CN108636665A - A kind of the multiple gun mixing paint-spray robot and its spraying method of view-based access control model servo - Google Patents
A kind of the multiple gun mixing paint-spray robot and its spraying method of view-based access control model servo Download PDFInfo
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- CN108636665A CN108636665A CN201810771557.3A CN201810771557A CN108636665A CN 108636665 A CN108636665 A CN 108636665A CN 201810771557 A CN201810771557 A CN 201810771557A CN 108636665 A CN108636665 A CN 108636665A
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- 238000005507 spraying Methods 0.000 title claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 238000007592 spray painting technique Methods 0.000 claims abstract description 51
- 239000003973 paint Substances 0.000 claims abstract description 39
- 230000009194 climbing Effects 0.000 claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 238000001179 sorption measurement Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 39
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- 230000035699 permeability Effects 0.000 claims description 2
- 238000000576 coating method Methods 0.000 claims 1
- 230000008439 repair process Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000005536 corrosion prevention Methods 0.000 description 3
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- 238000003860 storage Methods 0.000 description 3
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- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000010422 painting Methods 0.000 description 2
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- 230000001788 irregular Effects 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
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- 239000002966 varnish Substances 0.000 description 1
Classifications
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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
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
-
- 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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- 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
- B05B12/122—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 presence or shape of target
-
- 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
- B05B13/02—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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position 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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Abstract
The invention discloses a kind of multiple gun mixing paint-spray robot of view-based access control model servo and its spraying methods, including wall climbing vehicle body, further include visual servo mechanism, bindiny mechanism and paint spraying mechanism, the wall climbing vehicle body is fixed by permanent magnet wheel with implement adsorption is waited for, the present invention has several work pattern to adapt to complicated working condition：Each spray gun is by the way of independent control in robot paint spraying mechanism, when carrying out large area spray painting operation, spray gun, which is all turned on, carries out high-efficency spraying operation, when the point for carrying out sectional repair sprays operation, the surface location and shape obtained according to visual servo mechanism, a spray operation is carried out by the nearest spray gun of feed screw nut module adjustable range, realizes effective fixed point repairing spray painting operation.
Description
Technical field
The present invention relates to Industrial Robot Technology field, the multiple gun mixing paint sprayer of specially a kind of view-based access control model servo
People and its spraying method.
Background technology
Large ship, petrochemical industry storage tank and some other heavy mechanical equipment are under normal circumstances by magnetic conductive materials such as steels
It is built-up, to ensure the safe handling of mechanical equipment, regular surface lacquer corrosion prevention operation need to be carried out to it.Currently, world's model
It encloses interior widely used traditional hand spray operating type and carries out spray painting operation, not only labor intensity is big for artificial spray painting operation, spray
Paint unstable quality, operating efficiency is low, economic input is big, and the murder by poisoning environment to paint can cause operating personnel's body greatly
Harm.With the fast development of robot technology, robot application is reduced in spray painting operation with improving spray painting product quality
Cost of labor, it has also become the hot spot and development trend of modernization spray painting corrosion prevention operation research.
Most of existing paint-spray robot is painted using the paint nozzle for being fixedly mounted on mechanical arm front end by controlling
The walking of robot carries out corresponding spray painting operation, on main application surface product manufacturing simple in structure.Due to ship, stone
Change the heavy mechanical equipments such as storage tank contour structures complexity, outer surface has plenty of irregular complicated bend face, what internal structure had
It is that semiclosed or totally enclosed cabin spaces are complicated, is found in long-term practical application, existing paint-spray robot is in big face
Product spray painting operation operating mode under, spray painting it is relatively inefficient, can not effective guarantee spray painting thickness and the uniformity, in complex working condition
When carrying out local paint-spraying operation under environment, existing paint-spray robot can not effectively spray some unconventional curved portions
Paint causes existing since the factors such as pixel, light source and sunlight have an impact camera imaging when being detected to large-scale workpiece high-precision
Some paint-spray robots are low to the profile of workpiece and the vision-based detection accuracy of identification of moulding.
In conclusion for the spray painting corrosion prevention operation of the mechanical equipments such as large ship and petrochemical industry storage tank, existing paint sprayer
The accuracy of identification that people is influenced vision-based detection by complex working condition is low, meanwhile, it can not effectively reach large area spray painting and sectional repair
The requirement of spray painting operation.Therefore, there is an urgent need for develop it is a kind of can realize visual servo, have multiple spraying painting pattern to adapt to big face
Product spray painting operation and sectional repair spray painting operation paint-spray robot.
Invention content
The purpose of the present invention is to provide a kind of multiple gun mixing paint-spray robot of view-based access control model servo and its spraying method,
To solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of the multiple gun mixing paint-spray robot and its spraying method of view-based access control model servo, including wall climbing vehicle body, further include vision
Servo mechanism, bindiny mechanism and paint spraying mechanism, the wall climbing vehicle body is by permanent magnet wheel and waits for that implement adsorption is solid
It is fixed, and the wheel drive motors that can be achieved to climb wall are installed inside wall climbing vehicle body, the wall climbing vehicle body will be regarded by flanged joint
Feel that servo mechanism is fixedly installed on wall climbing vehicle body, the visual servo mechanism is connect with paint spraying mechanism by bindiny mechanism.
Preferably, the chassis of the wall climbing vehicle body configures four driving wheels, and driving wheel it is built-in for realizing with magnetic conduction material
The permanent magnet of the absorption of material.
Preferably, the visual servo mechanism includes the camera cover of bottomless rectangular case structure, connection framework, camera support
And industrial camera, the left plate of the camera cover is opened up is arranged the matched through-hole of connecting flange with wall climbing vehicle body right side, is used for
Being fixedly connected for camera cover and wall climbing vehicle body is realized by screw.
Preferably, the front and rear panel of the camera cover is offered for realizing camera cover by screw grafting and connecting framework
The counter sink being fixedly connected, camera cover right panel open up two square holes for realizing the connecting plate translation in bindiny mechanism
Preferably, the bindiny mechanism includes that feed screw nut module, guide rail slide block module, connecting plate, connecting rod are connected with slide bar
Block；Two bearings rest base is configured with counter sink in the feed screw nut module, is connected by screw achievable feed screw nut mould
Fixed installation between group and connection framework, nut is configured with threaded hole in feed screw nut module, is threaded in threaded hole
The screw of the fixed installation of nut and connecting plate can be achieved；The guide rail slide block module middle guide uniformly configures several mounting holes,
Being connected by screw can be fixedly installed in guide rail slide block module in framework, be configured with screw thread in guide rail slide block module on sliding block
Hole, being connected by screw can be fixedly installed in connecting plate on sliding block, driving lower edge of the realization connecting plate in feed screw nut module
Guide rail slide block module middle guide moves horizontally.
Preferably, the connecting plate is stepped plate structure, is opened up and sliding block in guide rail slide block module on first order bottom plate
Connecting plate is fixedly installed in sliding block by the connecting flange that the corresponding threaded holes of upper configuration close for being connected by screw, and second
The connecting flange that the corresponding threaded holes configured with nut in feed screw nut module close is opened up on grade intermediate plate, for passing through screw reality
Show the fixed installation of connecting plate and nut, a cylindrical mounting shafts are set on third level upper plate, is realized for passing through shaft hole matching
Fixed installation between connecting plate and connecting rod；The connecting rod is the rod piece knot for the mounting hole that a both ends open up adjustable aperture
Structure, for being coordinated by screw lock and the installation axle of connecting plate and slide bar link block；The slide bar link block is a block
A cylindrical mounting shafts are arranged in constitutional detail, slide bar link block left end, for realizing slide bar link block and company by shaft hole matching
The mounting hole of an adjustable aperture is arranged in fixed installation between extension bar, slide bar link block right end, for passing through screw lock and cunning
Bar realizes the fixed installation of shaft hole matching.
Preferably, the connection framework is a rectangular box structure without upper and lower covers, and connection framework left plate opens up three groups of spiral shells
Pit coordinates with the counter sink on three camera supports, camera support is fixedly installed in company for being connected by screw respectively
Connect in framework, connection framework right panel open up with the matched threaded hole of the guide rail mounting hole of feed screw nut module, for passing through spiral shell
Feed screw nut module is fixedly mounted in connection framework by nail connection, and connection framework front and rear panel opens up and camera cover front and rear panel countersunk head
Hole is matched and for the threaded hole being fixedly connected by screw realization camera cover and connecting framework；
The camera support is a L shaped plate, is opened up on the bottom plate of camera support and connect the heavy of framework left plate corresponding threaded holes conjunction
Camera support is fixedly installed in connection framework by head bore for being connected by screw, and is opened up on the riser of camera support and work
The matched threaded hole of industry camera connecting flange, the fixed installation for realizing industrial camera and camera support by screw；Institute
It states industrial camera and is configured with the connecting flange for being used for being fixedly installed in by screw on camera support.
Preferably, the paint spraying mechanism includes spray painting cover, spray gun, slide bar, slide bar fixed plate；The spray painting cover is bottomless for one
The front and rear panel of rectangular case structure, the cover that paints is offered for being connected by screw the fixation for realizing spray painting cover and slide bar fixed plate
The counter sink of installation, spray painting cover left plate open up two for realizing slide bar link block by square hole；
The spray gun is mounted on by shaft hole matching on slide bar, and the slide bar is one section of cylindrical structure, and slide bar left and right ends are each
One section of ladder installation axle is opened up, the ladder installation axle is used to that slide bar to be fixedly mounted by shaft hole matching and is fixed in two groups of slide bars
In the axis hole of plate.
Preferably, the slide bar fixed plate is two plates being installed together by screw, is opened among slide bar fixed plate
If two mounting shaft holes for realizing the fixed installation to slide bar by screw-driving, slide bar fixes plate end face and opens up and paint
The counter sink matched threaded hole that cover front and rear panel opens up is threaded in threaded hole and realizes spray painting cover and slide bar fixed plate
The screw of fixed installation.
A kind of spraying method of the multiple gun mixing paint-spray robot of view-based access control model servo, includes the following steps：
The first step, wall climbing vehicle body configure four permanent magnetic drive wheels voluntarily or turning operation；
Second step detects shape and the position of coated object to be painted using visual servo mechanism；
Third walks, and information feedback after the detection of visual servo mechanism by changes the position angle of bindiny mechanism；
4th step has finally by the pose of height and paint spraying mechanism in space of the paint spraying mechanism away from equipment surface is changed
Effect ensures the thickness and the uniformity of spray painting.
Compared with prior art, the beneficial effects of the invention are as follows：The multiple gun mixing paint-spray robot of this view-based access control model servo
It is simple in structure, and there is following advantage：
1, the present invention uses the industrial camera of automatic light source, and shadow of the external environment to camera is avoided while realizing visual servo
It rings：Robot Visual Servoing mechanism, being capable of accurately detection on a large scale in real time in such a way that multigroup industrial camera is spaced apart
The profile and shape for waiting for operation workpiece realize the visual servo of paint-spray robot, meanwhile, using camera cover to multigroup automatic light source
Industrial camera protected, can effectively completely cut off external light source, harmful light source in external environment is avoided to make camera imaging
At influence.
2, the present invention uses more spaced apart modes of bar spray gun, can adapt to large area spray painting operation：Robot paints
The more bar spray guns of arrangement of mechanism can expand spray area by the arranged for interval form of more bar spray guns, meanwhile, entire paint spraying mechanism
Translation can be generated under the driving of feed screw nut module, be capable of effective guarantee spray painting thickness and the uniformity, greatly improve into
Spray painting efficiency when row large area spray painting operation.
3, the present invention uses adjustable for height paint spraying mechanism, can be carried out effectively to some unconventional curved surface operation surfaces
Spray painting：Connecting rod in bindiny mechanism of robot realizes that paint spraying mechanism exists using the mounting hole of adjustable aperture under the clamping of bolt
Height and spray of the spray gun away from operation surface in paint spraying mechanism may be implemented in positioning in space, the angle by adjusting connecting rod
The pose in mechanism space is painted, the thickness and the uniformity of effective guarantee spray painting are capable of when operation surface is conventional curved surface；
4, the present invention has several work pattern to adapt to complicated working condition：Each spray gun is using only in robot paint spraying mechanism
The mode of vertical control, when carrying out large area spray painting operation, spray gun, which is all turned on, carries out high-efficency spraying operation, is repaiied carrying out part
When the point spray operation of benefit, the surface location and shape obtained according to visual servo mechanism passes through feed screw nut module adjustable range
Nearest spray gun carries out a spray operation, realizes effective fixed point repairing spray painting operation.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the visual servo structural scheme of mechanism；
Fig. 3 is bindiny mechanism's schematic diagram；
Fig. 4 is the paint spraying mechanism schematic diagram.
In figure：Wall climbing vehicle body 1, visual servo mechanism 2, bindiny mechanism 3, paint spraying mechanism 4, camera cover 21, connection framework 22,
Camera support 23, industrial camera 24, feed screw nut module 31, guide rail slide block module 32, connecting plate 33, connecting rod 34, slide bar connect
Connect block 35, spray painting cover 41, spray gun 42, slide bar 43, slide bar fixed plate 44.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：
Including wall climbing vehicle body 1, visual servo mechanism 2, bindiny mechanism 3 and paint spraying mechanism 4；Wall climbing vehicle body 1 passes through permanent magnet wheel
It is fixed with implement adsorption is waited for, wall action is climbed by wheel drive motors realization, by flanged joint by visual servo
Mechanism 2 is fixedly installed on wall climbing vehicle body 1, and visual servo mechanism 2 is attached with paint spraying mechanism 4 by bindiny mechanism 3；It climbs
Wall car body 1 is the trolley of a four-wheel permanent magnetic drive, and 1 chassis of wall climbing vehicle body configures four driving wheels, driving wheel built-in permanent magnet
For realizing the absorption with permeability magnetic material, four driving wheel independent controls realize the straight trip and turning of wall climbing vehicle body 1, wall climbing vehicle body
Connecting flange is arranged in 1 right side, and visual servo mechanism 2 is fixedly installed in wall climbing vehicle body 1 for passing through screw.
Visual servo mechanism 2 includes camera cover 21, connection framework 22, camera support 23 and industrial camera 24.Camera cover 21
For a bottomless rectangular case structure, the left plate of camera cover 21 opens up matched with 1 right side of wall climbing vehicle body setting connecting flange
Through-hole, for realizing being fixedly connected for camera cover 21 and wall climbing vehicle body 1 by screw, the front and rear panel of camera cover 21 opens up countersunk head
Hole, for realizing that camera cover 21 opens up two square holes with being fixedly connected for framework 22,21 right panel of camera cover is connect by screw,
For realizing translation of the connecting plate 33 in square hole；Connection framework 22 is a rectangular box structure without upper and lower covers, connects frame
22 left plate of body opens up three groups of threaded holes, respectively on three camera supports 23 counter sink coordinate, for be connected by screw by
Camera support 23 is fixedly installed in connection framework 22, and connection 22 right panel of framework is opened up to be installed with the guide rail of feed screw nut module 31
Feed screw nut module 31 is fixedly mounted on connection framework 22, connection by the matched threaded hole in hole for being connected by screw
22 front and rear panel of framework open up with the 21 matched threaded hole of front and rear panel counter sink of camera cover, for by screw realization camera cover 21
With connect being fixedly connected for framework 22；Camera support 23 is a L shaped plate, is opened up on the bottom plate of camera support 23 and connect framework 22
Camera support 23 is fixedly installed in connection framework 22 by the counter sink that left plate corresponding threaded holes close for being connected by screw,
Opened up on the riser of camera support 23 with the matched threaded hole of 24 connecting flange of industrial camera, it is industrial for being realized by screw
The fixed installation of camera 24 and camera support 23；Industrial camera 24 is configured with connecting flange, is fixedly installed in for passing through screw
On camera support 23.
Bindiny mechanism 3 includes that feed screw nut module 31, guide rail slide block module 32, connecting plate 33, connecting rod 34 and slide bar connect
Connect block 35.Two bearings rest base is configured with counter sink in feed screw nut module 31, is connected by screw achievable feed screw nut
Fixed installation between module 31 and connection framework 22, nut is configured with threaded hole in feed screw nut module 31, is connected by screw
Connect the fixed installation of achievable nut and connecting plate 33；32 middle guide of guide rail slide block module uniformly configures several mounting holes, passes through
Guide rail slide block module 32 can be fixedly installed in framework 22 by screw connection, be configured with screw thread in guide rail slide block module 32 on sliding block
Hole, being connected by screw can be fixedly installed in connecting plate 33 on sliding block, realize drive of the connecting plate 33 in feed screw nut module 31
Moving horizontally along 32 middle guide of guide rail slide block module under dynamic；Connecting plate 33 is stepped plate structure, is opened up on first order bottom plate
The connecting flange closed with the corresponding threaded holes configured on sliding block in guide rail slide block module 32, for being connected by screw connecting plate
33 are fixedly installed on sliding block, and the corresponding threaded holes configured with nut in feed screw nut module 31 are opened up on the intermediate plate of the second level and are closed
Connecting flange, a cylinder is arranged on the third level upper plate fixed installation for realizing connecting plate 33 and nut by screw
Installation axle, for realizing the fixed installation between connecting plate 33 and connecting rod 34 by shaft hole matching；Connecting rod 34 is a both ends
The member structure of the mounting hole of adjustable aperture is opened up, for the installation by screw lock and connecting plate 33 and slide bar link block 35
Axis coordinates, and realizes the fixed installation of shaft hole matching；Slide bar link block 35 is a block structure part, 35 left end of slide bar link block
One cylindrical mounting shafts are set, for realizing the fixed installation between slide bar link block 35 and connecting rod 34 by shaft hole matching,
The mounting hole of an adjustable aperture is arranged in 35 right end of slide bar link block, for realizing consolidating for shaft hole matching by screw lock and slide bar
Dingan County fills.
Paint spraying mechanism 4 includes spray painting cover 41, spray gun 42, slide bar 43, slide bar fixed plate 44.Spray painting cover 41 is a bottomless rectangle
The front and rear panel of shell structure, spray painting cover 41 opens up counter sink, and spray painting cover 41 and slide bar fixed plate are realized for being connected by screw
44 fixed installation, spray painting 41 left plates of cover open up two square holes, for realizing passing through for slide bar link block 35, facilitate installation；
Spray gun 42 is mounted on by shaft hole matching on slide bar 43；Slide bar 43 is one section of cylindrical structure, and 43 left and right ends of slide bar respectively open up
One section of ladder installation axle, for slide bar 43 to be fixedly mounted in the axis hole of two groups of slide bar fixed plates 44 by shaft hole matching；Slide bar
Fixed plate 44 is two plates being installed together by screw, opens up two mounting shaft holes among slide bar fixed plate 44, is used for
The fixed installation to slide bar 43 is realized by screw-driving, and 44 end face of slide bar fixed plate is opened up covers what 41 front and rear panels opened up with spray painting
The matched threaded hole of counter sink, for being connected by screw the fixed installation for realizing spray painting cover 41 and slide bar fixed plate 44.
Operation principle and process of the present invention are：Wall climbing vehicle body 1 configures four permanent magnetic drive wheels, it is ensured that robot effectively adsorbs
On implement surface to be painted, four driving wheel independent controls realize the straight trip and turning of wall climbing vehicle body 1, wall climbing vehicle body 1 with
2 holder of visual servo mechanism is fixedly connected, in wall climbing vehicle body walking process, visual servo mechanism 2 can detect perpendicular to
The shape of coated object to be painted and position on line direction before car body can be calculated by encoder in wheel and be moved ahead side positioned at car body
The coordinate of upward coated object to be painted carries out spray painting operation, needle it is possible thereby to accurately control paint spraying mechanism and reach above varnish stain to be painted
It, can be by changing the setting angle of connecting rod 34 in bindiny mechanism 3 to change paint spraying mechanism 4 to the surface of complex appearance structure
The pose of height and paint spraying mechanism 4 in space away from equipment surface, the thickness and the uniformity of effective guarantee spray painting, for spray
Equipment surface complex working condition is painted, each spray gun has multiple spraying painting operation by the way of independent control in robot paint spraying mechanism 4
Pattern：First, when and working area flat when implement surface is larger, the more bar spray guns of paint spraying mechanism are all turned on, and match plying
Thick stick nut module 31 carries out the laterally driven efficient large area spray painting operation of realization；Second, waiting for that operation surface needs sectional repair to spray
Paint detects the shape for needing to repair surface and position according to visual servo mechanism 2, and 1 wheel encoder of cooperation wall climbing vehicle body passes through
The nearest spray gun in 31 command range of feed screw nut module position to be painted is moved to the position and carries out fixed point spray painting operation.
The present invention is based on industrial camera automatic light source in the multiple gun mixing paint-spray robot visual servo mechanism of visual servo,
Influence of the external environment to camera resolution is avoided, shape and the position of coated object to be painted are detected by visual servo mechanism,
Paint spraying mechanism can accurately carry out spray painting operation in real time；
The present invention is based on the multiple gun mixing paint-spray robots of visual servo to use more bar spray gun independent control strategies, can realize machine
Flexible switching of the device people between several work pattern；
21 wall thickness of camera cover, 41 wall thickness of spray painting cover, connection 22 thickness of framework and connecting plate 33 and slide bar are fixed in the present embodiment
The plate thickness of plate 44 is 10mm.
It should be added that of the present invention " forward and backward；It is left and right；The nouns of locality are clear in order to describe above and below " etc.
Chu only has relative meaning, under normal circumstances, is a left side with one end where wall climbing vehicle body, is with one end where industrial camera
The right side, and as the benchmark of other nouns of locality.The present invention does not address place and is suitable for the prior art.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo, including wall climbing vehicle body（1）, feature
It is：It further include visual servo mechanism（2）, bindiny mechanism（3）And paint spraying mechanism（4）, the wall climbing vehicle body（1）Pass through permanent magnet
Wheel is fixed with implement adsorption is waited for, and wall climbing vehicle body（1）Inside is equipped with the wheel drive motors that can be achieved to climb wall,
The wall climbing vehicle body（1）By flanged joint by visual servo mechanism（2）It is fixedly installed in wall climbing vehicle body（1）On, the vision
Servo mechanism（2）With paint spraying mechanism（4）Pass through bindiny mechanism（3）Connection.
2. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 1,
It is characterized in that：The wall climbing vehicle body（1）Chassis configure four driving wheels, and driving wheel it is built-in for realizing with permeability magnetic material
The permanent magnet of absorption.
3. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 2,
It is characterized in that：The visual servo mechanism（2）Include the camera cover of bottomless rectangular case structure（21）, connection framework（22）, phase
Machine support（23）And industrial camera（24）, the camera cover（21）Left plate open up and wall climbing vehicle body（1）Right side setting connection
The matched through-hole of flange realizes camera cover for passing through screw（21）With wall climbing vehicle body（1）Be fixedly connected.
4. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 3,
It is characterized in that：The camera cover（21）Front and rear panel offer for being connected by screw realization camera cover（21）With connect framework
（22）The counter sink being fixedly connected, camera cover（21）Right panel opens up two for realizing bindiny mechanism（3）In connecting plate
（33）The square hole of translation.
5. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 4,
It is characterized in that：The bindiny mechanism（3）Including feed screw nut module（31）, guide rail slide block module（32）, connecting plate（33）, connection
Bar（34）With slide bar link block（35）；The feed screw nut module（31）Middle two bearings rest base is configured with counter sink, passes through
Feed screw nut module can be achieved in screw connection（31）With connect framework（22）Between fixed installation, feed screw nut module（31）In
Nut is configured with threaded hole, and achievable nut and connecting plate are threaded in threaded hole（33）Fixed installation screw；Institute
State guide rail slide block module（32）Middle guide uniformly configures several mounting holes, and being connected by screw can be by guide rail slide block module（32）Gu
Dingan County is loaded on framework（22）On, guide rail slide block module（32）Threaded hole is configured on middle sliding block, being connected by screw can will connect
Plate（33）It is fixedly installed on sliding block, realizes connecting plate（33）In feed screw nut module（31）Driving under along guide rail slide block module
（32）Middle guide moves horizontally.
6. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 5,
It is characterized in that：The connecting plate（33）For stepped plate structure, opened up and guide rail slide block module on first order bottom plate（32）Middle cunning
The connecting flange that the corresponding threaded holes configured on block close, for being connected by screw connecting plate（33）It is fixedly installed in sliding block
On, it is opened up on the intermediate plate of the second level and feed screw nut module（31）The connecting flange that the corresponding threaded holes of middle nut configuration close, is used
In realizing connecting plate by screw（33）With the fixed installation of nut, a cylindrical mounting shafts are set on third level upper plate, are used for
Connecting plate is realized by shaft hole matching（33）With connecting rod（34）Between fixed installation；The connecting rod（34）It is opened for a both ends
If the member structure of the mounting hole of adjustable aperture, for passing through screw lock and connecting plate（33）And slide bar link block（35）Peace
Fill axis cooperation；The slide bar link block（35）For a block structure part, slide bar link block（35）Left end setting one is cylindrical
Installation axle, for realizing slide bar link block by shaft hole matching（35）With connecting rod（34）Between fixed installation, slide bar connection
Block（35）The mounting hole of an adjustable aperture is arranged in right end, for realizing that the fixed of shaft hole matching is pacified with slide bar by screw lock
Dress.
7. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 5 or 6,
It is characterized in that：The connection framework（22）For a rectangular box structure without upper and lower covers, framework is connected（22）Left plate opens up three
Group threaded hole, respectively with three camera supports（23）On counter sink cooperation, for being connected by screw camera support（23）
It is fixedly installed in connection framework（22）On, connect framework（22）Right panel opens up and feed screw nut module（31）Guide rail mounting hole phase
The threaded hole of cooperation, for being connected by screw feed screw nut module（31）It is fixedly mounted on connection framework（22）On, connection
Framework（22）Front and rear panel opens up and camera cover（21）Front and rear panel counter sink is matched and for realizing camera cover by screw
（21）With connect framework（22）The threaded hole being fixedly connected；
The camera support（23）For a L shaped plate, camera support（23）Bottom plate on open up and connect framework（22）Left plate screw thread
The matched counter sink in hole, for being connected by screw camera support（23）It is fixedly installed in connection framework（22）On, camera
Holder（23）Riser on open up and industrial camera（24）The matched threaded hole of connecting flange, for realizing industry by screw
Camera（24）With camera support（23）Fixed installation；The industrial camera（24）Configured with being fixedly installed in for passing through screw
Camera support（23）On connecting flange.
8. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 1,
It is characterized in that：The paint spraying mechanism（4）It is covered including spray painting（41）, spray gun（42）, slide bar（43）, slide bar fixed plate（44）；It is described
Spray painting cover（41）For a bottomless rectangular case structure, spray painting cover（41）Front and rear panel offer for be connected by screw realize spray
Paint cover（41）With slide bar fixed plate（44）Fixed installation counter sink, spray painting cover（41）Left plate opens up two for realizing slide bar
Link block（35）By square hole；
The spray gun（42）It is mounted on slide bar by shaft hole matching（43）On, the slide bar（43）It is sliding for one section of cylindrical structure
Bar（43）Left and right ends respectively open up one section of ladder installation axle, and the ladder installation axle is used to that slide bar to be fixedly mounted by shaft hole matching
（43）In two groups of slide bar fixed plates（44）Axis hole in.
9. the multiple gun mixing paint-spray robot and its spraying method of a kind of view-based access control model servo according to claim 8,
It is characterized in that：The slide bar fixed plate（44）For two plates being installed together by screw, slide bar fixed plate（44）It is intermediate
Two are opened up for being realized to slide bar by screw-driving（43）Fixed installation mounting shaft hole, slide bar fixed plate（44）End face
It opens up and is covered with spray painting（41）The counter sink matched threaded hole that front and rear panel opens up is threaded with realization spray painting cover in threaded hole
（41）With slide bar fixed plate（44）Fixed installation screw.
10. a kind of spray of multiple gun mixing paint-spray robot using the view-based access control model servo described in claim 1-6 any one
Coating method, which is characterized in that include the following steps：
The first step, wall climbing vehicle body（1）Four permanent magnetic drive wheels of configuration voluntarily or turning operation；
Second step uses visual servo mechanism（2）Detect shape and the position of coated object to be painted；
Third walks, and passes through visual servo mechanism（2）Information after detection is fed back and changes bindiny mechanism（3）Position angle；
4th step, finally by change paint spraying mechanism（4）Height away from equipment surface and paint spraying mechanism（4）Position in space
Appearance, the thickness and the uniformity of effective guarantee spray painting.
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| CN201810771557.3A CN108636665A (en) | 2018-07-13 | 2018-07-13 | A kind of the multiple gun mixing paint-spray robot and its spraying method of view-based access control model servo |
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| CN108636665A true CN108636665A (en) | 2018-10-12 |
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| CN110202585A (en) * | 2019-07-30 | 2019-09-06 | 广东博智林机器人有限公司 | Spray painting control method, apparatus, spray robot and storage medium |
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| IT201800010325A1 (en) * | 2018-11-14 | 2020-05-14 | Pierangelo Vercellino | JET DISPENSING DEVICE FOR SPRAYING APPLICATIONS ON WALL SURFACES |
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| CN114011621A (en) * | 2021-11-09 | 2022-02-08 | 清华大学 | Intelligent spraying device |
| CN114405736A (en) * | 2022-01-26 | 2022-04-29 | 南京汉启智能科技有限公司 | Split type coating robot and automatic on-line and off-line method |
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