CN215749190U - Full-automatic painting and paying-off intelligent robot - Google Patents
Full-automatic painting and paying-off intelligent robot Download PDFInfo
- Publication number
- CN215749190U CN215749190U CN202121717147.4U CN202121717147U CN215749190U CN 215749190 U CN215749190 U CN 215749190U CN 202121717147 U CN202121717147 U CN 202121717147U CN 215749190 U CN215749190 U CN 215749190U
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- vehicle body
- distance measuring
- full
- unit
- steering engine
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- 238000010422 painting Methods 0.000 title claims abstract description 12
- 238000007592 spray painting technique Methods 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 230000001680 brushing effect Effects 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract description 6
- 238000012937 correction Methods 0.000 abstract description 4
- 239000000976 ink Substances 0.000 description 20
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 1
- 241000255925 Diptera Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
Landscapes
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The utility model discloses a full-automatic painting and paying-off intelligent robot which comprises a distance measuring unit, a vehicle body and a painting and paying-off unit, wherein the distance measuring unit is arranged on the vehicle body; the distance measuring unit and the spray painting pay-off unit are both arranged on the upper part of the vehicle body; the distance measuring units are divided into two groups, and the two groups are symmetrically arranged; in the distance measuring unit, a laser distance measuring sensor is arranged at one end of a sensor supporting rod, and the other end of the sensor supporting rod is arranged on a shell of the steering engine; two steering engines are arranged at the upper part of the vehicle body, and each steering engine is arranged on a steering engine fixing support; the steering engine fixing support is arranged on the vehicle body; in the spray painting pay-off unit, an ink box is installed at the lower part of the vehicle body and is connected with an ink sprayer through a guide pipe, and a water pump is arranged on the guide pipe and is connected with a controller. The utility model realizes the correction of the position by using the laser ranging and ensures the precision of the straight line walking. The spray painting system is designed in an independent innovation mode, and ink is fine and uniform in spraying.
Description
Technical Field
The utility model relates to a full-automatic painting and paying-off intelligent robot, and belongs to the technical field of building spraying equipment.
Background
At present, the unwrapping wire to the indoor building place is mostly manual unwrapping wire, but because the abominable of building basement's environment, there are dangers such as mosquito, humidity, dark, gets into the basement unwrapping wire to the staff and brings the challenge, and workman's intensity of labour is big and the line probably is not directly put the line, has designed full-automatic air brushing unwrapping wire intelligent robot from this.
SUMMERY OF THE UTILITY MODEL
The full-automatic intelligent robot for painting and paying off is mainly used for painting and paying off of indoor sites and can draw shapes such as rectangles, convex characters, concave characters and the like according to user requirements. The robot moves and lines in a full-automatic mode, manual participation in line drawing is not needed, a user only needs to press a starting button, and the robot can be started to draw lines according to requirements by selecting a line drawing mode. The method can finish positioning spray lines, two-structure wall contour lines and equipment type machine room positioning lines. And when the scribing is finished, the robot drives away from the scribing area and automatically stops.
The technical scheme adopted by the utility model is a full-automatic spray painting pay-off intelligent robot, which comprises a distance measuring unit, a vehicle body and a spray painting pay-off unit; the distance measuring unit and the spray painting pay-off unit are both arranged on the upper part of the vehicle body; the distance measuring units are divided into two groups, and the two groups are symmetrically arranged; in the distance measuring unit, a laser distance measuring sensor 6 is arranged at one end of a sensor supporting rod 3, and the other end of the sensor supporting rod 3 is arranged on a shell of the steering engine 2; two steering engines 2 are arranged at the upper part of the vehicle body, and each steering engine 2 is arranged on a steering engine fixing support 1; the steering engine fixing bracket 1 is arranged on the vehicle body; in the spray painting pay-off unit, an ink box 4 is installed at the lower part of a vehicle body, the ink box 4 is connected with an ink spray head 12 through a guide pipe, and a water pump is arranged on the guide pipe and is connected with a controller 13.
Further, the ink box 4 and the ink nozzles 12 are symmetrically arranged on two sides of the vehicle body so as to balance the reverse acting force generated by the re-spraying work of the full-automatic spray painting pay-off intelligent robot.
Further, the controller 13 is provided with a plurality of control buttons, including a start-stop button 8, a reset button 9 and a water pump control button 7.
Further, the bottom circumference of automobile body be equipped with a plurality of rotatory cloud platforms 10, the bottom of rotatory cloud platform 10 passes through the link and links to each other with gear motor 11, gear motor 11 can drive wheel 16 and rotate to can rotate around rotatory cloud platform 10.
Further, the main structure of the vehicle body is a steel plate 15, and the distance measuring unit and the painting line releasing unit are both arranged on the steel plate 15.
Furthermore, a power supply 5 is further arranged on the vehicle body, and the power supply 5 is a lithium battery.
Further, the reduction motor 11 is connected to a controller 13 through a motor driver 14.
Furthermore, an adjusting steering engine is arranged on the ink nozzle 12 and is electrically connected with the controller 13.
Compared with the prior art, the utility model has the following technical characteristics:
1. the utility model uses laser ranging to realize the correction of the position and ensure the precision of straight line walking, and the precision is within 20 mm.
2. The utility model is innovatively designed in structure, and a plurality of components are formed by 3D printing, so that the utility model has the advantages of attractive appearance, light structure and small occupied area.
3. The product is controlled by a single chip microcomputer, the engineering two-dimensional graph is converted into a program language and is input into the controller, the operation is simple and convenient, and the intelligent requirement is met.
4. The jet-drawing system of the product is designed by independent innovation, and the jet ink is fine and uniform.
Drawings
FIG. 1 is an overall appearance diagram of a full-automatic scribing mobile robot
FIG. 2 is a view showing a structure of a full-automatic scribing mobile robot
In the figure: 1-a steering engine fixing bracket; 2-a steering engine; 3-a sensor support bar; 4-ink tank; 5-a battery; 6-laser ranging sensor; 7-water pump control button; 8-start-stop button; 9-reset button; 10-rotating the pan-tilt; 11-a reduction motor; 12-ink jets; 13-a controller; 14-a motor driver; 15-steel plate; 16-wheels.
Detailed Description
The utility model is described in detail below with reference to the accompanying drawings:
the full-automatic painting and paying-off intelligent robot comprises a distance measuring unit, a vehicle body and a painting and paying-off unit; the distance measuring unit and the spray painting pay-off unit are both arranged on the upper part of the vehicle body; the distance measuring units are divided into two groups, and the two groups are symmetrically arranged; in the distance measuring unit, a laser distance measuring sensor 6 is arranged at one end of a sensor supporting rod 3, and the other end of the sensor supporting rod 3 is arranged on a shell of the steering engine 2; two steering engines 2 are arranged at the upper part of the vehicle body, and each steering engine 2 is arranged on a steering engine fixing support 1; the steering engine fixing bracket 1 is arranged on the vehicle body; in the spray painting pay-off unit, an ink box 4 is installed at the lower part of a vehicle body, the ink box 4 is connected with an ink spray head 12 through a guide pipe, and a water pump is arranged on the guide pipe and is connected with a controller 13. In every group range unit laser rangefinder sensor 6 is used for measurationing the distance of automobile body both sides, and sensor bracing piece 3 can rotate and adjust corresponding measuring position around steering wheel 2.
The robot is connected with four direct current gear motors 11 through a controller 13 to realize linear movement, and the four gear motors 11 are connected with a rotary holder 10 through connecting frames, so that transverse and other multi-angle switching motion of a vehicle body can be realized. Two steering engines 2 are installed at opposite angles of the top of the vehicle body, two laser sensor supports 3 which are about 30cm are respectively connected to the steering engines, a laser ranging sensor 6 is installed at the tail end of each support, the distance between the laser ranging sensor and the wall surface is measured through laser and compared with a set distance value, signals are fed back to a speed reduction motor 11 to be corrected, and the robot can walk linearly without deviation. The ink nozzle 12 is arranged on the left side of the vehicle body, and the angle can be adjusted freely by adjusting the control of the steering engine. The shower nozzle links to each other with the water pump, realizes the break-make of water pump through the break-make of controller control relay to control chinese ink and flow into the shower nozzle, the shower nozzle adopts the shower nozzle of adjustable flow, thereby the thickness of adjustment line, the shower nozzle is connected with soft pen at foremost, contacts through steering engine control angle and ground when marking off the work.
1. The device is a full-automatic mobile robot, and solves the problem of nonuniform manual paying-off in the field of buildings.
2. The spray painting pay-off system designed by the device can better control the flow, and the spray painting lines are thin and uniform.
3. The spray painting device meets the requirements of different colors and line widths.
4. The power supply 5 is not less than 1000 milliamperes, and can meet the requirement of continuous operation for 24 hours.
5. The marking precision is within 20mm, and the marking line, the two-structure wall contour line and the equipment type machine room positioning line can be completed and positioned.
And moving the robot to a specified marking area and putting down, and pressing a start button. The robot is powered on, and the mechanical arm above the robot rotates by 90 degrees to a program setting position; the laser sensor red indicator light emits light, the mechanical arm is matched with the laser sensor to monitor and feed back the position information of the robot in real time, the scribing path is adjusted, and the scribing process adopts closed-loop control to ensure the scribing precision. When the robot reaches the scribing position and is corrected, the controller controls the water suction pump to work, ink is pumped to the spraying mechanism, the steering engine drives the spraying mechanism to be put down to a working angle, and the robot moves to control the scribing track. After the scribing is finished, a stop button is pressed, the mechanical arm returns to the original position in a rotating mode, the water pump stops working, the ink backflow is prevented, and the spraying mechanism returns to the initial angle.
The robot body is formed by laser processing of a 390x390mm rectangular steel plate, the height of the whole body from the ground is 100mm, the rigidity is good, deformation is not easy to occur, and the motion stability of linear walking can be well guaranteed.
The technical models and descriptions adopted by partial components are as follows:
the longest indoor length of the laser ranging sensor can reach 80 meters, and the longest outdoor length can reach 50 meters; the measurement precision is +/-1 mm, the resolution is 1mm, the measuring range is 80m, and the main technical parameters are as follows:
the technical parameters are as follows:
1. measurement range: 0.03-80 m;
2. measurement accuracy (standard deviation): 1 mm;
3. laser type: 635 nm;
4. laser grade: level II, <1 mW;
5. spot diameter at distance m: 6mm @10m, 30mm @50 m;
6. protection grade: IP 40;
7. working temperature: -20 to +70 ℃;
8. storage temperature: -20 to +80 ℃;
9. weight: about 60g
10. Dimensions (length × width × height): 4.5X 3.8X 1.5CM
The driving motor adopts a direct current number-reducing motor, has the characteristics of large torque, low noise, high reliability and the like, and is a main power source for moving the equipment. The specific parameters are shown in table 2:
TABLE 224V DC SPEED REDUCTION MOTOR PARAMETERS
The LD-27MG steering engine is a digital steering engine with large torque, and is characterized in that: the ultra-large torque (the torque is 20kg. cm), the virtual position is small (a metal gear is finely machined), the precision is high, and the rotation is 360 degrees. Four steering engines on the pan-tilt are used for controlling the robot to turn and move transversely; the steering engine on the steel plate is used for controlling the laser sensor to steer and measure distance; the steering wheel of side shower nozzle department is used for controlling shower nozzle and ground distance, only drives the shower nozzle and contacts with ground during operation, and other corrections or do not work and lift up often, not with ground direct contact.
The controller 13 adopts an Arduino2560 controller, and the controller 13 is the brain of the robot, and controls the walking and distance measurement of the robot and performs the spray painting action through the controller. When the distance is measured, the laser distance measuring sensor feeds back signals, the controller controls the steering engine and the speed reducing motor to correct the deviation, the steering engine is controlled to drive the sprayer to work after the deviation correction is finished, and the specific parameters are as shown in table 3.
TABLE 3 controller Module parameters
The operation process and the steps of the device are as follows:
s1, moving the robot to a designated scribing area and putting down;
s2 pressing the start button;
1) the robot is powered on, and the mechanical arm above the robot rotates by 90 degrees to a program setting position; the laser sensor is provided with a red indicator light for emitting light, the mechanical arm is matched with the laser sensor to monitor and feed back the position information of the robot in real time, the scribing path is adjusted, and the scribing process adopts closed-loop control to ensure the scribing precision.
2) The robot reaches the marking off position, and the controller control water pump work, and the water pump pumps chinese ink to the chinese ink shower nozzle, and the steering wheel drives the chinese ink shower nozzle and puts down to working angle, is by robot motion control marking off orbit.
S3 pressing the stop button after the scribing is finished;
the mechanical arm is rotated and reset; the water pump stops working to prevent backflow of ink; and the painting pay-off unit returns to the initial position.
Claims (8)
1. Full-automatic air brushing unwrapping wire intelligent robot, its characterized in that: comprises a distance measuring unit, a vehicle body and a spray painting pay-off unit; the distance measuring unit and the spray painting pay-off unit are both arranged on the upper part of the vehicle body; the distance measuring units are divided into two groups, and the two groups are symmetrically arranged; in the distance measuring unit, a laser distance measuring sensor (6) is arranged at one end of a sensor supporting rod (3), and the other end of the sensor supporting rod (3) is arranged on a shell of the steering engine (2); two steering engines (2) are arranged at the upper part of the vehicle body, and each steering engine (2) is arranged on a steering engine fixing support (1); the steering engine fixing support (1) is arranged on the vehicle body; in the spray painting pay-off unit, an ink box (4) is installed on the lower portion of a vehicle body, the ink box (4) is connected with an ink spray head (12) through a guide pipe, a water pump is arranged on the guide pipe, and the water pump is connected with a controller (13).
2. The full-automatic inkjet line-laying intelligent robot according to claim 1, characterized in that: the ink box (4) and the ink spray head (12) are symmetrically arranged on two sides of the vehicle body.
3. The full-automatic inkjet line-laying intelligent robot according to claim 1, characterized in that: the controller (13) is provided with a plurality of control buttons, including a start-stop button (8), a reset button (9) and a water pump control button (7).
4. The full-automatic inkjet line-laying intelligent robot according to claim 1, characterized in that: the bottom circumference of automobile body be equipped with a plurality of rotatory cloud platforms (10), the bottom of rotatory cloud platform (10) is passed through the link and is linked to each other with gear motor (11), gear motor (11) can drive wheel (16) and rotate to can rotate around rotatory cloud platform (10).
5. The full-automatic inkjet line-laying intelligent robot according to any one of claims 1-4, characterized in that: the main structure of the vehicle body is a steel plate (15), and the ranging unit and the painting line releasing unit are both arranged on the steel plate (15).
6. The full-automatic inkjet line-laying intelligent robot according to claim 5, characterized in that: the vehicle body is also provided with a power supply (5), and the power supply (5) is a lithium battery.
7. The full-automatic inkjet line-laying intelligent robot according to claim 4, characterized in that: the speed reducing motor (11) is connected with the controller (13) through a motor driver (14).
8. The full-automatic inkjet line-laying intelligent robot according to claim 6, characterized in that: an adjusting steering engine is arranged on the ink nozzle (12) and is electrically connected with the controller (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121717147.4U CN215749190U (en) | 2021-07-27 | 2021-07-27 | Full-automatic painting and paying-off intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121717147.4U CN215749190U (en) | 2021-07-27 | 2021-07-27 | Full-automatic painting and paying-off intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215749190U true CN215749190U (en) | 2022-02-08 |
Family
ID=80107546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121717147.4U Expired - Fee Related CN215749190U (en) | 2021-07-27 | 2021-07-27 | Full-automatic painting and paying-off intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215749190U (en) |
-
2021
- 2021-07-27 CN CN202121717147.4U patent/CN215749190U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220208 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |