Nozzle device for automatic wire feeding and spraying robot

Abstract

The present invention discloses a nozzle device for an automatic wire loading and spraying robot, which includes a fixed nozzle group and a floating nozzle group. The fixed nozzle group is located directly above the floating nozzle group, and the fixed nozzle group and the floating nozzle group are driven to move relative to each other by a lead screw drive mechanism. The advantages of the present invention are as follows: By driving the driving lead screw to rotate through a driving motor, the opening and closing of the fixed nozzle group and the floating nozzle group are realized. Thus, by controlling the power on and off of the driving motor, the automatic opening and closing of the nozzle device can be achieved. After the spraying robot hangs the wire, the fixed nozzle group and the floating nozzle group can be controlled to approach each other to spray the wire, realizing the fully automatic operation of the robot.

Description

Technical Field

[0001] The present invention relates to a nozzle device for an automatic cable loading and spraying robot. Background Art

[0002] The maintenance and protection of high-altitude cables have always been difficult problems for power-related departments because the safety issues of high-altitude operations have always existed. For example, regarding the insulation protection of high-altitude cables, although insulation protection is carried out before the cables leave the factory, when the cables are exposed for a long time, the insulation layer is very easy to age and peel off.

[0003] To solve the above problems, many robots for automatically spraying high-altitude cables have emerged on the market. However, for existing automatic cable loading and spraying robots, the nozzle still adopts a structure of two upper and lower halves, which enclose the cable in a ring and spray the cable. But after the robot is hung on the cable, the two upper and lower halves of the nozzle are closed manually, and the requirement of fully automatic loading and spraying is not completely achieved. Summary of the Invention

[0004] The purpose of the present invention is to provide a nozzle device for an automatic cable loading and spraying robot, which can effectively solve the problem that the nozzle of an existing spraying robot cannot be automatically closed after hanging on the cable.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions: A nozzle device for an automatic cable loading and spraying robot includes a fixed nozzle group and a floating nozzle group. The fixed nozzle group is located directly above the floating nozzle group, and the fixed nozzle group and the floating nozzle group are driven to move relative to each other by a lead screw drive mechanism.

[0006] The lead screw drive mechanism includes two guide rods, a drive lead screw, and a drive motor. The drive motor is fixed on the fixed nozzle group. The top end of the drive lead screw is fixedly connected to the motor shaft of the drive motor. The floating nozzle group is provided with a drive nut that cooperates with the drive lead screw. The fixed nozzle group is fixedly connected to both of the two guide rods, and the floating nozzle group is slidably connected to both of the two guide rods.

[0007] Preferably, the nozzle device also includes a loosening mechanism, which includes a loosening screw and a clamping block, the top end of the loosening screw passes through the fixed nozzle group, the lower end of the loosening screw passes through the clamping block and is threadedly connected to the floating nozzle group, the clamping block is provided with a first through hole for the loosening screw to pass through, the loosening screw is provided with a boss that presses on the upper surface of the clamping block, one end of the clamping block is pressed on the driving nut, and the clamping block is provided with a second through hole for the driving screw to pass through. The loosening mechanism starts to work when the driving motor fails and the fixed nozzle group and the floating nozzle group cannot be assembled. The loosening screw is rotated to loosen the clamping block and the floating nozzle group, so that the driving nut loses pressure in the vertical direction and disengages from the floating nozzle group, thereby separating the floating nozzle group and the fixed nozzle group.

[0008] Preferably, the drive nut includes a nut body and a convex flange, the convex flange is fixed at the bottom end of the nut body and extends radially outward along the nut body, one end of the clamping block is pressed on the convex flange, and a pin hole is also provided on the convex flange, and the drive nut is connected to the floating nozzle group by a pin inserted into the pin hole. The provision of the convex flange allows the clamping block and the drive nut to have a larger contact surface on the one hand, and on the other hand, it also facilitates the positioning of the drive nut and the floating nozzle group in the circumferential direction of the drive nut, and the drive nut will not rotate with the drive screw when the drive screw rotates.

[0009] Preferably, the bottom end of the loosening screw is provided with an external thread, the outer diameter of the external thread is larger than the inner diameter of the first through hole, and the diameter of the loosening screw between the external thread and the boss is smaller than the inner diameter of the first through hole. After the loosening screw and the floating nozzle group are loosened, the loosening screw will not detach from the clamping block, and can resume work as soon as possible after the fault is eliminated.

[0010] Preferably, the other end of the pressing block is slidably connected to one of the guide rods, so that the pressing block does not rotate during operation.

[0011] Preferably, the fixed nozzle group includes an upper support plate, an upper clamping wheel group and an upper nozzle, the upper clamping wheel group is rotatably connected to the end surface of the upper support plate facing the floating nozzle group, the upper nozzle is detachably arranged on the end surface of the upper support plate facing the floating nozzle group, and the upper clamping wheel group and the upper nozzle are arranged along the length direction of the cable.

[0012] Preferably, the upper clamping wheel assembly includes at least two clamping wheels arranged in parallel along the length direction of the cable, each of the clamping wheels is provided with a wire groove along the circumference, and when the fixed nozzle assembly is hung on the cable, the upper clamping wheel assembly can be better positioned with the cable through the wire groove.

[0013] Preferably, the floating nozzle group includes a lower support plate, a lower clamping wheel group and lower nozzles. The lower clamping wheel group is rotatably connected to the end face of the lower support plate facing the fixed nozzle group. The lower nozzles are detachably connected to the end face of the lower support plate facing the fixed nozzle group. The lower clamping wheel group and the lower nozzles are arranged along the length direction of the cable. The lower clamping wheel group cooperates with the upper clamping wheel group to clamp the cable. The upper nozzles and the lower nozzles cooperate to spray the cable circumferentially.

[0014] Preferably, the upper nozzles are detachably connected to the upper support plate by bolts, and the lower nozzles are also detachably connected to the lower support plate by bolts. According to cables of different diameters, the matching nozzles can be quickly replaced.

[0015] Compared with the prior art, the advantages of the present invention are as follows: By driving the driving screw rod to rotate through the driving motor, the opening and closing of the fixed nozzle group and the floating nozzle group are realized. Thus, the automatic opening and closing of the nozzle device can be achieved by controlling the power on and off of the driving motor. After the cable is hung on the spraying robot, the fixed nozzle group and the floating nozzle group can be controlled to approach each other to spray the cable, realizing the full-automatic operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a perspective view of the nozzle device for the cable automatic online spraying robot of the present invention from a top view angle;

[0017] Figure 2 It is a perspective view of the nozzle device for the cable automatic online spraying robot of the present invention from a bottom view angle;

[0018] Figure 3 It is a perspective view of the nozzle device for the cable automatic online spraying robot of the present invention from a rear view angle;

[0019] Figure 4 It is a perspective view of the nozzle device for the cable automatic online spraying robot of the present invention in the cable inlet direction after the fixed nozzle group and the floating nozzle group are closed;

[0020] Figure 5 It is a perspective view of the nozzle device for the cable automatic online spraying robot of the present invention in the cable outlet direction after the fixed nozzle group and the floating nozzle group are closed;

[0021] Figure 6 It is a rear view of the nozzle device for the cable automatic online spraying robot of the present invention;

[0022] Figure 7 It is a bottom view of the nozzle device for the cable automatic online spraying robot of the present invention;

[0023] Figure 8 It is Figure 7 The A-A cross-sectional view in

[0024] Fixed nozzle group 110, upper support plate 111, upper clamping wheel group 112, upper nozzle 113, clamping wheel 114, wire groove 115, upper opening 116, floating nozzle group 120, lower support plate 121, lower clamping wheel group 122, lower nozzle 123, lower opening 124, lead screw drive mechanism 130, guide rod 131, drive lead screw 132, drive motor 133, drive nut 134, nut body 135, flange 136, release mechanism 140, release screw 141, pressing block 142, first through hole 143, boss 144, second through hole 145, third through hole 146. Detailed implementation manners

[0025] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0028] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Refer to Figures 1 to 8This is an embodiment of the nozzle device for the cable automatic loading and spraying robot of the present invention. The nozzle device for the cable automatic loading and spraying robot includes a fixed nozzle group 110 and a floating nozzle group 120. The fixed nozzle group 110 is located directly above the floating nozzle group 120. The fixed nozzle group 110 and the floating nozzle group 120 are driven to move relative to each other by a lead screw driving mechanism 130.

[0030] The lead screw driving mechanism 130 includes two guide rods 131, a driving lead screw 132, and a driving motor 133. The driving motor 133 is fixed on the fixed nozzle group 110. The top end of the driving lead screw 132 is fixedly connected to the motor shaft of the driving motor 133. A driving nut 134 that cooperates with the driving lead screw 132 is provided on the floating nozzle group 120. The fixed nozzle group 110 is fixedly connected to both of the two guide rods 131. The floating nozzle group 120 is slidably connected to both of the two guide rods 131.

[0031] By driving the driving lead screw 132 to rotate through the driving motor 133, the opening and closing of the fixed nozzle group 110 and the floating nozzle group 120 are realized. Thus, the automatic opening and closing of the nozzle device can be achieved by controlling the power on and off of the driving motor 133. After the spraying robot hangs the cable, the fixed nozzle group 110 and the floating nozzle group 120 can be controlled to approach each other to spray the cable, realizing the fully automated operation of the robot.

[0032] Specifically, the nozzle device for the cable automatic loading and spraying robot includes four parts, namely a fixed nozzle group 110, a floating nozzle group 120, a lead screw driving mechanism 130, and a release mechanism 140. The fixed nozzle group 110 and the floating nozzle group 120 are arranged up and down and can approach each other to clamp the cable and perform spraying operations. The lead screw driving mechanism 130 controls the separation and combination of the fixed nozzle group 110 and the floating nozzle group 120. When the fixed nozzle group 110 and the floating nozzle group 120 are closed for spraying and cannot be separated due to a failure of the lead screw driving mechanism 130, it is necessary to manually control the release mechanism 140 to separate the fixed nozzle group 110 and the floating nozzle group 120. When the lead screw driving mechanism 130 is working properly, the release mechanism 140 does not play a role.

[0033] The fixed nozzle group 110 includes an upper support plate 111, an upper clamping wheel group 112, and an upper nozzle 113. The upper support plate 111 is connected to the frame of the spraying robot. The upper clamping wheel group 112 includes four clamping wheels 114 arranged in parallel. The four clamping wheels 114 are rotatably connected to the bottom surface of the upper support plate 111 through rotating shafts. Each clamping wheel 114 is circumferentially provided with a wire groove 115 to facilitate better clamping of the cable in the wire groove 115. Generally, the wire groove 115 is semi-circular or V-shaped. It is best to use a clamping wheel with a V-shaped structure, which is beneficial to the centering of the nozzle mechanism and the cable. The upper nozzle 113 is also arranged on the bottom surface of the upper support plate 111 and is located behind the upper clamping wheel group 112. The upper nozzle 113 is also provided with an upper opening 116 that is in the same straight line as the wire grooves 115 of the four clamping wheels 114 to allow the cable to pass through the upper nozzle 113. The upper nozzle 113 is fixedly connected to the upper support plate 111 by bolts. According to the thickness of different cables, it is convenient to replace nozzles of different sizes.

[0034] The floating nozzle group 120 includes a lower support plate 121, a lower clamping wheel group 122, and a lower nozzle 123. The lower clamping wheel group 122 is fixed on the lower support plate 121 through two guide rods and springs. The lower clamping wheel group 122 includes four rollers arranged in parallel and is rotatably arranged on the top surface of the lower support plate 121. Each roller corresponds to a clamping wheel 114. The lower clamping wheel group 122 and the upper clamping wheel group 112 cooperate with each other to clamp the cable. The lower nozzle 123 is also arranged on the top surface of the lower support plate 121 and is located behind the lower clamping wheel group 122. The lower nozzle 123 is provided with a lower opening 124. The lowest point of the lower opening 124 is generally 3-4 mm lower than the highest point of the rollers to prevent the cable from directly touching the lower nozzle 123. When the fixed nozzle group 110 and the floating nozzle group 120 approach each other, the lower clamping wheel group 122 first contacts the cable, and then the spring compresses. It is best that when the upper opening and the lower opening are closed, the upper clamping wheel group 112 and the lower clamping wheel group 122 are clamped in place. In this way, the upper and lower clamping wheel groups can ensure that the cable is clamped, and the position of the entire nozzle mechanism relative to the cable is also fixed and not easily skewed.

[0035] The screw drive mechanism 130 includes two guide rods 131, a drive screw 132, and a drive motor 133. The two guide rods 131 are both fixedly connected to the upper support plate 111. The drive motor 133 is fixed on the top surface of the upper support plate 111. The drive screw 132 is fixedly connected to the motor shaft of the drive motor 133. The drive motor 133 drives the drive screw 132 to rotate. It is best that the drive screw 132 is located between the two guide rods 131, which is beneficial to the floating nozzle group 120 maintaining balance during movement.

[0036] A drive nut 134 is further provided on the lower support plate 121. The drive nut 134 includes a nut body 135 and a flange 136. The flange 136 is fixed to the bottom end of the nut body 135 and extends radially outward along the nut body 135. Three pin holes are formed in the flange 136, and correspondingly, three pin holes are also formed in the lower support plate 121. By inserting a pin shaft into the pin holes, the circumferential fixation of the drive nut 134 can be achieved, that is, when the drive screw rod 132 rotates, it will not drive the drive nut 134 to rotate either.

[0037] The release mechanism 140 includes a release screw rod 141 and a pressing block 142. The release screw rod 141 is located between the drive screw rod 132 and one of the guide rods 131. The top end of the release screw rod 141 passes through the upper support plate 111. A hand wheel can be fixed at the top end of the release screw rod 141 to facilitate screwing the release screw rod 141. The bottom end of the release screw rod 141 is provided with an external thread and is threadedly connected to the lower support plate 121 through the external thread. The release screw rod 141 is also provided with a boss 144 extending axially outward. A first through hole 143 is formed in the pressing block 142. The bottom end of the release screw rod 141 passes through the first through hole 143, and the outer diameter of the release screw rod 141 located in the first through hole 143 is smaller than the inner diameter of the first through hole 143. The boss 144 abuts against the upper surface of the pressing block 142, while the outer diameter of the external thread at the bottom end of the release screw rod 141 is larger than the inner diameter of the first through hole 143. Therefore, the lower part of the release screw rod 141 can be welded or fixed to the release screw rod 141 in other ways after passing through the first through hole 143. Such a setting can prevent the release screw rod 141 from separating from the pressing block 142 after the bottom end of the release screw rod 141 is loosened from the lower support plate 121, and the release screw rod 141 can be quickly connected to the lower support plate 121 after the fault is repaired; a second through hole 145 is formed at one end of the pressing block 142. Through the second through hole 145, one end of the pressing block 142 is sleeved on the nut body 135, and the bottom surface of the pressing block 142 presses against the flange 136 of the drive nut 134; a third through hole 146 is formed at the other end of the pressing block 142. One of the guide rods 131 passes through the third through hole 146, enabling the pressing block 142 to slide axially along the guide rod 131. A sliding sleeve can also be provided in the third through hole 146 to reduce friction.

[0038] During use, such as Figure 4 、 Figure 5As shown in the figure, the driving motor 133 drives the driving lead screw 132 to rotate. Since the driving nut 134 is axially pressed by the pressing block 142 and axially positioned by the pin shaft, and the pressing block 142 is fixedly connected to the lower support plate 121 through the release screw 141, when the driving lead screw 132 rotates, it will drive the driving nut 134 to move upward axially, making the floating nozzle group 120 approach the fixed nozzle group 110. Through the cooperation of the upper clamping wheel group 112 and the lower clamping wheel group 122, the cable is clamped. At this time, the upper nozzle 113 and the lower nozzle 123 also surround the cable. The entire spraying robot slowly runs along the cable to perform spraying operations on the entire cable. After spraying, the driving motor 133 rotates in the reverse direction. Under the cooperation of the driving lead screw 132 and the driving nut 134, the floating nozzle group 120 gradually moves away from the fixed nozzle group 110 and returns to the initial position. If, after spraying, the driving motor 133 fails and cannot separate the fixed nozzle group 110 and the floating nozzle group 120, the release screw 141 needs to be manually turned. As the release screw 141 rotates, the bottom end of the release screw 141 will separate from the lower support plate 121. At this time, the pressing block 142 will also lose the downward pressing force on the driving nut 134, and the driving nut 134 will also separate from the lower support plate 121. Thus, the entire floating nozzle group 120 will slide downward along the guide rod 131, so that the spraying robot can be separated from the cable for maintenance.

[0039] Through the lead screw drive mechanism 130 of this device, the opening and closing of the floating nozzle group 120 and the fixed nozzle group 110 are realized, enabling the spraying robot to run fully automatically after hanging on the cable, reducing the steps of manual operation and improving the spraying efficiency; when the lead screw drive mechanism 130 fails and cannot be separated from the cable, the separation from the cable can be achieved through the release mechanism 140, avoiding the inconvenience of repairing the spraying robot on the cable and facilitating the troubleshooting of the spraying robot.

[0040] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. Nozzle device for automatic wire feeding and spraying robot of cable, Characterized in that: It includes a fixed nozzle group (110) and a floating nozzle group (120). The fixed nozzle group (110) is located directly above the floating nozzle group (120). The fixed nozzle group (110) and the floating nozzle group (120) are driven to move relative to each other by a lead screw drive mechanism (130); The lead screw drive mechanism (130) includes two guide rods (131), a drive lead screw (132) and a drive motor (133). The drive motor (133) is fixed on the fixed nozzle group (110). The top end of the drive lead screw (132) is fixedly connected to the motor shaft of the drive motor (133). A drive nut (134) that cooperates with the drive lead screw (132) is provided on the floating nozzle group (120). The fixed nozzle group (110) is fixedly connected to both of the two guide rods (131). The floating nozzle group (120) is slidably connected to both of the two guide rods (131); The nozzle device further includes a release mechanism (140). The release mechanism (140) includes a release screw (141) and a pressing block (142). The top end of the release screw (141) passes through the fixed nozzle group (110). The lower end of the release screw (141) passes through the pressing block (142) and is threadedly connected to the floating nozzle group (120). A first through hole (143) for the release screw (141) to pass through is provided on the pressing block (142). A convex platform (144) that abuts against the upper surface of the pressing block (142) is provided on the release screw (141). One end of the pressing block (142) presses on the drive nut (134), and a second through hole (145) for the drive lead screw (132) to pass through is provided on the pressing block (142); The drive nut (134) includes a nut body (135) and a convex eaves (136). The convex eaves (136) are fixed at the bottom end of the nut body (135) and extend radially outward along the nut body (135). One end of the pressing block (142) presses on the convex eaves (136). A pin hole is also provided on the convex eaves (136). The drive nut (134) is connected to the floating nozzle group (120) by a pin inserted into the pin hole.

2. The nozzle device for automatic wire feeding and spraying robot of cable according to claim 1, Characterized in that: The bottom end of the release screw (141) is provided with an external thread. The outer diameter of the external thread is larger than the inner diameter of the first through hole (143). The diameter of the release screw (141) between the external thread and the convex platform (144) is smaller than the inner diameter of the first through hole (143).

3. The nozzle device for automatic wire feeding and spraying robot of cable according to claim 1, Characterized in that: The other end of the pressing block (142) is slidably connected to one of the guide rods (131).

4. The nozzle device for automatic wire feeding and spraying robot of cable according to claim 1, Characterized in that: The fixed nozzle group (110) includes an upper support plate (111), an upper clamping wheel group (112) and an upper nozzle (113). The upper clamping wheel group (112) is rotatably connected to the end face of the upper support plate (111) facing the floating nozzle group (120). The upper nozzle (113) is detachably arranged on the end face of the upper support plate (111) facing the floating nozzle group (120). The upper clamping wheel group (112) and the upper nozzle (113) are arranged along the length direction of the cable.

5. The nozzle device for a cable automatic loading and spraying robot according to claim 4, characterized in that: The upper clamping wheel group (112) includes at least two clamping wheels (114) arranged in parallel along the length direction of the cable. Each clamping wheel (114) is circumferentially provided with a wire groove (115).

6. The nozzle device for a cable automatic loading and spraying robot according to claim 4, characterized in that: The floating nozzle group (120) includes a lower support plate (121), a lower clamping wheel group (122) and a lower nozzle (123). The lower clamping wheel group (122) is rotatably connected to the end face of the lower support plate (121) facing the fixed nozzle group (110). The lower nozzle (123) is detachably connected to the end face of the lower support plate (121) facing the fixed nozzle group (110). The lower clamping wheel group (122) and the lower nozzle (123) are arranged along the length direction of the cable. The lower clamping wheel group (122) cooperates with the upper clamping wheel group (112) to clamp the cable. The upper nozzle (113) and the lower nozzle (123) cooperate to spray the circumference of the cable.

7. The nozzle device for a cable automatic loading and spraying robot according to claim 6, characterized in that: The upper nozzle (113) is detachably connected to the upper support plate (111) by bolts, and the lower nozzle (123) is also detachably connected to the lower support plate (121) by bolts.

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