CN108274471A - A kind of wax spray robot control device and method - Google Patents
A kind of wax spray robot control device and method Download PDFInfo
- Publication number
- CN108274471A CN108274471A CN201711491430.8A CN201711491430A CN108274471A CN 108274471 A CN108274471 A CN 108274471A CN 201711491430 A CN201711491430 A CN 201711491430A CN 108274471 A CN108274471 A CN 108274471A
- Authority
- CN
- China
- Prior art keywords
- wax spray
- controller
- wax
- walking
- ejecting gun
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wax spray robot controllers, including controller, wax spray robot, it is fixedly installed gyroscope, wheel detector in the wax spray robot, the output end of the gyroscope, the wheel detector input terminal of the output end respectively with the controller be connected, the output end of the controller and the input terminal of the wax spray robot are connected, and the gyroscope is respectively intended to obtain walking angle, the speed of travel and the displacement of the wax spray robot with the wheel detector.A kind of wax spray robot control device and method proposed by the present invention, solve heavy workload, artificial participation height, the ineffective technological deficiency in the anticorrosion technique field of outdoor smart home, the working efficiency and environment accommodation for improving wax spray operation, reduce the labor workload of wax spray operation；Ejecting gun elevating mechanism proposed by the present invention can adjust the spray angle of ejecting gun according to the jetting height of wax spray position, and wax spray job area is wider.
Description
Technical field
The present invention relates to a kind of wax spray robot control device and methods, belong to smart home decoration technique field.
Background technology
With the continuous development of industrial society, the discharge capacity of industrial gasses is increasing, various assembled outdoor buildings
Wall will often face the erosion of acid rain, therefore the waxing demand of outdoor building is increasing, and the effect of waxing is exactly anti-first
Water, acid rain preventing, followed by high temperature-proof and ultraviolet light and dust-proof and antistatic, existing wax spray operation majority is using lifting people
Work wax spray operation, there are heavy workload, artificial participation height, ineffective technological deficiencies.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of wax spray robot control dress is provided
It sets and method.
In order to solve the above technical problems, the present invention provides a kind of wax spray robot controller, which is characterized in that including control
Device processed, wax spray robot are fixedly installed gyroscope, wheel detector, the output of the gyroscope in the wax spray robot
End, the wheel detector input terminal of the output end respectively with the controller be connected, the output end of the controller with
The input terminal of the wax spray robot is connected, and the gyroscope is respectively intended to obtain the wax sprayer with the wheel detector
Walking angle, the speed of travel and the displacement of device people.
As a kind of preferred embodiment, controller includes wax spray controller, traveling controller, wax spray controller and walking
Controller is connected, and wax spray controller is used for controlling wax spray robot and carries out waxing operation, and traveling controller is used for controlling wax spray
Robot carries out walking operations.
As a kind of preferred embodiment, wax spray robot includes ejecting gun elevating mechanism, wax spray mechanism, walking mechanism,
Input terminal of the output end of wax spray controller respectively with the input terminal of ejecting gun elevating mechanism, wax spray mechanism is connected, walking control
The output end of device processed and the input terminal of walking mechanism are connected.
As a kind of preferred embodiment, walking mechanism is fixedly installed on the bottom of wax spray mechanism, ejecting gun elevating mechanism
It is set to below the end of wax spray mechanism, output end and the wax spray mechanism of ejecting gun elevating mechanism are slidably connected.
As a kind of preferred embodiment, wax spray mechanism includes wax-spraying pump, throttle valve, ejecting gun, wax-spraying pump fixed setting
In in wax spray robot, the output end of wax-spraying pump is sequentially communicated the input terminal of throttle valve, ejecting gun, the bottom end of ejecting gun and injection
The top of rifle elevating mechanism is connected.
As a kind of preferred embodiment, walking mechanism uses Mecanum wheel, is carried out laterally, tiltedly convenient for wax spray robot
To and turning accessible walking.
The present invention also proposes a kind of control method of paint-spray robot control device, which is characterized in that specifically includes as follows
Step：
Step SS1：Gyroscope, wheel detector are respectively by the walking angle of wax spray robot, walking displacement and the control of speed
Signal real-time Transmission processed is to controller；
Step SS2：After wax spray controller, traveling controller in controller are according to the control signal in step SS1, wax spray control
Device sends out extinguishing operation signal to ejecting gun elevating mechanism and wax spray mechanism, and traveling controller sends out walking operations signal to walking
Mechanism；
Step SS3：Ejecting gun elevating mechanism adjusts the spray angle of ejecting gun, disappearing in fire suppression mechanism according to extinguishing operation signal
Anti- pump, control valve, ejecting gun are respectively communicated with and are actuated for extinguishing operation, and walking mechanism carries out horizontal according to walking operations signal
To, it is oblique and turning accessible walking operations；
Step SS4：Gyroscope, wheel detector detect that the walking angle of wax spray robot and walking displacement complete one respectively
A wax spray period sends out wax spray and completes signal to controller, control signal is sent out to ejecting gun elevating mechanism, wax spray by controller
Mechanism and walking mechanism are out of service.
The advantageous effect that the present invention is reached：First, a kind of wax spray robot control device and method proposed by the present invention,
Heavy workload, artificial participation height, the ineffective technology for solving the anticorrosion technique field of outdoor smart home lack
It falls into, improves the working efficiency and environment accommodation of wax spray operation, reduce the labor workload of wax spray operation；Second, this
The ejecting gun elevating mechanism that invention proposes can adjust the spray angle of ejecting gun, wax spray according to the jetting height of wax spray position
Job area is wider；Third, walking mechanism of the invention use Mecanum wheel, convenient for lateral, oblique and turning without barrier
Hinder walking.
Description of the drawings
Fig. 1 is the structure principle chart of the control device of the present invention.
Fig. 2 is the structural schematic diagram of the wax spray robot of the present invention.
The meaning marked in figure：1- wax sprays robot, 2- ejecting gun elevating mechanisms, 3- wax-spraying pumps, 4- throttle valves, 5- injections
Rifle, 6- walking mechanisms, 7- gyroscopes, 8- wheel detectors.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Fig. 1 is the structure principle chart of the control device of the present invention, and Fig. 2 is the structural representation of the wax spray robot of the present invention
Figure.The present invention proposes a kind of wax spray robot controller, which is characterized in that including controller, wax spray robot 1, wax sprayer
Gyroscope 7, wheel detector 8, the output end of gyroscope 7, the output end difference of wheel detector 8 are fixedly installed on device people 1
It is connected with the input terminal of controller, the input terminal of the output end and wax spray robot 1 of controller is connected, gyroscope 7 and vehicle
Wheel sensor 8 is respectively intended to obtain walking angle, the speed of travel and the displacement of wax spray robot 1.
As a kind of preferred embodiment, controller includes wax spray controller, traveling controller, wax spray controller and walking
Controller is connected, and wax spray controller is used for controlling wax spray robot 1 and carries out waxing operation, and traveling controller is used for controlling wax spray
Robot 1 carries out walking operations.
As a kind of preferred embodiment, wax spray robot 1 includes ejecting gun elevating mechanism 2, wax spray mechanism, walking mechanism
6, the input terminal of the output end of wax spray controller respectively with the input terminal of ejecting gun elevating mechanism 2, wax spray mechanism is connected, and walks
The output end of controller and the input terminal of walking mechanism 6 are connected.
As a kind of preferred embodiment, walking mechanism 6 is fixedly installed on the bottom of wax spray mechanism, ejecting gun elevating mechanism
2 are set to below the end of wax spray mechanism, and output end and the wax spray mechanism of ejecting gun elevating mechanism 2 are slidably connected.
As a kind of preferred embodiment, wax spray mechanism includes wax-spraying pump 3, throttle valve 4, ejecting gun 5, and wax-spraying pump 3 is fixed
It is set in wax spray robot 1, the output end of wax-spraying pump 3 is sequentially communicated the input terminal of throttle valve 4, ejecting gun 5, ejecting gun 5
Bottom end is connected with the top of ejecting gun elevating mechanism 2.
As a kind of preferred embodiment, walking mechanism 6 uses Mecanum wheel, convenient for wax spray robot 1 carry out laterally,
Oblique and turning accessible walking.
The present invention also proposes a kind of control method of paint-spray robot control device, which is characterized in that specifically includes as follows
Step：
Step SS1：Gyroscope 7, wheel detector 8 are respectively by the walking angle of wax spray robot 1, walking displacement and speed
Signal real-time Transmission is controlled to controller；
Step SS2：After wax spray controller, traveling controller in controller are according to the control signal in step SS1, wax spray control
Device sends out extinguishing operation signal to ejecting gun elevating mechanism 2 and wax spray mechanism, and traveling controller sends out walking operations signal to row
Walk mechanism 6；
Step SS3：Ejecting gun elevating mechanism 2 adjusts the spray angle of ejecting gun 4 according to extinguishing operation signal, in fire suppression mechanism
Fire pump, control valve 5, ejecting gun 4 are respectively communicated with and are actuated for extinguishing operation, walking mechanism 6 according to walking operations signal into
Capable lateral, oblique and turning accessible walking operations；
Step SS4：Gyroscope 7, wheel detector 8 detect that the walking angle of wax spray robot 1 and walking displacement are complete respectively
At a wax spray period, sends out wax spray and complete signal to controller, control signal is sent out by controller and gives ejecting gun elevating mechanism
7, wax spray mechanism and walking mechanism 6 are out of service.
As a kind of preferred embodiment, ejecting gun elevating mechanism 2 of the invention, which moves up and down, makes the injection of ejecting gun 5
Angle changes, and the walking angle that gyroscope 7 obtains is the compass needle formula EWNS angles on in-plane.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of wax spray robot controller, which is characterized in that including controller, wax spray robot（1）, the wax spray machine
People（1）On be fixedly installed gyroscope（7）, wheel detector（8）, the gyroscope（7）Output end, the wheel detector
（8）Input terminal of the output end respectively with the controller be connected, the output end of the controller and the wax spray robot
（1）Input terminal be connected, the gyroscope（7）With the wheel detector（8）It is respectively intended to obtain the wax spray robot
（1）Walking angle, the speed of travel and displacement.
2. a kind of wax spray robot controller according to claim 1, which is characterized in that the controller includes wax spray
Controller, traveling controller, the wax spray controller are connected with the traveling controller, and the wax spray controller is used for controlling
The wax spray robot（1）Waxing operation is carried out, the traveling controller is used for controlling the wax spray robot（1）It walks
Operation.
3. a kind of wax spray robot controller according to claim 2, which is characterized in that the wax spray robot（1）
Including ejecting gun elevating mechanism（2）, wax spray mechanism, walking mechanism（6）, the output end of the wax spray controller respectively with the spray
Penetrate rifle elevating mechanism（2）Input terminal, the wax spray mechanism input terminal be connected, the output end of the traveling controller and institute
State walking mechanism（6）Input terminal be connected.
4. a kind of wax spray robot controller according to claim 3, which is characterized in that the walking mechanism（6）Gu
Surely the bottom of the wax spray mechanism, the ejecting gun elevating mechanism are set to（2）It is set to below the end of the wax spray mechanism,
The ejecting gun elevating mechanism（2）Output end and the wax spray mechanism be slidably connected.
5. a kind of wax spray robot controller according to claim 3, which is characterized in that the wax spray mechanism includes spray
Wax pumps（3）, throttle valve（4）, ejecting gun（5）, the wax-spraying pump（3）It is fixedly installed on the wax spray robot（1）On, the spray
Wax pumps（3）Output end be sequentially communicated the throttle valve（4）, the ejecting gun（5）Input terminal, the ejecting gun（5）Bottom
End and the ejecting gun elevating mechanism（2）Top be connected.
6. a kind of wax spray robot controller according to claim 3, which is characterized in that the walking mechanism（6）It adopts
With Mecanum wheel, it is convenient for the wax spray robot（1）Carry out lateral, oblique and turning accessible walking.
7. a kind of control method based on paint-spray robot control device described in claim 1, which is characterized in that specifically include
Following steps：
Step SS1：The gyroscope（7）, the wheel detector（8）Respectively by the wax spray robot（1）Walking angle,
The control signal real-time Transmission of walking displacement and speed is to controller；
Step SS2：After wax spray controller, traveling controller in controller are according to the control signal in the step SS1, wax spray
Controller sends out extinguishing operation signal and gives ejecting gun elevating mechanism（2）With wax spray mechanism, traveling controller sends out walking operations letter
Number give walking mechanism（6）；
Step SS3：Ejecting gun elevating mechanism（2）Ejecting gun is adjusted according to extinguishing operation signal（4）Spray angle, fire suppression mechanism
In fire pump, control valve（5）, ejecting gun（4）It is respectively communicated with and is actuated for extinguishing operation, walking mechanism（6）According to walking
Operative signals carry out lateral, oblique and turning accessible walking operations；
Step SS4：Gyroscope（7）, wheel detector（8）Wax spray robot is detected respectively（1）Walking angle and walking
A wax spray period is completed in displacement, sends out wax spray and completes signal to controller, sends out control signal by controller and give ejecting gun liter
Descending mechanism（7）, wax spray mechanism and walking mechanism（6）It is out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711491430.8A CN108274471A (en) | 2017-12-30 | 2017-12-30 | A kind of wax spray robot control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711491430.8A CN108274471A (en) | 2017-12-30 | 2017-12-30 | A kind of wax spray robot control device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108274471A true CN108274471A (en) | 2018-07-13 |
Family
ID=62803073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711491430.8A Pending CN108274471A (en) | 2017-12-30 | 2017-12-30 | A kind of wax spray robot control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108274471A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110887791A (en) * | 2019-11-13 | 2020-03-17 | 时明 | Hospital floor waxing material dosage estimation system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2060372U (en) * | 1989-12-29 | 1990-08-15 | 中国气动力研究与发展中心高速气动力研究所 | Paint spraying robot |
| JPH06117197A (en) * | 1992-10-06 | 1994-04-26 | Mitsui Fudousan Kensetsu Kk | Pray-coating robot for forming waterproof layer in tunnel |
| CN2657877Y (en) * | 2003-09-30 | 2004-11-24 | 高建华 | Automatic spraying manipulator |
| CN106204318A (en) * | 2016-07-13 | 2016-12-07 | 北京航空航天大学 | A kind of spraying digitized workshop |
| CN106975580A (en) * | 2017-05-24 | 2017-07-25 | 钦州学院 | Hull outer wall spray-painting plant |
| CN107008599A (en) * | 2017-04-19 | 2017-08-04 | 吴俊� | A kind of intelligent paint-spray robot |
-
2017
- 2017-12-30 CN CN201711491430.8A patent/CN108274471A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2060372U (en) * | 1989-12-29 | 1990-08-15 | 中国气动力研究与发展中心高速气动力研究所 | Paint spraying robot |
| JPH06117197A (en) * | 1992-10-06 | 1994-04-26 | Mitsui Fudousan Kensetsu Kk | Pray-coating robot for forming waterproof layer in tunnel |
| CN2657877Y (en) * | 2003-09-30 | 2004-11-24 | 高建华 | Automatic spraying manipulator |
| CN106204318A (en) * | 2016-07-13 | 2016-12-07 | 北京航空航天大学 | A kind of spraying digitized workshop |
| CN107008599A (en) * | 2017-04-19 | 2017-08-04 | 吴俊� | A kind of intelligent paint-spray robot |
| CN106975580A (en) * | 2017-05-24 | 2017-07-25 | 钦州学院 | Hull outer wall spray-painting plant |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110887791A (en) * | 2019-11-13 | 2020-03-17 | 时明 | Hospital floor waxing material dosage estimation system |
| CN110887791B (en) * | 2019-11-13 | 2020-10-16 | 蔡芳 | Hospital floor waxing material dosage estimation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020077660A1 (en) | Operating system and method for surface coating robot | |
| CN105151151B (en) | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs | |
| WO2020077662A1 (en) | Painting system and method for industrial building high wall surface | |
| CN103790366B (en) | A kind of vehicle-mounted dual force hoist cylinder formula high-rise building exterior wall automatic spraying equipment | |
| CN103603483B (en) | Skyscraper alien invasion Intelligent spray system | |
| CN104343230A (en) | Surface spraying and rendering robot for building | |
| CN106238257A (en) | Tunnel-side flush coater | |
| CN105962855A (en) | Glass curtain wall cleaning robot capable of crossing obstacles | |
| CN107419883A (en) | Construction industry intelligent bionic rendering robot | |
| CN207277783U (en) | A kind of intelligent spraying equipment of external wall wall | |
| CN104607347B (en) | Outer wall of wind power tower automatic paint-spraying machine | |
| CN112922282A (en) | Automatic spraying robot system and automatic spraying method for building wall surface slurry | |
| CN109595007A (en) | A kind of full-automatic wet shot control method and full-automatic wet shot system | |
| CN102230392A (en) | Mining face support movement automatic spray negative pressure secondary dust reducing method and device | |
| CN107740591A (en) | The T-shaped building wall method of bricklaying robot | |
| CN108274471A (en) | A kind of wax spray robot control device and method | |
| CN104234395A (en) | Auxiliary spraying device special for mortar coating machine | |
| CN107305055B (en) | A kind of frequency-changing control system of water pump of central air conditioner | |
| CN205502528U (en) | Intelligence tracking plastering unit | |
| CN106594916A (en) | Urban comprehensive dust removing, haze reducing and air conditioning system | |
| CN105781584A (en) | Concrete wet-spraying self-walking shotcrete support robot | |
| CN103590356A (en) | Novel water spraying vehicle | |
| CN113608464B (en) | Overturn-preventing safety control method, device and system for pump truck | |
| CN107971166A (en) | A kind of paint-spray robot | |
| CN204126224U (en) | The special auxiliary spray equipment of Mortar spraying machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180713 |