CN108472673B - 用于对建筑物的外墙壁进行喷施涂漆的系统 - Google Patents

用于对建筑物的外墙壁进行喷施涂漆的系统 Download PDF

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CN108472673B
CN108472673B CN201780004365.3A CN201780004365A CN108472673B CN 108472673 B CN108472673 B CN 108472673B CN 201780004365 A CN201780004365 A CN 201780004365A CN 108472673 B CN108472673 B CN 108472673B
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林辉荣
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0278—Arrangement or mounting of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
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    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
    • E04G2003/283—Mobile scaffolds; Scaffolds with mobile platforms mobile horizontally
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
    • G—PHYSICS
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting

Abstract

本解决方案的喷施涂漆系统用于为建筑物的外墙壁涂漆，且采用安装在由滑轮系统吊起的小型吊舱上的轻型六轴机械臂，所述滑轮系统具有位于小型吊舱内的控制马达，同时在屋顶端处位于滑轮系统上的另一组马达驱动小型吊舱在建筑物的屋顶上的一组双轨条上横向横移。使用通过线性致动器安装在小型吊舱上的四个真空吸盘来将小型吊舱固定到墙壁。每一线性致动器具有三个超声波距离传感器，以测量并管理小型吊舱与待涂漆墙壁之间的距离。一旦吊舱处于适当位置，机械臂便将被启动以开始涂漆过程。

Description

用于对建筑物的外墙壁进行喷施涂漆的系统
技术领域
本发明涉及一种用于喷施涂漆的系统及方法，且具体来说，涉及一种用于利用轻型六轴机械臂来对建筑物的外墙壁进行喷施涂漆的系统及方法，所述轻型六轴机械臂在其末端执行器上耦合有三维(3D)照相机及喷嘴且被安装在小型吊舱上，其中所述小型吊舱由沿着位于建筑物的屋顶上的一组双轨条横移的马达驱动式滑轮系统吊起。
背景技术
对高楼建筑物的外墙壁涂漆可能危险。吊舱通常用于从建筑物的顶端使工人升起以实行涂漆任务。操作上，吊舱将漆桶及滚筒刷与工人一起承载并将其升起至建筑物高度以实行涂漆工作。这种方法是劳动密集型，且工人于高楼建筑物工作时曝露于风险。
中国实用新型专利CN200978517U公开一种吊舱具有机械手臂，适于实行墙涂漆及清洁任务。此系统需要操作者经由视觉监视器手动地监控涂漆工作并在遥控位置手动地控制所述任务。其需要技术及经训练的操作者来实行涂漆及清洁任误。每一个吊舱可仅由至少一个所述经训练的操作者来控制。
发明内容
本发明提供一种轻型六轴机械臂，所述轻型六轴机械臂在其末端执行器上耦合有三维照相机及喷嘴、被安放在小型吊舱上以对建筑物的外墙壁实施喷施涂漆。
使用位于小型吊舱内的工业个人计算机(personal computer，PC)来控制马达驱动式滑轮系统吊起及降低小型吊舱，以将机械臂(安放在小型吊舱上)的垂直位置定位成适于实施涂漆过程。
平行于建筑物的待涂漆外墙壁而吊起及降低小型吊舱的滑轮系统的控制马达位于小型吊舱内。
小型吊舱悬挂在马达驱动式滑轮系统上，所述马达驱动式滑轮系统沿着一对轨条横移，从而引导小型吊舱/机械臂沿着线性距离(x轴)行进以实施涂漆过程。
当机械臂‘停止’以进行涂漆过程时，使用分别安装在每一线性致动器上的四个真空吸盘将小型吊舱固定到墙壁；吸盘由位于小型吊舱内的工业个人计算机(PC)控制。
在小型吊舱上使用安装在每一线性致动器上的三个超声波距离传感器来测量并管理小型吊舱与待涂漆墙壁之间的距离；所测量的距离接着将被反馈到工业个人计算机(位于吊起小型吊舱的滑轮系统上的个人计算机)，所述工业个人计算机控制小型吊舱与待涂漆墙壁之间的距离；小型吊舱上的四个真空吸盘接着将被启动以将小型吊舱固定到墙壁。
一旦小型吊舱被‘固定’到墙壁，安装在机械臂上的三维照相机便将被启动以扫描待涂漆墙壁区域；软件程序将计算漆料喷施运动的轨迹路径以供机械臂实施漆料喷施动作。
在漆料喷施过程期间使用覆盖在漆料喷嘴上的收集罩来收集任何漆料碎屑及漆料散落物。
在小型吊舱上使用一对立面保护轮(6)来缓冲小型吊舱对待涂漆墙壁的立面所形成的任何冲击。
使用工业个人计算机(PC)来控制位于屋顶上的控制器监测漆料容器内的漆料液位，以确保漆料可用性得以维持。
使用水配重来平衡马达驱动式滑轮系统。
附图说明
图1示出根据本发明实施例的系统。
符号的说明
(1)：漆料喷嘴
(2)：轻型六轴机械臂
(4)：机载控制器
(5)：工业个人计算机
(6)：立面保护轮
(7)：真空吸盘
(9)：控制马达
(10)：小型吊舱
(11)：马达/滑轮系统
(12)：水配重
具体实施方式
图1示出根据本发明实施例的小型吊舱。采用轻型六轴机械臂2来利用漆料喷嘴1为建筑物的外墙壁涂漆，漆料喷嘴1安装在机械臂的末端执行器上以将漆料喷施到墙壁上。机械臂安装在小型吊舱10上且由具有位于小型吊舱内的控制马达9的滑轮系统吊起，同时在屋顶端处位于滑轮系统11上的另一组马达驱动小型吊舱在建筑物的屋顶上的一组双轨条上横向横移。滑轮系统平行于建筑物的待涂漆外墙壁而提升及降低小型吊舱，从而逐列地自上而下以垂直方式对墙壁进行喷施涂漆。
1.轻型六轴机械臂2
六轴机械臂将为轻型的，且在其末端执行器上耦合有三维照相机及喷嘴(无空气漆料喷施器)。安装在机械臂上的三维照相机扫描待涂漆墙壁区域(大约1.2m×1.2m)；接着，软件程序将计算漆料喷施运动的轨迹以供机械臂实施漆料喷施动作。
机械臂由安装在小型吊舱内的工业个人计算机(PC)5控制(通过RS422缆线，传输控制协议/互联网协议(TCP/IP))。
2.小型吊舱10的采用
使用经过专门设计的小型吊舱(由马达驱动式滑轮系统吊起，其中滑轮系统的控制马达位于小型吊舱内)来安放/容纳机械臂以对建筑物的外墙壁实施涂漆。当小型吊舱/机械臂‘停止’以进行涂漆过程时，安装在小型吊舱上的四个真空吸盘7有助于将小型吊舱固定到墙壁。为进一步固定小型吊舱-防止发生摇摆运动-使用附接到小型吊舱的拖绳将小型吊舱固定到地面。
安装在小型吊舱上的机载控制器4管理并控制小型吊舱与待涂漆墙壁之间的距离。所测量的距离从机载控制器被馈送到工业个人计算机(位于小型吊舱内的个人计算机)，所述工业个人计算机接着启动机械臂以开始涂漆过程。
3.具有位于小型吊舱内的控制马达的马达驱动式滑轮系统、以及用于屋顶控制器的个人计算机
平行于建筑物的待涂漆外墙壁而吊起及降低小型吊舱的滑轮系统的控制马达9位于小型吊舱内。位于小型吊舱内的工业个人计算机(PC)控制此控制马达，从而在垂直高度位置(y轴)上吊起及降低小型吊舱以将机械臂(安放在小型吊舱上)的位置定位成适于实施涂漆过程。工业个人计算机还控制另一马达11，马达11驱动小型吊舱沿着线性距离(x轴)行进，从而沿着位于建筑物的屋顶上的一组双轨条而横移。
在双轨条上使用水配重12来平衡滑轮系统。
4.对从喷嘴喷施的漆料的控制(对漆料容器液位的监测)及排出
将利用无空气漆料喷施器来将漆料喷施到墙壁上，所述无空气漆料喷施器安装在机械臂的末端执行器上。在漆料喷施过程期间使用覆盖在漆料喷嘴上的收集罩来收集任何漆料碎屑及漆料散落物。使用工业个人计算机(PC)来监测漆料容器内的漆料液位，以确保漆料可用性得以维持。
5.建筑物立面涂漆序列
涂漆序列将从建筑物的左侧开始且随着马达驱动式滑轮系统自身在朝右方向上横移而朝右移动。在墙壁上进行喷施涂漆将是逐列地自上而下以垂直方式进行；一旦每一列被涂漆，马达驱动式滑轮系统便将向右横移且另一次‘停止’以对下一列进行漆料。
6.地面控制器
通过RS422或RS485(长距离串行通信)，工业个人计算机也由远程电子控制器控制，以使得能够在地平面处控制马达驱动式滑轮系统。

Claims (8)

1.一种用于对建筑物的外墙壁进行喷施涂漆的喷施涂漆系统，其特征在于，所述系统包括：
吊舱，悬挂在马达驱动式滑轮系统上，其中所述马达驱动式滑轮系统包括平行地配置于所述建筑物的屋顶上的水平平面的一组双轨条及位于所述滑轮系统的屋顶端的一组马达，其中悬挂的所述吊舱配置于平行于所述建筑物的外墙的垂直平面，从而当所述一组马达沿着所述建筑物的所述屋顶上的所述水平平面中的所述一组双轨条驱动所述滑轮系统时，所述吊舱在所述垂直平面以操作方式横移，从而沿着所述双轨条的线性距离实施涂漆过程，其中所述吊舱包括所述滑轮系统的控制马达，所述控制马达平行于所述建筑物的待涂漆的所述外墙而吊起及降低所述吊舱,其中所述控制马达位于所述吊舱内；
六轴机械臂，在其末端执行器上耦合有三维照相机及喷嘴，所述六轴机械臂被安放在所述吊舱上以对所述外墙壁实施喷施涂漆；
其中安装在所述机械臂上的所述三维照相机以操作方式扫描待涂漆墙壁区域；以及
软件程序，适以从所述三维照相机接收所扫描结果并为所述机械臂计算喷施涂漆运动的轨迹路径。
2.根据权利要求1所述的系统，进一步包括用于平衡所述马达驱动式滑轮系统的配重。
3.根据权利要求1所述的系统，进一步包括覆盖在所述喷嘴上的收集罩，以在喷施涂漆过程期间收集任何漆料碎屑及漆料散落物。
4.根据权利要求1所述的系统，其中所述吊舱进一步包括一对立面保护轮，所述一对立面保护轮适以缓冲所述吊舱对待涂漆墙壁的立面所形成的冲击。
5.根据权利要求1所述的系统，进一步包括工业个人计算机，所述工业个人计算机适以控制所述马达驱动式滑轮系统吊起及降低所述吊舱以对所述六轴机械臂的垂直位置进行定位。
6.根据权利要求5所述的系统，进一步包括：
四个真空吸盘，分别安装在线性致动器上，以在所述机械臂停止以进行所述涂漆过程时将所述吊舱固定到所述墙壁；所述吸盘由位于所述吊舱内的所述工业个人计算机控制。
7.根据权利要求5所述的系统，其中所述工业个人计算机适以控制位于所述建筑物的屋顶上的控制器监测漆料容器内的漆料液位，以确保漆料可用性得以维持。
8.根据权利要求1所述的系统，进一步包括：
三个超声波距离传感器，在所述吊舱上安装在线性致动器上以测量所述吊舱与待涂漆墙壁之间的距离；其中所测量的所述距离被反馈以控制所述吊舱与所述待涂漆墙壁之间的所述距离。
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