CN211691317U

CN211691317U - Intelligent coating robot

Info

Publication number: CN211691317U
Application number: CN201921789810.4U
Authority: CN
Inventors: 叶秋晗; 益良峰
Original assignee: Guangzhou Ruiyi Environmental Protection Technology Co ltd
Current assignee: Guangzhou Ruiyi Environmental Protection Technology Co ltd
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2020-10-16
Anticipated expiration: 2029-10-23

Abstract

The utility model discloses an intelligence application robot, the on-line screen storage device comprises a base, the arm, spray gun and controller, the controller sets up inside the base, the upper surface of base is provided with the arm, be equipped with the feed cylinder in the arm, the feed cylinder stretches out and is connected with the spray gun from the front end of arm, still including the running gear who is located the base below, running gear includes first walking leg, second walking leg, third walking leg and fourth walking leg, the both sides of under base surface are equipped with the step motor guide rail respectively, first walking leg, second walking leg, third walking leg and fourth walking leg slidable ground are connected on the step motor guide rail, first walking leg, second walking leg, third walking leg, fourth walking leg, arm and step motor guide rail all with controller electric connection. The utility model discloses convenient operation, the spraying is efficient, and degree of automation is high, has replaced the tradition to adopt the manual work to control the mode that the spray gun carries out the spraying, has saved a large amount of manpowers, has reduced the health harm to the gunner.

Description

Intelligent coating robot

Technical Field

The utility model relates to an application technical field especially relates to an intelligence application robot.

Background

The painting robot is also called a painting robot, and is an industrial robot capable of automatically painting or spraying other paints. The spray painting robot mainly comprises a robot body, a computer and a corresponding control system, and the hydraulically driven spray painting robot further comprises a hydraulic oil source, such as an oil pump, an oil tank, a motor and the like. The wrist joint type structure with 5 or 6 degrees of freedom is adopted, the arm has a larger motion space and can do complex track motion, and the wrist part of the wrist joint type structure generally has 2 to 3 degrees of freedom and can flexibly move. The wrist of the advanced paint spraying robot adopts a flexible wrist, can be bent in all directions and can rotate, the action of the wrist is similar to that of a human wrist, and the wrist can conveniently extend into a workpiece through a small hole to spray the inner surface of the workpiece.

However, the spraying robots in the market are generally used in industry, but the spraying robots are rarely used in the building industry, the spraying of wall paint in the house decoration process is mainly finished by manual painting, the labor intensity is high, the working environment is severe, in recent years, due to the rising of labor cost, the self health awareness of workers is enhanced, the robots are difficult to recruit workers and adopted to replace manual painting, however, most of the spraying robots in the domestic robot market mainly adopt universal joint robots, and the price is generally high.

SUMMERY OF THE UTILITY MODEL

In order to overcome the deficiencies in the prior art, the utility model provides a spraying efficiency is fast, and degree of automation is high, can save the intelligent application robot of a large amount of manpowers.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides an intelligence application robot, includes base, arm, spray gun and controller, the controller sets up inside the base, the upper surface of base is provided with the arm, be equipped with the feeder sleeve in the arm, the feeder sleeve stretches out and is connected with the spray gun from the front end of arm, still including the running gear who is located the base below, running gear includes first walking leg, second walking leg, third walking leg and fourth walking leg, the both sides of base lower surface are equipped with the step motor guide rail respectively, first walking leg, second walking leg, third walking leg and fourth walking leg slidable ground are connected on the step motor guide rail, first walking leg, second walking leg, third walking leg, fourth walking leg, arm and step motor guide rail all with controller electric connection.

As a preferred scheme, the first walking leg, the second walking leg, the third walking leg and the fourth walking leg comprise a steering engine, a connecting rod and a sucker, a steering engine connecting piece is connected to the guide rail of the stepping motor in a sliding mode and is connected with one end of the steering engine, the other end of the steering engine is connected with one end of the connecting rod, the other end of the connecting rod is connected with the sucker, and the sucker and the steering engine are both electrically connected with the controller.

Preferably, the suction cup is a vacuum suction cup or an electromagnetic suction cup.

Preferably, the connecting rod is formed by connecting U-shaped connecting plates, and the U-shaped connecting plates are fixed through screws.

As a preferred scheme, the mechanical arm comprises a rotating motor, a rotating base, a first mechanical arm and a second mechanical arm, the rotating motor is fixed on the upper surface of the base, the output end of the rotating motor is connected with the rotating base, the rotating base is in transmission connection with the first mechanical arm, one end of the second mechanical arm is connected with the first mechanical arm, the other end of the second mechanical arm can be detached and connected with the spray gun, and the rotating motor is electrically connected with the controller.

As a preferred scheme, a mounting groove is formed in the front end of the second mechanical arm, circular protrusions are arranged on two inner walls of the mounting groove, mounting holes are formed in the protrusions, and mounting blocks matched with the mounting holes are arranged on the outer side of one end, connected with the second mechanical arm, of the spray gun.

Preferably, the feeding device further comprises a feeding pipe, one end of the feeding pipe is used for being connected with an external storage cylinder, and the other end of the feeding pipe extends into the rear surface of the base and is communicated with the feeding pipe.

As a preferred scheme, the robot further comprises an automatic identification device which is arranged on the front surface of the base and used for identifying the obstacle, wherein the automatic identification device comprises a visual image acquisition module, an image preprocessing module, an image segmentation module and a feature extraction module, the image acquisition module is arranged on the front surface of the mechanical arm and used for shooting an image of the obstacle in front of the mechanical arm, the image preprocessing module is connected with the visual image acquisition module, the image preprocessing module is connected with the image segmentation module, the image segmentation module is connected with the feature extraction module, and the feature extraction module is electrically connected with the controller.

Preferably, the visual image acquisition module is a sonar, a laser scanner, a COMS camera, a CCD camera or a digital camera.

Preferably, the image preprocessing module comprises an image filtering and denoising processing module and an image sharpening processing module.

Compared with the prior art, the beneficial effects of the utility model are that: when spraying is needed, the coating robot is placed on a sprayed wall surface, then the controller controls the electromagnetic chucks in the first walking leg, the second walking leg, the third walking leg and the fourth walking leg to be started to suck the wall surface tightly, at the moment, the coating robot is tightly attached to the wall surface, then the controller controls the mechanical arm to work, the mechanical arm drives the spray gun fixed at the front end to move, the material storage cylinder supplies raw materials to the spray gun through the feeding pipe and the feeding pipe for spraying, when the coating robot needs to be controlled to move to a next area for spraying, the controller controls the electromagnetic chucks and the steering engines in the first walking leg, the second walking leg, the third walking leg and the fourth walking leg below the base, the leg lifting sequence of the simulated insects is alternately lifted, further, the coating robot moves on the wall surface, the integral stability is guaranteed, and the speed is improved, when the robot moves to a designated area, the controller controls the electromagnetic chuck to tightly suck the wall surface, so that the coating robot is ensured to be firmly attached to the wall surface, and then the mechanical arm is controlled to drive the spray gun to spray the wall surface, so that the robot is convenient to operate, high in spraying efficiency and high in automation degree, the traditional mode of manually controlling the spray gun to spray is replaced, a large amount of manpower is saved, the harm to the body of a gunner is reduced, and the requirement of spraying the wall surfaces with different heights is met; meanwhile, an automatic identification device is arranged, automatic identification equipment automatically identifies the barrier in the process that the base moves, so that the base can avoid the barrier when moving, and the movement is more convenient and rapid.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic diagram of the intelligent painting robot of the present invention.

Fig. 2 is a schematic structural view of the second walking leg.

Fig. 3 is a schematic view of the connection of the robot arm and the rotating mechanism.

Fig. 4 is a schematic view of a spray gun.

Fig. 5 is a schematic diagram of an automatic identification device.

FIG. 6 is a schematic diagram of an image pre-processing module.

1-a base; 2, a mechanical arm; 21-rotating the base; 22-a rotating electrical machine; 23-a first robot arm; 24-a second mechanical arm; 25-mounting grooves; 26-convex; 27-mounting holes; 3-a spray gun; 4-a stepping motor guide rail; 5-automatic identification means; 6-feeding pipe; 7-first walking leg; 8-a second walking leg; 81-steering engine; 82-a connecting rod; 83-a suction cup; 9-a third walking leg; 10-fourth walking leg; 11-mounting block.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

In the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 1 to 6, an intelligent painting robot includes a base 1, a robot arm 2, a spray gun 3, a controller, and a traveling device located below the base 1, wherein the controller is disposed inside the base 1, the robot arm 2 is disposed on an upper surface of the base 1, a feeding pipe (not shown) is disposed in the robot arm 2, the feeding pipe (not shown) extends from a front end of the robot arm 2 and is connected to the spray gun 3, the other end of the feeding pipe (not shown) is connected to a feeding pipe 6, and the other end of the feeding pipe 6 extends from a rear surface of the base 1 and is connected to a storage cylinder outside; the walking device comprises a first walking leg 7, a second walking leg 8, a third walking leg 9 and a fourth walking leg 10, two sides of the lower surface of the base 1 are respectively provided with a stepping motor guide rail 4, the first walking leg 7, the second walking leg 8, the third walking leg 9 and the fourth walking leg 10 are slidably connected to the stepping motor guide rail 4, and the first walking leg 7, the second walking leg 8, the third walking leg 9, the fourth walking leg 10, the mechanical arm 2 and the stepping motor guide rail 4 are all electrically connected with the controller; in this implementation, the first walking leg 7, the second walking leg 8, the third walking leg 9 and the fourth walking leg 10 all include steering wheel 81, connecting rod 82 and sucking disc 83, and sliding connection has steering wheel connecting piece 84 on the step motor guide rail 4, and steering wheel connecting piece 84 is connected with the one end of steering wheel 81, and the other end of steering wheel 81 is connected with the one end of connecting rod 82, and the other end of connecting rod 82 is connected with sucking disc 83, and sucking disc 83 and steering wheel 81 all are connected with controller electric connection.

Specifically, the suction cup 83 is an electromagnetic suction cup, and the link 82 is formed by connecting U-shaped connecting plates to each other, and the U-shaped connecting plates are fixed to each other by screws.

By adopting the scheme, when spraying is needed, the coating robot is placed on a sprayed wall surface, then the controller controls the electromagnetic chucks 83 in the first walking leg 7, the second walking leg 8, the third walking leg 9 and the fourth walking leg 10 to be started to suck the wall surface tightly, at the moment, the coating robot is tightly attached to the wall surface, then the controller controls the mechanical arm 2 to work, the mechanical arm 2 drives the spray gun 3 fixed at the front end to move, the material storage cylinder supplies raw materials to the spray gun 3 through the feeding pipe 6 and the feeding pipe for spraying, when the coating robot is needed to be controlled to move to a next area for spraying, the controller controls the

electromagnetic chucks

83 and 81 in the first walking leg 7, the second walking leg 8, the third walking leg 9 and the fourth walking leg 10 below the base 1 to simulate the leg lifting sequence of insects to be lifted alternately, so that the coating robot can move on the wall surface, guaranteed holistic stability, the speed is promoted, when removing appointed region, controller control electromagnet 83 inhales tightly to the wall, guarantee that the application robot firmly pastes tightly on the wall, then control arm 2 drive spray gun 3 again to the wall carry out the spraying can, high operation, high spraying efficiency, the degree of automation is high, replaced the tradition and adopted the artifical mode of controlling spray gun 3 and carrying out the spraying, a large amount of manpowers have been saved, the health harm to the gunner has been reduced, satisfy simultaneously and carry out the spraying to the wall of co-altitude.

Specifically, arm 2 includes rotating electrical machines 22, roating seat 21, first arm 23 and second arm 24, and rotating electrical machines 22 fixes the upper surface at base 1, and rotating electrical machines 22's output is connected with roating seat 21, and roating seat 21 is connected with the transmission of first arm 23, and the one end and the first arm 23 of second arm 24 are connected, and the other end of second arm 24 can be dismantled and be connected with spray gun 3, and rotating electrical machines 22 and controller electric connection.

By adopting the scheme, when the mechanical arm 2 needs to be rotated to drive the spray gun 3 to spray, the controller controls the rotating motor 22 to be started to drive the rotating base 21 to rotate, the first mechanical arm 23 is in transmission connection with the rotating base 21, and the second mechanical arm 24 is connected with the first mechanical arm 23, so that the first mechanical arm 23 and the second mechanical arm 24 rotate along with the rotating base 21 to control the spray gun 3 to spray, and the omnibearing spraying is realized.

The connection structure of spray gun and arm does: the front end of the second mechanical arm 24 is provided with a mounting groove 25, two inner walls of the mounting groove 25 are provided with circular bulges 26, the bulges 26 are internally provided with mounting holes 27, and the outer side of one end of the spray gun 3 connected with the second mechanical arm 24 is provided with a mounting block 11 matched with the mounting holes 27.

Adopt above-mentioned scheme, stretch into the mounting groove 25 of second arm 24 with the one end that spray gun 3 was fixed with installation piece 11 in, then insert installation piece 12 in mounting hole 27 to make spray gun 3 fixed at the front end of second arm 24, simple structure has realized the dismantlement to spray gun 3, and convenient follow-up can be according to the needs of technology change instruments such as abrasive disc, scraper and carry out the spraying to the wall.

Example 2

Referring to fig. 1 to 6, on the basis of embodiment 1, the robot further includes an automatic recognition device, and the automatic recognition device 5 includes a visual image acquisition module, an image preprocessing module, an image segmentation module and a feature extraction module, the image acquisition module is installed on the front surface of the robot arm and is used for shooting an image of a front obstacle, the image preprocessing module is connected to the visual acquisition module, the image preprocessing module is connected to the image segmentation module, the image segmentation module is connected to the feature extraction module, the feature extraction module is electrically connected to the controller, and the image preprocessing module includes an image filtering and denoising processing module and an image sharpening processing module.

Specifically, the visual image acquisition module is a sonar, a laser scanner, a COMS camera, a CCD camera or a digital camera. In this embodiment, the visual image capturing module employs a CCD camera, a circular hole is formed at one end of the first mechanical arm connected to the second mechanical arm, and the CCD camera is embedded in the circular hole.

Specifically, the image segmentation module adopts a Graph Cuts image segmentation algorithm to segment the image.

By adopting the scheme, in the moving process of the coating robot, the CCD camera shoots the front to acquire the image of the obstacle, then the acquired image of the obstacle is transmitted to the image preprocessing module to be subjected to image preprocessing, the image filtering and denoising and the image sharpening are respectively performed in the preprocessing process of the image of the obstacle, so that the characteristics of the edge contour information of the obstacle can be well kept and the edge part of the obstacle can be enhanced, the field pixels are sharper, the preprocessed image of the obstacle is transmitted to the image segmentation module to be subjected to image segmentation, the effective segmentation of the obstacle and the background can be quickly and accurately realized through a Graph Cuts image segmentation algorithm, the influence of the background on the system identification accuracy is reduced, and then the segmented image of the obstacle is transmitted to the characteristic extraction module, the feature extraction module is used for extracting features of the segmented obstacle image, and finally the extracted feature information is transmitted to the controller for analysis and decision, so that the base is controlled to avoid the obstacle when moving.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention 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. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an intelligence application robot, includes base, arm, spray gun and controller, the controller sets up inside the base, the upper surface of base is provided with the arm, be equipped with the feeder sleeve in the arm, the feeder sleeve stretches out and is connected its characterized in that with the spray gun from the front end of arm: still including the running gear who is located the base below, running gear includes first walking leg, second walking leg, third walking leg and fourth walking leg, the both sides of base lower surface are equipped with the step motor guide rail respectively, first walking leg, second walking leg, third walking leg and fourth walking leg slidable ground are connected on the step motor guide rail, first walking leg, second walking leg, third walking leg, fourth walking leg, arm and step motor guide rail all with controller electric connection.

2. The smart painting robot of claim 1, wherein: the first walking leg, the second walking leg, the third walking leg and the fourth walking leg comprise a steering engine, a connecting rod and a sucker, a steering engine connecting piece is connected to the guide rail of the stepping motor in a sliding mode and is connected with one end of the steering engine, the other end of the steering engine is connected with one end of the connecting rod, the other end of the connecting rod is connected with the sucker, and the sucker and the steering engine are both electrically connected with the controller.

3. The smart painting robot of claim 2, wherein: the sucker is a vacuum sucker or an electromagnetic sucker.

4. The smart painting robot of claim 2, wherein: the connecting rods are formed by mutually connecting U-shaped connecting plates, and the U-shaped connecting plates are fixed through screws.

5. The smart painting robot of claim 1, wherein: the arm includes rotating electrical machines, roating seat, first arm and second arm, the upper surface at the base is fixed to the rotating electrical machines, the output of rotating electrical machines is connected with the roating seat, the roating seat is connected with the transmission of first arm, the one end and the first arm of second arm are connected, the other end of second arm can be dismantled and be connected with the spray gun, rotating electrical machines and controller electric connection.

6. The smart painting robot of claim 5, wherein: the mounting groove has been seted up to the front end of second arm, be equipped with circular shape arch on two inner walls of mounting groove, be equipped with the mounting hole in the arch, the outside of the one end that the spray gun is connected with the second arm is equipped with the installation piece with mounting hole matched with.

7. The smart painting robot of claim 1, wherein: still include the inlet pipe, the one end of inlet pipe is used for being connected with external storage section of thick bamboo, the other end of inlet pipe stretches into from the rear surface of base and feeds through with the feeder tube.

8. The smart painting robot of claim 1, wherein: still including setting up at base front surface and being used for carrying out the automatic identification equipment who discerns to the barrier, automatic identification equipment includes visual image acquisition module, image preprocessing module, image segmentation module and feature extraction module, image acquisition module installs the image that just is used for shooing the place ahead barrier on the front surface of arm, image preprocessing module is connected with visual acquisition module, image preprocessing module is connected with image segmentation module, image segmentation module is connected with feature extraction module, feature extraction module and controller electric connection.

9. The smart painting robot of claim 8, wherein: the visual image acquisition module is a sonar, a laser scanner, a COMS camera, a CCD camera or a digital camera.

10. The smart painting robot of claim 8, wherein: the image preprocessing module comprises an image filtering and denoising processing module and an image sharpening processing module.