CN108372052B - Automatic sandblasting and spraying system and sandblasting and spraying method for inside of box-shaped body - Google Patents
Automatic sandblasting and spraying system and sandblasting and spraying method for inside of box-shaped body Download PDFInfo
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- CN108372052B CN108372052B CN201810372697.3A CN201810372697A CN108372052B CN 108372052 B CN108372052 B CN 108372052B CN 201810372697 A CN201810372697 A CN 201810372697A CN 108372052 B CN108372052 B CN 108372052B
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- guide rail
- spraying
- sand blasting
- box
- sand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Landscapes
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses an automatic sand-blasting spraying system and method in a box-shaped body, which belong to the technical field of sand-blasting spraying equipment and comprise a box-shaped body to be sprayed, a sand-blasting spraying robot and a control system, wherein a through hole is formed in the side wall of the box-shaped body, and a transverse guide rail is arranged in the through hole; a longitudinal guide rail is arranged in the box body; a rail steering mechanism is arranged at the cross joint of the transverse guide rail and the longitudinal guide rail, the sand blasting spraying robot is communicated with a feeding system, and the feeding system and the sand blasting spraying robot are both connected with a control system; the control system controls the sand blasting spraying robot to move along the guide rail, the sand blasting spraying robot enters the inside of the box body through the transverse guide rail, the transfer mechanism adjusts the sand blasting spraying robot to transfer to the longitudinal guide rail through the transverse guide rail, and the inside of the box body is sprayed along the longitudinal guide rail. According to the invention, the sand blasting spraying robot can move along the guide rail arranged in the box-shaped body to perform sand blasting spraying on the sand blasting spraying surface, so that the labor intensity of workers is reduced, the sand blasting spraying efficiency and quality are improved, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of sand-blasting spraying equipment for bridges, ships and large steel structures, in particular to an automatic sand-blasting spraying system and a sand-blasting spraying method for the interior of a box-shaped body.
Background
Traditional spraying production line sprays the spraying face through the manual work, through manual spraying, intensity of labour is big, and spraying efficiency is low, and spraying quality can not satisfy the needs, and spraying environment is abominable, and is great to staff's healthy influence, and manufacturing cost is higher.
Disclosure of Invention
The invention aims to provide a spraying system and a spraying method capable of automatically spraying a spraying surface in a box along a guide rail so as to solve the technical problems in the background technology.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
on one hand, the invention provides an automatic sandblasting spraying system in a box-shaped body, which comprises a box-shaped body to be sandblasted and sprayed, a sandblasting spraying robot and a control system, wherein a through hole is formed in the side wall of the box-shaped body, the through hole can be used for people, tools and equipment to come in and go out, and a transverse guide rail is arranged in the through hole; a longitudinal guide rail is arranged in the box body; the cross connection department of transverse guide with longitudinal guide is equipped with the track mechanism, spraying robot locates on the guide rail, spraying robot and feeding system intercommunication, feeding system track mechanism with spraying robot all with control system connects.
Further, the transfer mechanism is an orbital rotation platform. The transfer mechanism is not limited to an orbital rotation platform, and other mechanisms capable of turning the sandblasting robot on the guide rail are also possible.
Further, the spraying robot comprises a driving mechanism and a base, wherein the driving mechanism is fixed on the base and drives the base to slide on the guide rail, and the driving mechanism is connected with the control system.
Further, the base is provided with rollers, and the rollers are arranged on the guide rail in a rolling manner.
Further, the driving mechanism comprises a servo motor and a gearbox, and the servo motor is in transmission connection with the idler wheels through the gearbox.
Further, the system also comprises a positioning system and a monitoring system, wherein the positioning system and the monitoring system are both connected with the control system.
Further, the positioning system comprises a positioning camera, the monitoring system comprises a monitoring camera, and the positioning camera and the monitoring camera are arranged at two ends of the longitudinal guide rail.
In another aspect, the present invention provides a method for automatically blasting the interior of a box-shaped body, the method comprising the steps of:
step S110: a transverse guide rail and a longitudinal guide rail are installed, and a track transfer mechanism is installed at the intersection of the transverse guide rail and the longitudinal guide rail;
step S120: conveying the sand blasting spraying robot to a transverse guide rail at a through hole of the box-shaped body, and connecting a power line and a communication line;
step S130: starting a power supply, programming a control program of the spraying robot, and setting a running parameter and a spraying parameter of the sand blasting spraying robot;
step S140: according to the walking parameters and the sand blasting spraying parameters, controlling the sand blasting spraying robot to enter the box body from the transverse guide rail through the through hole to the transfer mechanism through the control system; the control system controls the action of the transfer mechanism, so that the track on the transfer mechanism is connected with the longitudinal guide rail; controlling the sand-blasting spraying robot to move forwards along the longitudinal guide rail through a control system, and performing sand-blasting spraying on the sand-blasting spraying surface;
step S150: after the sand blasting spraying of all the sand blasting spraying surfaces is finished, controlling the sand blasting spraying robot to move to a transfer mechanism, controlling the transfer mechanism to act, enabling a track on the transfer mechanism to be connected with the next working guide rail reached by the sand blasting spraying robot, and enabling a track of the track rotating platform to be connected with a transverse guide rail;
step S160: controlling the sand spraying robot to enter the next sand spraying space from the through hole through the control system to perform sand spraying operation on the surface to be sprayed by sand spraying;
step S170: after the sand blasting operation is finished on all the surfaces to be sprayed by sand blasting, the sand blasting robot is controlled to move to the outside of the box body along the transverse guide rail at the through hole, and the sand blasting operation is finished.
Further, the transfer mechanism is an orbital rotation platform. The transfer mechanism is not limited to an orbital rotation platform, and other mechanisms capable of turning the sandblasting robot on the guide rail are also possible.
The invention has the beneficial effects that: the guide rail that can make the inside setting of sandblast spraying robot along the box type body removes and carries out the sandblast spraying to the sandblast spraying face, has reduced artifical intensity of labour, has improved sandblast spraying efficiency and sandblast spraying quality, has reduced manufacturing cost.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a top view block diagram of an automatic sandblasting and spraying system in a box-shaped body according to an embodiment of the invention.
Fig. 2 is a top view block diagram of an automatic sandblasting and spraying system for an interior of a box-shaped body according to a second embodiment of the present invention.
Fig. 3 is a side view of a box-shaped body according to an embodiment of the present invention.
Wherein: 1-a box body; 2-a sand blasting spraying robot; 3-a control system; 4-through holes; 5-a transverse guide rail; 6-sand blasting the sprayed surface; 7-a longitudinal guide rail; 8-an orbital rotation platform; 9-a feeding system; 10-a driving mechanism; 11-a base; 12-compartment; 1201-a first compartment; 1202-a second compartment; 1203-third compartment.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by way of the drawings are exemplary only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or groups thereof. It will be understood that "connected" or "coupled" as used herein may include wireless connection or coupling, and that the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In order that the invention may be readily understood, a further description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings and are not to be construed as limiting embodiments of the invention.
It will be appreciated by those skilled in the art that the drawings are merely schematic representations of examples and that the elements of the drawings are not necessarily required to practice the invention.
Example 1
As shown in fig. 1 and 3, a first embodiment of the present invention provides an automatic sandblasting and spraying system inside a box body, which comprises a box body 1 to be sprayed, a sandblasting and spraying robot 2 and a control system 3, wherein a through hole 4 is formed in the side wall of the box body 1, and a transverse guide rail 5 is arranged in the through hole 4; a longitudinal guide rail 7 is arranged in the box body; the cross connection department of transverse guide 5 with longitudinal guide 7 is equipped with track rotation platform 8, and track rotation platform 8 can make sandblast spraying robot 2 accomplish the action of turning to as the track mechanism, sandblast spraying robot 2 and feeding system 9 intercommunication, feeding system 9 with sandblast spraying robot 2 all with control system 3 is connected.
In practical applications, the above-mentioned transfer mechanism may be another device for turning the sandblasted spraying robot 2, and the specific configuration of the above-mentioned transfer mechanism may be set by a person skilled in the art according to the actual situation.
In the first embodiment of the present invention, the sandblasting and spraying robot 2 includes a driving mechanism 10 and a base 11, wherein the driving mechanism 10 is fixed on the base 11 and drives the base 11 to slide on a guide rail, and the driving mechanism 11 is connected with the control system 3.
In a first embodiment of the present invention, the base 11 is provided with rollers, and the rollers are arranged on the guide rail in a rolling manner. The spraying robot can be moved along the guide rail by the roller.
In a first embodiment of the present invention, the driving mechanism includes a servo motor and a gearbox, and the servo motor is in transmission connection with the roller through the gearbox. The servo motor is connected with the control system, and the operation of the servo motor is controlled by the control system, and the servo motor drives the idler wheels to rotate, so that the sand blasting spraying robot is driven to move on the guide rail.
In a first embodiment of the present invention, the spraying system further includes a positioning system and a monitoring system, both of which are connected to the control system. The spraying robot is controlled by the positioning system to stop or re-run after moving to a preset position, and the monitoring system is used for monitoring the working state of the spraying robot.
In a first embodiment of the present invention, the positioning system includes a position detection system, the monitoring system includes a monitoring camera, and the position detection system and the monitoring camera are disposed on the base, or on the sandblasting robot, or on two ends of the longitudinal rail.
Example two
As shown in fig. 2 and 3, the system for automatically spraying sand in a box-shaped body provided by the second embodiment of the invention comprises a box-shaped body 1 to be sprayed by sand spraying, a sand spraying robot 2 and a control system 3, wherein a through hole 4 is formed in the side wall of the box-shaped body 1, and a transverse guide rail 5 is arranged in the through hole 4; a longitudinal guide rail 7 is arranged in the box body; the cross connection department of transverse guide 5 with longitudinal guide 7 is equipped with track rotation platform 8, and track rotation platform 8 can make sandblast spraying robot 2 accomplish the action of turning to as the track mechanism, sandblast spraying robot 2 and feeding system 9 intercommunication, feeding system 9 with sandblast spraying robot 2 all with control system 3 is connected.
In the second embodiment of the present invention, the sandblasting and spraying robot 2 includes a driving mechanism 10 and a base 11, wherein the driving mechanism 10 is fixed on the base 11 and drives the base 11 to slide on a guide rail, and the driving mechanism 11 is connected with the control system 3.
In the second embodiment of the present invention, the base 11 is provided with rollers, and the rollers are arranged on the guide rail in a rolling manner. The spraying robot can be moved along the guide rail by the roller.
In a second embodiment of the present invention, the driving mechanism includes a servo motor and a gearbox, and the servo motor is in transmission connection with the roller through the gearbox. The servo motor is connected with the control system, and the operation of the servo motor is controlled by the control system, and the servo motor drives the idler wheels to rotate, so that the sand blasting spraying robot is driven to move on the guide rail.
In a second embodiment of the present invention, the sandblasting and spraying system further includes a positioning system and a monitoring system, where the positioning system and the monitoring system are both connected with the control system. The spraying robot is controlled by the positioning system to stop or re-run after moving to a preset position, and the monitoring system is used for monitoring the working state of the spraying robot.
In a second embodiment of the present invention, the positioning system includes a position detection system, the monitoring system includes a monitoring camera, and the position detection system and the monitoring camera are disposed on the base or the robot or disposed at two ends of the longitudinal rail.
In the second embodiment of the present invention, a plurality of compartments 12 are provided in the interior of the box body, through holes are provided between each compartment 12, longitudinal rails are provided in the compartments, and the sandblasting robot moves from one compartment to another compartment through the transverse rails to perform sandblasting. When the sandblasting of the first compartment 1201 is completed, the control system 3 controls the sandblasting robot to move to the second compartment 1202 via the transverse rail, and at this time, the longitudinal rail of the first compartment 1201 may be detachably mounted to the third compartment 1203, and sandblasting may be performed on each compartment in sequence until sandblasting is completed on all sandblasting surfaces.
Example III
The third embodiment of the invention provides an automatic sand blasting spraying method for the inside of a box-shaped body, which comprises the following steps:
step S110: a transverse guide rail and a longitudinal guide rail are installed, and a track transfer mechanism is installed at the intersection of the transverse guide rail and the longitudinal guide rail;
step S120: conveying the sand blasting spraying robot to a transverse guide rail at a through hole of the box-shaped body, and connecting a power line and a communication line;
step S130: turning on a power supply, programming a control program (teaching programming or off-line programming) of the spraying robot, and setting a running parameter and a spraying parameter of the sand-blasting spraying robot;
step S140: according to the walking parameters and the sand blasting spraying parameters, controlling the sand blasting spraying robot to enter the box body from the transverse guide rail through the through hole to the transfer mechanism through the control system; the control system controls the action of the transfer mechanism, so that the track on the transfer mechanism is connected with the longitudinal guide rail; controlling the sand-blasting spraying robot to move forwards along the longitudinal guide rail through a control system, and performing sand-blasting spraying on the sand-blasting spraying surface;
step S150: after the sand blasting spraying of all the sand blasting spraying surfaces is finished, controlling the sand blasting spraying robot to move to a transfer mechanism, controlling the transfer mechanism to act, enabling a track on the transfer mechanism to be connected with the next working guide rail reached by the sand blasting spraying robot, and enabling a track of the track rotating platform to be connected with a transverse guide rail; a plurality of sets of transfer mechanisms can be arranged on one track according to the internal structure of the box body;
step S160: controlling the sand spraying robot to enter the next sand spraying space from the through hole through the control system to perform sand spraying operation on the surface to be sprayed by sand spraying;
step S170: after the sand blasting operation is finished on all the surfaces to be sprayed by sand blasting, the sand blasting robot is controlled to move to the outside of the box body along the transverse guide rail at the through hole, and the sand blasting operation is finished.
In the third embodiment of the present invention, the rail rotation platform 8 is used as a transfer mechanism, so that the sandblasting robot can perform the steering operation on the guide rail.
From the above description of embodiments, it will be apparent to those skilled in the art that the present invention may be implemented in software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present invention.
Those of ordinary skill in the art will appreciate that: the components in the apparatus according to the embodiments of the present invention may be distributed in the apparatus according to the embodiments, or may be located in one or more apparatuses different from the embodiments with corresponding changes. The components of the above embodiments may be combined into one component or may be further split into a plurality of sub-components.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides an inside automatic sand blasting spraying system of box type body, includes box type body, sand blasting spraying robot and the control system of waiting to sandblast spraying, its characterized in that: the side wall of the box body is provided with a through hole, the through hole can be used for people, tools and equipment to go in and go out, and a transverse guide rail is arranged in the through hole; the inside of the box body is provided with a plurality of compartments, through holes are arranged between each compartment, and longitudinal guide rails are arranged in the compartments; a transfer mechanism is arranged at the cross connection part of the transverse guide rail and the longitudinal guide rail, and the transfer mechanism is a track rotating platform; the sand-blasting spraying robot is arranged on the transverse guide rail and is communicated with a feeding system, and the feeding system, the transfer mechanism and the sand-blasting spraying robot are all connected with the control system; the sand blasting spraying robot moves from one compartment to the other compartment through the transverse guide rail, enters the compartment through the transfer mechanism, and performs sand blasting spraying through the longitudinal guide rail.
2. The automated blast painting system inside a box-like body according to claim 1, wherein: the sand blasting spraying robot comprises a driving mechanism and a base, wherein the driving mechanism is fixed on the base and drives the base to slide on a transverse guide rail and a longitudinal guide rail, and the driving mechanism is connected with the control system.
3. The automated blast painting system inside a box-like body according to claim 2, wherein: the base is provided with rollers, and the rollers are arranged on the transverse guide rail and the longitudinal guide rail in a rolling manner.
4. The automated blast painting system inside a box-like body according to claim 3, wherein: the driving mechanism comprises a servo motor and a gearbox, and the servo motor is in transmission connection with the idler wheels through the gearbox.
5. The automated blast painting system inside a box-like body according to claim 4, wherein: the system also comprises a positioning system and a monitoring system, wherein the positioning system and the monitoring system are both connected with the control system.
6. The automated blast painting system inside a box-like body according to claim 5, wherein: the positioning system comprises a positioning camera, the monitoring system comprises a monitoring camera, and the positioning camera and the monitoring camera are arranged at two ends of the longitudinal guide rail.
7. An automatic sand blasting spraying method for the interior of a box-shaped body is characterized by comprising the following steps:
step S110: a transverse guide rail and a longitudinal guide rail are installed, and a track transfer mechanism is installed at the intersection of the transverse guide rail and the longitudinal guide rail;
step S120: conveying the sand blasting spraying robot to a transverse guide rail at a through hole of the box-shaped body, and connecting a power line and a communication line;
step S130: starting a power supply, programming a control program of the sandblasting spraying robot, and setting a running parameter and a sandblasting spraying parameter of the sandblasting spraying robot;
step S140: according to the walking parameters and the sand blasting spraying parameters, controlling the sand blasting spraying robot to enter the box body from the transverse guide rail through the through hole to the transfer mechanism through the control system; the control system controls the action of the transfer mechanism, so that the track on the transfer mechanism is connected with the longitudinal guide rail; controlling the sand blasting spraying robot to move forwards along the longitudinal guide rail through a control system, and performing sand blasting spraying on a surface to be sand blasted;
step S150: after the sand blasting spraying is finished on all the surfaces to be sprayed, controlling the sand blasting spraying robot to move to the transfer mechanism, and controlling the transfer mechanism to act so that a track on the transfer mechanism is connected with the transverse guide rail;
step S160: controlling the sand spraying robot to enter the next compartment from the through hole through the control system to perform sand spraying operation on the surface to be sprayed by sand spraying;
step S170: after the sand blasting operation is finished on all the surfaces to be sprayed by sand blasting, the sand blasting robot is controlled to move to the outside of the box body along the transverse guide rail at the through hole of the side wall of the box body, and the sand blasting operation is finished.
8. The method according to claim 7, wherein: the transfer mechanism is an orbital rotation platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810372697.3A CN108372052B (en) | 2018-04-24 | 2018-04-24 | Automatic sandblasting and spraying system and sandblasting and spraying method for inside of box-shaped body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810372697.3A CN108372052B (en) | 2018-04-24 | 2018-04-24 | Automatic sandblasting and spraying system and sandblasting and spraying method for inside of box-shaped body |
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| CN108372052A CN108372052A (en) | 2018-08-07 |
| CN108372052B true CN108372052B (en) | 2023-09-22 |
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| CN201810372697.3A Active CN108372052B (en) | 2018-04-24 | 2018-04-24 | Automatic sandblasting and spraying system and sandblasting and spraying method for inside of box-shaped body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109906922A (en) * | 2018-12-31 | 2019-06-21 | 济宁山云宇内机电科技有限公司 | A kind of agricultural automation equipment Transmission system and working method |
| CN114713423A (en) * | 2022-04-12 | 2022-07-08 | 南昌大学 | Profiling mechanism |
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| CN108372052A (en) | 2018-08-07 |
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Effective date of registration: 20200226 Address after: 101300 Beijing Shunyi District City, Ma Po Zhen Yao Dian Cun happiness Street No. 6 Applicant after: BEIJING DONGFANG HOWAIL INDUSTRY EQUIPMENT Co.,Ltd. Address before: 101399 Beijing city Shunyi District Ma Po Zhen Qin Wu Yao Cunju source road No. 28 Applicant before: BEIJING DONGFANG HOWAIL ROBOT SYSTEM CO.,LTD. Applicant before: Peng Guofei |
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