Spraying robot
By using magnetic casters and anti-slip wheels on the spraying robot, combined with height adjustment and shock absorbers, the problems of uneven spraying and equipment instability were solved, achieving uniform spraying of the outer wall of the steel pipe and improving the anti-corrosion effect.
Patent Information
- Application Number
- CN202422259868.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-13
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2034-09-13
AI Technical Summary
Existing spraying equipment suffers from uneven spraying, unstable equipment movement, and tendency to deviate when spraying the outer wall of steel pipes, especially in recessed or unevenly thick areas, which affects the spraying effect.
A painting robot was designed, which uses magnetic magnets and anti-slip wheels, combined with a height adjustment mechanism and shock absorbers to ensure stable movement of the equipment on the outer wall of the steel pipe, and achieves uniform spraying through the coordinated spraying of front and rear spray guns.
It improves the quality of spraying, ensures uniformity and anti-corrosion effect, enhances the anti-corrosion ability of the outer wall of the steel pipe, and makes the walking process more stable and smooth.
Smart Images
Figure CN223571059U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to spraying equipment technical field especially is related to a spraying robot. BACKGROUND
[0002] In industrial production, spraying is a common surface treatment process, which is used to coat a protective layer or a decorative layer on the surface of an object. For example, after steel pipe production, the wall surface of the steel pipe is usually subjected to corrosion prevention treatment. However, a certain area near the pipe opening of the steel pipe wall surface is not subjected to corrosion prevention treatment. The advantages of this treatment are as follows: when the steel pipe is transported to the construction site, the steel pipe needs to be welded together (in the operation shaft, the shield machine welds once every time a steel pipe is pushed into the tunnel). A certain area is not subjected to corrosion prevention, and the heat will not be transferred to the area that has been subjected to corrosion prevention, so as not to damage the existing corrosion prevention coating.
[0003] After the steel pipe is welded, the part of the steel pipe wall surface near the pipe opening still needs to be subjected to corrosion prevention treatment. The existing method for corrosion prevention treatment of the above area is to spray corrosion prevention paint on the above area after two steel pipes are welded together. However, the curing time of the paint is long, and when the shield machine pushes the welded and corrosion prevention treated steel pipe into the tunnel, the paint on the outer wall of the steel pipe will be scraped off by the tunnel wall, which will result in poor corrosion prevention ability of the part of the steel pipe outer wall near the pipe opening.
[0004] Therefore, the existing steel pipe needs to be sprayed with a layer of corrosion prevention powder material on the outer wall after welding. Before spraying the corrosion prevention powder material on the wall surface of the steel pipe, the steel pipe needs to be heated to enable better adhesion to the steel pipe. However, due to the existence of recessed or uneven thickness areas on the outer wall of the steel pipe, the existing automatic spraying equipment generally adopts large-area spraying to improve efficiency during spraying, which results in uneven thickness of the corrosion prevention layer after spraying, affecting the spraying effect. At the same time, the existing spraying equipment generally uses magnets at the bottom of the equipment to attract the steel pipe to prevent the spraying equipment from falling. However, during the crawling process, the wheels have little friction with the outer wall of the steel pipe, resulting in unstable walking during the process. Moreover, when encountering recessed parts, the equipment is prone to deviation, thereby affecting the spraying effect. SUMMARY
[0005] To solve the technical defects proposed in the background art, the purpose of the utility model is to provide a spraying robot that can perform heating and spraying operations inside the pipe, thereby improving work efficiency and spraying quality.
[0006] To achieve the above purpose, the utility model adopts the following technical solutions:
[0007] A kind of spraying robot, including the walking device that the wall surface of steel pipe is circumferentially crawled, heating device for heating spray powder and the spray gun device for spraying anticorrosive material to the wall surface of steel pipe, the heating device and spray gun device are fixed on walking device respectively, the walking device includes frame, floating support and walking wheel, height adjusting mechanism is arranged at the position close to the middle of both sides of frame, and one side of height adjusting mechanism is connected with crawler between floating support;The one end of floating support is fixedly connected with crawler, the other end is rotatably connected with walking wheel, and shock absorber is built-in in one end of walking wheel where floating support is located;Walking wheel is arranged in multiple, and the surface of walking wheel located in front side is set as magnetic attraction iron, and the surface of walking wheel located in rear side is set as anti-skid line.
[0008] Preferably, bracket is also fixedly connected on the frame, bracket is horizontally arranged at the position close to the middle of frame, and transformer is arranged on the top end of bracket.
[0009] Preferably, height adjusting mechanism is used to adjust the height of bracket, and height adjusting mechanism includes frame, adjusting screw rod, movable plate and guide rod, the frame is connected with frame;The adjusting screw rod is vertically rotatably arranged on the frame;The movable plate is horizontally sleeved on adjusting screw rod and located in the frame, and the movable plate is connected with the bottom of bracket;The guide rod is vertically arranged in the frame and located on both sides of adjusting screw rod, and the guide rod vertically penetrates movable plate.
[0010] Preferably, the transformer is electrically connected with the induction coil;And first half clamp and second half clamp are sleeved on the transformer, the first half clamp is arranged on the bracket;The second half clamp is detachably arranged on the first half clamp, and the second half clamp cooperates with the first half clamp to fix the transformer on the bracket.
[0011] Preferably, the heating device includes high-frequency induction coil, power module for providing electric energy for high-frequency induction coil, and high-frequency heating machine for heating the wall of steel pipe, the high-frequency induction coil is located in the same circumference with spray gun and is fixedly connected with crawler;The power module is fixed in high-frequency heating machine, and the high-frequency heating machine is electrically connected with high-frequency induction coil.
[0012] Preferably, the high-frequency heating machine includes box body and vertical electric element mounting plate arranged in the box body;Multiple heat dissipation cavities are arranged in the electric element mounting plate, baffling passages are arranged in the heat dissipation cavities, and cooling water is circulated into the baffling passages.
[0013] Preferably, the spray gun device comprises a nozzle, a spray gun body and a spray gun control unit, the nozzle is arranged towards the surface direction of the steel pipe, and the nozzle is fixed at the front end of the spray gun body; the spray gun body is vertically fixed on the front and rear sides of the vehicle frame, the spray gun control unit is used for controlling the opening and closing and the spraying parameters of the nozzle, and the spray gun control unit is externally connected with a control system.
[0014] Preferably, the spray gun device comprises a nozzle, a spray gun body and a spray gun control unit, the nozzle is arranged towards the surface direction of the steel pipe, and the nozzle is fixed at the front end of the spray gun body; the spray gun body is vertically fixed on the front and rear sides of the vehicle frame, the spray gun control unit is used for controlling the opening and closing and the spraying parameters of the nozzle, and the spray gun control unit is externally connected with a control system.
[0015] In summary, the beneficial effects of the utility model are:
[0016] The spraying robot can move along the outer surface of the steel pipe by magnetic attraction, and meanwhile, the height adjusting mechanism and the shock absorber are used to effectively avoid the problems of easy sliding and easy deviation when the spraying robot walks on the uneven outer wall of the steel pipe, and make the walking process more stable and smooth, and the obstacle avoidance ability is improved; meanwhile, the spraying device is arranged on the front and rear sides of the walking mechanism, so that the spraying can be repeatedly performed front and back, ensuring uniform spraying and improving the corrosion prevention effect. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1 is a structure schematic view of the spraying robot of the utility model;
[0018] Figure 2 is a top view of the spraying robot of the utility model;
[0019] Figure 3 is a front view of the spraying robot of the utility model;
[0020] Figure 4 is a structure schematic view of the heating device in the utility model;
[0021] Figure 5 is a structure schematic view of the height adjusting mechanism in the utility model.
[0022] Explanation of reference numerals in the drawings:
[0023] 1, walking device; 11, frame; 12, floating support; 13, walking wheel; 131, magnetic iron; 14, bracket; 2, heating device; 21, high-frequency induction coil; 22, power module; 23, high-frequency heating machine; 231, box body; 232, electrical element mounting plate; 233, heat dissipation cavity; 234, baffling passage; 3, spray gun device; 31, nozzle; 32, spray gun body; 33, spray gun control unit; 4, height adjusting mechanism; 41, frame body; 42, adjusting screw; 43, movable plate; 44, guide rod; 5, crawler; 6, transformer; 61, first half clamp; 62, second half clamp; 7, driving mechanism. DETAILED DESCRIPTION
[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.
[0025] Those skilled in the art should understand that in the disclosure of the present application, the orientations or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, therefore the above terms cannot be understood as a limitation of the present application.
[0026] In the description of the present application, if there are words such as "several" and the like, the meaning is one or more, the meaning of more than two, greater than, less than, more than, etc. is not included in the number, the above, below, within, etc. is understood to include the number. If it is described as first, second, third, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.
[0027] The following will be described in detail Figures 1-5 The embodiments of the present application will be further described in detail.
[0028] A spraying robot, such as Figures 1 to 3As shown, including along the wall of the steel pipe crawling walking device 1, for heating the spray powder heating device 2, and for the wall of the steel pipe spray corrosion protection material spray gun device 3, heating device 2 and spray gun device 3 are fixed on the walking device 1, walking device 1 includes frame 11, floating bracket 12 and walking wheel 13, both sides of the frame 11 near the middle position is provided with height adjusting mechanism 4, one side of the height adjusting mechanism 4 and floating bracket 12 are connected with the crawler 5; one end of the floating bracket 12 and the crawler 5 are fixedly connected, the other end is rotatably connected with the walking wheel 13, and the floating bracket 12 is built in the damping device at one end of the walking wheel 13; The walking wheel 13 is provided with a plurality of walking wheels 13, wherein the surface of the walking wheel 13 located at the front side is provided with a magnetic iron 131, and the surface of the walking wheel 13 located at the rear side is provided with anti-skid lines.
[0029] Specifically, in the use of spray gun device 3 on the outer wall of the steel pipe spray corrosion material powder, by using heating device 2, the outer wall of the steel pipe is heated, at the same time, under the action of walking device 1, the spray robot can move along the arc of the outer wall of the steel pipe, so as to spray the corrosion material powder on the outer wall of the steel pipe; wherein, in the process of moving, the front two walking wheels 13 are attracted to the outer wall of the steel pipe by the magnetic iron 131, thereby preventing the spray robot from deviating during walking, which causes poor spraying effect; and the walking wheel 13 is connected with the frame 11 through the floating bracket 12, and the frame 11 and the walking wheel 13 are connected through the height adjusting mechanism 4, the walking wheel 13 can effectively avoid shock and adjust the height between the walking wheel 13 and the frame 11 in the place where the outer wall of the steel pipe is uneven, so as to avoid the problem that the frame 11 is stuck; finally, since the spray device is installed on the front and rear sides of the frame 11, the purpose of this setting is that after the front spray device sprays the powder of the corrosion material to the outer wall of the steel pipe, the rear spray device repeats the spraying path of the front side to repeat the spraying, so as to avoid the problem of missing spraying and uneven spraying, and the repeated spraying can also make the thickness of the sprayed surface consistent, so as to enhance the corrosion resistance of the inner and outer walls of the steel pipe, and the walking device 1 slides more smoothly.
[0030] It is worth mentioning that in order to better improve the stable movement of the walking device 1 on the outer wall of the steel pipe, the shock absorber is used to automatically filter the vibration caused by the unevenness of the outer wall of the steel pipe when the walking wheel 13 is connected to the floating support 12, and the shock absorbing principle of the shock absorber is the same as that of the existing automobile shock absorber, so it is not repeated here, and the surface of the walking wheel 13 located on the front side of the frame 11 is provided with a magnetic iron 131, which can be attracted to the steel pipe, and the surface of the walking wheel 13 located on the rear side of the frame 11 is provided with anti-skid lines. The purpose of this design is that on the one hand, when the walking wheel 13 is uniformly provided with a magnetic iron 131, the walking wheel 13 and the steel pipe are attracted to cause excessive resistance, which is difficult to move, and on the other hand, in order to better improve the stability of the movement process, the anti-skid lines of the rear walking wheel can avoid deviation and affect the spraying effect of the spraying device.
[0031] In the embodiment, as shown in Figure 5 The height adjusting mechanism 4 is used to adjust the height of the bracket 14, and the height adjusting mechanism 4 comprises a frame body 41, an adjusting screw rod 42, a movable plate 43 and a guide rod 44, the frame body 41 is connected with the frame 11, the adjusting screw rod 42 is vertically arranged on the frame body 41, the movable plate 43 is horizontally sleeved on the adjusting screw rod 42 and located in the frame body 41, and the movable plate 43 is connected with the bottom of the bracket 14, and the guide rod 44 is vertically arranged in the frame body 41 and located on both sides of the adjusting screw rod 42, and the guide rod 44 vertically penetrates through the movable plate 43.
[0032] Specifically, the guide rod 44 can guide the movement of the movable plate 43, so that the movable plate 43 will not tilt and swing during movement, the adjusting screw rod 42 can be transmitted to the movable plate 43 through a ball nut, and the bracket 14 can move upward or downward along the adjusting screw rod 42 during the rotation of the adjusting screw rod 42, so as to realize the adjustment of the height of the bracket 14; and when the crawler 5 crawls on the outer wall of the steel pipe, the posture of the high-frequency induction coil 21 and the spraying gun device 3 will not change, and the spraying port of the high-frequency induction coil 21 and the spraying gun device 3 can still face the wall surface of the steel pipe, so as to ensure that the heating device 2 has the best heating effect on the wall surface of the steel pipe.
[0033] In the embodiment, the frame 11 is also fixedly connected with the bracket 14, the bracket 14 is horizontally arranged at the position close to the middle of the frame 11, and the top end of the bracket 14 is provided with a transformer 6, and the transformer 6 is electrically connected with the induction coil; and the transformer 6 is sleeved with a first half clamp 61 and a second half clamp 62, and the first half clamp 61 is arranged on the bracket 14; the second half clamp 62 is detachably arranged on the first half clamp 61, and the second half clamp 62 cooperates with the first half clamp 61 to fix the transformer 6 on the bracket 14.
[0034] Specifically, the utility model discloses a first half embrace hoop 61 is set up on bracket 14, and the second half embrace hoop 62 is cooperated to make the transformer 6 fixed on the bracket 14, thereby can make high frequency induction coil 21 with the fixed connection of crawler 5, and when the second half embrace hoop 62 is detached from first half embrace hoop 61, the transformer 6 and high frequency induction coil 21 can be taken off from crawler 5, thereby when not needing to use the crawling spraying device, the cable of connecting transformer 6 and high frequency heater 23 can be stored, does not occupy too much place, makes the volume of spraying robot reduce, saves the space.
[0035] In the embodiment, as shown in the drawings, Figure 4 The heating device 2 includes a high-frequency induction coil 21, a power module 22 for providing power to the high-frequency induction coil 21, and a high-frequency heater 23 for heating the wall of the steel pipe. The high-frequency induction coil 21 is located in the same circumferential direction as the spray gun and is fixedly connected to the crawler 5. The power module 22 is fixed in the high-frequency heater 23, and the high-frequency heater 23 is electrically connected to the high-frequency induction coil 21.
[0036] Specifically, two high-frequency induction coils 21 are provided, and the two high-frequency induction coils 21 are located on the two sides of the spray gun device 3. By providing high-frequency induction coils 21 on the two sides of the spray gun device 3, one of the high-frequency induction coils 21 can be used to preheat the area of the steel pipe wall that has not been sprayed with powder, and the other high-frequency induction coil 21 can be used to perform heat preservation on the area of the steel pipe wall that has been sprayed with epoxy powder. After one area is finished with powder spraying, the crawler 5 continues to crawl, so the other high-frequency induction coil 21 can perform heat preservation on the area of the steel pipe wall that has been sprayed with powder. In this way, the epoxy powder can be fully cured, and the epoxy powder coating can be firmly bonded to the wall of the steel pipe.
[0037] In the embodiment, the high-frequency heater 23 includes a box body 231 and an electrical element mounting plate 232 vertically arranged in the box body 231. A plurality of heat dissipation cavities 233 are arranged in the electrical element mounting plate 232, and a baffle channel 234 is arranged in each heat dissipation cavity 233. Cooling water is circulated into the baffle channel 234.
[0038] Specifically, when the high-frequency heater 23 is working, the electrical elements on the electrical element mounting plate 232 will generate a large amount of heat and transfer to the electrical element mounting plate 232, so there is a big fire hazard when the high-frequency heater 23 is working. In order to reduce the fire hazard when the high-frequency heater 23 is working, the utility model sets a plurality of heat dissipation cavities 233 in the electrical element mounting plate 232, and circulates cooling water into the heat dissipation cavities 233, so that the cooling water can take out the heat on the electrical element mounting plate 232 from the high-frequency heater 23, so that the internal temperature of the high-frequency heater 23 will not be too high.
[0039] It is worth mentioning that the baffle passage 234 is arranged in the heat dissipation cavity 233, and cooling water is circulated in the baffle passage 234, so that the flow path of the cooling water in the heat dissipation cavity 233 is prolonged, the cooling water can take away more heat, and thus the temperature inside the high-frequency heating machine 23 is reduced.
[0040] In the embodiment, the spray gun device 3 comprises a spray nozzle 31, a spray gun body 32 and a spray gun control unit 33, the spray nozzle 31 is arranged towards the surface direction of the steel pipe, and the spray nozzle 31 is fixed at the front end of the spray gun body 32; the spray gun body 32 is vertically fixed on the front and rear sides of the frame 11, the spray gun control unit 33 is used for controlling the opening and closing and the spraying parameters of the spray nozzle 31, and the control system is connected outside the spray gun control unit 33.
[0041] Specifically, in the spraying process, since the spray gun is arranged at the front and rear ends of the frame 11, and the spray nozzle 31 is directed towards the outer wall of the steel pipe, in the moving process of the walking device 1, the spray gun control unit 33 automatically controls the opening and closing and the spraying parameters of the spray nozzle 31, and the spray guns on the front and rear sides work synchronously, that is, after the spray gun on the front side sprays the anticorrosive material, the spray gun on the rear side repeatedly sprays once, so that the spraying effect is more uniform, and the area with spraying omission can be effectively avoided. It should be noted that, in order to improve the spraying efficiency, the number of spray guns is not limited in the utility model, and the number of spray guns can be one or multiple, and the distance between the spray guns is adjustable, so that a uniform coating can be formed when the anticorrosive material is sprayed on the wall surface of the steel pipe.
[0042] In the embodiment, the crawler 5 is internally provided with a driving mechanism 7 (not shown in the figure) for controlling the crawling movement of the walking mechanism, the output shaft of the driving mechanism 7 (not shown in the figure) is in transmission connection with one of the walking wheels 13, and the driving mechanism 7 (not shown in the figure) is in electrical connection with the control system.
[0043] Specifically, in the working process of the spraying robot, the whole spraying process is automatically controlled by the control system, and the walking path of the walking device 1 is automatically controlled. In order to facilitate the movement of the crawler 5 on the ground or the circumferential crawling action on the wall surface of the steel pipe, the driving mechanism 7 (not shown in the figure) internally provided in the crawler 5 is in electrical connection with the control system, so that the control of the driving mechanism 7 (not shown in the figure) can be realized through external remote control operation, and then the movement of the crawler 5 on the ground or the circumferential crawling action on the wall surface of the steel pipe is controlled.
[0044] The spraying robot can move along the outer surface of the steel pipe by magnetic attraction, meanwhile, the height adjusting mechanism 4 and the shock absorber are used, the problem that the spraying robot is easy to slide and deviate when walking on the uneven outer wall of the steel pipe is effectively avoided, the walking process is more stable and smooth, and the obstacle avoidance ability is improved; meanwhile, the spraying device is arranged on the front and rear sides of the walking mechanism, so that the spraying can be repeatedly performed front and back, the spraying is uniform, and the corrosion prevention effect is improved.
[0045] The embodiments of the specific embodiment are the preferred embodiments of the application, and are not limited to the protection scope of the application, wherein the same parts are indicated by the same reference numerals. Therefore, equivalent changes made according to the structure, shape and principle of the application should be covered in the protection scope of the application.
Claims
1. A painting robot comprising a traveling device which crawls along a wall surface of a steel pipe in a circumferential direction, a heating device for heating a painting powder, and a spray gun device for painting a corrosion-proof material to the wall surface of the steel pipe, characterized in that, The heating device and the spray gun device are fixed on the walking device respectively, the walking device comprises a frame, a floating support and walking wheels, height adjusting mechanisms are arranged on both sides of the frame near the middle position, a crawler is connected between one side of the height adjusting mechanism and the floating support; one end of the floating support is fixedly connected with the crawler, the other end is rotatably connected with the walking wheels, and a shock absorber is arranged in one end of the walking wheels; the walking wheels are arranged in multiple, the surface of the walking wheel located at the front side is provided with a magnetic iron, and the surface of the walking wheel located at the rear side is provided with anti-skid lines. The spray gun device comprises a nozzle, a spray gun body and a spray gun control unit, the nozzle is arranged towards the surface of the steel pipe, and the nozzle is fixed on the front end of the spray gun body; the spray gun body is vertically fixed on the front and rear sides of the frame, the spray gun control unit is used for controlling the opening and closing of the nozzle and the spraying parameters, and the spray gun control unit is externally connected with a control system; the control system is configured to control the spray gun bodies on the front and rear sides to repeatedly spray the same area in a delayed following manner, so that the area with spraying omission can be effectively avoided. The heating device comprises two high-frequency induction coils, the two high-frequency induction coils are arranged on both sides of the spray gun device and are fixedly connected with the crawler, and are used for preheating the area before spraying and heat preservation of the area after spraying.
2. The spray robot according to claim 1, characterized in that The frame is also fixedly connected with a bracket, the bracket is horizontally arranged on the frame near the middle position, and a transformer is arranged on the top end of the bracket.
3. The spray robot according to claim 2, characterized in that, The height adjusting mechanism is used for adjusting the height of the bracket, and comprises a frame body, an adjusting screw rod, a movable plate and a guide rod, the frame body is connected with the frame; the adjusting screw rod is vertically rotatably arranged on the frame body; the movable plate is horizontally sleeved on the adjusting screw rod and located in the frame body, and the movable plate is connected with the bottom of the bracket; the guide rod is vertically arranged in the frame body and located on both sides of the adjusting screw rod, and the guide rod vertically penetrates through the movable plate.
4. The spray robot according to claim 3, characterized in that The transformer is electrically connected with the heating device; and a first half clamp and a second half clamp are sleeved on the transformer, the first half clamp is arranged on the bracket; the second half clamp is detachably arranged on the first half clamp, and the second half clamp cooperates with the first half clamp to fix the transformer on the bracket.
5. The spray robot according to claim 4, characterized in that The heating device further comprises a power module for providing electric energy for the high-frequency induction coil, and a high-frequency heating machine for heating the wall surface of the steel pipe, the high-frequency induction coil is located in the same circumferential direction with the spray gun and is fixedly connected with the crawler; the power module is fixed in the high-frequency heating machine, and the high-frequency heating machine is electrically connected with the high-frequency induction coil.
6. The spray robot according to claim 5, characterized in that The high-frequency heating machine comprises a box body and an electrical element mounting plate vertically arranged in the box body; a plurality of heat dissipation cavities are arranged in the electrical element mounting plate, a baffling channel is arranged in the heat dissipation cavity, and cooling water is circulated into the baffling channel.
7. The spray robot according to claim 1, characterized in that, The crawler is internally provided with a driving mechanism for controlling the crawling movement of the walking mechanism, an output shaft of the driving mechanism is in transmission connection with one of the walking wheels, and the driving mechanism is electrically connected with the control system.