CN115213032B - Bionic image spraying robot and spraying control method - Google Patents
Bionic image spraying robot and spraying control method Download PDFInfo
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- CN115213032B CN115213032B CN202210830081.2A CN202210830081A CN115213032B CN 115213032 B CN115213032 B CN 115213032B CN 202210830081 A CN202210830081 A CN 202210830081A CN 115213032 B CN115213032 B CN 115213032B
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- 238000005507 spraying Methods 0.000 title claims abstract description 124
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 88
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 239000007921 spray Substances 0.000 claims abstract description 45
- 239000003973 paint Substances 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 19
- 239000007788 liquid Substances 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 241000406668 Loxodonta cyclotis Species 0.000 claims abstract description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 7
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 7
- 210000002414 leg Anatomy 0.000 claims description 14
- 210000000689 upper leg Anatomy 0.000 claims description 14
- 238000010586 diagram Methods 0.000 claims description 11
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000004088 simulation Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 230000003592 biomimetic effect Effects 0.000 claims 5
- 238000011156 evaluation Methods 0.000 description 3
- 238000004141 dimensional analysis Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010017740 Gas poisoning Diseases 0.000 description 1
- 238000012356 Product development Methods 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
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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
- B05B12/081—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 the weight of a reservoir or container for liquid or other fluent material; responsive to level or volume of liquid or other fluent material in a reservoir or container
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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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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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
- B05B12/10—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 temperature or viscosity of liquid or other fluent material 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
- 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
- B05B12/12—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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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
- B05B12/12—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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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
- B05B12/12—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a bionic image spraying robot, which comprises a robot body, a first main control board, a first wireless communication module, a temperature sensor module, a ranging sensor module, an inertial navigation module and a camera, wherein the first main control board, the first wireless communication module, the temperature sensor module, the ranging sensor module, the inertial navigation module and the camera are arranged on the robot body; the device comprises a second main control board, a second wireless communication module, a balancing module, an infrared obstacle avoidance sensor and a laser film thickness detection sensor; the paint tank comprises a paint tank box, a spray hose outlet, a paint pouring inlet, a spray hose and a lithium battery box, wherein a spray pump and an ultrasonic liquid level sensor are arranged in the paint tank box; the laser film thickness detection sensor is arranged at the extending end of the bionic trunk transmission mechanism, and the spraying opening of the spraying hose is also arranged at the extending end of the bionic trunk transmission mechanism; bionic elephant foot movement mechanism. The invention realizes the spraying operation of the manual remote control robot, simultaneously realizes the flexible spraying without regard to the spraying dead angle and the like through the unique trunk bionic mechanism, and improves the spraying working efficiency.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to a bionic image spraying robot and a spraying control method.
Background
In cabin spraying work, paint workers often accompany the risks of high Wen Zhongshu, gas poisoning, explosion of inflammable gas when meeting open fire and the like, and meanwhile, the work efficiency is lower when a large amount of work is carried out. Cabin spraying machines reduce the probability of such hazards and improve the efficiency of spraying work, but some hazards are accompanied in the process of operating the machines, cabin spaces are small, manual spraying treatment is sometimes required, early cabin spraying machines cannot flexibly process spraying work, and accidents such as explosion easily occur when the safety coefficient of the cabin is low.
Nowadays, as digital twin technology tends to mature, under the condition that the GPS and the Beidou navigation system are equipped perfectly, the robot works in a narrow and closed space to become more and more visual, accurate, automatic and systematic. However, in a narrow spraying working space of the cabin, a digital twin technology and a navigation system control system are not correspondingly combined to control the robot to replace manual work.
Disclosure of Invention
The invention aims to: to overcome the shortcomings of the background art, a first object of the present invention is to disclose a bionic image spraying robot; a second object is to disclose a spray control method of the robot described above.
The technical scheme is as follows: the invention discloses a bionic image spraying robot, which comprises a robot body and a spraying device, wherein the spraying device is arranged on the robot body:
the system comprises a first main control board, a first wireless communication module, a temperature sensor module, a ranging sensor module, an inertial navigation module and a camera;
the device comprises a second main control board, a second wireless communication module, a balancing module, an infrared obstacle avoidance sensor and a laser film thickness detection sensor;
the paint tank comprises a paint tank box, a spray hose outlet, a paint pouring inlet, a spray hose and a lithium battery box, wherein a spray pump and an ultrasonic liquid level sensor are arranged in the paint tank box;
the laser film thickness detection sensor is arranged at the extending end of the bionic trunk transmission mechanism, and the spraying opening of the spraying hose is also arranged at the extending end of the bionic trunk transmission mechanism;
bionic elephant foot movement mechanism.
Further, a charging port is arranged on the lithium battery box, and power is supplied to each electronic component through the voltage stabilizing module.
Further, the first main control board is connected with and controls the first wireless communication module, the temperature sensor module, the distance measuring sensor module, the inertial navigation module, the camera and the ultrasonic liquid level sensor; the second main control board is connected with and controls the second wireless communication module, the balance module, the infrared obstacle avoidance sensor, the laser film thickness detection sensor, the spraying pump, the bionic trunk transmission mechanism and the bionic trunk movement mechanism.
Further, the bionic trunk transmission mechanism comprises a frame arranged on the robot body, a linear motor, a screw rod, a front end cover and a connecting hole sleeve are sequentially arranged on the frame along the trunk extending direction, the linear motor is horizontally arranged in parallel, the driving ends of the linear motor are respectively connected with the screw rod, the front end cover is fixed on the frame, the screw rod extends to the front end cover and is connected with the front end cover through a screw rod bearing, the connecting hole sleeve is fixed on the front end cover, a first fixed shaft is fixed on the front end cover and extends towards the trunk extending direction, a middle sleeve is coaxially sleeved on the first fixed shaft, the middle sleeve is connected with the first fixed shaft through a first inner ring sleeve, the side edge of each screw rod is respectively provided with a transmission rod parallel to the middle sleeve, one end of each transmission rod is connected with the screw rod through the screw rod sleeve, and the other end of each transmission rod extends to the side edge of the middle sleeve and is connected with the outer side of the middle sleeve through a connecting piece;
the end part of the first fixed shaft is sequentially provided with a first involute annular gear ball mechanism, a second involute annular gear ball mechanism and a third involute annular gear ball mechanism along the extending direction of the trunk, a first cross transmission mechanism is arranged between the first involute annular gear ball mechanism and the second involute annular gear ball mechanism, a second cross transmission mechanism is arranged between the second involute annular gear ball mechanism and the third involute annular gear ball mechanism, the third involute annular gear ball mechanism is connected with a second fixed shaft, a second inner ring sleeve is sleeved on the second fixed shaft, the first cross transmission mechanism comprises a first cross transmission part I connected with the first involute annular gear ball mechanism, a first cross transmission part II connected with the second involute annular gear ball mechanism and a first cross rotating shaft, the first cross transmission part I and the first cross transmission part II are of U-shaped structures, and U-shaped support rods of the first cross transmission part I and the first cross transmission part II are respectively connected with two ends of the first cross rotating shaft coaxially; the first and second transmission parts are U-shaped structures, and U-shaped supporting rods of the first and second transmission parts are respectively connected with two coaxial ends of the first and second rotating shafts; an inner ring rotating shaft is arranged on the outer wall of the second inner ring sleeve; the middle sleeve is coaxially and fixedly connected with a first outer sleeve, the first outer sleeve extends to form a U-shaped structure identical to that of a first cross transmission piece II, U-shaped supporting rods of the first outer sleeve are correspondingly connected with a U-shaped supporting rod of the first cross transmission piece II through a shaft of a first cross rotating shaft, a second outer sleeve is sleeved on the second involute annular gear mechanism, two ends of the second outer sleeve extend to form U-shaped supporting rods, the second outer sleeve is connected with the first cross transmission piece I and the second cross transmission piece II respectively in the same mode of the first outer sleeve, a third outer sleeve is sleeved on the third involute annular gear mechanism, the third outer sleeve is connected with the first cross transmission piece I and the inner ring rotating shaft respectively in the same mode of the second outer sleeve, and the laser film thickness detection sensor is arranged at the end part of the second fixing shaft.
Further, the first inner ring sleeve and the second inner ring sleeve have the same structure and comprise a first inner ring, the inner side and the outer side of the first inner ring are respectively connected with the outer wall of the first fixed shaft and the inner wall of the middle sleeve through a first inner ring rotating shaft and a second inner ring rotating shaft which are mutually perpendicular, and the middle sleeve is driven to do left-right deflection and upward-downward pitching through telescopic movement of the transmission rod.
Further, two hinge rotating shafts with mutually perpendicular bending directions are arranged on the transmission rod, so that when the middle sleeve deflects, the transmission direction of the transmission rod does not deviate.
Further, the bionic image foot motion mechanism is four bionic image feet, each bionic image foot comprises a first steering engine arranged on a robot body, a driving end of the first steering engine is connected with a second steering engine, a steering engine base is fixedly arranged outside the second steering engine, a thigh piece is fixedly arranged at the driving end of the second steering engine, the thigh piece is connected with a shank piece through a connecting shaft, a third steering engine is arranged on the thigh piece, the driving end of the third steering engine is connected with the shank piece through a rotating shaft connecting rod, and the bionic image foot is controlled by controlling the first steering engine, the second steering engine and the third steering engine.
The spraying control method of the bionic spraying robot comprises the following steps:
s1, planning a spraying track, wherein the main steps of planning the track are as follows: spraying surface modeling, parameter setting, spraying track generation, robot motion track generation, trunk motion and leg motion, analysis simulation and robot control program generation, and joint motor motion control; the spray surface modeling stage is realized by three-dimensional modeling or point cloud scanning, and spray surface CAD data is obtained through modeling;
s2, assuming that the viscosity, temperature, air pressure and humidity of paint are kept unchanged, introducing CAD data of the surface of a spray pattern into track planning software, setting the opening angle, coating rate flux, expected spraying film thickness and allowable spraying deviation of a spray head, generating a spraying track, completing track planning and optimizing, automatically generating the spraying track through parameters, optimizing to obtain a scheme with shortest spraying time, wherein a spraying area of the spray head at a certain position can be represented as a circular area, the radius of the spraying circular area is R, the spray head track is a solution set of the spray head at each position, the position of the spray head at a certain point in the track can be represented as (X, Y, Z, alpha, beta and gamma), wherein X, Y, Z is represented as the position of the spray head relative to a fixed Cartesian coordinate system XYZ, and alpha, beta and gamma respectively represent the rotation angle of the spray head relative to the XYZ axis;
s3, converting the generated spray head track into a motion track of each joint of the robot through a robot inverse kinematics principle;
s4, setting up a simulation environment according to the data of the previous steps, carrying out graphical display on the track, the motion track and the spraying surface of the robot nozzle, displaying the coating coverage condition of the sprayed surface when the nozzle is sprayed along a specified path, listing the average thickness and the maximum deviation data of the spraying surface, and simulating whether the robot collides with a workpiece or not;
s5, after the simulation is finished, introducing a motion trail of the robot into a program generation module, setting an initial position of the robot and an initial state of each joint of the robot, and generating a motor control program of each joint of the robot;
s6, placing the robot in an initial position and an initial state, starting the robot, transmitting power to the first main control board and the second main control board, wherein the initial state is that limbs stand at a spraying position like legs vertically;
s7, the temperature sensor module, the ranging sensor module, the inertial navigation module, the camera and the ultrasonic liquid level sensor transmit measured signals to a control console display screen to display the working environment of the robot, the distance between the working environment and the spraying wall is displayed through the ranging sensor, a warning is sent out when the working environment is smaller than the safe distance, a path diagram of the robot is displayed through the inertial navigation module, the self-posture and the surrounding environment condition of the robot are displayed through a digital twin technology, the temperature sensor reflects the current environment temperature to a remote control console display screen in real time, the ultrasonic liquid level sensor transmits the liquid level height of paint in the paint tank, and when the liquid level height is smaller than 5cm, a prompt is sent to a remote control end;
s8, if the temperature measured by the temperature sensor module exceeds the explosion-proof warning temperature, the robot automatically turns off the master switch, and if the temperature in the cabin is lower than the explosion-proof warning temperature, the robot works normally;
s9, if the infrared obstacle avoidance sensor detects whether an obstacle exists in front, stopping moving when the infrared obstacle avoidance sensor finds that the obstacle exceeds a maximum height threshold; when the infrared obstacle avoidance sensor finds that the height of the obstacle is between the maximum height threshold value and the minimum height threshold value, normally taking an obstacle avoidance action;
s10, if the robot is tripped carelessly or operated, the main board reads the posture information of the balance module, and judges that the robot is abnormal, the spraying pump is immediately turned off to work, and the rudder unit is controlled to take a climbing standing action to restore the original posture;
s11, transmitting a spraying environment image to a control console through a camera, and enabling a remote control end to start a spraying pump by controlling a bionic trunk transmission mechanism to face a spraying area through remote control;
s12, during spraying, the trunk mechanism and the machine body are kept relatively static, the wet film thickness of the spraying layer is detected through the laser film thickness ranging module, the moving power of the rudder unit is adjusted according to the measured film thickness to ensure that the walking speed of the robot is adjusted along with different film thickness indexes of the wet film, and therefore the steering engine group keeps uniform speed transmission under the specified film thickness indexes of the wet film, and uniform spraying is achieved;
s13, according to display information of the remote control console, a signal instruction is sent out through the remote control end, so that the robot can complete work.
The beneficial effects are that: compared with the prior art, the invention has the advantages that: when the spraying operation is carried out by the manual remote control robot, the spraying is flexible and the problems of dead angle and the like can be solved through the unique trunk bionic mechanism, the narrow spraying working space of the cabin can be dealt with, and the spraying working efficiency is improved.
Drawings
FIG. 1 is a diagram of the overall structure of the present invention;
FIG. 2 is a block diagram of a bionic trunk transmission mechanism of the present invention;
FIG. 3 is a block diagram of the frame of FIG. 2 with the frame removed;
FIG. 4 is a diagram of the structure from the first fixed shaft to the trunk end of the bionic trunk transmission mechanism;
FIG. 5 is a view of the structure of FIG. 4 with the first, second and third jackets removed;
FIG. 6 is a view showing the engaged state of the involute ring gear mechanism according to the present invention;
FIG. 7 is a diagram of a bionic elephant foot structure of the invention;
FIG. 8 is a diagram of a bionic elephant foot movement mechanism of the invention;
FIG. 9 is a flow chart of the spray control method of the present invention;
FIG. 10 is a schematic diagram of the connection of a first main control board to a remote console according to the present invention;
fig. 11 is a schematic diagram of a connection of a remote control terminal according to the present invention to a second main control board of a robot.
Description of the embodiments
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
A bionic image spraying robot shown in fig. 1, comprising a robot body and a spray nozzle arranged on the robot body:
the system comprises a first main control board 1-1, a first wireless communication module, a temperature sensor module 1-2, a ranging sensor module 1-3, an inertial navigation module 1-4 and a camera 1-5; the device comprises a second main control board 2-1, a second wireless communication module, a balance module 2-2, an infrared obstacle avoidance sensor 2-3 and a laser film thickness detection sensor 2-4; the first wireless communication module and the second wireless communication module both comprise an AS01 wireless communication module and an AS01-ML01DP5 wireless communication module, and can wirelessly transmit remote control end signals to the bionic robot and also can transmit environment data signals to the remote control end. The paint spraying device comprises a paint tank box 3-1, a spraying hose outlet 3-2, a paint pouring inlet 3-3, a spraying hose 3-4 and a lithium battery box, wherein a spraying pump and an ultrasonic liquid level sensor are arranged in the paint tank box 3-1; the laser film thickness detection sensor 2-4 is arranged at the extending end of the bionic trunk transmission mechanism, and the spraying port of the spraying hose 3-4 is also arranged at the extending end of the bionic trunk transmission mechanism; bionic elephant foot movement mechanism. And a charging port is arranged on the lithium battery box, and power is supplied to each electronic component through the voltage stabilizing module.
The first main control board 1-1 is connected with and controls the first wireless communication module, the temperature sensor module 1-2, the ranging sensor module 1-3, the inertial navigation module 1-4, the camera 1-5 and the ultrasonic liquid level sensor; the second main control board 2-1 is connected with and controls the second wireless communication module, the balance module 2-2, the infrared obstacle avoidance sensor 2-3, the laser film thickness detection sensor 2-4, the spraying pump, the bionic trunk transmission mechanism and the bionic trunk movement mechanism.
The above-mentioned electric products require a sealing treatment and cannot be exposed to a gaseous environment. A digital twin system is established through three-dimensional analysis of the robot and the spraying position, and the motion gesture and the surrounding environment condition of the robot are transmitted to a console.
As shown in fig. 2-6, the bionic trunk transmission mechanism comprises a frame 4-1 arranged on a robot body, the frame 4-1 is sequentially provided with a linear motor 4-2, a lead screw 4-3, a front end cover 4-4 and a connecting hole sleeve 4-5 along the trunk extending direction, the linear motor 4-2 is horizontally arranged in parallel, the driving ends of the linear motor 4-2 are respectively connected with the lead screw 4-3, the front end cover 4-4 is fixed on the frame 4-1, the lead screw 4-3 extends to the front end cover 4-4 and is connected with the front end cover 4-6 through a lead screw bearing 4-6, the connecting hole sleeve 4-5 is fixed on the front end cover 4-4, a first fixed shaft 4-7 is fixed on the front end cover 4-4 and extends towards the trunk extending direction, a middle sleeve 4-8 is coaxially sleeved on the first fixed shaft 4-7, the middle sleeve 4-8 is connected with the first fixed shaft 4-7 through a first inner ring sleeve 4-9, the side of each middle sleeve 4-3 is respectively provided with a transmission rod 4-10 parallel to the front end of the front end cover 4-1, and the transmission rod 4-3 is connected with one end of the lead screw sleeve 4-8 through the transmission rod 4-10; the transmission rod 4-10 is provided with two hinge rotating shafts 4-10-1 with mutually perpendicular bending directions, so that when the middle sleeve 4-8 deflects, the transmission direction of the transmission rod 4-10 does not deviate.
The end part of the first fixed shaft 4-7 is sequentially provided with a first involute annular gear ball gear mechanism 4-12, a second involute annular gear ball gear mechanism 4-13 and a third involute annular gear ball gear mechanism 4-14 along the extending direction of the trunk, a first cross transmission mechanism 4-15 is arranged between the first involute annular gear ball gear mechanism 4-12 and the second involute annular gear ball gear mechanism 4-13, a second cross transmission mechanism 4-16 is arranged between the second involute annular gear ball gear mechanism 4-13 and the third involute annular gear ball gear mechanism 4-14, the third involute ring gear mechanism 4-14 is connected with a second fixed shaft 4-17, a second inner ring sleeve 4-18 is sleeved on the second fixed shaft 4-17, the first cross transmission mechanism 4-15 comprises a first cross transmission piece I4-15-1 connected with the first involute ring gear mechanism 4-12, a first cross transmission piece II 4-15-2 connected with the second involute ring gear mechanism 4-13 and a first cross rotating shaft 4-15-3, the first cross transmission piece I4-15-1 and the first cross transmission piece II 4-15-2 are of U-shaped structures, and U-shaped supporting rods of the first cross transmission piece I and the first cross transmission piece II 4-15-2 are respectively connected with coaxial two ends of the first cross rotating shaft 4-15-3; the first and second transmission parts 4-16-1 and 4-16-2 are U-shaped structures, and U-shaped supporting rods of the first and second transmission parts are respectively connected with two coaxial ends of the first and second transmission parts 4-16-3; the outer wall of the second inner ring sleeve 4-18 is provided with an inner ring rotating shaft 4-18-1; the middle sleeve 4-8 is coaxially and fixedly connected with a first outer sleeve 4-19, the first outer sleeve 4-19 extends to form a U-shaped structure identical to that of a first cross transmission piece two 4-15-2, the U-shaped supporting rods of the middle sleeve are respectively and correspondingly connected with the U-shaped supporting rods of the first cross transmission piece two 4-15-2 through the shaft of the first cross rotating shaft 4-15-3, the second outer sleeve 4-20 is sleeved on the second involute annular gear mechanism 4-13, the two ends of the second outer sleeve 4-20 extend to form U-shaped supporting rods, the U-shaped supporting rods are respectively connected with the first cross transmission piece one 4-15-1 and the second cross transmission piece two 4-16-2 in the same mode of the first outer sleeve 4-19, the third involute annular gear mechanism 4-14 is sleeved with a third outer sleeve 4-21, the third outer sleeve 4-21 is respectively connected with the second cross transmission piece one 4-16-1 and the inner ring rotating shaft 4-18-1 in the same mode of the second outer sleeve 4-20, and the film thickness detection sensor 2-4-17 is arranged at the end of the second laser fixing shaft. Because the pair of involute ring gear ball gear mechanisms can theoretically rotate about the axis by 60 degrees, the trunk bionic mechanism can realize up-and-down pitching by 120 degrees and left-and-right deflection by 240 degrees.
The first inner ring sleeve 4-9 and the second inner ring sleeve 4-18 have the same structure and comprise a first inner ring 4-9-1, the inner side and the outer side of the first inner ring 4-9-1 are respectively connected with the outer wall of the first fixed shaft 4-7 and the inner wall of the middle sleeve 4-8 through a first inner ring rotating shaft 4-9-2 and a second inner ring rotating shaft 4-9-3 which are mutually perpendicular, and the middle sleeve 4-8 is driven to do left-right deflection and upward-downward pitching movement through the telescopic movement of the transmission rod 4-10.
As shown in fig. 7-8, the bionic image foot motion mechanism is four bionic image feet, each bionic image foot comprises a first steering engine 5-1 arranged on a robot body, a driving end of the first steering engine 5-1 is connected with a second steering engine 5-2, a rudder mount 5-3 is fixedly arranged outside the second steering engine 5-2, a thigh piece 5-4 is fixedly arranged at the driving end of the second steering engine 5-2, the thigh piece 5-4 is connected with a shank piece 5-6 through a connecting shaft 5-5, a third steering engine 5-7 is arranged on the thigh piece 5-4, a driving end of the third steering engine 5-7 is connected with the shank piece 5-6 through a rotating shaft connecting rod 5-8, and the rotating shaft connecting rod 5-8 can realize thigh linkage shank motion to perform shank lifting motion. The bionic image foot is controlled by controlling the first steering engine 5-1, the second steering engine 5-2 and the third steering engine 5-7.
The second steering engine 5-2 arranged in the steering engine base 5-3 is connected with the thigh, the thigh is driven to swing back and forth along the path direction when the steering engine rotates, and the bending and stretching action of the leg can be realized through the rotation of the third steering engine 5-7 and the second steering engine 5-2. The first steering engine 5-1 is movably connected with one end of the steering engine base 5-3, and the first steering engine 5-1 can integrally yaw left and right around the shaft of the first steering engine 5-1 with legs when rotating so as to realize stability and left and right steering movement of the robot. The four-foot motion control method of the bionic robot is characterized in that two groups of legs on diagonal lines respectively move in a combined mode, the left front leg and the right rear leg are combined, the right front leg and the left rear leg are combined, the first group of legs do forward extending motion, the second group of legs do forward extending motion after landing, the two groups of legs do reciprocating motion to achieve forward or backward motion, and the four legs are controlled to deflect left and right through four first steering engines to achieve overall creeping, head tilting, steering motion and stability of a robot body.
Before the robot and the control method are produced, a digital twin body is established through three-dimensional analysis of the bionic small image robot, various digitized working conditions are applied and tested, and virtual testing and repeated iteration are carried out on the digital twin body in various working environments. After the test result accords with the standard set by the control system at first, 1, a digital twin technology is used for visualizing the motion gesture behaviors of the bionic elephant spraying mechanism, and simultaneously, the state evaluation and the performance evaluation of the four-foot motion mechanism and the trunk transmission mechanism of the robot are carried out, and when the evaluation standard is not met, the remote control end is prompted to withdraw the robot from the working environment. 2, carrying out fault prediction on the robot by a digital twin technology. And 3, optimizing the design and performance of the bionic little-image robot by a digital twin technology, and improving the product development. 4, the signal transmission of the remote control end is realized through a digital twin technology, and the signal feedback of various sensors of the control console is cooperatively controlled, so that the control system is improved and fused.
As shown in fig. 9-11, the spraying control method of the bionic image spraying robot comprises the following steps:
planning a spraying track, wherein the main steps of planning the track are as follows: spraying surface modeling, parameter setting, spraying track generation, robot motion track generation, trunk motion and leg motion, analysis simulation and robot control program generation, and joint motor motion control; the spray surface modeling stage is realized by three-dimensional modeling or point cloud scanning, and spray surface CAD data is obtained through modeling;
assuming that the viscosity, temperature, air pressure and humidity of paint are kept unchanged, introducing CAD data on the surface of a spray pattern into track planning software, setting the opening angle, coating rate flux, expected spraying film thickness and allowable spraying deviation of a spray head, generating a spraying track, completing track planning and optimizing, automatically generating the spraying track through parameters, optimizing to obtain a scheme with shortest spraying time, wherein a spraying area of the spray head at a certain position can be represented as a circular area, the radius of the spraying circular area is R, the spray head track is a solution set of the spray head at each position, the position of the spray head at a certain point in the track can be represented as (X, Y, Z, alpha, beta and gamma), wherein X, Y, Z is represented as the position of the spray head relative to a fixed Cartesian coordinate system XYZ, and alpha, beta and gamma respectively represent the rotation angle of the spray head relative to the XYZ axes;
converting the generated spray head track into the motion track of each joint of the robot by the inverse kinematics principle of the robot;
setting up a simulation environment according to the data of the previous steps, carrying out graphical display on the track, the motion track and the spraying surface of the robot, displaying the coating coverage condition of the sprayed surface when the nozzle sprays along a specified road strength, listing the average thickness and the maximum deviation data of the spraying surface, and simulating whether the robot collides with a workpiece or not;
after the simulation is finished, a motion trail of the robot is imported into a program generation module, the initial position of the robot and the initial state of each joint of the robot are set, and a motor control program of each joint of the robot is generated;
and placing the robot in an initial position and an initial state, starting a master switch of the bionic elephant spraying robot, and transmitting power to the first master control board and the second master control board, wherein the initial state is that limbs stand on the cabin surface vertically.
The temperature sensor module, the range finding sensor module, the inertial navigation module, camera and ultrasonic liquid level sensor transmit the measured signal to the control panel display screen, the bionic little elephant robot operational environment is displayed through the camera, the distance between the range finding sensor display and the cabin wall is displayed, the warning is sent out when being smaller than the safe distance, the robot path diagram is displayed through the inertial navigation module, the self gesture and the surrounding environment condition of the robot are displayed through the digital twin technology, the temperature sensor reflects the current environment temperature to the remote control panel display screen in real time, the ultrasonic liquid level sensor transmits the paint liquid level height in the paint tank, and when the liquid level height is smaller than 5cm, the warning is sent out to the remote control end.
If the temperature measured by the temperature sensor exceeds the explosion-proof warning temperature, the robot automatically closes the main switch, and if the temperature in the cabin is lower than the explosion-proof warning temperature, the robot works normally.
If the infrared obstacle avoidance sensor detects whether an obstacle exists in front, stopping moving when the infrared obstacle avoidance sensor finds that the obstacle exceeds a maximum height threshold; and when the infrared obstacle avoidance sensor finds that the height of the obstacle is between the maximum height threshold value and the minimum height threshold value, normally taking an obstacle avoidance action.
If the bionic little-image spraying robot is tripped by operation or carelessness, the main board reads the posture information of the balance module, judges abnormality, immediately turns off the spraying pump to work, and controls the rudder unit to take the action of climbing up to restore the original posture
The camera is used for transmitting the spraying environment image to the control console, the remote control end is used for controlling the elephant trunk to face the spraying area through remote control, and the spraying pump is started.
During spraying, the trunk mechanism and the machine body are kept relatively static, the laser film thickness ranging module is used for detecting the thickness of a wet film of a spraying layer, the moving power of the rudder unit is adjusted according to the measured film thickness to ensure that the travelling speed of the elephant is adjusted along with different film thickness indexes of the wet film, and therefore the steering engine unit keeps uniform speed transmission under the specified film thickness indexes of the wet film, and uniform spraying is achieved.
And the worker sends out a signal instruction through the remote control end according to the display information of the remote control console, so that the robot disclosed by the invention can finish work.
Claims (7)
1. A bionic image spraying robot is characterized by comprising a robot body and a plurality of spraying robots, wherein the spraying robots are arranged on the robot body:
the device comprises a first main control board (1-1), a first wireless communication module, a temperature sensor module (1-2), a distance measuring sensor module (1-3), an inertial navigation module (1-4) and a camera (1-5);
the device comprises a second main control board (2-1), a second wireless communication module, a balancing module (2-2), an infrared obstacle avoidance sensor (2-3) and a laser film thickness detection sensor (2-4);
the paint spraying device comprises a paint tank (3-1), a spraying hose outlet (3-2), a paint pouring inlet (3-3), a spraying hose (3-4) and a lithium battery box, wherein a spraying pump and an ultrasonic liquid level sensor are arranged in the paint tank (3-1);
the laser film thickness detection sensor (2-4) is arranged at the extending end of the bionic trunk transmission mechanism, and a spraying opening of the spraying hose (3-4) is also arranged at the extending end of the bionic trunk transmission mechanism;
a bionic elephant foot movement mechanism;
the bionic trunk transmission mechanism comprises a frame (4-1) arranged on a robot body, the frame (4-1) is sequentially provided with a linear motor (4-2), a lead screw (4-3), a front end cover (4-4) and a connecting hole sleeve (4-5) along the trunk extending direction, the linear motor (4-2) is horizontally arranged in parallel, the driving ends of the linear motor are respectively connected with the lead screw (4-3), the front end cover (4-4) is fixed on the frame (4-1), the lead screw (4-3) extends to the front end cover (4-4) and is connected with the lead screw through a lead screw bearing (4-6), the connecting hole sleeve (4-5) is fixed on the front end cover (4-4), a first fixed shaft (4-7) is fixed on the front end cover (4-4) and extends towards the trunk extending direction, a middle sleeve (4-8) is coaxially sleeved on the first fixed shaft (4-7), the middle sleeve (4-8) is connected with the first fixed shaft (4-7) through a first inner ring sleeve (4-9), each side edge of the middle sleeve is parallel to one lead screw (4-10), one end of the transmission rod (4-10) is connected with the screw rod (4-3) through the screw rod sleeve (4-11), and the other end extends to the side edge of the middle sleeve (4-8) and is connected with the outer side of the middle sleeve (4-8) through a connecting piece;
the end part of the first fixed shaft (4-7) is sequentially provided with a first involute annular gear ball gear mechanism (4-12), a second involute annular gear ball gear mechanism (4-13) and a third involute annular gear ball gear mechanism (4-14) along the extending direction of the trunk, a first cross transmission mechanism (4-15) is arranged between the first involute annular gear ball gear mechanism (4-12) and the second involute annular gear ball gear mechanism (4-13), a second cross transmission mechanism (4-16) is arranged between the second involute annular gear ball gear mechanism (4-13) and the third involute annular gear ball gear mechanism (4-14), the third involute annular gear ball gear mechanism (4-14) is connected with a second fixed shaft (4-17), a second inner ring sleeve (4-18) is sleeved on the second fixed shaft (4-17), the first cross transmission mechanism (4-15) comprises a first cross transmission piece (4-15) connected with the first involute annular gear ball gear mechanism (4-12), a second cross transmission piece (4-15) connected with the second cross transmission piece (4-15) and a second cross transmission piece (4-15) connected with the second cross transmission piece (4-15), the first cross transmission piece I (4-15-1) and the first cross transmission piece II (4-15-2) are of U-shaped structures, and U-shaped supporting rods of the U-shaped structures are respectively connected with the two coaxial ends of the first cross rotating shaft (4-15-3); the first and second (4-16-1, 4-16-3) of the first and second (4-16-2) of the second (4-16-1) of the third (4-14) of the third) involute ring gear mechanism are respectively connected with the coaxial two ends of the first (4-16-3) of the second (4-16-1) of the third involute ring gear mechanism; an inner ring rotating shaft (4-18-1) is arranged on the outer wall of the second inner ring sleeve (4-18); the middle sleeve (4-8) is coaxially and fixedly connected with a first outer sleeve (4-19), the first outer sleeve (4-19) extends to form a U-shaped structure identical to that of a first cross transmission piece II (4-15-2), the U-shaped supporting rods of the middle sleeve are respectively connected with the U-shaped supporting rods of the first cross transmission piece II (4-15-2) correspondingly through the shaft of a first cross rotating shaft (4-15-3), a second outer sleeve (4-20) is sleeved on a second involute ring gear mechanism (4-13), two ends of the second outer sleeve (4-20) extend to form U-shaped supporting rods, the U-shaped supporting rods are respectively connected with the first cross transmission piece I (4-15-1) and the second cross transmission piece II (4-16-2) in the same mode of the first outer sleeve (4-19), a third outer sleeve (4-21) is sleeved on the third involute ring gear mechanism (4-14) in the same mode of the second outer sleeve (4-20) and is respectively connected with a first laser sensor (4-16-2) and a second laser sensor (4-1) at the end part of the second outer sleeve (4-20).
2. The biomimetic image spraying robot according to claim 1, wherein: and a charging port is arranged on the lithium battery box, and power is supplied to each electronic component through the voltage stabilizing module.
3. The biomimetic image spraying robot according to claim 1, wherein: the first main control board (1-1) is connected with and controls the first wireless communication module, the temperature sensor module (1-2), the distance measuring sensor module (1-3), the inertial navigation module (1-4), the camera (1-5) and the ultrasonic liquid level sensor; the second main control board (2-1) is connected with and controls the second wireless communication module, the balance module (2-2), the infrared obstacle avoidance sensor (2-3), the laser film thickness detection sensor (2-4), the spraying pump, the bionic trunk transmission mechanism and the bionic trunk movement mechanism.
4. The biomimetic image spraying robot according to claim 1, wherein: the first inner ring sleeve (4-9) and the second inner ring sleeve (4-18) are identical in structure and comprise a first inner ring (4-9-1), the inner side and the outer side of the first inner ring (4-9-1) are respectively connected with the outer wall of the first fixed shaft (4-7) and the inner wall of the middle sleeve (4-8) through a first inner ring rotating shaft (4-9-2) and a second inner ring rotating shaft (4-9-3) which are mutually perpendicular, and the middle sleeve (4-8) is driven to do left-right deflection and pitching movement up and down through telescopic movement of a transmission rod (4-10).
5. The biomimetic image spraying robot of claim 4, wherein: two hinge rotating shafts (4-10-1) with mutually perpendicular bending directions are arranged on the transmission rod (4-10), so that when the middle sleeve (4-8) deflects, the transmission direction of the transmission rod (4-10) does not deviate.
6. The biomimetic image spraying robot according to claim 1, wherein: the bionic image foot motion mechanism is four bionic image feet, each bionic image foot comprises a first steering engine (5-1) arranged on a robot body, a driving end of each first steering engine (5-1) is connected with a second steering engine (5-2), a steering engine base (5-3) is fixedly arranged outside each second steering engine (5-2), thigh pieces (5-4) are fixedly arranged at the driving ends of the second steering engines (5-2), the thigh pieces (5-4) are connected with the thigh pieces (5-6) through connecting shafts (5-5), third steering engines (5-7) are arranged on the thigh pieces (5-4), driving ends of the third steering engines (5-7) are connected with the thigh pieces (5-6) through rotating shaft connecting rods (5-8), and control of the bionic image feet is achieved through control of the first steering engines (5-1), the second steering engines (5-2) and the third steering engines (5-7).
7. The spray control method of a bionic image spray robot according to claim 1, comprising the steps of:
s1, planning a spraying track, wherein the main steps of planning the track are as follows: spraying surface modeling, parameter setting, spraying track generation, robot motion track generation, trunk motion and leg motion, analysis simulation and robot control program generation, and joint motor motion control; the spray surface modeling stage is realized by three-dimensional modeling or point cloud scanning, and spray surface CAD data is obtained through modeling;
s2, assuming that the viscosity, temperature, air pressure and humidity of paint are kept unchanged, introducing CAD data of the surface of a spray pattern into track planning software, setting the opening angle, coating rate flux, expected spraying film thickness and allowable spraying deviation of a spray nozzle, generating a spraying track, completing track planning and optimizing, automatically generating the spraying track through parameters, optimizing to obtain a scheme with shortest spraying time, wherein a spraying area of the spray nozzle at a certain position is represented as a circular area, the radius of the spraying circular area is R, the spray nozzle track is a solution set of the spray nozzle at each position, the position of the spray nozzle at a certain point in the track is represented as X, Y, Z, alpha, beta and gamma, wherein X, Y, Z is represented as the position of the spray nozzle relative to a fixed Cartesian coordinate system XYZ, and alpha, beta and gamma respectively represent the rotation angle of the spray nozzle relative to the XYZ axes;
s3, converting the generated spray head track into a motion track of each joint of the robot through a robot inverse kinematics principle;
s4, setting up a simulation environment according to the data of the previous steps, carrying out graphical display on the track, the motion track and the spraying surface of the robot nozzle, displaying the coating coverage condition of the sprayed surface when the nozzle is sprayed along a specified path, listing the average thickness and the maximum deviation data of the spraying surface, and simulating whether the robot collides with a workpiece or not;
s5, after the simulation is finished, introducing a motion trail of the robot into a program generation module, setting an initial position of the robot and an initial state of each joint of the robot, and generating a motor control program of each joint of the robot;
s6, placing the robot in an initial position and an initial state, starting the robot, transmitting power to the first main control board and the second main control board, wherein the initial state is that limbs stand at a spraying position like legs vertically;
s7, the temperature sensor module, the ranging sensor module, the inertial navigation module, the camera and the ultrasonic liquid level sensor transmit measured signals to a control console display screen to display the working environment of the robot, the distance between the working environment and the spraying wall is displayed through the ranging sensor, a warning is sent out when the working environment is smaller than the safe distance, a path diagram of the robot is displayed through the inertial navigation module, the self-posture and the surrounding environment condition of the robot are displayed through a digital twin technology, the temperature sensor reflects the current environment temperature to a remote control console display screen in real time, the ultrasonic liquid level sensor transmits the liquid level height of paint in the paint tank, and when the liquid level height is smaller than 5cm, a prompt is sent to a remote control end;
s8, if the temperature measured by the temperature sensor module exceeds the explosion-proof warning temperature, the robot automatically turns off the master switch, and if the temperature in the cabin is lower than the explosion-proof warning temperature, the robot works normally;
s9, if the infrared obstacle avoidance sensor detects whether an obstacle exists in front, stopping moving when the infrared obstacle avoidance sensor finds that the obstacle exceeds a maximum height threshold; when the infrared obstacle avoidance sensor finds that the height of the obstacle is between the maximum height threshold value and the minimum height threshold value, normally taking an obstacle avoidance action;
s10, if the robot is tripped carelessly or operated, the main board reads the posture information of the balance module, and judges that the robot is abnormal, the spraying pump is immediately turned off to work, and the rudder unit is controlled to take a climbing standing action to restore the original posture;
s11, transmitting a spraying environment image to a control console through a camera, and enabling a remote control end to start a spraying pump by controlling a bionic trunk transmission mechanism to face a spraying area through remote control;
s12, during spraying, the trunk mechanism and the machine body are kept relatively static, the wet film thickness of the spraying layer is detected through the laser film thickness ranging module, the moving power of the rudder unit is adjusted according to the measured film thickness to ensure that the walking speed of the robot is adjusted along with different film thickness indexes of the wet film, and therefore the steering engine group keeps uniform speed transmission under the specified film thickness indexes of the wet film, and uniform spraying is achieved;
s13, according to display information of the remote control console, a signal instruction is sent out through the remote control end, so that the robot can complete work.
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| CN116651675B (en) * | 2023-07-24 | 2023-11-03 | 中国电建集团山东电力建设第一工程有限公司 | Insulator anti-pollution flashover coating spraying device |
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