CN110714598B - Coating robot and control method thereof - Google Patents
Coating robot and control method thereof Download PDFInfo
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- CN110714598B CN110714598B CN201911249115.3A CN201911249115A CN110714598B CN 110714598 B CN110714598 B CN 110714598B CN 201911249115 A CN201911249115 A CN 201911249115A CN 110714598 B CN110714598 B CN 110714598B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
- E04F21/161—Trowels
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- 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
- B25J11/0075—Manipulators for painting or coating
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/245—Rotary power trowels, i.e. helicopter trowels
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
- Spray Control Apparatus (AREA)
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Abstract
The application provides a coating robot and a control method thereof, and relates to the technical field of building auxiliary instruments. The coating robot is used for coating a first target body and comprises a walking device, a scraping piece, an executing mechanism, a first distance detecting piece and a control system. The scraping member has a scraping surface. The scraping and coating piece is connected with the walking device through an actuating mechanism. The first distance detection piece is used for acquiring a first distance signal representing the distance between the first target body and the scraping surface. The control system is used for controlling the action of the actuating mechanism according to the first distance signal so as to adjust the distance between the scraping surface and the first target body to a first preset value. The coating robot can keep the distance between the first target body and the blade coating surface to be a first preset value all the time, and the coating thickness of the first target body is always the first preset value, so that the coating thickness is conveniently controlled, the coating thickness of each part of the first target body is kept consistent, and the phenomenon that the coating is too thin or too thick due to the height and the height of the ground is avoided.
Description
Technical Field
The application relates to the technical field of building auxiliary instruments, in particular to a coating robot and a control method thereof.
Background
Generally, the floor or wall surface is not an absolute plane, and there are some places where there are irregularities, and although the irregularities on the floor or wall surface are not particularly large and deep pits and projections, when the floor or wall surface is painted, these pits or projections affect the thickness of the coating, making it difficult to control the thickness of the coating layer.
Disclosure of Invention
The embodiment of the application provides a coating robot and a control method thereof, which aim to solve the problem that the coating thickness is difficult to control by the existing coating device.
In a first aspect, an embodiment of the present application provides a coating robot for coating a first target, including a walking device, a scraping member, an actuator, a first distance detecting member, and a control system. The scraping member has a scraping surface. The scraping and coating piece is connected with the walking device through an actuating mechanism. The first distance detection piece is used for acquiring a first distance signal representing the distance between the first target body and the scraping surface. The control system is used for controlling the action of the actuating mechanism according to the first distance signal so as to adjust the distance between the scraping surface and the first target body to a first preset value.
Among the above-mentioned technical scheme, first distance detection spare can detect scrapes the distance between face and the first target body, control system can scrape that first distance detection spare detects and scribble the distance between face and the first target body and compare with first default, when scraping the distance between face and the first target body and be greater than or be less than first default, control system control actuating mechanism action makes and scrapes the distance between face and the first target body and be equal to first default, make the distance between first target body and the scraping face remain first default all the time, the paint thickness of coating to first target body just is first default all the time, conveniently control coating thickness, make coating thickness everywhere of first target body keep unanimous, can not cause the coating to be too thin or the coating is too thick because of ground height fluctuation.
In addition, the coating robot of the embodiment of the application has the following additional technical characteristics:
in some embodiments of the first aspect of the present application, the first distance detection element comprises a first detection element and a second detection element, and the first distance signal comprises a first signal and a second signal; the first detection piece is used for acquiring a first signal representing a distance value between a first position on the blade coating surface and a first target body; the second detection piece is used for acquiring a second signal representing a distance value between a second position on the blade coating surface and the first target body; the control system is used for determining the distance average value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal, and the control system controls the actuating mechanism to act according to the distance average value so as to adjust the distance between the scraping surface and the first target body to a first preset value.
According to the technical scheme, the first signal is acquired through the first detection piece, the second signal is acquired through the second detection piece, the control system calculates the distance average value between the distance represented by the first signal and the distance represented by the second signal, and the control system controls the actuating mechanism to act according to the distance average value so as to adjust the distance between the scraping surface and the first target body to the first preset value, so that the coating thickness can be kept consistent, the distance detection and signal feedback times can be reduced, and the coating efficiency is improved.
In some embodiments of the first aspect of the present application, the blade member is rotatably coupled to the actuator, the blade surface is perpendicular to a rotation plane of the blade member, and the first sensing member and the second sensing member are respectively located on both sides of the rotation axis of the blade member.
Among the above-mentioned technical scheme, the blade coating spare can scrape the in-plane rotation of scribbling the face perpendicularly, can compensate the slope on ground, makes the blade coating spare can keep being parallel with ground well.
In some embodiments of the first aspect of the present application, the coating robot includes a second distance detecting member, the squeegee member having a first end in an extending direction thereof; the second distance detection piece is used for acquiring a second distance signal representing the distance between the first end and a second target body located in the extending direction of the scraping piece; the control system is used for controlling the actuating mechanism to act when the distance represented by the second distance signal is smaller than a second preset value, so that the distance between the first end and the second target body is adjusted to be larger than or equal to the second preset value.
In the technical scheme, the second distance detection piece can obtain a second distance signal representing the distance between the first end of the scraping piece and a second target body located in the extending direction of the scraping piece, when the distance represented by the second distance signal is smaller than a second preset value, the control system controls the actuating mechanism to act so as to adjust the distance between the first end and the second target body to be larger than or equal to the second preset value, the coating robot can be controlled to scrape the first target body well, and the second target body is prevented from colliding with the scraping piece due to the fluctuating deformation of the second target body.
In some embodiments of the first aspect, the coating robot includes a third distance detecting member, the squeegee member having a second end opposite to the first end in an extending direction thereof; the third distance detection piece is used for acquiring a third distance signal representing the distance between the second end and a third target body positioned in the extending direction of the scraping piece; the control system is used for controlling the actuating mechanism to act when the distance represented by the third distance signal is smaller than a third preset value, so that the distance between the second end and the third target body is adjusted to be larger than or equal to the third preset value.
In the technical scheme, the third distance detection piece can obtain a third distance signal representing the distance between the second end of the scraping piece and a third target body located in the extending direction of the scraping piece, when the distance represented by the third distance signal is smaller than a third preset value, the control system controls the actuating mechanism to act so as to adjust the distance between the second end and the third target body to be larger than or equal to the third preset value, the coating robot can be controlled to well scrape the first target body, and the third target body is prevented from colliding with the scraping piece due to the fluctuating deformation of the third target body.
In some embodiments of the first aspect of the present application, the blade coating is L-shaped, the blade coating comprising a first functional portion and a second functional portion connected to the first functional portion; the first distance detection piece is arranged on the first function part, and the execution mechanism is connected with the first function part; the scraping surface is arranged on the surface of the second functional part far away from the first functional part.
In the technical scheme, the scraping and coating piece is L-shaped, wherein the first distance detection piece is arranged on the first functional part, and the execution mechanism is connected with the first functional part; the scraping surface is arranged on the surface of the second functional part far away from the first functional part, so that the scraping piece has a wider scraping surface, and the execution function of the first distance detection piece is not influenced in the scraping process.
In a second aspect, an embodiment of the present application provides a control method for a coating robot, which is applied to the coating robot of any one of the embodiments of the first aspect, and includes receiving a first distance signal representing a magnitude of a distance between a scraping surface of a scraping member and a first target, and controlling an actuator to act according to the first distance signal, so as to adjust a distance between the scraping surface and the first target to a first preset value.
According to the technical scheme, the control method can effectively control the thickness of the coating robot to be coated to be consistent, and the phenomenon that the coating is too thin or too thick due to the height fluctuation of the surface to be coated of the first target body is avoided.
In some embodiments of the second aspect of the present application, receiving a first distance signal indicative of a magnitude of a distance between a doctoring surface of a doctoring element and a first target body comprises: receiving a first signal indicative of a magnitude of a distance between a first location on the doctoring surface and the first target and receiving a second signal indicative of a magnitude of a distance between a second location on the doctoring surface and the first target;
controlling the action of the actuating mechanism according to the first distance signal so as to adjust the distance between the scraping surface and the first target body to a first preset value, wherein the action comprises the following steps: and determining the distance average value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal, and controlling the action of the actuating mechanism according to the distance average value so as to adjust the distance between the scraping surface and the first target body to a first preset value.
Among the above-mentioned technical scheme, the distance average value control actuating mechanism action between the distance through the distance of first signal sign and the distance of second signal sign to will scrape the distance adjustment between scribbling the face and the first target body to first default, not only can make coating thickness keep unanimous, can also reduce distance detection and signal feedback number of times, improve coating efficiency.
In some embodiments of the second aspect of the present application, a method of controlling a coating robot includes: and receiving a second distance signal representing the distance between the first end of the scraping piece in the extending direction of the scraping piece and a second target body positioned in the extending direction of the scraping piece, and controlling the actuating mechanism to act when the distance represented by the second distance signal is smaller than a second preset value so as to adjust the distance between the first end and the second target body to be larger than or equal to the second preset value.
According to the technical scheme, a second distance signal representing the distance between the first end of the scraping piece and a second target body located in the extending direction of the scraping piece is obtained, when the distance represented by the second distance signal is smaller than a second preset value, the control system controls the actuating mechanism to act so as to adjust the distance between the first end and the second target body to be larger than or equal to the second preset value, the coating robot can be controlled to scrape the first target body well, and the second target body is not collided with the scraping piece due to the fluctuation and deformation of the second target body.
In some embodiments of the second aspect of the present application, a method of controlling a coating robot includes: and receiving a third distance signal representing the distance between the second end of the scraping piece in the extending direction of the scraping piece and a third target body positioned in the extending direction of the scraping piece, and controlling the actuating mechanism to act when the distance represented by the third distance signal is smaller than a third preset value so as to adjust the distance between the second end and the third target body to be larger than or equal to the third preset value.
According to the technical scheme, a third distance signal representing the distance between the second end of the scraping piece and a third target body located in the extending direction of the scraping piece is obtained, when the distance represented by the third distance signal is smaller than a third preset value, the control system controls the actuating mechanism to act so as to adjust the distance between the second end and the third target body to be larger than or equal to the third preset value, the coating robot can be controlled to scrape the first target body well, and the third target body is prevented from colliding with the scraping piece due to the fluctuating deformation of the third target body.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a coating robot provided in an embodiment of a first aspect of the present application;
FIG. 2 is a schematic view of the coating robot of FIG. 1 adjusting the distance between the doctoring surface and the ground;
FIG. 3 is a schematic structural diagram of another coating robot provided in an embodiment of the first aspect of the present application;
FIG. 4 is a schematic structural diagram of a coating robot provided in an embodiment of the first aspect of the present application, which is used in conjunction with an inclined floor;
FIG. 5 is a schematic view of the construction of the squeegee member of FIG. 1;
FIG. 6 is a schematic illustration of the structure of a blade coating in other embodiments;
fig. 7 is a relative positional relationship among a coating robot, a second target body, and a third target body according to an embodiment of the first aspect of the present application;
fig. 8 is a schematic view of another application of the coating robot in the embodiment of the first aspect of the present application.
Icon: 100-a coating robot; 10-a walking device; 20-scraping and coating; 21-a first end; 22-a second end; 23-a first functional part; 24-a second functional portion; 241-scraping and coating surface; 30-an actuator; 31-a first robot arm; 32-a second mechanical arm; 33-a third mechanical arm; 40-a first distance detection member; 41-a first detection member; 42-a second detection member; 50-a second distance detection member; 60-a third distance detection member; 200-a first target; 300-a second target; 400-a third target; a-a first direction; b-a second direction.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Examples
As shown in fig. 1, an embodiment of the first aspect of the present application provides a coating robot 100, the coating robot 100 is used for coating a first target 200, and the coating robot 100 includes a walking device 10, a blade coating member 20, an actuator 30, a first distance detecting member 40, and a control system. The squeegee member 20 has a squeegee face 241. The applicator element 20 is connected to the running gear 10 via an actuator 30. The first distance detector 40 is used to obtain a first distance signal that is characteristic of the distance between the first target 200 and the doctor blade 241. The control system is used for controlling the actuator 30 to act according to the first distance signal, so as to adjust the distance between the blade coating surface 241 and the first target 200 to a first preset value. The first distance detecting part 40 can detect the distance between the scraping surface 241 and the first target 200, the control system can compare the distance between the scraping surface 241 and the first target 200 detected by the first distance detecting part 40 with a first preset value, when the distance between the scraping surface 241 and the first target 200 is greater than or less than the first preset value, the control system controls the actuating mechanism 30 to act so that the distance between the scraping surface 241 and the first target 200 is equal to the first preset value, so that the distance between the first target 200 and the scraping surface 241 is always kept at the first preset value, the thickness for coating the first target 200 is always the first preset value, the coating thickness is conveniently controlled, the coating thickness at each part of the first target 200 is kept consistent, and the coating is not too thin or too thick due to the uneven ground.
The coating robot 100 is typically used to paint, etc. a floor or wall surface, although it is not excluded to coat other structures that require coating. In the present embodiment, the first target 200 is a ground surface by way of example of the ground coating.
In this embodiment, the walking device 10 is a base of the whole coating robot 100 and is used for installing other components, so that the coating robot 100 moves, and the walking device 10 may refer to the related art and is not described herein again. The walking device 10 can be driven by a person to walk, stop or steer the walking device 10, or can be controlled to walk, stop or steer the walking device by a signal. In the present embodiment, the running gear 10 is controlled in its operation by a control signal from the control system.
When the first distance detection piece 40 acquires a first distance signal and sends the first distance signal to the control system, the control system compares a distance value represented by the first distance signal with a first preset value set inside the control system, and when the distance value represented by the first distance signal is larger than the first preset value, the control system sends a control instruction to the execution mechanism 30, so that the execution mechanism 30 drives the blade coating plate to move towards the direction close to the ground until the distance value represented by the first distance signal is equal to the first preset value; when the distance value represented by the first distance signal is smaller than the first preset value, the control system sends a control instruction to the actuating mechanism 30, so that the actuating mechanism 30 drives the blade coating plate to move towards the direction far away from the ground until the distance value represented by the first distance signal is equal to the first preset value, the distance between the blade coating surface 241 and the ground is always kept at the first preset value, and the coating thickness can be uniform and consistent.
The output end of the actuator 30 is connected with the blade coating member 20, and the other end of the actuator 30 is connected with the traveling mechanism. The actuator 30 is capable of executing control signals from the control system to move the squeegee member 20. As shown in fig. 1, the actuator 30 includes a first arm 31, a second arm 32 and a third arm 33, the first arm 31 is rotatably connected to the traveling device 10, one end of the second arm 32 is rotatably connected to one end of the first arm 31 away from the traveling device 10, one end of the third arm 33 is rotatably connected to one end of the second arm 32 away from the first arm 31, and the blade coating member 20 is connected to one end of the third arm 33 away from the second arm 32. The control system can control the first mechanical arm 31, the second mechanical arm 32 and the third mechanical arm 33 to rotate relative to the respective rotating shafts so as to adjust the distance between the ground and the scraping surface 241.
When the distance value represented by the first distance signal is smaller than the first preset value, as shown in fig. 2, the first robot arm 31 rotates in the first direction a, the tape scraping member 20 moves, so that the distance between the scraping surface 241 and the ground is increased, at this time, the detection position of the first distance detecting member 40 on the ground moves from the original position M to the position M1, and the control system sends a control command to enable the second robot arm 32 to rotate in the second direction B, so that the detection position of the first distance detecting member 40 on the ground can return to the position M. When the distance value represented by the first distance signal is greater than the first preset value, the actuator 30 moves in a manner similar to the case where the distance value represented by the first distance signal is less than the first preset value.
Of course, the actuator 30 may also be configured in other manners, for example, the number of the robot arms of the actuator 30 may be two, four, or more than four, and it is understood that the actuator 30 may be a multi-axis robot. In order to adjust the distance between the scraping surface 241 and the ground conveniently, in some embodiments of the present application, the mechanical arm directly connected to the scraping member 20 is configured to be a telescopic structure, as shown in fig. 3, and the third mechanical arm 33 is configured to be a telescopic structure, when the distance between the scraping surface 241 and the ground needs to be adjusted, the control system can control the third mechanical arm 33 to be telescopic to adjust the distance between the scraping surface 241 and the ground without rotating and adjusting the distance as the first mechanical arm 31 and the second mechanical arm 32 rotate.
Optionally, with continued reference to fig. 1, the first distance detecting element 40 includes a first detecting element 41 and a second detecting element 42, and the first distance signal includes a first signal and a second signal; the first detecting member 41 is configured to acquire a first signal representing a distance value between a first position on the scraping surface 241 and the first target 200; the second detecting member 42 is configured to acquire a second signal indicative of a value of a distance between a second position on the scraping surface 241 and the first target 200; the control system is used for determining a distance average value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal, and the control system controls the actuating mechanism 30 to act according to the distance average value so as to adjust the distance between the knife coating surface 241 and the first target body 200 to a first preset value.
The first signal is obtained by the first detection piece 41, the second signal is obtained by the second detection piece 42, the control system calculates the average distance value between the distance represented by the first signal and the distance represented by the second signal, and the control system controls the actuating mechanism 30 to act according to the average distance value so as to adjust the distance between the knife coating surface 241 and the first target body 200 to the first preset value, so that the coating thickness can be kept consistent, the distance detection and signal feedback times can be reduced, and the coating efficiency is improved. It should be noted that, in this embodiment, the first preset value is compared with an average distance value between the distance represented by the first signal and the distance represented by the second signal, and it is determined whether the average distance value is equal to the first preset value. The first predetermined value is an average of the distances between the first signal characteristic and the second signal characteristic, i.e., represents the distance between the scraping surface 241 and the first target 200.
The distance between the scraping surface 241 and the ground is not required to be absolutely equal to the first preset value, and the distance is controlled within a reasonable precision range, wherein in the embodiment, the allowable error range of the first preset value is-0.1 mm.
Referring to fig. 1 and 4, the coating member 20 is rotatably connected to the actuator 30, the coating surface 241 is perpendicular to the rotation plane of the coating member 20, and the first detecting member 41 and the second detecting member 42 are respectively located at two sides of the rotation axis of the coating member 20. The blade 20 can rotate in the plane perpendicular to the blade surface 241 to compensate for the inclination of the floor surface, so that the blade 20 can be perfectly parallel to the floor surface.
In the present embodiment, as shown in fig. 5, the blade member 20 is L-shaped, and the blade member 20 includes a first functional portion 23 and a second functional portion 24 connected to the first functional portion 23; the first distance detector 40 is arranged on the first functional part 23, and the actuating mechanism 30 is connected with the first functional part 23; the scraping surface 241 is provided on a surface of the second functional portion 24 away from the first functional portion 23. The scraping and coating part 20 is L-shaped, wherein the first distance detection part 40 is arranged on the first function part 23, and the execution mechanism 30 is connected with the first function part 23; the scraping surface 241 is disposed on the surface of the second functional portion 24 away from the first functional portion 23, which not only enables the scraping element 20 to have a wider scraping surface 241, but also enables the function of the first distance detecting element 40 to be not affected during the scraping process.
In other embodiments, the blade 20 can be in other forms, such as, for example, a T-shaped configuration for the blade 20 as shown in FIG. 6.
Further, referring to fig. 1, 7, the coating robot 100 further includes a second distance detecting member 50, and the blade member 20 has a first end 21 in an extending direction thereof; the second distance detecting member 50 is for acquiring a second distance signal indicative of a distance between the first end 21 and a second target 300 located in the extending direction of the squeegee member 20; the control system is used for controlling the actuating mechanism 30 to act when the distance represented by the second distance signal is smaller than a second preset value, so as to adjust the distance between the first end 21 and the second target body 300 to be larger than or equal to the second preset value. The second distance detecting element 50 can obtain a second distance signal representing a distance between the first end 21 of the squeegee element 20 and the second target 300 located in the extending direction of the squeegee element 20, and when the distance represented by the second distance signal is smaller than a second preset value, the control system controls the actuator 30 to operate so as to adjust the distance between the first end 21 and the second target 300 to be greater than or equal to the second preset value, so that the coating robot 100 can be controlled to coat the first target 200 well, and the second target 300 does not collide with the squeegee element 20 due to the up-and-down deformation of the second target 300.
In this embodiment, the first target 200 is a ground surface, and the second target 300 is a vertical wall surface corresponding to the first end 21 of the scraping member 20.
Further, with continued reference to fig. 7, the coating robot 100 comprises a further third distance detection element 60, the blade member 20 having in its extension direction a second end 22 opposite the first end 21; the third distance detecting member 60 is for acquiring a third distance signal indicative of a distance between the second end 22 and a third target 400 located in the extending direction of the squeegee member 20; the control system is configured to control the actuator 30 to operate when the distance represented by the third distance signal is less than a third preset value, so as to adjust the distance between the second end 22 and the third target 400 to be greater than or equal to the third preset value. The third distance detecting element 60 can obtain a third distance signal representing the distance between the second end 22 of the squeegee element 20 and the third target 400 located in the extending direction of the squeegee element 20, and when the distance represented by the third distance signal is smaller than a third preset value, the control system controls the actuator 30 to operate so as to adjust the distance between the second end 22 and the third target 400 to be greater than or equal to the third preset value, so that the coating robot 100 can be controlled to coat the first target 200 well, and the third target 400 does not collide with the squeegee element 20 due to the up-and-down deformation of the third target 400.
The third target 400 is a vertical wall that corresponds to the second end 22 of the blade 20.
It should be noted that the second preset value and the third preset value are not only safe distances at which the first end 21 and the second end 22 of the scraping member 20 do not collide with the second target 300 and the third target 400, respectively, but also ensure that the areas near the first target 200 and the second target 300 can be scraped, thereby ensuring the construction effect. Here, a relative distance between the first end 21 of the blade coating member 20 and the second target 300 is used for explanation, and when the distance between the first end 21 and the second target 300 is smaller than a second preset value, the control system controls the actuator 30 or the traveling device 10 to move so that the blade coating member 20 moves away from the second target 300; when the distance between the first end 21 and the second target 300 is greater than the second predetermined value, the scraping member 20 does not collide with the second target 300, however, there may be an excessive distance between the first end 21 and the second target 300, so that the area near the second target 300 is not scraped, and therefore, the control system controls the traveling device 10 or the actuator 30 to move the scraping member 20 toward the second target 300, so that the distance between the first end 21 and the second target 300 is at the second predetermined value, thereby ensuring that the first target 200 can be scraped in the largest range, and ensuring the construction effect. The adjustment of the relative distance between the second end 22 of the squeegee member 20 and the third target 400 can refer to the adjustment of the relative distance between the first end 21 of the squeegee member 20 and the second target 300, and will not be described herein.
In other embodiments, when the first target 200 is a vertical wall, as shown in FIG. 8, the second target 300 and the third target 400 are the floor and ceiling of the blade member 20 at either end of its extension.
In the present embodiment, the first distance detecting member 40 (the first detecting member 41, the second detecting member 42), the second distance detecting member 50 and the third distance detecting member 60 include, but are not limited to, a laser ranging sensor, an ultrasonic ranging sensor, a capacitive proximity sensor, an inductive proximity sensor, a visual sensor.
In an embodiment of the second aspect, the present application provides a control method for a coating robot 100, which is used for the coating robot 100 in any embodiment of the first aspect, and includes the following steps:
s100: receiving a first distance signal indicative of the magnitude of the distance between the doctoring surface 241 of the doctoring element 20 and the first target body 200;
s200: and controlling the actuator 30 to act according to the first distance signal so as to adjust the distance between the scraping surface 241 and the first target 200 to a first preset value.
By the control method, the thickness coated by the coating robot 100 can be effectively controlled to be consistent, and the coating layer is not too thin or too thick due to the height fluctuation of the surface to be coated of the first target body 200.
In the present embodiment, the first distance signal is obtained by the first distance detecting member 40, and the control of the actuator 30 by receiving the first distance signal and controlling the operation thereof according to the first distance signal is performed by the control system.
Further, the S100 step includes: s101: receiving a first signal indicative of an amount of distance between a first location on the doctoring surface 241 and the first target 200; and S102: receiving a second signal indicative of an amount of distance between a second location on the doctoring surface 241 and the first target 200;
the step S200 comprises the following steps: and determining a distance average value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal, and controlling the actuating mechanism 30 to act according to the distance average value so as to adjust the distance between the knife coating surface 241 and the first target body 200 to a first preset value.
The actuator 30 is controlled to act through the average value of the distances between the distance represented by the first signal and the distance represented by the second signal, so that the distance between the blade coating surface 241 and the first target body 200 is adjusted to the first preset value, the coating thickness can be kept consistent, the distance detection and signal feedback times can be reduced, and the coating efficiency is improved.
In the present embodiment, the first signal is obtained by the first detecting member 41, the second signal is obtained by the second detecting member 42, the first distance signal is received and the distance average value is determined based on the first distance signal, and the control of the actuator 30 based on the distance average value is performed by the control system.
Further, the control method of the coating robot 100 further includes: receiving a second distance signal indicative of a distance between the first end 21 of the squeegee member 20 in the direction of extension thereof and a second target 300 located in the direction of extension of the squeegee member 20 and controlling the actuator 30 to act to adjust the distance between the first end 21 and the second target 300 to be greater than or equal to a second preset value when the distance indicated by the second distance signal is less than the second preset value. And acquiring a second distance signal representing the distance between the first end 21 of the scratch coating piece 20 and the second target body 300 located in the extending direction of the scratch coating piece 20, and when the distance represented by the second distance signal is smaller than a second preset value, controlling the actuating mechanism 30 to act by the control system so as to adjust the distance between the first end 21 and the second target body 300 to be larger than or equal to the second preset value, so that the coating robot 100 can be controlled to well scrape the first target body 200, and the second target body 300 does not collide with the scratch coating piece 20 due to the fluctuation and deformation of the second target body 300.
In the present embodiment, the second distance signal is obtained by the second distance detecting element 50, and the receiving of the second distance signal and the controlling of the actuator 30 according to the second distance signal are performed by the control system. Further, the control method of the coating robot 100 further includes: receiving a third distance signal indicative of a distance between the second end 22 of the squeegee member 20 in the direction of extension thereof and a third target 400 located in the direction of extension of the squeegee member 20 and controlling the actuator 30 to act to adjust the distance between the second end 22 and the third target 400 to be greater than or equal to the third preset value when the distance indicated by the third distance signal is less than the third preset value. And acquiring a third distance signal representing the distance between the second end 22 of the scratch coating piece 20 and a third target body 400 positioned in the extending direction of the scratch coating piece 20, and when the distance represented by the third distance signal is smaller than a third preset value, controlling the actuating mechanism 30 to act by the control system so as to adjust the distance between the second end 22 and the third target body 400 to be larger than or equal to the third preset value, so that the coating robot 100 can be controlled to well scrape the first target body 200, and the third target body 400 does not collide with the scratch coating piece 20 due to the fluctuation and deformation of the third target body 400.
In the present embodiment, the third distance signal is obtained by the third distance detecting member 60, and the control of the actuator 30 according to the third distance signal is performed by the control system.
The control method in the embodiment can ensure that the two ends of the scraping and coating piece 20 in the extending direction do not collide with each other to ensure the coating quality. When the distance between the first end 21 and the second target body 300 is equal to the second preset value and/or the distance between the second end 22 and the third target body 400 is equal to the third preset value, the first target body 200 can be blade-coated in the largest range, and a large area of non-blade-coated area does not appear, so that the construction effect is ensured, and therefore, the second preset value and the third preset value are not only safe distance values at which the first end 21 and the second end 22 of the blade coating member 20 do not collide with the second target body 300 and the third target body 400 respectively, but also limit values for encircling the largest blade-coating range of the first target body 200.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A coating robot for coating a first target, comprising:
a traveling device;
a doctoring piece having a doctoring face;
the scraping and coating piece is connected with the walking device through the execution mechanism;
the first distance detection piece is used for acquiring a first distance signal representing the distance between the first target body and the scraping surface; and
the control system is used for controlling the actuating mechanism to act according to the first distance signal so as to adjust the distance between the scraping surface and the first target body to a first preset value;
the first distance detection member comprises a first detection member and a second detection member, and the first distance signal comprises a first signal and a second signal;
the first detection piece is used for acquiring the first signal representing the distance value between a first position on the scraping surface and the first target body;
the second detection piece is used for acquiring a second signal representing a distance value between a second position on the blade coating surface and the first target body;
the control system is used for determining a distance average value of a distance value represented by the first signal and a distance value represented by the second signal according to the first signal and the second signal, and the control system controls the actuating mechanism to act according to the distance average value so as to adjust the distance between the scraping surface and the first target body to the first preset value;
the scraping and coating piece is rotatably connected to the executing mechanism, the scraping and coating surface is perpendicular to the rotating plane of the scraping and coating piece, and the first detection piece and the second detection piece are respectively located on two sides of the rotating axis of the scraping and coating piece.
2. The coating robot according to claim 1, wherein the coating robot includes a second distance detecting member, the squeegee member having a first end in an extending direction thereof;
the second distance detection piece is used for acquiring a second distance signal representing the distance between the first end and a second target body located in the extending direction of the scraping piece;
the control system is used for controlling the actuating mechanism to act when the distance represented by the second distance signal is smaller than a second preset value, so that the distance between the first end and the second target body is adjusted to be larger than or equal to the second preset value.
3. The coating robot according to claim 2, characterized in that the coating robot includes a third distance detecting member, the squeegee member having a second end opposite to the first end in an extending direction thereof;
the third distance detection piece is used for acquiring a third distance signal representing the distance between the second end and a third target body located in the extending direction of the scraping piece;
the control system is used for controlling the actuating mechanism to act when the distance represented by the third distance signal is smaller than a third preset value, so that the distance between the second end and the third target body is adjusted to be larger than or equal to the third preset value.
4. The coating robot of claim 1, wherein the blade is L-shaped, the blade comprising a first functional portion and a second functional portion connected to the first functional portion;
the first distance detection piece is arranged on the first function part, and the actuating mechanism is connected with the first function part;
the scraping surface is arranged on the surface of the second functional part far away from the first functional part.
5. A control method of a coating robot for the coating robot according to any one of claims 1 to 4, characterized by comprising:
receiving a first distance signal representing the distance between the scraping surface of the scraping piece and the first target body; and
controlling an actuating mechanism to act according to the first distance signal so as to adjust the distance between the scraping surface and the first target body to a first preset value;
receiving a first distance signal indicative of a magnitude of a distance between a doctoring surface of a doctoring article and a first target, comprising:
receiving a first signal indicative of a magnitude of a distance between a first location on the blade surface and the first target volume; and
receiving a second signal indicative of an amount of distance between a second location on the blade surface and the first target volume;
controlling the action of the executing mechanism according to the first distance signal so as to adjust the distance between the scraping surface and the first target body to a first preset value, wherein the executing mechanism comprises:
determining a distance average value of a distance value represented by the first signal and a distance value represented by the second signal according to the first signal and the second signal, and controlling the actuating mechanism to act according to the distance average value so as to adjust the distance between the scraping surface and the first target body to the first preset value;
the scraping and coating piece is rotatably connected to the executing mechanism, the scraping and coating surface is perpendicular to the rotating plane of the scraping and coating piece, and the first detection piece and the second detection piece are respectively located on two sides of the rotating axis of the scraping and coating piece.
6. The control method of a coating robot according to claim 5, comprising: receiving a second distance signal indicative of a distance between a first end of the squeegee member in a direction of extension thereof and a second target located in the direction of extension of the squeegee member; and
and when the distance represented by the second distance signal is smaller than a second preset value, controlling the actuating mechanism to act so as to adjust the distance between the first end and the second target body to be larger than or equal to the second preset value.
7. The control method of a coating robot according to claim 6, comprising: receiving a third distance signal indicative of a distance between a second end of the squeegee member in the direction of extension thereof and a third target located in the direction of extension of the squeegee member; and
and when the distance represented by the third distance signal is smaller than a third preset value, controlling the actuating mechanism to act so as to adjust the distance between the second end and the third target body to be larger than or equal to the third preset value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249115.3A CN110714598B (en) | 2019-12-09 | 2019-12-09 | Coating robot and control method thereof |
| PCT/CN2020/123289 WO2021114894A1 (en) | 2019-12-09 | 2020-10-23 | Coating robot and control method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911249115.3A CN110714598B (en) | 2019-12-09 | 2019-12-09 | Coating robot and control method thereof |
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| CN110714598B true CN110714598B (en) | 2020-06-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110714598B (en) * | 2019-12-09 | 2020-06-05 | 广东博智林机器人有限公司 | Coating robot and control method thereof |
| CN114457987A (en) * | 2020-11-09 | 2022-05-10 | 广东博智林机器人有限公司 | Blade coating method, blade coating apparatus, and computer-readable storage medium |
| CN114541712A (en) * | 2020-11-24 | 2022-05-27 | 广东博智林机器人有限公司 | Working method, device, equipment and medium of terrace equipment |
| CN114775977B (en) * | 2021-01-22 | 2023-08-15 | 广东博智林机器人有限公司 | Working method and device of terrace equipment, terrace equipment and medium |
| CN115324315B (en) * | 2021-05-10 | 2023-10-20 | 广东博智林机器人有限公司 | Operation control method and device of floor paint coating robot |
| CN115318469B (en) * | 2022-08-29 | 2023-06-16 | 江西万橡家具集团有限公司 | Surface plastic spraying device for processing steel-wood furniture |
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| CN101956451A (en) * | 2010-09-29 | 2011-01-26 | 朱长江 | Plastering device |
| DE102012017062A1 (en) * | 2012-08-29 | 2014-03-06 | Dieter Faude | Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal |
| CN103628662A (en) * | 2013-12-12 | 2014-03-12 | 三一汽车制造有限公司 | Wall surface spraying machine and operation equipment |
| CN207700629U (en) * | 2017-12-25 | 2018-08-07 | 长安大学 | A kind of automatic cement is whitewashed a wall vehicle |
| CN110017011A (en) * | 2019-05-21 | 2019-07-16 | 广东博智林机器人有限公司 | Spray robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110714598B (en) * | 2019-12-09 | 2020-06-05 | 广东博智林机器人有限公司 | Coating robot and control method thereof |
-
2019
- 2019-12-09 CN CN201911249115.3A patent/CN110714598B/en active Active
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2020
- 2020-10-23 WO PCT/CN2020/123289 patent/WO2021114894A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101956451A (en) * | 2010-09-29 | 2011-01-26 | 朱长江 | Plastering device |
| DE102012017062A1 (en) * | 2012-08-29 | 2014-03-06 | Dieter Faude | Manipulator for supporting people during e.g. process workflows, has pivots and/or arm arranged for movement in space, and process unit arranged at arm and regulated and/or controlled by measurement unit that sends and receives signal |
| CN103628662A (en) * | 2013-12-12 | 2014-03-12 | 三一汽车制造有限公司 | Wall surface spraying machine and operation equipment |
| CN207700629U (en) * | 2017-12-25 | 2018-08-07 | 长安大学 | A kind of automatic cement is whitewashed a wall vehicle |
| CN110017011A (en) * | 2019-05-21 | 2019-07-16 | 广东博智林机器人有限公司 | Spray robot |
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| WO2021114894A1 (en) | 2021-06-17 |
| CN110714598A (en) | 2020-01-21 |
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