CN106607293A - Painting robot and control method thereof - Google Patents
Painting robot and control method thereof Download PDFInfo
- Publication number
- CN106607293A CN106607293A CN201611174799.1A CN201611174799A CN106607293A CN 106607293 A CN106607293 A CN 106607293A CN 201611174799 A CN201611174799 A CN 201611174799A CN 106607293 A CN106607293 A CN 106607293A
- Authority
- CN
- China
- Prior art keywords
- robot
- mopping
- paintbrush
- paint
- main control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/04—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length
- B05C1/06—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length by rubbing contact, e.g. by brushes, by pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
-
- 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
-
- 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
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a painting robot, comprising a robot body, a paint bucket, a conveying pipe, an upper mechanical arm, a lower mechanical arm, a telescopic mechanism A, a telescopic mechanism B, a paint brush, a flow control system, a servo motor, an anti-collision sensor, a camera, a liquid level sensor and a wheel. The paint brush is connected to the conveying pipe, the flow control system is mounted inside the robot body and the conveying pipe passes therethrough, and the liquid level sensor is installed on the inner side of the paint bucket. According to the painting robot, the operation is simple and flexible, the painting efficiency is high, and the painting surface is even.
Description
Technical field
The present invention relates to technical field of automation, and in particular to a kind of mopping robot and its control method.
Background technology
With the development of industrial technology, mopping robot is also widely used, time saving and energy saving, but currently uses
Mopping robot be to dip in paint while mopping, it is not very uniform often to brush out the lacquer painting for coming, while also result in certain
Waste, preferable effect can not be really achieved.
The content of the invention
For the deficiency that above-mentioned technology is present, the invention provides a kind of mopping robot and its control method, mopping face
Even uniform, high working efficiency, program is simple.
To realize above-mentioned technical purpose, the technical scheme is that what is be achieved in that：
A kind of mopping robot, including robot body, paint kettle, delivery pipe, upper mechanical arm, lower mechanical arm, telescoping mechanism A,
Telescoping mechanism B, paintbrush, control system and wheel, are equipped with braking mechanism on the wheel.
Further, the paint kettle is made of that have galvanized iron sheet, and it is conically shaped or pyramid shape.
Further, the centre of the paintbrush is that hollow and hollow part connects with bristle, the oil on paintbrush
Paint is successively supply.
Further, the control system, including main control unit, radio communication device, volume control device, servo electricity
Machine, obstacle avoidance sensor, photographic head, liquid level sensor and instruction device；
Further, the flow control system and servomotor are incorporated into inside robot body, wherein flow control system
Connect with delivery pipe；
Further, the liquid level sensor is arranged on paint kettle inner side；
Further, the instruction device, including red LED lamp, green LED lamp and buzzer.
A kind of mopping robot, also including hand-held remote controller.
A kind of control method of mopping robot, comprises the steps：
Step 1：Start machine people, the video camera of robot shoots metope, the pictorial information that will be shot by radio communication device
Send hand-held remote controller to, after hand-held remote controller receive information, calculate the area of wanted mopping metope, and Plan machine
The mopping route of people；
Step 2：Paint is poured in the paint kettle of robot, starts mopping robot, robot according to planning route row extremely
The initial point from left to right of mopping, main control unit sends instruction, and servomotor operating, volume control device is opened, painted from paint kettle
Interior outflow, by conveying pipe flow to paintbrush；
Step 3：After the whole paintbrush of paint insertion, the main control unit of robot sends instruction, upper mechanical arm setting in motion, band
The mopping from top to bottom of dynamic paintbrush；Photographic head detect wall it is too high when, main control unit sends instruction, and telescoping mechanism A is upwards
Extend, paintbrush down move during, telescoping mechanism A retractions at the uniform velocity；
Step 4：Robot is completed after a mopping, and main control unit sends instruction, and upper mechanical arm drives paintbrush to leave metope
△ h, robot turns right motion, and when detecting when video camera at the paint edge on metope, main control unit sends instruction, brake
Mechanism works, and robot stop motion, upper mechanical arm moves upwards, drives paintbrush mopping, the edge of paintbrush with detect
Paint edge be connected；
Step 5：Robot repeat step 4, until completing whole mopping work.
When robot paints wall, main control unit sends instruction, and telescoping mechanism B is protruded upward, when paint kettle and upper wall
When the distance between wall is h, telescoping mechanism stop motion, the upper mechanical arm of robot is moved upwards, and paintbrush is from initial point from left to right
Turn right motion, robot is completed after a mopping, main control unit sends instruction, upper mechanical arm drives paintbrush to leave metope △
H, robot is moved backward, and when detecting when video camera at the paint edge on metope, main control unit sends instruction, braking machine
Structure works, and robot stop motion, upper mechanical arm moves upwards, drive paintbrush mopping, the edge of paintbrush with detect
Paint edge is connected.
In motor process, when there is barrier in front, obstacle avoidance sensor work, main control unit sends instruction for robot,
Robot avoids after barrier again programme path again；In painting process, paint is continuous supply, works as paint kettle for robot
In paint when being less than liquid level line, the blinking red lamp of instruction device, buzzer rings 3s-10s, and main control unit sends instruction, watch
Take motor to shut down, flow control system is closed, robot stops mopping.
Description of the drawings
Fig. 1 is a kind of structural representation of mopping robot.
Fig. 2 is a kind of component units of mopping robot control system.
Fig. 3 is a kind of mopping flow chart of mopping robot.
Wherein：1st, paint kettle；2nd, control system；3rd, delivery pipe；4th, telescoping mechanism A；5th, upper mechanical arm；6th, paintbrush；7、
Robot body；8th, telescoping mechanism B；9th, lower mechanical arm；10th, wheel.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
As shown in figure 1, a kind of mopping robot, including robot body 7, paint kettle 1, delivery pipe 3, upper mechanical arm 5, under
Equipped with brake on mechanical arm 9, telescoping mechanism A4, telescoping mechanism B8, paintbrush 6, control system 2 and wheel 10, wherein wheel 10
Mechanism, paint kettle 1 is made of that have galvanized iron sheet, and it is conically shaped or pyramid shape, and the centre of paintbrush 6 is hollow, and
Hollow part connects with bristle, and the paint on paintbrush is successively supply.
Control system 2 includes main control unit, radio communication device, volume control device, servomotor, anticollision sensing
Device, photographic head, liquid level sensor and instruction device, as shown in Figure 2；Flow control system and servomotor are incorporated into robot sheet
Internal portion, wherein flow control system is connected with delivery pipe；Liquid level sensor is arranged on paint kettle inner side；Instruction device, including
Red LED lamp, green LED lamp and buzzer.
A kind of mopping robot, also including hand-held remote controller.
A kind of control method of mopping robot, comprises the steps, such as Fig. 3：
Step 1：Start machine people, the video camera of robot shoots metope, the pictorial information that will be shot by radio communication device
Send hand-held remote controller to, after hand-held remote controller receive information, calculate the area of wanted mopping metope, and Plan machine
The mopping route of people；
Step 2：Paint is poured in the paint kettle of robot, starts mopping robot, robot according to planning route row extremely
The initial point from left to right of mopping, main control unit sends instruction, and servomotor operating, volume control device is opened, painted from paint kettle
Interior outflow, by conveying pipe flow to paintbrush；
Step 3：After the whole paintbrush of paint insertion, the main control unit of robot sends instruction, upper mechanical arm setting in motion, band
The mopping from top to bottom of dynamic paintbrush；Photographic head detect wall it is too high when, main control unit sends instruction, and telescoping mechanism A is upwards
Extend, paintbrush down move during, telescoping mechanism A retractions at the uniform velocity；
Step 4：Robot is completed after a mopping, and main control unit sends instruction, and upper mechanical arm drives paintbrush to leave metope
△ h, robot turns right motion, and when detecting when video camera at the paint edge on metope, main control unit sends instruction, brake
Mechanism works, and robot stop motion, upper mechanical arm moves upwards, drives paintbrush mopping, the edge of paintbrush with detect
Paint edge be connected；
Step 5：Robot repeat step 4, until completing whole mopping work.
When robot paints wall, main control unit sends instruction, and telescoping mechanism B is protruded upward, when paint kettle and upper wall
When the distance between wall is h, telescoping mechanism stop motion, the upper mechanical arm of robot is moved upwards, and paintbrush is from initial point from left to right
Turn right motion, robot is completed after a mopping, main control unit sends instruction, upper mechanical arm drives paintbrush to leave metope △
H, robot is moved backward, and when detecting when video camera at the paint edge on metope, main control unit sends instruction, braking machine
Structure works, and robot stop motion, upper mechanical arm moves upwards, drive paintbrush mopping, the edge of paintbrush with detect
Paint edge is connected.
In motor process, when there is barrier in front, obstacle avoidance sensor work, main control unit sends instruction for robot,
Robot avoids after barrier again programme path again；In painting process, paint is continuous supply, works as paint kettle for robot
In paint when being less than liquid level line, the blinking red lamp of instruction device, buzzer rings 3s-10s, and main control unit sends instruction, watch
Take motor to shut down, flow control system is closed, robot stops mopping.
Claims (9)
1. a kind of mopping robot, it is characterised in that including robot body, paint kettle, delivery pipe, upper mechanical arm, lower machinery
Arm, telescoping mechanism A, telescoping mechanism B, paintbrush, control system and wheel, are equipped with braking mechanism, the control on the wheel
System, including main control unit, radio communication device, volume control device, servomotor, obstacle avoidance sensor, photographic head, liquid level
Sensor and instruction device.
2. a kind of mopping robot according to claim 1, it is characterised in that the paint kettle is made of that have galvanized iron sheet,
It is conically shaped or pyramid shape.
3. a kind of mopping robot according to claim 1, it is characterised in that the centre of the paintbrush be it is hollow,
And hollow part connects with bristle.
4. a kind of mopping robot according to claim 3, it is characterised in that the paint on paintbrush is successively to supply
Give.
5. a kind of mopping robot according to claim 1, it is characterised in that the control system, including main control dress
Put, radio communication device, volume control device, servomotor, obstacle avoidance sensor, photographic head, liquid level sensor and instruction device；
The flow control system and servomotor are incorporated into inside robot body, and wherein flow control system connects with delivery pipe
It is logical；
The liquid level sensor is arranged on paint kettle inner side；
The instruction device, including red LED lamp, green LED lamp and buzzer.
6. a kind of mopping robot according to claim 1, it is characterised in that also including hand-held remote controller.
7. a kind of control method of mopping robot, it is characterised in that comprise the steps：
Step 1：Start machine people, the video camera of robot shoots metope, the pictorial information that will be shot by radio communication device
Send hand-held remote controller to, after hand-held remote controller receive information, calculate the area of wanted mopping metope, and Plan machine
The mopping route of people；
Step 2：Paint is poured in the paint kettle of robot, starts mopping robot, robot according to planning route row extremely
The initial point from left to right of mopping, main control unit sends instruction, and servomotor operating, volume control device is opened, painted from paint kettle
Interior outflow, by conveying pipe flow to paintbrush；
Step 3：After the whole paintbrush of paint insertion, the main control unit of robot sends instruction, upper mechanical arm setting in motion, band
The mopping from top to bottom of dynamic paintbrush；Photographic head detect wall it is too high when, main control unit sends instruction, and telescoping mechanism A is upwards
Extend, paintbrush down move during, telescoping mechanism A retractions at the uniform velocity；
Step 4：Robot is completed after a mopping, and main control unit sends instruction, and upper mechanical arm drives paintbrush to leave metope
△ h, robot turns right motion, and when detecting when video camera at the paint edge on metope, main control unit sends instruction, brake
Mechanism works, and robot stop motion, upper mechanical arm moves upwards, drives paintbrush mopping, the edge of paintbrush with detect
Paint edge be connected；
Step 5：Robot repeat step 4, until completing whole mopping work.
8. the control method of a kind of mopping robot according to claim 7, it is characterised in that robot paints wall
When, main control unit sends instruction, and telescoping mechanism B is protruded upward, and when paint kettle is h with upper distance between the walls, stretches
Mechanism's stop motion, the upper mechanical arm of robot is moved upwards, and paintbrush is turned right motion from initial point from left to right, and robot is completed once
After mopping, main control unit sends instruction, and upper mechanical arm drives paintbrush to leave metope △ h, and robot is moved backward, works as shooting
When machine examination is measured at the paint edge on metope, main control unit sends instruction, and braking mechanism works, robot stop motion,
Upper mechanical arm is moved upwards, drives paintbrush mopping, and the edge of paintbrush is connected with the paint edge for detecting.
9. a kind of control method of the mopping robot according to claim 7 and claim 8, it is characterised in that machine
In motor process, when there is barrier in front, obstacle avoidance sensor work, main control unit sends instruction to people, and robot avoids barrier
Hinder after thing programme path again again；In painting process, paint is continuous supply, when the paint in paint kettle is less than for robot
During liquid level line, the blinking red lamp of instruction device, buzzer rings 3s-10s, and main control unit sends instruction, and servomotor stops fortune
Turn, flow control system is closed, robot stops mopping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611174799.1A CN106607293A (en) | 2016-12-19 | 2016-12-19 | Painting robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611174799.1A CN106607293A (en) | 2016-12-19 | 2016-12-19 | Painting robot and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607293A true CN106607293A (en) | 2017-05-03 |
Family
ID=58636528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611174799.1A Pending CN106607293A (en) | 2016-12-19 | 2016-12-19 | Painting robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607293A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107461019A (en) * | 2017-08-30 | 2017-12-12 | 浙江工业大学 | A kind of controllable wall painting machine of paint amount |
| CN107795103A (en) * | 2017-07-06 | 2018-03-13 | 闫淑军 | A kind of multi-functional automatic Puttying equipment |
| CN109541989A (en) * | 2018-10-24 | 2019-03-29 | 湖南城市学院 | A kind of intelligent building interior decoration metope sweeps processor control system and method |
| JP2022528593A (en) * | 2020-04-20 | 2022-06-15 | 広東博智林機器人有限公司 | Wall polishing route planning method, equipment, equipment and media |
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| CN203253576U (en) * | 2013-05-06 | 2013-10-30 | 河南森茂机械有限公司 | Painting robot capable of continuously supplying paint |
| WO2014188221A2 (en) * | 2013-05-23 | 2014-11-27 | Q-Bot Limited | Method of covering a surface of a building and robot therefor |
| CN205413459U (en) * | 2016-03-11 | 2016-08-03 | 武汉科技大学 | Painting robot |
| US20160339587A1 (en) * | 2014-08-25 | 2016-11-24 | Google Inc. | Methods And Systems For Providing Landmarks To Facilitate Robot Localization And Visual Odometry |
| CN106179853A (en) * | 2016-08-30 | 2016-12-07 | 成都元始信息科技有限公司 | A kind of intelligent Portable movable paint-spray robot |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101739030A (en) * | 2009-12-18 | 2010-06-16 | 重庆大学 | Spray robot control system |
| CN101791801A (en) * | 2010-01-15 | 2010-08-04 | 广东工业大学 | Industrial robot motion planning and performance testing system and implementation method thereof |
| CN203253576U (en) * | 2013-05-06 | 2013-10-30 | 河南森茂机械有限公司 | Painting robot capable of continuously supplying paint |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107795103A (en) * | 2017-07-06 | 2018-03-13 | 闫淑军 | A kind of multi-functional automatic Puttying equipment |
| CN107461019A (en) * | 2017-08-30 | 2017-12-12 | 浙江工业大学 | A kind of controllable wall painting machine of paint amount |
| CN109541989A (en) * | 2018-10-24 | 2019-03-29 | 湖南城市学院 | A kind of intelligent building interior decoration metope sweeps processor control system and method |
| JP2022528593A (en) * | 2020-04-20 | 2022-06-15 | 広東博智林機器人有限公司 | Wall polishing route planning method, equipment, equipment and media |
| JP7162146B2 (en) | 2020-04-20 | 2022-10-27 | 広東博智林機器人有限公司 | Wall polishing path planning method, apparatus, equipment and medium |
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Application publication date: 20170503 |