Modularized robot frame and nozzle matched with same

Abstract

The utility model relates to the technical field of ship maintenance, in particular to a modular robot frame and a sprayer matched with the modular robot frame. The modular robot frame comprises a housing, a control terminal and a support are arranged at the outer bottom of the housing, a dust collecting and filtering device is arranged on the support, and an annular blocking frame is arranged on the periphery of the front end of the housing; a plurality of air nozzle connecting holes are formed in the annular blocking frame at equal intervals, a limiting sliding rod and a reciprocating lead screw are arranged in the housing, a mounting block is arranged on the reciprocating lead screw, the limiting sliding rod is sleeved with the mounting block in a sliding mode, and a nozzle mounting position is arranged on the mounting block through a damping hinge; the left side and the right side of the interior of the housing are each provided with a touch switch and a beating rod, and a reset device is arranged on the nozzle mounting position. By the adoption of the technical scheme, when the mounting block moves to the two ends of the reciprocating screw rod, the mounting block collides with the touch switch, the touch switch controls the hitting rod to hit the nozzle, in this way, the nozzle does not stop when moving to the two ends of the reciprocating screw rod, and the hanging flow phenomenon at a paint spraying seam is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of large ship maintenance, and in particular to a modular robot frame and a nozzle adapted therefor. Background Art

[0002] During the long-term operation of ships, due to the long-term erosion of seawater and sea breeze, the surface of the cabin is prone to large-scale paint loss and corrosion and rust. In serious cases, it may even pollute the cargo in the cabin. In addition, when the ship docks at the dock to change and load cargo, it is also necessary to ensure the cleanliness of the cabin. Therefore, it is very necessary to regularly remove rust from the surface of the ship. The traditional rust removal operation is to build a scaffolding near the hull and manually remove rust from the outer surface of the ship. With the development of technology, out of consideration for the personal safety of the staff, a wall-climbing robot has been developed to replace manual operation. It uses its own climbing adsorption magnet to adsorb on the outer surface of the ship and polish and remove rust, and uses its own rust adsorption magnet to adsorb the rust generated by grinding.

[0003] Existing robots that have both rust removal and painting functions are very prone to paint dripping at the joints when painting, which requires additional steps to deal with unqualified paint areas, greatly wasting manpower and material resources. Summary of the invention

[0004] The purpose of the present invention is to provide a modular robot frame and a nozzle adapted therefor, so as to solve the problems existing in the above-mentioned prior art.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A modular robot frame and a nozzle adapted therefor, comprising a cover shell, wherein the front end of the cover shell is set as a completely open opening, a control terminal is set at the outer bottom of the cover shell, a bracket is set at the bottom of the cover shell, a dust collecting and filtering device is set on the bracket, an annular blocking frame is set at the front edge of the cover shell, a hollow channel is set inside the annular blocking frame, a plurality of air nozzle connecting holes are set at equal intervals on the annular blocking frame, an air nozzle is set in each nozzle connecting hole, a limit sliding rod and a reciprocating screw rod are set inside the cover shell, and a reciprocating screw rod is set on the A mounting block is provided, and a sliding sleeve of the mounting block is provided on the limiting slide rod. A nozzle mounting position is provided on the mounting block via a damping hinge. A clamping device for locking the nozzle and an electric plug for realizing electrical connection between the nozzle and the mounting position are provided on the nozzle mounting position. A touch switch and a hitting rod are provided on both left and right sides of the interior of the cover shell. The touch switch is used to control the hitting rod to hit the nozzle set on the nozzle mounting position when colliding with the mounting block. A resetting device is provided on the nozzle mounting position, and the resetting device is used to reset the nozzle hit by the hitting rod.

[0007] By adopting the above technical scheme, the reciprocating screw allows the mounting block to reciprocate in the cover shell along the direction of the reciprocating screw within the effective stroke of the reciprocating screw. When the mounting block runs to the extreme positions at both ends of the reciprocating screw, it collides with the touch switch. The touch switch controls the operation of the hitting rod, and the hitting rod hits the nozzle. In this way, the nozzle does not pause when it runs to the two extreme positions of the reciprocating screw. In traditional mechanical settings, the object on the reciprocating screw will have a short pause when it runs to the two extreme positions of the reciprocating screw. In some specific occasions, such as the technical scheme of the present invention, when a nozzle is used to spray paint on the surface of an object, this pause will cause the paint to hang at the two extreme boundaries, which seriously affects the automation process of the painting process.

[0008] In a further embodiment, the touch switch is connected to the inner wall of the cover shell through a screw and a servo motor for driving the screw to rotate, the touch switch is threadedly arranged on the screw, and limit rods are arranged above and below the touch switch. The limit rods are used to prevent the touch switch from being driven by the screw to rotate, a walking drag chain is arranged inside the cover shell, a wiring harness is arranged inside the walking drag chain, and the touch switch is electrically connected to the control terminal through the wiring harness.

[0009] In a further embodiment, the gas ejection end of the gas nozzle is arranged to be flat, and the shape of the gas ejection end of the gas nozzle follows the shape of the housing at the location where the gas ejection end of the gas nozzle is arranged.

[0010] In a further embodiment, a driving unit is provided on the outer side of the housing through a sealing cover, and the driving unit is used to drive the reciprocating screw to rotate.

[0011] In a further embodiment, suction holes are provided on the left side and the right side of the housing, and the dust collecting and filtering device is connected to the suction holes through a plurality of hoses.

[0012] In a further embodiment, a multi-layer filtering and adsorption device is arranged inside the dust collecting and filtering device.

[0013] The present invention also provides a nozzle adapted to the frame, wherein the nozzle is a laser rust removal nozzle, the laser rust removal nozzle is electrically connected to an electric plug at the mounting position, and the electric plug is electrically connected to a control terminal through a wiring harness.

[0014] By adopting the above technical solution, the rust removal nozzle can remove paint and rust from the surface of the ship during ship maintenance, so that this process is also automated.

[0015] The present invention also provides a nozzle for spraying paint and adapted to a frame, wherein the nozzle is a paint spray nozzle, and the paint spray nozzle is electrically connected to an electric plug at a mounting position, a paint delivery pipeline is provided inside the cover shell, the paint spray nozzle is connected to the paint delivery pipeline, and the electric plug is electrically connected to a control terminal through a wiring harness.

[0016] In summary, the present invention has the following beneficial effects:

[0017] 1. A limit slide rod and a reciprocating screw rod are arranged inside the cover shell, the reciprocating screw rod is provided with a mounting block, the sliding sleeve of the mounting block is arranged on the limit slide rod, a nozzle mounting position is arranged on the mounting block through a damping hinge, a clamping device for locking the nozzle and an electric plug for realizing electrical connection between the nozzle and the mounting position are arranged on the nozzle mounting position, a touch switch and a hitting rod are arranged on the left and right sides of the cover shell, the touch switch is used to control the hitting rod to hit the nozzle set on the nozzle mounting position when colliding with the mounting block, and a reset device is arranged on the nozzle mounting position, the reset device is used to reset the nozzle hit by the hitting rod, which can play the role of the reciprocating screw rod so that the mounting block is set in the cover The shell reciprocates in the direction of the reciprocating screw within the effective stroke of the reciprocating screw. When the mounting block runs to the extreme positions at both ends of the reciprocating screw, it collides with the touch switch. The touch switch controls the operation of the hitting rod, and the hitting rod hits the nozzle. In this way, the nozzle does not pause when it runs to the two extreme positions of the reciprocating screw. In traditional mechanical settings, the object on the reciprocating screw will have a short pause when it runs to the two extreme positions of the reciprocating screw. In some specific occasions, such as the technical solution of the present invention, when the nozzle is used to spray paint on the surface of the object, this pause will cause the paint to hang at the two extreme boundaries, which seriously affects the effect of the automation process of the painting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a robot frame of the present invention;

[0019] Figure 2 is a schematic diagram of the nozzle structure of the first embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the nozzle structure of the second embodiment of the present invention.

[0021] In the figure, 1. cover; 2. control terminal; 3. bracket; 4. dust collection and filtering device; 5. limit slide rod; 6. reciprocating screw rod; 7. mounting block; 8. nozzle mounting position; 9. touch switch; 10. hitting rod. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0023] The same parts are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the attached Figure 1 In the description of this specification, the words "bottom" and "top", "inside" and "outside" refer to directions toward or away from a particular component geometry, respectively. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this specification, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0024] Embodiment 1:

[0025] like Figure 1-2As shown, a modular robot frame and a nozzle adapted therefor include a cover shell 1, and the front end of the cover shell 1 is set to a completely open opening, a control terminal 2 is set at the outer bottom of the cover shell 1, a bracket 3 is set at the bottom of the cover shell 1, and a dust collecting filter device 4 is set on the bracket 3, suction holes are set on the left side and the right side of the cover shell 1, and the dust collecting filter device 4 is connected with the suction holes through multiple hoses, and a multi-layer filtering and adsorption device is set inside the dust collecting filter device 4, an annular barrier frame is set at the front edge of the cover shell 1, a hollow channel is set inside the annular barrier frame, and a plurality of air nozzle connecting holes are evenly spaced on the annular barrier frame, and an air nozzle is set in each nozzle connecting hole, a limit slide rod 5 and a reciprocating screw rod 6 are set inside the cover shell 1, and a mounting block 7 is set on the reciprocating screw rod 6, and the sliding sleeve of the mounting block 7 is set on the limit slide rod 5, and a driving unit is set on the outside of the cover shell 1 through a sealing cover, and the driving unit is used to The reciprocating screw 6 is driven to rotate, and a nozzle mounting position 8 is provided on the mounting block 7 through a damping hinge. The nozzle mounting position 8 is provided with a clamping device for locking the nozzle and an electric plug for realizing electrical connection between the nozzle and the mounting position. A touch switch 9 and a hitting rod 10 are provided on the left and right sides of the interior of the cover 1. The touch switch 9 is used to control the hitting rod 10 to hit the nozzle set on the nozzle mounting position 8 when colliding with the mounting block 7. A reset device is provided on the nozzle mounting position 8, and the reset device is used to reset the nozzle hit by the hitting rod 10. The reset device is used to slowly reset the deflected nozzle that has been hit under the control of the control terminal 2. Specifically, for example, the maximum stroke distance of the reciprocating screw 6 is 1010mm, and the hitting rod 10 makes the nozzle deflect by 50mm, then the reset device 1 controls the nozzle to reset at a rate of 0.05mm for every 1mm of travel. This solves various problems caused by the inevitable mechanical steering jam at the extreme position of the nozzle.

[0026] like Figure 1-2As shown, the touch switch 9 is connected to the inner wall of the housing 1 through a screw and a servo motor for driving the screw to rotate, the touch switch 9 is screwed on the screw, and limit rods are fitted above and below the touch switch 9, and the limit rods are used to prevent the touch switch 9 from being driven by the screw to rotate, a walking drag chain is arranged inside the housing 1, a wiring harness is arranged inside the walking drag chain, the touch switch 9 is electrically connected to the control terminal 2 through the wiring harness, and the gas ejection end of the nozzle is arranged It is flat, and the shape of the gas outlet end of the air nozzle follows the shape of the cover 1 at its setting position. The reason why the air nozzle follows the shape of the cover 1 is to better make the gas stroke of the air nozzle consistent with the shape of the cover opening, play a role of blocking and sealing, and avoid the rust dust and other dust mist in the rust removal process from dissipating in the air and destroying the air environment. The nozzle is a laser rust removal nozzle, which is electrically connected to the electric plug at the installation position, and the electric plug is electrically connected to the control terminal 2 through a wiring harness.

[0027] Embodiment 2:

[0028] like Figure 1 and Figure 3 As shown, a modular robot frame and a nozzle adapted therefor, the nozzle is a paint spray nozzle, the paint spray nozzle is electrically connected to an electric plug at the mounting position, a paint delivery pipeline is provided inside the cover 1, the paint spray nozzle is connected to the paint delivery pipeline, and the electric plug is electrically connected to the control terminal 2 through a wiring harness.

[0029] To sum up: the nozzle mounting position set on the mounting block 7 can be suitable for various automatic nozzles to realize the automatic control connection between the nozzle and the device, and the conformable air nozzle set on the cover 1 can realize the isolation of the inside and outside of the cover 1 during the painting process, increase the negative pressure value at the suction hole, so that the internal air pressure of the cover 1 is lower than the atmospheric pressure. At this time, controlling the jet flow rate of the air nozzle can allow external air to enter the cover 1, while the air in the cover 1 cannot dissipate.

[0030] In the embodiments disclosed in the present invention, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments disclosed in the present invention can be understood according to specific circumstances.

Claims

1. A modular robot frame, characterized in that: The invention comprises a cover shell (1), wherein the front end of the cover shell (1) is arranged as a completely open opening, a control terminal (2) is arranged at the outer bottom of the cover shell (1), a bracket (3) is arranged at the bottom of the cover shell (1), a dust collecting and filtering device (4) is arranged on the bracket (3), an annular blocking frame is arranged at the periphery of the front end of the cover shell (1), a hollow channel is arranged inside the annular blocking frame, a plurality of air nozzle connecting holes are arranged at equal intervals on the annular blocking frame, and an air nozzle is arranged in each of the air nozzle connecting holes, a limit sliding rod (5) and a reciprocating screw rod (6) are arranged inside the cover shell (1), a mounting block (7) is arranged on the reciprocating screw rod (6), and the mounting block (7) is arranged on the reciprocating screw rod (6). The sliding sleeve of the block (7) is arranged on the limiting slide bar (5); a nozzle mounting position (8) is arranged on the mounting block (7) through a damping hinge; a clamping device for locking the nozzle and an electric plug for realizing electrical connection between the nozzle and the mounting position are arranged on the nozzle mounting position (8); a touch switch (9) and a hitting rod (10) are arranged on both left and right sides of the interior of the cover shell (1); the touch switch (9) is used to control the hitting rod (10) to hit the nozzle arranged on the nozzle mounting position (8) when colliding with the mounting block (7); a reset device is arranged on the nozzle mounting position (8); the reset device is used to reset the nozzle hit by the hitting rod (10).

2. A modular robot frame according to claim 1, characterized in that: The touch switch (9) is connected to the inner wall of the housing (1) via a screw and a servo motor for driving the screw to rotate. The touch switch (9) is screwed onto the screw. Limit rods are fitted above and below the touch switch (9). The limit rods are used to prevent the touch switch (9) from being driven by the screw to rotate. A walking drag chain is arranged inside the housing (1). A wiring harness is arranged inside the walking drag chain. The touch switch (9) is electrically connected to the control terminal (2) via the wiring harness.

3. A modular robot frame according to claim 1, characterized in that: The gas ejection end of the gas ejection nozzle is arranged to be flat, and the shape of the gas ejection end of the gas ejection nozzle follows the shape of the cover shell (1) at the location where the gas ejection end of the gas ejection nozzle is arranged.

4. A modular robot frame according to claim 1, characterized in that: A driving unit is provided on the outer side of the housing (1) via a sealing cover, and the driving unit is used to drive the reciprocating screw rod (6) to rotate.

5. A modular robot frame according to claim 1, characterized in that: Suction holes are provided on the left side of the housing (1) and the right side of the housing (1), and the dust collecting and filtering device (4) is connected to the suction holes via a plurality of hoses.

6. A modular robot frame according to claim 1, characterized in that: The dust collecting and filtering device (4) is provided with a multi-layer filtering and adsorption device inside.

7. A nozzle adapted to the modular robot frame according to any one of claims 1 to 6, characterized in that: The nozzle is a laser rust removal nozzle, the laser rust removal nozzle is electrically connected to an electric plug at the installation position, and the electric plug is electrically connected to a control terminal (2) via a wiring harness.

8. A spray head adapted to the modular robot frame according to any one of claims 1 to 6, characterized in that: The nozzle is a paint spray nozzle, which is electrically connected to an electric plug at the mounting position, a paint delivery pipeline is provided inside the housing (1), the paint spray nozzle is connected to the paint delivery pipeline, and the electric plug is electrically connected to a control terminal (2) via a wiring harness.

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