Automatic spraying mechanism of large circular pipe inner spraying machine

Abstract

The utility model relates to an automatic spraying mechanism of a spraying machine in a large round pipe, which comprises a main upright post lifting mechanism, the main upright post lifting mechanism is provided with a rotating mechanism, nozzles are arranged at two ends of the rotating mechanism, and the main upright post lifting mechanism comprises a first linear sliding table and a first motor; the rotating mechanism comprises a second motor, a rotating arm and two rotating auxiliary arms, the second motor is fixed to a sliding block of the first linear sliding table, an output shaft of the second motor is connected with the rotating arm, the rotating auxiliary arms are fixedly arranged at the two ends of the rotating arm, and each rotating auxiliary arm comprises a second linear sliding table and a third motor; a distance measuring sensor is arranged on the nozzle; the output ends of the two distance measuring sensors are electrically connected with a controller, the controller is electrically connected with the first motor, the second motor and the third motor, and the controller is in communication connection with an HMI module. The HMI module is used for adjusting the height of the main stand column lifting mechanism, the distance between the nozzle and the inner wall of the round pipe and the advancing speed of the spraying vehicle through the controller, and therefore automatic spraying is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying equipment, in particular to an automatic spraying mechanism of a large-scale circular tube internal spraying machine. Background Art

[0002] Some circular pipes need to be sprayed on the inner wall after production to achieve corrosion resistance and wear resistance. Since the inner surface of the pipe is curved and the space is large, manual spraying is difficult, the spraying quality is poor, and the work efficiency is low. In order to solve the above problems, a trolley that can move in the circular pipe is designed, and a rotatable spray gun is set on the trolley. While the trolley moves forward, the spray gun rotates to spray the inner wall of the pipe body. Due to the different diameters of the circular pipes, the position of the spray gun needs to be adjusted before spraying. Since the cross-section of the pipe is circular, it is extremely difficult to adjust it manually, and uneven spraying is prone to occur.

[0003] Therefore, there is an urgent need for an automatic spraying mechanism for a sprayer to achieve automatic adjustment. Summary of the invention

[0004] In order to solve the problem of low operation quality and efficiency of existing large-scale circular tube spraying equipment, the utility model proposes an automatic spraying mechanism of a large-scale circular tube internal spraying machine, which includes a controller and an HMI module. The HMI module is used to adjust the height of the main column lifting mechanism, the distance between the nozzle and the inner wall of the circular tube and the forward speed of the spraying vehicle through the controller to realize automatic spraying, thereby improving the quality and efficiency of the spraying operation.

[0005] In order to achieve the above-mentioned purpose, the utility model discloses an automatic spraying mechanism for a large-scale internal spraying machine of a circular tube, comprising a spraying vehicle, the spraying vehicle is provided with a main column lifting mechanism, the main column lifting mechanism is provided with a rotating mechanism, nozzles are provided at both ends of the rotating mechanism, the nozzles are connected with a spraying device, and the main column lifting mechanism comprises a first linear slide and a first motor;

[0006] The rotating mechanism comprises a second motor, a rotating arm and two rotating sub-arms, the second motor is fixed to the slider of the first linear slide, the output shaft of the second motor is connected to the rotating arm, rotating sub-arms are fixedly arranged at both ends of the rotating arm, and the two rotating sub-arms each comprise a second linear slide and a third motor;

[0007] The slider of the second linear slide is fixed to the nozzle, and a distance measuring sensor is provided on the nozzle;

[0008] The output ends of the two distance measuring sensors are electrically connected to a controller, the controller is electrically connected to the first motor, the second motor and the third motor respectively, and the controller is communicatively connected to an HMI module.

[0009] The controller controls the first motor so that the position of the motor shaft of the second motor is on the same straight line as the position of the center of the round tube. The controller controls the second motor to adjust the speed of the rotating arm. The controller controls the third motor according to the detection parameters of the distance sensor, and then adjusts the position of the slider of the second linear slide, so that the distance between the nozzle and the inner side of the round tube is adjusted. The sprayer is suitable for round tubes of different diameters. The staff communicates with the controller through the HMI module, providing a hardware basis for the staff to send control instructions to the controller through the HMI module.

[0010] Furthermore, the bottom surface of the slide rail of the first linear slide is fixedly connected to the upper end surface of the spraying vehicle, and the spraying equipment is fixedly arranged on the side of the first linear slide;

[0011] A microwave sensor is arranged on the slider of the first linear slide, and the microwave sensor is used to detect the distance between the slider and the bottom of the slide rail, and the output end of the microwave sensor is connected to the controller.

[0012] In order to ensure that the first motor can drive the first linear slide so that the position of the motor shaft of the second motor fixed to the slider is on the same straight line as the center of the circular tube, a microwave sensor is set to measure the displacement of the slider of the first linear slide, providing a hardware basis for realizing closed-loop control.

[0013] Furthermore, the spraying vehicle is provided with a fourth motor, and the fourth motor is used to drive the spraying vehicle to move. The fourth motor is provided with an encoder, and the output end of the encoder is electrically connected to the controller, and the controller is electrically connected to the fourth motor.

[0014] An encoder is provided to detect the rotation speed of the fourth motor and the displacement of the spraying vehicle, providing a hardware basis for matching the spraying speed and the forward speed, which is conducive to achieving uniform spraying.

[0015] Further, the controller includes a main control module and a driving module, the main control module is electrically connected to the driving module, there are multiple driving modules, and the multiple driving modules are electrically connected to the first motor, the second motor, the third motor and the fourth motor respectively;

[0016] The input end of the main control module is also connected to the output ends of the distance sensor, microwave sensor and encoder respectively;

[0017] The main control module is connected to a communication unit, and the main control module is connected to the HMI module via the communication unit.

[0018] The drive module is provided to facilitate the main control module to control the first motor, the second motor, the third motor and the fourth motor respectively.

[0019] Furthermore, an electric valve is provided between the nozzle and the spraying equipment, and the coils of the two electric valves are electrically connected to the output ends of the main control module respectively.

[0020] Setting electric valves to control the operation of the spraying equipment provides a hardware basis for realizing automatic spraying.

[0021] Furthermore, the main control module includes a PLC controller or an MCU chip;

[0022] The communication unit includes one or more combinations of a Bluetooth module, a WIFI module and an RS232 module.

[0023] Furthermore, the rotating arm is a long strip structure, and the middle part of the rotating arm is fixed to the output shaft of the second motor.

[0024] Through the above technical solution, the beneficial effects of the utility model are:

[0025] The utility model realizes automatic adjustment and spraying of the spraying machine. The HMI module communicates with the controller, and a microwave sensor is set to detect the distance between the slider of the first linear slide and the bottom of the slide. The controller controls the first motor so that the position of the motor shaft of the second motor and the position of the center of the circular tube are on the same straight line. Then the controller controls the third motor according to the detection parameters of the distance sensor, and then adjusts the position of the slider of the second linear slide, so that the distance between the nozzle and the inner side of the circular tube is adjusted. Then the controller energizes the second motor, and the second motor drives the rotating arm to rotate. Finally, the controller activates the fourth motor, and the spraying vehicle moves forward. At the same time, the controller opens the valve port of the electric valve, and the nozzle starts to spray paint. It provides a hardware foundation for automatic alignment, positioning, and orientation, reduces the difficulty of painting, increases the utilization rate of paint, and enhances the effect of painting. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is one of the structural schematic diagrams of the automatic spraying mechanism of a large-scale circular tube internal spraying machine of the utility model;

[0027] Figure 2 This is the second structural schematic diagram of the automatic spraying mechanism of a large-scale circular tube internal spraying machine of the utility model;

[0028] Figure 3 This is the third structural schematic diagram of the automatic spraying mechanism of a large-scale circular tube spraying machine of the utility model;

[0029] Figure 4 The utility model discloses an electrical principle diagram of an automatic spraying mechanism of a large-scale circular tube internal spraying machine.

[0030] Figure numbers: 1 is a spraying vehicle, 2 is a nozzle, 3 is a spraying device, 4 is a first linear slide, 5 is a first motor, 6 is a second motor, 7 is a rotating arm, 8 is a second linear slide, 9 is a third motor, 10 is a distance measuring sensor, 11 is a microwave sensor, 12 is a fourth motor, 13 is an encoder, 14 is a main control module, 15 is a drive module, 16 is an HMI module, 17 is a communication unit, and 18 is an electric valve. DETAILED DESCRIPTION

[0031] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0032] Example 1

[0033] like Figures 1 to 4 As shown, an automatic spraying mechanism of a large-scale internal spraying machine for circular tubes comprises a spraying vehicle 1, the spraying vehicle 1 is provided with a main column lifting mechanism, the main column lifting mechanism is provided with a rotating mechanism, nozzles 2 are provided at both ends of the rotating mechanism, the nozzles 2 are connected with a spraying device 3, and the main column lifting mechanism comprises a first linear slide 4 and a first motor 5;

[0034] The rotating mechanism includes a second motor 6, a rotating arm 7 and two rotating sub-arms, the second motor 6 is fixed to the slider of the first linear slide 4, the output shaft of the second motor 6 is connected to the rotating arm 7, and rotating sub-arms are fixedly arranged at both ends of the rotating arm 7, and the two rotating sub-arms each include a second linear slide 8 and a third motor 9;

[0035] The slider of the second linear slide 8 is fixed to the nozzle 2, and a distance sensor 10 is provided on the nozzle 2;

[0036] The output ends of the two distance measuring sensors 10 are electrically connected to a controller, and the controller is electrically connected to the first motor 5 , the second motor 6 and the third motor 9 respectively. The controller is communicatively connected to the HMI module 16 .

[0037] Preferably, the bottom surface of the slide rail of the first linear slide 4 is fixedly connected to the upper end surface of the spraying vehicle 1, and the spraying equipment 3 is fixedly arranged on the side of the first linear slide 4;

[0038] A microwave sensor 11 is arranged on the slider of the first linear slide 4. The microwave sensor 11 is used to detect the distance between the slider and the bottom of the slide rail. The output end of the microwave sensor 11 is connected to the controller.

[0039] Preferably, the spraying vehicle 1 is provided with a fourth motor 12 , and the fourth motor 12 is used to drive the spraying vehicle 1 to move. The fourth motor 12 is provided with an encoder 13 , and the output end of the encoder 13 is electrically connected to the controller, and the controller is electrically connected to the fourth motor 12 .

[0040] Preferably, the controller includes a main control module 14 and a driving module 15. The main control module 14 is electrically connected to the driving module 15. There are multiple driving modules 15, and the multiple driving modules 15 are electrically connected to the first motor 5, the second motor 6, the third motor 9 and the fourth motor 12 respectively.

[0041] The input end of the main control module 14 is also connected to the output ends of the distance sensor 10, the microwave sensor 11 and the encoder 13 respectively;

[0042] The main control module 14 is connected to a communication unit 17 , and the main control module 14 is connected to the HMI module 16 via the communication unit 17 .

[0043] Preferably, an electric valve 18 is provided between the nozzle 2 and the spraying device 3 , and the coils of the two electric valves 18 are electrically connected to the output ends of the main control module 14 , respectively.

[0044] Preferably, the main control module 14 includes a PLC controller or an MCU chip;

[0045] The communication unit 17 includes one or more combinations of a Bluetooth module, a WIFI module and an RS232 module.

[0046] Preferably, the rotating arm 7 is a long strip structure, and the middle part of the rotating arm 7 is fixed to the output shaft of the second motor 6 .

[0047] In this embodiment, the main control module 14 adopts an MCU chip, specifically an STM32 chip, the communication unit 17 uses a Bluetooth module, specifically an HC05 chip, the HC05 chip communicates with the MCU chip through a UART serial port, a Bluetooth component is provided in the HMI module 16, the HMI module 16 communicates wirelessly with the MCU chip through Bluetooth, the drive module 15 adopts an L289N drive chip, and the ranging sensor 10 is an infrared ranging sensor.

[0048] Example 2

[0049] Based on the hardware part of Example 1, the operation of the spraying machine is described:

[0050] When working, if Figure 1 and 2As shown, the sprayer is arranged in a circular tube. The length and radius of the tube are known, so as to determine the center position of the tube. The length and radius of the tube are transmitted to the MCU chip through the HMI module 16, and the MCU chip outputs a PWM signal to control the first motor 5 to work through the drive module 15, so that the slider of the first linear slide 4 moves, and the microwave sensor 11 detects the distance from the slider to the bottom of the slide rail. The initial height of the slider and the radius of the tube are known, and the distance from the slider to the center position of the circular tube is obtained. When the detection value of the microwave sensor 11 is equal to the distance from the center position to the bottom of the slide rail, the MCU chip controls the first motor 5 to stop working.

[0051] Then the MCU chip outputs a PWM signal to control the two third motors 9 to work simultaneously through the driving module 15, and the slider of the second linear slide 8 drives the nozzle 2 to move. The distance sensor 10 detects the distance between the nozzle 2 and the inner side of the round tube, and the MCU chip determines whether the detection value of the distance sensor 10 is equal to the set threshold. If the detection value is equal to the threshold, the MCU chip controls the two third motors 9 to stop.

[0052] Finally, the MCU chip controls the second motor 6 to work through the driving module 15, and the rotating arm 7 moves in a circle. Then the fourth motor 12 and the electric valve 18 are controlled to work, the nozzle 2 and the spraying equipment 3 are connected, and the paint is evenly sprayed on the inner side of the circular tube. The encoder 13 detects the rotation speed of the fourth motor 12. The tube length is known. The MCU chip calculates the time for the sprayer to reach the other end of the circular tube according to the rotation speed of the fourth motor 12. After the timing is completed, the MCU chip controls the fourth motor 12 and the second motor 6 to stop, controls the first motor 5 to drive the first linear slide 4 to reset the slider, and controls the two third motors 9 so that the third motor 9 drives the second linear slide 8 to reset the slider. The spraying operation is completed.

[0053] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made based on the structures, features and principles described in the patent scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. An automatic spraying mechanism of a large-scale internal spraying machine for circular tubes, comprising a spraying vehicle (1), wherein the spraying vehicle (1) is provided with a main column lifting mechanism, wherein the main column lifting mechanism is provided with a rotating mechanism, wherein nozzles (2) are provided at both ends of the rotating mechanism, wherein the nozzles (2) are connected to a spraying device (3), wherein: The main column lifting mechanism comprises a first linear slide (4) and a first motor (5); The rotating mechanism comprises a second motor (6), a rotating arm (7) and two rotating auxiliary arms, the second motor (6) being fixed to a slider of the first linear slide (4), the output shaft of the second motor (6) being connected to the rotating arm (7), rotating auxiliary arms being fixedly arranged at both ends of the rotating arm (7), and the two rotating auxiliary arms each comprising a second linear slide (8) and a third motor (9); The slider of the second linear slide (8) is fixed to the nozzle (2), and a distance measuring sensor (10) is provided on the nozzle (2); The output ends of the two distance measuring sensors (10) are electrically connected to a controller, the controller is electrically connected to the first motor (5), the second motor (6) and the third motor (9) respectively, and the controller is communicatively connected to an HMI module (16).

2. The automatic spraying mechanism of a large-scale internal spraying machine for circular tubes according to claim 1 is characterized in that: The bottom surface of the slide rail of the first linear slide (4) is fixedly connected to the upper end surface of the spraying vehicle (1), and the spraying equipment (3) is fixedly arranged on the side of the first linear slide (4); A microwave sensor (11) is arranged on the slider of the first linear slide (4), and the microwave sensor (11) is used to detect the distance between the slider and the bottom of the slide rail, and the output end of the microwave sensor (11) is connected to the controller.

3. The automatic spraying mechanism of a large-scale internal spraying machine for circular tubes according to claim 2 is characterized in that: The spraying vehicle (1) is provided with a fourth motor (12), the fourth motor (12) is used to drive the spraying vehicle (1) to move, the fourth motor (12) is provided with an encoder (13), the output end of the encoder (13) is electrically connected to a controller, and the controller is electrically connected to the fourth motor (12).

4. The automatic spraying mechanism of a large-scale internal spraying machine for circular tubes according to claim 3 is characterized in that: The controller comprises a main control module (14) and a drive module (15); the main control module (14) is electrically connected to the drive module (15); there are a plurality of drive modules (15); the plurality of drive modules (15) are electrically connected to the first motor (5), the second motor (6), the third motor (9) and the fourth motor (12), respectively; The input end of the main control module (14) is also respectively connected to the output ends of the distance measuring sensor (10), the microwave sensor (11) and the encoder (13); The main control module (14) is connected to a communication unit (17), and the main control module (14) is connected to the HMI module (16) via the communication unit (17).

5. The automatic spraying mechanism of a large-scale internal spraying machine for circular tubes according to claim 4 is characterized in that: An electric valve (18) is provided between the nozzle (2) and the spraying device (3), and the coils of the two electric valves (18) are respectively electrically connected to the output ends of the main control module (14).

6. The automatic spraying mechanism of a large-scale internal spraying machine for circular tubes according to claim 4 is characterized in that: The main control module (14) comprises a PLC controller or an MCU chip; The communication unit (17) comprises one or more combinations of a Bluetooth module, a WIFI module and an RS232 module.

7. The automatic spraying mechanism of a large-scale internal spraying machine for circular tubes according to claim 1 is characterized in that: The rotating arm (7) is a long strip structure, and the middle part of the rotating arm (7) is fixed to the output shaft of the second motor (6).

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