KR101349885B1 - Painting method using working robot - Google Patents

Abstract

Provide a painting method. In one embodiment, a painting method includes a work robot including first, second, third, and fourth rotating members and first and second linear moving members, such that a central axis of the second linear moving member is perpendicular to the surface to be printed. Installing in front of the surface to be formed or parallel, and spraying the surface of the substrate using an atomizer coupled to the fourth rotating member while rotating the first rotating member. The second linear moving member, the first rotating member, the second rotating member, the first linear moving member, the third rotating member, and the fourth rotating member are arranged in this order. The central axis of the second linear moving member is parallel to the horizontal plane, the central axis of the first rotating member is vertical, and the first to fourth rotating members and the first and second linear moving members are perpendicular to each other. The first linear moving member is changed in length in the direction of its central axis and the second linear moving member is movable along its central axis. The first spraying step sprays while the projection to the horizontal plane of the sprayer is perpendicular to the surface to be painted and the distance between the sprayer and the surface to be maintained is constant.

Description

Painting method using work robot {PAINTING METHOD USING WORKING ROBOT}

The present invention relates to a painting method using a working robot.

When painting in hull blocks or other unfavorable working conditions, it is common to work with a work robot. Such a working robot may be a five-axis robot having three rotating members and two linear moving members. One of the two linear moving members may be positioned between the rotating members and vary in length, and the other may be located at the base end to move the whole working robot in the linear direction.

In the case of such a five-axis working robot because it is sprayed radially in the place where the linear moving member can not move due to obstacles located at the base or the limit of the work area, it may be difficult to obtain a uniform coating quality.

One embodiment of the present invention is to overcome the limitations of obstacles or working areas and to obtain a uniform coating quality.

In the painting method according to an embodiment of the present invention, a work robot including first, second, third and fourth rotating members and first and second linear moving members may have a central axis of the second linear moving member. Installing in front of the surface to be perpendicular to or parallel to the surface to be painted, and spraying the surface to be coated using a sprayer coupled to the fourth rotating member while rotating the first rotating member. . The second linear moving member, the first rotating member, the second rotating member, the first linear moving member, the third rotating member, and the fourth rotating member are connected in sequence. A central axis of the second linear moving member is parallel to a horizontal plane, a central axis of the first rotating member is perpendicular to the horizontal plane, and the first to fourth rotating members and the first and second linear moving members are adjacent to each other; They are perpendicular to each other. The first linear moving member is changed in length in the direction of its central axis and the second linear moving member is movable along its central axis. In the first spraying step, the projection on the horizontal plane of the sprayer is sprayed at right angles to the surface to be sprayed while maintaining a constant distance between the sprayer and the surface to be sprayed.

The coating method may further include a second spraying step of spraying while the projection of the sprayer at an oblique angle with the to-be-painted surface.

In the second spraying step, the distance between the sprayer and the surface to be coated may change.

In the second spraying step, the first to third rotating members and the first and second linear moving members may be fixed, and the rotation angle of the fourth rotating member may change.

In the second spraying step, the distance between the sprayer and the surface to be coated may be constant.

In the second spraying step, spraying while fixing the first to third rotating members and the first and second linear moving members while changing the rotation angle of the fourth rotating member, and It may include a spraying step of spraying while maintaining a constant distance.

The length of the first linear moving member may be the minimum length that the first linear moving member may have at the position where the distance between the second rotating member and the surface to be drawn is closest.

The working robot is mounted on the autonomous moving device and moves, and the second linear moving member may move on the autonomous moving device.

The installing may include moving the autonomous moving device on which the work robot is mounted to the front of the surface to be drawn, and the length of the first linear moving member at a position where the distance between the second rotating member and the surface to be drawn is closest. And moving the second linear movement member on the autonomous movement device such that is the minimum length that the first linear movement member can have.

The central axis of the second linearly movable member is parallel to the to-be-painted surface, and the coating method includes a first spraying by spraying only the second linearly movable member while fixing the first to fourth rotary members and the first linearly movable member. Three spraying steps may be further.

In the first spraying step, the sprayer may be perpendicular to the surface to be coated.

The coating method according to another embodiment of the present invention includes the steps of moving the autonomous moving device equipped with a work robot including a first linear moving member having a varying length, a second linear moving member movable on a straight line, and an atomizer in front of the surface to be coated. Reading the coordinates of the to-be-drawn drawing and the coordinates of the autonomous-moving device, extracting first coordinates of the working robot from the coordinates of the to-be-drawn drawing and the coordinates of the autonomous-moving device, the center of the working robot and the to-be-drawn figure Calculating second coordinates such that the distance between the first linear moving member at a position closest to the first linear moving member is the minimum length that the first linear moving member can have; Moving on the autonomous movement device by a difference between one coordinate and the second coordinate, and the second linear movement unit Spraying the to-be-painted surface using the sprayer while moving the work robot according to the second coordinates while fixing the ashes.

The spraying step may include a normal spraying step of spraying while the projection on the horizontal plane of the sprayer is perpendicular to the surface to be painted and the distance between the sprayer and the surface to be maintained is constant.

The spraying step may further include a holographic spraying step in which the projection of the sprayer sprays while forming an oblique angle with the surface to be coated.

The distance between the nebulizer and the surface to be coated may vary in the holographic spraying step.

The distance between the nebulizer and the surface to be coated may be constant in the holographic spraying step.

The holographic spraying step may include spraying while changing the distance between the sprayer and the surface to be sprayed, and spraying while maintaining a constant distance between the sprayer and the surface to be coated.

The normal spraying step may include spraying while changing the angle formed by the first linearly moving member with the surface to be coated.

The normal spraying step may further include spraying the second linear moving member while moving in parallel with the to-be-drawn surface while maintaining a constant angle between the first linearly moving member and the surface to be coated.

In the normal spraying step, the sprayer may be perpendicular to the surface to be coated.

According to the coating method according to an embodiment of the present invention, it is possible to overcome the limitations of obstacles or work areas and obtain uniform coating quality.

1 is a schematic diagram of a working robot according to an embodiment of the present invention.
Figure 2 is a perspective view for explaining the type of the surface to be sprayed using a working robot according to an embodiment of the present invention.
3 is a perspective view schematically showing a scene of performing a painting operation using a working robot according to an embodiment of the present invention.
4 and 5 are schematic views for explaining a posture that the nebulizer of the working robot can take with respect to the surface to be drawn, respectively, according to an embodiment of the present invention.
6 to 8 are plan views schematically showing the movement path of the work robot in the spraying operation according to the embodiment of the present invention.
9 is a perspective view showing the posture of the working robot in the spraying operation according to an embodiment of the present invention.
10 is a schematic view for explaining a posture that the nebulizer of the working robot can take with respect to the surface to be drawn in the spraying operation according to one embodiment of the present invention.
11 and 12 are plan views schematically showing the movement path of the work robot in the spraying operation according to another embodiment of the present invention.
13 is a plan view schematically showing the hold-up operation in the spray operation according to another embodiment of the present invention.
FIG. 14 is a view for explaining a process for calculating driving amounts in the X-axis and Y-axis directions in the hold-up operation shown in FIG. 13.
15 is a block diagram of a work robot system according to an embodiment of the present invention.
16 is a flow chart of a spraying operation using a working robotic system according to an embodiment of the present invention.
17 is a schematic view for explaining the coordinate division in the spraying operation according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which: FIG. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

First, a working robot and a painting operation using the same according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 5.

1 is a schematic diagram of a working robot according to an embodiment of the present invention, Figure 2 is a perspective view for explaining the type of the to-be-painted in the spray operation using the working robot according to an embodiment of the present invention, Figure 3 is a present invention 4 is a perspective view schematically illustrating a scene of performing a painting operation using a work robot according to an embodiment of the present invention, and FIGS. 4 and 5 respectively show that the sprayer of the work robot according to an embodiment of the present invention may be taken with respect to the surface to be coated. It is a schematic for explaining a posture.

Referring to FIG. 1, the work robot 100 according to the present embodiment includes two linear moving members 3 and 6 and four rotating members 1, 2, 4 and 5. The linear moving members 3, 6 can change coordinates by changing their length along a central axis or moving in a straight line, and the rotating members 1, 2, 4, 5 can rotate about the central axis.

The first rotating member 1, the second rotating member 2, the first linear moving member 3, the third rotating member 4, and the fourth rotating member 5 are sequentially arranged in this order. The rotating member 1 is mounted on the second linear moving member 6. The angle between the central axes of adjacent rotating members 1, 2, 4, 5 is substantially perpendicular and between the central axis of linear moving members 3, 6 and the central axis of adjacent rotating members 2, 4. The angle is also substantially perpendicular. That is, the central axes of the first rotating member 1 and the second rotating member 2 are perpendicular to each other, and the central axes of the second rotating member 2 and the first linear moving member 3 are perpendicular to each other. The center axes of the first linear movement member 3 and the third rotation member 4 are perpendicular to each other, and the center axes of the third rotation member 4 and the fourth rotation member 5 are perpendicular to each other.

The first linear moving member 3 can change the length in a straight line by using hydraulic pressure, pneumatic or the like.

The second linear moving member 6 is movable in a straight line and may include, for example, a sliding member or a wheel (not shown) that can move along the guide rail 210.

The first connecting member 12 may be connected between the first rotating member 1 and the second rotating member 2, and the second connecting member between the third rotating member 4 and the fourth rotating member 5. 45 may be connected. The first connecting member 12 may be, for example, straight, and the second connecting member 45 may be, for example, approximately “a” shaped with approximately two bars vertically connected. However, the shape of the connecting members 12 and 45 is not limited thereto.

A work tool 14 is coupled to the fourth rotating member 5, for example, when painting, the work tool becomes a sprayer.

The work robot 100 may be mounted on an autonomous moving device 200 that can move in a space such as a hull block (not shown), and the second linear moving member 6 is straight on the autonomous moving device 200. A movable guide rail 210 may be installed.

The work robot 100 according to the present embodiment may be used to paint a hull block and the like. First, the surface of the hull block may include a bottom surface, a ceiling surface, and a side surface, which are substantially parallel or perpendicular to each other. Can be achieved. The work robot 100 can be installed so that the direction of the center axis of the second linear moving member 6 is parallel to one of the side surfaces to be drawn, and the center axis of the first rotating member 1 faces the height direction.

Referring to FIG. 2, let the height direction of the hull block be set to the Z axis, the center axis direction of the second linear moving member 6 to the X axis, and the remaining direction to the Y axis. The surface of the side surface may be parallel to the YZ plane or parallel to the ZX plane, and the side parallel to the YZ plane may be referred to as the floor surface 410, and the side parallel to the ZX plane may be referred to as the girder surface 420. Can be.

Referring to FIG. 3, when painting, starting from one end of the surface 400 to spray the sprayer 14 to the other end while maintaining a constant height, the position of the sprayer 14 is moved up or down Next, spraying can be continued while maintaining a constant height in the opposite direction. When moving the position of the nebulizer 14 up and down, first, the autonomous mobile device 200 on which the work robot 100 is mounted is lowered to make an approximate position, and then the height and height are adjusted by adjusting the position and posture of the work robot 100. It can be precisely adjusted. However, the height may be adjusted by adjusting only the position and posture of the work robot 100 without moving the autonomous mobile device 200.

In the future, "spraying" refers to a process in which the spraying machine 14 is sprayed while moving from side to side while maintaining a constant height without changing its height. It may represent the overall number of spraying operations performed by changing the height of (14). In FIG. 3, reference numerals 510, 520, and 530 denote individual spray operations, respectively, and reference numeral 500 denotes a painting operation in which these are combined.

4 and 5, in order to make the painting quality uniform during the spraying operation, the distance D between the sprayer 14 and the surface 400 to be maintained is kept substantially constant, and the sprayer 14 May be substantially perpendicular to the to-be-printed surface 400.

As described above, the surface 400 of the hull block may be divided into a floor surface 410 parallel to the YZ plane and a girder surface 420 parallel to the ZX plane, which is a second linear moving member of the work robot 100. 6 may move only in one direction, for example, in the X-axis direction, the movement of the work robot 100 may vary when painting the floor surface 410 and when painting the girder surface 420. .

This will be described in detail with reference to FIGS. 6 to 14.

6 to 8 are a plan view schematically showing the movement path of the working robot in the spraying operation according to an embodiment of the present invention, Figure 9 is a perspective view showing the posture of the working robot in the spraying operation according to an embodiment of the present invention 10 is a schematic view for explaining a posture that the sprayer of the work robot can take with respect to the to-be-painted in the spraying operation according to an embodiment of the present invention, and FIGS. 11 and 12 are spraying operations according to another embodiment of the present invention. Figure 13 is a plan view schematically showing the movement path of the work robot, Figure 13 is a plan view schematically showing the gripping operation in the spray operation according to another embodiment of the present invention, Figure 14 is a X in the gripping operation shown in FIG. It is a figure for demonstrating the process for calculating the drive amount to an axis | shaft and a Y-axis direction.

Referring to FIG. 6, when painting the girder surface 420 parallel to the X axis, spraying may be performed while moving only the second linear moving member 6 along the X axis while fixing another posture of the work robot 100. Can be. However, when painting the floor surface 410 parallel to the Y axis, since the second linear moving member 6 cannot move in the Y axis direction, the first rotating member 1 is rotated as shown in FIG. Spraying can be done. That is, it is possible to spray while changing the rotation angle θ1 of the first rotating member 1 to make the atomizer 14 at an oblique angle with respect to the floor surface 410.

However, even when the girder surface 420 is painted, the second linear moving member 6 is moved between the robot 100 and the surface 400 to be moved due to a barrier such as an obstacle or a longi, or a limitation of the work area. In the case where it is impossible, spraying can be performed while rotating the 1st rotating member 1 as shown in FIG.

6 to 8, only the first rotating member 1, the first linear moving member 3, the fourth rotating member 5, and the sprayer 14 are illustrated for convenience of description, and the remaining parts are not shown. The same may be true for other drawings in the future.

When spraying is performed while rotating the first rotating member 1 in this manner, the length d3 and the first length of the first linear moving member 3 are changed according to the change of the rotation angle θ1 of the first rotating member 1. 2 The rotation angle θ2 of the rotating member 2 can be adjusted. In detail, the length of the first linear moving member 3 may be changed in order to keep the distance D between the sprayer 14 and the surface 400 to be constant, and the first linear moving member 3 may be changed. Since the height of the nebulizer 14 changes when the length of the is changed, the height change may be compensated by adjusting the rotation angle θ2 of the second rotating member 2. For example, when the length of the first linear moving member 3 is longer, the height of the sprayer 14 is increased, so that the rotation angle θ2 of the second rotating member 2 can be lowered, and conversely, the first linear moving member ( When the length of 3) becomes short, the height of the nebulizer 14 becomes low, and the rotation angle (theta) 2 of the 2nd rotating member 2 can be raised.

In addition, the rotation angle θ5 of the fourth rotating member 5 may also be changed so that the sprayer 14 and the surface 400 are perpendicular to the horizontal plane, and the rotation of the third rotating member is perpendicular to the vertical plane. The angle θ4 can also be changed.

However, spraying operation can be performed in the state which the rotation angle (theta) 4 of the 3rd rotating member 4 was fixed.

This will be described in detail with reference to FIG. 9. For convenience of explanation, it is assumed that the surface 400 is parallel to the YZ plane.

Since the nebulizer 14 is perpendicular to the surface 400 and the rotation angle θ4 of the third rotating member 4 is fixed, if the distance from the sprayer 14 to the surface 400 is constant, the surface 400 ) And the distance from the third rotating member 4 is also constant. Thus, the distance x1 between the second rotating member 2 and the third rotating member 4 on the X axis is constant regardless of the position.

Moreover, since the rotation angle (theta) 4 of the 3rd rotating member 4 is being fixed, if the height z0 of the nebulizer 14 is constant, the height z1 of the 3rd rotating member 4 will also be fixed.

가 된다. 분무기(14)가 y=y1 인 지점에 있을 때는 제1 회전 부재(1)의 회전각(θ1)은 0이 아닌 값[θ1(y1)]이고, 제1 직선 이동 부재(3)의 길이(L1)는

가 된다. 따라서 y=0인 지점에서 제1 직선 이동 부재(3)의 길이(L0)가 가장 짧고 이 지점에서 멀어질수록 길어진다. 반대로 제2 회전 부재(2)의 회전각(θ2)은 y=y1인 지점보다 y=0인 지점에서 더 큰데[즉 θ2(0)> θ2(y1)], 일반적으로는 y=0인 지점에서 가장 크고 이 지점에서 멀어질수록 작아진다.When the atomizer 14 and the third rotating member 4 are at a point at y = 0, the rotation angle θ1 of the first rotating member 1 is 0, so that the sprayer 14 is located on the ZX plane, and the first The length L0 of the linear moving member 3 is

. When the atomizer 14 is at the point of y = y1, the rotation angle θ1 of the first rotating member 1 is a non-zero value [θ1 (y1)], and the length of the first linear moving member 3 ( L1) is

. Therefore, the length L0 of the first linear moving member 3 is the shortest at the point of y = 0 and the longer it is from this point. On the contrary, the rotation angle θ2 of the second rotating member 2 is larger at the point at y = 0 than the point at y = y1 (that is, θ2 (0)> θ2 (y1)), and generally at the point at y = 0. It is the largest at and gets smaller from this point.

Here, L0 cannot be smaller than the minimum value of the length of the first linear movement member 3, and L1 cannot be larger than the maximum value of the length of the first linear movement member 3, so that L0 is not in the length range of the first linear movement member 3. The coating range of the surface 400 to be coated is limited. Therefore, setting the length L0 of the first linear moving member 3 when the nebulizer 14 is at the point of y = 0 to the minimum value of the length of the first linear moving member 3 can maximize the coating range. Can be.

On the other hand, the sprayer 14 has been described as substantially perpendicular to the surface to be coated 400 for uniform paint quality, but it may not be maintained due to obstacles or limitations of the work area.

For example, referring to FIG. 10, the sprayer 14 must be substantially horizontal to be perpendicular to the surface 400 standing vertically, which adjusts the rotation angle θ4 of the third rotating member 4. It is possible by doing. If this is not possible, however, the third rotating member 4 may be rotated so that the nebulizer 14 may be tilted obliquely with respect to the surface 400, i.e., the end is leaned down or lifted up. However, such a rotation angle θ4 of the third rotating member 4 can be fixed without changing while performing the spraying operation, and can be adjusted before the completion of one spraying operation and before the other spraying operation.

In another example, when the sprayer 14 is difficult to rotate the first rotating member 1 at a right angle to the surface 400 to be rotated, the fourth rotating member (instead of rotating the first rotating member 1) 5) may be rotated to cause the atomizer 14 to be oblique with respect to the surface 400 on the XY plane or a plane parallel thereto. 11 and 12, a so-called “hollow” motion H1, which is a kind of such motion, is shown. Only the fourth rotating member 5 is rotated and sprayed while all other positions and postures of the work robot 100 are fixed. Do the work.

11 and 12, however, the distance between the surface 400 and the sprayer 14, that is, the spraying distance, may be difficult to maintain uniform paint quality. That is, when the distance between the sprayer 14 and the surface to be coated 400 is close, the coating may be thick, and when the distance is far, the coating may be thin.

Accordingly, as shown in FIG. 13, it is possible to consider the hold-up operation H2 performed while maintaining the constant injection distance D. In this case, not only the fourth rotating member 5 but also other parts may be driven together. Can be. In FIG. 13, reference numeral 430 denotes another surface perpendicular to the surface 400, for example, a longi.

For example, the coordinates of the nebulizer 14 are six coordinates (x, y, z, Rx, Ry, Rz) including three position coordinates x, y, z and three attitude coordinates Rx, Ry, Rz. Let's say. Here, Rx, Ry, and Rz represent rotation angles about the X, Y, and Z axes as rolls, pitches, and yaws, respectively. 11 and 12 is performed by changing only yaw, i.e., Rz, but the hold action H2 shown in Fig. 13 also includes x and y coordinates in addition to yaw Rz. By changing.

가 된다. 각도 φ=tan^-1(D1/D2) 라고 정의하면 X 축 방향의 구동량 Tx=|T|sinφ가 되고, Y 축 방향의 구동량 Ty=|T|cosφ가 된다.Referring to FIG. 14, the distance between the surface 400 and the sprayer 14 is referred to as D1, and the distance from the position of the sprayer 14 to the vertical surface 430 at the point where the hold operation H2 starts is referred to as D2. lets do it. The end of the nebulizer 14 is moved along the diagonal of the rectangle consisting of a side perpendicular to the surface 400 and having a length D1 and a side parallel to the surface 400 and having a length D2 while performing the hold action H2. In the drawings, this may be referred to as T. Then the travel distance of the tip of the sprayer 14 is

. When the angle φ = tan ⁻¹ (D1 / D2) is defined, the driving amount Tx = | T | sinφ in the X-axis direction is obtained, and the driving amount Ty = | T | cosφ in the Y-axis direction.

Looking at the spraying operation as a whole, the hold action (H1, H2) is arranged at both ends, the coordinate change for the entire spraying operation including such a hold action will be described in more detail.

In the case of painting the floor surface 410 from left to right as shown in FIG. 11, starting from the initial coordinates (x2, y2, z2, Rx2, Ry2, Rz2), the yaw motion R1 is changed while changing the yaw coordinate Rz. ) To (x2, y2, z2, Rx2, Ry2, 0). Then, spraying with only changing the y coordinate to (x2, 0, z2, Rx2, Ry2, 0) through (x2, y3, z2, Rx2, Ry2, 0). Finally, while changing the yaw coordinate (Rz) and performing the hold operation (H1) to reach (x2, y3, z2, Rx2, Ry2, Rz3) spraying is finished. That is, only the y coordinate changes during the spraying operation except for the hold-up operation H1.

Here, the yaw coordinate Rz is 0 when parallel to the X axis and ± 90 ° when parallel to the Y axis.

In the case where the girder surface 420 is painted from left to right as shown in FIG. 12, starting at the initial coordinates (x4, y4, z4, Rx4, Ry4, Rz4), the yaw motion Rz is changed while changing the yaw coordinate Rz. ) To reach (x4, y4, z4, Rx4, Ry4, ± 90 °). Then spray by changing only the x coordinate and then (x6, y4) via (0, y4, z4, Rx4, Ry4, ± 90 °) and (x5, y4, z4, Rx4, Ry4, ± 90 °) , z4, Rx4, Ry4, ± 90 °). At this time, the operation ranging from (0, y4, z4, Rx4, Ry4, ± 90 °) to (x5, y4, z4, Rx4, Ry4, ± 90 °) only the second linear moving member 6 with other parts fixed Move linearly, and move from (x4, y4, z4, Rx4, Ry4, ± 90 °) to (0, y4, z4, Rx4, Ry4, ± 90 °) and (x5, y4, z4, Rx4, Ry4 , ± 90 °) to (x6, y4, z4, Rx4, Ry4, ± 90 °) in which the second linear moving member 6 is fixed and the first, second and fourth rotating members 1, 2 , 5) and the first linear moving member 3 are moved. Finally, while changing the yaw coordinate (Rz) to perform the hold operation (H2) to reach (x6, y4, z4, Rx4, Ry4, Rz6) spraying is finished. Here, only the x coordinate changes during the spraying operation except for the hold-up operation (H2).

In the case of spraying from right to left, the change in coordinates is the opposite of the one described previously.

The two types of hold-up operations H1 and H2 can be appropriately selected depending on the situation and may be used in some cases.

Next, a working robot system and a control method thereof according to an exemplary embodiment of the present invention will be described in detail with reference to FIGS. 15 to 17.

15 is a block diagram of a work robot system according to an embodiment of the present invention, FIG. 16 is a flowchart of a spraying operation using the work robot system according to an embodiment of the present invention, and FIG. 17 is an embodiment of the present invention. Schematic for explaining the coordinate division in the spray operation according to.

Referring to FIG. 15, the work robot system according to the present embodiment includes a work robot 100, an autonomous mobile device 200, and a controller 300 for controlling the work robot 100. The work robot 100 and the autonomous mobile device 200 may be as shown in FIG. 1.

Referring to FIG. 16, in the spraying operation according to the present embodiment, the controller 300 first drives the autonomous movement device 200 to move to the corresponding position (610). Then, the coordinates of the autonomous mobile device 200 and the coordinates of the surface 400 to be read are read (620) and based on the extracted coordinates of the work robot 100 given in the work instruction (630). The coordinates of the working robot 100 may be given as six values of (x, y, z, Rx, Ry, Rz), and the coordinates of the end point of the nebulizer 14 with respect to the center of the autonomous mobile device 200. Can be represented.

When spraying work, the work robot 100 should be moved to the extracted robot coordinates. In this case, it may be a matter of choice in which order and how much driving amount each part of the work robot 100 is driven. In the present embodiment, as in the case of FIGS. 7, 8, 11 and 12, the second linear moving member 6 is set not to be driven while spraying while rotating the first rotating member 1.

As described above with reference to FIG. 9, in the case of spraying while rotating the first rotating member 1, in order to maximize the working area, the center of the work robot 100 or the first and second rotating members 1 and 2 may be used. ), The length L0 of the first linear moving member 3 is the minimum value of the length of the first linear moving member 3 at the point where the distance from the surface 400 to the surface 400 is the minimum (y = 0 in FIG. 9). You can do that.

However, the robot coordinates extracted from the above may not satisfy this, in which case the length L0 of the first linear moving member 3 is moved to the first linear moving member by moving the second linear moving member 6 before starting the spraying operation. (3) It can be made to be the minimum value of the length.

Referring to FIG. 17, if, for example, the length L3 of the first linear moving member 3 is greater than the minimum value Lmin of the length of the first linear moving member 3 at the point of y = 0, the first straight line The second linear moving member 6 can approach the surface 400 to the point where the length L3 of the moving member 3 is equal to the minimum value Lmin.

As shown, the position of the second rotating member 2 when the working robot 100 is at the position of the robot coordinates extracted earlier is assumed to be the first origin O. Also, when the length of the first linear moving member 3 of the working robot 100 has the minimum value Lmin, let the position of the second rotating member 2 of the working robot 100 be the second origin O '. .

Then, after the movement of the autonomous movement device 200 is completed, the second rotating member 2 mounted on the autonomous movement device 200 is positioned at the first origin point O. Thereafter, the second linear moving member 6 moves in the X-axis direction by the distance x _s between the first origin O and the second origin O ', and accordingly, the second rotation member 2 is moved in the second direction. It is located at the origin O '.

As such, it is necessary to divide the x coordinate of the work robot 100 into a part to be in charge of the second linear moving member 6 and a part to be in charge of another part, which is referred to herein as a “coordinate division” operation (FIG. 16). Of 640). This will be described in detail.

As described above with reference to FIG. 11, only the yaw coordinate Rz changes during the hold-up operation H1, only the y coordinate changes during the remaining spraying operation, and the yaw coordinate Rz is zero. In addition, since the center axis | shaft of all the rotating members 1, 2, 4, and 5 is parallel with a Z axis | shaft or a Y-axis at the point of y = 0, roll coordinate Rx also becomes zero.

Therefore, if the robot coordinates during spraying are given as (x, y, z, Rx, Ry, Rz), then the robot coordinates at the point y = 0 is (x, 0, z, 0, Ry, 0). At this point, the rotation angle θ1 of the first rotating member 1 and the rotation angle θ5 of the fourth rotating member 5 also become zero.

Referring to FIG. 17, it is assumed that the left side is the X-axis direction and the upper side is the Z-axis direction.

Coordinates of the third rotating member 4, that is, the coordinates of the end of the first linear moving member 3, at a point at y = 0, that is, at a robot coordinate of (x, 0, z, 0, Ry, 0) Obtain

First, the distance d45 between the atomizer 14 end point and the 3rd rotating member 4 is calculated | required. Since the geometry of the nebulizer 14 and the second connecting member 45 is fixed, the distance d45 can be easily obtained using mechanical parameters.

Z and pitch coordinates Ry of the end of the sprayer 14, the distance d45 between the end of the sprayer 14 and the third rotating member 4, and the sprayer 14 and the second connecting member 45. The z coordinate z7 of the third rotating member 4 is obtained using the properties of the triangle based on the mechanical parameters of. The x coordinate difference x7 of the atomizer 14 end point and the 3rd rotating member 4 is calculated | required from the z7 and triangular property which were obtained in this way.

가 된다.Next, when the length of the 1st linear moving member 3 is minimum value Lmin, the x coordinate x8 of the 3rd rotating member 4 is calculated | required. Is easily available from the Pythagorean theorem,

.

Therefore, the new x coordinate x _r based on the position of the second rotating member 2 when the length of the first linear moving member 3 is the minimum value Lmin, that is, the second origin O 'is x. _r = x7 + x8, and the distance x _s between the first origin O and the second origin O 'is x _s = x-x _r .

However, since the x coordinate does not change when spraying the floor surface, the new x coordinate can be applied to all coordinates when spraying.

Referring back to FIG. 16, the controller 300 drives the second linear moving member 6 of the work robot 100 to determine the distance x _s between the first origin O and the second origin O 'obtained above. (650). Subsequently, the spraying operation is performed by driving the work robot 100 based on the new coordinates based on the second origin O '(660).

As described above, in the above-described embodiment, it is possible to obtain uniform coating quality by overcoming the limitation of the obstacle or the work area through the hole-tagging operation or the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

1, 2, 4, 5: rotating member
3, 6: straight moving member
12, 45: connecting member
14: atomizer
100: working robot
200: autonomous shifting device
210: guide rail
300:
400: Drawing
410: floor surface
420: Girdle
430: vertical plane
500: painting work
510, 520, 530: spraying

Claims (20)

A work robot comprising first, second, third and fourth rotating members and first and second linear moving members is placed in front of the to-be-drawn surface such that the central axis of the second linear moving member is perpendicular to or parallel to the surface to be drawn. Installation steps,
A first spraying step of spraying the to-be-painted surface using an atomizer coupled to the fourth rotating member while rotating the first rotating member, and
A second spraying step of spraying the projection of the sprayer while forming an oblique angle with the to-be-painted surface
, ≪ / RTI &
The second linear moving member, the first rotating member, the second rotating member, the first linear moving member, the third rotating member, and the fourth rotating member are sequentially connected;
The central axis of the second linear moving member is parallel to the horizontal plane,
The central axis of the first rotating member is perpendicular to the horizontal plane,
The first to fourth rotating members and the first and second linear moving members are perpendicular to each other adjacent ones,
The first linear moving member is changed in length in the direction of its central axis and the second linear moving member is movable along its central axis,
The first spraying step is spraying while the projection on the horizontal plane of the sprayer is perpendicular to the surface to be painted and the distance between the sprayer and the surface to be maintained constant. delete In claim 1,
The coating method in which the distance between the spray gun and the surface to be coated is changed in the second spraying step.
4. The method of claim 3,
And said first to third rotating members and said first and second linear moving members are fixed and said rotation angle of said fourth rotating member is changed in said second spraying step. In claim 1,
The coating method in which the distance between the sprayer and the surface to be coated is constant in the second spraying step. In claim 1,
The second spraying step,
Fixing the first to third rotating members and the first and second linear moving members and spraying the fourth rotating member while changing the rotation angle of the fourth rotating member, and
A spraying step of spraying while maintaining a constant distance between the sprayer and the surface to be coated
. The method according to any one of claims 1 and 3 to 6,
And the length of the first linear moving member at the position where the distance between the second rotating member and the surface to be drawn is closest is the minimum length that the first linear moving member can have. In claim 7,
The working robot is mounted on the autonomous mobile device and moves.
The second linear moving member moves above the autonomous moving device.
How to paint. 9. The method of claim 8,
The installation step is
Moving the autonomous mobile device equipped with the work robot to the front of the surface to be drawn, and
The autonomous movement of the second linear movement member such that the length of the first linear movement member at the position where the distance between the second rotating member and the to-be-drawn surface is closest is the minimum length that the first linear movement member can have. Painting method comprising moving over the device. The method according to any one of claims 1 and 3 to 6,
The central axis of the second linear moving member is parallel to the surface to be painted,
The painting method further includes a third spraying step of fixing the first to fourth rotating members and the first linear moving member and driving only the second linear moving member to spray. The method according to any one of claims 1 and 3 to 6,
And the sprayer is perpendicular to the surface to be coated in the first spraying step.
Moving an autonomous moving device equipped with a work robot including a first linear moving member having a varying length, a second linear moving member movable on a straight line, and a sprayer, in front of the surface to be coated;
Reading the coordinates of the drawing and the coordinates of the autonomous mobile device,
Extracting first coordinates of the work robot from coordinates of the drawing and coordinates of the autonomous mobile device;
Calculating second coordinates such that the length of the first linear moving member at the position where the distance between the center of the working robot and the surface to be drawn is closest is the minimum length that the first linear moving member can have;
Moving the second linear moving member on the autonomous movement device by a difference between the first coordinate and the second coordinate, and
Spraying onto the surface to be coated using the sprayer while moving the work robot according to the second coordinates while the second linear moving member is fixed. The method of claim 12,
And the spraying step includes a normal spraying step in which the projection to the horizontal plane of the sprayer is perpendicular to the surface to be sprayed and sprayed while maintaining a constant distance between the sprayer and the surface to be sprayed. The method of claim 13,
The spraying step, the spraying method further comprises a holographic spraying step of spraying the projection of the sprayer at an oblique angle with the to-be-painted surface. The method of claim 14,
The coating method in which the distance between the nebulizer and the surface to be coated is changed in the holographic spraying step. The method of claim 14,
The coating method in which the distance between the nebulizer and the surface to be coated is constant in the holographic spraying step. The method of claim 14,
The holographic spraying step,
Spraying while varying the distance between the sprayer and the surface to be coated, and
Spraying while maintaining a constant distance between the sprayer and the surface to be coated
. The method according to any one of claims 13 to 17,
The normal spraying step includes spraying while changing the angle that the first linearly moving member makes with the surface to be coated. The method of claim 18,
The normal spraying step further includes spraying the second linear moving member while moving in parallel with the to-be-drawn surface while maintaining a constant angle between the first linearly moving member and the surface to be coated. The method according to any one of claims 13 to 17,
And the sprayer is perpendicular to the surface to be coated in the normal spraying step.

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