Self-balancing feeding mechanism

Abstract

The invention discloses a self-balancing feeding mechanism, and relates to the technical field of spraying, the self-balancing feeding mechanism comprises a supporting plate, and a driving motor is fixedly arranged at the bottom of the supporting plate; through the arrangement of the two-way screw and the two adjusting blocks, the mirror image motion of the two adjusting blocks is synchronously controlled, so that the traction force of the screw to the adjusting blocks is balanced, and the stability of the device is improved; due to the arrangement of the limiting mechanism, the adjusting block drives the nozzle of the spray head to move and is limited by the limiting mechanism to rotate by an angle, and the spraying range of the spray head is widened; the angle of the nozzle is gradually increased, the corresponding spraying area is increased, the material spraying amount is adaptively increased through the amount adjusting mechanism, the purpose of uniformly and comprehensively spraying materials is achieved, and the spraying effect is guaranteed; the energy absorption device is arranged on the spray head support, so that the adverse effect of the material spraying reaction force on the whole mechanism is reduced or even eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of spraying, in particular to a self-balancing feeding mechanism. Background Art

[0002] In processes involving the use of non-pneumatic fluids (including but not limited to paint, coatings, mortar, putty, and concrete), traditional manual material handling, positioning, and operation present a range of challenges, including low efficiency, inconsistent quality, high labor intensity, and high costs. Extensive research has been conducted both domestically and internationally to develop equipment or robots that automate material feeding, positioning, and end-effectors (such as plastering heads and scrapers) to improve process quality, precision, and efficiency. Among these, automatic non-pneumatic fluid feeding systems, a key technology, automatically and efficiently deliver materials to target locations, completing spraying operations or supporting end-effectors for precise work.

[0003] The invention patent document with patent number CN114370144A discloses a suspended multi-rudder self-balancing sprayer, which includes a base, a paint tank, a paint pump, a nozzle head and a balancing device; the nozzle head includes a nozzle for spraying paint; the paint tank, the paint pump and the nozzle are arranged on the top of the base and are connected in series in sequence; the balancing device includes a telescopic rod, a tail wing assembly, a fan assembly and a fan mounting frame; the tail wing assembly can apply an opposite torque to the base to offset the torque caused by the recoil force when the nozzle sprays paint, so that the sprayer remains balanced and the accuracy of spraying is improved.

[0004] The above-mentioned device applies an opposite torque to the entire device through the tail wing assembly, but the reaction force generated by the nozzle during spraying still acts on the entire device. Applying an opposite torque to the entire device to offset the reaction force of its nozzle not only consumes a lot of energy, but also makes the balance control of the equipment more difficult, and the spraying efficiency of a single nozzle is low. Summary of the Invention

[0005] The technical solution of the present invention aims at the technical problem that the existing technical solution is too simple, and provides a solution that is significantly different from the existing technology. Preferably, the purpose of the present invention is to provide a self-balancing feeding mechanism to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a self-balancing feeding mechanism, comprising a support plate, a driving motor is fixedly provided at the bottom of the support plate, a bidirectional movable mechanism is provided at the top of the support plate, two support seats are provided at the top of the bidirectional movable mechanism, a nozzle is provided at the top of the two support seats, a nozzle is provided at the end of the two nozzles, a material pipe is provided at the other end of the two nozzles, a slider is rotatably provided at the bottom of the two nozzles, the two sliders are located on the top of the corresponding support seats and slide, an energy absorption device is provided on the top of the two support seats, and when the nozzle is spraying, the reaction force of the nozzle is buffered and absorbed, and a limiting mechanism is provided on the side wall of the support plate.

[0007] Preferably, the bidirectional moving mechanism includes two mounting plates, a first transmission belt, a guide rail, a bidirectional screw and two adjusting blocks, the two mounting plates are fixedly arranged on the top of the support plate, the two ends of the bidirectional screw are rotatably arranged on the side walls of the two mounting plates, the first transmission belt is sleeved on the output shaft of the driving motor and the bidirectional screw, the two adjusting blocks are respectively screwed on the bidirectional screw, the guide rail is fixedly arranged on the top of the support plate, and the two adjusting blocks are both located on the guide rail and slide, a reciprocating switch is provided on the top of the support plate, and when the adjusting block touches the reciprocating switch, the reciprocating switch controls the output shaft of the driving motor to reverse.

[0008] Preferably, both nozzles are internally provided with a metering mechanism, and each metering mechanism comprises two discharge holes, a rotating shaft, two turntables, a bevel gear ring, a bevel gear, a slide groove, a number of connecting rods and a number of arc grooves, wherein one of the turntables is fixedly arranged inside the nozzle, and the other turntable is rotatably arranged inside the nozzle, the two discharge holes are respectively arranged on the two turntables, the rotating shaft is fixedly arranged on the top of the slider, the bevel gear ring is rotatably arranged inside the nozzle, the two ends of the several connecting rods are respectively fixed on the bevel gear and one of the turntables, the bevel gear is fixedly arranged on the top of the rotating shaft, the slide groove is arranged on the top of the support seat, and the several arc grooves are in an equidistant annular array and are staggered and symmetrically arranged on the two turntables.

[0009] Preferably, the two energy absorbing devices each include a fixed cylinder, a piston column, an air outlet, a ring and a buffer spring. The fixed cylinder is fixedly arranged on the top of the support seat, the piston column is slidably arranged inside the fixed cylinder, the ring is fixedly sleeved on the rotating shaft, the ring is fixedly connected to the piston column, the two ends of the buffer spring are respectively fixedly arranged on the end of the piston column and the inner wall of the fixed cylinder, and the air outlet is arranged at the end of the fixed cylinder away from the slider.

[0010] Preferably, the two limiting mechanisms each include an L-shaped connecting plate, a limiting frame, four driven rollers and four end plates, the L-shaped connecting plate is fixedly arranged on the side wall of the support plate, the limiting frame is fixedly arranged on the top of the L-shaped connecting plate, the four end plates are fixedly arranged on the inner wall of the limiting frame, and the four driven rollers are respectively rotatably arranged in pairs between the inner wall of the limiting frame and the four end plates.

[0011] Preferably, an air pipe is fixedly provided inside the two nozzles, a pressure stabilizer is provided at the end of the air pipe, and the air pipe is connected to the pressure stabilizer.

[0012] A spraying machine or robot comprises a traveling trolley on which a self-balancing feeding mechanism is arranged.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention controls the synchronous movement of the two adjustment blocks by arranging a mounting plate, a first transmission belt, a guide rail, a bidirectional screw, and two adjustment blocks. The two mirror-image-arranged nozzles eliminate mutual stress during spraying, thereby improving the stability of the device and achieving higher operating efficiency than a single nozzle system. The present invention supports the material pipe and restrains the swing of the material pipe by setting a limit frame, thereby improving the stability of the device. In addition, the adjustment block drives the nozzle of the spray head to move while being restricted by the limit frame to rotate the angle, thereby increasing the spraying range relative to vertical spraying, especially spraying into dead corners where there are no corresponding threads. In addition, by setting the discharge hole, rotating shaft, two turntables, bevel gear ring, bevel gear, slide groove and several connecting rods, the material spraying amount of the spray head is adaptively increased or decreased when the spraying range of the spray head gradually changes with the angle, thereby not only increasing the spraying range and improving the efficiency, but also ensuring the spraying effect. The present invention can absorb the reaction force and other forces of the nozzle spraying material through the energy absorption device; as the nozzle sprays the material onto the wall, a certain reaction force will be given to the nozzle, so that the nozzle drives the rotating shaft and the piston column to move the compressed buffer spring, absorbing its reaction force and ensuring the overall stability of the device during spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic structural diagram of the internal bidirectional moving mechanism of the present invention; Figure 3 It is a schematic cross-sectional structural diagram showing the positional relationship between the amount adjustment mechanism and the energy absorption mechanism of the present invention; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 Schematic diagram of the limiting mechanism structure of the present invention; Figure 6It is a schematic diagram of the internal cross-sectional structure of the nozzle of the present invention.

[0015] In the figure: 1. Support plate; 2. Drive motor; 3. Protective cover; 4. Adjusting mechanism; 41. Discharge hole; 42. Rotating shaft; 43. Turntable; 44. Bevel gear ring; 45. Bevel gear; 46. Slide; 47. Connecting rod; 48. Arc groove; 5. Energy absorption device; 54. Fixed cylinder; 55. Piston column; 56. Sleeve; 513. Air outlet; 515. Buffer spring; 7. Reciprocating switch; 8. Bidirectional moving mechanism; 81. Mounting plate; 82. First transmission belt; 83. Guide rail; 84. Bidirectional screw; 85. Adjusting block; 9. Limiting mechanism; 91. L-shaped connecting plate; 92. Limiting frame; 93. Driven roller; 94. End plate; 10. Material pipe; 14. Support seat; 15. Slider; 16. Spray head; 17. Nozzle; 18. Air pipe. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] See also Figure 1-6, an embodiment of the present invention provides: a self-balancing feeding mechanism, comprising a support plate 1, a driving motor 2 is fixedly provided at the bottom of the support plate 1, a bidirectional moving mechanism 8 is provided on the top of the support plate 1, two support seats 14 are provided on the top of the bidirectional moving mechanism 8, a nozzle 16 is provided on the top of the two support seats 14, a nozzle 17 is provided at the end of the two nozzles 16, a material pipe 10 is provided at the other end of the two nozzles 16, a slider 15 is rotatably provided at the bottom of the two nozzles 16, the two sliders 15 are located on the top of the corresponding support seats 14 and slide, an energy absorption device 5 is provided on the top of the two support seats 14, when the nozzle 17 sprays material, the reaction force of the nozzle 17 during spraying is buffered and absorbed, a limiting mechanism 9 is provided on the side wall of the support plate 1, and a reciprocating switch 7 is provided on the top of the support plate 1. First, the output shaft of the driving motor 2 is rotated to drive the bidirectional moving mechanism 8 to move. When the bidirectional moving mechanism 8 moves synchronously, the material tube 10 is pulled by the limiting mechanism 9, thereby adjusting the angle of the nozzle 16 and the nozzle 17. Then, when the angle of the nozzle 16 changes, the amount of spraying is driven by the adjusting mechanism 4 to change accordingly to adapt to the change of the spraying range. As the nozzle 16 compresses the energy absorbing device 5 under the reaction force during spraying, the energy absorbing device 5 absorbs the reaction force during spraying, thereby avoiding the reaction force acting on the entire device, ensuring the spraying accuracy of the device, and driving the motor 2 to reverse after the bidirectional moving mechanism 8 moves to touch the reciprocating switch 7.

[0018] like Figure 2 As shown, preferably, the bidirectional moving mechanism 8 includes two mounting plates 81, a first transmission belt 82, a guide rail 83, a bidirectional screw 84 and two adjusting blocks 85. The two mounting plates 81 are fixedly arranged on the top of the support plate 1, and the two ends of the bidirectional screw 84 are rotatably arranged on the side walls of the two mounting plates 81. The first transmission belt 82 is sleeved on the output shaft of the drive motor 2 and the bidirectional screw 84. The two adjusting blocks 85 are respectively screwed on the bidirectional screw 84. The guide rail 83 is fixedly arranged on the top of the support plate 1, and the two adjusting blocks 85 are both located on the guide rail 83 and slide. A reciprocating switch 7 is provided on the top of the support plate 1. When the adjusting block 84 touches the reciprocating switch 7, the reciprocating switch 7 controls the output shaft of the drive motor 2 to reverse. The output shaft of the driving motor 2 is driven to rotate to drive the first transmission belt 82, the first transmission belt 82 drives the second bidirectional screw 84 to rotate, and the rotation of the second bidirectional screw 84 drives the two adjustment blocks 85 to move in opposite directions relative to each other; the two adjustment blocks 85 are synchronously controlled to move synchronously, and the traction force of the nozzles is balanced through the two mirror-image-arranged nozzles 16 and nozzles 17, which increases the amount of spraying while improving the stability of the device. Compared with the single nozzle system, the operating efficiency is improved while the stability is significantly improved.

[0019] like Figure 3As shown, preferably, a metering mechanism 4 is provided inside the two nozzles 16, and each of the metering mechanisms 4 includes two discharge holes 41, a rotating shaft 42, two turntables 43, a bevel gear ring 44, a bevel gear 45, a slide 46, a number of connecting rods 47 and a number of arc grooves 48, wherein one of the turntables 43 is fixedly arranged inside the nozzle 17, and the other turntable 43 is rotatably arranged inside the nozzle 17, the two discharge holes 41 are respectively arranged on the two turntables 43, the rotating shaft 42 is fixedly arranged on the top of the slider 15, the bevel gear ring 44 is rotatably arranged inside the nozzle 17, and the two ends of the several connecting rods 47 are respectively fixed on the bevel gear 45 and one of the turntables 43, the bevel gear 45 is fixedly arranged on the top of the rotating shaft 42, the slide 46 is arranged on the top of the support seat 14, and the several arc grooves 48 are equidistant annular arrays and are staggered and symmetrically arranged on the two turntables 43. It is worth noting that: the bevel gear ring 44 is matched with the inner wall of the nozzle 16 to limit the rotation. When the angle of the nozzle 17 of the nozzle 16 changes, the bevel gear ring 44 is driven to rotate synchronously. Since the nozzle 16 is matched with the rotating shaft 42, the bevel gear ring 44 revolves around the rotating shaft 42 and rotates on its own under the action of the bevel gear 45. The rotation of the bevel gear ring 44 drives the connecting rod 47 and one of the turntables 43 to rotate synchronously. The arc grooves 48 on the two turntables 43 gradually overlap. As the rotation angle of the nozzle 16 increases, the overlapping part of the arc grooves 48 increases, thereby increasing the discharge amount of the discharge hole 41, satisfying the increase in the spraying range caused by the increase in the angle, thereby adaptively increasing the discharge amount to cover the increased spraying range. , to ensure the spraying effect, it is worth mentioning that: when the nozzle 16 is in a vertical state with the wall, the arc grooves 48 on the two turntables 43 are in a completely dislocated state, at this time the flow rate is the smallest, when the nozzle 16 moves to the end of the bidirectional screw 84, the angle formed between the nozzle 16 and the wall is the largest, at this time the arc grooves 48 on the two turntables 43 completely overlap, and the flow rate is the largest; as the angle of the nozzle 17 changes, the area of ​​the wall sprayed by the corresponding nozzle 17 changes, and the material spraying amount is adaptively increased or decreased to ensure that the angle between the nozzle 17 and the wall changes so that the spraying range increases or decreases, the material is fed in an appropriate amount, the coverage is comprehensive, the adaptability is strong, the operation is simple, not only can the dead corners be sprayed, but also the operation effect is guaranteed.

[0020] like Figure 4As shown, preferably, both energy-absorbing devices 5 include a fixed cylinder 54, a piston column 55, an air outlet 513, a collar 56, and a buffer spring 515. The fixed cylinder 54 is fixedly mounted on the top of the support seat 14, the piston column 55 is slidably mounted inside the fixed cylinder 54, the collar 56 is fixedly sleeved on the rotating shaft 42, and the collar 56 is fixedly connected to the piston column 55. The two ends of the buffer spring 515 are respectively fixedly mounted on the end of the piston column 55 and the inner wall of the fixed cylinder 54. The air outlet 513 is located at the end of the fixed cylinder 54 away from the slider 15. As the spray head 16 sprays material onto the wall, it will exert a certain reaction force on the spray head 16, causing the spray head 16 to drive the rotating shaft 42 and the piston column 55 to move and compress the buffer spring 515, thereby absorbing the reaction force and ensuring the stability of the spray head 16 during spraying.

[0021] like Figure 5 As shown, preferably, the two limiting mechanisms 9 each include an L-shaped connecting plate 91, a limiting frame 92, four driven rollers 93, and four end plates 94. The L-shaped connecting plate 91 is fixedly mounted on the side wall of the support plate 1, the limiting frame 92 is fixedly mounted on the top of the L-shaped connecting plate 91, the four end plates 94 are fixedly mounted on the inner wall of the limiting frame 92, and the four driven rollers 93 are rotatably mounted in pairs between the inner wall of the limiting frame 92 and the four end plates 94. As the moving distance of the nozzle 16 increases, the nozzle 16 is pulled by the material pipe 10 under the action of the limiting frame 92, thereby causing the nozzle 16 to change its angle; the angle of the nozzle is automatically adjusted, and the nozzle angle is changed for spraying at the place without thread setting, thereby avoiding the problem of blind spots that cannot be sprayed, and also increasing the spraying range and improving operation efficiency. The limit frame 92 supports the material tube 10, reducing the pulling force of the material tube 10 on the nozzle 16. At the same time, it also restrains the material tube 10 so that it swings within a limited range, so that the nozzle 16 rotates under the pulling force of the material tube 10 after moving a certain distance.

[0022] like Figure 1 As shown preferably, a protective cover 3 is fixedly provided on the support plate 1 .

[0023] Preferably, an air pipe 18 is fixedly provided inside each of the two nozzles 16 , a pressure stabilizer is provided at the end of the air pipe 18 , and the air pipe 18 is communicated with the pressure stabilizer.

[0024] A spraying machine or robot comprises a traveling trolley on which a self-balancing feeding mechanism is arranged.

[0025] Working principle: First, the output shaft of the driving motor 2 rotates to drive the first transmission belt 82, which drives the first bidirectional screw 84 to rotate. The rotation of the bidirectional screw 84 drives the two adjustment blocks 85 to move in opposite directions. The relative movement of the two nozzles 16 improves the spraying efficiency while offsetting part of the reaction force of the two nozzles 16, thereby increasing the stability of the device. During the reciprocating motion of the nozzle 16, the nozzle 16 is limited by the limiting frame 92 and pulled by the material pipe 10, so that the angle of the nozzle 16 changes, thereby achieving the purpose of comprehensive material spraying. Synchronously, when the angle of the nozzle 17 of the nozzle 16 is changed, the bevel gear ring 44 is driven to rotate synchronously. The bevel gear 44 revolves around the rotating shaft 42 and the bevel gear ring 44 rotates on its own under the action of the bevel gear 45. The rotation of the bevel gear ring 44 drives the connecting rod 47 and the turntable 43 to rotate synchronously. The rotation of one of the turntables 43 causes the misaligned arc grooves 48 to gradually overlap. As the rotation angle of the nozzle 16 increases, the overlapping part of the arc grooves 48 increases, thereby adaptively increasing the discharge amount of the discharge hole 41, meeting the increase in the supply amount of the spraying range when the angle increases, and ensuring the spraying effect; As the nozzle 16 sprays the material onto the wall, a certain reaction force will be applied to the nozzle 16, so that the nozzle 16 drives the rotating shaft 42 and the piston column 55 to move and compress the buffer spring 515, thereby absorbing its reaction force and ensuring the stability of the nozzle 16 during spraying. After completing one working surface, the nozzle 16 stops spraying. At this time, the buffer spring 515 drives the piston column 55 to reset, and the above steps are repeated when the device moves to the next working surface to absorb energy.

[0026] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A self-balancing feeding mechanism, comprising a support plate, characterized in that: A driving motor is fixedly provided at the bottom of the support plate, a bidirectional movable mechanism is provided at the top of the support plate, two support seats are provided at the top of the bidirectional movable mechanism, a nozzle is provided at the top of the two support seats, a nozzle is provided at the end of the two nozzles, a material pipe is provided at the other end of the two nozzles, a slider is rotatably provided at the bottom of the two nozzles, the two sliders are located on the top of the corresponding support seats and slide, an energy absorption device is provided on the top of the two support seats, when the nozzle is spraying, the reaction force of the nozzle is buffered and absorbed, and a limiting mechanism is provided on the side wall of the support plate.

2. A self-balancing feeding mechanism according to claim 1, characterized in that: The two-way moving mechanism includes two mounting plates, a first transmission belt, a guide rail, a two-way screw and two adjusting blocks. The two mounting plates are fixedly arranged on the top of the support plate, and the two ends of the two-way screw are rotatably arranged on the side walls of the two mounting plates. The first transmission belt is sleeved on the output shaft of the driving motor and the two-way screw. The two adjusting blocks are respectively screwed on the two-way screw. The guide rail is fixedly arranged on the top of the support plate, and the two adjusting blocks are both located on the guide rail and slide. A reciprocating switch is provided on the top of the support plate. When the adjusting block touches the reciprocating switch, the reciprocating switch controls the output shaft of the driving motor to reverse.

3. The self-balancing feeding mechanism according to claim 1, characterized in that: A metering mechanism is provided inside the two nozzles, and each of the metering mechanisms includes two discharge holes, a rotating shaft, two turntables, a bevel gear ring, a bevel gear, a slide, several connecting rods and several arc grooves, one of the turntables is fixedly arranged inside the nozzle, and the other turntable is rotatably arranged inside the nozzle, the two discharge holes are respectively arranged on the two turntables, the rotating shaft is fixedly arranged on the top of the slider, the bevel gear ring is rotatably arranged inside the nozzle, the two ends of several connecting rods are respectively fixed on the bevel gear and one of the turntables, the bevel gear is fixedly arranged on the top of the rotating shaft, the slide is arranged on the top of the support seat, and the several arc grooves are in an equidistant annular array and are staggered and symmetrically arranged on the two turntables.

4. A self-balancing feeding mechanism according to claim 3, characterized in that: The two energy absorption devices each include a fixed cylinder, a piston column, an air outlet, a collar and a buffer spring. The fixed cylinder is fixedly arranged on the top of the support seat, the piston column is slidably arranged inside the fixed cylinder, the collar is fixedly sleeved on the rotating shaft, the collar is fixedly connected to the piston column, the two ends of the buffer spring are respectively fixedly arranged on the end of the piston column and the inner wall of the fixed cylinder, and the air outlet is arranged at the end of the fixed cylinder away from the slider.

5. The self-balancing feeding mechanism according to claim 1, characterized in that: Both of the limiting mechanisms include an L-shaped connecting plate, a limiting frame, four driven rollers and four end plates. The L-shaped connecting plate is fixedly arranged on the side wall of the support plate, the limiting frame is fixedly arranged on the top of the L-shaped connecting plate, the four end plates are fixedly arranged on the inner wall of the limiting frame, and the four driven rollers are respectively rotated in pairs between the inner wall of the limiting frame and the four end plates.

6. The self-balancing feeding mechanism according to claim 1, characterized in that: A protective cover is fixedly arranged on the support plate.

7. The self-balancing feeding mechanism according to claim 1, characterized in that: An air pipe is fixedly arranged inside the two nozzles, a pressure stabilizer is arranged at the end of the air pipe, and the air pipe is communicated with the pressure stabilizer.

8. A spraying machine or robot, including a traveling carriage, characterized in that: The traveling trolley is provided with a self-balancing feeding mechanism according to any one of claims 1 to 7.

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