor; and

the distance measurement sensor is arranged on the blowing shield, an air cavity is formed in the blowing shield, and a first opening and a second opening are formed in the blowing shield;

wherein the detection light emitted by the emitter of the distance measuring sensor is emitted from the first opening and the second opening in sequence, the detection light reflected by the working surface is incident to the receiver of the distance measuring sensor from the second opening and the first opening in sequence, when the air cavity of the air blowing shield is ventilated with air by detecting the distance between the spray gun and the working surface, the air is blown out from the second opening to prevent external impurities from entering the air cavity from the second opening.

The ranging sensor can emit detection light through the first opening and the second opening to provide guarantee for distance measurement between the spray gun and the working face, and the blowing shield can block external impurities such as paint from entering the air cavity through blowing, so that the ranging sensor is prevented from being polluted, and normal operation of the ranging sensor is guaranteed.

In addition, the spraying end device provided according to the embodiment of the application can also have the following additional technical features:

in an alternative embodiment of the present application, the air blowing shield includes a side plate, a top plate and a bottom plate, the top plate, the bottom plate and a plurality of the side plates enclose an air cavity, the side plates are connected with the mounting base, the first opening is opened in the top plate, the second opening is opened in the bottom plate, and the ranging sensor is mounted in the top plate.

The opening can conveniently be offered to roof and bottom plate to the roof is convenient to be used for placing range sensor, and the curb plate is then convenient fixed with the mount pad, and roof, curb plate and bottom plate can enclose into the air cavity, in order to conveniently let in gas.

In an alternative embodiment of the present application, the distance measuring sensor is attached to the top plate and seals the first opening.

The ranging sensor can prevent gas from escaping from the first opening through the attached top plate, so that the gas can be ejected from the second opening only, and the impurity is prevented from being blocked.

In an alternative embodiment of the present application, the first opening overlaps with the second opening in a direction of detecting light emission and incidence.

Through setting up first opening and second opening along the direction of detection light emission, incident overlap for second opening spun gas also can be the same with the direction of detection light, get rid of impurity on the optical path of detection light, avoid having impurity to hinder the propagation of detection light, ensure that measuring result is accurate.

In an alternative embodiment of the present application, the spray gun and the air blowing shield are connected to an air source through the same air supply pipeline, and the air supply pipeline is provided with a switch valve, and when the switch valve is opened, the air is sprayed out from the spray gun and the second opening.

The air blowing shield and the spray gun supply air through the same air passage and are opened and closed through the switch valve, so that unnecessary air passage arrangement can be reduced, the use cost is reduced, air blowing can be started along with the work of the spray gun, and the spray gun stops along with the stop of the spray gun, so that the spray gun is convenient to use.

In an alternative embodiment of the present application, the spray end device further includes a throttle valve disposed on the side plate to control an amount of inflation of the air source to the air chamber.

The throttle valve can regulate and control the gas flow of the blowing shield, so that the influence on the gas supply of the spray gun caused by the overlarge blowing amount of the blowing shield is avoided.

In an alternative embodiment of the present application, the distance measuring sensor is connected to the mounting base in an inclined manner with respect to the spray gun, and the position of the detection light emitted by the distance measuring sensor on the working surface is located beside the spraying range of the spray gun on the working surface.

By obliquely mounting the distance measuring sensor, the measured distance can be more approximate to the actual spraying distance, so that the spraying effect of forward and backward spraying can be adjusted according to the detection data no matter the equipment applying the spraying end device forwards or backwards.

In an alternative embodiment of the present application, the distance measuring sensor is a laser distance measuring sensor or an infrared distance measuring sensor.

The laser ranging sensor and the infrared ranging sensor can accurately detect the distance between the spray gun and the working surface.

In an alternative embodiment of the application, the spraying end device further comprises a rotating shaft and a lifting unit, the lifting unit comprises a connecting seat and a lifting module, the lifting module is connected to the connecting seat, the connecting seat is connected with the rotating shaft, the rotating shaft is used for connecting a robot, the output end of the lifting module is connected with the mounting seat, and the lifting module can drive the mounting seat to lift in the axis direction of the rotating shaft.

The rotating shaft can drive the connecting seat to rotate so that the spray gun can rotate, and the lifting module can lift the spray gun so as to keep the distance between the spray gun and the working surface unchanged.

In an alternative embodiment of the present application, the spray end device comprises a pipe joint, the pipe joint is connected to the side surface of the spray gun, one end of a spray pipe used by the spray gun is connected to the pipe joint, the other end of the spray pipe is connected to a feeding device, and the direction of the spray pipe entering the feeding device is parallel to the axial direction of the rotating shaft.

Because the pipe joint is arranged on the side surface of the spray gun, the spray pipe can be led out from the side surface of the spray gun and then enters the feeding equipment in the direction parallel to the axis of the rotating shaft, so that the spray pipe can have enough bending space in the lifting process of the spray gun, the bending resistance is smaller, the lifting of the spray gun is smoother, and the spray pipe can be conveniently and rapidly lifted and adjusted to the height with the unchanged distance between the working surface.

In an alternative embodiment of the present application, the lifting module comprises a driving piece, an adjusting screw and an adjusting slide, the driving piece is arranged in the connecting seat, the spray gun is arranged in the adjusting slide, the mounting seat is connected with the adjusting slide, and when the driving piece works, the adjusting slide is lifted relative to the working surface along the adjusting screw.

The driving piece drives the adjusting slide seat to lift through the adjusting screw rod, so that the spray gun, the ranging sensor and the blowing shield can lift together.

The embodiment of the application provides a marking robot, including:

a robot body;

a feeding device;

an air supply device; and

the spray end device according to any one of the preceding claims, wherein the feeding apparatus is provided in the robot body to feed the spray gun, the spray end device is provided in the robot body, and the air supply apparatus supplies air to the spray gun and the air blowing shield at the same time.

Through using above-mentioned spraying end device, the marking robot can detect the interval of spray gun and working face constantly, and can not pollute the range sensor by the paint of back splash, can ensure the effective of range finding for marking off quality is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a scribing robot provided in an embodiment of the present application;

FIG. 2 is an isometric view of a spray tip assembly;

FIG. 3 is a side view of the spray tip device;

FIG. 4 is a schematic diagram of a ranging sensor;

FIG. 5 is an isometric view of the blow shield from one perspective;

FIG. 6 is a schematic view of FIG. 5 at another view angle;

FIG. 7 is a bottom view of the blow shield;

fig. 8 is a pneumatic schematic of the spray tip assembly.

Icon: 1000-a scribing robot; 100-robot body; 200-spraying an end device; 300-detecting light; 400-air supply device; 10-mounting seats; 11-track boards; 12-coaming; 20-spraying gun; 30-ranging sensors; 40-an air-blowing shield; 401-a first opening; 402-a second opening; 41-side plates; 411-mounting port; 42-top plate; 43-a bottom plate; 50-rotating shaft; 61-connecting seats; 62-lifting module; 621-driving piece; 622-adjusting the lead screw; 623-adjusting the slide; 70-pipe joint; 80-throttle valve; 90-switch valve.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be noted that, the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the product is conventionally put in use, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Examples

Referring to fig. 1, an embodiment of the present application provides a scribing robot 1000, including:

a robot body 100;

a feeding device;

a gas supply apparatus 400 (illustrated in fig. 8); and

according to the spray end device 200 specifically proposed below, a feeding apparatus is provided to the robot body 100 to feed the spray gun 20, the spray end device 200 is provided to the robot body 100, and the air supply apparatus 400 supplies air to the spray gun 20 and the air blowing hood 40 at the same time.

The feeding device and the air supply device 400 may refer to the structure and function of the feeding and air supply modules on the robot for general scribing, and the robot body 100 may refer to the main structure of the robot for general scribing, for example, a movable main structure such as an AGV body is adopted and devices such as a controller are configured to perform automation work, and the feeding device and the air supply device 400 are accommodated in the robot body 100, which is not improved in this application, so that no description is repeated.

In brief, the scribing robot 1000 can detect the distance between the spray gun 20 and the working surface at any time by using the spray end device 200, and the distance measuring sensor 30 is not contaminated by the back-splashed paint, so that the distance measuring efficiency can be ensured, and the scribing quality can be ensured.

Regarding the spray tip device 200, specifically, please refer to fig. 2 and 3, the spray tip device 200 of the present application includes:

a mounting base 10;

the spray gun 20 is arranged on the mounting seat 10 and is used for spraying a working surface;

a ranging sensor 30; and

the blowing shield 40, the ranging sensor 30 is arranged on the blowing shield 40, an air cavity is arranged in the blowing shield 40, and the blowing shield 40 is provided with a first opening 401 (shown in fig. 6) and a second opening 402 (shown in fig. 5);

wherein, the detection light 300 emitted by the emitter of the ranging sensor 30 is sequentially emitted from the first opening 401 and the second opening 402, and the detection light 300 reflected by the working surface is sequentially incident on the receiver of the ranging sensor 30 from the second opening 402 and the first opening 401, so as to detect the distance between the spray gun 20 and the working surface, and when the gas is introduced into the gas cavity of the blowing shield 40, the gas is blown out from the second opening 402 to block external impurities from entering the gas cavity from the second opening 402.

Wherein, the two structures marked with 10 in fig. 2 are the mount pad 10, the mount pad 10 is divided into a track plate 11 and a coaming 12, the coaming 12 is fixed on the track plate 11, the spray gun 20 is connected with the track plate 11 and is surrounded by the coaming 12, the blowing shield 40 is connected with the coaming 12, and the ranging sensor 30 can be fixed with the coaming 12 and keep being attached to the blowing shield 40, and can also be directly fixedly connected with the blowing shield 40. The adjustment slide 623 and the rail plate 11 hereinafter are fixed, and the rail plate 11 is slidably connected to the connection block 61.

In short, the ranging sensor 30 can emit the detection light 300 through the first opening 401 and the second opening 402 to provide a guarantee for the distance measurement between the spray gun 20 and the working surface, and the blowing shield 40 can prevent external impurities such as paint from entering the air cavity through blowing, so that the ranging sensor 30 is prevented from being polluted, and the normal operation of the ranging sensor 30 is guaranteed. The distance measuring sensor 30 is a laser distance measuring sensor or an infrared distance measuring sensor. The laser ranging sensor and the infrared ranging sensor can accurately detect the distance between the spray gun 20 and the working surface. As shown in fig. 4, in the present embodiment, a laser distance measuring sensor is used, a schematic diagram of the trajectories of the emitted laser light S and the incident laser light H of the detection light 300 is shown, and the trajectory of the detection light 300, which extends to the vicinity of the discharge range of the lance 20, is also shown in fig. 3. The measuring result detected beside the spraying range can be closer to the actual distance, and can not be influenced by the reflection of the paint, so that the accuracy of measurement is prevented from being influenced by the reflection of the paint.

With continued reference to fig. 4, the ranging sensor 30 of the present embodiment is connected to the mounting base 10 obliquely with respect to the spray gun 20, and the position of the detection light 300 emitted from the ranging sensor 30 on the working surface is located beside the spraying range of the spray gun 20 on the working surface. It can be seen that the dashed line in the figure shows the direction of the detection light 300, in which the detection light 300 may be emitted, the distance measuring sensor 30 may determine the distance from the working surface according to the detection light 300 reflected back from the direction, and send the detection data to the controller of the scribing robot 1000, and the controller may calculate the distance from the spray gun 20 to the working surface according to the detection result. By mounting the distance measuring sensor 30 obliquely, the measured distance can be made closer to the actual painting distance, so that whether the equipment applying the painting end device 200 advances the painting forward or backward, the detection data can be adjusted accordingly, so that the painting effects of the forward and backward are made closer.

In detail, the spraying effect of the spray gun 20 may be different during the forward and backward processes of the robot body 100, in the prior art, the detection of the sensor only serves the forward or backward working condition, if the two working conditions are to be served, more complex calculation amount is needed to ensure that the feeding amount of the spray gun 20 is suitable, the height and time for lifting the spray gun 20 need to be further calculated according to the transverse distance between the sensor and the spray gun 20, and in the forward and backward processes, the complex calculation is easier to make the difference between the forward and backward spraying effects larger, so that the actual spraying quality is affected. If the sensors are respectively configured for the forward working condition and the backward working condition, the corresponding matched parts are more, so that the cost control is not facilitated, and the method is not practical. In this embodiment, the distance measuring sensor 30 is obliquely disposed, so that the detected light 300 can be located beside the spraying range of the spray gun 20 after being emitted, the detected distance is very close to the spraying distance of the spray gun 20, and the detected distance is very close to the actual distance under the working conditions of forward and backward movement, so that the accuracy is improved, and the spraying effect is better.

Referring to fig. 5 to 7, the air blowing shield 40 of the present application includes a side plate 41, a top plate 42 and a bottom plate 43, wherein the top plate 42, the bottom plate 43 and the plurality of side plates 41 enclose an air cavity, the side plates 41 are connected with the mounting base 10, a first opening 401 is formed in the top plate 42, a second opening 402 is formed in the bottom plate 43, and the ranging sensor 30 is mounted on the top plate 42. The top plate 42 and the bottom plate 43 can be conveniently provided with openings, the top plate 42 is conveniently used for placing the ranging sensor 30, the side plate 41 is conveniently fixed with the mounting seat 10, and the top plate 42, the side plate 41 and the bottom plate 43 can enclose an air cavity so as to be convenient for introducing air.

Alternatively, the air-blowing cover 40 may be formed in a cylindrical shape as a whole, and then the first opening 401 and the second opening 402 may be formed in the radial direction. Alternatively, the top of the cylindrical air-blowing cover 40 is formed in a flat plate shape to house the distance measuring sensor 30. In any manner, as long as the ranging sensor 30 can be stably mounted and a passage through which the detection light 300 passes and a passage through which the gas is ejected can be provided, it is possible to use as the air-blowing hood 40.

Since the ranging sensor 30 has the transmitter and the receiver, the top plate 42 is provided with two openings corresponding to the positions of the transmitter and the receiver as the first opening 401, and the bottom plate 43 is also provided with two openings corresponding to the positions of the transmitter and the receiver as the second opening 402.

In detail, in the present embodiment, the ranging sensor 30 is attached to the top plate 42 and seals the first opening 401. The distance measuring sensor 30 can prevent gas from escaping from the first opening 401 by attaching the top plate 42, so that gas can be ejected from the second opening 402 only, and the blocking of impurities can be ensured. Alternatively, the distance measuring sensor 30 may not be completely attached to the top plate 42 according to the situation, and a certain gap is left between the distance measuring sensor 30 and the top plate 42 to enable the first opening 401 to have a certain air flow to blow the distance measuring sensor 30, so as to blow away impurities such as dust which may exist in the standby process, or play a certain role in heat dissipation, thereby guaranteeing the detection accuracy. Of course, it is necessary to ensure that the gap does not affect the wind power blown out by the second opening 402, so as to avoid affecting the air flow to block impurities such as paint, at this time, the power of the air supply device 400 may be optionally increased, so as to ensure that the air flow of the second opening 402 is sufficient to block impurities such as paint.

In addition, it should be further noted that, the first opening 401 is sealed by the ranging sensor 30, that is, the first opening 401 is blocked, and the positions of the transmitter and the receiver of the ranging sensor 30 are at the position of the first opening 401, so that the normal operation of the ranging sensor is not affected, but the air flow is blocked, so that the requirement of blocking paint can be met without too strong air flow, and the operation of the spray gun 20 is not affected.

As shown in fig. 7, the first opening 401 and the second opening 402 overlap in the direction in which the detection light 300 is emitted and incident, or overlap in the up-down direction. Here, the overlapping of the emission directions means that, for example, according to the direction in which the laser light S is emitted in fig. 3, the first opening 401 and the second opening 402 overlap and correspond to each other, and propagation of the laser light is not hindered. Wherein, one of the dimensions of the second opening 402 is smaller than the dimension of the opening at the corresponding position of the first opening 401, which does not affect the emission and incidence of the detection light 300, but also increases the airflow velocity. Through overlapping the first opening 401 and the second opening 402 along the direction of the emission and incidence of the detection light 300, the direction of the gas sprayed from the second opening 402 can be the same as that of the detection light 300, impurities are removed on the light path of the detection light 300, the propagation of the detection light 300 is prevented from being blocked by the impurities, and the accuracy of the measurement result is ensured.

The spray gun 20 and the blowing shield 40 are connected with a gas source through the same gas supply pipeline, a switch valve 90 is arranged on the gas supply pipeline, and when the switch valve 90 is opened, gas is sprayed out from the spray gun 20 and the second opening 402. The electromagnetic valve is adopted in the embodiment. Referring to fig. 8, a specific starting schematic diagram may refer to fig. 8, after the electromagnetic valve is opened, the air supply device 400 may supply air or inert gas, and spray out from the spray gun 20, and simultaneously, the slurry (such as paint) provided to the spray gun 20 by wrapping the air supply device is sprayed together, and at the same time, the gas is introduced into the air blowing shield 40 through the throttle valve 80 (which will be described later) and is blown out from the second opening 402, so as to prevent the sprayed slurry from splashing back onto the ranging sensor 30 after being sputtered by the working surface. The air blowing shield 40 and the spray gun 20 are supplied with air through the same air passage and are opened and closed through the switch valve 90, so that unnecessary air passage arrangement can be reduced, the use cost is reduced, air blowing can be started along with the operation of the spray gun 20, and the spray gun 20 stops along with the stop of the spray gun, and the air blowing device is convenient to use.

Referring to fig. 5 and 6, a mounting opening 411 is formed in one side plate 41, and the spray end device 200 further includes a throttle valve 80, where the throttle valve 80 is disposed on the mounting opening 411 of the side plate 41 to control the amount of air inflated by the air source to the air chamber. The throttle valve 80 can regulate the flow of gas introduced into the blow shield 40, so as to prevent the excessive blowing amount of the blow shield 40 from affecting the gas supply of the spray gun 20.

Please combine fig. 2 and 3 again, the spraying end device 200 of the present application further includes a rotation shaft 50 and a lifting unit, the lifting unit includes a connection seat 61 and a lifting module 62, the lifting module 62 is connected to the connection seat 61, the connection seat 61 is connected to the rotation shaft 50, the rotation shaft 50 is used for connecting a robot (such as the robot body 100 in fig. 1), an output end of the lifting module 62 is connected to the mounting seat 10, and the lifting module 62 can drive the mounting seat 10 to lift in an axial direction of the rotation shaft 50. The rotation shaft 50 can pivot the connection seat 61 by 90 degrees, and the lifting module 62 is used for adjusting the height of the spray gun 20. The rotating shaft 50 may rotate the connecting seat 61 to rotate the spray gun 20, and the lifting module 62 may lift the spray gun 20 so as to maintain a constant distance from the working surface.

In detail, the lifting module 62 includes a driving element 621, an adjusting screw 622 and an adjusting slide 623, the driving element 621 is disposed on the connecting seat 61, the spray gun 20 is disposed on the adjusting slide 623, the mounting seat 10 is connected with the adjusting slide 623, and when the driving element 621 works, the adjusting slide 623 lifts relative to the working surface along the adjusting screw 622. It should be understood that the general scribing robot 1000 is also provided with a lifting mechanism for the shower head, and the structures of the driving element 621, the adjusting screw 622, the adjusting slide 623, and the like in the present application can refer to the structures of the general lifting mechanism. In brief, the driving piece 621 drives the adjusting slide 623 to lift by adjusting the screw 622, so that the spray gun 20, the ranging sensor 30 and the blowing hood 40 can lift together.

Referring again to fig. 2, the spray end device 200 includes a pipe joint 70, the pipe joint 70 is connected to a side surface of the spray gun 20, one end of a spray pipe used for the spray gun 20 is connected to the pipe joint 70, the other end of the spray pipe is connected to a supply device, and a direction in which the spray pipe enters the supply device is parallel to an axial direction of the rotary shaft 50. Because the pipe joint 70 is arranged on the side surface of the spray gun 20, the spray pipe can be led out from the side surface of the spray gun 20 and then enter the feeding device in a direction parallel to the axis of the rotating shaft 50, so that the spray pipe can have enough bending space in the lifting process of the spray gun 20, and the bending resistance is smaller, so that the lifting of the spray gun 20 is smoother, and the spray pipe can be quickly lifted and adjusted to the height with the unchanged distance between the working surface.

It will be appreciated that if the coupler 70 is directly positioned in the direction of extension and retraction of the gun 20, the space for bending the spray tube is more limited and the mount 10 needs to be modified and space expanded to accommodate the movement of the spray tube. In addition, if the spray pipe is directly drawn vertically according to the telescopic direction of the spray gun 20, the resistance generated by the spray pipe is larger in the process of pulling up and bending, the curvature radius of the spray pipe during bending is small, the bending points are more, the bent amplitude is larger, and the service life is shorter. In addition, when the spraying pipe is connected with the feeding device, the connecting part is arranged in parallel with the axis of the rotating shaft 50, and when the rotating shaft 50 rotates, the spraying pipe is not easy to generate extra torsion and bending, so that the service life of the spraying pipe can be ensured to be longer, and the rotation of the spray gun 20 can be prevented from being influenced.

To sum up, by arranging the air blowing shield 40 on the ranging sensor 30, the spraying end device 200 can prevent the paint splashed back by the working surface from being sputtered onto the ranging sensor 30 when the spray gun 20 works by supplying air into the air cavity and exhausting air flow from the second opening 402, and the first opening 401 and the second opening 402 do not influence the propagation of the detection light 300 and do not influence the normal operation of the ranging sensor 30, so that the scribing robot 1000 applying the spraying end device 200 has better spraying effect.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A spray tip device, comprising:

a mounting base;

a ranging sensor; and

2. The spray tip device of claim 1, wherein the air shroud includes a side plate, a top plate, and a bottom plate, the top plate, the bottom plate, and a plurality of side plates enclosing the air cavity, the side plates being connected to the mounting base, the first opening being open to the top plate, the second opening being open to the bottom plate, the ranging sensor being mounted to the top plate.

3. The spray tip device of claim 2, wherein the ranging sensor is in engagement with the top plate and seals the first opening.

4. The spray tip device of claim 1, wherein the first opening overlaps the second opening in a direction of detection light emission and incidence.

5. The spray tip device of claim 1, wherein the spray gun and the air-blowing shield are connected to an air source through the same air supply line, the air supply line being provided with a switch valve, and the air is sprayed from the spray gun and the second opening when the switch valve is opened.

6. The spray tip device of claim 5, further comprising a throttle valve disposed on the air shroud to control an amount of inflation of the air chamber by the air source.

7. The spray tip device of claim 1, wherein the distance sensor is connected to the mount at an angle relative to the spray gun, and wherein the position of the detection light from the distance sensor on the work surface is located beside the spray range of the spray gun on the work surface.

8. The spray tip device of claim 1 or 7, wherein the ranging sensor is a laser ranging sensor or an infrared ranging sensor.

9. The spray tip device of claim 1, further comprising a rotating shaft and a lifting unit, the lifting unit comprising a connecting base and a lifting module, the lifting module being connected to the connecting base, the connecting base being connected to the rotating shaft, the rotating shaft being for connecting a robot, an output of the lifting module being connected to the mounting base, the lifting module being capable of driving the mounting base to lift in an axial direction of the rotating shaft.

10. The spray tip device according to claim 9, wherein the spray tip device comprises a pipe joint connected to a side face of the spray gun, one end of a spray pipe for the spray gun is connected to the pipe joint, the other end of the spray pipe is connected to a supply device, and a direction in which the spray pipe enters the supply device is parallel to an axial direction of the rotary shaft.

11. The spray end device of claim 9, wherein the lifting module comprises a driving member, an adjusting screw and an adjusting slide, the driving member is disposed on the connecting seat, the spray gun is disposed on the adjusting slide, the mounting seat is connected with the adjusting slide, and the adjusting slide is lifted relative to the working surface along the adjusting screw when the driving member works.

12. A scribing robot, comprising:

a robot body;

a feeding device;

an air supply device; and

the spray tip device according to any one of claims 1 to 11, said supply means being provided to said robot body for supplying said spray gun, said spray tip device being provided to said robot body, said air supply means supplying air to said spray gun and said air-blowing shield simultaneously.