CN117943978B - Movable arm of abrasive striking and sand blasting robot - Google Patents
Movable arm of abrasive striking and sand blasting robot Download PDFInfo
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- CN117943978B CN117943978B CN202410327806.5A CN202410327806A CN117943978B CN 117943978 B CN117943978 B CN 117943978B CN 202410327806 A CN202410327806 A CN 202410327806A CN 117943978 B CN117943978 B CN 117943978B
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- shell
- feeding space
- wall
- air
- spray gun
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- 238000005488 sandblasting Methods 0.000 title claims abstract description 29
- 239000007921 spray Substances 0.000 claims abstract description 82
- 239000000463 material Substances 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims description 25
- 238000005422 blasting Methods 0.000 claims description 16
- 238000007790 scraping Methods 0.000 claims description 14
- 239000011324 bead Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 9
- 238000005299 abrasion Methods 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003082 abrasive agent Substances 0.000 description 26
- 230000000694 effects Effects 0.000 description 9
- 238000005507 spraying Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 239000006004 Quartz sand Substances 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- HBMJWWWQQXIZIP-UHFFFAOYSA-N silicon carbide Chemical compound [Si+]#[C-] HBMJWWWQQXIZIP-UHFFFAOYSA-N 0.000 description 1
- 229910010271 silicon carbide Inorganic materials 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
- B24C7/0046—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a gaseous carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Nozzles (AREA)
Abstract
The application relates to the field of sand blasting equipment, and particularly discloses a movable arm of a wear-resistant material striking sand blasting robot, which comprises the following components: a body and a spray gun; the body is connected with the spray gun and used for driving the spray gun to move; the spray gun comprises: a housing, a pipe connection, and a spray head; the pipeline connecting piece and the spray head are respectively connected to two ends of the shell along the first direction; a feeding space extending along the first direction is arranged in the shell; the inner wall of the shell forming the feeding space is at least partially cylindrical; the periphery of the shell is provided with an air inlet channel communicated to the feeding space along the second direction; the first direction is parallel to the axial direction of the cylindrical inner wall of the shell forming the feeding space, so that the feeding space penetrates through the shell along the first direction; the second direction is parallel to the tangential direction of the inner wall of the shell so that the air inlet channel is communicated to the feeding space along the circumferential direction of the inner wall of the shell. The application has the beneficial effect of obviously reducing the abrasion of the inner wall of the spray gun.
Description
Technical Field
The application relates to the field of sand blasting equipment, in particular to a movable arm of a wear-resistant material striking sand blasting robot.
Background
Currently, various equipment or workpieces, such as containers, automobiles, numerical control machine tools, etc., often require sandblasting on the surface after the assembly process is completed. The sand blasting treatment adopts compressed air as power, and introduces the compressed air into a spray head to form high-speed spray beams in the spray head, and various abrasive materials, such as shot-blasted glass beads, steel shots, steel grit, quartz sand, silicon carbide, iron sand, sea sand and the like, are sprayed on the surface of a workpiece to be treated at a high speed in a negative pressure suction mode, so that the mechanical properties of the outer surface of the workpiece are changed. The change is for example due to the impact and cutting action of the abrasive on the surface of the workpiece, so that the surface of the workpiece obtains a certain cleanliness and different roughness, the mechanical properties of the surface of the workpiece are improved, the fatigue resistance of the workpiece is improved, the adhesion between the surface of the workpiece and the coating is enhanced when the subsequent process of spraying the paint and other coatings is facilitated, the durability of the coating is prolonged, the leveling and decoration of the coating are facilitated, the impurities, variegation and oxide layers on the surface are removed, the surface of a medium is roughened, the residual stress on the surface of a substrate is increased, and the hardness of the surface of the substrate is improved.
Traditional manual sand blasting operation has high operation difficulty, high working strength and severe environment. And the construction quality cannot be guaranteed. When the equipment is subjected to sand blasting, particularly to the positions of slits and the like of the equipment, if a manual operation sand blasting gun is adopted, the operation space is often narrow, the visual angle and the operation space are severely limited, and the operation quality and the operation efficiency are affected.
In view of the limitations of manual sand blasting, there are many sand blasting robots on the market currently, and the spray heads on the robots are driven to move by using multi-axis (generally three-axis or four-axis) mechanical arms, so that long-term operation can be performed in a relatively narrow space, and the operation intensity is reduced. For example, chinese patent document 201611262136.5 discloses a blasting robot having four joints, four degrees of freedom, a compact structure, and a small size of an end effector. Meanwhile, the robot adopts a servo operation system, can realize automatic control and repeated programming, has higher positioning precision and stability, can accurately position and operate in a narrow space, and is quick and flexible in operation. The large running speed range can meet the requirement of sand blasting time beat, automation can be realized, and the production efficiency is greatly improved.
With respect to the blasting robot in the related art, however, the inventors consider that there are the following drawbacks: in the long-term use process of the spray gun arranged on the mechanical arm, as the air inlet pipeline is generally inclined to the abrasive feeding pipeline, a large amount of abrasive wrapped by the high-pressure air flow continuously impacts a specific position of the inner wall of the abrasive feeding pipeline when entering the abrasive feeding pipeline from the air inlet pipeline and blowing to a spray nozzle communicated with the abrasive feeding pipeline, and the specific position is particularly the inner wall of the spray gun, which is opposite to the air inlet pipeline and communicated with an opening of the abrasive feeding pipeline, the inner wall of the spray gun is easily impacted by the abrasive to be worn after long-term use, the sealing performance and the service life of the spray gun are affected, meanwhile, the inner wall of the spray gun is easily piled up at the inner wall after the sand blasting treatment is finished due to the inner wall wearing, the inner wall of the spray gun becomes rough due to the wearing, the friction between the abrasive and the inner wall of the spray gun is increased, the residual abrasive is not convenient to clean, and the spray gun is easy to be blocked.
Disclosure of Invention
In order to solve the problem that sand blasting equipment is easy to wear in the related art, the application provides a movable arm of a wear-resistant material striking sand blasting robot.
The application provides a movable arm of a wear-resistant material striking and sand blasting robot, which adopts the following technical scheme:
A wear resistant material striking sandblasting robot movable arm comprising: a body and a spray gun; the body is connected with the spray gun and used for driving the spray gun to move; the spray gun comprises: a housing, a pipe connection, and a spray head; the pipeline connecting piece and the spray head are respectively connected to two ends of the shell along the first direction; a feeding space extending along the first direction is arranged in the shell; the inner wall of the shell forming the feeding space is at least partially cylindrical; the periphery of the shell is provided with an air inlet channel communicated to the feeding space along the second direction; the first direction is parallel to the axial direction of the cylindrical inner wall of the shell forming the feeding space, so that the feeding space penetrates through the shell along the first direction; the second direction is parallel to the tangential direction of the inner wall of the shell so that the air inlet channel is communicated to the feeding space along the circumferential direction of the inner wall of the shell.
By adopting the technical scheme, after the high-pressure gas enters the feeding space from the air inlet channel, the high-pressure gas spirally flows along the feeding space in a cyclone shape, negative pressure is formed in the process, abrasive materials in the abrasive material pipeline connected by the pipeline connecting piece are wrapped and clamped, and finally the abrasive materials are sprayed out of the spray head. The spiral advancing airflow gathers the abrasive in the middle of the abrasive space, reduces the contact with the inner wall of the shell, and particularly avoids the high-speed impact of the airflow directly opposite to the air inlet position of the inner wall of the shell, thereby reducing the abrasion of the inner wall of the shell and greatly improving the striking capacity of the abrasion-resistant material of the spray gun.
Alternatively, the air intake passage is formed at a side of the housing adjacent to the duct connecting member in the first direction.
Through adopting above-mentioned technical scheme, ensure that the air current can stay longer in the casing, avoid the air current to flow out the casing too fast and can't form heliciform air current, make the air current more closely apart from the pipeline of installing on the pipeline connecting piece simultaneously, the negative pressure that the air current produced is wrapped up in and is held in abrasive material removal that the pipeline transported.
Optionally, the inner wall of the housing forming the feeding space comprises a conical section; the conical section is positioned at one end of the feeding space far away from the pipeline connecting piece and is communicated with the spray head.
Through adopting above-mentioned technical scheme, thereby the setting of conical section can accelerate the gas velocity of flow and increase negative pressure, thereby the impact force when promoting abrasive material blowout shower nozzle guarantees abrasive material spraying effect.
Optionally, a plurality of air inlet channels are circumferentially distributed on the periphery of the shell.
By adopting the technical scheme, the air flow enters the feeding space in a plurality of strands, so that the impact of single air flow on the inner wall of the shell is further reduced.
Optionally, the spray gun further comprises: a tracheal tube connection; wherein the air pipe connecting piece is fixedly connected to the periphery of the shell; an air cavity is arranged in the air pipe connecting piece; one end of the air pipe connecting piece along the first direction is provided with an air pipe interface communicated with the air cavity; the air inlet channel is positioned in the air cavity and at one end of the air pipe connecting piece, which is far away from the air pipe interface.
Through adopting above-mentioned technical scheme, gas gets into air inlet duct through air pipe interface and air cavity, finally gets into the pay-off space, and when air inlet duct and air pipe interface kept away from each other the mode that sets up can make gas flow in the air cavity, take away the casing because of the heat that produces with the abrasive material friction, make the spray gun work constantly under lower temperature, and the spray gun is easy adhesion abrasive material when using under higher temperature, perhaps more easily wearing and tearing, therefore this scheme can further reduce spray gun wearing and tearing.
Optionally, the pipe connection comprises: an end cap, a locking member, and a sealing member; the end cover is arranged at one end of the shell along the first direction; the locking piece comprises a mounting part fixedly connected to the inside of the end cover and a plurality of deformation pieces distributed on the circumference of the mounting part; the sealing element is fixedly arranged at one end of the end cover, which is close to the shell; the seal extends at least partially into the feed space.
Through adopting above-mentioned technical scheme, the pipeline that carries the abrasive material passes from each deformation piece centre, utilizes deformation piece can restrict the activity of pipeline to fixed mounting pipeline, sealing member then are used for sealed pipeline periphery, ensure pay-off space leakproofness and make its interior negative pressure enough promote abrasive material to spout from the shower nozzle, and this kind of mode can adapt to the installation of the abrasive material pipeline of multiple different specifications and use, has promoted the wild-type nature of sand blasting robot to abrasive material pipeline.
Optionally, at least two deformation sheets are linearly distributed along the first direction, and the deformation sheets are located on one side of the sealing member away from the housing.
Through adopting above-mentioned technical scheme, the deformation piece that the multilayer set up promotes the frictional resistance between the two through more contact pipeline outer walls to ensure fixed effect. The deformation piece is located one side that the casing was kept away from to the sealing member, and the sealing member separates each deformation piece outside the pay-off space promptly, avoids abrasive material to pile up in each deformation piece clearance, avoids blockking up, is convenient for clear up.
Optionally, the pipe connection further comprises: a gripping member, a rope, and a traction bead; wherein the holding piece is positioned at one end of the end cover far away from the shell; one end of each rope penetrating is connected to the holding piece, and the other end of each rope penetrating penetrates through the end cover and sequentially penetrates through at least two deformation sheets along one end, close to the end cover, of the first direction; the traction beads penetrate through the threading rope and are in one-to-one correspondence with the surfaces of the deformation pieces, which are far away from one side of the shell.
Through adopting above-mentioned technical scheme, make the wire rope through pulling the gripping member drive and pull the pearl and remove, and then make and pull the pearl and promote corresponding deformation piece activity, make the deformation piece no longer contact the pipeline outer wall or the frictional force between the two reduce to can conveniently take off the pipeline from the spray gun, be convenient for change different pipelines and use.
Optionally, the end of the sealing member inserted into one end of the feeding space is located in the first direction between the end of the air inlet passage connected to the feeding space and the nozzle.
By adopting the technical scheme, the end part of the sealing element is utilized to block the air flow entering the feeding space, so that the spiral air flow is further ensured to be formed in the feeding space, and the air flow is prevented from directly flowing into the pipeline to prevent the abrasive in the pipeline from entering the feeding space.
Optionally, the spray gun further comprises: a scraping rod; wherein the scraping rod is fixedly arranged at one end of the shell close to the spray head; the scraping rod is provided with a contact surface; the contact surface is contacted with the inner wall of the spray head.
Through adopting above-mentioned technical scheme, when taking off or changing the shower nozzle, the pole of scraping can be used to the preliminary clearance of shower nozzle inner wall, is convenient for clear up remaining abrasive material from the shower nozzle inner wall.
In summary, the present application includes at least one of the following beneficial technical effects:
1. Through setting up the tangential of air inlet channel along shells inner wall, make high-pressure gas follow the feeding space by air inlet channel after entering the feeding space, form the negative pressure in-process along the spiral flow of whirlwind form, the abrasive material in the abrasive material pipeline that is connected by the pipeline connecting piece is wrapped up in to the abrasive material is spouted from the shower nozzle at last. The spiral travelling airflow gathers the abrasive in the middle of the abrasive space, so that the contact with the inner wall of the shell is reduced, and particularly, the high-speed impact of the airflow directly opposite to the air inlet position of the inner wall of the shell is avoided, so that the abrasion of the inner wall of the shell is reduced, and the striking capacity of the abrasion-resistant material of the spray gun is greatly improved;
2. The end part of the sealing piece is used for blocking the air flow entering the feeding space, so that spiral air flow is further ensured to be formed in the feeding space, and the air flow is prevented from directly flowing into the pipeline to prevent the abrasive in the pipeline from entering the feeding space.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a movable arm of a wear-resistant material striking and sandblasting robot according to an embodiment of the present application;
FIG. 2 is a schematic view of the structure of the sprinkler head of FIG. 1;
FIG. 3 is a cross-sectional view of the sprinkler head of FIG. 2;
FIG. 4 is an exploded view of the sprinkler head of FIG. 2;
FIG. 5 is a schematic view of the housing of FIG. 3;
FIG. 6 is a cross-sectional view of the housing shown in FIG. 5;
FIG. 7 is a cross-sectional view of a portion of the structure of FIG. 3;
FIG. 8 is an enlarged partial view of portion A of FIG. 7;
fig. 9 is a schematic view of the structure of the scraper bar shown in fig. 3.
Reference numerals:
100. a sandblasting robot movable arm;
110. a body;
120. a spray gun;
121. a housing; 121a, feeding space; 121b, an intake passage; 121c, a conical section; 121d, L-shaped grooves; 121e, a clamping groove;
122. a pipe connection; 1221. an end cap; 1221a, stopper; 1222. a locking member; 1222a, mounting portion; 1222b, a deformation sheet; 1223. a seal; 1224. a grip; 1224a, slots; 1225. threading a rope; 1226. traction beads;
123. A spray head;
124. a tracheal tube connection; 124a, air cavities; 124b, tracheal interface;
125. a scraping rod; 125a, a ring body; 125b, a buckle;
130. A fixing ring;
l1, first direction.
Detailed Description
The application is described in further detail below with reference to fig. 1-9.
The embodiment of the application discloses a movable arm 100 of a wear-resistant material striking and sand blasting robot. Referring to fig. 1, a wear-resistant material striking-blasting robot movable arm 100 includes: a body 110 and a lance 120. Wherein the body 110 is connected to the spray gun 120 and is used to drive the spray gun 120 to move.
Specifically, the body 110 may be configured as a three/four axis mechanical arm commonly used in the art, or may be configured as a multi-axis mechanical arm capable of providing more degrees of spatial freedom, which is used to drive the blasting gun 120 to move in space, thereby enabling the blasting gun 120 to move in space to the vicinity of the surface of the workpiece or the equipment to be blasted, after which the air pipe connected to the blasting gun 120 forms a negative pressure in the blasting gun 120, attracts the abrasive in the abrasive-transporting pipe connected to the blasting gun 120 to move in the blasting gun 120, and ejects the abrasive from the blasting gun 120 to the surface of the workpiece or the equipment, thereby realizing the blasting.
It is understood that the connection between the spray gun 120 and the body 110 may be a conventional connection, a rotational connection, etc., for example, the present application may be implemented by a fixing ring 130 fixedly connected to the body 110, the fixing ring 130 being sleeved outside the spray gun 120 and fixedly connected to the spray gun 120 by a threaded connection, etc., so as to mount the spray gun 120 to the body 110. The installation form of the spray gun 120 on the body 110 can be flexibly set by a person skilled in the art according to practical application, and the application does not relate to improvement of the connection mode of the spray gun 120 and the body 110, and is not repeated here.
In view of the problem that the gun 120 is hard to be hit with the abrasion-resistant material and is worn seriously in the related art, the present application is improved as follows, and the structure of the gun 120 is specifically described as follows.
Specifically, referring to fig. 2 and 3, the spray gun 120 includes: a housing 121, a pipe connection 122, a spray head 123. Wherein, the pipe connector 122 and the nozzle 123 are respectively connected to two ends of the housing 121 along the first direction L1, and the pipe connector 122 is used for connecting a pipe for conveying the abrasive, so that the abrasive can enter the housing 121. The nozzle 123 is used to spray the abrasive from the inside of the housing 121 onto the surface of the workpiece and to perform the blasting.
Referring to fig. 5 to 6, a feeding space 121a extending along the first direction L1 is provided inside the housing 121, and the abrasive in the pipe can be ejected from the nozzle 123 after entering the feeding space 121a, i.e., the feeding space 121a communicates with the nozzle 123 and the pipe. The inner wall of the feeding space 121a formed by the shell 121 is at least partially cylindrical, and dead angles of the cylindrical inner wall are less, so that abrasive accumulation can be reduced, and residual abrasive can be cleaned conveniently.
The outer circumference of the housing 121 is provided with an air inlet channel 121b which is communicated to the feeding space 121a along the second direction, and the air inlet channel 121b is communicated with an air pipe for external air supply, so that air flow is guided into the feeding space 121a from the air inlet channel 121b, negative pressure is generated when the air flow flows in the feeding space 121a, and the abrasive in the wrapping pipe moves towards the nozzle 123, so that the abrasive is sprayed out of the nozzle 123.
In the present application, the first direction L1 is defined parallel to the axial direction of the cylindrical inner wall of the housing 121 forming the feeding space 121a such that the feeding space 121a penetrates the housing 121 in the first direction L1. Meanwhile, the second direction is parallel to the tangential direction of the inner wall of the housing 121 so that the air intake passage 121b communicates to the feeding space 121a in the circumferential direction of the inner wall of the housing 121, and at this time, the air flow may enter the feeding space 121a in the tangential direction of the cylindrical inner wall of the housing 121.
By adopting the above technical scheme, after the high-pressure gas enters the feeding space 121a from the air inlet channel 121b, the high-pressure gas flows along the feeding space 121a in a cyclone spiral manner, negative pressure is formed in the process, the abrasive in the abrasive pipeline connected by the pipeline connecting piece 122 is wrapped and clamped, and finally the abrasive is sprayed out of the spray nozzle 123. The spiral travelling airflow enables the abrasive to gather and flow in the middle of the abrasive space in a large quantity, the contact between abrasive particles and the inner wall of the shell 121 is relatively reduced, and particularly, the arrangement avoids high-speed impact caused by the fact that the inner wall of the shell 121 is directly opposite to an air inlet position by the airflow, so that abrasion of the corresponding position of the inner wall of the shell 121 is reduced, and the abrasion resistant material striking capability of the spray gun 120 is greatly improved. The abrasion of the inner wall surface of the housing 121 is reduced, and the abrasive is not easily accumulated in the feeding space 121a, so that the spray gun 120 can still have good circulation performance after long-term use.
Alternatively, the air intake passage 121b is formed on a side of the housing 121 adjacent to the pipe connection 122 in the first direction L1, that is, the air intake passage 121b is provided at an end of the housing 121 remote from the nozzle 123.
Through adopting above-mentioned technical scheme, the air current can flow through relatively longer stroke in casing 121 inside, ensure that the air current can stay longer in casing 121, on the one hand can avoid the air current to flow out casing 121 excessively fast and can't form heliciform air current, on the other hand also makes the air current be closer to the pipeline of installing on the pipeline connecting piece 122, the negative pressure that the air current produced of being convenient for is wrapped up in and is held in the abrasive material of pipeline transportation and remove, thereby make the abrasive material have sufficient travel speed, ensure the kinetic energy when abrasive material is spouted to work piece, equipment surface from shower nozzle 123, thereby guarantee the adhesion effect of abrasive material at work piece, equipment surface.
In an alternative, referring to fig. 6, in order to increase the gas flow rate and further increase the adhesion effect of the abrasive on the workpiece and the surface of the apparatus, the inner wall defining the feeding space 121a formed by the housing 121 includes a conical section 121c. The conical section 121c is located at an end of the feeding space 121a remote from the pipe connection 122 and is in communication with the nozzle 123, and in a further alternative, the conical section 121c is coaxially arranged with the cylindrical inner wall of the housing 121 forming the feeding space 121 a.
Through adopting above-mentioned technical scheme, thereby the setting of conical section 121c can accelerate the gas velocity of flow and increase negative pressure, thereby the impact force when promoting abrasive material blowout shower nozzle 123 guarantees abrasive material spraying effect. And the increase of the air flow velocity can also enable the abrasive to quickly pass through the feeding space 121a, so that the residual accumulation of the abrasive in the feeding space 121a is reduced.
In an alternative solution, a plurality of air inlet channels 121b are circumferentially distributed on the outer periphery of the housing 121, that is, the air flows may respectively enter the feeding space 121a along the plurality of air inlet channels 121 b. The number of the air intake passages 121b may be, for example, 3, 4, 5, 6, etc., and may be specifically selected according to the size of the spray gun 120, etc., and the number of the air intake passages 121b is not specifically limited in the present application.
Considering that in practical use, the air is supplied to the air inlet channels 121b by one air source, and in the above technical scheme, the air flow is divided into multiple air flows into the feeding space 121a, so that parameters such as flow rate of a single air flow are limited, and impact of the single air flow on the inner wall of the housing 121 can be further reduced. When the inner wall of the casing 121 includes the conical section 121c, the conical section 121c accelerates the air flow, thereby ensuring the kinetic energy of the abrasive ejected from the nozzle 123.
Referring to fig. 3, as a particularly applicable way of supplying air to the air intake passage 121b, the spray gun 120 may be further defined as further comprising: tracheal tube connection 124. Wherein, the air pipe connecting piece 124 is fixedly connected to the outer periphery of the housing 121, for example, the air pipe connecting piece 124 is sleeved on the housing 121, and one end of the air pipe connecting piece, which is far away from the nozzle 123 along the first direction L1, is fixedly connected with the housing 121 by a threaded connection or the like. An air chamber 124a is provided inside the air tube connecting member 124, and the air chamber 124a is located between the outer wall of the housing 121 and the inner wall of the air tube connecting member 124. The air pipe connecting member 124 is provided with an air pipe interface 124b communicating with the air cavity 124a at one end along the first direction L1, the air pipe interface 124b may be integrally formed with the air pipe connecting member 124, or may be connected to the air pipe connecting member 124 by a threaded fastening or the like, and the air pipe interface 124b is used for connecting an external air pipe, so that the external air pipe can supply air into the air cavity 124a and further ventilate the air inlet channel 121b and the feeding space 121 a.
In the present application, it may be further defined that the air intake passage 121b is located inside the air chamber 124a and at an end of the air tube connection member 124 remote from the air tube interface, i.e., the air intake passage 121b is remote from the air tube interface in the first direction L1.
It will be appreciated that in the above-mentioned solution, the air enters the air inlet pipe through the air pipe port 124b and the air cavity 124a, and finally enters the feeding space 121a, and the air inlet channel 121b and the air pipe port 124b are disposed away from each other, so that when the air flows through the air cavity 124a, the heat generated by friction between the air and the abrasive is taken away from the housing 121, so that the spray gun 120 continuously operates at a lower temperature, and the spray gun 120 is easy to adhere to the abrasive or wear more easily when used at a higher temperature, so that the solution can further reduce the wear of the spray gun 120.
In the alternative, referring to fig. 4 and 7, the pipe connection 122 includes: end cap 1221, lock 1222, seal 1223.
The end cover 1221 is disposed at an end of the housing 121 along the first direction L1, and specifically, the end cover 1221 is located at an end of the housing 121 away from the nozzle 123 along the first direction L1.
Referring to fig. 7, the locking member 1222 includes a mounting portion 1222a fixedly coupled to an inside of the end cap 1221 and a plurality of deformation pieces 1222b circumferentially disposed on an inner circumference of the mounting portion 1222a, and the mounting portion 1222a and the locking member 1222 may be fixed in a screw connection, for example. The deformation sheet 1222b may be made of a soft rubber material or an elastic metal sheet. The deformation pieces 1222b are disposed obliquely to the first direction L1, and an end of the deformation piece 1222b near the pipe is closer to the shower head 123 in the first direction L1 than an end far from the pipe, so that the pipe transporting the abrasive material can pass through the middle of each deformation piece 1222b from the side of the end cap 1221 far from the shower head 123 in the first direction L1 and be inserted into the feeding space 121a, and the end of the deformation piece 1222b contacts the outer wall of the pipe.
Considering that the outer wall of the pipe for transporting the abrasive is generally made of a soft material such as rubber in the related art, the contact of the deformation piece 1222b with the pipe will obstruct the pipe from moving out of the feeding space 121a, thereby fixedly mounting the pipe to the housing 121.
The seal 1223 is fixedly disposed at an end of the end cap 1221 adjacent to the housing 121. The sealing member 1223 extends at least partially into the feeding space 121a, and the sealing member 1223 is made of, for example, a rubber material, and when the pipe extends into the feeding space 121a, the sealing member 1223 contacts the inner wall of the pipe to seal the feeding space 121a at an end remote from the head 123. The sealing member 1223 may be, for example, in a truncated cone shape, and the diameter of the end of the sealing member near the nozzle 123 in the first direction L1 is smaller than the diameter of the end far from the nozzle 123, so that when pipes with different diameters are mounted to the housing 121, the sealing member 1223 seals by deforming itself, and can adapt to the change of the outer diameters of different pipes.
In the above technical solution, the pipe for conveying the abrasive passes through the middle of each deformation piece 1222b, and the movement of the pipe can be limited by using the deformation pieces 1222b, so that the pipe is fixedly installed, the sealing member 1223 is used for sealing the periphery of the pipe, ensuring the tightness of the feeding space 121a and making the negative pressure in the feeding space sufficiently push the abrasive to be ejected from the nozzle 123, and the method can adapt to the installation and use of the abrasive conveying pipes with various specifications, and improves the wildness of the abrasive conveying pipe by the sand blasting robot.
Alternatively, at least two of the deformation sheets 1222b are linearly distributed along the first direction L1, that is, the mounting portion 1222a is provided with a plurality of rows of deformation sheets 1222b along the first direction L1, and each deformation sheet 1222b is disposed obliquely to the first direction L1. And the deformable tab 1222b is located on the side of the seal 1223 remote from the housing 121.
It will be appreciated that the multi-layered deformation sheet 1222b promotes frictional resistance therebetween by more contacting the outer wall of the pipe, thereby securing the fixing effect. The deformation pieces 1222b are located on the side of the seal 1223 away from the housing 121, i.e., the seal 1223 blocks each deformation piece 1222b from the feed space 121a, avoiding accumulation of abrasive materials in the gaps between each deformation piece 1222b, avoiding clogging, and facilitating cleaning.
In the alternative, referring to fig. 4 and 7, the pipe connection 122 further includes: grip 1224, tether 1225, traction bead 1226. Wherein the grip 1224 is located at an end of the end cap 1221 remote from the housing 121. One end of the plurality of strings 1225 is connected to the grip member 1224, and the other end of the plurality of strings 1225 passes through the end cover 1221, and sequentially passes through the at least two deformation sheets 1222b along the first direction L1 near the end of the end cover 1221. A plurality of traction beads 1226 are threaded through the tether 1225 and contact the surface of the plurality of deformation pieces 1222b on a side away from the housing 121 in a one-to-one correspondence.
It can be appreciated that by pulling the gripping member 1224, the rope 1225 drives the traction bead 1226 to move, and the traction bead 1226 pushes the corresponding deformation piece 1222b to move, so that the deformation piece 1222b no longer contacts the outer wall of the pipe or the friction between the two is reduced, and the pipe can be conveniently removed from the spray gun 120, so that a different pipe can be conveniently replaced for use.
Referring to fig. 8, it may be further defined that the grip 1224 is provided with a notch 1224a at a side periphery near the wire 1225, the notch 1224a being convenient for a user to put in a finger or a tool, thereby facilitating the user to grasp the grip to pull the wire 1225.
Specifically, referring to fig. 4 and 5, one form of connection of the end cap 1221 to the housing 121 is shown: the inner wall of the end of the housing 121 remote from the nozzle 123 is provided with at least one L-shaped groove 121d, and one end of the L-shaped groove 121d communicates to the end face of the end of the housing 121 remote from the nozzle 123. Correspondingly, the outer periphery of the end cover 1221 is provided with a number of limiting blocks 1221a corresponding to the L-shaped grooves 121d, the limiting blocks 1221a can be embedded into the L-shaped grooves 121d from the end surface of the housing 121 and rotate to be embedded into one end of the L-shaped grooves 121d far away from the end surface of the housing 121 after sliding along the first direction L1, and at this time, the inner wall of the L-shaped grooves 121d limits the movement of the limiting blocks 1221a along the first direction L1, so as to realize the installation of the end cover 1221 on the housing 121.
With the above scheme, the end cover 1221 can be conveniently removed from the housing 121, so that the residual abrasive in the feeding space 121a can be conveniently cleaned later.
In a specific alternative embodiment, the end of the sealing member 1223 inserted into the one end of the feeding space 121a is located between the one end of the air intake passage 121b communicating to the feeding space 121a and the head 123 in the first direction L1, i.e., the air intake passage 121b is located on the side of the sealing member 1223 remote from the head 123. At this time, the end of the sealing member 1223 is used to block the air flow entering the feeding space 121a, so that the spiral air flow is further ensured in the feeding space 121a, and the air flow is prevented from directly flowing into the pipe to block the abrasive in the pipe from entering the feeding space 121a.
In an alternative, referring to fig. 9, the spray gun 120 further includes: scraper bar 125. Wherein, the scraping rod 125 is fixedly arranged at one end of the casing 121 near the nozzle 123. Scraper bar 125 has a contact surface. The contact surface is in contact with the inner wall of the nozzle 123.
Specifically, one end of the scraper 125 may be defined to be disposed on a ring 125a, and the ring 125a is provided with a buckle 125b. Correspondingly, a clamping groove 121e corresponding to the clamping groove 125b is formed on the inner wall of the feeding space 121a formed at the end of the casing 121 near the end of the nozzle 123, the clamping groove 125b can be embedded into the clamping groove 125b, the ring 125a is fixed at the end of the casing 121 near the nozzle 123 in a jogged mode, and the clamping groove 121e and the clamping groove 125b can be released from buckling by pressing the ring 125a, so that the ring 125a can be removed from the casing 121.
Considering that the connection between the nozzle 123 and the housing 121 is generally a threaded connection in the related art, by providing the scraping rod 125, the inner wall of the nozzle 123 can be primarily cleaned by contact when the nozzle 123 is rotated and removed from the housing 121. Or after the spraying is removed, the ring body 125a is removed from the housing 121, and then the scraping rod 125 is used to clean the inner wall of the spraying nozzle 123, so that the residual abrasive is cleaned from the inner wall of the spraying nozzle 123.
In order to realize that the inner wall of the spray head 123 is cleaned everywhere while the spray head 123 is rotationally taken down, the number of the scraping rods 125 should be correspondingly increased, but the increased number of the scraping rods 125 occupies the space for the abrasive to pass through inside the spray head 123 to block the abrasive from flowing, in the application, 2-4 scraping rods 125 are selected, so that the primary cleaning of the inner wall of the spray head 123 is conveniently realized while the spray head 123 is taken down, meanwhile, the passing space of the abrasive is not excessively occupied, and the passing performance of the spray head 123 is ensured.
The implementation principle of the movable arm 100 of the abrasive striking and sand blasting robot in the embodiment of the application is as follows: the body 110 drives the spray head 123 to move to the vicinity of the surface of the workpiece and equipment to be sandblasted, an external air source supplies air to the air inlet channel 121b, negative pressure is formed in the feeding space 121a after the air flow enters the feeding space 121a, the abrasive wrapped in the pipeline installed at the pipeline connecting piece 122 moves to the spray head 123, and the abrasive is sprayed to the surface of the workpiece and equipment from the spray head 123, so that sandblasting is realized. After the blasting process is completed, the nozzle 123 may be unscrewed for replacement or cleaning. And the end cap 1221 is rotated to enable its removal from the housing 121 while removing the tubing from the feed space 121a, facilitating cleaning of the feed space 121 a. Pulling the gripping member 1224 from the slot 1224a causes the tether 1225 and the pull bead 1226 to deform the deformable strip 1222b, reducing friction between the deformable strip 1222b and the tubing, and then removing the tubing from between the seal 1223 and the deformable strip 1222b to replace a different tubing.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (7)
1. A wear resistant material striking sandblasting robot movable arm comprising: a body and a spray gun;
wherein the body is connected with the spray gun and is used for driving the spray gun to move;
the method is characterized in that: the spray gun comprises: a housing, a pipe connection, and a spray head;
The pipeline connecting piece and the spray head are respectively connected to two ends of the shell along the first direction; a feeding space extending along the first direction is arranged in the shell; the inner wall of the shell forming the feeding space is at least partially cylindrical; an air inlet channel communicated to the feeding space along a second direction is formed in the periphery of the shell; the first direction is parallel to the axial direction of the cylindrical inner wall of the feeding space formed by the shell, so that the feeding space penetrates through the shell along the first direction; the second direction is parallel to the tangential direction of the inner wall of the shell, so that the air inlet channel is communicated with the feeding space along the circumferential direction of the inner wall of the shell;
the pipe connection comprises: an end cap, a locking member, and a sealing member;
The end cover is arranged at one end of the shell along the first direction; the locking piece comprises a mounting part fixedly connected to the inside of the end cover and a plurality of deformation pieces distributed on the inner periphery of the mounting part in a circumferential manner; the sealing element is fixedly arranged at one end of the end cover, which is close to the shell; the sealing element at least partially extends into the feeding space;
the pipe connection further comprises: a gripping member, a rope, and a traction bead;
Wherein the gripping member is located at an end of the end cap remote from the housing; one end of each threading is connected to the holding piece, and the other end of each threading penetrates through the end cover and sequentially penetrates through at least two deformation sheets along one end, close to the end cover, of the first direction; the traction beads penetrate through the threading ropes and are in one-to-one correspondence with the surfaces of the deformation pieces, far away from one side of the shell.
2. The abrasive striking and blasting robot arm of claim 1, wherein:
The air inlet passage is formed at one side of the housing adjacent to the pipe connection member in the first direction.
3. The abrasive striking and blasting robot arm of claim 1, wherein:
The inner wall of the shell forming the feeding space comprises a conical section; the conical section is positioned at one end of the feeding space far away from the pipeline connecting piece and is communicated with the spray head.
4. The abrasive striking and blasting robot arm of claim 1, wherein:
The periphery of the shell is circumferentially distributed and provided with a plurality of air inlet channels.
5. The abrasive striking and blast robot arm of claim 4, wherein:
The spray gun further comprises: a tracheal tube connection;
wherein the air pipe connecting piece is fixedly connected to the periphery of the shell; an air cavity is arranged in the air pipe connecting piece; one end of the air pipe connecting piece along the first direction is provided with an air pipe interface communicated with the air cavity; the air inlet channel is positioned in the air cavity and at one end of the air pipe connecting piece, which is far away from the air pipe interface.
6. A wear resistant material striking sandblasting robot arm according to any of claims 1 to 5, wherein:
The end part of one end, inserted into the feeding space, of the sealing element is located between one end, communicated with the feeding space, of the air inlet channel and the spray head along the first direction.
7. A wear resistant material striking sandblasting robot arm according to any of claims 1 to 5, wherein:
The spray gun further comprises: a scraping rod;
wherein the scraping rod is fixedly arranged at one end of the shell close to the spray head; the scraping rod is provided with a contact surface; the contact surface is in contact with the inner wall of the spray head.
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| CN202410327806.5A CN117943978B (en) | 2024-03-21 | 2024-03-21 | Movable arm of abrasive striking and sand blasting robot |
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| CN202410327806.5A CN117943978B (en) | 2024-03-21 | 2024-03-21 | Movable arm of abrasive striking and sand blasting robot |
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| CN117943978B true CN117943978B (en) | 2024-06-11 |
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| CN117943978A (en) | 2024-04-30 |
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