CN110370296A - A kind of external wall spray robot and its control method - Google Patents
A kind of external wall spray robot and its control method Download PDFInfo
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- CN110370296A CN110370296A CN201910662052.8A CN201910662052A CN110370296A CN 110370296 A CN110370296 A CN 110370296A CN 201910662052 A CN201910662052 A CN 201910662052A CN 110370296 A CN110370296 A CN 110370296A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention provides a kind of external wall spray robot and its control methods, it is related to robotic technology field for building, it includes rack and the material storing box and flush coater that are installed in rack, the rotating mechanism that can change spraying direction is provided on the spray gun of flush coater, spray gun is fixed on can be along the horizontally moving device that rack level direction is slided；Being provided in rack makes rack along the plummet direction shift mechanism moved and the stability maintenance mechanism of adjustment machine frame movement stationarity, the exterior wall identification device of identification spraying area is additionally provided in rack, exterior wall identification device, rotating mechanism, horizontally moving device and shift mechanism are electrically connected on controller.Solve the problems, such as that the danger of hand spray external wall, low efficiency and coating quality are unstable in the prior art.
Description
Technical field
The present invention relates to robotic technology fields for building, more particularly to a kind of external wall spray robot.
Background technique
The external wall spraying of skyscraper is the operation having a large capacity and a wide range, and so far, the country substantially also rests on people
The stage of work spraying, work progress need worker to take the high altitude operation that high-altitude hanging basket carries out danger.This spraying method has
Following disadvantage:
1) high altitude operation brings to the life security of operator and seriously threatens, and slightly blowing a little small wind, hanging basket will shake
Dynamic, there are serious security risks.
2) coating itself contains a large amount of poisonous and harmful substances, and direct long term contact can cause serious shadow to the health of worker
It rings；
3) big, the speed, the distance of spraying of such as fortune rifle, spray are influenced by human factor using the coating quality of hand spray
Tu Liang, the spraying method of use and artificial technical level etc..
4) hand spray inefficiency.
Summary of the invention
For the above problem in the prior art, the present invention provides a kind of external wall spray robot, solve existing
There is in technology the problem that hand spray external wall is dangerous, low efficiency and coating quality are unstable.
In order to achieve the above object of the invention, The technical solution adopted by the invention is as follows:
A kind of external wall spray robot is provided comprising rack and the material storing box and flush coater that are installed in rack,
The rotating mechanism that can change spraying direction is provided on the spray gun of flush coater, spray gun is fixed on can be along the sliding of rack level direction
On horizontally moving device；
Being provided in rack makes rack along the plummet direction shift mechanism moved and the dimension of adjustment machine frame movement stationarity
Steady mechanism is additionally provided with the exterior wall identification device of identification spraying area, exterior wall identification device, rotating machine on horizontally moving device
Structure, horizontally moving device and shift mechanism are electrically connected on controller.
Further, liquidometer is provided in material storing box, liquidometer is electrically connected on controller.
Further, rotating mechanism includes the roll-shell that spray gun is fixedly mounted, and drives turning for roll-shell rotation
Dynamic motor, rotary electric machine are electrically connected on controller.
Further, horizontally moving device includes mobile motor and is connected as mobile motor, rotating mechanism and spray gun
The mobile shell of one, gear is fixed on the output shaft of mobile motor, and gear is engaged in the horizontal rack gear being fixed in rack
On, the both ends of rack gear are provided with first stroke switch, and mobile motor, first stroke switch are electrically connected on controller.
Further, shift mechanism includes being symmetrically fixed on the elevator at rack both ends and being fixed on building to be sprayed to push up
The suspension mechanism at end is provided with safety lock, height computer and second stroke switch, elevator, height computer on elevator
It is electrically connected on controller with second stroke switch.
Further, stability maintenance mechanism includes the wall wheel being rotatably dispose between exterior wall and rack, is symmetrically fixed on rack
Stabilization pulley, oblique pull steel cable, angle pulley and the tensioner at both ends, oblique pull steel cable one end is fixed in building to be sprayed, another
End is successively wound on the outside of stable pulley, angle pulley is fixed on tensioner behind inside.
Further, exterior wall identification device is the laser radar scanning for being fixed on rack towards outer surface of wall side to be sprayed
Rangefinder.
A kind of control method of above-mentioned external wall spray robot comprising:
Step 1, controller control elevator is moved to the second stroke on top from the second stroke switch of exterior wall bottom end
At switch, the total height of metope, the first row of the control amount mobile motor from one end are obtained by the height computer on elevator
It is moved at Cheng Kaiguan at the first stroke switch of the other end, the revolution by measuring mobile motor obtains the overall width of metope；
Step 2, controller is according to obtained metope total height, and combines the vertical spray range parameter of spray gun pre-entered
Elevator is calculated in the single step falling head value of vertical direction；
Step 3, the scanning angle range of laser radar scanning rangefinder is determined according to obtained metope overall width, control swashs
Optical radar scanning rangefinder is scanned within the scope of the scanning angle, is obtained using laser radar scanning rangefinder as origin, together
The polar value of metope each point on one horizontal spraying area is converted polar value in rectangular coordinate system by coordinate transform
Whether rectangular co-ordinate value has protrusion part to judge to be on the horizontal spraying area scanned according to rectangular co-ordinate value in distribution
It is no that there are balconies；
Step 3.1, if protrusion part is distributed in rectangular co-ordinate value, there is sun on the horizontal spraying area scanned
Platform then controls mobile motor and drives laser radar scanning rangefinder to move horizontally and with special perpendicular to the direction of metope scanning metope
Sign, obtains the specific location and form parameter of balcony and window on the horizontal spraying area；
Step 3.1.1, controller is according to the location and shape parameter of balcony and window and combines the spray gun pre-entered
Horizontal movement velocity obtains motion profile of the spray gun on the horizontal spraying area, controls spray gun according to the obtained motion profile
Complete the spraying on the horizontal spraying area；
Step 3.2, it if part is not protruded in the distribution of rectangular co-ordinate value, is not present on the horizontal spraying area that is scanned
Whether balcony has depressed section in distribution according to rectangular co-ordinate value then to judge whether deposit on the horizontal spraying area scanned
In window；
Step 3.2.1, if rectangular co-ordinate value has depressed section in distribution, there are windows, obtain in rectangular co-ordinate
The location and shape parameter of all windows, and combine the horizontal movement velocity of the spray gun pre-entered to obtain spray gun and sprayed in the level
The motion profile on region is applied, control spray gun completes the spraying on the horizontal spraying area according to the obtained motion profile；
Step 3.2.2 is not present window, then directly controls spray if rectangular co-ordinate value is being distributed upper no depressed section
Rifle is mobile according to the horizontal movement velocity pre-entered and sprays to the metope passed through；
Step 4, under the spraying state of spray gun, after spray gun touches the switch of the first stroke on moving direction, control
After rack is declined the single step height value in step 2 by elevator, step 3 is returned again to；
Step 5, step 4 is repeated, until rack touches the second stroke switch positioned at metope bottom end, repeats a hyposynchronization
Rapid 3, complete the spraying of metope.
Further, during spray gun is according to step 3 and step 4 spraying metope, in liquidometer real-time detection material storing box
The liquid level of coating is sprayed and is controlled after recording interruption position information lower than after preset value, controller is interrupted in liquid level
Elevator makes rack return to ground perfusion coating, gives controller trigger signal after coating perfusion, controller is made to control spray gun
It is moved to interruption position.
The invention has the benefit that coating spraying can be carried out by the exterior wall to building automatically using this spray robot,
The construction of construction personnel high-altitude is not needed, has ensured the personal safety of construction personnel；Movement velocity, the spray of spray gun can accurately be controlled
Distance and quantity for spray are applied, the coating quality of exterior wall is improved, ensure that the stability of coating quality, and cost is lower, efficiency is more
It is high.
By exterior wall identification device can intelligent measurement go out the positions such as window and balcony on exterior wall, pass through control spray gun
Switch can avoid the spraying at window, and the side of balcony can be sprayed by changing spraying direction by rotating mechanism, protect
Demonstrate,prove the integrality of coating quality and spraying.
Oblique pull steel cable is slided by stablizing in rack by the tension that tensioner oblique pull steel cable applies in the stability maintenance mechanism of setting
It takes turns to metope direction and squeezes, increase the frictional force between wall wheel and metope, improve stability of the rack in moving process, mention
High coating quality.
Be fixed with the material storing box of storing paint on the rack, be able to extend spray time, reduce control difficulty, material storing box with
Flush coater short distance connection avoids long distance delivery coating and causes the environment of metope excessively complicated and increased control difficulty,
And it can be improved the reliability that coating enters flush coater.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of external wall spray robot.
Fig. 2 is the structural schematic diagram of spray gun, rotating mechanism and horizontally moving device in Fig. 1.
Fig. 3 is the structural schematic diagram of the external wall spray robot course of work.
Fig. 4 is schematic diagram when exterior wall identification device scans exterior wall.
Fig. 5 is the result figure that polar value is converted into rectangular co-ordinate value.
Wherein, 1, rack；2, material storing box；3, flush coater；31, spray gun；5, rotating mechanism；51, rotary electric machine；52, it rotates
Shell；6, horizontally moving device；61, mobile motor；62, mobile shell；63, gear；64, rack gear；65, first stroke switchs；
7, shift mechanism；71, elevator；72, suspension mechanism；81, stablize pulley；82, oblique pull steel cable；83, angle pulley；84, tension
Machine；85, wall wheel；9, exterior wall identification device.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Figure 1 and Figure 2, which includes rack 1 and 2 He of material storing box that is installed in rack 1
Flush coater 3.The basket type support frame as made of square tubes soldering of rack 1, material storing box 2 and flush coater 3 are fixed by threaded fastener
In " basket " of rack 1.Material storing box 2 is used for storing paint, liquidometer is provided in material storing box 2, liquidometer is electrically connected to control
On device processed, the liquid level signal of coating is acquired by liquidometer, to allow the controller to access the amount of coating in material storing box 2
Data, after being finished coating, control its can control this spray robot drop to ground mend coatings.Liquidometer is preferred
Model MLUHZ.
The rotating mechanism 5 that can change spraying direction is provided on the spray gun 31 of flush coater 3, rotating mechanism 5 includes fixed peace
The roll-shell 52 of spray gun 31 is filled, and the rotary electric machine 51 for driving roll-shell 52 to rotate, rotary electric machine 51 are electrically connected to control
On device processed, the preferred stepper motor 57BYG250B of rotary electric machine 51 controls start and stop and the rotation side of rotary electric machine 51 by controller
To.The nozzle end of spray gun 31 passes through roll-shell 52 towards metope, and roll-shell 52 is fixed by spray gun 31, the bottom of roll-shell 52
End is fixed on the output shaft of rotary electric machine 51, drives balcony position rotation spray of the spray gun 31 on metope by rotary electric machine 51
Apply the side of balcony.
Spray gun 31 is fixed on can be along the horizontally moving device 6 that 1 horizontal direction of rack is slided, and horizontally moving device 6 includes
Mobile motor 61 and the mobile shell 62 for being connected as one mobile motor 61, rotating mechanism 5 and spray gun 31, mobile motor 61
Output shaft on be fixed with gear 63, gear 63 be engaged in it is horizontal be fixed on the rack gear 64 in rack 1, the end of rack gear 64 is set
It it is equipped with spliced eye, can flexibly increase the length of rack gear 64 according to the developed width of metope, make the length and metope of rack gear 64
Overall width is corresponding.
The both ends of rack gear 64 are provided with first stroke switch 65, and mobile motor 61, first stroke switch 65 are electrically connected to control
On device processed.The rotation of 61 rotary drive gear 63 of mobile motor, gear 63 are moved along rack gear 64, to drive spray gun 31 is horizontal to move
It is dynamic, by first stroke switch 65 as the mobile boundary in 31 horizontal direction of spray gun.The preferred stepper motor of mobile motor 61
57BYG250B, the preferred model me-8108 of first stroke switch 65.
The shift mechanism 7 for moving rack 1 along plummet direction is provided in rack 1, shift mechanism 7 includes being symmetrically fixed on
The elevator 71 at 1 both ends of rack and the suspension mechanism 72 for being fixed on building top to be sprayed, are provided with safety on elevator 71
Lock, height computer and second stroke switch, elevator 71, height computer and second stroke switch are electrically connected to controller
On.The preferred model LTD80 of elevator 71, the preferred infrared electro of height computer incude auto-counter ST76.Pass through safety
Lock come guarantee this spray robot will not falling from high altitude, guarantee construction safety.Plummet direction is fed back by height computer
Stroke can measure the plummet height of metope to be sprayed and feed back in the position in plummet direction.
In order to improve the coating quality of this spray robot, it is necessary to assure stationarity of the spray gun 31 in moving process be
Avoid the suspension of rack 1 in the sky when whipping, the stability maintenance machine that can adjust the mobile stationarity of rack 1 is provided in rack 1
Structure.Stability maintenance mechanism includes the wall wheel 85 being rotatably dispose between exterior wall and rack 1, in order to increase the uniformity of load, in machine
Both ends and centre between frame 1 and exterior wall are respectively arranged with a wall wheel 85, are symmetrically fixed on the stabilization pulley at 1 both ends of rack
81, oblique pull steel cable 82, angle pulley 83 and tensioner 84.Tensioner 84 is electrically connected on controller.
As shown in figure 3, in the present embodiment, 82 one end of oblique pull steel cable is fixed on to the top of building to be sprayed, the other end according to
It is secondary be wound in 81 outside of stable pulley, angle pulley is fixed on tensioner 84 behind 83 inside, the rotation of angle pulley 83 is fixed on
At the foot of a wall of metope to be sprayed, tensioner 84 is placed on ground, horizontally disposed with angle pulley 83.By adjusting tensioner 84
Pulling force, the pressure that oblique pull steel cable 82 is applied on stable pulley 81 can be adjusted, to adjust between wall wheel 85 and metope
Pressure, and then have adjusted the frictional force size between wall wheel 85 and metope, suitably increasing the frictional force can be improved machine
The stability of frame 1 reduces the whipping amplitude of rack 1, and then improves the coating quality of spray gun 31.
Rack 1 is towards the exterior wall identification device 9 for being equipped with identification spraying area in the middle part of one end of metope, exterior wall identification dress
Setting 9 is the laser radar scanning rangefinder for being fixed on rack 1 towards outer surface of wall side to be sprayed, preferably model RPLIDAR
A2M8。
When using this coating robot coats metope, first on architectural top to be onstructed install suspension mechanism 72 and
Stability maintenance mechanism assembles the component being installed in rack 1 on ground, for the ease of the convenience of ground moving, in the bottom surface of rack 1
On be fixed with traveling wheel.According to the position of the Character adjustment wall wheel 85 of specific metope to be sprayed, complete entire spray robot
Installation after, by the ground for being partially disposed in the foot of a wall carried in rack 1, fill it up with coating into material storing box 2.
After robot initialization to be sprayed is completed, the spraying of exterior wall is completed in accordance with the following steps:
Step 1, control elevator 71 is started to work, and elevator 71 drives rack 1 to be move upwardly until the top for reaching metope
End, the second stroke that triggering is located at top switch, and rack 1 stops rising, the signal meter that controller is fed back according to height computer
The total height of metope is calculated, controller height according to locating for rack 1 adjusts the tension of tensioner 84 in real time, makes rack 1 and wall
Frictional force between face is always positioned in optimized scope.
Controller control mobile motor 61 starts to move horizontally, until touching the first stroke switch 65 of 64 end of rack gear
Stop movement afterwards, feeds back what mobile motor 61 rotated in this process by pulse calculating on mobile motor 61 or Hall sensor
Revolution, and the displacement in horizontal direction is converted by the revolution, and then obtain the overall width of metope to be sprayed.
Step 2, controller according to obtained metope total height divided by the spray gun single pre-entered in the vertical direction
Spraying height gets a promotion machine 71 in the single step falling head value of vertical direction, obtains having sprayed facade and needs elevator 71
The step number of decline.
Step 3, the scanning angle range of laser radar scanning rangefinder is determined according to obtained metope overall width, control swashs
Optical radar scanning rangefinder is scanned within the scope of the scanning angle, sprays laser radar scanning rangefinder from same level
To the other end, which is rectangle for one end scanning in region, is obtained using laser radar scanning rangefinder as origin, together
The polar value of metope each point on one horizontal spraying area, is converted polar value in rectangular coordinate system by coordinate transform
Whether rectangular co-ordinate value has protrusion part to judge to be on the horizontal spraying area scanned according to rectangular co-ordinate value in distribution
It is no that there are balconies.
Step 3.1, if protrusion part is distributed in rectangular co-ordinate value, there is sun on the horizontal spraying area scanned
Platform then controls mobile motor 61 and drives laser radar scanning rangefinder to move horizontally and to scan metope perpendicular to the direction of metope
Feature obtains the specific location and form parameter of balcony and window on the horizontal spraying area.
Step 3.1.1, controller is according to the location and shape parameter of balcony and window and combines the spray gun 31 pre-entered
Horizontal movement velocity obtain motion profile of the spray gun 31 on the horizontal spraying area, control spray gun 31 according to the obtained fortune
Dynamic rail mark completes the spraying on the horizontal spraying area.
Step 3.2, it if part is not protruded in the distribution of rectangular co-ordinate value, is not present on the horizontal spraying area that is scanned
Whether balcony has depressed section in distribution according to rectangular co-ordinate value then to judge whether deposit on the horizontal spraying area scanned
In window.
Step 3.2.1, if rectangular co-ordinate value has depressed section in distribution, there are windows, in rectangular coordinate system
To the location and shape parameter of all windows, and the horizontal movement velocity of the spray gun 31 pre-entered is combined to obtain spray gun 31 at this
Motion profile on horizontal spraying area, control spray gun 31 are completed on the horizontal spraying area according to the obtained motion profile
Spraying.
Step 3.2.2 is not present window, then directly controls spray if rectangular co-ordinate value is being distributed upper no depressed section
Rifle 31 is mobile according to the horizontal movement velocity pre-entered and sprays to the metope passed through.
Fig. 4 is schematic diagram when laser radar scanning rangefinder scans exterior wall, laser radar scanning rangefinder and metope it
Between vertical range be 2000mm, the vertical range of window and laser radar is 3000mm, balcony it is vertical with laser radar away from
From for 1000mm.Fig. 5 is the result figure that polar value is converted into rectangular co-ordinate value, the figure protrusions feature (line that abscissa value is 3
Section) it is identified as balcony, recess feature (line segment that abscissa value is 1) is then identified as window in figure.
Step 4, under the spraying state of spray gun 31, after spray gun 31 touches the switch of the first stroke on moving direction,
After controlling the single step height value that elevator 71 declines rack 1 in step 2, step 3 is returned again to.
Step 5, step 4 is repeated, until rack 1 touches the second stroke switch positioned at metope bottom end, is repeated primary
Step 3, the spraying of metope is completed.
Further, during spray gun 31 is according to step 3 and step 4 spraying metope, liquidometer real-time detection material storing box 2
The liquid level of middle coating is sprayed and is controlled after recording interruption position information lower than after preset value, controller is interrupted in liquid level
Elevator 71 processed makes rack 1 return to ground perfusion coating, gives controller trigger signal after coating perfusion, makes controller control
Spray gun 31 is moved to interruption position.
Claims (9)
1. a kind of external wall spray robot, which is characterized in that including rack (1) and the storage being installed on the rack (1)
Hopper (2) and flush coater (3) are provided with the rotating mechanism that can change spraying direction on the spray gun (31) of the flush coater (3)
(5), the spray gun (31) be fixed on can along the rack (1) horizontal direction slide horizontally moving device (6) along；
The shift mechanism (7) for moving the rack (1) along plummet direction and the adjustment machine are provided on the rack (1)
Frame (1) moves the stability maintenance mechanism of stationarity, and the exterior wall identification of identification spraying area is additionally provided on the horizontally moving device (6)
Device (9), the exterior wall identification device (9), rotating mechanism (5), horizontally moving device (6) and shift mechanism (7) are electrically connected
In on controller.
2. external wall spray robot according to claim 1, which is characterized in that be provided in the material storing box (2)
Liquidometer, the liquidometer are electrically connected on the controller.
3. external wall spray robot according to claim 1, which is characterized in that the rotating mechanism (5) includes solid
Dingan County fills the roll-shell (52) of the spray gun (31), and drives the rotary electric machine (51) of roll-shell (52) rotation,
The rotary electric machine (51) is electrically connected on the controller.
4. external wall spray robot according to claim 1, which is characterized in that horizontally moving device (6) packet
The mobile shell for including mobile motor (61) and being connected as one the mobile motor (61), rotating mechanism (5) and spray gun (31)
Body (62) is fixed with gear (63) on the output shaft of the mobile motor (61), and gear (63) level of being engaged in is fixed on
On rack gear (64) on the rack (1), the both ends of the rack gear (64) are provided with first stroke switch (65), the mobile electricity
Machine (61), first stroke switch (65) are electrically connected on the controller.
5. external wall spray robot according to claim 1, which is characterized in that the shift mechanism (7) includes pair
The suspension mechanism (72) for claiming the elevator (71) for being fixed on rack (1) both ends and being fixed on building top to be sprayed, it is described to mention
It rises and is provided with safety lock, height computer on machine (71), second stroke switch is provided on the suspension mechanism (72), it is described to mention
Machine (71), height computer and second stroke switch is risen to be electrically connected on the controller.
6. external wall spray robot according to claim 1, which is characterized in that the stability maintenance mechanism includes that rotation is set
The wall wheel (85) being placed between exterior wall and the rack (1), is symmetrically fixed on the stabilization pulley at the rack (1) both ends
(81), to be sprayed build is fixed in oblique pull steel cable (82), angle pulley (83) and tensioner (84), described oblique pull steel cable (82) one end
It builds, the other end is successively wound on the outside of the stable pulley (81), angle pulley (83) is fixed on the tensioner behind inside
(84) on.
7. external wall spray robot according to claim 1, which is characterized in that the exterior wall identification device (9) is
It is fixed on laser radar scanning rangefinder of the rack (1) towards outer surface of wall side to be sprayed.
8. a kind of control method of any external wall spray robot of claim 1 to 7 comprising:
Step 1, controller control elevator (71) is moved to the second stroke on top from the second stroke switch of exterior wall bottom end
At switch, the total height of metope is obtained by the height computer on elevator (71), controls mobile motor (61) from one end
It is moved at first stroke switch at the first stroke switch of the other end, the revolution by measuring mobile motor (61) obtains metope
Overall width；
Step 2, controller is according to obtained metope total height, and the vertical spray range parameter of the spray gun pre-entered is combined to calculate
Get a promotion machine (71) vertical direction single step falling head value；
Step 3, the scanning angle range of laser radar scanning rangefinder is determined according to obtained metope overall width, controls laser thunder
It is scanned, obtains using laser radar scanning rangefinder as origin, same level within the scope of scanning angle up to scanning rangefinder
The polar value of metope each point on spraying area converts the right angle in rectangular coordinate system for polar value by coordinate transform and sits
Whether scale value has protrusion part to judge to whether there is on the horizontal spraying area scanned according to rectangular co-ordinate value in distribution
Balcony；
Step 3.1, if part is protruded in being distributed with for rectangular co-ordinate value, there are balconies on the horizontal spraying area scanned, then
Control mobile motor (61) drives laser radar scanning rangefinder to move horizontally and with special perpendicular to the direction of metope scanning metope
Sign, obtains the specific location and form parameter of balcony and window on horizontal spraying area；
Step 3.1.1, controller is according to the location and shape parameter of balcony and window and combines the spray gun (31) pre-entered
Horizontal movement velocity obtains motion profile of the spray gun (31) on horizontal spraying area, controls spray gun (31) according to obtained movement
Complete the spraying on horizontal spraying area in track；
Step 3.2, if part is not protruded in the distribution of rectangular co-ordinate value, there is no sun on the horizontal spraying area that is scanned
Whether platform has depressed section in distribution according to rectangular co-ordinate value then to judge to whether there is on the horizontal spraying area scanned
Window；
Step 3.2.1, if rectangular co-ordinate value has depressed section in distribution, there are windows, and institute is obtained in rectangular coordinate system
There is the location and shape parameter of window, and the horizontal movement velocity of the spray gun (31) pre-entered is combined to obtain spray gun (31) in water
Motion profile on flat spraying area controls spray gun (31) according to the spray on the obtained horizontal spraying area of motion profile completion
It applies；
Step 3.2.2 is not present window, then directly controls spray gun if rectangular co-ordinate value is being distributed upper no depressed section
(31) mobile according to the horizontal movement velocity that pre-enters and the metope passed through is sprayed；
Step 4, under the spraying state of spray gun (31), after spray gun (31) touches the switch of the first stroke on moving direction,
Elevator (71) are controlled by after single step height value described in rack (1) decline step 2, return again to step 3；
Step 5, step 4 is repeated, until rack (1) touches the second stroke switch positioned at metope bottom end, repeats a hyposynchronization
Rapid 3, complete the spraying of metope.
9. the control method of external wall spray robot according to claim 8, which is characterized in that in the spray gun
(31) during according to step 3 and step 4 spraying metope, the liquid level of coating in liquidometer real-time detection material storing box (2),
After liquid level is lower than preset value, control elevator (71) makes rack after controller interrupts spraying and records interruption position information
(1) it returns to ground and coating is perfused, give controller trigger signal after coating perfusion, be moved to controller control spray gun (31)
Interruption position.
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| CN201910662052.8A CN110370296B (en) | 2019-07-22 | 2019-07-22 | Building outer wall spraying robot and control method thereof |
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| CN201910662052.8A CN110370296B (en) | 2019-07-22 | 2019-07-22 | Building outer wall spraying robot and control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111364736A (en) * | 2020-04-09 | 2020-07-03 | 利生活(上海)智能科技有限公司 | Building outer wall spraying device with positioning function |
| CN112497223A (en) * | 2020-11-18 | 2021-03-16 | 广东博智林机器人有限公司 | Method and device for generating coating process parameters of coating robot |
| CN112554512A (en) * | 2020-12-08 | 2021-03-26 | 江苏淮洋建筑材料有限公司 | Automatic paint spraying system for building outer wall |
| CN113550619A (en) * | 2021-07-13 | 2021-10-26 | 张海勇 | Outer wall spraying device for building engineering |
| CN113982221A (en) * | 2021-10-29 | 2022-01-28 | 涂强(上海)智能科技有限公司 | Full-automatic outer wall spraying device |
| CN117563810A (en) * | 2024-01-16 | 2024-02-20 | 江苏海德曼新材料股份有限公司 | Intelligent monitoring control system for fluorocarbon aluminum veneer manufacturing and spraying |
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| CN113982221A (en) * | 2021-10-29 | 2022-01-28 | 涂强(上海)智能科技有限公司 | Full-automatic outer wall spraying device |
| CN117563810A (en) * | 2024-01-16 | 2024-02-20 | 江苏海德曼新材料股份有限公司 | Intelligent monitoring control system for fluorocarbon aluminum veneer manufacturing and spraying |
| CN117563810B (en) * | 2024-01-16 | 2024-03-29 | 江苏海德曼新材料股份有限公司 | Intelligent monitoring control system for fluorocarbon aluminum veneer manufacturing and spraying |
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