Automated painting nozzle mechanism and painting robot using the same

Abstract

Automatic coating nozzle mechanism and spraying robot applied, including the mechanical wrist connected with the coating robot or the mechanical arm, the mechanical wrist is provided with the motion arm on, the mechanical wrist includes the wrist handle, the special-shaped rail is arranged on the wrist handle, the special-shaped rail includes the special-shaped rail curve section, the special-shaped rail straight line section and the special-shaped rail telescopic section that can be arranged in the special-shaped rail straight line section end part telescopic, A, C two ends of the motion arm are correspondingly provided with A spray head, C spray head, and B is provided with B spray head between A, C end, A end lower surface is provided with A end round slider that inserts the track of special-shaped rail straight line section and can slide and eject the special-shaped rail telescopic section in it, B is provided with B place propelling slider that inserts the track of special-shaped rail meandering section and can slide in it in lower surface, the wrist handle is provided with the reversing push device.

Description

Technical Field

[0001] This application relates to the field of infrastructure construction and road and bridge construction equipment technology, specifically to an automated coating nozzle mechanism and a spraying robot using this mechanism. Background Technology

[0002] Precast components are widely used in infrastructure and road / bridge construction, with steel box girders representing a current trend in construction engineering. The increasing proportion of steel structural components places higher demands on rust prevention and maintenance. Whether constructing new buildings or maintaining existing roads and bridges, extensive spraying and painting operations are required. However, steel structural components have complex angles and shapes, are often located in harsh outdoor environments, and despite the emergence of three-axis, five-axis, or polar coordinate spraying robots, the narrow spaces, non-standard angles, and narrow openings with wide internal areas of steel structures remain challenges for automated spraying.

[0003] Several nozzle mechanisms have emerged to address spraying in these special locations, such as the spraying device and spraying robot disclosed in the authorized patent CN110778076B (see that document). Figure 4-7 It uses three parallel nozzles, two of which have adjustable swivel angles, making it suitable for spraying corner and groove-shaped areas.

[0004] However, the folding and unfolding of the swivel nozzles in this design limits their use to areas where the inlet width is greater than the full opening width of the nozzle device, making them unsuitable for narrower, more difficult-to-access slits. Furthermore, the relative spacing between the nozzles is fixed, making them only applicable to positions that are at a suitable distance from the surface to be sprayed. If they are too close or too far, the triangular coverage areas of adjacent nozzles will overlap or separate, resulting in unsatisfactory spraying quality. Summary of the Invention

[0005] (I) Technical Issues

[0006] This addresses the issue of automated coating in confined spaces or narrow entrances, and for multiple irregular surfaces to be coated.

[0007] (II) Technical Solution

[0008] An automated spraying nozzle mechanism, characterized in that it includes a mechanical wrist connected to a spraying robot or robotic arm, wherein a motion arm is provided on the mechanical wrist;

[0009] The mechanical wrist includes a wrist handle and an irregularly shaped rail disposed on the wrist handle. The irregularly shaped rail includes an irregularly shaped rail curved section, an irregularly shaped rail straight section, and an irregularly shaped rail telescopic section that is telescopically disposed at the end of the irregularly shaped rail straight section.

[0010] The moving arm is equipped with nozzles A and C at its ends respectively, and nozzle B is provided at point B between ends A and C. A circular slider is provided on the lower surface of end A, which can be inserted into the straight section of the irregular rail and slide therein and push out the telescopic section of the irregular rail. A push slider is provided on the lower surface of point B, which can be inserted into the curved section of the irregular rail and slide therein.

[0011] The wrist handle is equipped with a reversing push device, which is hinged to the push slider at point B. By pushing the push slider at point B, the position of the push slider at point B and the circular slider at end A in the irregular track is changed, thereby reversing the direction of the moving arm and the nozzle installed on it.

[0012] Furthermore, the central generatrix of the irregularly shaped curved section is formed by two tangentially connected circular arcs with a transitional circular arc at the tangent point.

[0013] Furthermore, the reversing drive device is a telescopic cylinder that is oscillatingly mounted on the mechanical wrist.

[0014] Furthermore, the telescopic section of the irregular rail is tightened and contracted within the straight section of the irregular rail by an elastic element, extends when the circular slider at end A pushes it out, and is retracted and reset by the elastic element after the circular slider at end A leaves.

[0015] Furthermore, the telescopic section of the irregular-shaped rail contracts into the straight section of the irregular-shaped rail through a dovetail groove structure.

[0016] Furthermore, the elastic element is a tension spring symmetrically arranged on both edges of the telescopic section and the straight section of the irregular rail.

[0017] Furthermore, the positioning and adjustment device includes a first mounting groove disposed between end A and end B of the moving arm, wherein the A nozzle is rotatably mounted in a suitable position in the mounting groove, and a first worm gear is disposed on the rotating shaft; the positioning and adjustment device also includes a first motor, which drives the first worm to mesh with the first worm gear to control the angle of the A nozzle.

[0018] Furthermore, the positioning and adjustment device includes a second mounting groove disposed between end C and point B of the moving arm, wherein the C nozzle is rotatably mounted in a suitable position in the mounting groove, and a second worm gear is disposed on the rotating shaft; the positioning and adjustment device also includes a second motor, which drives the second worm to mesh with the second worm gear to control the angle of the C nozzle.

[0019] Furthermore, the positioning and adjustment device, the reversing drive device, and the nozzle are controlled by a program or remotely.

[0020] Based on the above-described nozzle device, this application also discloses a spraying robot that applies the above-described automated spraying nozzle mechanism.

[0021] Furthermore, the robotic arm connecting the automated spray nozzle mechanism's robotic wrist has at least two translational degrees of freedom and at least two rotational degrees of freedom.

[0022] (III) Beneficial Effects

[0023] This application provides a multi-angle reversible spray nozzle device for use in confined spaces or narrow entrance spaces, which solves the problem that spraying operations are difficult to fully automate during steel structure maintenance and installation. Attached Figure Description

[0024] Figure 1 This refers to the working mode of the existing spraying device when it is not deformed;

[0025] Figure 2 This refers to the working method of the existing spraying device after deformation;

[0026] Figure 3 This is a three-dimensional schematic diagram of the device in this application;

[0027] Figure 4 for Figure 3 Top-down front view;

[0028] Figure 5 for Figure 4 Schematic diagram of the telescopic section of the robotic wrist;

[0029] Figure 6 A three-dimensional schematic diagram of the motion arm;

[0030] Figure 7 for Figure 6 Side view;

[0031] Figure 8 This is a schematic diagram of the motion arm reversal process in this application;

[0032] Figure 9 for Figure 8 A 3D view of a certain process state is shown, displaying switchable nozzle positions and angles;

[0033] Figure 10 A schematic diagram of the configuration of the X-face device for a vertical trough with a narrow inlet and a wide interior for spraying;

[0034] Figure 11 For spraying Figure 10 Schematic diagram of the Y-plane configuration;

[0035] Figure 12 This is a schematic diagram of the W-shaped spray pattern;

[0036] Figure 13 This is a schematic diagram of the Z-side coating.

[0037] Figure 14 For spraying certain irregular angled surfaces (including such as Figure 1 A schematic diagram of a right-angled surface in a triangle;

[0038] Figure 15 Schematic diagram of spraying on a narrow groove with overlapping steps;

[0039] Figure 16 This is a schematic diagram of the specific structure of the positioning and adjustment device; and the device is used to change the position and angle of nozzles A and C.

[0040] Figure Labels

[0041] 1. Mechanical wrist

[0042] 2. Exercise arm

[0043] 3. Handle

[0044] 4. Irregularly shaped track with bends

[0045] 5. Straight sections of irregularly shaped tracks

[0046] 6. Irregularly shaped rail extension section

[0047] 7. End A round slider

[0048] 8. B. Push the slider.

[0049] 9.A nozzle

[0050] 10.B nozzle

[0051] 11.C nozzle

[0052] 12. Positioning and adjustment device

[0053] 13. Reversing drive device

[0054] 14. First motor

[0055] 15. First worm gear

[0056] 16. First mounting slot

[0057] 17. First worm gear

[0058] 18. Second motor

[0059] 19. Second worm gear

[0060] 20. Second mounting slot

[0061] 21. Second worm gear Detailed Implementation

[0062] The present invention will be further described below with reference to the embodiments.

[0063] It should be noted that the circuits, push cylinders, pipelines for supplying spray material, and some commonly used structural components in this application have been omitted. Only the components that actually work are described, and their dimensions and relative proportions have been simplified for easy illustration.

[0064] like Figure 1 As shown, the automated coating nozzle mechanism according to this application is characterized by: including a mechanical wrist 1 connected to a spraying robot or robotic arm, wherein a motion arm 2 is provided on the mechanical wrist;

[0065] The mechanical wrist includes a wrist handle 3 and an irregularly shaped rail disposed on the wrist handle. The irregularly shaped rail includes an irregularly shaped rail curved section 4, an irregularly shaped rail straight section 5, and an irregularly shaped rail telescopic section 6 that is telescopically disposed at the end of the irregularly shaped rail straight section.

[0066] The moving arm is provided with nozzle A 9 and nozzle C 11 at its A and C ends respectively, and nozzle B is provided at point B between A and C ends; a circular slider at end A is provided on the lower surface of end A, which can be inserted into the straight section of the irregular rail and can slide and push out the telescopic section of the irregular rail; a push slider at point B is provided on the lower surface of point B, which can be inserted into the curved section of the irregular rail and can slide therein.

[0067] The wrist handle is equipped with a reversing push device, which is hinged to the push slider at point B. By pushing the push slider at point B, the position of the push slider at point B and the circular slider at end A in the irregular track is changed, thereby reversing the direction of the moving arm and the nozzle installed on it.

[0068] Please refer to the following first. Figure 8 This is a schematic diagram of a typical reversing process of the moving arm in the reversing push device. The moving arm is actually inserted into the irregular rail by two sliders (slider at point A and slider at point B). Slider at point A can slide on the straight section and slider at point B can slide on the curved section. Therefore, when the prime mover reversing push device pushes the slider at point B to slide on the curved section, the circular slider at point A moves accordingly, causing the direction of the moving arm to change.

[0069] The reason for setting the tortuous segment as the broken line shape in the attached diagram is that when the slider at point B slides along this path, the moving arm first moves as a whole ( Figure 8 (From the middle) push to the left until it is horizontal (while also exceeding the range of the straight line segment and pushing out of the extension segment), and then move to the right as a whole back to the balanced position.

[0070] Furthermore, the central generatrix of the irregularly shaped curved section is formed by two tangentially connected circular arcs with a transitional circular arc at the tangent point.

[0071] The centerline of the zigzag segment can actually be two straight lines, but with such a profile, the moving arm will occupy more space in the width direction when changing direction, increasing the instability of the movement. The arc path can have a feeling of "squeezing in," allowing the moving arm to... Figure 10Direction can also be reversed in such a narrow opening (assuming this narrow opening is less than the length of the moving arm). In contrast, the nozzle in CN 110778076 B cannot enter such... Figure 10 Working in the space.

[0072] Furthermore, the reversing drive device is a telescopic cylinder that is oscillatingly mounted on the mechanical wrist.

[0073] Furthermore, the telescopic section of the irregular rail is tightened and contracted within the straight section of the irregular rail by an elastic element, extends when the circular slider at end A pushes it out, and is retracted and reset by the elastic element after the circular slider at end A leaves.

[0074] The reason why the straight section of the irregular rail is set to be composed of two parts and only extends when the circular slider at end A is to reduce the width of the entire device. When no reversal is required, its width is minimized, and it only extends during the reversal process and retracts after the reversal is completed.

[0075] Furthermore, the telescopic section of the irregular-shaped rail contracts into the straight section of the irregular-shaped rail through a dovetail groove structure.

[0076] Furthermore, the elastic element is a tension spring symmetrically arranged on both edges of the telescopic section and the straight section of the irregular rail.

[0077] This setting allows the solution to enter such a state. Figure 10-11 It works in spaces where the entrance is smaller than the total width of the motion arm, where traditional automatic spraying is not possible.

[0078] Regarding the appendix Figure 12-15 In the case of,

[0079] Furthermore, the positioning and adjustment device includes a first mounting groove 16 disposed between end A and end B of the moving arm, wherein the A nozzle is rotatably mounted in a suitable position in the mounting groove, and a first worm gear 17 is disposed on the rotating shaft (not clearly shown in the figure, but can be implemented by conventional mechanical design means); the positioning and adjustment device also includes a first motor 14, which drives the first worm 15 to mesh with the first worm gear to control the angle of the A nozzle.

[0080] See the above content. Figure 16 , Figure 9 , Figure 6 First, the relative distance between nozzle A and nozzle B in a fixed position can be changed by adjusting their installation position in the first mounting slot. In this way, when facing surfaces to be sprayed at different distances, the appropriate nozzle spacing can be adjusted according to the coverage of the spray opening angle, unlike the cited literature where they either overlap or the spacing is difficult to match.

[0081] See also the appendix Figure 13-15Because nozzle A is installed in the task position in the first mounting slot, it can engage with the worm gear, and its angle can be adjusted by the worm gear to turn to the angle of the surface to be sprayed.

[0082] This design makes the nozzle device suitable for almost any situation.

[0083] The C-nozzle can also be designed similarly: further, the positioning and adjustment device includes a second mounting groove 20 disposed between the C end and B end of the moving arm, the C-nozzle being rotatably mounted in a suitable position in the mounting groove, and a second worm gear 19 disposed on the rotating shaft (not clearly shown in the figure, but can be implemented by conventional mechanical design means); the positioning and adjustment device also includes a second motor 18, which drives the second worm 19 to mesh with the second worm gear to control the angle of the C-nozzle.

[0084] In this way, the three nozzles can actually work independently, and can also... Figure 15 Similarly, it can also be used on stepped surfaces, and even simultaneously on both.

[0085] Furthermore, the positioning and adjustment device, the reversing drive device, and the nozzle are controlled by a program or remotely.

[0086] Based on the above-described nozzle device, this application also discloses a spraying robot that applies the above-described automated spraying nozzle mechanism.

[0087] Furthermore, the robotic arm connecting the automated spray nozzle mechanism's robotic wrist has at least two translational degrees of freedom and at least two rotational degrees of freedom.

[0088] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. An automated coating nozzle mechanism, characterized in that: Includes a robotic wrist connected to a spraying robot or robotic arm, wherein the robotic wrist is equipped with a motion arm; The mechanical wrist includes a wrist handle and an irregularly shaped rail disposed on the wrist handle. The irregularly shaped rail includes an irregularly shaped rail curved section, an irregularly shaped rail straight section, and an irregularly shaped rail telescopic section that is telescopically disposed at the end of the irregularly shaped rail straight section. The moving arm is equipped with nozzles A and C at its ends respectively, and nozzle B is provided at point B between ends A and C. A circular slider is provided on the lower surface of end A, which can be inserted into the straight section of the irregular rail and slide therein and push out the telescopic section of the irregular rail. A push slider is provided on the lower surface of point B, which can be inserted into the curved section of the irregular rail and slide therein. The wrist handle is equipped with a reversing push device, which is hinged to the push slider at point B. By pushing the push slider at point B, the position of the push slider at point B and the circular slider at end A in the irregular rail is changed, thereby reversing the direction of the moving arm and the nozzles installed on it. The central generatrix of the irregularly shaped curved section is formed by two tangentially connected circular arcs with a transitional circular arc at the tangency point.

2. The automated coating nozzle mechanism according to claim 1, characterized in that: The reversing drive device is a telescopic cylinder that is oscillatingly mounted on the mechanical wrist.

3. The automated coating nozzle mechanism according to claim 1, characterized in that: The telescopic section of the irregular-shaped rail is tightened and contracted within the straight section of the irregular-shaped rail by an elastic element. It extends when the circular slider at end A pushes it out, and is retracted and reset by the elastic element after the circular slider at end A leaves.

4. The automated coating nozzle mechanism according to claim 1, characterized in that: The positioning and adjustment device includes a first mounting groove disposed between end A and end B of the moving arm, wherein the A nozzle is rotatably mounted in a suitable position in the mounting groove, and a first worm gear is disposed on the rotating shaft; the positioning and adjustment device also includes a first motor, which drives the first worm to mesh with the first worm gear to control the angle of the A nozzle.

5. The automated coating nozzle mechanism according to claim 1, characterized in that: The positioning and adjustment device includes a second mounting groove disposed between end C and point B of the moving arm. The C nozzle is rotatably mounted in a suitable position in the mounting groove, and a second worm gear is disposed on the rotating shaft. The positioning and adjustment device also includes a second motor, which drives the second worm to mesh with the second worm gear to control the angle of the C nozzle.

6. A painting robot employing the automated coating nozzle mechanism according to any one of claims 1-5.

7. The painting robot according to claim 6, characterized in that: The robotic arm connected to the robotic wrist of the automated coating nozzle mechanism has at least two translational degrees of freedom and at least two rotational degrees of freedom.

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