CN214234657U

CN214234657U - Movable paint spraying robot for spraying at side position

Info

Publication number: CN214234657U
Application number: CN202023309036.8U
Authority: CN
Inventors: 耿涛; 原正鑫; 李杨
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-09-21
Anticipated expiration: 2030-12-31

Abstract

The utility model provides a portable painting robot of side position spraying, including automobile body, lift, arm and spray gun, the lift is installed in the automobile body top, and the arm passes through flange joint in lift, spray gun and arm end-to-end connection. The movable paint spraying robot moves on the ground through the movable trolley, keeps parallel to a to-be-sprayed surface or is parallel to the tangential direction of the to-be-sprayed surface in the moving process, sprays a height position of the left side or the right side of the traveling direction in the traveling process, after the spray gun finishes spraying the paint on the wall or the same height of a structural member, the movable paint spraying robot adjusts the spraying height, then the new height position of the to-be-sprayed member on the same side is sprayed, the robot conducts the actions in a reciprocating circulating mode through adjusting the spraying height and the traveling direction, continuous and uniform spraying within a large area range is achieved, and the paint spraying efficiency and quality are improved.

Description

Movable paint spraying robot for spraying at side position

Technical Field

The utility model belongs to the spraying field particularly relates to a portable painting robot.

Background

At present, manual spraying is generally adopted for paint spraying operation of building construction indoor decoration. The spray is applied to the surface of the object to be coated by dispersing into uniform and fine droplets by means of a spray gun or a disc atomizer by means of pressure or centrifugal force. In some occasions, especially in the environment with large toxic hazard, long working time and large workload for painters, the personnel shortage can be caused, and the gradual decrease of the personnel causes higher painting cost and increases the production cost. The market demand is great at present, and artifical spraying not only wastes time and energy, needs many people to carry out the operation, and is inefficient, has certain requirement to painter's operating technique, can not strictly ensure coating thickness and degree of consistency, and the coating splashes and still can produce harm to workman's health moreover.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a side position spraying mode to in wall and large-scale complicated structure. The installation mode is simple, and can carry out the spraying in the same high position of the left side or the right side of advancing direction, stops afterwards marcing, and after the spraying height was adjusted, portable spraying robot carries out the spraying to new high position, and the circulation carries out above action, can realize the spraying in a large scale.

The utility model provides a portable painting robot of side position spraying includes automobile body, lift, arm and spray gun, and the lift is installed in the automobile body top, and the arm passes through flange joint in lift, and the lift is installed in the travelling car top, and the arm passes through flange joint in lift, spray gun and arm end-to-end connection, and the installation angle direction of arm and spray gun is mutually perpendicular with the direction that the dolly gos forward or moves back.

The system also comprises a laser radar for planning a track route and avoiding obstacles and a depth camera for displaying image vision; the laser radar is arranged on the vehicle body, and the depth camera is mounted on the mechanical arm. The moving trolley is detected by a laser radar and a distance measuring sensor and is parallel to a wall surface to be sprayed or a tangential direction of a cylinder to be sprayed to plan a traveling route.

The spray gun and the mechanical arm are used for adjusting the angle pose of the mechanical arm and the spray gun through image information processing of the depth camera, and the angle pose is kept to be perpendicular to the tangential direction of the wall surface to be sprayed and the cylinder to be sprayed.

The mobile device is arranged at the bottom of the vehicle body and comprises an omnidirectional mobile mechanism.

The spray gun can move along with the rotation of the mechanical arm and the movement of the lifter. When the spray gun works, the spray gun approaches to a target according to the movement of the mechanical arm and the lifter, and the left and right directions of the spray gun in the advancing direction are changed through the movement of the mechanical arm and the lifter.

In a possible embodiment, the number of the elevators and the robot arms is two, and the mobile painting robot can simultaneously paint the left and right sides while traveling.

In the implementation process, the advancing direction of the mobile paint spraying robot determines the relative position of the mobile paint spraying robot and a spraying object, the laser radar or image vision is used for track planning and obstacle avoidance, the distance between the left side or the right side of the mobile paint spraying robot and the spraying object is determined by the distance measuring sensor, and the distance between the mechanical arm and the spraying object of the spray gun is adjusted by the mechanical arm and the elevator so as to perform the spraying operation.

In the implementation process, the continuous advancing or retreating distance of the mobile spraying robot is actually planned according to the continuous length of the sprayed piece.

The traveling mode of the mobile paint spraying robot is determined according to the structure of the sprayed piece. If the sprayed piece is an annular topological structure, the spraying robot can move around the sprayed piece all the time, the spraying height is adjusted by utilizing the common movement of the lifter and the mechanical arm to spray, and then the movement is stopped, so that the spraying of the sprayed pieces such as stone pillars can be realized. If the sprayed piece is a non-annular topological structure, the movable spraying robot sprays at the same height position to adjust the spraying height, then the spraying robot retreats at the same side to spray a new height, and after the actions are circularly performed, the spraying of the sprayed pieces such as the wall surface and the like can be realized.

Drawings

In order to better clarify the technical solution of the present invention, an embodiment of the present invention is described with reference to the accompanying drawings, and the accompanying drawings required to be used in the embodiment are discussed to explain its main working principle and its advantages. It is to be understood that the following drawings only illustrate certain embodiments of the present invention and are therefore not to be considered limiting of scope, and that the present invention is directed to a mobile painting robot side-oriented painting method, which will enable those skilled in the art to obtain a sense of inspiration based on these drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a spraying robot according to the present embodiment;

fig. 2 is a second schematic structural view of the spraying robot provided in this embodiment;

fig. 3 is a schematic view of a spraying direction and a spraying path of the spraying robot in the case that the sprayed member provided by the present embodiment is a non-annular topological structure;

fig. 4 is a schematic view of a spraying direction and a spraying path of the spraying robot when the sprayed member provided by the present embodiment is a ring-shaped topological structure.

Icon: 30-a vehicle body; 45-a mechanical arm; 100-ring topology; 130-non-ring topology; 50-laser radar; 110-a lift; 11-a cylinder; 22-a wall surface; 10-a spray gun; 80-a flange; 60-a depth camera; 66 moving the trolley; 95-paint spraying robot.

Detailed Description

In order to make the embodiments of the present invention have the advantages of the present invention, the technical solutions of the embodiments of the present invention will be described more clearly and completely with reference to the accompanying drawings in the embodiments, and the described embodiments are only some embodiments, not all embodiments. The needle is to the utility model discloses unnecessary painting robot spare part can be omitted in the spraying position that describes, combine the utility model discloses the part just can realize this scheme.

Therefore, the following detailed description of the embodiments presented in the drawings is not to be taken strictly within the scope of the present invention, but is merely illustrative of the described embodiments of the present invention. Basically, the embodiments of the present invention are all within the scope of protection of the present invention, and the improvement of the embodiments by those skilled in the art without creative work is not made.

It should be noted that: like reference numbers and letters refer to such items in the following figures, and thus once an item is defined in one figure, no further definition or explanation of such is necessary in subsequent figures.

As shown in fig. 1 and 2, the painting robot 95 includes a vehicle body 30, an elevator 110, a robot arm 45, and a spray gun 10, the elevator 110 being mounted on top of the vehicle body 30, the robot arm 45 being connected to the elevator 110 through a flange 80, and the spray gun 10 being fixed to the robot arm 45.

The spray gun 10 shown in fig. 1 moves following the rotation of the robot arm 45 itself and the movement of the elevator 110 itself. In operation, the spray gun 10 approaches to the target according to the movement of the mechanical arm 45 and the lifter 110, and the left and right directions of the spray gun 10 in the traveling direction are changed through the movement of the mechanical arm 45 and the lifter 110.

The painting robot 95 includes a laser radar 50 for planning a trajectory path and avoiding obstacles, and a depth camera 60 for displaying image vision. The laser radar 50 is provided to the vehicle body 30, and the depth camera 60 is mounted to the robot arm 45. The moving trolley 66 is arranged at the bottom of the trolley body, and the moving trolley 66 comprises an omnidirectional moving mechanism.

Of course, the utility model discloses not inject moving mechanism lift 110, rotary mechanism arm 45, can also use arbitrary moving mechanism or rotary mechanism to replace this embodiment, in a word accomplish under the reasonable circumstances of the contract that the robot 95 that sprays paint can to the side direction at the in-process of marcing.

The number of the spray guns 10, the robot arms 45, and the lifters 110 may be plural.

When the number of the spray guns 10, the mechanical arm 45 and the lifter 110 is two, the spraying agent on two sides can be sprayed simultaneously by the spraying robot 95 in the process of traveling, and the operation speed can be increased under special working conditions, such as narrow and small zones like corridors.

The relative position between the painting robot 95 and the object to be painted is determined by the advancing direction of the painting robot, the laser radar 50 or image vision is used for track planning and obstacle avoidance, the distance between the painting robot 95 and the object to be painted is determined by the laser radar 50 on the left side or the right side, and the distance between the spraying gun and the object to be painted is adjusted by the mechanical arm 45 and the lifter 110 to perform the painting operation.

In the embodiment shown in fig. 3, after the painting robot 95 performs painting at the same height position to adjust the painting height, the painting robot 95 then moves back to the same side to perform painting at a new height, and after the above operations are repeated, painting of the painted object such as the wall surface 22 can be achieved.

In the embodiment shown in fig. 4, the spraying robot 95 will travel all the way around the sprayed object, and spray the object such as the cylinder 11 by using the combined movement of the elevator 110 and the mechanical arm 45 while adjusting the spraying height, and then stop traveling.

The moving trolley 66 comprises an omnidirectional moving mechanism which can move along the front, back, left and right directions of a plane and can steer in situ, so that the flexibility and the accuracy of the paint spraying robot 95 are greatly improved.

The omni-directional movement mechanism may also use an omni-directional wheel chassis such as a mackerel chassis.

The distance of the mobile spraying robot 95 to advance or retreat continuously is actually planned according to the continuous length of the sprayed piece.

For the importance degree of the actual object to be sprayed, it is considered that the traveling and retreating speeds of the mobile spraying robot 65, the flow rate and the pressure of the spray gun 10 are slightly changed, and the spraying is repeated for a plurality of times so as to meet the requirements of each object to be sprayed.

Claims

1. The utility model provides a portable painting robot of side position spraying, characterized in that, painting robot (95) include automobile body (30), lift (110), arm (45) and spray gun (10), install in travelling car (66) top in lift (110), arm (45) are connected in lift (110) through flange (80), spray gun (10) and arm (45) end-to-end connection, the installation angle direction of arm (45) and spray gun (10) is perpendicular mutually with the direction that the dolly gos forward or retreat.

2. The mobile paint spraying robot for side-pointing painting according to claim 1, further comprising a laser radar (50) for planning a trajectory path and obstacle avoidance, a depth camera (60) for scanning a feature of an object in space; the laser radar (50) is arranged on the vehicle body (30), and the depth camera (60) is mounted on the mechanical arm (45).

3. The mobile painting robot for lateral painting according to claim 1, characterised in that the mobile trolley (66) is equipped with a laser radar (50) and a distance sensor to detect the movement and plan the path of travel parallel to the wall surface (22) to be painted or parallel to the tangential direction of the cylinder (11) to be painted.

4. The mobile paint spraying robot for side-oriented painting according to claim 1, characterized in that the spray gun (10) and the mechanical arm (45) adjust the angle pose of the mechanical arm (45) and the spray gun (10) through the image information processing of the depth camera (60) to keep perpendicular to the tangential direction of the wall surface (22) to be painted and the cylinder (11) to be painted.

5. The mobile paint spraying robot for side-by-side painting according to claim 1, wherein the lift (110) and the robot arm (45) are adjusted in vertical height position at the start and end positions of the planned moving path during the robot painting process to perform cyclic continuous painting.