CN111255199A - Roller coating method for completing operation by combining automatic spray gun of robot and roller - Google Patents
Roller coating method for completing operation by combining automatic spray gun of robot and roller Download PDFInfo
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- CN111255199A CN111255199A CN202010218159.6A CN202010218159A CN111255199A CN 111255199 A CN111255199 A CN 111255199A CN 202010218159 A CN202010218159 A CN 202010218159A CN 111255199 A CN111255199 A CN 111255199A
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- roller
- spray gun
- automatic spray
- sensor
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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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- 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
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
A roller coating method for completing operation by combining an automatic spray gun and a roller of a robot is provided with a sensor, a controller, the roller, the automatic spray gun, a roller feeding motion execution module and a contact bracket; the roller is arranged in front of the contact bracket so as to facilitate the roll coating work; the automatic spray gun is connected with the connection bracket so that the spray gun is aligned to the wall body; the sensor is connected with the controller, the sensor feeds back parameters of the surface condition of the wall body to the controller, and the controller drives the roller to be in dynamic contact with the wall surface, so that the thickness of a paint film subjected to roll coating is uniform; the roller feeding motion execution module and the pressure sensor are positioned between the roller and the contact bracket to perform matching work; the roller feed motion execution module provides flexible support and feed motion execution force in a small range for the roller; the controller is connected with the sensor and a robot control system for driving the contact support through a data line; after the automatic spray gun sprays on the wall, the roller moves along the direction of the spraying area so as to be coated on the surface of the wall.
Description
Technical Field
The invention relates to a roller coating method for completing operation by combining an automatic spray gun and a roller of a robot.
Background
The interior decoration industry is always manually operated or simply and mechanically assisted, the labor intensity is high, the precision of finished products cannot be guaranteed, and the working environment is severe; the work efficiency is low and is difficult to continuously improve, so that the labor cost of the industry is sharply increased, and the decoration company faces the embarrassment situation of 'no subsequent craftsman'.
The spraying and rolling coating process of the indoor wall is the last process in the paint industry of the interior decoration engineering,
in the roll coating process, a layer of wall paint with good adhesion and uniform thickness is required to be coated on the surface of a wall body, and different surface textures can be endowed on the surface of the wall body by changing different rollers according to the requirements of customers. The existing wall body roller coating process is generally operated manually, and roller coating operation is carried out after a roller is stained with paint, so that the problems that the coating speed is low, the thickness of a paint film is not uniform, the roller coating texture is not clear or is deformed and incomplete and the like, the manual operation is influenced by experience, the consistency effect is poor and the like are caused.
In order to solve the problem, in order to facilitate the application of spraying and roll coating of an indoor wall body on an operating robot, a roll coating method for completing operation by combining an automatic spray gun and a roller is developed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a roller coating method for completing operation by combining an automatic spray gun and a roller of a robot, which integrates simultaneous spraying and rolling operation, is easy for automatic construction and use, and has the advantages of good roller coating uniformity, quick operation, flexible operation and strong applicability.
In order to achieve the above purpose, the technical scheme adopted by the invention is to provide a roller coating method for completing operation by combining an automatic spray gun and a roller of a robot, which comprises a sensor, a controller, a roller, an automatic spray gun, a roller feeding motion execution module and a contact bracket;
the roller is arranged in front of the contact bracket so as to facilitate the roll coating work; the automatic spray gun is connected with the contact bracket so that the spray gun is aligned to the wall body; the sensor is connected with the controller, the sensor feeds back parameters of the surface condition of the wall body to the controller, and the controller drives the roller to be in dynamic contact with the wall surface, so that the thickness of a paint film subjected to roll coating is uniform;
the roller feeding motion execution module and the pressure sensor are positioned between the roller and the contact bracket to perform matching work; the roller feed motion execution module provides flexible support and feed motion execution force in a small range for the roller; the controller is connected with the sensor and a robot control system for driving the contact support through a data line; and after the automatic spray gun sprays the wall, the roller moves along the direction of the spraying area so as to be coated on the surface of the wall in a rolling way.
In one or more embodiments of the invention, the sensor is a pressure sensor or a non-contact type high-precision distance detection sensor or a combination thereof; the automatic spray gun is arranged lower than the roller, so that the spraying area is positioned below the roller, and the spraying direction of the automatic spray gun is close to the lower position of the roller.
In one or more embodiments of the present invention, the pressure sensor is fixedly connected to the contact bracket, and is connected to the drum through a force transmission mechanism, the force transmission mechanism includes a spring and a connecting rod, and the contact bracket is driven by the device motion executing mechanism to paint the wall surface by rolling according to a preset path.
In one or more embodiments of the invention, before the roller stops moving, the automatic spray gun is closed, the roller stops moving and leaves the wall surface to finish the single rolling coating operation; the non-contact high-precision distance detection sensor is fixedly connected to the contact support and is positioned at the front end of the roller in the movement direction; the distance between the roller and the wall surface is measured in a preposed manner; the non-contact high-precision distance detection sensor comprises any one or more of a laser ranging sensor, a sound wave ranging sensor, a radar ranging sensor and a monocular or binocular vision ranging sensor.
In one or more embodiments of the present invention, the automatic spray gun is installed to be inclined so that its nozzle sprays obliquely toward the bottom edge of the drum; the flexible supporting mechanism for providing flexible support for the roller, which enables the roller to move along the radial direction in a small amplitude when being subjected to external radial force and keeps rigidity in other directions is one or a combination of a plurality of mechanisms of a sliding linear bearing, a screw rod and a pulley guide rail.
In one or more embodiments of the present invention, the mechanism for providing radial feed motion execution is formed by one or a combination of several mechanisms of a passive radial feed motion execution mechanism or an active radial motion execution mechanism, and the mechanism for providing radial feed motion execution is provided with passive feed force except for that provided by a spring or an air cushion, an elastic washer, and the like; the radial cylinder, the radial hydraulic cylinder and the motor are active radial feeding motion executing mechanisms, and the feeding amount of the active radial feeding motion executing mechanisms is calculated and controlled by the controller.
In one or more embodiments of the present invention, the controller receives the real-time radial force data received by the roller from the sensor in real time or receives the real-time distance data obtained by pre-measuring the distance between the contact bracket and the wall surface by the non-contact high-precision distance detection sensor, compares the real-time distance data with parameters corresponding to a processing control parameter database, such as a preset distance or pressure according to the current processing requirement, controls the active feeding force executing mechanism or the robot arm to calculate required radial feeding motion data according to the comparison result, and corrects the distance between the robot motion executing mechanism and the wall surface, so that the roller and the wall surface to be processed are maintained at a reasonable contact pressure and distance interval.
In one or more embodiments of the present invention, the roller is flexibly connected to a connection bracket, the connection bracket is driven by a robot motion executing mechanism to roll and coat a wall surface according to a preset path, and the controller monitors in real time to ensure the normal operation of the roller.
In one or more embodiments of the present invention, the automatic spray gun is disposed below the roller and is fixedly connected to the linking bracket, so that the spraying region is located below the roller and in front of the movement direction of the roller.
In one or more embodiments of the invention, the controller automatically controls the on/off of the automatic spray gun and the output quantity of the spraying material according to the preset track according to the control parameter requirements of the automatic spray gun corresponding to the processing control parameter database, so that the roller is convenient to inhibit and fully absorb paint splashes sprayed by the spray gun and the paint film thickness is more accurately controlled.
Compared with the background art, the invention has the following beneficial effects:
due to the adoption of the scheme, the automatic spraying and rolling device integrates spraying and rolling process operation, is easy to use in automatic construction, changes the self-adsorption supply of a roller into the real-time supply of a spraying material through an automatic spray gun, and has the advantages of real-time controllable material supply amount, reasonable contact between the roller and the wall surface, good uniformity of the thickness of a paint film subjected to roll coating, less material waste and splashing, quick operation, flexible and controllable operation, safety, environmental protection and strong applicability, and meanwhile, through the combination of a sensor and a controller, the automatic spraying and rolling device can adapt to the wall surfaces with different surface conditions.
Drawings
FIG. 1 is a schematic view of a roller coating method in which a robot automatic spray gun is combined with a roller to complete a work according to an embodiment of the present invention;
FIG. 2 is a schematic view of a roll coating process with a robotic automatic spray gun and roller combination for performing work according to an embodiment of the present invention from another perspective;
FIG. 3 is a schematic view of a spray roller construction operating state of a roller coating method in which a robot automatic spray gun is combined with a roller to complete work according to an embodiment of the present invention;
fig. 4 is a control schematic diagram of a roll coating method for completing a work by combining a robot automatic spray gun and a roller according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
The orientation shown in the drawings is not to be construed as limiting the specific scope of the invention, but is for the best understanding of the preferred embodiments only, and changes in location or addition of numbers or structural simplifications may be made to the product parts shown in the drawings.
The relation of "connected" between the components shown in the drawings and described in the specification can be understood as fixedly connected or detachably connected or integrally connected; the connecting elements can be directly connected or connected through an intermediate medium, and persons skilled in the art can understand the connecting relation according to specific conditions, and can use the connecting elements in a screwed connection or riveting connection or welding connection or clamping connection or embedding connection mode to replace different embodiments in a proper mode.
The terms of orientation such as up, down, left, right, top, bottom, and the like in the description and the orientation shown in the drawings, may be used for direct contact or contact with each other through another feature therebetween; above may be directly above and obliquely above, or it simply means above the other; other orientations may be understood by analogy.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific implementation mode of the invention with the accompanying drawings of the specification; and are intended to be illustrative of the invention and not to be construed as limiting the invention.
Referring to fig. 1-4, a preferred embodiment of the present invention is a roll coating method for performing work by combining a robot automatic spray gun with a drum, which provides sensors, a controller, a drum, an automatic spray gun, a drum feed motion performing module, and a contact holder; the roller is arranged at the front end of the contact support; the automatic spray gun is connected with the contact bracket; the sensor is arranged on the contact support; the roller feeding motion execution module is connected with the pressure sensor in parallel, is positioned between the roller and the contact bracket and provides flexible support and feeding motion execution force in a small range for the roller; the controller is connected with the sensor and a robot control system for driving the contact support through a data line; the automatic spray gun sprays on a wall body, and then the roller moves along the direction of a spraying area so as to roll and coat on the surface of the wall body, integrates spraying and rolling operations, is easy to realize automatic construction and use, and has the advantages of good rolling and coating uniformity, quick operation, flexible operation and strong applicability.
The sensor in the embodiment is a pressure sensor or a non-contact type high-precision distance detection sensor or a combination thereof; the automatic spray gun is arranged lower than the roller, so that the spraying area is positioned below the roller, and the spraying direction of the automatic spray gun is close to the lower position of the roller.
The pressure sensor is fixedly connected to the contact support and is connected with the roller through the force transmission mechanism, the force transmission mechanism comprises a spring and a connecting rod, and the contact support is driven by the equipment movement executing mechanism to roll and coat the wall surface according to a preset path.
Before the roller stops moving, the automatic spray gun is closed, the roller stops moving and leaves the wall surface to finish the single rolling coating operation; the non-contact high-precision distance detection sensor is fixedly connected to the contact support and is positioned at the front end of the roller in the movement direction; the distance between the roller and the wall surface is measured in a preposed manner; the non-contact high-precision distance detection sensor comprises any one or more of a laser ranging sensor, a sound wave ranging sensor, a radar ranging sensor and a monocular or binocular vision ranging sensor.
When in use, the automatic spray gun is obliquely arranged so that the nozzle of the automatic spray gun is obliquely sprayed to the edge of the bottom of the roller; the flexible supporting mechanism for providing flexible support for the roller, which enables the roller to move along the radial direction in a small amplitude when being subjected to external radial force and keeps rigidity in other directions is one or a combination of a plurality of mechanisms of a sliding linear bearing, a screw rod and a pulley guide rail. The mechanism for providing radial feed motion execution is provided with passive feed force except for that provided by a spring; the radial cylinder, the radial hydraulic cylinder and the motor are mechanisms for actively providing a feeding force, and the feeding amount of the mechanisms is calculated and controlled by the controller.
The controller in the embodiment receives the real-time radial force data received by the roller transmitted from the sensor in real time or non-contact high-precision distance detection sensor to perform pre-measurement on the distance between the contact support and the wall surface, compares the real-time radial force data with parameters corresponding to a processing control parameter database such as preset distance or pressure according to the current processing requirement, controls the active feeding force executing mechanism or the robot arm to perform required radial feeding motion according to the comparison result, and corrects the distance between the robot motion executing mechanism and the wall surface so as to keep the roller and the wall surface to be processed at a reasonable contact pressure and distance interval. The roller is flexibly connected with a contact support, the contact support is driven by a robot motion executing mechanism to roll and coat the wall surface according to a preset path, and the normal work of the roller is ensured through the real-time monitoring of the controller.
The automatic spray gun is arranged below the roller and fixedly connected to the connection support, so that the spraying area is positioned below the roller and in front of the movement direction of the roller. The controller automatically controls the on-off of the automatic spray gun and the output quantity of the spraying material according to the preset track according to the control parameter requirements of the automatic spray gun corresponding to the processing control parameter database, so that the roller is convenient to inhibit and fully absorb paint splashed by the spray gun and the paint film thickness is more accurately controlled. In the roller coating method for completing the operation by combining the automatic wall spray gun on the robot and the roller, the roller is flexibly connected with a connecting bracket, the contact support is driven by the robot motion actuating mechanism to roll and coat the wall surface according to a preset path, the controller monitors the radial force on the roller detected by the sensor in real time or the distance between the connection bracket and the wall surface to be processed, comparing with the parameters corresponding to the processing control parameter database such as distance or pressure preset according to the current processing requirement, providing the feeding correction quantity to the active feeding force actuating mechanism or the robot controller, and the radial feeding correction movement is carried out through a spring or an active feeding force executing mechanism or a mechanical arm, the distance between the robot movement executing mechanism and the wall surface is corrected, the roller and the wall surface to be processed keep reasonable contact pressure, and the normal work of the roller is ensured. Meanwhile, the controller automatically controls the on-off of the automatic spray gun and the output quantity of the sprayed materials according to the preset track according to the control parameter requirements of the automatic spray gun corresponding to the processing control parameter database, so that the thickness uniformity of a roll-coated paint film is good, the material waste and the splashing are less, the applicability is strong, and the automatic processing is easy to realize.
While this invention has been described in terms of the preferred embodiments, there may be alterations, permutations, and equivalents, which fall within the scope of this invention; there are many alternative ways of implementing the invention. It is therefore intended that the following appended claims be interpreted as including all such alterations, permutations, and equivalents as fall within the true spirit and scope of the present invention; it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and modifications and substitutions based on the known art are possible within the scope of the present invention, which is defined by the claims.
Claims (10)
1. A roller coating method for completing operation by combining an automatic spray gun of a robot and a roller is characterized in that: it provides sensor, controller, roller, automatic spray gun, roller feed motion execution module and connection support;
the roller is arranged in front of the contact bracket so as to facilitate the roll coating work; the automatic spray gun is connected with the contact bracket so that the spray gun is aligned to the wall body; the sensor is connected with the controller, the sensor feeds back parameters of the surface condition of the wall body to the controller, and the controller drives the roller to be in dynamic contact with the wall surface, so that the thickness of a paint film subjected to roll coating is uniform;
the roller feeding motion execution module and the pressure sensor are positioned between the roller and the contact bracket to perform matching work; the roller feed motion execution module provides flexible support and feed motion execution force in a small range for the roller; the controller is connected with the sensor and a robot control system for driving the contact support through a data line; and after the automatic spray gun sprays the wall, the roller moves along the direction of the spraying area so as to be coated on the surface of the wall in a rolling way.
2. The roll coating method of claim 1 in which the robotic gun is coupled to the barrel to perform work, the method comprising: the sensor is a pressure sensor or a non-contact type high-precision distance detection sensor or a combination of the pressure sensor and the non-contact type high-precision distance detection sensor; the automatic spray gun is arranged lower than the roller, so that the spraying area is positioned below the roller, and the spraying direction of the automatic spray gun is close to the lower position of the roller.
3. A roll coating method of performing work by combining a robot automatic spray gun and a drum according to claim 2, characterized in that: the pressure sensor is fixedly connected to the contact support and is connected with the roller through a force transmission mechanism, the force transmission mechanism comprises a spring and a connecting rod, and the contact support is driven by the equipment movement executing mechanism to roll and coat the wall surface according to a preset path.
4. A roll coating method of performing work by combining a robot automatic spray gun and a drum according to claim 3, characterized in that: before the roller stops moving, the automatic spray gun is closed, the roller stops moving and leaves the wall surface to finish the single rolling coating operation; the non-contact high-precision distance detection sensor is fixedly connected to the contact support and is positioned at the front end of the roller in the movement direction; the distance between the roller and the wall surface is measured in a preposed manner; the non-contact high-precision distance detection sensor comprises any one or any combination of a laser ranging sensor, a sound wave ranging sensor, a radar ranging sensor and a monocular or binocular vision ranging sensor.
5. The roll coating method of claim 4 in which the combination of a robotic gun and a barrel is used to perform work, the method comprising: the automatic spray gun is obliquely arranged so that a nozzle of the automatic spray gun is obliquely sprayed to the bottom edge of the roller; the flexible supporting mechanism for providing flexible support for the roller, which enables the roller to move along the radial direction in a small amplitude when being subjected to external radial force and keeps rigidity in other directions is one or a combination of a plurality of mechanisms of a sliding linear bearing, a screw rod and a pulley guide rail.
6. The roll coating method of claim 5 in which the robotic gun is coupled to the barrel to perform work, the method comprising: the mechanism for providing the radial feed motion execution is composed of one or a combination of a plurality of mechanisms of a passive radial feed motion execution mechanism or an active radial motion execution mechanism, and the mechanism for providing the radial feed motion execution is provided with passive feed force except for a spring or an air cushion, an elastic washer and the like; the radial cylinder, the radial hydraulic cylinder and the motor are active radial feeding motion executing mechanisms, and the feeding amount of the active radial feeding motion executing mechanisms is calculated and controlled by the controller.
7. The roll coating method of claim 6 in which the combination of a robotic gun and a barrel is used to perform work, the method comprising: the controller receives real-time distance data of the distance between the connecting support and the wall surface, which is obtained by carrying out pre-measurement on the distance between the connecting support and the wall surface through the radial force data transmitted by the sensor or the non-contact high-precision distance detection sensor, compares the real-time distance data with parameters corresponding to a processing control parameter database such as preset distance or pressure according to the current processing requirement, controls the active feeding force executing mechanism or the robot arm to calculate required radial feeding motion data according to the comparison result, and corrects the distance between the robot motion executing mechanism and the wall surface, so that the roller and the wall surface to be processed are kept at a reasonable contact pressure and distance interval.
8. The roll coating method of claim 7 in which the robotic gun is coupled to the barrel to perform work, the method comprising: the roller is flexibly connected with the contact support, the contact support is driven by the robot motion executing mechanism to roll and coat the wall surface according to a preset path, and the normal work of the roller is ensured through the real-time monitoring of the controller.
9. The roll coating method of claim 8 in which the robotic gun is coupled to the barrel to perform the work, the method comprising: the automatic spray gun is arranged below the roller and fixedly connected to the connection support, so that the spraying area is positioned below the roller and in front of the movement direction of the roller.
10. A roll coating method of performing work by combining a robot automatic spray gun and a drum according to claim 9, characterized in that: the controller automatically controls the on-off of the automatic spray gun and the output quantity of the spraying material according to the preset track according to the control parameter requirements of the automatic spray gun corresponding to the processing control parameter database, so that the roller is convenient to inhibit and fully absorb paint splashed by the spray gun and the paint film thickness is more accurately controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010218159.6A CN111255199A (en) | 2020-03-25 | 2020-03-25 | Roller coating method for completing operation by combining automatic spray gun of robot and roller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010218159.6A CN111255199A (en) | 2020-03-25 | 2020-03-25 | Roller coating method for completing operation by combining automatic spray gun of robot and roller |
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| CN111255199A true CN111255199A (en) | 2020-06-09 |
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| CN202010218159.6A Pending CN111255199A (en) | 2020-03-25 | 2020-03-25 | Roller coating method for completing operation by combining automatic spray gun of robot and roller |
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Cited By (5)
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| CN112814338A (en) * | 2021-02-06 | 2021-05-18 | 常家有 | Smearing component and smearing robot |
| CN113814104A (en) * | 2021-07-30 | 2021-12-21 | 中材科技（邯郸）风电叶片有限公司 | Automatic roller coating equipment and roller coating control method for wind power blade |
| CN114178120A (en) * | 2021-12-06 | 2022-03-15 | 北京克莱明科技有限公司 | Automatic roller coating device for intelligent spraying robot |
| WO2023046004A1 (en) * | 2021-09-24 | 2023-03-30 | 广东博智林机器人有限公司 | Roller coating robot and roller coating method |
| CN117699386A (en) * | 2024-02-06 | 2024-03-15 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113814104A (en) * | 2021-07-30 | 2021-12-21 | 中材科技（邯郸）风电叶片有限公司 | Automatic roller coating equipment and roller coating control method for wind power blade |
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| CN117699386A (en) * | 2024-02-06 | 2024-03-15 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
| CN117699386B (en) * | 2024-02-06 | 2024-04-26 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
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Application publication date: 20200609 |