Rigid-flexible coupled multi-hole spray gun device with variable size for spraying robot

Patent metadata

Field	Value
Publication number	US-12465941-B2
Application number	US-202318700714-A
Country	US
Kind code	B2
Filing date	Apr 28, 2023
Priority date	Feb 24, 2023
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

A rigid-flexible coupled multi-hole spray gun device with variable size for a spraying robot is disclosed in the present disclosure, which is relates to the field of the spraying robot. The spray device includes a rigid-flexible coupled deformable bracket, a spray head assembly and a spray gun base. The rigid-flexible coupled deformable bracket is configured to connect the spray head assembly and the spray gun base. The spray gun is controlled by the motor to implement the deformation with the axial telescopic and the axial bending, as well as the deformation in increasing or decreasing the cross-sectional area. The partitioned spray holes of the spray head assembly is matchable with the change of the diameter of the elastic paint supply pipe to adjust the spraying width of the spray gun. A driving unit and a paint supply assembly are arranged in the spay gun base.

First claim

What is claimed is:

1 . A rigid-flexible coupled multi-hole spray gun device with variable size for a spraying robot, comprising a rigid-flexible coupled deformable bracket, a spray head assembly, a spray gun base, and further including a paint supply assembly, wherein
the rigid-flexible coupled deformable bracket includes rigid-flexible coupled elastic split-bodies with a number of N, N>2, the N rigid-flexible coupled elastic split-bodies are distributed along a circumferential direction, and a twin threaded rod is arranged between two adjacent rigid-flexible coupled elastic split-bodies along a circumferential direction, threads of the twin threaded rod are divided into two threaded segments with opposite rotating directions, the two threaded segments of the twin threaded rod are rotatably installed in the two corresponding rigid-flexible coupled elastic split-bodies respectively, and one end of each of the rigid-flexible coupled elastic split-bodies in a same direction is respectively connected to the spray gun base through a first guide rail pair, each of the rigid-flexible coupled elastic split-bodies is restored to an original shape of the rigid-flexible coupled elastic split-body under an elastic action, the rigid-flexible coupled deformable bracket is restored to an original shape of the rigid-flexible coupled deformable bracket as a whole, when the twin threaded rod is rotated, the two corresponding rigid-flexible coupled elastic split-bodies are moved away from a central axis of the rigid-flexible coupled deformable bracket or approximate to the central axis of the rigid-flexible coupled deformable bracket; the spray head assembly includes a plurality of nozzles and nozzle installation components configured to install the nozzles, in the rigid-flexible coupled deformable bracket, another end of each of the rigid-flexible coupled elastic split-bodies in a same direction is connected to the nozzle installation component through a second guide rail pair; and the paint supply assembly is configured to deliver spray paint to the nozzles in the spray head assembly.

2 . The rigid-flexible coupled multi-hole spray gun device with variable size for the spraying robot according to claim 1 , the rigid-flexible coupled deformable bracket is divided into a M-layered rigid ring body, M>2, each layer of the rigid ring body is equally divided into rigid sub-bodies with a number of N in the circumferential direction, and a corresponding layer of the rigid ring body is formed by combining the N rigid sub-bodies in the circumferential direction, the twin threaded rod is arranged between the two circumferentially adjacent rigid sub-bodies in each layer of the rigid ring body, the two threaded segments of the twin threaded rod are rotatably installed in the two corresponding rigid sub-bodies, respectively;
circumferential positions of the rigid sub-bodies in the M-layered rigid ring body are in one-to-one correspondence, M layers of the rigid sub-bodies corresponding to each circumferential position are taken as a sub-body group, so that N sub-body groups are formed by the rigid sub-bodies in each layer of the M rigid ring body, and each of the sub-body groups includes the M layers of the rigid sub-bodies; at least one rigid telescopic component and at least two elastic components are arranged between two adjacent layers of the rigid sub-bodies in each of the sub-body groups, both ends of the rigid telescopic component are respectively ball-hinged to two corresponding layers of the rigid sub-bodies, both ends of the elastic components are respectively fixedly connected to two corresponding layers of the rigid sub-bodies, the rigid-flexible coupled elastic split-body is formed by the M layers of the rigid sub-bodies, the rigid telescopic component.

3 . The rigid-flexible coupled multi-hole spray gun device with variable size for the spraying robot according to claim 1 , wherein the device further includes dual-output motors, the dual-output motors are arranged on the spray gun base, each of the dual-output motors is connected to each of the rigid-flexible coupled elastic split-bodies through a flexible connector to connect to one end of the nozzle installation component, the dual-output motors pulls and act on the rigid-flexible coupled elastic split-body through the flexible connector to drive the rigid-flexible coupled elastic split-body for deforming in elastic contracting, when all the rigid-flexible coupled elastic split-bodies are driven by the dual-output motors to deform in elastic contracting, the rigid-flexible coupled deformable bracket is deformed in contracting as a whole.

4 . The rigid-flexible coupled multi-hole spray gun device with variable size for the spraying robot according to claim 3 , the number of dual-output motors is N, the N dual-output motors are distributed along a circumferential direction and positions of the N dual-output motors are in one-to-one correspondence with positions between the two circumferentially adjacent rigid-flexible coupled elastic split-bodies, and two output shafts of each of the dual-output motors are respectively wound with ropes, the ropes are taken as the flexible connectors;
one end of each of the ropes is respectively fixed to one end of the corresponding penetrated rigid-flexible coupled elastic split-body configured to connect with the nozzle installation component.

5 . The rigid-flexible coupled multi-hole spray gun device with variable size for the spraying robot according to claim 1 , the device further includes single-output motors, the single-output motors are arranged on the spray gun base, each of the single-output motors is connected to each of the twin threaded rod through transmission components, and the twin threaded rod is driven by the single-output motors through the transmission components to rotate.

6 . The rigid-flexible coupled multi-hole spray gun device with variable size for the spraying robot according to claim 5 , the number of the single-output motors is N, the N single-output motors are distributed along a circumferential direction and the positions of the N single-output motors are in one-to-one correspondence with the positions between the two circumferentially adjacent rigid-flexible coupled elastic split-bodies, an output shaft of each of the single-output motors is respectively wound with a transmission belt, and the transmission belt is taken as the transmission component, and the number of the transmission belts wound on each of the single-output motors is same as the number of the twin threaded rod between the two circumferentially adjacent rigid-flexible coupled elastic split-bodies; and
the transmission belt of each of the single-output motors is correspondingly wound on the twin threaded rod between the two rigid-flexible coupled elastic split-bodies one by one, so that each of the single-output motors is in transmission-connection with each of the twin threaded rod between the two rigid-flexible coupled elastic split-bodies corresponding to the single-output motor through the transmission belt, and each of the twin threaded rod is driven by the corresponding single-output motor to rotate through the transmission belt.

7 . The rigid-flexible coupled multi-hole spray gun device with variable size for the spraying robot according to claim 1 , the paint supply assembly includes elastic paint supply pipes, and orifices of the elastic paint supply pipes are in communication with the nozzles in the nozzle assembly, and paint liquids are delivered to the nozzles by the paint supply assembly through the elastic paint supply pipes; and
in the rigid-flexible coupled deformable bracket, an inner side of each of the rigid-flexible coupled elastic split-bodies is respectively connected to an circumferential ou

Assignees

• Univ Hefei Technology

Inventors

• Zi Bin
• Wang Jingyuan
• Xu Feng
• Li Yuan
• Zhou Bin
• Qian Sen
• Zhao Jiahao

Classifications

• B05B1/14

  with multiple outlet openings (B05B1/02, B05B1/26 take precedence); with strainers in or outside the outlet opening · CPC title

• B05B15/652

  whereby the jet can be oriented · CPC title

• 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 · CPC title

• B25J11/0075

  Manipulators for painting or coating · CPC title

• B05B15/68 Primary

  Arrangements for adjusting the position of spray heads (B05B15/628, B05B15/652, B05B15/656 take precedence) · CPC title