JPH0217313B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a dust-proofing device for a signal emitting and receiving surface of a sensor, which forms a jet of air ahead of the signal emitting and receiving surfaces of the sensor.

For example, industrial robots (spraying robots) are used to automatically spray mortar and refractories onto buildings.

This spray robot is equipped with an optical sensor and an ultrasonic sensor that measure the distance between the spray nozzle provided at the tip of the arm of the robot and the surface to be sprayed.

However, such spraying robots have the problem that mortar, refractories, dust, etc. adhere to the signal transmitting and receiving surfaces of the optical sensor and ultrasonic sensor, reducing the sensor's function in a short period of time. It was hot.

This invention was made in view of the above circumstances,
Air is ejected from an inner space nozzle provided in an air nozzle device having a mounting part to keep the inner space of the air nozzle device in a pressurized state at all times, and air is ejected from both the inner space nozzle and the tip nozzle. By forming jets in the front direction and circumferential direction of the air nozzle device, and further interfering the air jets from both nozzles at the center of the air nozzle device,
The purpose of the present invention is to provide a dust prevention device for the signal emitting and receiving surface of a sensor that can prevent mortar, refractories, dust, etc. from adhering to the signal emitting and receiving surfaces of the sensor when an air nozzle device is attached to the sensor. shall be.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. Reference numeral 1 in FIG. 1 denotes an air nozzle device consisting of a substantially cylindrical cylindrical body 2. As shown in FIG. Cylindrical body 2
An inner flange 3 and an inner flange 4 are formed at the proximal end and the distal end, respectively, and an inner space 5 is formed between these inner flanges 3 and 4. The inner flange 3 is formed with a female thread (attachment portion) 7 for attaching the air nozzle device 1 to a sensor 6 provided on an industrial robot (spraying robot) or the like. The sensor 6 has a signal transmitting surface or a signal receiving surface 8 formed thereon.

Inside the peripheral wall 9 of the cylindrical body 2, they are located on the proximal end side of the cylindrical body 2 and are arranged at predetermined intervals in the circumferential direction of the cylindrical body 2. internal rules) 5
A large number of inner space nozzles 10 are formed which open into the inner space. Further, inside the peripheral wall 9 of the cylindrical body 2, the cylindrical body 2
A large number of tip nozzles are located on the tip side of the cylindrical body 2 at predetermined intervals in the circumferential direction of the cylindrical body 2, and further open on the inner circumferential surface of the inner flange 4 (inner rule of the peripheral wall 9). 11 is formed. The inner space nozzle 10 and the tip nozzle 11 are formed spaced apart from each other, and in both cases, the opening is located toward the tip of the cylindrical body 2 from the base end (the end opposite to the opening). Therefore, the tip nozzle 11 is formed to be inclined toward the front with respect to the axis of the cylindrical body 2, and the tip nozzle 11 is formed to be inclined in the circumferential direction with respect to the radial direction of the cylindrical body 2, as shown in FIG. has been done. Further, the large number of inner space nozzles 10 and the large number of tip nozzles 11 are communicated with each other through an annular communication passage 12 formed in the peripheral wall 9 and concentrically with the peripheral wall 9. Further, an air supply port 13 is formed in the peripheral wall 9 and communicates with the communication path 12 and is connected to an air pressure source (not shown). Note that 14 in FIG. 1 is a seal ring.

When using the sensor signal emitting/receiving surface dustproof device configured as described above, the female screw 7 is screwed into the female screw of the sensor 6 attached to the tip of the arm of the spray robot, and the sensor 6 is connected to the air nozzle device. 1 is attached, air is supplied from a pneumatic source to the air supply port 13, and mortar or refractory is sprayed from the spray nozzle provided at the tip of the arm to the object to be sprayed (not shown). Spray. At this time, the pressurized air supplied to the air supply port 13 passes through the communication passage 12 and is ejected from the inner space nozzle 10 into the inner space 5 to keep the inside of this inner space 5 in a pressurized state at all times, and the tip Air is ejected from the nozzle 11 to the front of the cylindrical body 2, forming a jet of air there. At this time, the tip nozzle 11 is not only inclined forward along the axis of the cylindrical body 2, but also in the circumferential direction with respect to the radial direction of the cylindrical body 2, so that the tip nozzle 11 The jet of air from the nozzle 11 becomes a vortex flowing toward the front of the cylindrical body 2. Therefore, if droplets of relatively large specific gravity such as spray mortar or refractory material sprayed from a spray nozzle (not shown) are reflected on the object to be sprayed and fly toward this nozzle device 1, or dust etc. Even if they are floating around the device 1, the sprayed mortar, refractories, dust, etc. are swept forward by the air jet and cannot approach the nozzle device 1. In particular, in this nozzle device 1, the air jet from the inner space nozzle 10 and the air jet from the tip nozzle 11 interfere within the inner space 5 and the inner flange 4, so that the above-mentioned The effect will be more certain. Further, since the inside of the inner space 5 is under pressure as described above, sprayed mortar and the like are prevented from entering into the inner space 5 from this surface as well. This prevents mortar, refractories, dust, etc. from adhering to the signal transmitting surface or signal receiving surface of the sensor 6.

In addition, in the embodiment, the inner space nozzle 1
Although a large number of nozzles 0 are arranged in the circumferential direction of the cylindrical body 2, the inner space nozzle 10 may be a tapered groove without being limited thereto.

As explained above, according to the present invention, air is ejected from the inner space nozzle and the tip nozzle provided in the air nozzle device having the attachment part, so that the inner space of the air nozzle device is constantly pressurized, and the air nozzle Since the configuration is such that jets are formed in the front direction and circumferential direction of the device, and the air jets from both the nozzles are made to interfere at the center of the air nozzle device,
By attaching an air nozzle device to the sensor installed at the end of the arm of the spray robot, when mortar, refractories, etc. are sprayed onto the object to be sprayed from the spray nozzle installed in the spray robot, mortar, refractories, etc. Objects, dust, etc. are blocked by the air jet and cannot enter the air nozzle device, thus preventing these mortar, refractories, dust, etc. from adhering to the signal transmitting surface and signal receiving surface of the sensor. be able to. As a result, the function of the sensor can be fully demonstrated at all times, and a constant spray nozzle interval can always be maintained for the complex spray surface shape of the object to be sprayed, resulting in good spraying of mortar, refractories, etc. Furthermore, it can be applied to a tunnel cross-section measuring device in a tunnel with a lot of dust.

[Brief explanation of drawings]

FIG. 1 is a longitudinal sectional view showing an embodiment of the present invention;
2 is a sectional view taken along the - line in FIG. 1, and FIG. 3 is a sectional view taken along the - line in FIG. 1. 2... Cylindrical body, 6... Sensor, 7... Female thread (attachment part), 8... Signal transmitting surface or signal receiving surface, 9... Peripheral wall, 10... Inner space nozzle, 11... Tip nozzle,
12...Communication path, 13...Air supply port.

Claims (1)

[Claims] 1 A cylindrical body having a mounting portion for a sensor formed on the base end side, and a nozzle provided in a peripheral wall of this cylindrical body and formed to open inside this peripheral wall, The nozzle includes an inner space nozzle and a tip nozzle that are formed at the base end and the tip of the cylindrical body in a spaced-apart manner, and the inner space nozzle and the tip nozzle are formed on the peripheral wall. A dust-proofing device for the signal emitting and receiving surface of a sensor, which has a communication path formed therein to communicate the base end with the sensor, and an air supply port that communicates with the communication path and is connected to a pneumatic source. Each of the inner space nozzle and the tip nozzle is inclined forward with respect to the axis of the cylindrical body by having an opening located closer to the tip of the cylindrical body than the base end thereof. 1. A dust-proof device for a signal emitting and receiving surface of a sensor, characterized in that the tip nozzle is formed so as to be inclined in the circumferential direction with respect to the radial direction of the cylindrical body.