CN109972824A - Spray robot and control method and control device, computer readable storage medium - Google Patents

Abstract

The present invention provides a kind of spray robot and control method and control device, computer readable storage medium, which includes: that coating surface to be painted is divided into multiple longitudinal regions, using any longitudinal region in multiple longitudinal regions as specified region；Spray robot is moved to specified region, and specified region is sprayed；Using a longitudinal region adjacent with specified region as updated specified region after the completion of specified region sprays, and updated specified region is executed, spray robot is moved to specified region, and the step of spraying to specified region.Work surface has first been divided into multiple longitudinal regions by the program, then the spraying of one longitudinal region of a longitudinal region, and this spraying method to some longitudinal region spray when can disposable spray finishing on earth, just do not needed in this way in spraying process it is round-trip, frequently move spray robot, the frequency of spray robot overall movement can be reduced in this way, simplify the operating process of spray robot.

Description

Spray robot and control method and control device, computer readable storage medium

Technical field

The present invention relates to high-altitudes to spray field, more specifically, is related to a kind of spray robot and control method and control Device, computer readable storage medium.

Background technique

Occurring one kind at present can be to the spray robot that building is sprayed automatically, and this spray robot can External Wall or interior wall etc. are sprayed automatically, but existing spray robot needs spray robot frequently to move in spraying, And spraying process is all comparatively laborious, thus user experience is bad.

Summary of the invention

The present invention is directed at least solve one of the technical problems existing in the prior art.

For this purpose, it is an advantage of the invention to provide a kind of control methods of spray robot.

It is a further object of the invention to provide a kind of control devices of spray robot.

Yet another object of the invention is that providing a kind of spraying robot of control device including above-mentioned spray robot People.

It is still another object of the present invention to provide a kind of computer readable storage mediums.

To achieve the above object, the embodiment of first aspect present invention provides a kind of control method of spray robot, For spray robot, the control method of the spray robot includes: that coating surface to be painted is divided into multiple longitudinal regions, will be more Any longitudinal region in a longitudinal region is as specified region；Spray robot is moved to the specified region, and to institute Specified region is stated to be sprayed；After the completion of the specified region sprays, by a longitudinal region adjacent with the specified region Domain as the updated specified region, and to updated specified region execute it is described spray robot is moved to it is described Specified region, and the step of specified region is sprayed.

The control method for the spray robot that embodiment according to the present invention provides, can be used for spray robot, and spray Robot can be specifically used for the exterior wall or interior wall of skyscraper are sprayed, such as to the exterior wall of skyscraper carry out spray painting or Person carries out spraying-rinsing to the exterior wall of skyscraper, or paints inner wall of building, such as spray emulsion paint etc..And specific When spraying, first the face sprayed will can be needed to be divided into multiple longitudinal regions, then using one of longitudinal region as specified area Then spray robot is moved to specified region, and sprayed to specified region by domain, and complete spraying to specified region It afterwards, can be using a longitudinal region adjacent with specified region as updated specified region, then to updated specified area Domain executes the step of " spray robot is moved to the specified region, and is sprayed to the specified region ".Specifically, For example spray robot then can be moved to first longitudinal region first using first longitudinal region as specified region, and First longitudinal region is sprayed, and after first longitudinal region has sprayed, it can will be adjacent with first longitudinal region Second longitudinal region spray robot is then moved to second longitudinal region as second specified region, and it is right Second longitudinal region is sprayed, and after second longitudinal region has sprayed, can will be adjacent with second longitudinal region Third longitudinal region sprays third longitudinal region as specified region, until all longitudinal regions all by It has sprayed.Work surface has first been divided into multiple longitudinal regions in spraying by this kind of structure, and right the latter longitudinal region one vertical Spraying to region, and this spraying method to one of longitudinal region spray when can disposable spray finishing on earth, in this way In spraying process, spray robot only needs successively to be moved to lateral position corresponding with multiple longitudinal regions in transverse direction , and after being moved to corresponding lateral position, it is only necessary to longitudinal region is sprayed from top to bottom, without again Mobile robot.And this set, it is only necessary to the spraying of the longitudinal region can be completed by moving the robot into longitudinal region, because This, do not need it is round-trip, frequently move spray robot, just can reduce in this way spray robot overall movement frequency, simplify The operating process of spray robot.In addition, in high-altitude, transverse shifting is more troublesome, and this Shen for spray robot Spraying method please can exactly reduce the frequency of spray robot transverse shifting, so as to make the workflow of spray robot Journey is simpler, is easier to realize, and also can reduce spray robot security risk caused by high-altitude is frequently moved.

In any of the above-described technical solution, it is preferable that the spray robot includes hanger, slide assemblies and spray gun, institute It states slide assemblies to be slidably mounted on the hanger, the spray gun is mounted on the slide assemblies, described to described specified The step of region is sprayed includes: the top that the hanger is moved to the specified region；It is intermittent to control the hanger Ground is mobile to the bottom of the longitudinal region, until the hanger moves to the bottom of the longitudinal region；It is every in the hanger After primary movement, the slide assemblies on the hanger are controlled from the first Slideslip of the longitudinal region to the longitudinal region The second side in domain, meanwhile, it controls the spray gun and sprays repeatedly along the longitudinal direction.

In those technical solutions, when spraying to each longitudinal region, hanger first can be moved to longitudinal region The bottom in domain, so that hanger can spray from the top down from the top of longitudinal region, can prevent so in this way in spraying The case where hanger is sprayed since middle part.Hereafter can be mobile intermittently to the bottom of longitudinal region by hanger, and every After secondary movement in place, can first make slide assemblies along longitudinal direction region the first Slideslip to longitudinal region second side, even if sliding Component slides along the transverse direction, and controls spray gun during sliding laterally and spray repeatedly up and down, just can be realized a fixed width in this way That spends is locally sprayed.And after realizing that this is locally sprayed, hanger can be moved again to bottom, and after the completion of movement, Repeat above-mentioned locally sprayed step, can move later, is locally sprayed, is mobile, it is locally sprayed recycle always, until will be longitudinal Region has all sprayed.This kind of spraying method can realize the spraying of a longitudinal region from top to bottom, and in spraying process It only needs constantly to reduce hanger, without that just can optimize to region longitudinally in each in this way come the hanger that picks up and down Spraying process.

Wherein, the first side of longitudinal region is the left side of longitudinal region, at this point, second side of longitudinal region is longitudinal region Right side or longitudinal region the first side be longitudinal region right side, at this point, second side of longitudinal region be longitudinal region a left side Side.

In any of the above-described technical solution, it is preferable that described the step of being sprayed to the specified region further include: control It makes the slide assemblies and back slides into initial position, and during the slide assemblies back slide after acquisition spraying Whether qualified image judges spraying according to the comparison of the image of acquisition and standard picture, and when spraying unqualified, by the spray Rifle is moved to the underproof region of spraying, and sprays to underproof region is sprayed, and to the underproof region of spraying After being sprayed, the slide assemblies are back slid into the initial position.

In those technical solutions, when specifically spraying to longitudinal region, first slide assemblies can be made from transverse area Side slide laterally to the other side of transverse area, such as from the left slide of transverse area to right side, and sliding laterally During control spray gun and spray repeatedly up and down, and after the completion of spraying, controllable slide assemblies are back slided in opposite direction It is dynamic, for example left side is slided into from right side, and during sliding back, the image collecting devices such as control industrial camera are to spraying Image afterwards is acquired, and judges whether spraying is qualified, hangs if qualified according to the comparison of the image and standard picture of acquisition Frame moves down into next spraying point, if unqualified, control spray gun and is sprayed again to underproof region, and is spraying again After the completion of painting, slide assemblies and spray gun is made to return to initial position, hanger is then moved down into next spraying point, to next Spraying point is sprayed.And this kind is arranged, and can detect after the completion of spraying to the effect of spraying, so as to spray After painting Control During Paint Spraying by Robot is unqualified, spray coated work surface is sprayed again in time, just can ensure coating quality in this way, The phenomenon that avoiding spraying defect, preventing the poor quality sprayed automatically generation.

In any of the above-described technical solution, it is preferable that the control hanger is intermittently to the bottom of the longitudinal region Mobile step specifically: every preset time control the lifting device of the spray robot by hanger decentralization it is default away from From, or often receive and control the lifting device when decentralization instructs for hanger decentralization pre-determined distance.

In those technical solutions, when control hanger constantly moves down, if the process for not spraying detection and spraying again, Then settable preset time, and it is primary to decline hanger just automatically every preset time, and preset time here can be according to cross It is configured to the time for spraying primary.Certainly, when the process sprayed in no spraying detection and again, Slide Group can also be passed through Part generates a lower section instruction after back sliding into initial position, and hanger is being moved down after receiving decentralization instruction.And In the process for being provided with spraying detection and spraying again, the folding process of hanger can also be controlled according to preset time, but excellent Selection of land controls moving down for hanger by decentralization instruction, for example, can either complete in spraying again when judgement spraying is qualified A decentralization instruction is generated afterwards, and after detecting decentralization instruction, control hanger is moved down.

In any of the above-described technical solution, it is preferable that described the step of being sprayed to the specified region further include: Judgement spraying generates a decentralization instruction when qualified, or generates described in one after spraying to the underproof region of spraying Decentralization instruction.

In those technical solutions, by generating decentralization instruction when determining that spraying is qualified or after spraying again, this Sample just can issue the signal of a locally sprayed end, so just can be by the signal as the finger of next step movement Show, specifically, for example can be used as the instruction of hanger intermittence decline, just can control the node that hanger declines every time in this way, with The generation for phenomena such as enabling hanger in locally sprayed complete rear decline in time, and avoiding the occurrence of delay decline.

In any of the above-described technical solution, it is preferable that described the step of spray robot is moved to the specified region Specifically include: by the moving trolley of the spray robot by the suspension of the spray robot be moved in transverse direction with The corresponding lateral position in the specified region.

It, can be by being arranged on roof etc. when carrying out transverse shifting to spray robot in those technical solutions Movement is got off spray robot entirety transverse shifting, so just can be by suspension and hanger etc. together from a longitudinal region And it is moved to another longitudinal region.

In any of the above-described technical solution, it is preferable that it is described that coating surface to be painted is divided into multiple longitudinal regions, it will be multiple vertical Any longitudinal region into region, will as including: that coating surface to be painted is divided into multiple longitudinal regions the step of specifying region Region on the outermost side is as the specified region in multiple longitudinal regions.

It, can be using the outermost region of multiple longitudinal regions as the first specified region, for example, can in those technical solutions Using the region of the rightmost side in multiple longitudinal regions as the first specified region, or by the region of the leftmost side in multiple longitudinal regions As the first specified region, just can be sprayed since the extreme side of longitudinal region in this way.

In any of the above-described technical solution, it is preferable that the control method of spray robot further include: by multiple longitudinal regions In domain positioned at the rightmost side region as the specified region, successively will be located at the specified region left side, and with specified area The adjacent longitudinal region in domain is as the updated specified region, or will be located at the region of the leftmost side in multiple longitudinal regions When as the specified region, it will successively be located at the right side in the specified region, and the longitudinal region adjacent with specified region is made For the updated specified region.

It, can successively will be adjacent along the same direction after first specified region has sprayed in those technical solutions Region is as updated region, for example, can just can so from left to right successively using adjacent region as updated region It is enough that all longitudinal regions are from left to right successively sprayed.And this spraying method can from left to right realize spraying, because without With spray robot is moved back and forth in left-right direction, just it can prevent spray robot after spraying to some region in this way, Secondary the case where rolling, is carried out to the region sprayed, thus prevents spray robot to the region sprayed It damages.

It specifically, can be first using the region of the leftmost side as referring to such as when coating surface to be painted is divided into three longitudinal regions Determine region, then the region of the leftmost side is sprayed, and after the region of the leftmost side has sprayed, it can will be located at " leftmost side Then the right side in region ", and region namely intermediate region adjacent thereto carry out intermediate region as new specified region Spraying, and after the completion of intermediate region sprays, it can will be located at the right side of intermediate region, and region adjacent thereto, i.e. rightmost Region as updated region, then the region of rightmost is sprayed.

The second aspect of the present invention proposes a kind of control device of spray robot, comprising: memory is configured to store Executable instruction；Processor is configured to execute the executable instruction to realize that any one of first aspect implements the spraying provided The step of control method of robot.

The control device of spray robot provided by the invention, since it can implement to provide according to any one of first aspect Spray robot control method the step of control the work of spray robot, and then there is any one of first aspect to implement to mention The beneficial effect of the control method of the spray robot of confession, will not repeat them here.

The third aspect of the present invention proposes a kind of computer readable storage medium, is stored thereon with executable instruction, can Execute instruction the control method that can be realized the spray robot that any one of first aspect implements offer when being executed by processor Step.

Computer readable storage medium provided by the invention, due to the executable instruction stored thereon is performed can be by The step of implementing the control method provided according to any one of first aspect controls the work of spray robot, and then has first aspect Any one implements the beneficial effect of the control method of the spray robot provided, will not repeat them here.

The fourth aspect of the present invention proposes a kind of spray robot, comprising: suspension is equipped with promotion dress on the suspension It sets；Hanger can be hung by the lifting device and is mounted in the suspended end of the suspension；Slide assemblies are slided in transverse direction It is mounted on the hanger dynamicly；Spray gun is slidably mounted on along the longitudinal direction on the slide assemblies；Image collecting device, It is mounted on the hanger, for acquiring the image after spraying；The control device that any one of first aspect embodiment provides, installation On the suspension and/or the hanger；Moving trolley is connect with the suspension, can drive the spray by the suspension It is mobile to apply Robot transverse direction

The spray robot provided according to the present invention can be specifically used for spraying the exterior wall or interior wall of skyscraper, Such as to the exterior wall of skyscraper carry out spray painting or to the exterior wall of skyscraper carry out spraying-rinsing or to inner wall of building into Row painting, such as spray emulsion paint etc..Specifically, spray robot includes suspension, hanger, slide assemblies, spray gun, image collector It sets, control device and moving trolley, wherein suspension can be specifically used for suspension installation aloft, for example can pacify one end of suspension On the roof of skyscraper, and the other end of suspension is stretched out from the edge on the roof of skyscraper, at this point, suspension is another One end is in vacant state, and hanger can be lifted on hanging one end of suspension by the wirerope etc. of lifting device, i.e., outstanding The suspended end of frame is that one end that suspension is not installed on skyscraper etc. namely suspension are not used in one installed with object End, this makes it possible in the work surfaces such as the exterior wall that hanger is mounted on to skyscraper.I.e. here suspension, hanger, lifting device and Control device may be designed to the barrel structure in a similar building, and the device by this similar to barrel structure in this way can be realized Movement of the spray gun along the metope of skyscraper etc..And slide assemblies are for driving spray gun to slide laterally, and spray gun is specifically used for pair The work surfaces such as the exterior wall or interior wall of skyscraper are sprayed, and image collecting device is used to acquire the figure of spray coated work surface Shape, and moving trolley is used to drive spray robot to move integrally by suspension, just can be moved to spray gun need to spray in this way The different zones of painting.And control device is for controlling the work of entire product.Simultaneously as spraying provided by the invention The control device that there is any of the above-described embodiment to provide for robot, and then spray robot provided by the invention has above-mentioned The beneficial effect that one embodiment provides, will not repeat them here.

In any of the above-described technical solution, it is preferable that spray robot further include: supply assembly is mounted on the hanger On, it connect, can be fed to the spray gun under the control of the control device with the spray gun and the control device.

In those technical solutions, supply assembly is used to be fed to spray gun, so that spray gun can be by materials such as paint, clear water It sprays in work surface.

In any of the above-described technical solution, it is preferable that described image acquisition device is industrial camera or video camera, the figure When picture acquisition device is industrial camera, the study plot image pattern is the picture sample prestored, and described image acquisition device is When video camera, the study plot image pattern is the video sample prestored.

In those technical solutions, image collecting device can be industrial camera or video camera, and image collector is set to work When industry camera, directly the work surface after spraying can be saved in the form of picture industrial camera, and at this point, can shift to an earlier date Qualified picture sample is deposited into storage device, the picture shot in this way by analysis comparison industrial camera and the figure prestored Difference between shape sample can judge whether the quality of spraying is qualified.And when image collector is set to video camera, it can be straight Video camera was connected to save the work surface after spraying in the form of video, and at this point, can be in advance by qualified video sample Originally it is deposited into storage device, passes through the difference between the video of analysis comparison video camera shooting and the video sample prestored in this way Can judge whether the quality of spraying is qualified.

In any of the above-described technical solution, it is preferable that the supply assembly includes air compressor and storage device, described Air compressor is mounted on the suspension, and the storage device is mounted on the hanger, and is connected to the air compression Between machine and the spray gun, the control device includes the first control piece and the second control piece, and first control piece is mounted on It on the suspension, is connect with the lifting device and the supply assembly, for controlling the lifting device and the feed group The work of part, second control piece are mounted on the hanger, are adopted with first control piece, the spray gun, described image Acquisition means connection.

In those technical solutions, supply assembly includes air compressor and storage device, wherein air compressor is used for The input air into storage device, so as to increase the pressure in storage device, and the material in storage device pressure by It is cumulative it is big after can be drained into spray gun from the discharge port of storage device under pressure, in this way by air compressor and storage Material device can realize the supply of spray finishing material.Wherein, storage device is preferably storage tank.

In addition, one individual control piece is difficult to meet spray robot in view of the control heavy workload of spray robot Loading demand.Thus, it may be preferable to the control device of complete machine is divided into two parts, i.e. the first control piece and the second control piece, And preferably, the first control piece can be mounted on suspension, to control the work of electrical installation being mounted on suspension, and by the Two control pieces are mounted on hanger, to control the work for the electrical installation being mounted on hanger.And the second control piece is preferably with One control piece connection, so that the control section of complete machine can intercommunication, so as to complete machine carry out linkage control, without The phenomenon that there are respective independent controls.And this set can carry out the control of complete machine by two sseparated control pieces, from And the load of each control piece can be reduced, it is ensured that the safety of control device.

Wherein, lifting device can be specially the device including elevator, dynamic ropes and safety rope, and elevator is specifically used In the lifting for realizing dynamic ropes, and safety rope is for ensuring safety.And dynamic ropes and safety rope are preferably wirerope.

In any of the above-described technical solution, it is preferable that the moving trolley is AGV trolley, and the suspension is mounted on described On AGV trolley, the transverse direction that can control the suspension along work surface is moved, and be able to drive the suspension along perpendicular to The direction of work surface moves.

In those technical solutions, the transverse shifting of suspension is preferably carried out by AGV trolley, for example is moved left and right. And AGV trolley can carry out Scaned map and be automatically moved to roofing situation, so as to plan the spraying road of spray gun assembly automatically Line.

Specifically, AGV is the abbreviation of AutomatedGuidedVehicle, also referred to as AGV trolley, and AGV trolley is one Kind is equipped with electricity magnetically or optically equal homing devices, can travel along defined guide path, with safeguard protection and respectively The transport vehicle of kind transfer function, driver is not needed in industrial application, its travelling route can be controlled by computer, can be passed through Electromagnetic path bring message is moved and is acted.

In any of the above-described technical solution, it is preferable that spray robot further include: safety guard is mounted on described It on hanger, is connect with the lifting device, is able to detect the working condition of the lifting device and the hanger, and can be in institute It states when the working condition of lifting device and/or the hanger is in except preset state and locks the lifting device.

In those technical solutions, safety of the lifting device when promoting hanger can be ensured by safety guard, To effectively take precautions against the generation of work safety accident.Specifically, for example, lifting device be specially include elevator, dynamic ropes with And safety rope device when, safety guard can be arranged to a gliding speed when hanger and reach lock rope speed and extension The tilt angle of frame when reaching lock rope angle can automatic locking safety rope, so that hanger is stopped decline or is stopped inclined safety Lock, and preferably, when safety lock is arranged, it should be noted that safety lock should cannot automatically reset in the case where locking rope form state, effectively to take precautions against The generation of work safety accident.And the concrete operating principle of lock and the principle of the safety guard in existing building hanging basket are installed Equally, it does not repeat specifically herein.It certainly,, can also be by safeguard protection when the structure of lifting device is different in other schemes Device is arranged to other structures, for example, lifting device can also be the structures such as electric block, hydraulic hoist, and safety at this time Protective device can be specially a velocity estimated device, can ensure that hanger is being promoted by the promotion speed of lifting device in this way Safety in the process.Certainly, safety guard can also one can be judged according to the height of hanger hanger whether safety Device.And in the actual process, the structure of lifting device and safety guard can be set according to actual needs, and the application does not make It is specific to limit.

In any of the above-described technical solution, it is preferable that spray robot further include: weighing instrument is mounted on the hanger, It is electrically connected with second control piece, the storage device is mounted on the weighing instrument.

In those technical solutions, weighing instrument can be set on hanger, then storage device is mounted on weighing instrument, this Sample just can detect at any time the material in storage device by weighing instrument, so as to in storage device material carry out with When supervise.And weighing instrument is connect with the second control piece, and the weight data of storage device can be sent to the second control piece, in this way When material in storage device is very few, the second control piece can control the work of lifting device together with the first control piece, with Hanger just can be moved to the place for carrying out feeding operation convenient for user, just can be added in time into storage device in this way Material prevents the material in storage device from running out the phenomenon that being found not yet.

In any of the above-described technical solution, it is preferable that spray robot further include: clump weight is mounted on the suspension In non-suspended end.

In those technical solutions, by setting clump weight can by clump weight come the weight of balance frame itself, thus Frame body can be prevented overweight, and entire suspended structure is caused to be toppled.

In any of the above-described technical solution, it is preferable that spray robot further include: multiple direction-casters are arranged described On the face that work surface is arranged, multiple direction-casters and can be transported hanger with operation face contact in the hanger It is rolled in work surface when dynamic.

In those technical solutions, enables hanger to be supported on high level by direction-caster by setting direction-caster and build On the metopes such as the exterior wall built, just hanger can be prevented completely hanging in this way.In addition, passing through rolling of the direction-caster in work surface Also hanger can be made more steady when moving.

In any of the above-described technical solution, it is preferable that spray robot further include: cable disk is mounted on the suspension On, the cable disk includes cable, and one end of the cable is connect with external power supply or first control piece, described The other end of cable is connect with second control piece；Power supply line connect with first control piece and is first control Product power supply；Wherein, when one end of the cable is connect with external power supply, first control piece and second control piece Information transmission is wirelessly carried out, when one end of the cable is connect with first control piece, first control Product is second control piece power supply by the cable disk and carries out information transmission with second control piece.

In those technical solutions, spray robot further includes cable disk and power supply line, wherein power supply line is specifically used for For the power supply of the first control piece.And cable disk is in a specific embodiment, can be used for powering for the second control piece, at this point, electric One end of cable on reeler is connect with external power supply, and preferably passes through nothing between the first control piece and the second control piece at this time The mode of line is attached.And in another embodiment, the first control piece and the second control directly can be realized by cable disk Energization and signal transmission between product, at this point, cable is connected between the first control piece and the second control piece.And cable So that hanger is in lifting process, cable can be with the lifting of hanger and by folding and unfolding, so just can be to electricity for the setting of disk Cable carries out standardized administration, prevents cable too long and cable winding occurs or cable and other objects are mutually stuck Problem.And the first control piece and the second control piece be wirelessly attached can save the first control piece and second control The signal cable of product simplifies the overall structure of product.

In any of the above-described technical solution, it is preferable that spray robot further include: the first valve is connected to the air pressure Between contracting machine and the storage device, for controlling the on-off between the air compressor and the storage device；Second valve, It is connected between the storage device and the spray gun, for controlling the on-off between the air compressor and the spray gun； Third valve is connected between the storage device and the spray gun, for controlling between the air compressor and the spray gun Flow.

In those technical solutions, by the way that the first valve is arranged, it can control logical between air compressor and storage device It is disconnected, the pressure in air compressor just can be controlled in this way, to achieve the purpose that the start-stop for controlling air compressor.Certainly, The start-stop control of air compressor can also be controlled by a guard's valve.And the first valve here is preferably electromagnetism Valve, because the control of solenoid valve is more convenient precisely.And the second valve is preferably proportioning valve, and it is controllable by the second valve of setting On-off between storage device and spray gun just can control the start-stop of spray gun in this way.And the second valve is preferably ejector pin valve.And the Three valves can be used for controlling the flow between storage device and spray gun, just can control the flow of air in this way, to control spray gun The condensation rate of the material of ejection.I.e. here third valve is flow control valve.

In any of the above-described technical solution, it is preferable that the spray robot further include: sliding actuator, with the cunning Dynamic component connection, can drive the slide assemblies to slide；Rotary components are mounted on the slide assemblies；Wherein, the spray Rifle is mounted on the rotary components, can be slided under the action of the slide assemblies, and can be in the rotary components Under the action of rotated in work surface.

In those technical solutions, slide assemblies are slidably mounted on frame body, can be along the work surface of spray gun assembly Longitudinal direction or transverse direction sliding, can drive spray gun to move along the longitudinal direction or transverse direction of work surface in this way, and slide Dynamic actuator can realize the automatic driving of slide assemblies by sliding actuator in this way for driving slide assemblies to slide, from And it just can be realized spray gun along the automatic sliding in the direction up and down of work surface.And rotary components are mounted on slide assemblies, Can relative activity face rotation, in this way can by rotary components drive spray gun spraying operation rotation in surface.

In any of the above-described technical solution, it is preferable that the spray robot further includes the first guide rail, first guide rail It is mounted on the hanger, the transverse direction along work surface is arranged, and the slide assemblies include: the first sliding block, can be slidably It is mounted on first guide rail, can be slided along first guide rail；Actuator one is mounted on the hanger, and described First sliding block connection, for driving first sliding block to slide；Second guide rail is mounted on first sliding block, and along operation The longitudinal direction in face is arranged；Second sliding block can be slidably mounted on second guide rail, can be sliding along second guide rail It is dynamic；Actuator two is mounted on the hanger, is connect with second sliding block, for driving second sliding block to slide；Its In, the rotary components are mounted on second sliding block.

In the technical scheme, spray robot further includes the first guide rail, the first guide rail along work surface transverse direction, i.e., The left and right directions of work surface is arranged, and slide assemblies include the first sliding block, the second guide rail and the second sliding block, and slide assemblies can lead to It crosses the first sliding block slidably to install on the first guide rail, and can slide along the first rail, such slide assemblies are just able to drive spray Rifle slides in transverse direction, and the second sliding block can be slidably mounted on the second guide rail, just can pass through the second sliding block in this way Sliding on the second guide rail drives spray gun to slide along the longitudinal direction, passes through sliding of the slide assemblies on the first guide rail in this way, And second sliding of the sliding block on the second guide rail can adjust the position up and down of spray gun.And the first guide rail and second is led Rail can limit slippage direction, just can prevent in this way slide assemblies and the second sliding block sliding hour offset projected route, thus Enable spray gun to slide into the predetermined area according to projected route, is sprayed with the area to be sprayed to presumptive area.And it is somebody's turn to do Kind structure can adjust the position of spray gun by the sliding of longitudinal direction and left and right directions, so that the height and position of spray gun is adjusted It is more independent with left-right position adjusting, it just can be improved the height adjustment of spray gun and the convenience of left and right adjusting in this way.Certainly, exist In other schemes, the tilt adjustment of Burners Positions can also be realized by the sliding rail being obliquely installed, i.e., be not smooth vertical and horizontal tune Section.

In any of the above-described technical solution, it is preferable that be provided with first between first sliding block and second guide rail Connecting plate is connected by screw between first connecting plate and first sliding block, first connecting plate and described second It is connected by screw between guide rail.

In those technical solutions, can between the first sliding block and the second guide rail the first connecting plate, first can be made in this way It can more securely be connected between sliding block and the second guide rail, and preferably, between the first connecting plate and the first sliding block and first It is preferably connected by screw between connecting plate and the second guide rail, because the mode of screw connection is fairly simple and connection is reliable.

Wherein, when work surface is the exterior wall or interior wall of skyscraper, the longitudinal direction of work surface is the outer of skyscraper The up and down direction of wall or interior wall, the transverse direction of work surface are the exterior wall of skyscraper or the left and right directions of interior wall.

Wherein, at least one setting third guide rail along the transverse direction of work surface, slide assemblies are additionally provided on hanger It can be slidably mounted on third guide rail and the first guide rail.And slide assemblies and hanger can be enhanced by the way that third guide rail is arranged Between connection reliability, prevent slide assemblies installation it is unstable.

In any of the above-described technical solution, it is preferable that the sliding actuator includes: actuator one, is mounted on the extension It on frame, is connect with first sliding block, for driving first sliding block to slide；Actuator two is mounted on the hanger, with The second sliding block connection, for driving second sliding block to slide.

In those technical solutions, the first guide rail can be corresponded to and be mounted on first sliding block of driving slidably actuator one, And corresponding second guide rail is mounted on second sliding block of driving slidably actuator two, just can pass through two independent drives in this way Moving part realizes the independent driving of the first sliding block and the second sliding block, so that the first sliding block and the second sliding block can be in slidings Independently of each other, mutually not dry around the transverse direction that just can be realized spray gun in this way is separately adjustable separately adjustable with height, improves spray gun movement Freedom degree.

In any of the above-described technical solution, it is preferable that the actuator one includes first motor, and the first motor passes through The mode of V belt translation is connect with first sliding block, and the actuator two includes the second motor, and second motor passes through band and passes Dynamic mode is connect with second sliding block.

In those technical solutions, the first sliding block is preferably driven to slide by first motor, and first motor and first Preferably by V belt translation mode is attached between sliding block, meanwhile, preferably drive the second sliding block sliding by the second motor It is dynamic, and it is also preferred that by V belt translation mode is attached between the second motor and the second sliding block.This kind of structure can make to drive Part one and actuator two it is relatively simple for structure, it is thus possible to simplify the structure of product.Specifically, first motor, the second motor It can be connect by belt pulley and belt with the first sliding block and the second sliding block, certainly, in first motor and the first sliding block and second The drive mechanisms such as also settable gear between motor and the second sliding block, so as to rationally control the first sliding block and the second sliding block Speed.

In any of the above-described technical solution, it is preferable that the first motor and second motor are servo motor.Cause It is high for the control precision of servo motor, it is thus possible to ensure the deposition accuracies of spray gun.

Wherein it is preferred to which the second motor is preferably mounted at the lower end of the second guide rail, so that the second motor can be from The lower end of two guide rails come realize the sliding to the second sliding block drive.

In any of the above-described technical solution, it is preferable that the spray robot further includes the first shield and the second protection Cover, first shield are mounted on the motor shaft end of the first motor, can cover the motor shaft of the first motor, institute The motor shaft end that the second shield is mounted on second motor is stated, the motor shaft of second motor can be covered.

In those technical solutions, by the first shield of setting and the second shield, rainwater, dust shadow can be effectively prevent Ring the work of first motor and the second motor.Wherein it is preferred to the first shield and the second shield are preferably square, because Rectangular area is larger, just can enhance the protective performance of shield in this way.

In any of the above-described technical solution, it is preferable that the rotary components include: rotary drive, are mounted on the cunning On dynamic component；Second connecting plate is mounted on the output shaft of the rotary drive；Wherein, the spray gun is mounted on described On two connecting plates, the rotary drive rotation is able to drive the spray gun and moves along the longitudinal direction of work surface or along work surface Transverse direction movement.

In those technical solutions, rotary components include rotary drive and the second connecting plate, and rotary drive is used for The power of offer rotation, and installation of second connecting plate for realizing spray gun on rotary drive, meanwhile, the second connecting plate energy Enough increase the radial distance between rotary drive and spray gun, so as to increase the radius of turn of spray gun, so that spray gun can Pass through the greater area of region of rotation disposable spray finishing.In addition, the second connecting plate can also increase the placement space of spray gun, mention Contact area between high spray gun and rotary drive, to improve the mounting stability between rotary drive and spray gun.

In any of the above-described technical solution, it is preferable that the rotary drive includes: third motor, is mounted on the cunning On dynamic component；Retarder is mounted on the slide assemblies, is connect with the third motor；Wherein, the output shaft setting exists On the retarder.

In those technical solutions, power can be provided by third motor, and retarder is used to adjust the speed of spray gun Output torque is improved simultaneously, so as to by the speed control of output shaft in reasonable range.Wherein, third motor is preferably Servo motor, because the control precision of servo motor is higher, so as to improve the control precision to the speed of rotation axis etc..

Wherein it is preferred to the angle that the spray gun can rotate, which is more than or equal to 0 °, is less than or equal to 180 °, i.e., in the application, Spray gun preferably only rotates 180 °, can make the structure of spray gun more rationally compact in this way.Certainly, spray gun, which may also set up, to rotate 360 ° of structure.

In any of the above-described technical solution, it is preferable that spray robot further include: range unit, the range unit packet The signal reflectors for including the signal generator being mounted on the suspension and being mounted on the hanger, the signal generator with The first control piece electrical connection can emit distance measuring signal and receive the feedback signal that the signal reflectors are fed back to, and It can be measured between the hanger and the suspension according to the distance measuring signal and the received feedback signal of transmitting Distance.

In those technical solutions, a settable ranging component measures the distance between suspension and hanger, so just The height and position for obtaining hanger can be analyzed according to the distance between suspension and hanger, can pass through the height and position of hanger in this way And the position of hanger is determined in the lateral position oriented of AGV trolley, can recognize the position of hanger at any time in this way, with Make hanger that can avoid the positions such as windowsill, balcony, turning automatically during the motion.Specifically, it can be driven by AGV trolley outstanding Movement around frame, to achieve the effect that effective avoidance.

Wherein it is preferred to which signal generator is laser measuring apparatus, signal reflectors are laser reflection plate.

In those technical solutions, the measuring and calculating of the distance between suspension and frame body can be carried out by way of laser ranging. Because the mode comparative maturity of laser ranging and easily realization, thus the cost of product can be simplified, reduce ranging difficulty.Specifically, It can set signal generator to laser measuring apparatus, and set laser reflection plate for signal reflectors, and in this configuration, swash Optical measuring instrument is used to issue laser signal, receives the signal that laser reflection plate is reflected back, and determines frame according to both signals The distance between body and suspension, and laser measuring apparatus is returned in the signal reflex that laser reflection plate is used to issue laser measuring apparatus, this Sample just enables laser measuring apparatus according to laser from answering out received time and the aerial velocity-of-propagation meter of laser The distance that laser is passed by is calculated, so that the distance that just can be passed by according to laser determines the distance between suspension and frame body.

In any of the above-described technical solution, it is preferable that the quantity of the laser reflection plate is two, and two laser are anti- Plate is penetrated to be symmetrically mounted on the hanger along the transverse direction of work surface.

In those technical solutions, the laser that can be issued by two laser reflection plates to laser measuring apparatus carries out anti- It penetrates, the amount for the laser being reflected back can be enhanced in this way, so as to enhance the feedback signal that laser measuring apparatus can receive, this Sample just can enhance the laser signal of feedback when the laser signal by the laser signal and feedback that issue compares and analyzes Reliability, the accuracy of laser ranging is improved, so as to realize the accurate control mobile to the position of frame body.

In any of the above-described technical solution, it is preferable that be provided with sunk area, the suspension energy on the bottom of the suspension It is enough mounted on the AGV trolley by the sunk area, multiple pulleys, the suspension is provided on the bottom of the suspension When being mounted on the AGV trolley, the suspension can be contacted by multiple pulleys with the placement platform.

In those technical solutions, sunk area can be set in the bottom of suspension, AGV trolley is then mounted on depressed area It, so just can be while driving suspension to move integrally by AGV trolley in domain, reduction suspension constitutes whole with AGV trolley The volume of body, to reduce the occupied area of product.And by the way that pulley is arranged on the bottom of suspension, suspension is connect with ground Touching, and can be slided when mobile with AGV trolley by pulley, just the movement of suspension can be made more convenient in this way.

Wherein it is preferred to the artificial spraying machine for external wall device people of spraying robot.Certainly, spray robot can also be glass curtain wall Deng high-altitude cleaning machine people.In addition, spray robot can also be interior wall spray robot.

Additional aspect and advantage according to the present invention will provide in following description section, partially will be from following description In become obvious, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:

Fig. 1 is the flow diagram of the control method for the spray robot that embodiment according to the present invention provides；

Fig. 2 is the idiographic flow schematic diagram of the step 104 in Fig. 1；

Fig. 3 is the structural schematic block diagram of the control device for the spray robot that embodiment according to the present invention provides；

Fig. 4 is the structural schematic diagram for the spray robot that embodiment according to the present invention provides；

Fig. 5 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 6 is the partial enlargement structural representation at the A in Fig. 5；

Fig. 7 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 8 is the another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 9 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Figure 10 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes suspension part；

Figure 11 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes suspension part；

Figure 12 is that the spray robot that embodiment according to the present invention provides includes spray gun and the structural representation for adjusting component Figure；

Figure 13 is that the spray robot that embodiment according to the present invention provides includes spray gun and another structure for adjusting component Schematic diagram；

Figure 14 be embodiment according to the present invention provide spray robot air compressor, storage device and spray gun it Between connection schematic diagram.

Wherein, corresponding relationship of the Fig. 3 into Figure 14 between appended drawing reference and component names are as follows:

100 spray robots, 1 control device, the first control piece of 1a, the second control piece of 1b, 12 memories, 14 processors, 2 Suspension, 20 lifting devices, 22 clump weights, 24 cable disks, 3 hangers, 30 safety guards, 31 direction-casters, 32 first lead Rail, 34 first shields, 36 second shields, 38 third guide rails, 42 spray guns, 44 air compressors, 46 storage devices, 5 images Acquisition device, 6 moving trolleys, 72 signal generators, 74 signal reflectors, 8 weighing instruments, 90 slide assemblies, 902 first sliding blocks, 904 second guide rails, 906 second sliding blocks, 908 first connecting plates, 92 rotary components, 922 third motors, 924 retarders, 926 Two connecting plates, 94 sliding actuators, 942 actuators one, 944 actuators two, the first valve of a, the second valve of b, c third valve.

Specific embodiment

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application Feature in example and embodiment can be combined with each other.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool The limitation of body embodiment.

The control method of the spray robot of embodiment according to the present invention offer is described referring to Fig. 1.

Specifically, as shown in Figure 1, the embodiment of first aspect present invention provides a kind of controlling party of spray robot Method is used for spray robot, and the control method of the spray robot includes: step 102, coating surface to be painted is divided into multiple vertical To region, using any longitudinal region in multiple longitudinal regions as specified region；Step 104, spray robot is moved to The specified region, and the specified region is sprayed；It step 106, will be with institute after the completion of the specified region sprays An adjacent longitudinal region of specified region is stated as the updated specified region, and updated specified region is executed It is described that spray robot is moved to the specified region, and the step of spraying to the specified region.

The control method for the spray robot that embodiment according to the present invention provides, can be used for spray robot, and spray Robot can be specifically used for the exterior wall or interior wall of skyscraper are sprayed, such as to the exterior wall of skyscraper carry out spray painting or Person carries out spraying-rinsing to the exterior wall of skyscraper, or paints inner wall of building, such as spray emulsion paint etc..And specific When spraying, first the face sprayed will can be needed to be divided into multiple longitudinal regions, then using one of longitudinal region as specified area Then spray robot is moved to specified region, and sprayed to specified region by domain, and complete spraying to specified region It afterwards, can be using a longitudinal region adjacent with specified region as updated specified region, then to updated specified area Domain executes the step of " spray robot is moved to the specified region, and is sprayed to the specified region ".Specifically, For example spray robot then can be moved to first longitudinal region first using first longitudinal region as specified region, and First longitudinal region is sprayed, and after first longitudinal region has sprayed, it can will be adjacent with first longitudinal region Second longitudinal region spray robot is then moved to second longitudinal region as second specified region, and it is right Second longitudinal region is sprayed, and after second longitudinal region has sprayed, can will be adjacent with second longitudinal region Third longitudinal region sprays third longitudinal region as specified region, until all longitudinal regions all by It has sprayed.Work surface has first been divided into multiple longitudinal regions in spraying by this kind of structure, and right the latter longitudinal region one vertical Spraying to region, and this spraying method to one of longitudinal region spray when can disposable spray finishing on earth, in this way In spraying process, spray robot only needs successively to be moved to lateral position corresponding with multiple longitudinal regions in transverse direction , and after being moved to corresponding lateral position, it is only necessary to longitudinal region is sprayed from top to bottom, without again Mobile robot.And this set, it is only necessary to the spraying of the longitudinal region can be completed by moving the robot into longitudinal region, because This, do not need it is round-trip, frequently move spray robot, just can reduce in this way spray robot overall movement frequency, simplify The operating process of spray robot.In addition, in high-altitude, transverse shifting is more troublesome, and this Shen for spray robot Spraying method please can exactly reduce the frequency of spray robot transverse shifting, so as to make the workflow of spray robot Journey is simpler, is easier to realize, and also can reduce spray robot security risk caused by high-altitude is frequently moved.

Wherein, as shown in Fig. 2, step 104, is also moved to the specified region for spray robot, and to the finger Determine the step of region is sprayed specifically includes the following steps:

Step 1042, spray robot is moved to the specified region.

Step 1044, the hanger of the spray robot is moved to the top in the specified region.In this step, exist When spraying to each longitudinal region, hanger can be first moved to the bottom of longitudinal region, in this way in spraying, so that hanging The case where frame can spray from the top down from the top of longitudinal region, can prevent hanger from spraying since middle part in this way hair It is raw.

Step 1046, control hanger is intermittently mobile to the bottom of the longitudinal region, until the hanger moves to The bottom of the longitudinal region；After the hanger moves each time, slide assemblies on the hanger are controlled from described First Slideslip of longitudinal region to the longitudinal region second side, meanwhile, control the spray gun and spray repeatedly along the longitudinal direction It applies.

In this step, can be mobile intermittently to the bottom of longitudinal region by hanger, and after each movement in place, it can Slide assemblies first are slid laterally, and controls spray gun during sliding laterally and sprays repeatedly up and down, just can be realized in this way One fixed width it is locally sprayed.And after realizing that this is locally sprayed, hanger can be moved again to bottom, and complete in movement Cheng Hou repeats above-mentioned locally sprayed step, can move later, is locally sprayed, is mobile, it is locally sprayed recycle always, until Longitudinal region has all been sprayed.This kind of spraying method can realize from top to bottom the spraying of a longitudinal region, and spray It only needs constantly to reduce hanger in the process, without that come the hanger that picks up and down, just can optimize in this way to each vertical To the spraying process in region.Wherein, the first side of longitudinal region is the left side of longitudinal region, at this point, second side of longitudinal region It is the right side of longitudinal region for the right side of longitudinal region or the first side of longitudinal region, at this point, second side of longitudinal region is vertical To the left side in region.

Step 1048, the slide assemblies are controlled and back slide into initial position, and are back slided in the slide assemblies During acquisition spraying after image, according to the comparison of the image of acquisition and standard picture judge spraying whether qualification, and When spraying unqualified, the spray gun is moved to the underproof region of spraying, and spray to underproof region is sprayed, and After spraying to the underproof region of spraying, the slide assemblies are back slid into the initial position.

In this step, when specifically spraying to longitudinal region, side of the slide assemblies from transverse area can first be made Slide laterally to the other side of transverse area, such as from the left slide of transverse area to right side, and in the process slid laterally Middle control spray gun sprays repeatedly up and down, and after the completion of spraying, controllable slide assemblies back slide in opposite direction, such as Left side is slided into from right side, and during sliding back, the image collecting devices such as control industrial camera are to the figure after spraying Judge whether spraying is qualified, and hanger moves down if qualified as being acquired, and according to the comparison of the image and standard picture of acquisition It to next spraying point, if unqualified, control spray gun and underproof region is sprayed again, and completed in spraying again Afterwards, so that slide assemblies and spray gun is returned to initial position, hanger is then moved down into next spraying point, to next spraying point It is sprayed.And this kind is arranged, and can detect after the completion of spraying to the effect of spraying, so as in spraying robot After people's spraying is unqualified, spray coated work surface is sprayed again in time, just can ensure coating quality in this way, avoids spraying The phenomenon that applying defect, preventing the poor quality sprayed automatically generation.

Wherein, in step 1046, control hanger intermittently can be specific to the mobile step in the bottom of the longitudinal region Are as follows: the hanger is transferred pre-determined distance by the lifting device every preset time control spray robot, or is often received under one Lifting device is controlled when putting instruction, and hanger is transferred into pre-determined distance.

In this step, when control hanger constantly moves down, if the process for not spraying detection and spraying again, can set Preset time is set, and it is primary to decline hanger just automatically every preset time, and preset time here can be according to lateral spraying The primary time is configured.It certainly, can also be by slide assemblies back when the process sprayed in no spraying detection and again A lower section instruction is generated after sliding into initial position, and hanger is being moved down after receiving decentralization instruction.And it is being arranged When having spraying detection and the process sprayed again, the folding process of hanger can also be controlled according to preset time, but preferably, led to Decentralization instruction is crossed to control moving down for hanger, for example, can either generate after the completion of spraying again when judgement spraying is qualified One decentralization instruction, and after detecting decentralization instruction, control hanger moves down.

In any of the above-described embodiment, it is preferable that described the step of being sprayed to the specified region further include: sentencing Under the decentralization of generation one instructs when spraying qualified calmly, or generation one is described after spraying to the underproof region of spraying Put instruction.

In those technical solutions, by generating decentralization instruction when determining that spraying is qualified or after spraying again, this Sample just can issue the signal of a locally sprayed end, so just can be by the signal as the finger of next step movement Show, specifically, for example can be used as the instruction of hanger intermittence decline, just can control the node that hanger declines every time in this way, with The generation for phenomena such as enabling hanger in locally sprayed complete rear decline in time, and avoiding the occurrence of delay decline.

In any of the above-described embodiment, it is preferable that the step of spray robot is moved to specified region tool Body includes: to be moved to the suspension of the spray robot and institute in transverse direction by the moving trolley of the spray robot State the corresponding lateral position in specified region.

It, can be by the shifting that is arranged on roof etc. when carrying out transverse shifting to spray robot in those embodiments It is dynamic to get off spray robot entirety transverse shifting, so just can by suspension and hanger etc. together from a longitudinal region and It is moved to another longitudinal region.

In any of the above-described embodiment, it is preferable that it is described that coating surface to be painted is divided into multiple longitudinal regions, by multiple longitudinal directions Any longitudinal region in region, will be more as including: that coating surface to be painted is divided into multiple longitudinal regions the step of specifying region Region on the outermost side is as the specified region in a longitudinal region.

It, can be using the outermost region of multiple longitudinal regions as the first specified region, for example, can incite somebody to action in those embodiments The region of the rightmost side is made as the first specified region, or by the region of the leftmost side in multiple longitudinal regions in multiple longitudinal regions For the first specified region, just can be sprayed since the extreme side of longitudinal region in this way.

In any of the above-described technical solution, it is preferable that the control method of spray robot further include: by multiple longitudinal regions In domain positioned at the rightmost side region as the specified region, successively will be located at the specified region left side, and with specified area The adjacent longitudinal region in domain is as the updated specified region, or will be located at the region of the leftmost side in multiple longitudinal regions When as the specified region, it will successively be located at the right side in the specified region, and the longitudinal region adjacent with specified region is made For the updated specified region.

It, can successively will be other along the same direction after first specified region has sprayed in those technical solutions Region is as updated region, for example, can just can so from left to right successively using other regions as updated region All longitudinal regions are from left to right successively sprayed.And this spraying method can from from left to right realize spraying, because without With spray robot is moved back and forth in left-right direction, just it can prevent spray robot after spraying to some region in this way, Secondary the case where rolling, is carried out to the region sprayed, thus prevents spray robot to the region sprayed It damages.

It specifically, can be first using the region of the leftmost side as referring to such as when coating surface to be painted is divided into three longitudinal regions Determine region, then the region of the leftmost side is sprayed, and after the region of the leftmost side has sprayed, it can will be located at " leftmost side Then the right side in region ", and region namely intermediate region adjacent thereto carry out intermediate region as new specified region Spraying, and after the completion of intermediate region sprays, it can will be located at the right side of intermediate region, and region adjacent thereto, i.e. rightmost Region as updated region, then the region of rightmost is sprayed.

As shown in figure 3, the second aspect of the present invention proposes a kind of control device 1 of spray robot, comprising: memory 12, it is configured to storage executable instruction；Processor 14 is configured to execute the executable instruction to realize any one of first aspect The step of control method of the spray robot provided is provided.

The control device 1 of spray robot provided by the invention can implement offer according to any one of first aspect The step of control method of spray robot, controls the work of spray robot, and then implements to provide with any one of first aspect Spray robot control method beneficial effect, will not repeat them here.

The third aspect of the present invention proposes a kind of computer readable storage medium, is stored thereon with executable instruction, can Execute instruction the control method that can be realized the spray robot that any one of first aspect implements offer when being executed by processor Step.

Computer readable storage medium provided by the invention, due to the executable instruction stored thereon is performed can be by The step of implementing the control method provided according to any one of first aspect controls the work of spray robot, and then has first aspect Any one implements the beneficial effect of the control method of the spray robot provided, will not repeat them here.

As shown in Fig. 4 to Figure 14, the fourth aspect of the present invention proposes a kind of spray robot 100, including control device 1, suspension 2, hanger 3, spray gun 42, slide assemblies 90, image collecting device 5 and moving trolley 6.Specifically, it is equipped on suspension 2 Lifting device 20；Hanger 3 can be hung by lifting device 20 and is mounted in the suspended end of suspension 2；Slide assemblies 90 are transversely square To being slidably mounted on hanger 3；Spray gun 42 is slidably mounted on along the longitudinal direction on slide assemblies 90；Image collecting device 5 It is mounted on hanger 3, for acquiring the image after spraying；The control device 1 that any one of first aspect embodiment provides is mounted on On suspension 2 and/or hanger 3；Moving trolley 6 is connect with suspension 2, and the transversely side of spray robot 100 can be driven by suspension 2 To movement.

The spray robot 100 provided according to the present invention can be specifically used for spraying the exterior wall or interior wall of skyscraper It applies, for example the exterior wall of skyscraper paint or to the exterior wall progress spraying-rinsing of skyscraper or to inner wall of building It is painted, such as spray emulsion paint etc..Specifically, spray robot 100 includes suspension 2, hanger 3, slide assemblies 90, spray gun 42, image collecting device 5, control device 1 and moving trolley 6, wherein suspension 2 can be specifically used for suspension installation aloft, such as One end of suspension 2 can be mounted on the roof of skyscraper, and by the other end of suspension 2 from the edge on the roof of skyscraper Stretch out, at this point, the other end of suspension 2 is in vacant state, and hanger 3 can be lifted on by the wirerope etc. of lifting device 20 it is outstanding On hanging one end of frame 2, i.e., the suspended end of suspension 2 is that suspension 2 is not installed on one end namely suspension on skyscraper etc. 2 are not used in the one end installed with object, and this makes it possible in the work surfaces such as the exterior wall that hanger 3 is mounted on to skyscraper. I.e. suspension 2, hanger 3, lifting device 20 and control device 1 may be designed to the barrel structure in a similar building here, in this way Spray gun 42 can be realized along the movement of the metope of skyscraper etc. by the device similar to barrel structure.And slide assemblies 90 are used It is slid laterally in drive spray gun 42, and spray gun 42 is specifically used for spraying the work surfaces such as the exterior wall of skyscraper or interior wall, And image collecting device 5 is used to acquire the figure of spray coated work surface, and moving trolley 6 is used to drive spraying by suspension 2 Robot 100 moves integrally, and spray gun 42 just can be moved to the different zones for needing to spray in this way.And control device 1 is used for The work of entire product is controlled.Simultaneously as spray robot 100 provided by the invention is implemented with any of the above-described The control device 1 that example provides, and then spray robot provided by the invention 100 has the beneficial of any of the above-described embodiment offer Effect will not repeat them here.

In any of the above-described embodiment, it is preferable that as shown in Fig. 4, Fig. 7 and Figure 14, spray robot 100 further include: supply Expect component, is mounted on hanger 3, is connect with spray gun 42 and control device 1, it can be under the control of control device 1 to spray gun 42 Feed.Wherein, supply assembly may particularly include the air compressor 44 in Fig. 4 and the storage device in Fig. 7 46.

In those embodiments, supply assembly is used to be fed to spray gun 42, so that spray gun 42 can be by objects such as paint, clear water Material sprays in work surface.

In any of the above-described embodiment, it is preferable that image collecting device 5 is industrial camera or video camera, image collector When setting 5 as industrial camera, study plot image pattern is the picture sample prestored, when image collecting device 5 is video camera, study plot Image pattern is the video sample prestored.

In those embodiments, image collecting device 5 can be industrial camera or video camera, and image collecting device 5 is work When industry camera, directly the work surface after spraying can be saved in the form of picture industrial camera, and at this point, can shift to an earlier date Qualified picture sample is deposited into storage device, the picture shot in this way by analysis comparison industrial camera and the figure prestored Difference between shape sample can judge whether the quality of spraying is qualified.And when image collecting device 5 is video camera, it can be straight Video camera was connected to save the work surface after spraying in the form of video, and at this point, can be in advance by qualified video sample Originally it is deposited into storage device, passes through the difference between the video of analysis comparison video camera shooting and the video sample prestored in this way Can judge whether the quality of spraying is qualified.

In any of the above-described embodiment, it is preferable that as shown in Fig. 4, Fig. 7 and Figure 14, supply assembly includes air compressor 44 and storage device 46, air compressor 44 be mounted on suspension 2, storage device 46 is mounted on hanger 3, and is connected to air Between compressor 44 and spray gun 42, control device 1 includes the first control piece 1a and the second control piece 1b, the first control piece 1a installation On suspension 2, it is connect with lifting device 20 and supply assembly, for controlling the work of lifting device 20 and supply assembly, second Control piece 1b is mounted on hanger 3, is connect with the first control piece 1a, spray gun 42, image collecting device 5.

In those embodiments, supply assembly includes air compressor 44 and storage device 46, wherein air compressor 44 For the input air into storage device 46, so as to increase the pressure in storage device 46, and the object in storage device 46 Material can be drained into spray gun 42 from the discharge port of storage device 46 under pressure after pressure is gradually increased, and be passed through in this way Air compressor 44 and storage device 46 can realize the supply of spray finishing material.Wherein, storage device 46 is preferably storage tank.

In addition, one individual control piece is difficult to meet spraying robot in view of the control heavy workload of spray robot 100 The loading demand of people 100.Thus, it may be preferable to which the control device 1 of complete machine is divided into two parts, i.e. the first control piece 1a and second Control piece 1b, and preferably, the first control piece 1a can be mounted on suspension 2, to control the electrical installation being mounted on suspension 2 Work, and the second control piece 1b is mounted on hanger 3, to control the work for the electrical installation being mounted on hanger 3.And the Two control piece 1b are preferably connect with the first control piece 1a, so that the control section of complete machine can intercommunication, so as to whole Machine carries out linkage control, without the phenomenon that there are respective independent controls.And this set can pass through two sseparated controls Part carries out the control of complete machine, so as to reduce the load of each control piece, it is ensured that the safety of control device 1.

Wherein, lifting device 20 can be specially the device including elevator, dynamic ropes and safety rope, and elevator is specific For realizing the lifting of dynamic ropes, and safety rope is for ensuring safety.And dynamic ropes and safety rope are preferably wirerope.

In any of the above-described embodiment, it is preferable that as shown in Fig. 4 and Figure 11, moving trolley 6 is AGV trolley, and suspension 2 is pacified On AGV trolley, the transverse direction that can control suspension 2 along work surface is moved, and is able to drive suspension 2 along perpendicular to work The direction in industry face moves.

In those embodiments, the transverse shifting of suspension 2 is preferably carried out by AGV trolley, for example is moved left and right.And AGV trolley can carry out Scaned map and be automatically moved to roofing situation, so as to plan the spraying road of 42 component of spray gun automatically Line.

Specifically, AGV is the abbreviation of AutomatedGuidedVehicle, also referred to as AGV trolley, and AGV trolley is one Kind is equipped with electricity magnetically or optically equal homing devices, can travel along defined guide path, with safeguard protection and respectively The transport vehicle of kind transfer function, driver is not needed in industrial application, its travelling route can be controlled by computer, can be passed through Electromagnetic path bring message is moved and is acted.

In any of the above-described embodiment, it is preferable that as shown in fig. 7, spray robot 100 further include: safety guard 30, it is mounted on hanger 3, is connect with lifting device 20, be able to detect the working condition of lifting device 20 and hanger 3, and can Lifting device 20 is lockked when the working condition of lifting device 20 and/or hanger 3 is in except preset state.

In those embodiments, peace of the lifting device 20 when promoting hanger 3 can be ensured by safety guard 30 Entirely, to effectively take precautions against the generation of work safety accident.It is specially including elevator, moves When the device of power rope and safety rope, safety guard 30 can be arranged to one when the gliding speed of hanger 3 reaches lock rope Speed and the tilt angle of hanger 3 reach lock rope angle when can automatic locking safety rope, make hanger 3 stop decline or stop Inclined safety lock, and preferably, when safety lock is arranged, it should be noted that safety lock should cannot automatically reset in the case where locking rope form state, Effectively to take precautions against the generation of work safety accident.And the concrete operating principle for installing lock and the safeguard protection in existing building hanging basket The principle of device 30 is the same, does not repeat specifically herein.Certainly, in other schemes, when the structure of lifting device 20 is different, Safety guard 30 can also be arranged to other structures, for example, lifting device 20 can also be electric block, hydraulic hoist Etc. structures, and safety guard 30 can be specially a velocity estimated device at this time, in this way can mentioning by lifting device 20 Lifting speed ensures safety of the hanger 3 in lifting process.Certainly, safety guard 30 can also one can be according to hanger 3 Height come judge hanger 3 whether An Quan device.And in the actual process, 20 He of lifting device can be set according to actual needs The structure of safety guard 30, the application are not especially limited.

In any of the above-described embodiment, it is preferable that as shown in fig. 7, spray robot 100 further include: weighing instrument 8, installation On hanger 3, it is electrically connected with the second control piece 1b, storage device 46 is mounted on weighing instrument 8.

In those embodiments, weighing instrument 8 can be set on hanger 3, storage device 46 is then mounted on weighing instrument 8 On, just the material in storage device 46 can be detected at any time by weighing instrument 8 in this way, so as to in storage device 46 Material is supervised at any time.And weighing instrument 8 is connect with the second control piece 1b, can be sent to the weight data of storage device 46 Second control piece 1b, when the material in storage device 46 is very few in this way, the second control piece 1b can be with the first control piece 1a mono- The work of control lifting device 20 is played, so as to hanger 3 be moved to the place for carrying out feeding operation convenient for user, so just It can add materials in time into storage device 46, prevent the material in storage device 46 from running out showing of being found not yet As occurring.

In any of the above-described embodiment, it is preferable that as shown in Fig. 4, Figure 10 and Figure 11, spray robot 100 further include: match Pouring weight 22 is mounted in the non-suspended end of suspension 2.

In those embodiments, by setting clump weight 22 can by clump weight 22 come the weight of balance frame itself, from And frame body can be prevented overweight, and entire suspended structure is caused to be toppled.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 to 9, spray robot 100 further include: multiple orientations Hanger 3 is arranged on the face that work surface is arranged in castor 31, and multiple direction-casters 31 can be with operation face contact, and can It is rolled in work surface when hanger 3 is moved.

In those embodiments, hanger 3 is enabled to be supported on height by direction-caster 31 by the way that direction-caster 31 is arranged On the metopes such as the exterior wall of layer building, hanger 3 just can be prevented completely hanging in this way.In addition, by direction-caster 31 in work surface On rolling can also make hanger 3 more steady when moving.

In any of the above-described embodiment, it is preferable that as shown in Fig. 4, Figure 10 and Figure 11, spray robot 100 further include: electricity Reeler 24 is mounted on suspension 2, and cable disk 24 includes cable, one end of cable and external power supply or the first control Part 1a connection, the other end of cable are connect with the second control piece 1b；Power supply line connect with the first control piece 1a and is the first control Product 1a power supply；Wherein, when one end of cable is connect with external power supply, the first control piece 1a and the second control piece 1b pass through nothing The mode of line carries out information transmission, and when one end of cable is connect with the first control piece 1a, the first control piece 1a passes through cable Disk 24 is that the second control piece 1b powers and carries out information transmission with the second control piece 1b.

In those embodiments, spray robot 100 further includes cable disk 24 and power supply line, wherein power supply line is specific For powering for the first control piece 1a.And cable disk 24 is in a specific embodiment, can be used for for the second control piece 1b confession Electricity, at this point, one end of the cable on cable disk 24 is connect with external power supply, and the first control piece 1a and the second control piece at this time It is preferably wirelessly attached between 1b.And in another embodiment, it can directly be realized by cable disk 24 Energization and signal transmission between first control piece 1a and the second control piece 1b, at this point, cable is connected to the first control piece 1a Between the second control piece 1b.And the setting of cable disk 24, so that hanger 3 is in lifting process, cable can be with hanger 3 lifting and by folding and unfolding, so just can to cable carry out standardized administration, prevent cable too long and cable winding occur Or the problem that cable is mutually stuck with other objects.And the first control piece 1a and the second control piece 1b are wirelessly It is attached the signal cable that can save the first control piece 1a and the second control piece 1b, simplifies the overall structure of product.

In any of the above-described embodiment, it is preferable that as shown in figure 14, spray robot 100 further include: the first valve a, connection Between air compressor 44 and storage device 46, for controlling the on-off between air compressor 44 and storage device 46；The Two valve b, are connected between storage device 46 and spray gun 42, for controlling the on-off between air compressor 44 and spray gun 42；The Three valve c, are connected between storage device 46 and spray gun 42, for controlling the flow between air compressor 44 and spray gun 42.

In those embodiments, by the way that the first valve a is arranged, it can control between air compressor 44 and storage device 46 On-off just can control the pressure in air compressor 44 in this way, to achieve the purpose that the start-stop for controlling air compressor 44. Certainly, the start-stop control of air compressor 44 can also be controlled by a guard's valve.And the first valve a here is preferred For solenoid valve, because the control of solenoid valve is more convenient precisely.And the second valve b is preferably proportioning valve, and pass through setting second Valve b can control the on-off between storage device 46 and spray gun 42, just can control the start-stop of spray gun 42 in this way.And the second valve b can Preferably ejector pin valve.And third valve c can be used for controlling the flow between storage device 46 and spray gun 42, just can control sky in this way The flow of gas, to control the condensation rate of the material of the ejection of spray gun 42.I.e. here third valve c is flow control valve.

In any of the above-described embodiment, it is preferable that as shown in Fig. 5, Fig. 8, Figure 12 and Figure 13, spray robot 100 is also wrapped Include: sliding actuator 94 connect with slide assemblies 90, slide assemblies 90 can be driven to slide；Rotary components 92 are mounted on sliding On component 90；Wherein, spray gun 42 is mounted on rotary components 92, can be slided under the action of slide assemblies 90, and can It is rotated in work surface under the action of rotary components 92.

In those embodiments, slide assemblies 90 are slidably mounted on frame body, can be along the work surface of 42 component of spray gun Longitudinal direction or transverse direction sliding, spray gun 42 can be driven to move along the longitudinal direction or transverse direction of work surface in this way, And actuator 94 is slided for driving slide assemblies 90 to slide, slide assemblies 90 can be realized by sliding actuator 94 in this way Automatic driving, to just can be realized spray gun 42 along the automatic sliding in the direction up and down of work surface.And rotary components 92 are pacified On slide assemblies 90, can relative activity face rotation, in this way can by rotary components 92 drive spray gun 42 in spraying Operation rotation in surface.

In any of the above-described embodiment, it is preferable that as shown in Fig. 5, Fig. 8, Figure 12 and Figure 13, spray robot 100 is also wrapped The first guide rail 32 is included, the first guide rail 32 is mounted on hanger 3, and the transverse direction along work surface is arranged, and slide assemblies 90 include: the One sliding block 902 can be slidably mounted on the first guide rail 32, can be slided along the first guide rail 32；Second guide rail 904, installation It is arranged on the first sliding block 902, and along the longitudinal direction of work surface；Second sliding block 906, can be slidably mounted on the second guide rail On 904, it can be slided along the second guide rail 904；Wherein, rotary components 92 are mounted on the second sliding block 906；Actuator 94 is slided to wrap Actuator 1 and actuator 2 944 are included, actuator 1 is mounted on hanger 3, is connect with the first sliding block 902, for driving Dynamic first sliding block 902 sliding；Actuator 2 944 is mounted on hanger 3, is connect with the second sliding block 906, for driving the second sliding block 906 slidings.

In this embodiment, spray robot 100 further includes the first guide rail 32, and the first guide rail 32 is along the transverse direction side of work surface To, i.e. the left and right directions setting of work surface, and slide assemblies 90 include the first sliding block 902, the second guide rail 904 and the second sliding block 906, slide assemblies 90 can slidably be installed on the first guide rail 32 by the first sliding block 902, and can be sliding along the first guide rail 32 Dynamic, such slide assemblies 90 are just able to drive spray gun 42 and slide in transverse direction, and the second sliding block 906 can be slidably mounted on On second guide rail 904, just spray gun 42 can be driven along longitudinal direction by sliding of second sliding block 906 on the second guide rail 904 in this way Direction sliding, in this way by sliding and second sliding block 906 of the slide assemblies 90 on the first guide rail 32 in the second guide rail 904 On sliding can adjust the position up and down of spray gun 42.And the first guide rail 32 and the second guide rail 904 being capable of limit slippages Direction just can prevent slide assemblies 90 and the second sliding block 906 in sliding hour offset projected route, so that spray gun 42 in this way The predetermined area can be slided into according to projected route, be sprayed with the area to be sprayed to presumptive area.And this kind of structure energy The position of spray gun 42 is enough adjusted by the sliding of longitudinal direction and left and right directions, so that the height and position of spray gun 42 adjusts and a left side Right position adjusting is more independent, just can be improved the height adjustment of spray gun 42 and the convenience of left and right adjusting in this way.Certainly, at it In its scheme, the tilt adjustment of 42 position of spray gun can also be realized by the sliding rail being obliquely installed, i.e., be not smooth vertical and horizontal tune Section.The first guide rail 32 can be corresponded to and be mounted on first sliding block 902 of driving slidably actuator 1, and correspond to the second guide rail 904 are mounted on second sliding block 906 of driving slidably actuator 2 944, just can pass through two independent actuators in this way The independent driving of the first sliding block 902 and the second sliding block 906 is realized, so that the first sliding block 902 and the second sliding block 906 can It is mutually indepedent in sliding, mutually not dry around the transverse direction that just can be realized spray gun 42 in this way is separately adjustable separately adjustable with height, mentions The freedom degree that high spray gun 42 moves.

In any of the above-described embodiment, it is preferable that as shown in Figure 12 and Figure 13, the first sliding block 902 and the second guide rail 904 it Between be provided with the first connecting plate 908, be connected by screw between the first connecting plate 908 and the first sliding block 902, the first connecting plate 908 and second are connected by screw between guide rail 904.

In those embodiments, can between the first sliding block 902 and the second guide rail 904 first connecting plate 908, in this way can Make more securely connect between the first sliding block 902 and the second guide rail 904, and preferably, the first connecting plate 908 and first is sliding It is preferably connected by screw between block 902 and between the first connecting plate 908 and the second guide rail 904, because of the side of screw connection Formula is fairly simple and connection is reliable.

Wherein, when work surface is the exterior wall or interior wall of skyscraper, the longitudinal direction of work surface is the outer of skyscraper The up and down direction of wall or interior wall, the transverse direction of work surface are the exterior wall of skyscraper or the left and right directions of interior wall.

Wherein, as shown in Figure 5 and Figure 8, at least one setting along the transverse direction of work surface is additionally provided on hanger 3 Three guide rails 38, slide assemblies 90 can be slidably mounted on third guide rail 38 and the first guide rail 32.And it is led by the way that third is arranged Rail 38 can enhance the connection reliability between slide assemblies 90 and hanger 3, prevent slide assemblies 90 from installing unstable.

In any of the above-described embodiment, it is preferable that as shown in Figure 12 and Figure 13, actuator 1 includes first motor, the One motor is connect by way of V belt translation with the first sliding block 902, and actuator 2 944 includes the second motor, and the second motor passes through The mode of V belt translation is connect with the second sliding block 906.

In those embodiments, the first sliding block 902 is preferably driven to slide by first motor, and first motor and first Preferably by V belt translation mode is attached between sliding block 902, meanwhile, the second sliding block is preferably driven by the second motor 906 slidings, and it is also preferred that by V belt translation mode is attached between the second motor and the second sliding block 906.This kind of structure energy Enough make the relatively simple for structure of actuator 1 and actuator 2 944, it is thus possible to simplify the structure of product.Specifically, first Motor, the second motor can be connect by belt pulley and belt with the first sliding block 902 and the second sliding block 906, certainly, in the first electricity The drive mechanisms such as also settable gear between machine and the first sliding block 902 and the second motor and the second sliding block 906, so as to rationally Control the speed of the first sliding block 902 and the second sliding block 906.

In any of the above-described embodiment, it is preferable that first motor and the second motor are servo motor.Because of servo motor Control precision it is high, it is thus possible to ensure the deposition accuracies of spray gun 42.

Wherein it is preferred to which the second motor is preferably mounted at the lower end of the second guide rail 904, so that the second motor can Realize that the sliding to the second sliding block 906 drives from the lower end of the second guide rail 904.

In any of the above-described embodiment, it is preferable that as shown in Figure 12 and Figure 13, spray robot 100 further includes first anti- Shield 34 and the second shield 36, the first shield 34 are mounted on the motor shaft end of first motor, can cover first motor Motor shaft, the second shield 36 are mounted on the motor shaft end of the second motor, can cover the motor shaft of the second motor.

In those embodiments, by the first shield 34 of setting and the second shield 36, rainwater, dust can be effectively prevent Influence the work of first motor and the second motor.Wherein it is preferred to which the first shield 34 and the second shield 36 are preferably in side Shape just can enhance the protective performance of shield because rectangular area is larger in this way.

In any of the above-described embodiment, it is preferable that as shown in Fig. 6, Figure 12 and Figure 13, rotary components 92 include: that rotation is driven Moving part is mounted on slide assemblies 90；Second connecting plate 926, is mounted on the output shaft of rotary drive；Wherein, spray gun 42 It is mounted on the second connecting plate 926, rotary drive rotation is able to drive spray gun 42 and moves along the longitudinal direction of work surface or edge The transverse direction of work surface moves.

In those embodiments, rotary components 92 include rotary drive and the second connecting plate 926, and rotary drive is used In providing the power of rotation, and installation of second connecting plate 926 for realizing spray gun 42 on rotary drive, meanwhile, second Connecting plate 926 is capable of increasing the radial distance between rotary drive and spray gun 42, so as to increase the rotation half of spray gun 42 Diameter, so that spray gun 42 can pass through the greater area of region of rotation disposable spray finishing.In addition, the second connecting plate 926 can also Increase the placement space of spray gun 42, the contact area between spray gun 42 and rotary drive is improved, to improve rotary drive With the mounting stability between spray gun 42.

In any of the above-described embodiment, it is preferable that as shown in Fig. 6, Figure 12 and Figure 13, rotary drive includes: third electricity Machine 922 is mounted on slide assemblies 90；Retarder 924 is mounted on slide assemblies 90, is connect with third motor 922；Wherein, Output shaft is arranged on retarder 924.

In those embodiments, power can be provided by third motor 922, and retarder 924 is for adjusting spray gun 42 Speed simultaneously improve output torque, so as to by the speed control of output shaft in reasonable range.Wherein, third motor 922 be preferably servo motor, because the control precision of servo motor is higher, so as to improve the control to the speed of rotation axis etc. Precision processed.

Wherein it is preferred to the angle that spray gun 42 can rotate, which is more than or equal to 0 °, is less than or equal to 180 °, i.e., in the application, spray Preferably only 180 ° of the rotation of rifle 42, can make the structure of spray gun 42 more rationally compact in this way.Certainly, may also set up can for spray gun 42 The structure being rotated by 360 °.

In any of the above-described embodiment, it is preferable that as shown in Fig. 5, Fig. 8, Fig. 9 and Figure 11, spray robot 100 is also wrapped Include: range unit, range unit include the signal generator 72 being mounted on suspension 2 and the signal reflex being mounted on hanger 3 Device 74, signal generator 72 are electrically connected with the first control piece 1a, can be emitted distance measuring signal and be received signal reflectors 74 and feed back The feedback signal returned, and can be measured between hanger 3 and suspension 2 according to the distance measuring signal and received feedback signal of transmitting Distance.

In those embodiments, a settable ranging component measures the distance between suspension 2 and hanger 3, so just The height and position for obtaining hanger 3 can be analyzed according to the distance between suspension 2 and hanger 3, can pass through the height of hanger 3 in this way It determines the position of hanger 3, to recognize the position of hanger 3 at any time in this way in the lateral position that position and AGV trolley are oriented It sets, so that hanger 3 can avoid the positions such as windowsill, balcony, turning automatically during the motion.Specifically, AGV trolley can be passed through It is moved around driving suspension 2, to achieve the effect that effective avoidance.

Wherein, signal generator 72 is preferably laser measuring apparatus, and signal reflectors 74 are laser reflection plate.

In those embodiments, the measuring and calculating of the distance between suspension 2 and frame body can be carried out by way of laser ranging.Cause Mode comparative maturity and easily realization for laser ranging, thus the cost of product can be simplified, reduce ranging difficulty.Specifically, may be used Laser measuring apparatus is set by signal generator 72, and sets laser reflection plate for signal reflectors 74, and in this configuration, Laser measuring apparatus is used to issue laser signal, receives the signal that laser reflection plate is reflected back, and is determined according to both signals The distance between frame body and suspension 2, and laser measuring apparatus is returned in the signal reflex that laser reflection plate is used to issue laser measuring apparatus, Just enable laser measuring apparatus according to laser from answering out received time and the aerial spread speed of laser in this way The distance that laser is passed by is calculated, so that the distance that just can be passed by according to laser determines the distance between suspension 2 and frame body.

In any of the above-described embodiment, it is preferable that as shown in Figure 8 and Figure 9, the quantity of laser reflection plate is two, two Laser reflection plate is symmetrically mounted on hanger 3 along the transverse direction of work surface.

In those embodiments, the laser that can be issued by two laser reflection plates to laser measuring apparatus carries out anti- It penetrates, the amount for the laser being reflected back can be enhanced in this way, so as to enhance the feedback signal that laser measuring apparatus can receive, this Sample just can enhance the laser signal of feedback when the laser signal by the laser signal and feedback that issue compares and analyzes Reliability, the accuracy of laser ranging is improved, so as to realize the accurate control mobile to the position of frame body.

In any of the above-described embodiment, it is preferable that be provided with sunk area on the bottom of suspension 2, suspension 2 can be by recessed Sunken region is mounted on AGV trolley, and multiple pulleys are provided on the bottom of suspension 2, when suspension 2 is mounted on AGV trolley, suspension 2 can be contacted by multiple pulleys with placement platform.

In those embodiments, sunk area can be set in the bottom of suspension 2, AGV trolley is then mounted on depressed area In domain, just it can reduce what suspension 2 was constituted with AGV trolley while driving suspension 2 to move integrally by AGV trolley in this way Whole volume, to reduce the occupied area of product.And by the way that pulley is arranged on the bottom of suspension 2, enable suspension 2 with Ground contact, and can be slided when mobile with AGV trolley by pulley, just the movement of suspension 2 can be made more convenient in this way.

Wherein it is preferred to which spray robot 100 is external wall spraying machine people.Certainly, spray robot 100 can also be glass The high-altitude cleaning machine people of glass curtain wall etc..In addition, spray robot 100 can also be interior wall spray robot.

In the description of this specification, term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " even Connect " it may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also be in Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be Concrete meaning in invention.

In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc. Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with Suitable mode combines.

These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification, Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of control method of spray robot is used for spray robot, which is characterized in that the control method of spray robot Include:

Coating surface to be painted is divided into multiple longitudinal regions, using any longitudinal region in multiple longitudinal regions as specified region；

Spray robot is moved to the specified region, and the specified region is sprayed；

After the completion of the specified region sprays, using a longitudinal region adjacent with the specified region as updated institute Specified region is stated, and spray robot is moved to the specified region to updated specified region execution is described, and to institute State the step of specified region is sprayed.

2. the control method of spray robot according to claim 1, the spray robot includes hanger, slide assemblies And spray gun, the slide assemblies are slidably mounted on the hanger, the spray gun is mounted on the slide assemblies, feature It is, described the step of spraying to the specified region includes:

The hanger is moved to the top in the specified region；

It is intermittently mobile to the bottom of the longitudinal region to control the hanger, until the hanger moves to the longitudinal region The bottom in domain；

After the hanger moves each time, first side of the slide assemblies on the hanger from the longitudinal region is controlled Second side of the longitudinal region is slided into, meanwhile, it controls the spray gun and sprays repeatedly along the longitudinal direction.

3. the control method of spray robot according to claim 2, which is characterized in that it is described to the specified region into The step of row spraying further include:

It controls the slide assemblies and back slides into initial position, and acquire spray during the slide assemblies back slide Whether qualified image after painting judges spraying according to the comparison of the image of acquisition and standard picture, and when spraying unqualified, will The spray gun is moved to the underproof region of spraying, and sprays to underproof region is sprayed, and unqualified to spraying Region sprayed after, the slide assemblies are back slid into the initial position.

4. the control method of spray robot according to claim 2, which is characterized in that the control hanger is indulged to described The step mobile to the bottom in region specifically:

The hanger is transferred into pre-determined distance every the lifting device that preset time controls the spray robot, or often receives one A decentralization controls the lifting device and the hanger is transferred pre-determined distance when instructing.

5. the control method of spray robot according to claim 4, which is characterized in that it is described to the specified region into The step of row spraying further include:

A decentralization instruction is generated when judgement spraying is qualified, or generates one after spraying to the underproof region of spraying A decentralization instruction.

6. the control method of spray robot according to any one of claim 1 to 5, which is characterized in that described to spray The step of robot is moved to the specified region is applied to specifically include:

By the moving trolley of the spray robot by the suspension of the spray robot be moved in transverse direction with it is described The specified corresponding lateral position in region.

7. the control method of spray robot according to any one of claim 1 to 5, which is characterized in that it is described will be to Spray-coating surface is divided into multiple longitudinal regions, wraps any longitudinal region in multiple longitudinal regions as the step of specified region It includes:

Coating surface to be painted is divided into multiple longitudinal regions, using region on the outermost side in multiple longitudinal regions as described specified Region.

8. a kind of control device of spray robot (1) characterized by comprising

Memory (12) is configured to storage executable instruction；

Processor (14) is configured to execute the executable instruction to realize such as any one of claims 1 to 7 the method Step.

9. a kind of computer readable storage medium, which is characterized in that be stored thereon with executable instruction, the executable instruction quilt Processor (14) can be realized the control method of the spray robot (100) as described in any one of claims 1 to 7 when executing The step of.

10. a kind of spray robot (100) characterized by comprising

Suspension (2) is equipped with lifting device (20) on the suspension (2)；

Hanger (3) can be hung by the lifting device (20) and is mounted in the suspended end of the suspension (2)；

Slide assemblies (90) are slidably mounted in transverse direction on the hanger (3)；

Spray gun (42) is slidably mounted on along the longitudinal direction on the slide assemblies (90)；

Image collecting device (5) is mounted on the hanger (3), for acquiring the image after spraying；

Control device (1) as claimed in claim 8, is mounted on the suspension (2) and/or the hanger (3)；

Moving trolley (6) is connect with the suspension (2), can drive the spray robot (100) by the suspension (2) It moves in transverse direction.