Thermal insulation layer spraying robot

Abstract

The invention provides a thermal insulation layer spraying robot which comprises a multi-axis mechanical arm provided with an end arm, and the end arm is provided with an extending power output shaft; the telescopic frame is rotationally connected with the end part of the output shaft, the telescopic frame is provided with a plurality of adjusting positions, and the adjusting positions are arranged at intervals along the cambered surface curve of the to-be-sprayed pipeline; the adjusting mechanism is used for driving the telescopic frame to stretch out and draw back, so that the spacing distance of the adjusting positions is adjusted, and meanwhile, the curvature of the telescopic frame is adjusted, so that the distances from the adjusting positions to the outer wall surface of the to-be-sprayed pipeline are equal; the nozzles are arranged on the corresponding adjusting positions in a one-to-one mode. According to the thermal insulation layer spraying robot, flexible movement is provided through the multi-axis mechanical arm, the robot can adapt to pipelines with different pipe diameters through cooperation of the telescopic frame and the adjusting mechanism, it is guaranteed that the distances from all the nozzles to the outer wall faces of the pipelines are equal, and when one nozzle is blocked, supplementary coating can be conducted through other nozzles; therefore, the spraying thickness is uniform, and the practicability is good.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial robots, and particularly relates to a thermal insulation layer spraying robot. Background Art

[0002] An insulated pipe is a pipe used to transport hot media (such as hot water, steam, hot oil, etc.) or cold media (such as refrigerant). By wrapping the outside of the pipe with insulation material, the loss of heat or cold is reduced, thereby improving energy utilization efficiency and reducing operating costs. The insulation layer of the insulated pipe is the core part of reducing heat or cold transfer. Its material properties, structural design and construction quality directly affect the insulation effect and system energy efficiency.

[0003] In the existing technology, the spraying process of the insulation layer of the insulation pipe is to use a robot and a nozzle to evenly cover the insulation material such as polyurethane on the surface of the pipe in the form of spraying, and foam to form an insulation layer through chemical reaction. However, during the spraying process of the insulation layer, the nozzle may be blocked or worn, and the paint supply pressure may be unstable, which will lead to an uneven insulation layer. If the insulation layer is locally too thick, it will lead to material waste, and if the insulation layer is locally too thin, it may cause heat dissipation or condensation in the pipe. The current solution is to set up multiple nozzles for multiple spraying. The setting of multiple nozzles can share the paint supply pressure, the pressure is stable, and when one of the nozzles is blocked, it can be re-coated through other nozzles. However, since the sizes of insulation pipes in different batches vary, multiple drives need to be set on each nozzle to change the spraying position and spraying angle of each nozzle. The equipment investment cost is high and the practicality is poor. Summary of the Invention

[0004] An embodiment of the present invention provides an insulation layer spraying robot, which aims to solve the problem of poor practicality of the existing insulation layer spraying process of the insulation pipe due to the high equipment investment cost.

[0005] To achieve the above object, the technical solution adopted by the present invention is to provide a thermal insulation layer spraying robot, comprising: A multi-axis manipulator having an end arm with a protruding power output shaft; A telescopic frame is rotatably connected to the end of the output shaft, and the telescopic frame has a plurality of adjustment positions, each of which is arranged at intervals along the cambered curve of the pipeline to be sprayed; An adjusting mechanism is connected to the output shaft and has a long sliding opening for the telescopic frame to be slidably connected; the adjusting mechanism is used to drive the telescopic frame to extend and retract, thereby adjusting the spacing between the adjustment positions, and at the same time adjusting the curvature of the telescopic frame so that the distances between the adjustment positions and the outer wall of the pipe to be sprayed are equal; There are multiple nozzles, each of which is set at a corresponding adjustment position, and each of the nozzles is connected to an external paint supply module.

[0006] In a possible implementation, the axial direction of the power output shaft is set to a first direction; The regulating mechanism comprises: A fixed connection block is fixedly mounted on the end arm of the multi-axis manipulator; There is at least one guide block, one end of each guide block is slidably disposed on the fixed connection block along the first direction, and the other end of each guide block extends outward along the first direction; A movable connection structure is provided on the protruding end of each guide block and moves along the first direction with the guide block. The movable connection structure is provided with the long sliding opening for sliding connection of the telescopic frame; The driving structure is sleeved on the power output shaft and is dynamically connected to the movable connecting structure, and is used for driving the movable connecting structure to move along the first direction.

[0007] In a possible implementation, the mobile connection structure includes: a moving block fixedly mounted on the protruding end of each guide block and moving along the first direction with the guide block; There are two cantilever slide rails, one end of each of the cantilever slide rails is fixed on the moving block, the other end of each cantilever slide rail extends outward, and the two cantilever slide rails are symmetrically arranged on a plane perpendicular to the first direction; The connecting seat is fixed on the protruding end of the power output shaft, and the rotation axis of the connecting seat is collinear with the axis of the power output shaft.

[0008] In one possible implementation, the telescopic frame includes: An active scissor lift unit comprises two active connecting rods whose middle sections are hinged to each other, and the active connecting rod close to the connecting seat is fixed on the connecting seat; There are two driven scissor-fork units, and each of the driven scissor-fork units is arranged in a one-to-one correspondence with each of the cantilever slide rails. Each of the driven scissor-fork units has a sliding connection part, and the sliding connection part is slidably arranged on the corresponding cantilever slide rail. Each of the driven scissor-fork units has two driven connecting rods with two middle sections hinged to each other, and the corresponding ends of each driven connecting rod are hinged to the corresponding ends of the corresponding active connecting rods; the hinged ends of each active connecting rod and each driven connecting rod, and the protruding ends of the driven connecting rods on both sides of each driven scissor-fork unit together constitute a plurality of adjustment positions.

[0009] In a possible implementation, each of the driven scissor lift units is provided with a sliding seat, which is slidably arranged on the cantilever slide rail. The sliding seat is rotatably connected to the middle section of the two driven scissor lift units, and the sliding seat is the sliding connection part.

[0010] In one possible implementation, the driving structure is a cylindrical cam sleeve, which is sleeved on the power output shaft, the rotation axis is arranged along the first direction, the axis of the cylindrical cam sleeve is arranged colinearly with the axis of the connecting seat, the cylindrical cam sleeve is fixedly connected to the connecting seat, and the cylindrical cam sleeve is used to drive the connecting seat to rotate, so that the active scissors fork unit and each of the driven scissors fork units are opened and closed; In which, the cylindrical cam sleeve is provided with a guide groove, the moving block is sleeved on the cylindrical cam sleeve, and the moving block is provided with a guide block adapted to the guide groove of the cylindrical cam sleeve. The cylindrical cam sleeve is used to drive the moving block to move along the first direction when rotating.

[0011] In a possible implementation, each of the cantilever slide rails is made of a flexible material, and the cantilever slide rail is used to deform along with the movement of the movable connecting structure when the movable connecting structure moves, so as to change the extension angle of each of the driven scissors units.

[0012] In a possible implementation, each of the active connecting rods and each of the driven connecting rods are made of a flexible material.

[0013] In this implementation, compared with the existing technology, the multi-axis manipulator provides flexible movement, and the cooperation of the telescopic frame and the adjustment mechanism enables the robot to adapt to pipes of different diameters, ensuring that the distance from each nozzle to the outer wall of the pipe is equal. When one of the nozzles is blocked, the other nozzles can be used for re-coating, thereby ensuring uniform spraying thickness and improving thermal insulation effect. There is no need for multiple drives to control the spraying position of each nozzle separately, the equipment investment cost is low, and the practicality is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the structure of the thermal insulation layer spraying robot provided in an embodiment of the present invention Figure 1 ; Figure 2 for Figure 1 Schematic diagram of the enlarged structure at A in the middle; Figure 3 Schematic diagram of the structure of the thermal insulation layer spraying robot provided in an embodiment of the present invention Figure 2 ; Figure 4 for Figure 3 Schematic diagram of the enlarged structure at B in the middle; Figure 5A schematic diagram of the connection structure of the mobile connection structure and the drive structure of the thermal insulation layer spraying robot provided by an embodiment of the present invention; Figure 6 for Figure 5 Schematic diagram of the enlarged structure at C in the middle; Description of reference numerals: 10. Multi-axis manipulator; 11. Power output shaft; 20. Telescopic frame; 21. Active scissor unit; 211. Active connecting rod; 22. Driven scissor unit; 221. Driven connecting rod; 222. Sliding seat; 30. Adjustment mechanism; 31. Fixed connecting block; 32. Guide block; 33. Mobile connecting structure; 331. Mobile block; 332. Cantilever slide rail; 333. Connecting seat; 34. Driving structure; 40. Nozzle. DETAILED DESCRIPTION

[0015] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0016] It should be noted that the terms "length", "width", "height", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0017] It should also be noted that, unless otherwise expressly specified or limited, terms such as "installed," "connected," "fixed," and "disposed" should be understood broadly. For example, they may refer to fixed connections, removable connections, or integration. They may refer to mechanical connections or electrical connections. They may refer to direct connections or indirect connections through an intermediary, and they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Furthermore, "plurality" and "several" mean two or more, unless otherwise specifically defined.

[0019] Please also refer to Figures 1 to 6 , the thermal insulation layer spraying robot provided by the present invention is now described. The thermal insulation layer spraying robot includes a multi-axis manipulator 10, a telescopic frame 20, an adjustment mechanism 30 and a nozzle 40. The multi-axis manipulator 10 has an end arm, and the end arm has a protruding power output shaft 11. The telescopic frame 20 is rotatably connected to the end of the output shaft. The telescopic frame 20 has a plurality of adjustment positions, and each adjustment position is arranged at intervals along the arc curve of the pipe to be sprayed. The adjustment mechanism 30 is connected to the output shaft and has a long slide for the telescopic frame 20 to be slidably connected. The adjustment mechanism 30 is used to drive the telescopic frame 20 to extend and retract, so as to adjust the spacing distance of each adjustment position, and at the same time adjust the curvature of the telescopic frame 20 so that the distance from each adjustment position to the outer wall of the pipe to be sprayed is equal. There are multiple nozzles 40, and each nozzle 40 is set one by one at each corresponding adjustment position. Each nozzle 40 is connected to an external paint supply module.

[0020] Compared with the prior art, the thermal insulation layer spraying robot provided in this embodiment provides flexible movement through the multi-axis manipulator 10. The cooperation of the telescopic frame 20 and the adjustment mechanism 30 enables the robot to adapt to pipes of different diameters, ensuring that the distance between each nozzle 40 and the outer wall of the pipe is equal. When one of the nozzles 40 is blocked, the other nozzles 40 can be used for re-coating, thereby ensuring uniform spraying thickness and improving thermal insulation effect. There is no need for multiple drives to control the spraying position of each nozzle 40 separately, and the equipment investment cost is low and practicality is good.

[0021] The multi-axis manipulator 10 gives the robot the ability to move in space, allowing it to quickly reach different spraying positions. The coordinated work of the telescopic frame 20 and the adjustment mechanism 30 enables the robot to automatically adapt to pipes of different diameters. Regardless of how the pipe diameter changes, the state of the telescopic frame 20 can be adjusted through the adjustment mechanism 30 to ensure that the distance between each nozzle 40 and the outer wall of the pipe is equal, thereby ensuring that the thickness of the sprayed insulation layer is uniform and effectively improving the insulation effect. The simultaneous operation of multiple nozzles 40 greatly improves the spraying efficiency. Compared with manual spraying, the insulation spraying work of a large number of pipes can be completed in a shorter time. The overall structural design is compact and reasonable, and the various components have clear division of labor and cooperate with each other, realizing automated spraying operations, reducing manual intervention, reducing labor intensity, and improving construction accuracy and stability. At the same time, this structural design has good versatility and can meet the needs of pipeline insulation spraying under a variety of different working conditions.

[0022] In some embodiments, the adjustment mechanism 30 may be configured as follows: Figure 2 、 Figure 4 、 Figure 6 The structure shown. Figure 2 、 Figure 4 、 Figure 6 , set the axial direction of the power output shaft 11 to the first direction.

[0023] The adjustment mechanism 30 includes a fixed connection block 31, a guide block 32, a mobile connection structure 33 and a drive structure 34. The fixed connection block 31 is fixed on the end arm of the multi-axis manipulator 10. There is at least one guide block 32, and one end of each guide block 32 is slidably set on the fixed connection block 31 along the first direction, and the other end of each guide block 32 extends outward along the first direction. The mobile connection structure 33 is set on the protruding end of each guide block 32, and moves along the first direction with the guide block 32. The mobile connection structure 33 is provided with a long sliding groove for sliding connection of the telescopic frame 20. The drive structure 34 is sleeved on the power output shaft 11 and is power-connected to the mobile connection structure 33, and is used to drive the mobile connection structure 33 to move along the first direction.

[0024] The fixed connection block 31 provides a stable installation base for the adjustment mechanism 30, and is fixedly connected to the end arm of the multi-axis manipulator 10 to ensure the stability of the adjustment mechanism 30 during operation. The setting of the guide block 32 makes the movement of the mobile connection structure 33 more precise and stable. The sliding setting along the first direction limits the movement trajectory of the mobile connection structure 33, ensuring that it will not deviate during the adjustment process. The power connection between the drive structure 34 and the mobile connection structure 33 realizes the precise control of the telescopic movement of the telescopic frame 20. Through the action of the drive structure 34, the length and curvature of the telescopic frame 20 can be accurately adjusted according to the change in the diameter of the pipe, so that each adjustment position maintains a suitable distance from the outer wall of the pipe. This structural design improves the adjustment accuracy and reliability of the adjustment mechanism 30, so that the robot can adjust more stably and accurately when facing pipes of different diameters, and enhances the robot's adaptability to different working conditions. At the same time, the structure of each component is simple, which is convenient for manufacturing, installation and maintenance.

[0025] In some embodiments, the mobile connection structure 33 may be configured as follows: Figure 2 、 Figure 4 、 Figure 6 The structure shown. Figure 2 、 Figure 4 、 Figure 6 The movable connection structure 33 includes a movable block 331, a cantilever slide 332, and a connecting seat 333. The movable block 331 is fixed to the protruding end of each guide block 32 and moves along the first direction with the guide block 32. There are two cantilever slides 332, one end of each cantilever slide 332 is fixed to the movable block 331, and the other end of each cantilever slide 332 protrudes outward. The two cantilever slides 332 are symmetrically arranged on a plane perpendicular to the first direction. The connecting seat 333 is fixed to the protruding end of the power output shaft 11, and the rotation axis of the connecting seat 333 is arranged collinearly with the axis of the power output shaft 11.

[0026] The fixed connection between the moving block 331 and the guide block 32 enables the moving block 331 to move along with the movement of the guide block 32, thereby driving the entire mobile connection structure 33 to move along the first direction. The two symmetrically arranged cantilever slide rails 332 provide a stable track for the sliding of the telescopic frame 20. The symmetrical structure ensures the balance of the telescopic frame 20 during the sliding process, avoiding tilting or jamming. The fixed connection between the connecting seat 333 and the power output shaft 11 and the colinear rotation axis ensure that the telescopic frame 20 can flexibly rotate along with the rotation of the power output shaft 11, so that the telescopic frame 20 can better fit the curved curve of the pipe during the adjustment process. This design of the mobile connection structure 33 improves the stability and flexibility of the movement of the telescopic frame 20, making it smoother for the robot to adjust the telescopic frame 20, and can quickly and accurately adapt to changes in different pipe diameters, thereby ensuring the continuity and stability of the spraying operation.

[0027] In some embodiments, the telescopic frame 20 may be configured as follows: Figures 1 to 4 The structure shown. Figures 1 to 4 The telescopic frame 20 includes an active scissor unit 21 and a driven scissor unit 22. The active scissor unit 21 has two active connecting rods 211 with two intermediate sections hinged to each other. The active connecting rod 211 close to the connecting seat 333 is fixed on the connecting seat 333. There are two driven scissor units 22, each of which is arranged in a one-to-one correspondence with each cantilever slide rail 332. Each driven scissor unit 22 has a sliding connection part, which is slidably arranged on the corresponding cantilever slide rail 332. Each driven scissor unit 22 has two driven connecting rods 221 with two intermediate sections hinged to each other. The corresponding end of each driven connecting rod 221 is hinged to the corresponding end of the corresponding active connecting rod 211. The hinged ends of each active connecting rod 211 and each driven connecting rod 221, as well as the protruding ends of the driven connecting rods 221 on both sides of each driven scissor unit 22, together constitute a plurality of adjustment positions.

[0028] The cooperation of the active scissors-fork unit 21 and the driven scissors-fork unit 22 forms an adjustable scissors-fork structure, which has good expansibility and adjustability. Through the rotation of the active scissors-fork unit 21 and the sliding of the driven scissors-fork unit 22 on the cantilever slide rail 332, the position and spacing of each adjustment position can be flexibly adjusted according to the size of the pipe diameter, and the curvature of the telescopic frame 20 can be changed to make it better fit the pipe surface. The multiple adjustment positions formed by the hinged ends of each active connecting rod 211 and the driven connecting rod 221 and the protruding ends of the driven connecting rod 221 on both sides of the driven scissors-fork unit 22 provide an accurate position for installing the nozzle 40, ensuring that the nozzle 40 can be evenly distributed on the pipe surface during the spraying process. The scissors-fork structure is simple and reliable, easy to realize the telescopic and curvature adjustment functions, and can maintain good stability during the adjustment process. At the same time, this structure can adapt to a wide range of pipe diameter changes, thereby improving the versatility and applicability of the robot.

[0029] In some embodiments, the driven scissor unit 22 may be configured as follows: Figure 2 、 Figure 4 The structure shown. Figure 2 、 Figure 4 Each driven scissor unit 22 is provided with a sliding seat 222, and the sliding seat 222 is slidably set on the cantilever slide rail 332. The sliding seat 222 is rotatably connected to the middle section of the two driven scissor units 22, and the sliding seat 222 is a sliding connection part.

[0030] The sliding arrangement of the sliding seat 222 on the cantilever rail 332 enables the driven scissor unit 22 to slide freely on the cantilever rail 332, achieving the telescopic movement of the telescopic frame 20. The pivoting connection between the sliding seat 222 and the middle section of the driven scissor unit 22 ensures that the driven scissor unit 22 can adjust its angle as needed during the sliding process, increasing the flexibility of the telescopic frame 20, enabling it to better adapt to the shape changes of the pipe surface and ensuring that the distance between each adjustment position and the outer wall of the pipe is always consistent. This structural design makes the movement of the telescopic frame 20 more flexible and controllable, enabling accurate position and posture adjustment under complex pipe shapes, improving the robot's adaptability to different pipe surfaces and ensuring spraying quality.

[0031] In some embodiments, the driving structure 34 may be configured as follows: Figure 2 、 Figure 4 、 Figure 6 The structure shown. Figure 2 、 Figure 4 、 Figure 6The driving structure 34 is a cylindrical cam sleeve, which is sleeved on the power output shaft 11. The rotation axis is set along the first direction. The axis of the cylindrical cam sleeve is colinear with the axis of the connecting seat 333. The cylindrical cam sleeve is fixedly connected to the connecting seat 333. The cylindrical cam sleeve is used to drive the connecting seat 333 to rotate so that the active scissors fork unit 21 and each driven scissors fork unit 22 can open and close.

[0032] Among them, a guide groove is provided on the cylindrical cam sleeve, and the moving block 331 is sleeved on the cylindrical cam sleeve. The moving block 331 is provided with a guide block 32 adapted to the guide groove of the cylindrical cam sleeve. The cylindrical cam sleeve is used to drive the moving block 331 to move along the first direction when rotating.

[0033] The cylindrical cam sleeve is sheathed in the power output shaft 11 and is fixedly connected to the connecting seat 333, so that it can rotate as the power output shaft 11 rotates. The guide groove on the cylindrical cam sleeve is adapted to the guide block 32 on the moving block 331, converting the rotational motion of the cylindrical cam sleeve into linear motion of the moving block 331 along a first direction. At the same time, the cylindrical cam sleeve drives the connecting seat 333 to rotate, causing the active scissor unit 21 and the driven scissor unit 22 to open and close, thereby achieving precise adjustment of the curvature of the telescopic frame 20 and the spacing between the adjustment positions. This design can achieve precise position control, accurately adjust the state of the telescopic frame 20 according to changes in the pipe diameter, and ensure that the distance between each nozzle 40 and the outer wall of the pipe is equal. The transmission method of the cylindrical cam sleeve has a compact structure and high transmission efficiency, can achieve precise motion control, and improves the spraying accuracy of the robot. Compared with other transmission methods, this structure occupies less space, has good motion stability, and is highly reliable.

[0034] In some embodiments, the cantilever rail 332 may be configured as follows: Figures 1 to 6 The structure shown. Figures 1 to 6 Each cantilever slide rail 332 is made of a flexible material. The cantilever slide rail 332 is used to deform along with the movement of the moving connection structure 33 when the moving connection structure 33 moves, so as to change the extension angle of each driven scissor unit 22.

[0035] The cantilever slide 332 is made of a flexible material, which enables it to deform when the movable connecting structure 33 moves. This deformation characteristic can automatically change the extension angle of the driven scissor unit 22 according to the shape change of the pipe surface, further enhancing the adaptability and flexibility of the telescopic frame 20. Even if there are certain irregular shapes or unevenness on the pipe surface, the flexible cantilever slide 332 can make the telescopic frame 20 better fit the pipe surface through its own deformation, ensuring that the distance between each adjustment position and the outer wall of the pipe remains consistent, thereby improving the spraying quality. The design of the flexible cantilever slide 332 expands the scope of application of the robot, enabling it to perform spraying operations on pipes of various complex shapes without the need for special treatment of the pipe surface, reducing construction requirements and costs.

[0036] In some embodiments, the active connecting rod 211 may be Figures 1 to 6 The structure shown. Figures 1 to 6 , each active connecting rod 211 and each driven connecting rod 221 are made of flexible material.

[0037] The active connecting rod 211 and the driven connecting rod 221 are made of flexible materials, making the telescopic frame 20 more flexible during the adjustment process. The flexible material can better adapt to the changes in the arc curve of the pipe surface. When the telescopic frame 20 is extended and the curvature is adjusted, it can fit the pipe surface more closely, avoiding gaps or non-fitting caused by rigid connections, further ensuring that the distance from each adjustment position to the outer wall of the pipe is equal, and improving the uniformity and accuracy of the spraying. The design of the flexible connecting rod improves the robot's adaptability to pipes of different diameters and shapes, enhances the robot's ability to work under complex working conditions, makes the spraying process more precise and efficient, and also reduces the damage to components that may be caused by rigid collisions, thereby increasing the service life of the equipment.

[0038] In practical application, the multi-axis manipulator 10 is first mounted on a suitable work platform and connected to a control system. The control system sets parameters such as the diameter of the pipe to be sprayed. Following a pre-set program, the multi-axis manipulator 10 utilizes its multiple degrees of freedom to move the robot to a position near the pipe to be sprayed. The robot then adjusts its position so that the telescopic frame 20 is roughly aligned with the pipe.

[0039] The power output shaft 11 is driven by the motor and starts to rotate, and the cylindrical cam sleeve fixedly connected to the power output shaft 11 rotates accordingly. The rotation of the cylindrical cam sleeve drives the connecting seat 333 to rotate. The rotation of the connecting seat 333 causes the active scissors unit 21 to rotate. The rotation of the active scissors unit 21 drives the driven scissors unit 22 to move through the hinge relationship. The sliding seat 222 of the driven scissors unit 22 slides on the cantilever slide 332 to achieve the telescopic movement of the telescopic frame 20 and adjust the curvature of the telescopic frame 20 at the same time. During the rotation of the cylindrical cam sleeve, its guide groove cooperates with the guide block 32 on the moving block 331, causing the moving block 331 to move along the first direction. The movement of the moving block 331 drives the cantilever slide 332 to move, thereby causing the driven scissors unit 22 to change its extension angle during the movement, further adjusting the shape of the telescopic frame 20 so that the distance from each adjustment position to the outer wall of the pipe to be sprayed is equal.

[0040] When the telescopic frame 20 is adjusted to the appropriate position, the external paint supply module is activated to supply insulation material to each nozzle 40. Multiple nozzles 40 spray the outer wall of the pipeline simultaneously. During the spraying process, the multi-axis manipulator 10 can make fine adjustments as needed to ensure smooth spraying.

[0041] For pipes of different diameters, you only need to re-enter the pipe diameter parameters in the control system, and the robot can automatically repeat the above adjustment process to achieve the insulation layer spraying operation for pipes of different diameters.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. Insulation layer spraying robot, characterized in that, include: A multi-axis manipulator having an end arm with a protruding power output shaft; A telescopic frame is rotatably connected to the end of the output shaft, and the telescopic frame has a plurality of adjustment positions, each of which is arranged at intervals along the cambered curve of the pipeline to be sprayed; An adjusting mechanism is connected to the output shaft and has a long sliding opening for the telescopic frame to be slidably connected; the adjusting mechanism is used to drive the telescopic frame to extend and retract, thereby adjusting the spacing between the adjustment positions, and at the same time adjusting the curvature of the telescopic frame so that the distances between the adjustment positions and the outer wall of the pipe to be sprayed are equal; There are multiple nozzles, each of which is set at a corresponding adjustment position, and each of the nozzles is connected to an external paint supply module.

2. The thermal insulation layer spraying robot according to claim 1, characterized in that: Setting the axial direction of the power output shaft to a first direction; The regulating mechanism comprises: A fixed connection block is fixedly mounted on the end arm of the multi-axis manipulator; There is at least one guide block, one end of each guide block is slidably disposed on the fixed connection block along the first direction, and the other end of each guide block extends outward along the first direction; A movable connection structure is provided on the protruding end of each guide block and moves along the first direction with the guide block. The movable connection structure is provided with the long sliding opening for sliding connection of the telescopic frame; The driving structure is sleeved on the power output shaft and is dynamically connected to the movable connecting structure, and is used for driving the movable connecting structure to move along the first direction.

3. The thermal insulation layer spraying robot according to claim 2, characterized in that: The mobile connection structure includes: a moving block fixedly mounted on the protruding end of each guide block and moving along the first direction with the guide block; There are two cantilever slide rails, one end of each of the two cantilever slide rails is fixed on the moving block, the other end of each cantilever slide rail extends outward, and the two cantilever slide rails are symmetrically arranged on a plane perpendicular to the first direction; The connecting seat is fixed on the protruding end of the power output shaft, and the rotation axis of the connecting seat is collinear with the axis of the power output shaft.

4. The thermal insulation layer spraying robot according to claim 3, characterized in that: The telescopic frame comprises: An active scissor lift unit comprises two active connecting rods whose middle sections are hinged to each other, and the active connecting rod close to the connecting seat is fixed on the connecting seat; There are two driven scissor-fork units, and each of the driven scissor-fork units is arranged in a one-to-one correspondence with each of the cantilever slide rails. Each of the driven scissor-fork units has a sliding connection part, and the sliding connection part is slidably arranged on the corresponding cantilever slide rail. Each of the driven scissor-fork units has two driven connecting rods with two middle sections hinged to each other, and the corresponding ends of each driven connecting rod are hinged to the corresponding ends of the corresponding active connecting rods; the hinged ends of each active connecting rod and each driven connecting rod, and the protruding ends of the driven connecting rods on both sides of each driven scissor-fork unit together constitute a plurality of adjustment positions.

5. The thermal insulation layer spraying robot according to claim 4, characterized in that: Each of the driven scissor lift units is provided with a sliding seat, which is slidably arranged on the cantilever slide rail. The sliding seat is rotatably connected to the middle sections of the two driven scissor lift units, and the sliding seat is the sliding connection part.

6. The thermal insulation layer spraying robot according to claim 4, characterized in that: The driving structure is a cylindrical cam sleeve, which is sleeved on the power output shaft, the rotation axis is arranged along the first direction, the axis of the cylindrical cam sleeve is arranged collinearly with the axis of the connecting seat, the cylindrical cam sleeve is fixedly connected to the connecting seat, and the cylindrical cam sleeve is used to drive the connecting seat to rotate, so that the active scissor fork unit and each of the driven scissor fork units are opened and closed; In which, the cylindrical cam sleeve is provided with a guide groove, the moving block is sleeved on the cylindrical cam sleeve, and the moving block is provided with a guide block adapted to the guide groove of the cylindrical cam sleeve. The cylindrical cam sleeve is used to drive the moving block to move along the first direction when rotating.

7. The thermal insulation layer spraying robot according to claim 4, characterized in that: Each of the cantilever slide rails is made of a flexible material, and is used to deform along with the movement of the movable connecting structure when the movable connecting structure moves, so as to change the extension angle of each of the driven scissor units.

8. The thermal insulation layer spraying robot according to claim 4, characterized in that: Each of the active connecting rods and each of the driven connecting rods are made of flexible material.

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