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 the operation process involving the use of non-pneumatic fluids (including but not limited to paint, coatings, mortar, putty and concrete, etc.) as materials, traditional manual material transportation, positioning and operation have a series of problems such as low efficiency, unstable quality, high labor intensity and high cost. A lot of research has been conducted at home and abroad to create equipment or robots for automated feeding, positioning and end effectors (such as plastering heads, scrapers, etc.) that can improve the quality, accuracy and efficiency of operations. Among them, the non-pneumatic fluid automatic feeding system is one of the key technologies, which automatically and efficiently feeds materials to the target point to complete the spraying operation, or supports the end effector to complete precise operations.

[0003] The invention patent document with patent number CN114370144A discloses a suspended multi-rudder self-balancing sprayer, including 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 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 the 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 single, 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 purpose, the present invention provides the following technical solutions: a self-balancing feeding mechanism, comprising a support plate, a driving motor is fixedly arranged at the bottom of the support plate, a bidirectional movable mechanism is arranged at the top of the support plate, two support seats are arranged at the top of the bidirectional movable mechanism, a spray head is arranged at the top of the two support seats, a nozzle is arranged at the end of the two spray heads, a material pipe is arranged at the other end of the two spray heads, a slider is rotatably arranged at the bottom of the two spray heads, the two sliders are located at the top of the corresponding support seats and slide, an energy absorption device is arranged at the top of the two support seats, when the nozzle is spraying, the reaction force of the nozzle of the nozzle is buffered and absorbed, and a limiting mechanism is arranged 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, and both 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 arranged 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.

[0008] Preferably, both nozzles are internally provided with a metering mechanism, each of the metering mechanism comprises two discharge holes, a rotating shaft, two turntables, a bevel gear ring, a bevel gear, a slide groove, a plurality of connecting rods and a plurality 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 plurality of connecting rods are respectively fixedly arranged 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 plurality of arc grooves are arranged 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 mounting rod, an arcuate rack, an intermittent gear, a fixed cylinder, a piston column, a collar, a connecting shaft, a buffer gear, two buffer racks, a sealing plate, a limit groove, a connecting block, two air outlets, two bottom blocks, a buffer spring, an L-shaped rod, two slide plates, two arcuate movable grooves and a connecting rod. The two arcuate movable grooves are arranged on the top of the support seat, the two bottom blocks are slidably arranged inside the arcuate movable grooves, the fixed cylinder is rotatably arranged on the top of the bottom block, the piston column is slidably arranged inside the fixed cylinder, the collar is fixedly arranged at the end of the piston column, and the collar is rotatably connected to the rotating shaft, 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 mounting rod is fixedly arranged on The side wall of the support seat, the arc-shaped rack is fixedly arranged on the top of the mounting rod, the connecting shaft is rotatably arranged on the top of the fixed cylinder, the buffer gear is fixedly arranged on the bottom of the connecting shaft, the intermittent gear is fixedly arranged on the top of the connecting shaft, the two buffer racks are slidably arranged on the top of the fixed cylinder, the L-shaped rod is fixedly arranged on the bottom of one of the buffer racks, one of the slides is fixedly arranged on the end of the L-shaped rod, the connecting block is fixedly arranged on the side wall of the other buffer rack, the limiting groove is arranged on the top of the fixed cylinder, the sealing plate is fixedly arranged on the side wall of the connecting block, the other slide is fixedly arranged on the bottom of the connecting block, the two air outlets are respectively arranged on the two slides, and the two ends of the connecting rod are respectively fixedly connected to the nozzle and the piston column.

[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 rotatably arranged in pairs between the inner wall of the limiting frame and the four end plates.

[0011] Preferably, the side wall of the support plate is provided with a speed adaptation mechanism, and the speed adaptation mechanism comprises two plug plates, two adjusting rods, a multi-section telescopic plate, two plug rods, two hollow blocks, a cam, an adjusting shaft, two long grooves, a second transmission belt, two discs and two circular grooves, the two plug rods are fixedly arranged on the top of the support plate, the two hollow blocks are plugged into the top of the two plug rods, the adjusting shaft is rotatably arranged between the two plug rods, the second transmission belt is sleeved on the bidirectional screw and the adjusting shaft, the cam is fixedly arranged on the adjusting shaft, the multi-section telescopic plate is movably plugged into the two hollow blocks, the two ends of the multi-section telescopic plate are telescopic ends, the two long grooves are arranged at the bottom of the multi-section telescopic plate, the two adjusting rods are fixedly arranged at the bottom of the multi-section telescopic plate, the two plug plates are respectively rotatably arranged at the bottom of the two adjusting rods, the two discs are respectively fixedly arranged on the top of the two adjusting rods, the two circular grooves are respectively arranged at the two ends of the multi-section telescopic plate, and the size of the two circular grooves is larger than that of the disc.

[0012] Preferably, a hard tube is clamped on one end of the material tube, and the hard tube is fixedly connected to the nozzle.

[0013] Preferably, a protective cover is fixedly arranged on the support plate.

[0014] Preferably, 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 connected to the pressure stabilizer.

[0015] A spraying machine or a robot comprises a traveling trolley on which a self-balancing feeding mechanism is arranged.

[0016] 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 setting the mounting plate, the first transmission belt, the guide rail, the bidirectional screw and the two adjustment blocks, eliminates the mutual stress during spraying through the two mirror-image-set spray nozzles, improves the stability of the device, and has higher operating efficiency than the single spray nozzle system; The setting of the limit frame supports the material pipe and restrains the swing of the material pipe, 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, which increases the spraying range relative to vertical spraying, especially when spraying to dead corners where there is no corresponding thread. In addition, through the setting of the discharge hole, rotating shaft, two turntables, bevel gear ring, bevel gear, slide groove and several connecting rods, when the spraying range of the spray head gradually changes with the angle, the material spraying amount is adaptively increased or decreased, which can not only increase the spraying range and improve the efficiency, but also ensure the spraying effect. The energy absorbing device of the present invention can absorb the reaction force and other forces of the spraying of the nozzle; when the nozzle rotates, as the nozzle discharge amount increases, its reaction force increases synchronously, and the corresponding resistance to the movement of the piston column also increases synchronously, so as to avoid that when the reaction force of spraying is too large, the resistance to the movement of the piston column remains unchanged, resulting in the nozzle moving too far away from the wall to affect the spraying effect, thereby ensuring the overall balance of the nozzle of the nozzle, having strong adaptability, and no need for manual adjustment, and being worthy of promotion; The present invention arranges two plug plates, two adjusting rods, a multi-section telescopic plate, two plug rods, two hollow blocks, a cam, an adjusting shaft, two long grooves and a second transmission belt, so that the feed amount is increased or decreased synchronously with the change of the moving speed of the nozzle of the spray head, the spraying thickness is always kept consistent, and the quality of the spraying operation is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the bidirectional moving mechanism of the present invention; Figure 3 It is a structural schematic diagram of the speed adaptation mechanism of the present invention; Figure 4 It is a schematic diagram of the positional relationship between the speed adaptation mechanism and the limiting mechanism of the present invention; Figure 5 It is a schematic diagram of the structure of the adjustment mechanism of the present invention; Figure 6 It is a schematic diagram of the positional relationship between the energy absorbing device and the amount regulating mechanism of the present invention; Figure 7 It is a partial cross-sectional structural schematic diagram of the energy absorbing device of the present invention; Figure 8 It is a schematic diagram of the internal cross-sectional structure of the nozzle of the present invention.

[0018] 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. slideway; 47. connecting rod; 48. arc groove; 5. energy absorption device; 51. arc rack; 52. mounting rod; 53. intermittent gear; 54. fixing cylinder; 55. piston column; 56. sleeve; 57. connecting shaft; 58. buffer gear; 59. buffer rack; 510. sealing plate; 511. limit groove; 512. connecting block; 513. air outlet; 514. bottom block; 515. buffer spring; 516. L-shaped rod; 517. slide plate; 518. arc moving groove ;519, connecting rod;6, speed adaptation mechanism;61, plug plate;62, adjusting rod;63, multi-section telescopic plate;64, plug rod;65, hollow block;66, cam;67, adjusting shaft;68, long groove;69, second transmission belt;610, disc;611, circular groove;7, reciprocating switch;8, two-way moving mechanism;81, mounting plate;82, first transmission belt;83, guide rail;84, two-way screw;85, adjusting block;9, limiting mechanism;91, L-shaped connecting plate;92, limiting frame;93, driven roller;94, end plate;10, material pipe;101, hard pipe;14, support seat;15, slider;16, nozzle;17, nozzle;18, air pipe. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 8An embodiment of the present invention is as follows: a self-balancing feeding mechanism comprises a support plate 1, a driving motor 2 is fixedly arranged at the bottom of the support plate 1, a bidirectional moving mechanism 8 is arranged at the top of the support plate 1, two support seats 14 are arranged at the top of the bidirectional moving mechanism 8, a nozzle 16 is arranged at the top of the two support seats 14, a nozzle 17 is arranged at the end of the two nozzles 16, a material pipe 10 is arranged at the other end of the two nozzles 16, a slider 15 is rotatably arranged at the bottom of the two nozzles 16, the two sliders 15 are located at the top of the corresponding support seats 14 and slide, an energy absorption device 5 is arranged at the top of the two support seats 14, when the nozzle 17 is sprayed, the reaction force of the nozzle 16 and the nozzle 17 is buffered and absorbed, a limiting mechanism 9 is arranged on the side wall of the support plate 1, and a reciprocating switch 7 is arranged 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 synchronous bidirectional moving mechanism 8 moves, the material tube 10 is pulled by the limiting mechanism 9, so that the angles of the nozzle 16 and the nozzle 17 can be adjusted. Then, when the angle of the nozzle 16 changes, the amount of spraying is changed accordingly by the adjusting mechanism 4 to adapt to the change of the spraying range. The energy absorbing device 5 is driven to rotate as the nozzle 16 rotates, so that the energy absorbing device 5 changes its buffering resistance. As the output shaft speed of the driving motor 2 changes, the synchronous speed adaptation mechanism 6 adaptively adjusts the material supply to ensure the consistency of the thickness of the spraying plane. After the bidirectional moving mechanism 8 moves to touch the reciprocating switch 7, it drives the driving motor 2 to reverse.

[0021] 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 arranged 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, and the first transmission belt 82 drives the bidirectional screw 84 to rotate, and the rotation of the 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 two nozzles 16 and 17 arranged in two mirror images is balanced, thereby improving the stability of the device and having higher operating efficiency than a single nozzle system.

[0022] 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 groove 46, a plurality of connecting rods 47 and a plurality 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 plurality of connecting rods 47 are respectively fixedly arranged 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 groove 46 is arranged on the top of the support seat 14, and the plurality of arc grooves 48 are arranged in an equidistant annular array and are staggered and symmetrically arranged on the two turntables 43. 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 and the rotating shaft 42 rotate in coordination, the bevel gear ring 44 revolves around the rotating shaft 42 and rotates 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 turntable 43 makes the misaligned arc grooves 48 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 to meet 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 and ensuring the spraying effect; as the angle of the nozzle 17 changes, the area of ​​the corresponding nozzle 17 spraying wall 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 supply is appropriate, the coverage is comprehensive, the adaptability is strong, the operation is simple, and it can not only spray the dead corners but also ensure the operation effect.

[0023] Preferably, the two energy absorbing devices 5 each include a mounting rod 52, an arcuate rack 51, an intermittent gear 53, a fixed cylinder 54, a piston column 55, a collar 56, a connecting shaft 57, a buffer gear 58, two buffer racks 59, a sealing plate 510, a limiting groove 511, a connecting block 512, two air outlet holes 513, two bottom blocks 514, a buffer spring 515, an L-shaped rod 516, two slide plates 517, two arcuate movable grooves 518 and a connecting rod 519. The two arcuate movable grooves 518 are arranged on the top of the support seat 14, the two bottom blocks 514 are slidably arranged inside the arcuate movable grooves 518, the fixed cylinder 54 is rotatably arranged on the top of the bottom block 514, the piston column 55 is slidably arranged inside the fixed cylinder 54, the collar 56 is fixedly arranged at the end of the piston column 55, and the collar 56 is rotatably connected to the rotating shaft 42, the two ends of the buffer spring 515 are respectively fixedly arranged at the end of the piston column 55 and the inner wall of the fixed cylinder 54, and the mounting rod 52 is provided with a plurality of grooves 516, a plurality of grooves 517, a plurality of grooves 518, a plurality of grooves 519, a plurality of grooves 518 are provided at the bottom of the support seat 14, and the plurality of grooves 518 are provided at the bottom of the support seat 14. The mounting rod 52 is fixedly set on the side wall of the support seat 14, the arc-shaped rack 51 is fixedly set on the top of the mounting rod 52, the connecting shaft 57 is rotatably set on the top of the fixed cylinder 54, the buffer gear 58 is fixedly set on the bottom of the connecting shaft 57, the intermittent gear 53 is fixedly set on the top of the connecting shaft 57, the two buffer racks 59 are slidably set on the top of the fixed cylinder 54, the L-shaped rod 516 is fixedly set on the bottom of one of the buffer racks 59, one of the slides 517 is fixedly set on the end of the L-shaped rod 516, the connecting block 512 is fixedly set on the side wall of the other buffer rack 59, the limiting groove 511 is set on the top of the fixed cylinder 54, the sealing plate 510 is fixedly set on the side wall of the connecting block 512, the other slide 517 is fixedly set on the bottom of the connecting block 512, the two air outlet holes 513 are respectively set on the two slides 517, and the two ends of the connecting rod 519 are respectively fixedly connected to the nozzle 16 and the piston column 55.The nozzle 16 rotates to drive the connecting rod 519, the piston column 55, the fixed cylinder 54, the collar 56 and the bevel gear ring 44 to rotate synchronously around the rotating shaft 42, and the intermittent gear 53 rotates synchronously with the nozzle 16 under the action of the arc rack 51, and the intermittent gear 53 rotates by itself, and the rotation of the intermittent gear 53 drives the connecting shaft 57 and the buffer gear 58 to rotate, and the rotation of the buffer gear 58 drives the buffer rack 59 to move, and the movement of the buffer rack 59 drives the corresponding sealing plate 510 and the slide plate 517 to move synchronously, and the slide plate 517 moves to form a dislocation, so that the end of the fixed cylinder 54 The air outlet becomes smaller, thereby increasing the resistance of the piston column 55 when it moves; the reaction force of the nozzle 16 during spraying can be absorbed. When the nozzle 16 rotates, as the discharge amount of the nozzle 16 increases, its reaction force increases synchronously, and the corresponding resistance to the movement of the piston column 55 also increases synchronously. This avoids the problem that when the reaction force of spraying is too large, the resistance to the movement of the piston column 55 remains unchanged, causing the nozzle 16 to move too far, and avoids the problem that the nozzle 17 is too far from the wall and affects the spraying effect. The overall balance of the nozzle 16 and the nozzle 17 is ensured, the adaptability is strong, and no manual adjustment is required, which is worthy of promotion.

[0024] 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 arranged on the side wall of the support plate 1, the limiting frame 92 is fixedly arranged on the top of the L-shaped connecting plate 91, the four end plates 94 are fixedly arranged on the inner wall of the limiting frame 92, and the four driven rollers 93 are respectively rotatably arranged 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, so that the angle of the nozzle 16 changes; the angle of the nozzle is automatically adjusted, and the angle of the nozzle is changed for spraying at the place without thread setting, so as to avoid the problem of dead angles that cannot be sprayed, and also increase the spraying range and improve the working efficiency. The limit frame 92 supports the material tube 10 to reduce the pulling force of the material tube 10 on the nozzle 16. At the same time, it also restrains the material tube 10 to make it shake within a limited range, so that the nozzle 16 rotates under the pulling force of the material tube 10 after moving a certain distance.

[0025] Preferably, the side wall of the support plate 1 is provided with a speed adapting mechanism 6, and the speed adapting mechanism 6 includes two plugging plates 61, two adjusting rods 62, a multi-section telescopic plate 63, two plugging rods 64, two hollow blocks 65, a cam 66, an adjusting shaft 67, two long grooves 68, a second transmission belt 69, two discs 610 and two circular grooves 611. The two plugging rods 64 are fixedly arranged on the top of the support plate 1, the two hollow blocks 65 are plugged on the top of the two plugging rods 64, the adjusting shaft 67 is rotatably arranged between the two plugging rods 64, and the second transmission belt 69 is sleeved on the bidirectional screw 84 and the adjusting shaft 67. The cam 66 is fixedly set on the adjusting shaft 67, the multi-section telescopic plate 63 is movably inserted on the two hollow blocks 65, the two ends of the multi-section telescopic plate 63 are telescopic ends, the two long grooves 68 are set at the bottom of the multi-section telescopic plate 63, the two adjusting rods 62 are fixedly set at the bottom of the multi-section telescopic plate 63, the two plug plates 61 are respectively rotatably set at the bottom of the two adjusting rods 62, the two disks 610 are respectively fixedly set on the top of the two adjusting rods 62, the two circular grooves 611 are respectively set at the two ends of the multi-section telescopic plate 63, and the size of the two circular grooves 611 is larger than the size of the disk 610. The rotation of the bidirectional screw 84 drives the second transmission belt 69 to rotate the metering shaft 67, and the rotation of the metering shaft 67 drives the cam 66 to rotate synchronously. The rotation of the cam 66 lifts the multi-section telescopic plate 63, and the lifting of the multi-section telescopic plate 63 drives the metering rod 62 and the plug plate 61 to move synchronously. As the moving speed of the nozzle 16 and the nozzle 17 of the spray head 16 increases, the frequency of the cam 66 lifting the multi-section telescopic plate 63 and the plug plate 61 increases synchronously, thereby increasing the feed amount of the material pipe 10 synchronously. As the moving speed of the nozzle 16 and the nozzle 17 of the spray head 16 increases, the feed amount increases synchronously, so that the spraying thickness is always kept consistent, thereby ensuring the quality of the spraying operation.

[0026] Preferably, a hard tube 101 is provided at one end of the material tube 10, and the hard tube 101 is fixedly connected to the nozzle 16; the snap-fit ​​connection facilitates tool-free plug-in feeding and disassembly and cleaning; the material tube 10 is a hose.

[0027] Preferably, a protective cover 3 is fixedly disposed on the support plate 1 .

[0028] Preferably, an air pipe 18 is fixedly disposed inside the two nozzles 16 , a pressure stabilizer is disposed at the end of the air pipe 18 , and the air pipe 18 is communicated with the pressure stabilizer.

[0029] A spraying machine or a robot comprises a traveling trolley on which a self-balancing feeding mechanism is arranged.

[0030] Working principle: First, the output shaft of the driving motor 2 rotates to drive the first transmission belt 82, and the first transmission belt 82 drives the bidirectional screw 84 to rotate. The rotation of the bidirectional screw 84 drives the two adjustment blocks 85 to move in opposite directions relative to each other. The two nozzles 16 move relative to each other, thereby improving the spraying efficiency and offsetting part of the reaction force of the two nozzles 16, thereby increasing the stability of the device. When the nozzle 16 reciprocates to feed the material, the nozzle 16 is pulled by the material pipe 10 under the action of the limiting frame 92, so that the angle between the hard pipe 101 and the nozzle 16 changes, so as to achieve the purpose of comprehensive material spraying; Synchronously, when the angle of the nozzle 17 of the nozzle 16 changes, 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 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 turntable 43 makes the misaligned arc grooves 48 gradually overlap. As the rotation angle of the nozzle 16 increases, the overlapped part of the arc grooves 48 increases, thereby adapting to increase 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; The nozzle 16 rotates to drive the connecting rod 519, the piston column 55, the fixed cylinder 54, the collar 56 and the bevel gear ring 44 to rotate synchronously around the rotating shaft 42, and the intermittent gear 53 rotates synchronously with the nozzle 16 under the action of the arc rack 51, and the intermittent gear 53 rotates by itself, and the rotation of the intermittent gear 53 drives the connecting shaft 57 and the buffer gear 58 to rotate, and the rotation of the buffer gear 58 drives the buffer rack 59 to move, and the movement of the buffer rack 59 drives the corresponding sealing plate 510 and the slide plate 517 to move synchronously, and the slide plate 517 moves to form a dislocation, so that The air outlet at the end of the fixed cylinder 54 becomes smaller, thereby increasing the resistance of its piston column 55 when moving, and can absorb the reaction force of the nozzle 16 during spraying. When the nozzle 16 rotates, as the discharge amount of the nozzle 16 increases, its reaction force increases synchronously, and the corresponding resistance to the movement of the piston column 55 also increases synchronously. This avoids the situation where the resistance to the movement of the piston column 55 remains unchanged when the reaction force of spraying is too large, causing the nozzle 16 to move too far, and avoids the problem that the nozzle 17 is too far away from the wall and affects the spraying effect, thereby ensuring the overall balance of the nozzle 16 and the nozzle 17.

[0031] As the output shaft speed of the driving motor 2 changes, the second transmission belt 69 is synchronously driven to rotate through the rotation of the bidirectional screw 84 to drive the adjusting shaft 67 to rotate, and the rotation of the adjusting shaft 67 drives the cam 66 to rotate synchronously. The rotation of the cam 66 lifts the multi-section telescopic plate 63, and the lifting of the multi-section telescopic plate 63 drives the adjusting rod 62 and the plug plate 61 to move synchronously. As the moving speed of the nozzle 16 and the nozzle 17 increases, the frequency of the cam 66 lifting the multi-section telescopic plate 63 and the plug plate 61 increases synchronously, thereby increasing the feed amount of the material tube 10 synchronously, and as the bidirectional moving mechanism 8 moves to touch the reciprocating switch 7, it drives the driving motor 2 to reverse.

[0032] 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 protection scope of the present invention.

Claims

1. A self-balancing feeding mechanism, comprising a support plate (1), characterized in that: A driving motor (2) is fixedly arranged at the bottom of the support plate (1), a bidirectional moving mechanism (8) is arranged at the top of the support plate (1), two support seats (14) are arranged at the top of the bidirectional moving mechanism (8), a spray head (16) is arranged at the top of the two support seats (14), a nozzle (17) is arranged at the end of the two spray heads (16), a material pipe (10) is arranged at the other end of the two spray heads (16), a slider (15) is rotatably arranged at the bottom of the two spray heads (16), the two sliders (15) are located on the top of the corresponding support seats (14) and slide, an energy absorbing device (5) is arranged at the top of the two support seats (14), and when the nozzle (17) sprays material, the reaction force of the nozzle (17) of the spray head (16) is buffered and energy absorbed when the nozzle (17) sprays material, and a limiting mechanism (9) is arranged on the side wall of the support plate (1).

2. A self-balancing feeding mechanism according to claim 1, characterized in that: The bidirectional moving mechanism (8) comprises two mounting plates (81), a first transmission belt (82), a guide rail (83), a bidirectional screw (84) and two adjustment blocks (85); the two mounting plates (81) are fixedly arranged on the top of the support plate (1); 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 adjustment 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 adjustment blocks (85) are both located on the guide rail (83) and slide; a reciprocating switch (7) is arranged on the top of the support plate (1); when the adjustment block (84) touches the reciprocating switch (7), the reciprocating switch (7) controls the output shaft of the drive motor (2) to reverse.

3. A self-balancing feeding mechanism according to claim 1, characterized in that: The two nozzles (16) are each provided with a metering mechanism (4), each of the metering mechanisms (4) comprising two discharge holes (41), a rotating shaft (42), two rotating disks (43), a bevel gear ring (44), a bevel gear (45), a slide groove (46), a plurality of connecting rods (47) and a plurality of arc grooves (48), wherein one of the rotating disks (43) is fixedly arranged inside the nozzle (17), and the other rotating disk (43) is rotatably arranged inside the nozzle (17), and the two discharge holes (41) are respectively arranged On the two rotating disks (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), the two ends of a plurality of connecting rods (47) are respectively fixedly arranged on the bevel gear (45) and one of the rotating disks (43), the bevel gear (45) is fixedly arranged on the top of the rotating shaft (42), the sliding groove (46) is arranged on the top of the support seat (14), and the plurality of arc grooves (48) are arranged on the two rotating disks (43) in an equidistant annular array and are staggered and symmetrical.

4. A self-balancing feeding mechanism according to claim 1, characterized in that: The two energy absorbing devices (5) each comprise a mounting rod (52), an arc-shaped rack (51), an intermittent gear (53), a fixing cylinder (54), a piston column (55), a collar (56), a connecting shaft (57), a buffer gear (58), two buffer racks (59), a sealing plate (510), a limiting groove (511), a connecting block (512), two air outlet holes (513), two bottom blocks (514), a buffer spring (515), an L-shaped rod (516), two slide plates (517), two arc-shaped movable grooves (518) and a connecting rod (519). The two arc-shaped movable grooves (518) are arranged on the top of the support seat (14), the two bottom blocks (514) are slidably arranged inside the arc-shaped movable grooves (518), the fixed cylinder (54) is rotatably arranged on the top of the bottom block (514), the piston column (55) is slidably arranged inside the fixed cylinder (54), the collar (56) is fixedly arranged at the end of the piston column (55), and the collar (56) is rotatably connected to the rotating shaft (42), and the two ends of the buffer spring (515) are respectively fixedly arranged at the end of the piston column (55) and the inner wall of the fixed cylinder (54). The mounting rod (52) is fixedly arranged on the side wall of the support seat (14), the arc-shaped rack (51) is fixedly arranged on the top of the mounting rod (52), the connecting shaft (57) is rotatably arranged on the top of the fixed cylinder (54), the buffer gear (58) is fixedly arranged on the bottom of the connecting shaft (57), the intermittent gear (53) is fixedly arranged on the top of the connecting shaft (57), the two buffer racks (59) are slidably arranged on the top of the fixed cylinder (54), the L-shaped rod (516) is fixedly arranged on the bottom of one of the buffer racks (59), and one of the sliding The plate (517) is fixedly arranged at the end of the L-shaped rod (516), the connecting block (512) is fixedly arranged on the side wall of another buffer rack (59), the limiting groove (511) is arranged on the top of the fixed cylinder (54), the sealing plate (510) is fixedly arranged on the side wall of the connecting block (512), the other slide plate (517) is fixedly arranged on the bottom of the connecting block (512), the two air outlet holes (513) are respectively arranged on the two slide plates (517), and the two ends of the connecting rod (519) are respectively fixedly connected to the spray head (16) and the piston rod (55).

5. A self-balancing feeding mechanism according to claim 1, characterized in that: The two limiting mechanisms (9) each comprise 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 arranged on the side wall of the support plate (1); the limiting frame (92) is fixedly arranged on the top of the L-shaped connecting plate (91); the four end plates (94) are fixedly arranged on the inner wall of the limiting frame (92); and the four driven rollers (93) are rotatably arranged in pairs between the inner wall of the limiting frame (92) and the four end plates (94).

6. A self-balancing feeding mechanism according to claim 1, characterized in that: The side wall of the support plate (1) is provided with a speed adaptation mechanism (6), and the speed adaptation mechanism (6) comprises two plug plates (61), two adjusting rods (62), a multi-section telescopic plate (63), two plug rods (64), two hollow blocks (65), a cam (66), an adjusting shaft (67), two long grooves (68), a second transmission belt (69), two discs (610) and two circular grooves (611), the two plug rods (64) are fixedly arranged on the top of the support plate (1), the two hollow blocks (65) are plugged and arranged on the top of the two plug rods (64), the adjusting shaft (67) is rotatably arranged between the two plug rods (64), and the second transmission belt (69) is sleeved on the bidirectional screw (84) and the adjusting shaft (611). 7), the cam (66) is fixedly arranged on the adjusting shaft (67), the multi-section telescopic plate (63) is movably inserted on the two hollow blocks (65), the two ends of the multi-section telescopic plate (63) are telescopic ends, the two long grooves (68) are arranged at the bottom of the multi-section telescopic plate (63), the two adjusting rods (62) are fixedly arranged at the bottom of the multi-section telescopic plate (63), the two plug plates (61) are rotatably arranged at the bottom of the two adjusting rods (62), the two disks (610) are respectively fixedly arranged on the top of the two adjusting rods (62), the two circular grooves (611) are respectively arranged at the two ends of the multi-section telescopic plate (63), and the size of the two circular grooves (611) is larger than the size of the disk (610).

7. A self-balancing feeding mechanism according to claim 3, characterized in that: A hard tube (101) is clamped on one end of the material tube (10), the hard tube (101) is fixedly connected to the nozzle (16), and the conical gear ring (44) is rotatably matched with the hard tube (101).

8. A self-balancing feeding mechanism according to claim 1, characterized in that: A protective cover (3) is fixedly arranged on the support plate (1).

9. A self-balancing feeding mechanism according to claim 1, characterized in that: An air pipe (18) is fixedly arranged inside each of the two nozzles (16), a pressure stabilizer is arranged at the end of the air pipe (18), and the air pipe (18) is in communication with the pressure stabilizer.

10. A spraying machine or robot, including a walking trolley, characterized in that: The traveling trolley is provided with a self-balancing feeding mechanism as claimed in any one of claims 1 to 9.

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