CN106639267A - Wall surface processing robot - Google Patents
Wall surface processing robot Download PDFInfo
- Publication number
- CN106639267A CN106639267A CN201510712498.9A CN201510712498A CN106639267A CN 106639267 A CN106639267 A CN 106639267A CN 201510712498 A CN201510712498 A CN 201510712498A CN 106639267 A CN106639267 A CN 106639267A
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- China
- Prior art keywords
- metope
- handling machine
- machine people
- module
- operating system
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- 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.)
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Classifications
-
- 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
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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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a wall surface processing robot capable of being used for processing a wall surface automatically on the wall surface. The wall surface processing robot is provided with an operating system and a control system. The control system is used for controlling the operating system to work. The operating system comprises a holding module, a drive module and a working module, wherein the holding module is used for keeping the wall surface processing robot to be attached to the wall surface, the drive module is provided with a first drive device used for driving the wall surface processing robot to move on the wall surface, and the working module is provided with a working component capable of processing the wall surface correspondingly according to operating requirements. The wall surface processing robot can be successfully attached to the wall surface by means of the holding module, and the drive module and the working module are controlled through the control system to complete work on a wall surface working area, so that automation and intelligentialization of wall surface processing are achieved.
Description
Technical field
The present invention relates to automation control area, at the metope that more particularly to can be processed metope automatically
Reason robot.
Background technology
Application process is typically carried out to metope includes three steps：Cleaning, polishing, japanning, traditional metope
Application is processed to be completed by manual work, and paint is contained within insalubrious chemical substance, so to work
Make personnel's body to be harmful to, human cost is also of a relatively high.
On the other hand, there is paint spraying mechanical arm in commercial Application, but this paint spraying mechanical arm volume is larger,
Using dumb, and cost is more expensive, in being normally only used for large-scale plant working, is not suitable in family's wall
The environment such as face are used.
The content of the invention
Based on this, it is necessary to process the japanning needed in artificial, commercial Application for the above-mentioned application to metope
Manipulator is excessively huge, not intelligent enough the problem of the painting operation in the small-sized operating environment such as family for causing,
A kind of small-sized, automatic, without the need for artificial field operation metope handling machine people is provided.
A kind of metope handling machine people, can be used to automatically process metope on metope, it is characterised in that
Including operating system and control system, the control system is operated for controlling the operating system, institute
Stating operating system includes：Module is kept, for keeping metope by the metope handling machine people；Drive
Module, with first driving means, the control system controls the first driving means, makes described first
Driving means drive the operating system to move on metope；Operational module, with workpiece, to right
Metope is processed.
Above-mentioned metope handling machine people successfully can be attached on metope using holding module, and by control system
System control drive module and operational module complete the work to metope working region, realize metope process oneself
Dynamicization and intellectuality.
Wherein in an embodiment, the holding module is adsorbent equipment, and the adsorbent equipment can make the wall
Face handling machine people is adsorbed on metope.
Wherein in an embodiment, the adsorbent equipment has the first motor and the first fan, and described first is electric
Machine drives the fan to rotate, and makes the metope handling machine people rotate the of the first wind-force for producing because of fan
One reaction force adsorbs on metope.
Wherein in an embodiment, the holding module includes the second motor and the second fan, and described second is electric
Machine drives second fan to rotate, and produces second fan in a certain angle with vertically downward direction
The second wind-force, keep module make operating system be attached to wall using the second reaction force of second wind-force
On face.
Wherein in an embodiment, the angle that the direction of second wind-force is in vertically downward direction is
Less than 90 °.
Wherein in an embodiment, the first driving means are universal wheel, and the drive module can pass through institute
Operating system described in stating universal wheel drive is moved on metope.
Wherein in an embodiment, the holding module includes：Housing, is internally provided with the operational module；
Mobile device, can be located on the ground of close metope, and move along metope；Connecting rod, is connected to institute
State between housing and the mobile device, for supporting the housing, and make the housing attachment in metope.
Wherein in an embodiment, the drive module has slide mechanism, and the slide mechanism is arranged at institute
State between housing and the connecting rod, the drive module can drive the housing edge by the slide mechanism
The length direction of the connecting rod is moved.
Wherein in an embodiment, the drive module has the second driving means, second driving means
The mobile device is driven to move along metope.
Wherein in an embodiment, also including the first storage module, it is arranged in the mobile device, is used for
Storage paint raw materials, the workpiece is the first apparatus for coating, and first apparatus for coating is to metope
Coating paint, the connecting rod is hollow tube, and first storage module can be by the connecting rod to described
First apparatus for coating provides paint raw materials.
Wherein in an embodiment, the workpiece is cleaning device or sanding apparatus, the cleaning device
For making cleaning treatment to metope, the sanding apparatus are used for metope grinding process.
Wherein in an embodiment, the workpiece is the second apparatus for coating, and second apparatus for coating is used
Process in spray painting is made to metope.
Wherein in an embodiment, also including the second storage module, to store paint raw materials, and will paint
Raw material supply is to the second apparatus for coating.
Wherein in an embodiment, the control system has Context awareness module and path planning module, institute
State metope handling machine people and metope handling machine people's location is recognized by the Context awareness module
With working region, the path planning module position and workspace according to detected by the Context awareness module
Domain, plans the walking path of the operating system.
Wherein in an embodiment, the Context awareness module has camera head, and the camera head passes through
The image for shooting periphery determines the position and working region of the operating system.
Wherein in an embodiment, the camera head is arranged at the top of the operating system, to shoot
The image of the surrounding of metope handling machine people is stated, the path planning module is photographed by the camera head
Image, plan the route of metope handling machine people walking.
Wherein in an embodiment, the camera head is separately positioned with the operating system, the shooting dress
The image for shooting metope and the working region for determining the operating system are put, the path planning module sets
It is placed in the camera head, controls the workspace that the metope handling machine people determines in the camera head
In domain, move according to the path of planning.
Wherein in an embodiment, the path planning module also includes the first signal sending end and the first signal
Receiving terminal, first signal sending end is arranged in the camera head；First signal receiving end sets
It is placed in the operating system, the path planning module sends control letter by first signal sending end
Number to the operating system the first signal receiving end, the operating system is true by the control signal that receives
Determine walking path.
Wherein in an embodiment, the Context awareness module is laser scanning device, the laser scanning dress
Putting can determine the position and working region of the metope handling machine people by laser scanning.
Wherein in an embodiment, the laser scanning device is arranged in the operating system, the laser
Scanning means can carry out laser scanning to surrounding, by detecting that the border of metope determines the metope handling machine
The position and working region of people, the path planning module determines the work according to the laser scanning device
The position and working region of system, plans the work system walking path.
Wherein in an embodiment, the laser scanning device can determine the work by scanning the border of metope
The position and working region of industry system, the path planning module is arranged in laser scanning device, the road
Footpath planning module plans the metope handling machine according to the scanning means defined location and working region
The route of people's walking.
Wherein in an embodiment, secondary signal transmitting terminal is arranged in the scanning means；Secondary signal
Receiving terminal, is arranged in the metope handling machine people, and the path planning module is by the secondary signal
Transmitting terminal sends a control signal to secondary signal receiving terminal, and the work system passes through the control signal for receiving
Determine walking path.
Wherein in an embodiment, the path planning module has microprocessor, and the microprocessor can root
According to the program of the path planning of input to the microprocessor, the walking path of the operating system is controlled.
Wherein in an embodiment, the path planning module has acceleration induction controller and electronic compass
Controller, the acceleration induction controller controls the operating system and moves in vertical direction, described
Electronic compass controller controls the metope handling machine people and changes moving direction and record steering angle.
Wherein in an embodiment, the control system is can to receive remote control commands to control by network
The remote control module that manufacturing system is moved on metope.
Description of the drawings
Fig. 1 is the module diagram of the metope handling machine people of the present invention；
Fig. 2 is the operating system structural representation of the metope handling machine people of the present invention；
Fig. 3 is the first preferred embodiment structural representation of the holding module of the metope handling machine people of the present invention
Figure；
Fig. 4 is the second preferred embodiment structural representation of the holding module of metope handling machine people of the present invention；
Fig. 5 is the 3rd preferred embodiment structural representation of the holding module of metope handling machine people of the present invention；
Fig. 6 is the control system module diagram of metope handling machine people of the present invention；
Fig. 7 is that Context awareness module the first preferred embodiment structure of the metope handling machine people of the present invention is shown
It is intended to；
Fig. 8 is that Context awareness module the second preferred embodiment structure of the metope handling machine people of the present invention is shown
It is intended to.
Wherein：10. the operating system of metope handling machine people 100.
200. control system 110. keeps module
The operational module of 120. drive module 130.
The fan of 111. first motor 112. first
The fan of 113. second motor 114. second
The mobile device of 115. housing 116.
The first driving means of 117. connecting rod 121.
The driving means of 122. slide mechanism 123. second
The apparatus for coating of 131. first apparatus for coating 132. second
The storage module of 141. first storage module 142. second
The path planning module of 210. Context awareness module 220.
The camera head of 211. first camera head 212. second
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Fig. 1 is referred to, Fig. 1 is the module diagram of metope handling machine people 10 in the present embodiment.The metope
Handling machine people 10 is mainly used for automatically processing metope, for example metope is cleaned, is polished,
Japanning etc., the metope handling machine people 10 has operating system 100 and control system 200, control system 200
It is operated for controlling operating system 100, detailed control mode can be described in follow-up content,
Operating system 100 includes：Module 110, drive module 120 and operational module 130 are kept, wherein keeping mould
Block 110 is mainly used in keeping metope by the operating system 100.Drive module 120 is driven with first
Dynamic device (or second driving means), first driving means (or second driving means) can operating system 100
Move on metope.Operational module 130 has a workpiece, and the workpiece can be cleaning
Device, the cleaning device can answer job requirements to be cleaned metope；Workpiece can also be polishing
Device, sanding apparatus can answer job requirements to polish metope, and workpiece can also be apparatus for coating,
Apparatus for coating can carry out japanning process according to job requirements to metope, so, above-mentioned holding module 110, drive
Dynamic model block 120 cooperates with operational module 130, is just capable of achieving metope handling machine people 10 and moves on metope
Move and carry out operation by job requirements, be the course of work and effect for preferably embodying metope handling machine people,
Below so that workpiece is as apparatus for coating as an example, with reference to specifically embodiment, metope handling machine people is carried out
It is specifically described.
First preferred embodiment of the invention provides metope handling machine people 10, refers to Fig. 2, and Fig. 2 is this
The operating system structural representation of the metope handling machine people of invention, metope handling machine people 10 has operation system
System 100, the operating system 100 includes：Module 110, drive module 120 and operational module 130 are kept,
Wherein described holding module 110 is mainly used in for operating system 100 being attached at metope.Drive module 120 has
There are first driving means 121, first driving means 121 can drive operating system 100 to move on metope,
Operational module 130 has the first apparatus for coating 131 (or second apparatus for coating 132), first apparatus for coating
131 (or second apparatus for coating 132) for being coated paint to metope, for this reality of more detailed description
The working method of metope handling machine people 10 and an effect are applied, each module is further described below.
Specifically, Fig. 3 is referred to, above-mentioned holding module 110 can have the first motor 111 and the first fan
112, the first fan 112 is installed on the first motor 111, and the first fan 112 presses close to metope setting,
First motor 111 can drive the first fan 112 to be rotated so as to produce the first wind-force F1 away from metope,
Metope handling machine people 10 produces the pressure to metope, metope process because of the reaction F1 ＇ of the first wind-force F1
Robot 10 produces movement tendency straight down because of self gravitation, because metope handling machine people 10 is to wall
Face has pressure, and metope is Non-smooth surface plane, and metope is produced straight up to metope handling machine people 10
Frictional force, when cancelling out each other with the gravity of metope handling machine people when having rubbed, metope handling machine people 10 is just
It is still on metope.
Above-mentioned holding module 110 also has another kind of structure, please participate in Fig. 4, that is, keep module electric with second
The fan 114 of machine 113 and second, the second fan 114 is installed on the second motor 113, and the second motor
113 driving the second fans 114 are rotated makes it produce the second wind-force F2, and the direction of the second wind-force F2 is downward, and
It is in certain angle a with the perpendicular that metope is located, the angle of angle a is less than 90 °.Metope processor
Device people 10 makes it be attached on metope because of the reaction force F2 ＇ of the second wind-force F2, when reaction F2 ＇ are perpendicular
Nogata to component can offset the gravity of metope handling machine people 10 itself when, metope handling machine people 10
Just can be attached on metope.
Above-mentioned drive module 120 has first driving means 121, and the first driving means 121 are arranged on metope
The bottom of handling machine people 10, can be universal wheel, and drive module 120 can be by operation described in universal wheel drive
System is moved on metope.Operating system 100 can be moved on metope, it is only necessary to rotate universal wheel,
And without the need for the body of rotation operation system 100, it is easy to the work of operating system 100.First driving means 121
Can also be the driving wheel of crawler type driving or other forms, as long as above-mentioned first driving means 121 can drive
Dynamic metope handling machine people 10 is mobile on metope, and concrete structure is not limited thereto.
Above-mentioned operational module 130 has the second apparatus for coating 132, for painting to metope coating, in order that the
Two apparatus for coating 132 have enough paint raw materials, and metope handling machine people 10 also includes the second storage module
142, the second storage module 142 supplies paint raw materials to the second apparatus for coating to store paint raw materials
132, the second apparatus for coating 132 is arranged on the bottom or edge of metope handling machine people 10, and structure can be
Paint raw materials are applied to drum-type roller, the second storage module 142 surface of drum-type roller, drum-type
Roller is just rolled with the movement of metope handling machine people 10, and then paint raw materials are coated on metope；
Second apparatus for coating 132 can also be spraying mechanism, and the second storage module 142 supplies paint raw materials to spray
Mechanism is spilt, is sprayed on metope through the spraying mechanism, two kinds of structures of above-mentioned second apparatus for coating 132 are only
It is two kinds of implementations being applied to raw material on wall, but the invention is not restricted to this, as long as realizes arranging painting
The paint in 132 is put to metope, concrete structure is not limited thereto.
It is operated to make above-mentioned metope handling machine people 10 attach metope, it is proposed that the second preferred embodiment,
Fig. 5 is referred to, in this embodiment emphasis discloses holding module another kind implementation, and describes holding module
Coordinate the method for work of other operational modules：Module 110 is kept to include housing 115, the first apparatus for coating 131
Be arranged in housing 115, and be coated paint to metope, mobile device 116 is located under housing 115
On the ground of side, and mobile device 116 can be moved along metope, the connection housing 115 of connecting rod 117
Between mobile device 116, for supporting housing 115, and housing 115 is attached on metope, drive mould
Block 120 has a slide mechanism 122, is arranged between housing 115 and connecting rod 117, the slide mechanism
122 can be gear guide, alternatively rail plate, hydraulic pressure guide rail etc., and the slide mechanism 122 can driving shell
Body 115 is moved up and down along the length direction of connecting rod 117, and the drive module 120 also has the second driving means
123, second driving means 123 can drive mobile device 116 to move along metope.
Furtherly, also there is metope handling machine people 10 first storage module 141 to be located at mobile device 116
Interior, for storing paint raw materials, connecting rod 117 is a hollow stem, is stored in first storage module 141
Interior paint raw materials are provided by connecting rod 117 by vavuum pump (not shown) to the first apparatus for coating 131
Paint raw materials.So, the present embodiment keeps module 110 to match with drive module 120 and operational module 130
Close, metope handling machine people 10 is just capable of achieving the japanning to metope and processes.
Substantially, the apparatus for coating 131 of above-mentioned first apparatus for coating 131 and second is structure and effect all same,
Corresponding first storage module 141 is also identical with effect with the structure of the second storage module 142, simply arranges
Position it is different, the present invention will not be described here.
In order that metope handling machine people 10 can answer the more intelligent work in specified working region of job requirements
Make, refer to Fig. 6, metope handling machine people 10 also includes control system 200, and the control system 200 has
There are Context awareness module 210 and path planning module 220, metope handling machine people 10 can pass through Context awareness
The working environment (including position, working region etc.) of the identification metope handling machine of module 210 people 10, path
The working environment that planning module 220 is recognized according to Context awareness module 210, planning metope handling machine people 10
Walking path.
Specifically, Fig. 7 is referred to, identification module 210 has the first camera head 211, the first shooting dress
211 tops for being arranged on metope handling machine people 10 are put, and metope handling machine people 10 can be photographed
Surrounding image, such as the image of whole metope, and being stored in identification module 210, the path planning
Module 220 can plan the walking path of metope handling machine people 10 according to the image that camera head 211 is photographed,
And metope handling machine people 10 is controlled by the walking path walking planned.So, control system 200 is matched somebody with somebody
Just achievable metope handling machine 10 pairs of whole metopes of people answer job requirements to process to close operating system 100.
Above-mentioned first camera head 211 can be substituted with laser scanning device, and laser scanning device is swept with laser
Its scope to be worked is retouched, its course of work is similar with the course of work of the first camera head 211, therefore this
Invention will not be described here.
Another kind, refers to Fig. 8, and identification module 210 has the second camera head 212, the second shooting dress
Put 212 separately positioned with operating system 100, and the second camera head 212 arranges to shoot wall in the face of metope
Face, at this moment, the second camera head 212 determines operating system 100 by the image of taken metope
Working region, the image for for example envisioning the shooting of device 212 is whole metope, then the work of operating system 100
It is just whole metope to make region, and operating system 100 also is located in the coverage of the second filming apparatus 212,
Second filming apparatus 212 just can determine operation by photographing image of the operating system 100 on metope
Position of the system 100 on metope, path planning module 220 is arranged in the second camera head 212, should
Path planning module 220 can determine the working region and position of operating system 100 according to the second camera head 212
The walking path of planning operating system 100 is put, specifically, is sent out with the first signal in the camera head 212
End (not shown) is penetrated, corresponding first signal receiving end (not shown) is arranged in operating system 100,
Path planning module 220 sends a control signal to the first letter of operating system 100 by the first signal sending end
Number receiving terminal, operating system 100 determines the walking path of operating system 100 by the control signal for receiving.
The second above-mentioned camera head 212 can be replaced with laser scanning device, unlike those described above to be,
The laser scanning device arranges a certain corner that can be arranged on metope, and laser scanning device is by scanning metope
Border determine the position and working region of operating system 100, path planning module 220 is arranged on laser and sweeps
In imaging apparatus, and the position and workspace of the operating system 100 that equally can be determined according to laser scanning device
The walking path of operating system 100 is planned in domain, specifically, is sent out with secondary signal in the laser scanning device
End is penetrated, corresponding secondary signal receiving terminal is arranged in operating system 100, and path planning module 220 passes through
Secondary signal transmitting terminal sends a control signal to the secondary signal receiving terminal of operating system 100, operating system 100
The walking path of operating system 100 is determined by the control signal for receiving.
Above-mentioned path planning module 220 can have a microprocessor, and staff will can plan in advance
Program be input in microprocessor, for example, the procedure stipulation operating system is first kept straight on, if operating system 100
If the border of the processed region of arrival or working region, perform and kept straight on after turning right, until area will be specified
Metope in domain has all been processed.
Above-mentioned path planning module also 220 can have acceleration induction controller and electronic compass controller,
Acceleration induction controller can control operating system in the vertical direction and move, here with operating system
100 corners for being located at metope, and as a example by being moved straight up, when operating system 100 reaches workspace
During the border in domain, electronic compass controller control operating system 100 is turned to the right u-turn, and records work
The steering angle of industry system, when the steering angle of electronic compass controller record is 180 degree, illustrates operation system
System 100 is reversed end for end completely, is then followed by being moved straight down, when operating system 100 is arrived again at
Working region border, electronic compass controller control operating system 100 turns to the left u-turn, and records operation
The steering angle of system, when the steering angle of electronic compass controller record is 180 degree, illustrates operating system
100 reverse end for end completely, are then followed by being moved straight up, so until operating system 100 has been processed
Whole metope working region.
In addition to the implementation of above-mentioned path planning module 220, the path planning module 220 can be with
Including remote control module, staff can be by the remote control module direct operation system 100 in wall
Move on face.
Embodiment described above is the first apparatus for coating 131 (or second apparatus for coating 132) only to workpiece
Embodiment be explained in detail, but the workpiece of above-mentioned metope handling machine people 10 can also for cleaning
Device or sanding apparatus etc., as long as the workpiece of above-mentioned metope handling machine people 10 is replaced by into cleaning device
Or sanding apparatus, other modules keep constant, and metope handling machine people 10 just can be by corresponding job requirements
Cleaning operation or polishing operation are carried out on metope, diversified operating function is realized.
Each technical characteristic of embodiment described above can be combined arbitrarily, not right to make description succinct
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
There is no contradiction in the combination of art feature, be all considered to be the scope of this specification record.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, some deformations can also be made and changed
Enter, these belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (24)
1. a kind of metope handling machine people, for processing metope automatically on metope, it is characterised in that
Including operating system and control system, the control system is operated for controlling the operating system, institute
Stating operating system includes：
Module is kept, for keeping metope by the metope handling machine people；
Drive module, with first driving means, the control system controls the first driving means, makes
The first driving means drive the operating system to move on metope；
Operational module, with workpiece, to process metope.
2. metope handling machine people according to claim 1, it is characterised in that the holding module is
Adsorbent equipment, the adsorbent equipment can be such that the metope handling machine people is adsorbed on metope.
3. metope handling machine people according to claim 2, it is characterised in that the adsorbent equipment tool
There are the first motor and the first fan, fan described in first Motor drive is rotated, and makes the metope processor
Device people is adsorbed on metope because of the first reaction force that fan rotates the first wind-force for producing.
4. metope handling machine people according to claim 1, it is characterised in that the holding module bag
The second motor and the second fan are included, the second fan described in second Motor drive is rotated, and makes second wind
Fan is produced and vertically downward direction the second wind-force in a certain angle, keeps module to utilize second wind-force
The second reaction force operating system is attached on metope, the direction of second wind-force with straight down
The angle that direction is in is less than 90 °.
5. metope handling machine people according to claim 1, it is characterised in that described first drives dress
Universal wheel is set to, the drive module can be moved by operating system described in the universal wheel drive on metope.
6. metope handling machine people according to claim 1, it is characterised in that the holding module bag
Include：
Housing, is internally provided with the operational module；
Mobile device, can be located on the ground of close metope, and move along metope；
Connecting rod, is connected between the housing and the mobile device, for supporting the housing, and makes
The housing attachment is in metope.
7. metope handling machine people according to claim 6, it is characterised in that the drive module tool
There is slide mechanism, the slide mechanism is arranged between the housing and the connecting rod, the drive module
By the slide mechanism housing can be driven to move along the length direction of the connecting rod.
8. metope handling machine people according to claim 6, it is characterised in that the drive module tool
There are the second driving means, second driving means drive the mobile device to move along metope.
9. metope handling machine people according to claim 6, it is characterised in that also including the first storage
Module, is arranged in the mobile device, and for storing paint raw materials, the workpiece is the first coating
Device, to paint to metope coating, the connecting rod is hollow tube to first apparatus for coating, described the
One storage module can provide paint raw materials by the connecting rod to first apparatus for coating.
10. metope handling machine people according to claim 1, it is characterised in that the workpiece
For cleaning device or sanding apparatus, the cleaning device is used to make metope cleaning treatment, the sanding apparatus
For to metope grinding process.
11. metope handling machine people according to claim 1, it is characterised in that the workpiece
For the second apparatus for coating, second apparatus for coating is used to make metope spray painting process.
12. metope handling machine people according to claim 11, it is characterised in that also including the second storage
Storing module, to store paint raw materials, and paint raw materials is supplied to the second apparatus for coating.
13. metope handling machine people according to claim 1, it is characterised in that the control system
With Context awareness module and path planning module, the metope handling machine people passes through the Context awareness mould
Block recognizes the metope handling machine people location and working region, and the path planning module is according to institute
Position and working region detected by Context awareness module are stated, the walking path of the operating system is planned.
14. metope handling machine people according to claim 13, it is characterised in that the Context awareness
Module has camera head, and the camera head determines the position of the operating system by shooting the image of periphery
Put and working region.
15. metope handling machine people according to claim 14, it is characterised in that the camera head
The top of the operating system is arranged at, it is described to shoot the image of the surrounding of the metope handling machine people
The image that path planning module is photographed by the camera head, plans the metope handling machine people walking
Route.
16. metope handling machine people according to claim 14, it is characterised in that the camera head
Separately positioned with the operating system, the camera head is to shoot the image of metope and determine the operation
The working region of system, the path planning module is arranged in the camera head, is controlled at the metope
Reason robot is moved in the working region that the camera head determines according to the path of planning.
17. metope handling machine people according to claim 16, it is characterised in that the path planning
Module also includes the first signal sending end and the first signal receiving end, and first signal sending end is arranged at institute
State in camera head；First signal receiving end is arranged in the operating system, the path planning mould
Block sends a control signal to the first signal receiving end of the operating system by first signal sending end,
The operating system determines walking path by the control signal for receiving.
18. metope handling machine people according to claim 13, it is characterised in that the Context awareness
Module is laser scanning device, and the laser scanning device can determine the metope processor by laser scanning
The position and working region of device people.
19. metope handling machine people according to claim 18, it is characterised in that the laser scanning
Device is arranged in the operating system, and the laser scanning device can carry out laser scanning to surrounding, pass through
The border of detection metope determines the position and working region of the metope handling machine people, the path planning mould
Root tuber determines the position and working region of the work system according to the laser scanning device, plans the work
System walking path.
20. metope handling machine people according to claim 18, it is characterised in that the laser scanning
Device can determine the position and working region of the operating system, the path rule by scanning the border of metope
Draw module to be arranged in laser scanning device, the position that the path planning module determines according to the scanning means
Put and working region, plan the route of the metope handling machine people walking.
21. metope handling machine people according to claim 20, it is characterised in that secondary signal sends
End, is arranged in the scanning means；Secondary signal receiving terminal, is arranged in the metope handling machine people,
The path planning module sends a control signal to secondary signal receiving terminal by the secondary signal transmitting terminal,
The work system determines walking path by the control signal for receiving.
22. according to claim 13-21 any claim metope handling machine people, it is characterised in that
The path planning module has microprocessor, and the microprocessor can be according to input to the microprocessor
The program of path planning, controls the walking path of the operating system.
The 23. metope handling machine people according to claim 13-21 any claim, it is characterised in that
The path planning module has acceleration induction controller and electronic compass controller, the acceleration induction
Controller is moved for controlling the operating system in vertical direction, and the electronic compass controller is used for
Control the metope handling machine people to change moving direction and record steering angle.
24. metope handling machine people according to claim 1, it is characterised in that the control system
To receive remote control commands to control the remotely control mould that operating system is moved on metope by network
Block.
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Application publication date: 20170510 |