CN111054553A - Multifunctional split type full-automatic indoor spraying robot - Google Patents
Multifunctional split type full-automatic indoor spraying robot Download PDFInfo
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- CN111054553A CN111054553A CN202010000317.0A CN202010000317A CN111054553A CN 111054553 A CN111054553 A CN 111054553A CN 202010000317 A CN202010000317 A CN 202010000317A CN 111054553 A CN111054553 A CN 111054553A
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- spraying
- robot
- lifting base
- split type
- chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/007—At least a part of the apparatus, e.g. a container, being provided with means, e.g. wheels, for allowing its displacement relative to the ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a multifunctional split type full-autonomous indoor spraying robot, which comprises a moving chassis moving in an omnidirectional manner, wherein a first-stage lifting base and a second-stage lifting base are carried on the moving chassis, a spraying mechanism is carried on the second-stage lifting base, a control system is arranged on the spraying robot chassis and used for controlling the chassis to move, a sprayer to move up and down and move and spray paint, and sensor information is collected and autonomous decision is made; the split driven mechanism is independent of the whole spraying robot, and a paint pump, a material cylinder, a battery and the like can be placed on the split driven mechanism; the robot function is changed by replacing the spraying mechanism. The invention can realize the full-automatic spraying work, solves the problem that the robot is inconvenient to carry due to overlarge volume, and can ensure that the robot has various indoor decoration functions by expanding the functions, thereby meeting the requirements of various indoor decorations.
Description
Technical Field
The invention relates to the technical field of spraying equipment, in particular to a multifunctional split type full-autonomous indoor spraying robot.
Background
The demand of the indoor spraying field is increased along with the progress of urbanization, but the current indoor spraying still mainly adopts manual spraying, but the cost of the manual spraying is high, the damage to human bodies is large, and the spraying level is limited by the spraying level of spraying workers. So partial spraying work is accomplished by spraying robot at present, but does not have any robot at present and can independently accomplish indoor spraying work, all belongs to semi-autonomous spraying equipment, and these equipment mostly all have bulky inconvenient transportation maintenance, and the function singleness can not carry out the function extension, and simple structure can not deal with room corner and shed roof scheduling problem. This results in the use of spraying equipment while still having a great deal of manual reliance, resulting in high spraying costs and an inability to ensure the effect of the spray.
Disclosure of Invention
The invention aims to provide a multifunctional split type fully-autonomous indoor spraying robot, which solves the problems in the prior art or the related art.
Technical scheme of the invention
A multifunctional split type full-autonomous indoor spraying robot comprises a movable chassis, a primary lifting base, a secondary lifting base, a spraying mechanism and a split type driven mechanism;
the mobile chassis comprises a chassis frame and Mecanum wheels at the bottom, and the front-back left-right translational motion and the rotational motion of the robot can be realized by controlling the rotating speeds of different motors, so that the flexible mobile control of the robot is realized, and the phenomenon of limited movement at the corner of a house is avoided.
The chassis frame is a rectangular frame body, and each Mecanum wheel is provided with a motor; the bottom of the primary lifting base is rigidly connected with the chassis frame through screws and nuts; a second-stage lifting base is arranged on the upper part of the first-stage lifting base, and a spraying mechanism is arranged on the second-stage lifting base; the spraying mechanism can be manually disassembled and replaced by a mechanism with other functions to complete the expansion of the functions of the spraying robot;
aluminum plates are respectively arranged on two sides and the rear side of the first-stage lifting base, a sliding rail is arranged in the aluminum plate on the rear side, the sliding rail is connected with the aluminum plate through screws and nuts, two motors providing lifting driving force are arranged in the first-stage lifting base, a rotating shaft of each motor is connected with a chain wheel, the chain wheels are meshed with the chains, a fixing seat connected with the second-stage lifting base is arranged on each chain, and the second-stage lifting base is driven to move up and down through the fixing seat;
the structure of the second-stage lifting base is different from that of the first-stage lifting base in that the second-stage lifting base only has a single motor, a sliding block is fixed below the outer part of the second-stage lifting base, the left-right front-back freedom degree is limited by a sliding rail on the inner side of the first-stage lifting base and the sliding block on the second-stage lifting base, and a ball is arranged in the sliding block to enable the lifting motion to be smoother;
the split frame body of the split driven mechanism is connected and locked by a hasp on the chassis frame; the split driven mechanism can fix large-volume articles such as a coating bucket, a paint spraying pump, a battery and the like on the split moving mechanism;
install laser radar on the removal chassis to and distance sensor, install level sensor in the split type structural material bucket, battery output end installs electric quantity sensor, installs the industry camera on the spraying mechanism, and the information of gathering through above-mentioned sensor is received by singlechip, MiniPC again and carries out corresponding control decision-making according to sensor data with this task of accomplishing the robot independently spraying.
The chassis motor selects a motor with an angular speed encoder, and each motor of the chassis is subjected to speed closed-loop control through the speed fed back by the motor, so that accurate motion control of the Mecanum wheel chassis is completed.
The chassis motor links to each other with the plum blossom shaft coupling of using in the middle of the mecanum wheel to all be fixed with special shape's bearing frame and bearing in every wheel both sides, prevent to appear "eight characters" deformation because the whole chassis wheel that leads to of car is sunken, and prevent that the motor shaft from receiving the axial shear stress of perpendicular to, prevent with this that the motor from receiving the damage.
The power source for lifting the secondary lifting base is two servo motors with angle and speed feedback, the output shaft of the motor is connected with a chain wheel through a flange plate, the chain wheel drives a chain, and a section of the chain is fixed with a lifted structure through a fixed seat; when the motor rotates, the chain also moves to drive the first-stage lifting, and the lifting mechanism moves up and down in the base due to the limitation of the sliding rail and the sliding block in the lifting base.
In order to make the lifting of the spraying robot more stable and achieve accurate control of the lifting height, a double-motor is used for driving a first-level lifting base structure, and a cascade PID control algorithm is used for finishing accurate control of the angle and the angular speed of a motor so as to ensure the optimal spraying effect; the use of the double motors not only can enable the lifting process to be more stable, but also can still ensure the normal operation of the robot when a certain motor or chain is damaged.
The principle of second grade lift base is the same with the principle of one-level lift base, and inside the structure of second grade lift base was fixed in one-level lift base, and the inside guide rail that also installs of one-level lift base to this through the slider that links firmly in second grade lift base, makes second grade lift base can carry out the up-and-down motion in its inside, because its quality is lighter so only use single motor drive chain both can reach the control requirement.
The spraying mechanism consists of a spray head with controllable spraying pressure, and the spraying amount in unit time is controlled by controlling the spraying pressure of the coating; the motor controls the spray head to move left and right, and the motor controls the spraying to move left and right through the transmission of a chain wheel and a chain, so that the indoor spraying with the largest coverage area is completed under the condition of using as few spray heads as possible; the yaw angle of a yaw axis motor in the horizontal direction is controlled by connecting the spray head with the yaw axis motor, the pitch angle of the pitch axis motor in the vertical direction is controlled by controlling the pitch angle of the pitch axis motor, so that the spraying range is enlarged as much as possible, the spraying of a shed roof and the ground can be met, the spraying of walls at corners of indoor dead angles can be met to the maximum extent, the gyroscope is fixed on the spray head, the angle obtained through the gyroscope is used as the actual angle feedback of the yaw axis, and the fact that the parallelism between a robot chassis and a wall surface cannot be completely guaranteed can be guaranteed, or the chassis is in the moving process, the angle of the yaw axis is always a fixed value relative to a world coordinate system, and therefore the fact that a spray gun of the robot is always parallel to the wall surface is guaranteed.
The guide wire, the air pipe and the coating pipe on the robot are connected to the fixed part of the robot body through a drag chain, so that the guide wire or the guide pipe is prevented from being broken due to the lifting of the robot.
The spraying robot as a whole is also provided with a sensor for acquiring various data. Two distance sensors are respectively fixed in front of and at two sides of the chassis. The two distance sensors in the front are used for acquiring the distance from the chassis of the robot to the wall surface, the data obtained by the two sensors are subjected to difference, and when the difference value is 0, the robot is represented to be over against the wall surface. And the sensors on the two sides determine that the robot is about to meet a wall or an obstacle and needs to turn when the distance detected by the two ends is smaller than a preset threshold value during spraying.
Whether sufficient liquid level sensor of detection material is placed in the material bucket, can remind the staff or stop the spraying when the material is less than a threshold value that sets for in advance to prevent the inhomogeneous condition of spraying because coating is too few and leads to. A device for detecting voltage is placed at an output port of the battery, real-time monitoring is carried out on the electric quantity, and prompt is carried out when the electric quantity is smaller than a preset threshold value.
Still install laser radar on the spraying robot chassis, the robot can independently build the picture and store the treater to indoor environment in, when the robot electric quantity is not enough or the material is not enough, can independently plan the optimal route that returns according to the map of building to this completion electric quantity or the supply of material.
The design of the split type structure mainly realizes the integral linkage mode of the structure and the robot by integrally mounting the driven split type structure on the spraying robot, and the split type structure also performs follow-up motion through the driven wheel of the chassis while the spraying robot moves; specifically, a complete hollow frame is welded on a split structure through aluminum or white steel, 4 omnidirectional driven wheels are installed on a chassis, a specific split mechanism installation slot is installed on the split structure, and the two structures are locked by matching with a hasp, so that the rigid connection between the whole spraying robot and the split structure is achieved; and the split structure can install the large-mass devices such as a coating bucket, a paint spraying pump, a power supply and the like during the spraying operation on the split structure. The spraying robot has the advantages that the mass of the large devices can be shared to a split structure, the stress condition of the whole chassis of the spraying robot is reduced, and the complexity of operation can be reduced during material changing, cleaning and maintaining.
Carrying, unloading split type structure from the spraying robot when transporting the spraying robot, at first with split type structure and robot integral connection's trachea, coating pipe, wire etc. break off at the lending mouth, then untie the hasp structure, unload the split type structure of robot along the direction of draw-in groove again. Before spraying work begins, materials need to be supplemented into the material barrel in the split type structure, the battery is charged, then the split type structure is connected with the robot, the air pipe, the material pipe and the conducting wire are correspondingly connected, and spraying work can be started.
Due to the structural characteristics of the spraying robot, the design of an expandable structure can provide a mobile platform which can flexibly move and has a large lifting range while ensuring small volume. The platform can be applied to various fields of indoor decoration, such as indoor putty scraping, wall polishing, indoor colored drawing and the like; therefore, the invention can effectively exert the function of the robot to the maximum. The spraying mechanism of the robot is designed into a structure which is easy to disassemble, and the functions of the spraying mechanism can be expanded; when indoor spraying work is carried out, equipment with a spraying function is installed, and a corresponding air pipe, a material pipe and a lead are connected; if the functions need to be replaced, the hasp is opened, and the locking structure at the connecting and fixing part is detached, so that the replacement of other functions can be completed; and the design of this split type structure of robot also provides convenience for the function extension, for example need the feed cylinder of multiple colour when carrying out indoor colored drawing spraying, just so can change different coating and equipment in the inside of split type structure, place the feed cylinder of different colours wherein, if other functions then can combine corresponding function needs to be changed.
A miniPC is also carried on the spraying robot, and the high-performance processor is used for processing some complex image information and making high-level control decisions; installing an industrial camera at a spray head of a spraying robot so as to acquire an image in a spraying opposite direction, performing binarization processing on acquired image information, performing filtering operation on the processed image, then checking the position of a window through brightness characteristics, checking the positions of a heating pipe and a water pipe through extraction and classification of texture characteristics, checking a door through linear detection and a fixed length-width ratio, checking whether a current opposite scene contains an area which can not be sprayed or not, finding the boundary position of a corresponding area which can not be sprayed in the image, and realizing the planning of a spraying path through the positioning of the area which can not be sprayed so as to avoid the areas which can not be sprayed and realize the real autonomous spraying work.
The invention also has an original spraying finish detection function, after the autonomous spraying robot finishes indoor spraying work, because the flatness of the ground is uncertain, and the existence of control errors hardly ensures that the spraying effect meets the requirements, the robot can adopt an effect picture after wall surface spraying through a camera after the spraying process is finished, then filter the effect picture and extract texture characteristics and color characteristics, then classify the inspected characteristics to determine the defect to which the spraying defect belongs, and then take different repairing measures according to different defects.
The invention has the beneficial effects that:
1. the split structure of the invention enables the spraying robot and the driven split omnidirectional moving chassis to be separated and assembled, thereby having the advantages that the robot is more convenient to carry and transport, and the spraying equipment with relatively large mass and volume is arranged on the split structure, so that the force borne by the robot main body can be greatly reduced, and the chassis structure is ensured not to bear too much force;
2. the spraying mechanism of the spraying robot is also made into a detachable and replaceable structure, so that the lifting mechanism of the robot can be applied to meet different functional requirements of indoor decoration, such as indoor putty scraping, spraying of indoor wall colored drawing and the like; the lifting of the robot adopts two-stage lifting, so that the size of the robot can be ensured to be as small as possible when the robot is in a non-working state, and the robot is convenient to carry and transport;
3. according to the invention, the data are collected by various sensors and cameras, scene modeling and path planning are carried out autonomously, and the identification of windows, doors, heating and water pipes and the planning of spraying paths can be carried out through the collected image data so as to avoid the areas which cannot be sprayed;
4. after the spraying is finished, the invention also can detect the wall spraying defects by combining the data shot by the industrial camera, find the existing spraying defects and automatically carry out the path planning of the additional spraying, thereby realizing the self-spraying in the real sense.
5. The lifting mechanism of the invention mainly aims to ensure that the robot has the smallest volume as possible so as to meet the requirement of entering a working site, is convenient to transport and carry, and simultaneously ensures that the spraying range of the robot is as large as possible.
Drawings
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a data interaction diagram of the present invention;
FIG. 3 is a flow chart of the spraying effect detection after the spraying is finished according to the present invention;
FIG. 4 is a flow chart of the present invention for identifying non-paintable areas (windows);
FIG. 5 is an expanded view of the three-dimensional structure of the present invention;
FIG. 6 is a schematic view of a mobile chassis of the present invention;
FIG. 7 is a schematic view of the connection between the chassis and the split frame body according to the present invention;
FIG. 8 is a schematic exploded view of the split follower mechanism of the present invention;
FIG. 9 is a schematic view of a primary lift base of the present invention;
FIG. 10 is a schematic view of a spray mechanism of the present invention;
FIG. 11 is a schematic view of a secondary lift base of the present invention;
FIG. 12 is a schematic view of a Mecanum wheel attachment of the present invention;
FIG. 13 is a schematic view of a fully enclosed slider of the present invention;
FIG. 14 is an enlarged view taken at A of FIG. 9 in accordance with the present invention;
in the figure, the position of the upper end of the main shaft,
1 is a movable chassis, 1-1 is a Mecanum wheel, 1-2 is a chassis frame, and 1-3 is a hasp;
2 is a primary lifting base, 2-1 is a base aluminum plate, 2-2 is a sliding rail, 2-4 is a chain, 2-5 is a fixed seat, 2-6 is a chain wheel, and 2-7 is a primary lifting motor;
3 is a two-stage lifting base, 3-1 is a sliding block, and 3-2 is a single motor;
4 is a spraying mechanism, 4-1 is a profile aluminum track, 4-2 is a yaw axis motor, 4-3 is a fully-enclosed slider, 4-4 is a spray head, 4-5 is a pitch axis motor, 4-6 is an industrial camera, 4-7 is a chain wheel, 4-8 is a moving motor, and 4-9 is a chain; 4-10 are epoxy plate connecting pieces, 4-11 are sliding block fixing plates, 4-12 are molded aluminum supports, and 4-13 are sliding blocks;
4-3-1 is a U-shaped epoxy plate, 4-3-2 is a bearing, 4-3-3 is a shaft stop, 4-3-4 is a screw rod, and 4-3-5 is a nut;
5 is a split driven mechanism, 5-1 is a split frame body, 5-2 is an omnidirectional wheel, 5-3 is a paint pump, 5-4 is a split aluminum plate, and 5-5 material barrels.
Detailed Description
In order to further illustrate the present invention, the following detailed description of the present invention is given with reference to the accompanying drawings and examples, which should not be construed as limiting the scope of the present invention.
Example (b): as shown in fig. 1-14, a multifunctional split type fully-autonomous indoor spraying robot comprises a mobile chassis 1, a primary lifting base 2, a secondary lifting base 3, a spraying mechanism 4 and a split type driven mechanism 5; the control system comprises a single chip microcomputer and a MiniPC, and is arranged on the mobile chassis 1.
The movable chassis 1 comprises a chassis frame 1-2 and Mecanum wheels 1-1 at the bottom, the chassis frame 1-2 can move flexibly, the chassis frame 1-2 is a rectangular frame body, and each Mecanum wheel 1-1 is provided with a motor; the connection of every motor is fixed on the automobile body chassis through a motor fixing base, the motor is fixed through the screw hole with the motor fixing base, the motor shaft links to each other through aluminium system ring flange with mecanum wheel 1-1, make the power of motor can pass through the ring flange transmission to the wheel, another ring flange of one side-mounting in addition of wheel, this ring flange passes through the bearing and installs in the vertical bearing frame of the other end, vertical bearing frame uses screw nut to fix on the automobile body frame, with this guarantee that the motor shaft does not receive tangential force, avoid appearing the condition of wheel "eight outside", and guarantee that the motor is not damaged.
The bottom of the primary lifting base 2 is rigidly connected with the chassis frame 1-2 through screws and nuts; a second-stage lifting base 3 is arranged on the upper part of the first-stage lifting base 2, and a spraying mechanism 4 is arranged on the second-stage lifting base 3;
base aluminum plates 2-1 are respectively arranged on two sides and the rear side of the first-stage lifting base 2, a sliding rail 2-2 is arranged inside the base aluminum plate 2-1 on the rear side, the sliding rail 2-2 is connected with the base aluminum plate 2-1 through screws and nuts, two first-stage lifting motors 2-7 providing lifting driving force are arranged inside the first-stage lifting base 2, a motor rotating shaft is connected with a chain wheel 2-6, the chain wheel 2-6 is meshed with a chain 2-4, a fixing seat 2-6 connected with a second-stage lifting base is arranged on the chain 2-4, and the second-stage lifting base 3 is driven to move up and down through the fixing seat 2-6;
the first-stage lifting base 2 adopts two first-stage lifting motors 2-7 with angle and angular speed feedback, the first-stage lifting motors 2-7 can feed back the angle value and the angular speed value of the first-stage lifting motors in real time when controlling, the feedback quantity is received by a single chip microcomputer, the fixed angle rotation task of the motors is completed through a cascade PID control program, the chain wheels 2-6 and the chains 2-4 change the rotation motion of the first-stage lifting motors 2-7 into linear motion, and the fixed angle rotation is changed into fixed distance movement, so that the fixed distance lifting and descending of the second-stage lifting base 3 are completed.
The structure of the second-stage lifting base 3 is different from that of the first-stage lifting base 2 in that the second-stage lifting base 3 only has a single motor 3-2 and a sliding block 3-1 is fixed below the outer part of the second-stage lifting base 3; the single motor 3-2 is adopted for driving due to the light weight; the left-right and front-back freedom degree is limited by a slide rail 2-2 on the inner side of the first-stage lifting base 2 and a slide block 3-1 on the second-stage lifting base 3, and the lifting motion is smoother due to the balls arranged inside the slide block 3-1;
the split frame body 5-1 of the split driven mechanism 5 is connected and locked by a hasp 1-3 on the chassis frame 1-2;
the mobile chassis 1 is provided with a laser radar and a distance sensor, a liquid level sensor is arranged in each material barrel 5-5 and connected with a single chip microcomputer controller, the liquid level sensor receives the information of the residual amount of the materials in real time, and when the materials are smaller than a certain threshold value, the robot stops spraying. After the acquired information is processed by the MiniPC through the laser radar, the distance sensor, the liquid level sensor and the industrial camera 4-6 on the spraying mechanism 4, the acquired information is sent to the single chip microcomputer, and the single chip microcomputer controls the robot to finish the work of autonomous spraying.
The split driven mechanism 5 and the movable chassis 1 can be manually installed or uninstalled.
The spraying mechanism 4 comprises a translation mechanism, a yaw axis motor 4-2, a pitch axis motor 4-5, an industrial camera 4-6, a motor 4-7, a chain 4-9 and a spray head 4-4; the spray head 4-4 and the industrial camera 4-6 can move together, and the length of the shaped aluminum track 4-1 is related to the visual field of the industrial camera 4-6.
Two section aluminum rails 4-1 are arranged in the middle of the translation mechanism, and a yaw axis motor 4-2, a pitch axis motor 4-5 and a spray head 4-4 are connected with the section aluminum rails 4-1 through a fully-enclosed sliding block 4-3; the spray head 4-4 is provided with a pitch motor 4-5 and a yaw axis motor 4-2, and the rotation angle values of the two motors are controlled by the single chip microcomputer, so that the spray head 4-4 can rotate to a corresponding angle, and the spraying work of areas with inconvenient corner spraying and shed tops and the ground can be dealt with.
The yaw axis motor 4-2 is connected with the pitch axis motor 4-5 and the spray head 4-4 through a coupler, the yaw axis motor 4-2 rotates to drive the pitch axis motor 4-5 and the spray head 4-4 to rotate in the yaw axis direction, the pitch axis motor 4-5 is only connected with the spray head 4-4, and the pitch axis direction of the spray head 4-4 is controlled to rotate by controlling the rotation of the pitch axis motor 4-5; a moving motor 4-8 drives a chain 4-9 and a chain wheel 4-7 to provide power for the movement of the spray head 4-4, one end of a drag chain 4-14 is connected with the section aluminum track 4-1 through a drag chain fixing seat, and the other end of the drag chain is carried on the spraying mechanism through a fixing seat and translates with the spraying mechanism when the spraying mechanism translates; the drag chains 4-14 function to prevent wear of the wires due to excessive length and movement.
Through holes are respectively arranged at the back of the epoxy plate connecting piece 4-10 and the translation mechanism frame and are connected with nuts through screws, two section aluminum supports 4-12 are connected with the epoxy plate connecting piece 4-10, the left side and the right side of each section aluminum support 4-12 are respectively provided with a slide block fixing plate 4-11, four slide blocks 4-13 are arranged on the slide block fixing plates 4-11, and the slide blocks 4-13 are matched with slide rails on the inner side of the second-stage lifting base 3 to complete the lifting of the spraying mechanism.
The split type driven mechanism 5, the first-level lifting base 2, the second-level lifting base 3 and the spraying mechanism 4 are constructed by molded aluminum. The robot chassis 1 uses 2020 type aluminum as an integral frame, and the joints are connected through corner groove connecting pieces, and the connecting mode is suitable for disassembly and expansion;
the spraying mechanism 4 can be replaced by a structure with corresponding functions to expand the functions of the robot.
The split type driven mechanism 5 of the spraying robot can divide the robot into two independent parts, when the robot is assembled, the split type driven mechanism 5 is firstly pushed into a clamping groove designed for the robot body from the front and back of the spraying robot body, then a hasp is buckled, all degrees of freedom of relative movement of the two parts are limited, the assembly is completed, the disassembly is also performed in the same mode, and the disassembly is completed. One side of the chassis of the split driven mechanism 5 of the spraying robot, which is close to the ground, is slightly higher than the highest position of the moving chassis of the main body of the spraying robot by a small distance, and the design is to ensure that the split driven mechanism 5 bears the weight of equipment with larger mass, such as a material barrel 5-5, a paint pump 5-3 and the like, so that the damage to the wheels of the chassis or the motor caused by the overlarge stress on the moving chassis 1 is avoided.
The bottom of the split type driven mechanism 5 is connected with four omnidirectional wheels 5-2 through screws and nuts, and two material barrels 5-5, a paint pump 5-3 and a battery are fixed on the split type driven mechanism 5; and split aluminum plates 5-4 are arranged on the two sides and the rear side of the split driven mechanism 5.
The outside of the fully-enclosed sliding block 4-3 is supported by a clamping groove type epoxy plate 4-3-1, 4 through holes are reserved in the peripheral epoxy plate 4-3-1 to install screw rods 4-3-4, the other end of the screw rod is fixed through a nut 4-3-5, two bearings 4-3-2 are installed in the middle of each screw rod 4-3-4, a shaft baffle 4-3-3 manufactured through a 3D printing technology is arranged between the bearings 4-3-2 to limit the bearings 4-3-2, and two adjacent plates are limited through grooves. The function of the sliding block is the same as that of the combination of the sliding rail and the common sliding block, and the special fully-enclosed sliding block 4-3 can reduce the use of the sliding rail and the weight of the translation device of the spraying mechanism 4.
The expansion function of the spraying robot is mainly embodied in that equipment carried by the spraying mechanism 4 and the split type driven mechanism 5 can be detached and replaced, if the robot needs to complete indoor spraying work, a spraying device is used for operation, if the work needing to be completed is indoor wall painting, the spraying mechanism 4 and two motors controlling steering are only required to be replaced by a spray head 4-4 capable of spraying color paint, and a material barrel 5-5 and a paint pump 5-3 in the split type driven mechanism 5 are replaced, so that the indoor painting work can be completed, if indoor wall surface putty scraping or wall body polishing needs to be completed, corresponding parts in the spraying mechanism 4 and the split type driven mechanism 5 are also replaced, and the two-stage lifting mechanism of the spraying robot has the advantages that the two-stage lifting mechanism can be applied to a plurality of requirements in the field of indoor decoration, therefore, the function of the spraying robot can be expanded only by replacing the corresponding function executing mechanism, so that the spraying robot has higher market value.
A control method of a multifunctional split type full-autonomous indoor spraying robot comprises the following steps: an environment map is constructed through a laser radar and a distance sensor, the distance between the robot and the wall surface is sensed, and a spraying path is automatically planned to complete the full coverage of the indoor wall body; the vision sensor determines whether an environment right in front of a spray gun of the spraying robot has an area which can not be sprayed or not, plans a spraying path by combining the obtained information, checks the spraying effect after spraying is finished, and plans a supplementary spraying path by itself in a place with incomplete spraying; a liquid level sensor arranged in the material barrel can monitor in real time that the liquid level height is lower than a certain threshold value, and the robot autonomously plans the shortest path for replenishing materials according to the position of the robot and a constructed map.
The use method of the invention comprises the following steps: the automatic spraying robot is placed indoors, the robot firstly controls the movement of a chassis 1 and starts a laser radar to complete scene modeling work of an indoor environment, a scene map is built and then stored in a MiniPC carried by the robot, the robot is then opened forwards, meanwhile, the distance between two distance sensors in front of the robot and a front obstacle is detected in real time, when the distance is smaller than a set threshold value, the robot is considered to reach the front of a wall body, the feedback values of the two distance sensors are used for making a difference, the angle between the chassis 1 of the robot and the wall surface is adjusted in real time through a difference value and pid algorithm, and the angle is stored in parallel with the wall surface as much as possible; after the operation is finished, acquiring a frame of image through the industrial-grade camera 4-6, processing the acquired image, detecting whether the area right opposite to the current nozzle 4-4 belongs to an unpaintable scene, such as a window, a door, a heater, a water pipe and the like, according to the characteristics of brightness, contour and the like of the image, and if the area exists, re-planning a spraying path according to the position of the unpaintable area; when the robot carries out spraying work, firstly, the second-level lifting base 3 is lifted by a certain height through the first-level lifting motor 2-7 fixed in the first-level lifting base 2 on the movable chassis 1, in the process, the spraying mechanism 4 is always positioned at the lowest part of the second-level lifting base 3, then, the spray head 4-4 finishes translation action through the translation function of the spraying mechanism 4, then, the second-level lifting base 3 is lifted by a certain height, then, translation is carried out, after the second-level lifting base 3 reaches the mechanical limit position of the first-level lifting base 2, the spraying mechanism 4 carries out lifting motion through the slide rail and the slide block in the second-level lifting base 3, the work of lifting the second-level lifting base 3 by the first-level lifting base 2 is repeated, translation operation is carried out after the second-level lifting base 3 is lifted by a certain distance, and after the spraying mechanism 4 of, the reverse operation to the just lifting is carried out, so that the lifting is lowered to the lowest position; after the operation is executed, the robot moves the chassis 1 to translate, and the spraying robot repeatedly executes the process when facing the other part of the wall to be sprayed; in the spraying process, the robot detects whether non-spraying areas such as windows, doors, heating air, water pipes and the like exist on the wall surface to be sprayed in real time through the industrial cameras 4-6, if so, a corresponding spraying path is planned, and the non-spraying areas can be avoided automatically; after the robot finishes spraying work, starting a wall surface defect detection program of the camera, and at the moment, the robot carries out defect detection on the sprayed wall surface through the lifting and translation mechanism and replans a spraying path on the part with the defects to finish the repair of the wall surface spraying defects; in the working process of the robot, a liquid level sensor placed in the material barrel 5-5 feeds back the current liquid level value in the material barrel in real time, sensors for detecting the electric quantity of the battery are also installed at two ends of a power supply, when the liquid level or the electric quantity of the battery is smaller than a set threshold value, the robot automatically stops spraying work, path planning is carried out according to a previously constructed scene map, and an optimal path for supplementing the electric quantity of the material is planned.
The image processing algorithm is mainly used for identifying the areas which can not be sprayed, such as indoor doors and windows, heating air, water pipes and the like, the algorithm flow is to initially position the areas which can not be sprayed, and the positions of the areas which can not be sprayed are generally positioned through the characteristics of brightness, texture, shape, edges and the like; and then clustering the position and color of the image, highlighting the edge information of the image boundary, and separating the non-spraying area by using an image segmentation algorithm so as to finish the accurate positioning of the non-spraying area.
After spraying is finished, the sprayed wall surface is inspected by using the industrial-grade cameras 4-6, defects are located through the difference between textures and colors, then the inspected defects are classified by using a classifier trained in advance, and different treatment measures are used for different types of defects.
The specification of the motor, the sensor and the like of the invention:
all motors use GM3508 gear motors;
an attitude sensor: an MPU 6050;
battery power measurement module: an LTC2944 measurement module;
a distance sensor: a GP2Y0A21 infrared ranging module;
a camera: KSIA 552;
laser radar: RPLIDAR a 2;
MiniPC :NUC8i7HVk；
a single chip microcomputer: STM32F427
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a multi-functional split type is indoor spraying machine people independently entirely which characterized in that: comprises a movable chassis (1), a primary lifting base (2), a secondary lifting base (3), a spraying mechanism (4) and a split type driven mechanism (5);
the movable chassis (1) comprises a chassis frame (1-2) and Mecanum wheels (1-1) at the bottom, the chassis frame (1-2) is a rectangular frame body, and each Mecanum wheel (1-1) is provided with a motor; the bottom of the primary lifting base (2) is rigidly connected with the chassis frame (1-2) through screws and nuts; a secondary lifting base (3) is arranged on the upper part of the primary lifting base (2), and a spraying mechanism (4) is arranged on the secondary lifting base (3);
base aluminum plates (2-1) are respectively arranged on two sides and the rear side of a primary lifting base (2), a sliding rail (2-2) is arranged inside the base aluminum plate (2-1) on the rear side, the sliding rail (2-2) is connected with the base aluminum plate (2-1) through a screw nut, two primary lifting motors (2-7) providing lifting driving force are arranged inside the primary lifting base (2), a motor rotating shaft is connected with a chain wheel (2-6), the chain wheel (2-6) is meshed with a chain (2-4), a fixing seat (2-6) connected with a secondary lifting base is arranged on the chain (2-4), and the secondary lifting base (3) is driven to move up and down through the fixing seat (2-6);
the structure of the secondary lifting base (3) is different from that of the primary lifting base (2) in that the secondary lifting base (3) only has a single motor (3-2), a sliding block (3-1) is fixed below the outer part of the secondary lifting base (3), the left-right front-back freedom degree is limited through a sliding rail (2-2) on the inner side of the primary lifting base (2) and the sliding block (3-1) on the secondary lifting base (3), and a ball is arranged inside the sliding block (3-1) to enable the lifting motion to be smoother;
the split frame body (5-1) of the split driven mechanism (5) is connected and locked through a hasp (1-3) on the chassis frame (1-2);
the mobile chassis (1) is provided with a laser radar and a distance sensor, the material barrel (5-5) of the split type structure is provided with a liquid level sensor, the output end of a battery is provided with an electric quantity sensor, the spraying mechanism (4) is provided with an industrial camera (4-6), information collected by the sensors is received and processed by the single chip microcomputer and the MiniPC, and corresponding control decision is carried out according to sensor data so as to complete the task of autonomous spraying of the robot.
2. The multifunctional split type full-autonomous indoor spraying robot of claim 1, characterized in that: the split type driven mechanism (5) can be manually installed or uninstalled with the movable chassis (1).
3. The multifunctional split type full-autonomous indoor spraying robot of claim 1, characterized in that: the spraying mechanism (4) comprises a translation mechanism, a yaw axis motor (4-2), a pitch axis motor (4-5), an industrial camera (4-6), a motor (4-7), a chain (4-9) and a spray head (4-4);
two section aluminum rails (4-1) are arranged in the middle of the translation mechanism, a yaw axis motor (4-2), a pitch axis motor (4-5) and a spray head (4-4) are fixed on the section aluminum rails (4-1) through a fully-enclosed sliding block (4-3), the freedom degree of the upper part, the lower part, the front part and the rear part is limited, and the left part and the right part are ensured to move more smoothly;
the yaw axis motor (4-2) is connected with the pitch axis motor (4-5) and the spray head (4-4) through a coupler, the yaw axis motor (4-2) rotates to drive the pitch axis motor (4-5) and the spray head (4-4) to rotate in the yaw axis direction, the pitch axis motor (4-5) is only connected with the spray head (4-4), and the spray head (4-4) is controlled to rotate in the pitch axis direction through the rotation of the pitch axis motor (4-5); the mobile motor (4-8) drives the chain (4-9) and the chain wheel (4-7) to provide power for the movement of the spray head (4-4), one end of the drag chain (4-14) is connected with the profiled aluminum track (4-1) through a drag chain fixing seat, and the other end of the drag chain is carried on the spraying mechanism through the fixing seat and translates with the spraying mechanism when the spraying mechanism translates;
through holes are respectively formed in the epoxy plate connecting piece (4-10) and the back of the frame of the translation mechanism and are connected with nuts through screws, two section aluminum supports (4-12) are connected with the epoxy plate connecting piece (4-10), slider fixing plates (4-11) are respectively installed on the left side and the right side of each section aluminum support (4-12), four sliders (4-13) are installed on the slider fixing plates (4-11), and the sliders (4-13) are matched with sliding rails on the inner side of the second-stage lifting base (3) to complete lifting of the spraying mechanism.
4. The multifunctional split type full-autonomous indoor spraying robot of claim 1, characterized in that: the split type driven mechanism (5), the first-stage lifting base (2), the second-stage lifting base (3) and the spraying mechanism (4) are constructed by molded aluminum.
5. The multifunctional split type full-autonomous indoor spraying robot of claim 1, characterized in that: the spraying mechanism (4) can be replaced by a structure with corresponding functions to complete the expansion of the functions of the robot.
6. The multifunctional split type full-autonomous indoor spraying robot of claim 1, characterized in that: the bottom of the split type driven mechanism (5) is connected with four omnidirectional wheels (5-2) through screws and nuts, and two material barrels (5-5), a paint pump (5-3) and a battery are fixed on the split type driven mechanism (5); and split aluminum plates (5-4) are arranged on the two sides and the rear side of the split driven mechanism (5).
7. The multifunctional split type full-autonomous indoor spraying robot of claim 3, characterized in that: the outside of the fully-enclosed sliding block (4-3) is supported by a clamping groove type epoxy plate (4-3-1), 4 through holes are reserved in the peripheral epoxy plate (4-3-1) to install screw rods (4-3-4), the other end of the peripheral epoxy plate is fixed by nuts (4-3-5), two bearings (4-3-2) are installed in the middle of each screw rod (4-3-4), a shaft stopper (4-3-3) manufactured by a 3D printing technology is arranged between the bearings (4-3-2), the bearings (4-3-2) are limited, and two adjacent plates are limited by grooves.
8. The control method of the multifunctional split type fully-autonomous indoor spraying robot according to claim 1, comprising the steps of: an environment map is constructed through a laser radar and a distance sensor, the distance between the robot and the wall surface is sensed, and a spraying path is automatically planned to complete the full coverage of the indoor wall body; the vision sensor determines whether an environment right in front of a spray gun of the spraying robot has an area which can not be sprayed or not, plans a spraying path by combining the obtained information, checks the spraying effect after spraying is finished, and plans a supplementary spraying path by itself in a place with incomplete spraying; a liquid level sensor arranged in the material barrel can monitor the liquid level height in real time, and when the liquid level height is lower than a certain threshold value, the robot autonomously plans the shortest path for replenishing materials according to the position of the robot and a constructed map.
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| CN114837375B (en) * | 2022-04-07 | 2023-08-22 | 福建工程学院 | Spraying equipment applied to high-viscosity gypsum mortar |
| CN114904689A (en) * | 2022-05-17 | 2022-08-16 | 华东交通大学 | Indoor spraying robot |
| WO2023226026A1 (en) * | 2022-05-27 | 2023-11-30 | 中国科学院深圳先进技术研究院 | Indoor construction robot and control method therefor |
| CN115178414A (en) * | 2022-07-19 | 2022-10-14 | 西安外事学院 | Building material waterproof layer coating device |
| CN115464660A (en) * | 2022-10-25 | 2022-12-13 | 深圳进化动力数码科技有限公司 | Path planning method, device and equipment of spraying robot and storage medium |
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