CN207385788U - A kind of draining box drain automatic spraying robot - Google Patents
A kind of draining box drain automatic spraying robot Download PDFInfo
- Publication number
- CN207385788U CN207385788U CN201720682095.9U CN201720682095U CN207385788U CN 207385788 U CN207385788 U CN 207385788U CN 201720682095 U CN201720682095 U CN 201720682095U CN 207385788 U CN207385788 U CN 207385788U
- Authority
- CN
- China
- Prior art keywords
- walking
- vertical
- central shaft
- hinge bar
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to deep vertical Construction Technology field, and provide a kind of draining box drain automatic spraying robot.Draining box drain automatic spraying robot includes：Rack, rack include central shaft；Guide assembly, guide assembly are removably mounted on central shaft；Spray gun mechanism, spray gun mechanism is connected to central shaft, and can walk along guide assembly；Horizontal running mechanism on the slidably centrally disposed axis of horizontal running mechanism, and is expanded or retracted in the horizontal direction when being slided along central shaft；And vertical walking mechanism, on the slidably centrally disposed axis of vertical walking mechanism, and expand or retract in the vertical direction when being slided along central shaft.Draining box drain automatic spraying robot according to the present utility model can spray under severe working environment instead of worker, and be adapted to the inner-wall spraying task of various sizes draining box drain, and reduce possible personnel's injury.
Description
Technical field
The utility model is related to pipe robot and pipeline corrosion protection apparatus field, more particularly to a kind of draining box drain
Automatic spraying robot.
Background technology
Pipe robot is one of robot focus on the application field, belongs to the research category of specialized robot, it is a kind of
Can along pipeline automatically walk, carry one or more sensors and Working mechanism, can be severe under remote control or computer control
A series of electro-mechanical system of the pipeline operations such as pipeline constructions, repair and detection is carried out in environment.Pipeline spraying, which is repaired, to be applied
Work is easy to operate, high financial profit, disclosure satisfy that the requirement of pipeline corrosion protection, leak stopping and structural reinforcement.
The draining box drain system run in city, after decades of completing for use, heavy corrosion has occurred for inner wall, so as to
Generation such as leaks, caves at the harm.General box drain reparation causes that the degree of automation is low, labor intensity is big using hand spray mode,
And working environment is severe.Importantly, small-sized box drain can not carry out hand spray construction.
It is then desired to a kind of following draining box drain automatic spraying robot：It can solve or at least mitigate above-mentioned existing
There is the part or all of shortcoming in the presence of technology.
Utility model content
The technical problem to be solved by the utility model is to：One kind is provided and aims to solve the problem that or at least mitigate above-mentioned existing skill
The draining box drain automatic spraying robot of part or all of shortcoming in the presence of art.
Technical solution is as described below used by the utility model.
One side according to the present utility model provides a kind of draining box drain automatic spraying robot, wherein, the draining side
Ditch automatic spraying robot includes：Rack, the rack include the first central shaft and the second central shaft；Guide assembly, it is described to lead
Rail assembly is removably mounted on first central shaft；Spray gun mechanism, the spray gun mechanism are connected to described first
Central shaft, and can walk along the guide assembly；Horizontal running mechanism, the horizontal running mechanism are slidably set
It puts on second central shaft, and expands or retract in the horizontal direction when the slip along second central shaft；With
And vertical walking mechanism, the vertical walking mechanism are slidably arranged on second central shaft, and work as along institute
It states and expands or retract in the vertical direction when being slided on the second central shaft.
Preferably, the guide assembly includes the first guide rail, the second guide rail, guide-rail coupling member and rail brackets, described
First guide rail and second guide rail parallel arrangement, the guide-rail coupling member connect first guide rail and second guide rail,
First guide rail described in the rail brackets from first guide rail, second guide rail and the guide-rail coupling member medial support,
Second guide rail and the guide-rail coupling member.
Preferably, the spray gun mechanism includes spray gun drive component, nozzle case assembly and idler wheel, and the idler wheel is connected to
The nozzle case assembly, the spray gun drive component drive the nozzle case assembly so that the nozzle case assembly by means of
The idler wheel is advanced along first guide rail and second guide rail.
Preferably, the rail brackets includes bracket loop and is connected to the four of the bracket loop on the inside of the bracket loop
Four guide supports at a angle, the spray gun drive component include the first motor, are connected and by described with first motor
It first motor-driven drive gear mechanism and is connected with the drive gear mechanism and is driven by the drive gear mechanism
The spring piston of rotation, the drive gear mechanism include rotatable gear shaft, and the rotatable gear bush is located at institute
State on the first central shaft, one end of the spring piston is connected to the rotatable gear shaft, the spring piston it is another
End is connected to the nozzle case assembly, and the drive gear mechanism includes outer case, and one end of first central shaft is by turning
Fitting is connected to one end of four guide supports, and the other end of first central shaft is fixedly attached to the outer case
One end, one end of second central shaft is fixedly attached to the other end of the outer case.
Preferably, the spray gun mechanism includes 8 idler wheels, and 4 idler wheels in 8 idler wheels match two-by-two is folded in institute
It states on the first guide rail and can advance along first guide rail, other 4 idler wheels in 8 idler wheels match two-by-two to be folded in
It can advance on second guide rail and along second guide rail.
Preferably, the horizontal running mechanism includes being arranged on second central shaft and being symmetrically located at described the
First level walking unit and the second walking in a horizontal state unit at left and right sides of two central shafts, the first level walking unit and institute
It states the second walking in a horizontal state unit and is respectively included in the hinged first level walking hinge bar of midpoint crossing and the second walking in a horizontal state hinge
Extension bar, the first level walking for respectively driving the first level walking unit and the second walking in a horizontal state unit are hinged
First level hoofing part oil cylinder that the first end of bar is slided on second central shaft and the second walking in a horizontal state drive cylinder,
It is separately positioned on the first level row of the second end of the first level walking hinge bar and the second walking in a horizontal state hinge bar
It walks driving wheel supporting rod and the second walking in a horizontal state driving wheel supporting rod and is supported mounted on the first level driving wheel
The walking in a horizontal state driving wheel at the both ends of bar and the second walking in a horizontal state driving wheel supporting rod, the first level hoofing part oil
Cylinder and the second walking in a horizontal state drive cylinder drive the first level walking unit and the second walking in a horizontal state unit
The first end of the first level walking hinge bar on second central shaft when sliding, the first level walking hinge bar
It extends or retracts in the horizontal direction with the second walking in a horizontal state hinge bar.
Preferably, the vertical walking mechanism includes being arranged on second central shaft and being symmetrically located at described the
The the first vertical walking unit and the second vertical walking unit of both sides, the first vertical walking unit and institute above and below two central shafts
It states the second vertical walking unit and is respectively included in the first hinged vertical walking hinge bar of midpoint crossing and the second vertical walking hinge
Extension bar, the described first vertical walking for respectively driving the described first vertical walking unit and the second vertical walking unit are hinged
The first vertical walking drive cylinder and the second vertical walking drive cylinder that the first end of bar is slided on second central shaft,
It is separately positioned on the first vertical rows of the second end of the described first vertical walking hinge bar and the second vertical walking hinge bar
Walk driving wheel supporting rod and the second vertical driving wheel supporting rod and mounted on the described first vertical driving wheel support
The vertical driving wheel at the both ends of bar and the second vertical driving wheel supporting rod, the first vertical hoofing part oil
Cylinder and the second vertical walking drive cylinder drive the first vertical walking unit and the second vertical walking unit
The first end of described first vertical walking hinge bar on second central shaft when sliding, the described first vertical walking hinge bar
It extends or retracts in the vertical direction with the described second vertical walking hinge bar.
Preferably, the draining box drain automatic spraying robot further includes control system and feed tank, the control system
It is arranged on the feed tank on second central shaft.
One or more embodiment according to the present utility model, can realize advantageous effect as described below.
According to the utility model, draining box drain automatic spraying robot can be sprayed instead of worker under severe working environment
It applies, so as to reduce human cost and reduce possible personnel's injury.Moreover, draining box drain automatic spraying robot can root
The guide assembly of different size is replaced according to different draining box drain sizes, and passes through walking in a horizontal state drive cylinder and vertical walking
Drive cylinder adjusts walking in a horizontal state driving wheel and vertical driving wheel respectively, to adapt to the spray of the inner wall of various sizes draining box drain
Painting task can not carry out the situation of spraying application so as to avoid the middle-size and small-size box drain of the prior art.
Description of the drawings
It with reference to the accompanying drawings will be to the technical and industrial of the feature of utility model, advantage and illustrative embodiments
Meaning be described, in the accompanying drawings, identical reference numeral indicates identical element, and wherein：
Fig. 1 is shown according to the schematic of the draining box drain automatic spraying robots of the utility model illustrative embodiments
Three-dimensional structure diagram；
Fig. 2 shows the schematic diagram of the spray gun mechanism of the draining box drain automatic spraying robot of Fig. 1；
Fig. 3 shows the schematic side elevational structure chart of the draining box drain automatic spraying robot of Fig. 1；
Fig. 4 shows another the showing of the draining box drain automatic spraying robot according to the utility model illustrative embodiments
Meaning property structure chart, each walking in a horizontal state hinge bar of wherein horizontal running mechanism is horizontally outward expanded, vertical walking mechanism it is each perpendicular
Hinge bar of keeping straight on expands outwardly vertically and spray gun mechanism rotates through an angle on guide rail.
Specific embodiment
The utility model illustrative embodiments are described in detail with reference to the accompanying drawings.To illustrative embodiments
Description is definitely not the limitation to the utility model and its application or usage merely for the sake of demonstration purpose.Moreover, each portion in figure
The size and ratio of part are also only schematical, do not exactly correspond to actual product.
The draining box drain automatic spraying robot included according to the utility model illustrative embodiments is said below
It is bright.Fig. 1 shows the schematic isometric of the draining box drain automatic spraying robot according to the utility model illustrative embodiments
Structure chart.Fig. 2 shows the schematic diagram of the spray gun mechanism of the draining box drain automatic spraying robot of Fig. 1.Fig. 3 is shown
The schematic side elevational structure chart of the draining box drain automatic spraying robot of Fig. 1.Fig. 4 is shown according to the exemplary reality of the utility model
Apply each walking in a horizontal state of the another schematic diagram, wherein horizontal running mechanism of the draining box drain automatic spraying robot of mode
Hinge bar is horizontally outward expanded, each vertical walking hinge bar of vertical walking mechanism expands outwardly vertically and spray gun mechanism is in guide rail
On rotate through an angle.
As shown in Figure 1, machine is included according to the draining box drain automatic spraying robot of the utility model illustrative embodiments
Frame, guide assembly, spray gun mechanism, horizontal running mechanism, vertical walking mechanism and other component.Guide assembly, spray gun mechanism,
Horizontal running mechanism and vertical walking mechanism are installed in rack.Specifically, rack includes the first rack and the second machine
Frame is equipped with guide assembly and spray gun mechanism on the first central shaft of the first rack, is installed on the second central shaft of the second rack
There are horizontal running mechanism and vertical walking mechanism, the first rack and the second rack are bolted.
Guide assembly includes guide rail 1, guide-rail coupling member 2 and rail brackets 3.Guide rail 1 is led including the first guide rail and second
Rail.First guide rail and the second guide rail are arranged to the rounded corner rectangle formed by tubes buckle, just adapt to the interior of draining box drain
Wall profile.First guide rail and the second guide rail parallel are placed and are welded and fixed by guide-rail coupling member 2.Welding point is located at the first guide rail
With the opposed facing side surface of the second guide rail, facilitate spray gun mechanism will not be hindered when making orbital movement.
In Fig. 1, ten guide-rail coupling members 2 are provided with altogether, in the top edge and second of the rounded corner rectangle of the first guide rail
Two guide-rail coupling members 2 are uniformly arranged between the top edge of the rounded corner rectangle of guide rail, similarly in the rounded corner of the first guide rail
Two guide-rail coupling members 2 are correspondingly arranged between the lower edge of the rounded corner rectangle of the lower edge of rectangle and the second guide rail, first
Three guide rails are uniformly arranged between the left hand edge of the left hand edge of the rounded corner rectangle of guide rail and the rounded corner rectangle of the second guide rail to connect
Fitting 2, similarly the first guide rail rounded corner rectangle right hand edge and the second guide rail rounded corner rectangle right hand edge between
It is correspondingly arranged three guide-rail coupling members 2.In this way, since 10 guide-rail coupling members 2 are uniformly arranged on the first guide rail and the second guide rail
Between, so being not in the irregular situation of stress.
Rail brackets 3 includes bracket loop and four guide supports, the shape of bracket loop are led with the first guide rail and second
The shape of rail is identical, i.e. bracket loop is also configured as rounded corner rectangle, but the size of bracket loop is slightly smaller than the first guide rail and second and leads
The size of rail.Specifically, bracket loop from the inside of the first guide rail and the second guide rail against and connect ten guide-rail coupling members, four
One end of guide support is connected to the first central shaft of the first rack by adapter, and states the another of four guide supports
One end is respectively connected to four angles of bracket loop.Entire guide assembly is fixed on by rail brackets 3 in the first of first rack
In mandrel.
Although it is understood that the shape of the first guide rail and the second guide rail preferably rounded corner rectangle, it is also possible to be
Other shapes, such as circular ring shape, ellipse etc.；The number and set-up mode of guide-rail coupling member 2, the number of guide support with
And set-up mode can also change as needed.
As Figure 2-3, spray gun mechanism 4 includes spray gun drive component 41, nozzle case assembly 42 and idler wheel 43.Spray gun drives
Dynamic component 41 include the first motor (not shown), be connected with the first motor and by the first motor-driven drive gear mechanism 411,
And it is connected with drive gear mechanism 411 and the spring piston 412 of rotation is driven by drive gear mechanism 411.Spring piston 412
One end and nozzle case assembly 42 it is hinged, the other end is connected to the rotatable gear shaft of drive gear mechanism 411, rotatably
Gear bush is located on the first central shaft.Drive gear mechanism includes outer case, and one end of the first central shaft is connected by adapter
One end of four guide supports is connected to, the other end of the first central shaft is fixedly attached to one end of outer case.Second central shaft
One end be fixedly attached to the other end of outer case.In this way, when the first electric motor starting, the first motor drives drive gear mechanism
411 actions, rotatable gear shaft rotates, so as to which spring piston 412 be driven to rotate, so that hinged with spring piston 412
Nozzle case assembly 42 walk around the first guide rail and the second guide rail.Since 412 length of spring piston is variable, so nozzle can be solved
The first guide rail and the second guide rail of case assembly along rounded corner rectangle make free telescoping problem required during orbital movement.
Specifically, the piston rod of spring piston 412 is connected to the box body 421 of nozzle case assembly 42.Nozzle 422 is mounted on spray
On the box body 421 of mouth case assembly 42.Spray gun mechanism 4 is provided with 8 idler wheels 43.8 idler wheels 43 are connected to by bindiny mechanism
On the box body 421 of nozzle case assembly 42, specifically, 4 idler wheels in 8 idler wheels 43 match two-by-two to be folded on the first guide rail simultaneously
It can be moved on the first guide rail, other 4 idler wheels in 8 idler wheels 43 match two-by-two to be folded on the second guide rail and can be second
It is moved on guide rail.
More specifically, idler wheel 43, in inner concave shape, contour surface is bonded the outer surface of the first guide rail and the second guide rail, this
Sample enables to spray gun not derail.Each two idler wheel 43 is one group, and interior concave point spacing is the cross-sectional diameter of guide rail 1.If
It puts two on the first guide rail groups of idler wheels 43 to be hinged by articulation piece, is arranged on two groups of idler wheels 43 on the second guide rail also by hinge
Fitting is hinged, and hinge joint can so realize that spray gun mechanism does orbital movement along guide rail 1 as shown in Fig. 2 44.
As shown in Figure 1, horizontal running mechanism 9 includes being arranged on the second central shaft of the second rack and being symmetrically located at
First level walking unit and the second walking in a horizontal state unit at left and right sides of second central shaft.First level walking unit includes the
One walking in a horizontal state hinge bar 91, the second walking in a horizontal state hinge bar 92, first level driving wheel supporting rod 93, the second horizontal line
Walk driving wheel supporting rod 94, first level hoofing part oil cylinder and mounted on first level driving wheel supporting rod 93 and
The walking in a horizontal state driving wheel 99 at two walking in a horizontal state driving wheel supporting rods, 94 both ends.First level walking unit and the second walking in a horizontal state
The walking in a horizontal state drive cylinder of unit is integrally shown as 97.The midpoint of first level walking hinge bar 91 is hinged to the second horizontal line
Walk the midpoint of hinge bar 92.The first end of first level walking hinge bar 91 is set on the second central shaft of the second rack, and
It is slided by first level hoofing part hydraulic oil cylinder driving in the second central shaft.The first end of second walking in a horizontal state hinge bar 92 can turn
The second central shaft of the second rack is connected to dynamicly.The of first level walking 91 and second walking in a horizontal state hinge bar 92 of hinge bar
Two ends are respectively connected to the midpoint of first level driving wheel supporting rod 93 and the second walking in a horizontal state driving wheel supporting rod 94.Class
As, the structure of the second walking in a horizontal state unit is identical with first level walking unit.When the first water of first level walking unit
It is parallel walk drive cylinder and the second walking in a horizontal state unit the second walking in a horizontal state drive cylinder it is flexible when, first level walking unit
It is driven with the first end of the first level walking hinge bar 91 of the second walking in a horizontal state unit so as to be slided on the second central shaft,
The second walking in a horizontal state hinge bar 92 hinged with first level walking hinge bar 91 is caused also to be servo-actuated, so as to which first level walking is single
Member and the second walking in a horizontal state unit length change in the horizontal direction, i.e. change first level walking 91 and second water of hinge bar
It is parallel walk hinge bar 92 opening and closing degree, walking in a horizontal state driving wheel 99 is made to be close to the left and right sides inner wall of draining box drain, so as to
To adapt to various sizes of draining box drain.
It is similar with horizontal running mechanism 9, vertical walking mechanism 10 is described below.Vertical walking mechanism 10 includes being arranged on putting
On the second central shaft of the second rack and be symmetrically located above and below the second central shaft both sides the first vertical walking unit and
Second vertical walking unit.First vertical walking unit includes the first vertical walking hinge bar 101, second walking hinge bar vertically
102nd, the first vertical driving wheel supporting rod 103, the second vertical driving wheel supporting rod 104, the first vertical hoofing part
Oil cylinder and mounted on the first vertical 103 and second vertical 104 both ends of driving wheel supporting rod of driving wheel supporting rod
Vertical driving wheel 1010.The vertical walking drive cylinder of first vertical walking unit and the second vertical walking unit is integrally shown
Go out for 108.The midpoint of first vertical walking hinge bar 101 is hinged to the midpoint of the second vertical walking hinge bar 102.First is vertical
The first end of walking hinge bar 101 is set on the second central shaft, and by the first vertical walking drive cylinder driving and second
Central shaft slides.The first end of second vertical walking hinge bar 102 is rotatably connected to the second central shaft of the second rack.The
The second end of the one vertical vertical walking hinge bar 102 of walking hinge bar 101 and second is respectively connected to the first vertical hoofing part
Take turns the midpoint of 103 and second vertical driving wheel supporting rod 104 of supporting rod.Similarly, the structure of the second vertical walking unit
It is identical with the first vertical walking unit.When the first walking drive cylinder and the second vertical walking vertically of the first vertical walking unit
When second vertical walking drive cylinder of unit is flexible, the first of the first vertical walking unit and the second vertical walking unit is vertical
Walk hinge bar 101 first end by driving so as to sliding on the second central shaft, cause and the first vertical walking hinge bar 101
The vertical walking hinge bar 102 of hinged second is also servo-actuated, so as to which the first vertical walking unit and the second vertical walking unit are being erected
Nogata to length change, i.e. change first vertically walking hinge bar 101 and second vertically walking hinge bar 102 opening and closing journey
Degree, makes vertical driving wheel 1010 be close to the both sides inner wall up and down of draining box drain, so as to adapt to various sizes of draining
Box drain.
Specifically, in the above examples, two group oil cylinders are installed on the second central shaft of the second rack, including 2 levels
Hoofing part oil cylinder and 2 vertical walking drive cylinders, 2 walking in a horizontal state drive cylinders and 2 vertical hoofing part oil
Cylinder is axially disposed along the second central shaft of the second rack, and specifically, 2 walking in a horizontal state drive cylinders are close to be arranged in second
The two sides up and down of mandrel, 2 vertical walking drive cylinders 108 are also close to the upper and lower surface for being arranged in the second central shaft, this
Sample can provide uniform power.Certainly, the number of walking in a horizontal state drive cylinder and vertical walking drive cylinder can also be on demand
Other numbers are arranged to, such as 1 or 4 walking in a horizontal state drive cylinders can be set, and 1 or 4 vertical walking is set to drive
Dynamic oil cylinder.
Fig. 4 shows another the showing of the draining box drain automatic spraying robot according to the utility model illustrative embodiments
Meaning property structure chart, each walking in a horizontal state hinge bar of wherein horizontal running mechanism is horizontally outward expanded, vertical walking mechanism it is each perpendicular
Hinge bar of keeping straight on expands outwardly vertically and spray gun mechanism rotates through an angle on guide rail.
Moreover, in the above examples, the hinge joint of each vertical walking hinge bar and each walking in a horizontal state hinge bar is arranged at
Midpoint, and the setting of each walking in a horizontal state driving wheel and vertical driving wheel so that add the contact with draining box drain inner wall
Area, it is more steady so as to the walking of draining box drain automatic spraying robot.
Each walking in a horizontal state driving wheel and vertical driving wheel provide power, it can be achieved that row by servomotor (not shown)
The automatically walk of water box drain automatic spraying robot and the gait of march for accurately controlling draining box drain automatic spraying robot, with this
Control coating thickness simultaneously finally ensures coating quality.
As shown in Figure 1, the control system and feed tank 11 of draining box drain automatic spraying robot are arranged on the second rack
The afterbody of second central shaft, and be connected by cable and conveying pipeline with ground installation.
It should be noted that it can be replaced in draining box drain automatic spraying robot according to different draining box drain sizes
The guide assembly of different size, and pass through walking in a horizontal state drive cylinder and vertical walking drive cylinder and adjust walking in a horizontal state drive respectively
Driving wheel and vertical driving wheel, to adapt to the inner-wall spraying task of various sizes draining box drain.
In operation, draining box drain automatic spraying robot is placed in pipeline, starting walking in a horizontal state by remote operation drives
Dynamic oil cylinder so that first level walks hinge bar and the second walking in a horizontal state hinge bar expands to horizontal size with draining box drain
Match somebody with somebody；Restart vertical walking drive cylinder so that the first vertical walking hinge bar and the second vertical walking hinge bar expand to
The vertical size matching of draining box drain；The first motor of subsequent start-up drives drive gear mechanism, driving cog turbine by the first motor
Structure drives the spring piston of rotation, and spring piston drives nozzle case assembly to advance to complete around the first guide rail and the second guide rail again
The spraying in precalculated position；Start each walking in a horizontal state driving wheel and the servomotor corresponding to vertical driving wheel, so as to fulfill
Automatic spraying robot in draining box drain before and after displacement.
In above steps, starting walking in a horizontal state drive cylinder and starting the vertical order for walking drive cylinder can adjust
It changes.
In the present specification, whenever referring to " illustrative embodiments ", " preferred embodiment ", " embodiment " etc.
When mean to be included at least one reality of the utility model for specific feature, structure or the feature of embodiment description
It applies in mode.The appearance of these words different places in the present specification is not necessarily all referring to same embodiment.In addition, work as pin
When describing specific feature, structure or feature to any embodiment/embodiment, it will be understood that those skilled in the art also can
This feature, structure or feature are realized in enough other embodiments in all embodiments.
The embodiment of the utility model described in detail above.However, above-mentioned reality is not limited in terms of the utility model
Apply mode.In the case where not departing from the scope of the utility model, various remodeling and replacement can be applied to above-mentioned embodiment party
In formula.
Claims (8)
1. a kind of draining box drain automatic spraying robot, which is characterized in that the draining box drain automatic spraying robot includes：
Rack, the rack include the first central shaft and the second central shaft；
Guide assembly, the guide assembly are removably mounted on first central shaft；
Spray gun mechanism, the spray gun mechanism is connected to first central shaft, and can walk along the guide assembly；
Horizontal running mechanism, the horizontal running mechanism is slidably arranged on second central shaft, and works as edge
It expands or retracts in the horizontal direction when being slided on second central shaft；And
Vertical walking mechanism, the vertical walking mechanism is slidably arranged on second central shaft, and works as edge
It expands or retracts in the vertical direction when being slided on second central shaft.
2. draining box drain automatic spraying robot according to claim 1, which is characterized in that the guide assembly includes the
One guide rail, the second guide rail, guide-rail coupling member and rail brackets, first guide rail and second guide rail parallel arrangement, institute
It states guide-rail coupling member and connects first guide rail and second guide rail, the rail brackets is from first guide rail, described the
First guide rail, second guide rail and the guide-rail coupling member described in two guide rails and the guide-rail coupling member medial support.
3. draining box drain automatic spraying robot according to claim 2, which is characterized in that the spray gun mechanism includes spray
Rifle drive component, nozzle case assembly and idler wheel, the idler wheel are connected to the nozzle case assembly, and the spray gun drive component drives
Move the nozzle case assembly so that the nozzle case assembly by means of the idler wheel along first guide rail and described second
Guide rail is advanced.
4. draining box drain automatic spraying robot according to claim 3, which is characterized in that the rail brackets includes branch
Bobbin and be connected on the inside of the bracket loop bracket loop four angles four guide supports, the spray gun driving
Component includes the first motor, is connected and by the described first motor-driven drive gear mechanism, Yi Jiyu with first motor
The drive gear mechanism connection is simultaneously driven the spring piston of rotation, the drive gear mechanism bag by the drive gear mechanism
Rotatable gear shaft is included, the rotatable gear bush is located on first central shaft, one end of the spring piston
The rotatable gear shaft is connected to, the other end of the spring piston is connected to the nozzle case assembly, the driving cog
Taking turns mechanism includes outer case, and one end of first central shaft is connected to the one of four guide supports by adapter
End, the other end of first central shaft are fixedly attached to one end of the outer case, and one end of second central shaft is fixed
It is connected to the other end of the outer case.
5. draining box drain automatic spraying robot according to claim 4, which is characterized in that the spray gun mechanism includes 8
A idler wheel, 4 idler wheels in 8 idler wheels match two-by-two to be folded on first guide rail and can be along first guide rail
It advances, other 4 idler wheels in 8 idler wheels match two-by-two to be folded on second guide rail and can be led along described second
Rail is advanced.
6. the draining box drain automatic spraying robot according to any one of claim 1-5, which is characterized in that the level
Walking mechanism includes being arranged on second central shaft and being symmetrically located at first at left and right sides of second central shaft
Walking in a horizontal state unit and the second walking in a horizontal state unit, the first level walking unit and the second walking in a horizontal state unit difference
It is included in midpoint crossing hinged first level walking hinge bar and the second walking in a horizontal state hinge bar, respectively drives first water
Flat walking unit and the first end of the first level of the second walking in a horizontal state unit walking hinge bar are in described second
The first level hoofing part oil cylinder slided in mandrel and the second walking in a horizontal state drive cylinder are separately positioned on the first level
The first level driving wheel supporting rod and the second water of the second end of walking hinge bar and the second walking in a horizontal state hinge bar
It flat driving wheel supporting rod and is driven mounted on the first level driving wheel supporting rod and second walking in a horizontal state
The walking in a horizontal state driving wheel at the both ends of driving wheel supporting rod, the first level hoofing part oil cylinder and second walking in a horizontal state drive
First level walking unit described in dynamic hydraulic oil cylinder driving and the first level of the second walking in a horizontal state unit walking hinge bar
First end when being slided on second central shaft, first level walking hinge bar and second walking in a horizontal state are hinged
Bar is extended or retracted in the horizontal direction.
7. draining box drain automatic spraying robot according to claim 6, which is characterized in that the vertical walking mechanism bag
Include the first vertical walking list for being arranged on second central shaft and being symmetrically located at both sides above and below second central shaft
Member and the second vertical walking unit, the first vertical walking unit and the second vertical walking unit are respectively included in midpoint
The vertical walking hinge bar of the first of cross-articulation and the second vertical walking hinge bar respectively drive the described first vertical walking unit
It is slided with the described first first end for walking hinge bar vertically of the described second vertical walking unit on second central shaft
The first vertical walking drive cylinder and the second vertical walking drive cylinder, be separately positioned on the described first vertical walking hinge bar
With the first vertical driving wheel supporting rod and the second vertical hoofing part of the second end of the described second vertical walking hinge bar
Take turns supporting rod and mounted on the described first vertical driving wheel supporting rod and the second vertical driving wheel supporting rod
Both ends vertical driving wheel, the described first vertical walking drive cylinder and the second vertical walking drive cylinder driving
The first end of described first vertical walking hinge bar of the first vertical walking unit and the second vertical walking unit exists
When being slided on second central shaft, the described first vertical walking hinge bar and the second vertical walking hinge bar are in vertical side
It extends up or retracts.
8. draining box drain automatic spraying robot according to claim 7, which is characterized in that the draining box drain sprays automatically
It applies robot and further includes control system and feed tank, the control system and the feed tank are arranged on second central shaft
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720682095.9U CN207385788U (en) | 2017-06-13 | 2017-06-13 | A kind of draining box drain automatic spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720682095.9U CN207385788U (en) | 2017-06-13 | 2017-06-13 | A kind of draining box drain automatic spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207385788U true CN207385788U (en) | 2018-05-22 |
Family
ID=62403203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720682095.9U Expired - Fee Related CN207385788U (en) | 2017-06-13 | 2017-06-13 | A kind of draining box drain automatic spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207385788U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081236A (en) * | 2017-06-13 | 2017-08-22 | 中国地质大学（北京） | A kind of draining box drain automatic spraying robot and its operating method |
| CN110508434A (en) * | 2019-07-25 | 2019-11-29 | 中国一冶集团有限公司 | Pipe lining protective layer constructing device and method |
| CN110747966A (en) * | 2019-11-08 | 2020-02-04 | 九江职业技术学院 | Concrete drain pipe detects and mending leakage robot |
-
2017
- 2017-06-13 CN CN201720682095.9U patent/CN207385788U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081236A (en) * | 2017-06-13 | 2017-08-22 | 中国地质大学（北京） | A kind of draining box drain automatic spraying robot and its operating method |
| CN110508434A (en) * | 2019-07-25 | 2019-11-29 | 中国一冶集团有限公司 | Pipe lining protective layer constructing device and method |
| CN110747966A (en) * | 2019-11-08 | 2020-02-04 | 九江职业技术学院 | Concrete drain pipe detects and mending leakage robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207385788U (en) | A kind of draining box drain automatic spraying robot | |
| CN107081236A (en) | A kind of draining box drain automatic spraying robot and its operating method | |
| CN106111408A (en) | A kind of engineering oil pipe surface paint spraying device | |
| CN106140746A (en) | Pipeline cleaning robot | |
| CN103063743A (en) | Moveable-feeding-mechanism-based ultrasonic flaw detection system for bent steel tubes | |
| US20110166708A1 (en) | Painting device and associated method | |
| CN103063744A (en) | Moveable-gantry-based ultrasonic automatic flaw detection system for bent steel tubes | |
| CN104607347B (en) | Outer wall of wind power tower automatic paint-spraying machine | |
| CN105927820A (en) | Pipeline robot capable of active steering | |
| CN110153085B (en) | Automatic intelligent cleaning device | |
| WO2021017088A1 (en) | Multi-angle paint spraying industrial robot and method | |
| CN105546275B (en) | A kind of new pipeline robot supporting mechanism | |
| CN105459107B (en) | A kind of mechanical arm for spraying large-diameter pipeline inner wall | |
| CN106238420B (en) | A kind of petroleum pipeline inner wall washer having from steady walking function | |
| CN207170094U (en) | A kind of pipe of concrete pipe outer spray coating device | |
| CN203620845U (en) | Spraying mechanism for spraying vehicle and spraying vehicle | |
| CN203623488U (en) | Spraying mechanism for spraying vehicle and spraying vehicle | |
| CN104671011B (en) | Movable type is controlled flood and drained flooded fields fire pump station | |
| CN107859851A (en) | A kind of intelligent robot being readily disassembled for wisdom piping lane inspection | |
| CN203623489U (en) | Spraying mechanism for spraying vehicle and spraying vehicle | |
| CN218048584U (en) | Novel anti-corrosion treatment equipment for 304 welded pipe | |
| CN214416772U (en) | Interior decoration finishing spraying device | |
| CN205995713U (en) | A kind of resin tile curved surface roll coating apparatus | |
| CN107439069A (en) | Xie Mo mechanisms and incomplete film-recovering machine | |
| CN210457329U (en) | Oil conveying pipe convenient to connect and fix |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180522 Termination date: 20180613 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |