CN111203879A - Mechanical arm spraying robot capable of moving automatically - Google Patents
Mechanical arm spraying robot capable of moving automatically Download PDFInfo
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- CN111203879A CN111203879A CN202010043596.9A CN202010043596A CN111203879A CN 111203879 A CN111203879 A CN 111203879A CN 202010043596 A CN202010043596 A CN 202010043596A CN 111203879 A CN111203879 A CN 111203879A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B05B15/70—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
- B05B9/03—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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention is formed by combining hardware and a control system, wherein the hardware is used for controlling the operation behavior of the mechanical arm robot and comprises the following steps: the in-plane travel, stop, run, turn, spray actions, that is to say the hardware acts directly on the movement of the robot with the arm, but before that there is a precondition that the hardware receives commands from the control system. The control system is responsible for processing the data that the sensor group sent and the data of retrieving, and the data of contrast is judged, control mechanical arm robot's travel distance, and control algorithm module plans the displacement vector of mechanical arm robot, does not optimize mechanical arm robot displacement data to error data correction, and control system is also managing the operating condition and the course of work of mechanical arm robot.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a mechanical arm spraying robot capable of moving automatically.
Background
The mechanical arm spraying robot equipment used in the current market is a fixed base, processes a part of fixed intervals, and has the defects of small operable range, inflexible operation and the like. Sometimes, multiple-surface spraying of an object is needed, and then a plurality of mechanical arm spraying robots with fixed chassis are needed, so that the operation cost is increased, and the operation space is greatly reduced.
Except that the arm spraying robot is not portable, the external feed bin of a lot of spraying arms is difficult to guarantee to spout the material and does not receive the pollution, in case spout the material and pollute, will exert an influence to next work flow, take trouble and waste time to produce the influence to accurate spraying, take place such thing and also can increase material cost and cost of labor.
Aiming at the defects of the mechanical arm spraying robot, the tire is added to the mechanical arm spraying robot in a movable mode, so that the robot can move autonomously, the cost is saved, and the efficiency is improved; the work bin is internally arranged, so that the situation that spraying materials arranged outside the work bin are possibly polluted is avoided, and a new operation mode is added for the mechanical arm spraying robot.
Disclosure of Invention
The invention aims to provide an autonomous-moving mechanical arm spraying robot which can autonomously move and autonomously operate through an algorithm to correct a motion track.
The embodiment of the invention is realized by the following steps:
an autonomously movable robotic arm painting robot includes a control system and a hardware portion.
In some embodiments of the invention, the control system comprises: but mobile control module, steering control module, arm control module, brake control module, scram switch, gear motor, power control box, control terminal, control algorithm module, antenna, data module, infrared detecting instrument, ultrasonic detection instrument, degree of depth study camera, wherein:
the intelligent deep learning camera comprises an antenna data connection data module, an infrared detector data connection data module, an ultrasonic detector data connection data module, a deep learning camera data connection data module, a data module data connection control terminal, a power control box electrically connected with the control terminal, a control algorithm module data connection control terminal, a control terminal data connection mobile control module, a control terminal data connection steering control module, a control terminal data connection mechanical arm control module, a control terminal data connection brake control module, an emergency stop switch electrically connected with the brake control module, and a speed reduction motor electrically connected plate brake control module.
In some embodiments of the invention, the moveable control module is used to control multi-directional movement of a robotic arm painting robot.
In some embodiments of the invention, the steering control module is used for controlling the steering of the mechanical arm spraying robot in combination with the gyroscope, and the movement freedom of the mechanical arm spraying robot is realized in combination with the movement control module.
In some embodiments of the present invention, the robot arm control module is used for controlling the robot arm control, adjusting the orientation, adjusting the height of the robot arm, controlling the spraying material, tilting forward and moving backward, hovering, and the like of the robot arm spraying robot.
In some embodiments of the invention, the brake control module is used for connecting a speed reducer and a brake pad to realize speed reduction and stop of the mechanical arm spraying robot.
In some embodiments of the invention, the emergency stop switch is used for emergency braking when the mechanical arm spraying robot travels, and stops running.
In some embodiments of the present invention, the deceleration motor is used for decelerating the mechanical arm spraying robot during the moving process, so as to decelerate the current speed.
In some embodiments of the invention, the power control box comprises: the battery pack comprises a micro generator, a charging socket, a power switch and a battery pack, wherein the power switch is electrically connected with the battery pack, the charging socket is electrically connected with the battery pack, and the micro generator is electrically connected with the battery pack.
In some embodiments of the present invention, the control terminal is configured to process data of the data module during an operation process of the robot arm spraying robot, and to move the robot arm spraying robot to advance, decelerate, brake, operate the robot arm, control a power supply, and the like by using an algorithm of the control algorithm module.
In some embodiments of the invention, the control algorithm module is used for indicating the indication of the movement of the mechanical arm robot and analyzing error data of the mechanical arm robot in the movement process, correcting and making the next indication.
In some embodiments of the invention, the antenna is used for receiving control data and transmitting data.
In some embodiments of the present invention, the data module is configured to receive data of the antenna, the infrared detector, the ultrasonic detector, and the deep learning camera, send the data of the devices to the control terminal, and instruct the control terminal on the next action of the robot.
In some embodiments of the present invention, the infrared detector is used for an obstacle in the periphery of the robot arm, and the detected data is transmitted to the data module.
In some embodiments of the invention, the ultrasound probe is used for obstacles in the periphery of the robot arm, and the measured data is transmitted to the data module.
In some embodiments of the invention, the deep learning camera is used for learning the behavior of the robot arm, accumulating data and continuously optimizing.
In some embodiments of the invention, the control algorithm module comprises a robot movement algorithm, wherein the AGV follows a planned path, the laser beam gives a motion trajectory P, and the path P is considered to consist of an infinite number of path points, i.e. P ═ P1,P2…PN]The AGV motion is defined as a whole as linear velocity v and angular velocity w, and the AGV considers that the AGV is in a two-dimensional plane OXWYWInternal motion, the equation of motion is:
in some embodiments of the invention, the control algorithm module includes a robot movement error algorithm, wherein the error defining the pose of the AGV and the path point is e ═ PN-TN|,TN＝[x y θ]TThus, the path tracking of the AGV may be described as a minimum error, e, of the motion model of eThe type is as follows:
wherein: theta is a constant value for the boot medium confirmation, exeyThe three error values are solved by the control center through solving the Euclidean distance difference between the path point and the current pose of the AGV, the action instruction needing to be adjusted is sent to the lower computer, and the AGV is adjusted to walk according to the path planned by the guiding medium.
In some embodiments of the invention, the power control box comprises: the battery pack comprises a micro generator, a charging socket, a power switch and a battery pack, wherein the power switch is electrically connected with the battery pack, the charging socket is electrically connected with the battery pack, and the micro generator is electrically connected with the battery pack.
The micro generator is used for improving energy conversion, the charging socket is used for charging the battery pack, the power switch is used for switching on or off a power supply of the mechanical arm robot, and the battery pack is used for providing electric energy for the mechanical arm robot.
In some embodiments of the invention, the mobile robot body comprises: the fire extinguishing system comprises a set of fire extinguishing device, a vehicle body, tires, a transmission device, a control module, a deep learning camera, an antenna, a wireless router, an ultrasonic detecting instrument, a gyroscope, an infrared detecting instrument, a laser radar and a material box.
The 6-axis mechanical arm capable of rotating 360 degrees comprises: conveying pipeline, multi-functional shower nozzle, industrial camera, controller and actuating mechanism, 6 arms of can 360 rotations. Wherein:
the fire extinguishing device is used for emergency of the mechanical arm robot.
The transmission device is used for the transmission device which is used for converting electric energy into kinetic energy and travels in the operation process of the mechanical arm robot.
The wireless router is used for receiving and sending data information.
The workbin is used for depositing and spouts the material, prevents to be contaminated.
The conveying pipeline is used for conveying the spraying materials of the material box to the multifunctional spray head.
The industrial camera is used for detecting the working condition and the working quality of the mechanical arm robot in work, uploading images and detecting the running condition of the mechanical arm robot by workers.
The embodiment of the invention at least has the following advantages or beneficial effects:
1. the material box is internally arranged, so that the surface of the material box is polluted by the external environment, and the accuracy of material spraying is ensured;
2. by adopting the tire type chassis, the mechanical arm robot can control the self-advancing and moving through a self-control system;
3. the 360-degree rotatable mechanical arm is adopted, so that the working tasks under various different environments can be adapted;
4. by adopting a moving algorithm and a correction algorithm, displacement deviation occurring in the moving process of the mechanical arm robot can be recorded and corrected, and a continuous optimization effect is achieved;
drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a control system of an autonomous mobile robot arm spraying robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of the robot frame of the entire robot arm in an autonomous movable robot arm painting robot.
Fig. 3 is a schematic view of the entire body frame in an autonomous movable robot arm painting robot.
Fig. 4 is a schematic structural diagram of the power control box in fig. 1.
Fig. 5 is a schematic view of the exterior structure of the vehicle in fig. 2.
Fig. 6 is a schematic structural diagram of the robot arm in fig. 5.
Fig. 7 is a schematic view of the robotic spraying process of the robotic arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, "a plurality" represents at least 2.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Referring to fig. 1, a schematic structural diagram of a control system of a robotic arm spraying robot capable of moving autonomously according to an embodiment of the present invention is shown. The control system of the mechanical arm spraying robot capable of moving autonomously comprises a moving control module, a steering control module, a mechanical arm control module, a brake control module, an emergency stop switch, a speed reduction motor, a power supply control box, a control terminal, a control algorithm module, a data module, an antenna, an infrared detector, an ultrasonic detection instrument and a deep learning camera.
The intelligent deep learning camera comprises an antenna data connection data module, an infrared detector data connection data module, an ultrasonic detector data connection data module, a deep learning camera data connection data module, a data module data connection control terminal, a power control box electrically connected with the control terminal, a control algorithm module data connection control terminal, a control terminal data connection mobile control module, a control terminal data connection steering control module, a control terminal data connection mechanical arm control module, a control terminal data connection brake control module, an emergency stop switch electrically connected with the brake control module, and a speed reduction motor electrically connected plate brake control module.
The system comprises an antenna, an infrared detector, an ultrasonic detector and a deep learning camera, belongs to a multi-sensor group, and is mainly used for data acquisition of movement of a mechanical arm robot, obstacle identification, obstacle avoidance through a control algorithm in the advancing process, data deviation in the advancing process, and correction of wrong data through a control algorithm module.
Deep learning camera shooting also plays a significant role in this process.
The data module is used for collecting data acquisition and data analysis of the antenna, the infrared detector, the ultrasonic detection instrument and the deep learning camera in the whole control system, and the acquired data is used by the control terminal.
And the control algorithm module receives data of the control terminal, the data are mainly data in the moving process of the mechanical arm robot, the data are compared, whether deviation occurs in the comparison result or not is judged, error data are recorded, and deep learning is carried out.
The power control box is mainly used for the function of the mechanical arm robot.
The movement control module and the steering control module are used for controlling the movement steering of the mechanical arm robot, namely the two modules control the movement of the mechanical arm robot in a plane. The control command is sent by the control terminal, the mobile control module and the steering control module receive the command from the control terminal, and the mobile control module and the steering control module control the entity of the mechanical arm robot.
The brake control module is used in the control system for controlling the mechanical arm robot to stop in the moving process by using commands/instructions, and is connected with a speed reducing motor and an emergency stop switch. The emergency stop switch is used for controlling all motion states of the mechanical arm robot and enabling the mechanical arm robot to stop operating quickly.
Fig. 2 is a schematic view of a robot frame of an entire robot arm in an autonomous mobile robot arm painting robot, including:
the fire extinguishing system comprises a set of fire extinguishing device, 6-axis mechanical arms, a multi-sensor group, a power switch, a battery group, a charger interface, an emergency stop switch, an industrial personal computer, a pull-down machine control panel, a driver, a speed reducer, a coder, a servo motor, a main shaft, an auxiliary shaft, a plum blossom connecting shaft, a bearing, a belt pulley, tires, a vehicle body and a power driving module.
Wherein: the main shaft, the auxiliary shaft, the plum blossom contact shaft, the bearing, the belt pulley, the tire, switch, group battery, charger interface, scram switch, gear motor these constitute the power plate of robotic arm.
Fig. 3 is a schematic view of the entire body frame in an autonomous movable robot arm painting robot. The method comprises the following steps: the intelligent control system comprises a power switch, a battery pack, a charger interface, an emergency stop switch, a multi-sensor group, an industrial personal computer, a pull-down machine control panel, tires, a main shaft, an auxiliary shaft, a plum blossom connecting shaft, a bearing, a belt pulley, a driver, a speed reducer, an encoder and a private clothes motor.
Fig. 4 is a schematic structural diagram of the power control box in fig. 1. The method comprises the following steps: microgenerator, socket, switch, group battery that charges, wherein: the battery pack can be detached, the capacity can be gradually reduced along with the time lapse of the use of general batteries, the detachable batteries can solve the problem, and the power switch is used for opening and closing the working behavior of the mechanical arm robot. The micro generator is used for converting redundant working energy consumption of the mechanical arm robot in the running state into electric energy to be stored for recycling.
Fig. 5 is a schematic view of the exterior structure of the vehicle in fig. 2. Wherein: the fire extinguisher comprises a mechanical arm robot tire 10, a set of fire extinguisher devices 20, a mechanical arm 30 capable of rotating 360 degrees, an industrial camera 40, a multifunctional spray nozzle 50, a deep learning camera 60 and an antenna 70. These devices are connected to the robot body 80.
The utility model discloses a robot, including robot, tire, the tire of robot, robot and tire, the tire of robot adopts the recess design, and the subaerial water stain of meeting of unavoidable appearance of robot in the work, and the antiskid of tire is very important under this condition, and the phenomenon that adopts the tire of recess design can effectually avoid skidding plays more stable effect to the removal of robot, reduces the robot of robot because the smooth appearance of tire is controld the difficulty in the work, removes the emergence of the condition such as position deviation appear.
A set of fire extinguishing device equipment is installed at the tail part of the mechanical arm robot, which is a factor for increasing safety by preventing accidents, such as fire or natural short circuit, from happening to the mechanical arm robot during operation.
As shown in the figure, the mechanical arm 30 can be rotated by 360 degrees, six-axis rotatable mechanical arms are adopted, the task executed by the mechanical arm robot in the work can be combined with a self mobile control system to realize 360-degree multidirectional spraying work, and the industrial camera 40 on the mechanical arm is used for detecting the working condition of the mechanical arm robot during spraying, the spraying effect and the like.
The deep learning camera 60 is a control algorithm module in the deep learning system, that is, the control system, and performs autonomous learning to optimize a path. The antenna 70 is used for receiving and transmitting data.
Fig. 6 is a schematic structural diagram of the robot arm in fig. 5, including: the multifunctional spray head 50, the industrial camera 40, the 6-axis mechanical arm 30 capable of rotating 360 degrees, and the controller and execution mechanism 80. Wherein: the controller and actuator 80 includes: arm control module, feed machine and industrial camera control module.
Fig. 7 is a schematic view of the robotic spraying process of the robotic arm. Comprises a material box, a material feeding machine, a cooked material pipe and a multifunctional spray head. Wherein the clinker tube is connected with the material box, the material conveying tube is connected with the material feeding machine, and the material conveying tube is connected with the multifunctional spray head. The operation process is as follows: the feeder is started, the spraying material of the material box is transferred to the material conveying pipe, the pressure is controlled, the spraying material is sprayed out from the multifunctional spray head, the sprayed force and the amount are controlled by an industrial algorithm which is recorded in advance, the command is executed by the material conveying machine, the material conveying machine controls the flow speed and the pressure of the sprayed material to achieve the spraying effect, the industrial camera detects the spraying effect, and whether the spraying effect reaches the standard or not is observed to achieve the expected effect.
The whole implementation process is that whether the machine is in fault or not and the power supply connection condition are checked, the control terminal returns a self-detection report after the detection is finished, the report is filed by a server, and the running condition of the mechanical arm robot is recorded in detail.
The control terminal sends an execution command, the antenna, the infrared detector, the ultrasonic detector and the deep learning camera are opened to send data and detect the condition of obstacles around the mechanical arm robot, the antenna, the infrared detector, the ultrasonic detector and the deep learning camera send the collected data to the data module, and the control terminal performs sampling analysis on the data and makes a next-step indication.
The next indication includes the orientation of the robot arm's motion, this particular operation being the movement module and the steering module in combination with the gyroscope to implement the steering or movement operation with the hardware of the robot arm.
And if the robot of the mechanical arm slightly collides as displacement deviation in the moving process, the robot of the mechanical arm can record the wrong data and send the wrong data to the control algorithm module, and the wrong data is sent to the control algorithm module for correction processing, optimization and archiving.
The emergency stop switch, the power switch and the fire extinguisher on the mechanical arm robot are all used in special emergency situations.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The mechanical arm spraying robot capable of moving autonomously comprises a control system and a hardware part, and is characterized in that: the control system is electrically connected with the hardware part;
the control system includes: the intelligent control system comprises a movable control module, a steering control module, a mechanical arm control module, a brake control module, an emergency stop switch, a speed reduction motor, a power supply control box, a control terminal, a control algorithm module, an antenna, a data module, an infrared detection instrument, an ultrasonic detection instrument, a deep learning camera and a laser transmitter.
2. The robot for spraying with mechanical arm capable of moving autonomously of claim 1, wherein the antenna is connected with a data module, the infrared detector is connected with a data module, the ultrasonic detector is connected with a data module, the deep learning camera is connected with a data module, the data module is connected with a control terminal, the power control box is electrically connected with the control terminal, the control algorithm module is connected with the control terminal, the control terminal is connected with the mobile control module, the control terminal is connected with the steering control module, the control terminal is connected with the mechanical arm control module, the control terminal is connected with the braking control module, the emergency stop switch is electrically connected with the braking control module, and the speed reduction motor is electrically connected with the plate braking control module.
3. The autonomous mobile robotic arm painting robot of claim 1, wherein the control algorithm module comprises a robotic arm painting robot movement algorithm, wherein a robotic arm painting robot is specified to: the AGV, AGV follow the planning route, and the laser beam gives a movement track P, and path P thinks to constitute by countless path point, and P is ═ P1,P2…PN]The AGV motion is defined as a whole as linear velocity v and angular velocity w, and the AGV considers that the AGV is in a two-dimensional plane OXWYWInternal motion, the equation of motion is:
4. the autonomous mobile robotic arm painting robot of claim 1, wherein the control algorithm module includes a robot movement error algorithm, wherein the error defining the pose of the AGV and the path point is e ═ PN-TN|,TN＝[x yθ]TThus, the path tracking of the AGV may be described as the minimum error, e, then the motion model for e is:
wherein: theta is a fixed value for guiding medium confirmation，exeyThe three error values are solved by the control center through solving the Euclidean distance difference between the path point and the current pose of the AGV, the action instruction needing to be adjusted is sent to the lower computer, and the AGV is adjusted to walk according to the path planned by the guiding medium.
5. The autonomous mobile robotic arm painting robot of claim 1, wherein the power control box comprises: the battery pack comprises a micro generator, a charging socket, a power switch and a battery pack, wherein the power switch is electrically connected with the battery pack, the charging socket is electrically connected with the battery pack, and the micro generator is electrically connected with the battery pack.
6. An autonomous mobile robotic arm painting robot as claimed in claim 1, characterized in that the hardware part comprises: the robot comprises a mobile robot body and a 6-axis mechanical arm capable of rotating 360 degrees.
7. An autonomous movable robot arm painting robot as claimed in claim 6, characterized in that the robot body comprises: the fire extinguishing system comprises a set of fire extinguishing device, a vehicle body, tires, a transmission device, a control module, a deep learning camera, an antenna, a wireless router, an ultrasonic detecting instrument, a gyroscope, an infrared detecting instrument, a laser radar and a material box.
8. The autonomous mobile robotic arm painting robot of claim 6, wherein the 360 ° rotatable 6-axis robotic arm comprises: conveying pipeline, multi-functional shower nozzle, industrial camera, controller and actuating mechanism, 6 arms of can 360 rotations.
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| CN202010043596.9A CN111203879A (en) | 2020-01-15 | 2020-01-15 | Mechanical arm spraying robot capable of moving automatically |
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| CN202010043596.9A CN111203879A (en) | 2020-01-15 | 2020-01-15 | Mechanical arm spraying robot capable of moving automatically |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112007789A (en) * | 2020-08-04 | 2020-12-01 | 中国石油天然气集团有限公司 | Prefabricated welding seam coating robot |
| CN112234214A (en) * | 2020-10-09 | 2021-01-15 | 深圳市雄韬电源科技股份有限公司 | Fuel cell repairing device and method |
| CN113893979A (en) * | 2021-11-02 | 2022-01-07 | 深圳市索威尔科技开发有限公司 | Automatic spraying method and device for vehicle |
| CN116714001A (en) * | 2023-08-11 | 2023-09-08 | 星力驰(北京)智能科技有限公司 | Artificial intelligence control system and control method and vehicle coating workstation |
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