CN112238012A - Omnidirectional navigation automatic spraying system and method - Google Patents

Abstract

The utility model relates to an omnidirectional navigation automatic spraying system and a method, belonging to the technical field of coating equipment and coating, comprising a platform which can move in any direction of a plane; the platform is provided with a spraying robot capable of doing lifting motion; the lifting platform is also provided with a feeding unit; the feeding unit comprises a plurality of feeding barrels connected with the spraying robot; the spraying robot is provided with a measurement calibration system; the measurement calibration system comprises a laser range finder for collecting the distance information from a spray head of the spraying robot to the surface of a workpiece to be sprayed and a camera device for collecting a target mark on the sprayed workpiece; a walking navigation system is arranged on the platform; and the platform is also provided with a control cabinet unit for controlling the platform, the spraying robot, the feeding unit and the measurement calibration and walking navigation system.

Description

Omnidirectional navigation automatic spraying system and method

Technical Field

The disclosure belongs to the technical field of coating equipment and coating, and particularly relates to an omnidirectional navigation automatic spraying system and method.

Background

The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.

At present, the traditional manual spraying operation mode has low painting rate, serious coating waste and difficult guarantee of spraying quality, and can damage the physical health of workers; the robot automatic spraying system is adopted to replace the traditional manual spraying operation mode, so that the operation efficiency can be greatly improved, and the construction period is shortened; the demand for workers is reduced, and the labor cost is obviously reduced; the utilization rate of the coating is improved to the maximum extent, and the resource waste and energy loss caused by human subjective factors are greatly reduced; the problems of physical and psychological health of workers caused by exposure to toxic paint mist are avoided.

The inventor finds that: for the spraying construction of workpieces with large specification and size, complex structure and uneven surface, the existing common robot spraying system can not meet the requirement of workpiece coating, and the common robot spraying system has the following defects:

1. fixed plants are adopted in production workshops in the coating industry, and once the equipment is installed and debugged, the equipment cannot move and is poor in maneuverability;

2. the guide rail type robot spraying system is relatively fixed in position and moving distance, and for irregular workpieces with large specifications and complex working conditions, a plurality of moving guide rails need to be arranged, so that the cost is high, and the occupied area is large;

3. at present, a robot spraying system mainly aims at spraying workpieces with single specification and large batch, the compatibility is poor, different products need to be debugged again when being replaced each time, and time and labor are consumed.

Disclosure of Invention

Aiming at the technical problems in the prior art, the disclosure provides an omnidirectional navigation automatic spraying system and method.

At least one embodiment of the present disclosure provides an omnidirectional navigation automatic spraying system, which includes a platform that can move in any direction on a plane; the platform is provided with a spraying robot capable of doing lifting motion; the lifting platform is also provided with a feeding unit; the feeding unit comprises a plurality of feeding barrels connected with the spraying robot; the spraying robot is provided with a measurement calibration system; the measurement calibration system comprises a laser range finder for collecting the distance information from a spray head of the spraying robot to the surface of a workpiece to be sprayed and a camera device for collecting a target mark on the sprayed workpiece; a walking navigation system is arranged on the platform; and the platform is also provided with a control cabinet unit for controlling the platform, the spraying robot, the feeding unit and the measurement calibration and walking navigation system.

Further, the walking navigation system comprises a laser navigation system and an inertial navigation system; the laser navigation system comprises a laser scanner, a scanner fixing seat and a laser reflecting plate, wherein the laser scanner is arranged in the scanner fixing seat, the scanner fixing seat is fixed on the platform, and the laser reflecting plate is placed around a workpiece to be sprayed; the inertial navigation system comprises a gyroscope and a positioning identifier, the gyroscope is installed inside the platform, and the positioning identifier is arranged on the ground.

Furthermore, a lifting unit is arranged on the platform; the lifting unit comprises a lifting upright post and a fixed seat for fixing the spraying robot, and a lifting guide rail for enabling the fixed seat to move up and down is arranged on the lifting upright post; a screw rod is arranged in the vertical direction of the lifting upright post; the fixing seat is connected with the screw rod through a screw nut.

Further, the spraying robot is a six-axis hollow wrist spraying robot; and a paint pipeline and a control circuit are arranged in the hollow wrist.

Furthermore, a paint supply rack and a high-pressure pump are also arranged on the platform; the paint bucket and the high-pressure pump are arranged on the paint supply rack; the paint buckets are used for respectively containing paints with different colors; the coating bucket comprises a bucket body, a bucket cover and a stirrer, wherein the bucket cover is detachably connected with the bucket body, the stirrer is fixed on the bucket cover, and the stirrer uses compressed air as power to stir the coating in the bucket body.

Further, the feeding pump is connected with the paint spraying robot through a material conveying pipeline; a filter and a pressure regulating valve are arranged on the material conveying pipeline; and a color changing valve is arranged at the joint of the material conveying pipeline and the spraying robot.

Furthermore, a safety warning device is arranged on the platform; the safety warning device comprises a laser radar anti-collision sensor, a safety anti-collision touch edge, an emergency stop switch and an operating state indicator lamp; the laser radar anti-collision sensor is arranged at the opposite angle of the platform; the safety anti-collision touch edges are arranged around the omnidirectional mobile platform, and the emergency stop switches are arranged on two sides of the platform and on a remote control device for controlling the platform; the running state indicator lamp is a four-color lamp and displays different running states of the omnidirectional navigation automatic spraying system through different colors.

Further, an air compression station is arranged on the platform; and one side of the air compression station is provided with an air distribution and exhaust assembly for supplying compressed air to the feeding barrel and the spraying robot.

Further, the platform is provided with Mecanum wheels; and the platform is also provided with a suspension system for ensuring that the wheels are always grounded.

Furthermore, a generator set unit is arranged on the platform; the generator set unit comprises a generator and a tail gas treatment device; the generator is fixed on the platform; the tail gas treatment device is arranged on an exhaust pipe of the generator.

At least one embodiment of the present disclosure further provides a spraying method of the omnidirectional navigation automatic spraying system, which includes the following steps:

after the spraying platform moves to a working position, the laser reflecting plate is placed around a workpiece to be sprayed, and a positioning mark is installed on the walking track of the spraying platform;

moving a workpiece to be sprayed to a specified range of a spraying area and stopping the workpiece in the specified range, finishing the position and posture calibration of the workpiece and the system and the planning of a system walking track by the spraying system under the combined action of a calibration system and a walking navigation system, feeding back the acquired information to a control cabinet unit, and correcting an automatic spraying path of the spraying robot;

adding the paint to be sprayed into a corresponding paint bucket; calling out a spraying program of a workpiece to be sprayed, transmitting the spraying program to a control cabinet unit, sending a spraying operation instruction to a spraying robot after confirming that each spraying element is correct, and carrying out spraying operation by the spraying robot according to the received instruction to finish the workpiece spraying operation.

Further, the distance between the spray head and the surface of the workpiece to be sprayed is measured along the automatic spraying path of the spraying robot through a laser range finder arranged at the tail end of the robot, the collected data is compared with the set data, the error data from the spray head to the surface of the workpiece to be sprayed is calculated, the error data is transmitted to a control cabinet unit, and the distance from the spray head of the spraying robot to the surface of the workpiece to be sprayed is corrected.

The above-described embodiments of the present disclosure produce the following advantageous effects:

(1) the omnidirectional navigation automatic spraying system is composed of the omnidirectional moving platform and the multi-degree-of-freedom spraying robot, and the spraying robot can revolve around a workpiece and reach a designated spraying station through the omnidirectional no-dead-angle random movement of the platform in a plane, such as straight movement, lateral movement, oblique movement, zero rotation, movement and rotation combined movement and the like.

(2) The laser range finder, the calibration system and the walking navigation system are adopted in the system, so that the problems of the distance from a spray gun to a surface to be sprayed of a workpiece, the position and the posture of the workpiece and the accurate positioning of the walking path of the system in the spraying operation process of the omnidirectional navigation automatic spraying system are solved, the position and posture precision of the omnidirectional navigation automatic spraying system when the omnidirectional navigation automatic spraying system walks to each station is improved, and the spraying quality is effectively improved.

(3) The multi-degree-of-freedom spraying robot in the spraying system is a six-axis hollow wrist explosion-proof spraying robot, and the reach range of the robot is enlarged by adopting a mode of 'six-axis spraying robot + external guide rail' aiming at the requirement of large size of a workpiece on the operation range of the robot, so that the surface spraying of the workpiece with larger specification and size is met; the hollow wrist type design is adopted, so that paint pipelines and control circuits are arranged inside the wrist, excessive bending and external hanging pollution of the circuits are avoided, high-flexibility posture capability is realized, the posture flexibility requirement of robot spraying operation is met, and the spraying device is suitable for spraying the inner surface and the outer surface of a plane and a complex curved surface; aiming at the characteristics of flammability and explosiveness of spraying operation environment, the special explosion-proof spraying robot is adopted to meet the safety requirement.

(3) The feeding unit disclosed comprises at least four kinds of color coatings, the aim of 'spraying multiple colors by one gun' can be achieved, and aiming at the requirements of stable feeding of different color coatings, the feeding unit achieves stable and adjustable coating feeding pressure through boosting, pressure multistage adjustment and a circulating device, stable control of pressure, flow and flow speed of a spray gun is ensured, and accurate feeding of different color coatings is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

Fig. 1 is a top view of a moving platform in an automatic spray system provided in an embodiment of the present disclosure;

FIG. 2 is a front view of a movable platform of an automatic coating system according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a hollow wrist structure provided by an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an automatic spraying system according to an embodiment of the present disclosure.

In the figure: 100. the system comprises a control cabinet unit, 101, a linear guide rail, 102, a spraying robot, 103, a spraying robot fixing seat, 104, an air distribution row assembly, 105, an air compression station, 106, a generator, 107, an emergency stop switch, 108, a safe anti-collision contact edge, 109, a laser radar anti-collision sensor, 110, a barrel body, 111, a barrel cover, 112, a stirrer, 113, a high-pressure pump, 114, a paint supply rack, 115, a driving motor, 116, a ball screw, 117, a rodless cylinder, 118, an exhaust gas treatment device, 119, a remote control device, 120, an operation state indicator lamp, 121, a vehicle body, 122, a driving system, 123, a suspension system, 124, a power supply device, 125, a laser range finder, 126, a visual positioning system, 127, a positioning mark, 128, a laser reflection plate, 129, a laser tracker, 130, a T-Probe measurement auxiliary piece, 131, a laser scanner fixing seat, and a spraying robot.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

In the description of the present disclosure, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1-2, the automatic painting system includes an omnidirectional mobile platform (including a vehicle body 121, a suspension system 123, a driving system 122, a power supply device 124, a safety warning device, a remote control device 119, a painting robot 102), a lifting unit (including a lifting column, a painting robot fixing base 103, and a driving motor 115), an air supply equipment unit (including an air pressure station 105, an air distribution assembly 104, a generator unit (including a generator 106, and a tail gas treatment device 118), a feeding unit (including a paint supply rack 114, a paint bucket, and a high-pressure pump 113), and a control cabinet unit 100.

The omnidirectional moving platform is a moving platform of a lifting unit, an air source equipment unit, a generator set unit, a feeding unit and a control cabinet unit, and can realize omnidirectional no-dead-angle arbitrary movement such as straight movement, lateral movement, oblique movement, zero rotation, movement rotation combined movement and the like in a plane through autonomous navigation.

The lifting unit is fixed in the middle of the omnidirectional moving platform, the spraying robot 102 is a large-arm spread multi-degree-of-freedom spraying robot and is arranged on the lifting unit, the spraying robot 102 moves on the lifting unit during spraying operation, and an air source equipment unit, a generator set unit, a feeding unit and a control cabinet unit 100 are respectively fixed on two sides of the lifting unit; the air source equipment unit provides power for the feeding unit, and the feeding pump conveys the coating; the generator set unit provides power for the electric equipment; the control cabinet unit 100 performs automatic spray control of the spray head and the spray robot 102, respectively.

It should be noted that the large-boom-spread multi-degree-of-freedom spraying robot disclosed in the embodiment of the present disclosure is preferably a six-axis spraying robot, and meanwhile, as shown in fig. 3, the spraying robot adopts a hollow wrist design, so that paint pipelines and control lines are routed inside a wrist, excessive bending and external hanging pollution of the lines are avoided, high-flexibility posture capability is realized, the requirement of robot spraying operation posture flexibility is met, the spraying robot is suitable for spraying inner and outer surfaces of a plane and a complex curved surface, and the spraying robot in the embodiment adopts an explosion-proof special spraying robot aiming at the characteristic that the spraying operation environment is flammable and explosive, and the requirement of safety is met.

As shown in fig. 1-2, the omnidirectional mobile platform includes a vehicle body 121, a suspension system 123, a driving system 122, a power supply 124, a safety warning device, and a remote control device 119.

The suspension system 123 is independently suspended, so that wheels can be grounded in any state, the independent suspension cannot cause shaking of the vehicle body, the vehicle body has good bearing capacity, and reliable positive pressure can be guaranteed between the wheels and the ground;

the driving system 122 comprises a servo motor, a reducer and Mecanum wheels, ensures the walking positioning precision and stability of the vehicle body, is used for realizing the translation, rotation and the coupled motion of translation and rotation of the vehicle body in any direction in a plane, and ensures that the spraying robot can revolve around a workpiece and reach a designated spraying station through a navigation system;

the power supply device 124 is a lithium battery pack which can provide power for the omnidirectional mobile platform, the lithium battery pack supports disassembly and replacement, and the charging mode comprises a direct insertion type and a vehicle-mounted type;

the safety warning device comprises a laser radar anti-collision sensor 109, a safety anti-collision touch edge 108, an emergency stop switch 107 and an operation state indicator lamp 120; the laser radar anti-collision sensor 109 is installed at the opposite angle of the omnidirectional moving platform, and by scanning the surrounding environment, when an obstacle appears within a certain distance of the running direction, the omnidirectional moving platform can automatically reduce the speed, and the omnidirectional moving platform can be braked until the omnidirectional moving platform stops in an emergency; the safe anti-collision touch edges 108 are arranged around the omnidirectional moving platform, so that when the omnidirectional moving platform collides with people and objects, the damage to the people and the equipment can be reduced; the emergency stop switches 107 are arranged on two sides of the omnidirectional mobile platform in the length direction, meanwhile, the emergency stop switches 107 are arranged on the remote control device 119, and an operator presses the emergency stop switches 107 to stop the omnidirectional mobile platform in an emergency;

further, the operation status indicator light 120 is a four-color light, and displays different operation statuses of the omnidirectional navigation automatic spraying system through different colors, so as to realize visualization of the operation statuses of the omnidirectional navigation automatic spraying system;

furthermore, the remote control device 119 is handheld, is provided with a rocker and a mode selection switch, has coarse adjustment and fine adjustment functions, is quickly positioned by using the coarse adjustment rocker when moving for a long distance, is positioned by fine adjustment and fine pointing when aligning, and can be controlled by a fine adjustment device to advance, retreat, laterally move and rotate by using a remote controller, and simultaneously has a speed change function and an emergency stop function.

The omnidirectional mobile platform disclosed by the embodiment of the disclosure comprises a lifting unit, wherein the lifting unit comprises a lifting upright post, a spraying robot fixing seat 103 and a driving motor 115; the lifting upright post is fixed and arranged in the middle of the omnidirectional moving platform through a bolt;

the lifting upright column comprises a rodless cylinder 117, a linear guide rail 101 and a ball screw 116; wherein the rodless cylinder 117 is fixed and installed at both sides of the inside of the lifting column through bolts; the linear guide rails 101 are fixed and installed on two sides of the outer portion of the lifting upright post through bolts; the ball screw 116 is fixed and installed in the middle of the interior of the lifting upright through a bolt and is connected with the spraying robot fixing seat through a bolt; the spraying robot fixing seat 103 is connected with the ball screw 116 through a bolt and is installed on the linear guide rail 101 of the lifting upright, and the spraying robot fixing seat 103 can move up and down along the linear guide rail 101, so that the height adjustment of the robot fixing seat 103 is realized.

The driving motor 115 is fixedly installed at the top end of the lifting upright post and connected with the ball screw 116 through a coupler, so as to drive the ball screw 116 to rotate.

Further, in this embodiment, air source equipment units are disposed on two sides of the lifting unit, and each air source equipment unit includes an air compression station 105 and an air distribution row assembly 104; the air compression station 105 is fixed on the omnidirectional mobile platform through bolts and provides dry, oil-free and dust-free compressed air; the gas distribution row assembly 104 is fixed on one side of the air compression station through bolts, and compressed air is supplied to the feeding unit and the spraying robot 102 in different directions.

The generator set unit includes a generator 106 and an exhaust treatment device 118; the generator 106 is fixed on the omnidirectional mobile platform through bolts and provides power for electric equipment; the tail gas treatment device 118 is installed at the exhaust pipe of the generator, and reduces air pollution and improves spraying quality by treating particles and harmful substances in tail gas.

In order to realize the feeding of the spraying robot, a feeding unit is arranged on the omnidirectional moving platform and comprises a paint supply frame 114, a paint bucket and a high-pressure pump 113; the paint supply frame 114 is fixedly arranged on the omnidirectional moving platform through bolts; the paint buckets comprise bucket bodies 110, bucket covers 111 and stirrers 112, and a plurality of paint buckets can provide paint with various colors for the spray heads; the barrel cover 111 is connected with the barrel body 110 through the quick buckle, so that the barrel cover 111 can be quickly disassembled and assembled, and the coating in the barrel body 110 is in a relatively sealed environment, so that the influence of moisture and particles in the environment on the coating can be reduced; the stirrer 112 is fixed on the barrel cover through a bolt, and the stirrer 112 takes compressed air as power to stir the paint in the barrel body 110 and prevent the paint from precipitating.

Further, the omnidirectional moving platform disclosed in this embodiment is further provided with a control cabinet unit, and the control cabinet unit 106 controls the spray head, the omnidirectional moving platform, the spraying robot 102, the lifting unit, the feeding unit, and the measurement calibration and navigation system, respectively, to form a set of complete spraying system.

As shown in fig. 4, the measurement calibration and navigation system disclosed in the embodiment of the present disclosure includes a laser range finder 125, a calibration system, and a walking navigation system; the laser range finder 125 is installed at the tail end of the spraying robot 102; the calibration system includes a vision positioning system 126, a laser tracker 129, and a T-Probe measurement aid 130; the vision positioning system 126 comprises a high-definition camera and a target mark, the high-definition camera is mounted at the tail end of the spraying robot, and the target mark is pasted on the surface of a workpiece; the laser tracker 129 is placed on the ground; the T-Probe measurement auxiliary 130 is mounted on the scanner fixing base 132;

the walking navigation system comprises a laser navigation system and an inertial navigation system; the laser navigation system comprises a laser scanner 131, a scanner fixing seat 132 and a laser reflection plate 128, wherein the laser scanner 131 is installed in the scanner fixing seat 132, the scanner fixing seat 132 is fixed at the top end of the lifting unit through a bolt, and the laser reflection plate 128 is placed around a workpiece;

connecting and starting the visual positioning system 126, pasting the target marks at proper positions of the workpieces, collecting coordinate data of each target mark by a high-definition camera arranged at the tail end of the spraying robot, and automatically calculating the position information of the workpieces by a calibration module in the control cabinet unit 100 after the collection of each target mark is completed to complete the primary determination of the position and the posture of the workpieces; connecting and starting the laser tracker 129 and the T-Probe measurement auxiliary part 130, placing target balls on target points of a workpiece, measuring coordinate values of the target points through the laser tracker 129, automatically calculating workpiece position information through a calibration module in the control cabinet unit 100 after the measurement of the coordinates of the target points is completed, completing the accurate positioning of the position posture of the workpiece, and measuring the T-Probe position posture at the top end of the lifting unit through the laser tracker 129 to serve as position posture data of the automatic spraying system after the accurate positioning of the position posture of the workpiece is completed;

the laser scanner 131 installed at the top end of the lifting unit continuously emits laser pulses to the periphery, a two-dimensional scanning surface with radial coordinates as a reference is formed in each direction in a scanning angle, laser beams reflected by laser reflecting plates 17 placed around a workpiece are collected at the same time, the control cabinet unit 100 processes the information, the position posture and the moving direction of the spraying system are calculated, the position posture and the next action of the spraying system are continuously corrected by continuously calculating the current position of the spraying system, and the navigation walking operation is performed on the driving system 122 of the omnidirectional moving platform;

the inertial navigation system comprises a gyroscope and a positioning mark 127, the gyroscope is installed inside the omnidirectional mobile platform, and the positioning mark 127 is arranged on the ground.

The specific implementation process of the measurement calibration and navigation system is as follows:

connecting and starting a visual positioning system, pasting a target mark at a proper position of a workpiece, and acquiring target mark coordinate data through a high-definition camera;

after the acquisition of each target mark is completed, a calibration module in the control cabinet unit automatically calculates the position information of the workpiece, and the primary determination of the position and the posture of the workpiece is completed;

after the position and the posture of the workpiece are preliminarily determined, measuring the coordinate values of all the characteristic points through a laser tracker and a target ball;

comparing the acquired data with original data stored in the system, calculating position error data of the spraying workpiece, transmitting the error data to a control cabinet unit, and correcting an automatic spraying path of the spraying robot;

after the calibration of the position and the posture of the workpiece is finished, acquiring distance information from a spray head of the spraying robot to the surface of the workpiece to be sprayed through a laser distance meter;

comparing the acquired data with the set data, calculating error data from the spray head to the surface of the workpiece to be sprayed, transmitting the error data to a control cabinet unit, and correcting the distance from the spray head of the spraying robot to the surface of the workpiece to be sprayed;

the information of the position and the posture of the workpiece, the information of the distance from the spray head of the spraying robot to the surface of the workpiece to be sprayed and the navigation system are fused, so that the problem of accurate positioning of the walking path of the system is solved.

Besides, other embodiments of the present disclosure also disclose a spraying method based on the above automatic spraying system: the method comprises the following steps:

step 101: after the omnidirectional navigation automatic spraying system is conveyed to a working position through the remote control device, the laser reflecting plate 128 is placed around the workpiece, and a positioning mark is arranged on the walking track of the omnidirectional navigation automatic spraying system;

step 102: starting the generator set unit to enable the generator to be in a working state, and starting a main power switch to enable the control cabinet unit to be in a working state;

step 103: unfolding the spraying robot from a transportation state to a spraying state;

step 104: checking whether the spraying robot and the lifting unit meet working conditions;

step 105: moving a workpiece to be sprayed to a specified range of a spraying area and stopping the workpiece, completing position and attitude calibration of the workpiece and a system and system walking track planning by an omnidirectional navigation automatic spraying system under the combined action of a calibration system and a walking navigation system, feeding collected information back to a control cabinet unit, and correcting an automatic spraying path of a spraying robot;

step 106: measuring the distance between a spray head and the surface of a workpiece to be sprayed along an automatic spraying path of the spraying robot by a laser range finder arranged at the tail end of the robot, comparing the acquired data with set data, calculating error data from the spray head to the surface of the workpiece to be sprayed, transmitting the error data to a control cabinet unit, and correcting the distance from the spray head of the spraying robot to the surface of the workpiece to be sprayed;

step 107: starting an air source equipment unit to enable the working pressure of a feeding unit to reach set parameters;

step 108: checking whether the feeding unit meets the working condition;

step 109: preparing a coating to be sprayed, and adding the coating into a corresponding coating bucket;

step 110: starting a stirrer on the paint bucket to fully stir the paint; opening a gas source valve of the feeding pump to provide power for coating supply; opening a valve of the feeding pump to enable the coating to be conveyed to the filter from the coating bucket through the feeding pump; opening a pressure regulating valve and regulating to a required pressure, sucking the coating from a coating bucket, conveying the coating to a color changing valve arranged at the tail end of the robot through a feeding pump, a filter and the pressure regulating valve and a material conveying pipeline, and conveying the coating with different colors to a spray gun for spraying after the color of the coating with different colors is changed through the color changing valve; opening a back pressure valve and adjusting to a required pressure, and conveying the coating from the color changing valve to a coating bucket through the back pressure valve and a material conveying pipeline to realize the circular supply of the coating;

step 111: calling out a spraying program of a workpiece to be sprayed from the public storage equipment, transmitting the spraying program to the control cabinet unit, and spraying for standby;

step 112: and after confirming that each spraying element is correct, sending a spraying operation instruction to the spraying robot, and carrying out spraying operation by the spraying robot according to the received instruction to finish the workpiece spraying operation.

It will be evident to those skilled in the art that the disclosure is not limited to the details of the foregoing illustrative embodiments, and that the present disclosure may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. An omnidirectional navigation automatic spraying system is characterized by comprising a platform which can move in any direction of a plane; the platform is provided with a multi-degree-of-freedom spraying robot capable of performing lifting motion; the platform is also provided with a feeding unit; the feeding unit comprises a plurality of feeding barrels connected with the spraying robot; the spraying robot is provided with a measurement calibration system; the measurement calibration system comprises a laser range finder for collecting the distance information from a spray head of the spraying robot to the surface of a workpiece to be sprayed and a camera device for collecting a target mark on the sprayed workpiece; a walking navigation system is arranged on the platform; and the platform is also provided with a control cabinet unit for controlling the platform, the spraying robot, the feeding unit and the measurement calibration and walking navigation system.

2. The omnidirectional navigation automatic spray coating system of claim 1, wherein the walking navigation system comprises a laser navigation system and an inertial navigation system; the laser navigation system comprises a laser scanner, a scanner fixing seat and a laser reflecting plate, wherein the laser scanner is arranged in the scanner fixing seat, the scanner fixing seat is fixed on the platform, and the laser reflecting plate is placed around a workpiece to be sprayed; the inertial navigation system comprises a gyroscope and a positioning identifier; the gyroscope is arranged inside the platform; the positioning mark is arranged on the ground.

3. The omnidirectional-navigation automatic spraying system according to claim 1, wherein a lifting unit is provided on the platform; the lifting unit comprises a lifting upright post and a fixed seat for fixing the spraying robot, and a lifting guide rail for enabling the fixed seat to move up and down is arranged on the lifting upright post; a screw rod is arranged in the vertical direction of the lifting upright post; the fixing seat is connected with the screw rod through a screw nut.

4. The omnidirectional-navigation automatic spray system of claim 3, wherein the multiple-degree-of-freedom spray robot is a six-axis hollow wrist spray robot; and a paint pipeline and a control circuit are arranged in the hollow wrist.

5. The omnidirectional-navigation automatic spraying system according to claim 1, wherein a paint supply rack and a high-pressure pump are further provided on the platform; the paint bucket and the high-pressure pump are arranged on the paint supply rack; the paint buckets are used for respectively containing paints with different colors; the coating bucket comprises a bucket body, a bucket cover and a stirrer, wherein the bucket cover is detachably connected with the bucket body, the stirrer is fixed on the bucket cover, and the stirrer uses compressed air as power to stir the coating in the bucket body.

6. The omnidirectional automatic navigation spraying system of claim 5, wherein the feed pump is connected to the painting robot through a feed line; a filter and a pressure regulating valve are arranged on the material conveying pipeline; and a color changing valve is arranged at the joint of the material conveying pipeline and the spraying robot.

7. An omnidirectional navigation automatic spraying system according to claim 1, wherein a safety warning device is provided on the platform; the safety warning device comprises a laser radar anti-collision sensor, a safety anti-collision touch edge, an emergency stop switch and an operating state indicator lamp; the laser radar anti-collision sensor is arranged at the opposite angle of the platform; the safety anti-collision touch edges are arranged around the omnidirectional mobile platform, and the emergency stop switches are arranged on two sides of the platform and on a remote control device for controlling the platform; the running state indicator lamp is a four-color lamp and displays different running states of the omnidirectional navigation automatic spraying system through different colors.

8. The omnidirectional-navigation automatic spraying system according to claim 1, wherein an air compression station is arranged on the platform; and one side of the air compression station is provided with an air distribution and exhaust assembly for supplying compressed air to the feeding barrel and the spraying robot.

9. The omnidirectional-navigation automatic spray coating system of claim 1, wherein a generator set unit is disposed on the platform; the generator set unit comprises a generator and a tail gas treatment device; the generator is fixed on the platform; the tail gas treatment device is arranged on an exhaust pipe of the generator.

10. The spraying method of the omnidirectional-navigation automatic spraying system based on any one of claims 1 to 9, characterized by comprising the following steps:

after the spraying platform moves to a working position, the laser reflecting plate is placed around a workpiece to be sprayed, and a positioning mark is installed on the walking track of the spraying platform;

moving a workpiece to be sprayed to a specified range of a spraying area and stopping the workpiece in the specified range, finishing the position and posture calibration of the workpiece and the system and the planning of a system walking track by the spraying system under the combined action of a calibration system and a walking navigation system, feeding back the acquired information to a control cabinet unit, and correcting an automatic spraying path of the spraying robot;

adding the paint to be sprayed into a corresponding paint bucket; and calling out a spraying program of the workpiece to be sprayed, transmitting the spraying program to the control cabinet unit, sending a spraying operation instruction to the spraying robot, and carrying out spraying operation by the spraying robot according to the received instruction.

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