WO2020216382A1 - 喷涂机器人、控制方法以及计算机可读存储介质 - Google Patents
喷涂机器人、控制方法以及计算机可读存储介质 Download PDFInfo
- Publication number
- WO2020216382A1 WO2020216382A1 PCT/CN2020/087069 CN2020087069W WO2020216382A1 WO 2020216382 A1 WO2020216382 A1 WO 2020216382A1 CN 2020087069 W CN2020087069 W CN 2020087069W WO 2020216382 A1 WO2020216382 A1 WO 2020216382A1
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- WIPO (PCT)
- Prior art keywords
- rotating
- spraying robot
- spraying
- frame
- spray gun
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/004—Arrangements for controlling delivery; Arrangements for controlling the spray area comprising sensors for monitoring the delivery, e.g. by displaying the sensed value or generating an alarm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Definitions
- This application relates to the technical field of construction machinery, and specifically to a spraying robot, a control method, and a computer-readable storage medium.
- the painting of paint is generally manual rolling or spraying.
- the semi-automatic equipment has simple structure and single function. For example, the separation of the spraying system and the equipment makes the equipment unable to move autonomously.
- Spraying is not flexible, the precision and automation are not high, and it is highly dependent on labor.
- one purpose of the present application is to provide a spraying robot, which can increase its spraying range and has high flexibility during spraying operations, thereby improving the spraying efficiency and spraying effect of the spraying robot.
- This application also proposes a control method with the spraying robot.
- the application also proposes a computer-readable storage medium with the control method of the spraying robot.
- the spraying robot includes: a frame, a first lifting mechanism, a lifting motor, and a spray gun, the frame is provided with a lifting channel, and the first lifting mechanism is provided in the In the lifting channel, the first part of the first lifting mechanism is fixedly connected to the frame, and the lifting motor is drivingly connected to the first lifting mechanism, so that the first lifting mechanism is driven by the lifting motor.
- the mechanism moves in the lifting channel, and the spray gun is provided in the second part of the first lifting mechanism, wherein the first part and the second part are provided on both sides of the first lifting mechanism to Driven by the lifting motor, the first lifting mechanism extends or retracts the lifting channel, and relative movement occurs between the spray gun and the first lifting mechanism.
- the structure of the spraying robot can be made compact, and the first lifting mechanism can move in the lifting channel, that is, the first lifting mechanism can extend or retract the lifting channel, thereby Expanded the scope of spraying robots.
- the lifting motor can drive the first lifting mechanism to move in the lifting channel, thereby improving the automation level of the product and reducing the dependence on labor.
- the spray gun is arranged in the second part of the first lifting mechanism.
- the second part and the first part of the first lifting mechanism are respectively arranged on both sides of the first lifting mechanism, so that the second part can move relative to the first part, which improves the operation of the spray gun Scope, further enhance the degree of automation of the spraying robot.
- spraying robot according to the present application may also have the following additional technical features:
- the first lifting mechanism includes: at least two transmission wheels and a transmission belt, one of the at least two transmission wheels is in transmission connection with the lifting motor, and the transmission belt is wound around the Outside of the driving wheel connected by the lifting motor, the driving belt cooperates with at least two of the driving wheels to move under the driving of the lifting motor.
- one side of the frame body is provided with a fixing plate extending upwardly parallel to the direction of the lifting channel, the first part of the transmission belt is fixedly connected with the fixing plate, and the spray gun is arranged in the transmission belt The second part on the side away from the fixed plate.
- the transmission wheel is a gear, and the transmission belt is a rack; or the transmission wheel is a pulley and the transmission belt is a timing belt; or the transmission wheel is a sprocket, and the transmission belt is a chain belt.
- the spraying robot further includes: a hanger, the hanger is arranged on the second part of the first lifting mechanism, and the hanger is provided with a first sliding assembly, The spray gun is arranged on the first sliding assembly of the sliding assembly to slide under the action of the first sliding assembly of the sliding assembly.
- the first sliding assembly of the sliding assembly includes: a first guide rail, a first guide block, and a sliding motor, the first guide rail is fixedly connected to the hanger, and the first guide block is provided on the first guide rail.
- the spray gun is arranged on the first guide block in a guide rail; the sliding motor is electrically connected with the first guide block to control the sliding of the first guide block on the first guide block.
- the spraying robot further includes a rotating assembly, the rotating assembly is arranged on the first sliding assembly of the sliding assembly, and the spray gun is arranged on the rotating assembly so as to be under the action of the rotating assembly. Rotate in the working surface of the spray gun.
- the spraying robot further includes: a second lifting mechanism, the second lifting mechanism is arranged on the frame, and the second lifting mechanism can move relative to the frame , Wherein the lifting channel is provided in the second lifting mechanism.
- the second lifting mechanism includes: a second guide rail and a second guide block slidably connected to each other, and the second guide block is provided with the lifting channel.
- the spraying robot further includes: a bucket, a moving device, and a power supply device.
- the bucket is arranged in the frame, and a communication between the spray gun and the bucket is provided.
- the conveying pipeline and/or the moving device are arranged at the bottom of the frame to drive the frame to move, and/or the power supply device is arranged in the frame to provide the spraying robot Electricity during operation.
- the transmission belt is provided with a first matching portion fixedly connected to the frame body, and driven by the lifting motor, the first lifting mechanism passes through the first matching portion Realize the relative movement with the frame.
- the first matching portion is provided on one side of the transmission belt, and the other side of the transmission belt is provided with a spray gun of the spraying robot, so that the spray gun is driven by the lifting motor in the The transmission belt moves, and the first lifting mechanism and the frame body move relatively.
- the spraying robot further includes: a second matching part, the second matching part is provided on the frame, and at least part of the transmission belt is provided in the second matching part, so as to pass through the first
- a matching part and the second matching part realizes the fixed connection between the transmission belt and the frame body.
- one of the first matching portion and the second matching portion is a tooth groove that matches the shape of the gear tooth of the transmission wheel, and the other is a convex tooth that has the same shape as the gear tooth.
- the second matching portion is provided with a tooth-shaped block protruding toward the transmission belt to pass The tooth-shaped block fixes the first matching portion.
- the first lifting mechanism further includes: a lifting frame, which is slidably connected to the frame body in a height direction; and the driving wheel connected to the lifting motor is a driving wheel.
- the driving wheel is installed at one end of the lifting frame in the height direction; the other transmission wheel is a driven wheel, and the driven wheel is installed at the other end of the lifting frame in the height direction;
- the transmission belt is wrapped around On the outer periphery of the driving wheel and the driven wheel, the first part of the transmission belt is located on one side of the central connecting line of the driving wheel and the driven wheel, and the second part of the transmission belt is located at the driving wheel and On the other side of the center connecting line of the driven wheel, the first part is fixedly connected to the frame, and the second part is used to install the spray gun.
- the spray gun is at the highest working position, the second part is located at the The upper part of the first lifting mechanism, the first part is located at the lower part of the first lifting mechanism.
- the spraying robot further includes a first connecting piece and a second connecting piece, one end of the first connecting piece is fixedly connected to the second part, and the other end of the first connecting piece is connected to the spray gun Connection; one end of the second connecting piece is fixedly connected with the first part, and the other end of the second connecting piece is connected with the frame body.
- the first connecting member includes: a connecting main board and a connecting side board, one side of the connecting main board is connected to the second part, the other side of the connecting main board is connected to the spray gun, the Both ends of the connecting main board are provided with the connecting side plates, and the two connecting side plates are respectively slidably connected with the lifting frame.
- the lifting frame includes two vertical walls and two reinforcing walls.
- the upper and lower ends of the two vertical walls are respectively connected by the reinforcing walls.
- the adjacent sides in the horizontal direction are respectively provided with relief openings, the first connecting piece penetrates one of the relief holes, and the second connecting piece penetrates the other relief hole.
- the first lifting mechanism further includes a first upper limit member and a first lower limit member, the first upper limit member is disposed on the upper part of the lifting frame, and the first upper limit member is used for Defining the high position of the second part, the first lower limit member is arranged at the lower part of the lifting frame, and the first lower limit member is used to limit the low position of the second part; and/or, also It includes a second upper limit member and a second lower limit member, the second upper limit member is arranged on the upper part of the frame, the second upper limit member is used to limit the high position of the lifting frame, the second The lower limit member is arranged at the lower part of the frame body, and the second lower limit member is used to limit the low position of the lifting frame.
- a second slide rail is provided on the inner side of both side walls of the frame body, and second sliding blocks are provided on the outer side of the vertical walls on both sides of the lifting frame, and the second slide blocks are located at In the lower part of the lifting frame, the second sliding block is slidably connected to the second sliding rail.
- the spraying robot further includes a rotating assembly, the rotating assembly is arranged on the frame, the rotating assembly includes a first rotating structure and a second rotating structure, wherein The first rotating structure is provided on the frame, the second rotating structure is provided on the first rotating structure, and the second rotating structure and the first rotating structure have different rotation directions.
- the spray gun is arranged on the second rotating structure to realize rotation under the driving of the rotating assembly.
- one end of the frame body is provided with a rotating platform
- the first rotating structure includes: a first rotating base, a first rotating body, and a first rotating motor, and the first rotating base is provided on the On the rotating platform, the first rotating body is coaxially arranged with the first rotating base, and the first rotating body can rotate on the first rotating base, and the first rotating motor is connected to the first rotating base.
- the first rotating body is connected in transmission to realize the rotation of the first rotating body.
- the second rotating structure includes: a second rotating base, a second rotating body, and a second rotating electric machine, the second rotating base is provided on the first rotating body, and the second rotating body The body is coaxially arranged with the second rotating base, and the second rotating body is rotatable on the second rotating base.
- the spray gun is arranged on the second rotating body.
- the motor is drivingly connected with the second rotating body to realize the rotation of the second rotating body.
- the first rotating body includes a first plate and a second plate connected to one side of the first plate, wherein the first plate and the second plate are pre-shaped Setting an angle, the second rotating electric machine is arranged in a space sandwiched by the first plate and the second plate.
- the spraying robot further includes: a right-angle reducer, one end of the right-angle reducer is connected to the second rotating electric machine, and the other end is connected to the second rotating body, so that the second rotating electric machine
- the axis of is a right angle with the axis of the second rotating base.
- the rotating surface of the first rotating structure is perpendicular to the rotating surface of the second rotating structure.
- the spraying robot further includes: a rotating bracket, one end of the rotating bracket is connected to the frame body, and a wire passing space is provided in the rotating bracket, and the first rotating base It is seated on the rotating bracket.
- the spraying robot further includes: a second sliding assembly of a sliding assembly, the second sliding assembly of the sliding assembly is arranged on the frame, and the first rotating structure is arranged on the sliding The component is on the second sliding component.
- the second sliding assembly of the sliding assembly includes: a lead screw and a bracket sliding block, the lead screw is arranged on the frame, and the bracket sliding block is provided with the wire
- the support slider can move along the axial direction of the screw, and the support slider is provided with the rotating assembly .
- the spraying robot further includes: a movable plate and an electric push rod, the movable plate and the rotating support are hinged, the spray gun and the movable plate are fixedly connected, and the spray gun is used for During the spraying operation, one end of the electric push rod is hinged with the rotating support, the other end of the electric push rod is hinged with the movable plate, and both ends of the electric push rod can perform telescopic movement.
- the spraying robot further includes an elastic telescopic component, one end of the elastic telescopic component is hinged with the rotating bracket, the other end of the elastic telescopic component is hinged with the movable plate, and the elasticity of the elastic telescopic component The force is used to counteract at least part of the gravity of the spray gun.
- the number of the elastic telescopic components is two, and the two elastic telescopic components are respectively located on two sides of a rotating surface, and the rotating surface is a plane on which the electric push rod rotates.
- the elastic telescopic component is a nitrogen gas spring
- the first position is lower than the second position
- the first position is the position where one end of the electric push rod is hinged with the rotating bracket
- the second position is the position where the other end of the electric push rod is hinged with the movable plate
- the third position is lower than the fourth position
- the third position is the hinged position between one end of the nitrogen gas spring and the rotating bracket Position
- the fourth position is a position where the other end of the nitrogen spring is hinged with the movable plate
- the nitrogen spring is in a compressed state
- the thrust provided by the nitrogen spring is used to offset at least part of the gravity of the spray gun.
- the spraying robot further includes a limiting device, the limiting device is arranged on the rotating bracket, the limiting device includes an elastic abutting member, the elastic abutting member is located above the movable plate,
- the electric push rod acts on the movable plate to make the movable plate and the spray gun rotate upward
- the target rotation position is the position where the movable plate is before the movable plate rotates upward to the preset position.
- the spraying robot further includes an in-position switch and an induction sheet, the in-position switch is arranged on the rotating bracket, and the induction sheet is arranged on the movable plate; Under the thrust of the push rod, when the movable plate and the spray gun rotate to a preset in-position position, the in-position switch and the sensing sheet trigger a sensing signal.
- the spraying robot further includes: a control device, a vision sensor, and a mobile component moving device, the control device is provided on the frame, and the control device and the lifting mechanism A lifting mechanism is electrically connected to the spray gun to control the lifting of the first lifting mechanism of the lifting mechanism and the spraying of the spray gun.
- the vision sensor is arranged on the frame and is used to obtain the position of the frame.
- the distance between the position and the obstacle, and the control device is electrically connected to the visual sensor, and the unit type information of the space where the frame is located is determined by the distance detected by the visual sensor, and the mobile component mobile device is set At the bottom of the frame, the control device is electrically connected with the mobile component moving device to control the movement of the moving component moving device according to the spraying path corresponding to the house type information.
- the spraying robot further includes: a memory which is electrically connected to the control device, and a plurality of house plans and a spraying path corresponding to each of the house plans are pre-stored in the memory to The control device determines the house plan stored in the memory according to the house plan information, and determines the corresponding spraying path according to the house plan.
- the vision sensor specifically includes at least one of the following: a lidar sensor, an infrared sensor, and an ultrasonic sensor.
- This application also proposes a control method of a spraying robot with the above-mentioned embodiments.
- the control method includes: determining the house type information of the position of the spraying robot through the vision sensor of the spraying robot; searching for the house type map corresponding to the house type structure; and controlling the spraying robot Move according to the spraying path corresponding to the house plan.
- control method further includes: when the spraying robot moves to any spraying position of the spraying path, controlling the moving device of the spraying robot to stop moving, and pass the lifting mechanism of the spraying robot
- the first lifting mechanism controls the movement of the spray gun of the spraying robot, and controls the spray gun to perform spraying; or during the movement of the spraying robot along the spraying path, the first lifting mechanism is used by the lifting mechanism of the spraying robot
- the movement of the spray gun of the spraying robot is controlled, and the spray gun is controlled to spray.
- the searching for the house plan corresponding to the house structure specifically includes: respectively determining the matching degree of each house plan stored in the memory in advance with the house type information; It is determined in each of the house type diagrams that the house type diagram with the highest matching degree is the house type diagram corresponding to the house type structure.
- the method before the separately determining the degree of matching between each house-type map stored in the external memory and the house-type information, the method further includes: determining the use state of a memory interface, and determining whether the memory interface is A memory is connected to generate a judgment result; when the judgment result is yes, the step of separately determining the matching degree of each house type map stored in the external memory and the house type information is performed.
- the spraying robot when the spraying robot stops moving, since the frame is stationary relative to the ground, the spraying robot has higher stability. Therefore, the spray gun spraying operation is more stable and the accuracy of the spraying operation is improved; in addition, When the spraying robot moves along the spraying path, the first lifting mechanism of the spraying robot can also control the movement of the spray gun of the spraying robot, and control the spray gun to spray, so that the spraying robot moves while performing the spraying operation to improve the spraying operation effectiveness.
- the application also proposes a computer-readable storage medium having the control method of the spraying robot of the above-mentioned embodiment.
- a computer program is stored thereon, and when the computer program is executed by a processor, the steps of the method for controlling a spraying robot are realized.
- the spraying robot can walk along the designated path, and can also perform spraying operations as needed, so that the spraying efficiency and spraying effect of the spraying robot can be improved.
- FIG. 1 is a schematic structural diagram of a spraying robot according to an embodiment of the present application
- Figure 2 is an exploded view of the spraying robot according to an embodiment of the present application.
- Fig. 3 is a schematic structural diagram of another angle of the spraying robot according to the embodiment of the present application.
- Figure 4 is an enlarged view of area A in Figure 3;
- FIG. 5 is a schematic structural diagram of a first lifting mechanism of a spraying robot according to an embodiment of the present application
- Fig. 6 is an enlarged view of area B in Fig. 5;
- FIG. 7 is a schematic structural diagram of a spraying robot of an embodiment of the present application with a part of the structure removed;
- FIG. 8 is a schematic structural diagram of the spraying robot of the embodiment of the present application when the first lifting mechanism is in a high position
- FIG. 9 is a side view of the spraying robot of the embodiment of the present application when the first lifting mechanism is in a high position;
- Figure 10 is a cross-sectional view along line C-C in Figure 8.
- Figure 11 is an enlarged view of area D in Figure 10;
- Figure 12 is an enlarged view of area E in Figure 10;
- FIG. 13 is a schematic structural diagram of the spraying robot of the embodiment of the present application when the first lifting mechanism is in a low position;
- FIG. 14 is a side view of the spraying robot of the embodiment of the present application when the first lifting mechanism is in a low position;
- Figure 15 is a sectional view taken along line F-F in Figure 13;
- 16 is a schematic structural diagram of the spraying robot of the embodiment of the present application when the first lifting mechanism is in the neutral position;
- Figure 17 is a side view of the spraying robot of the embodiment of the present application when the first lifting mechanism is in the neutral position;
- Figure 18 is a cross-sectional view taken along line G-G in Figure 16;
- Figure 19 (a, b, c) is a comparative schematic diagram of the first lifting mechanism of the spraying robot of the embodiment of the present application in different positions, where Figure a is the spray gun in the high working position, Figure b the spray gun is in the middle of the working position, and Figure c is The spray gun is in the operating low position;
- 20 is a schematic structural diagram of an embodiment of a spraying robot according to an embodiment of the present application.
- 21 is a schematic structural diagram of another embodiment of a spraying robot according to an embodiment of the present application.
- FIG. 22 is a schematic structural diagram of another embodiment of a spraying robot according to an embodiment of the present application.
- FIG. 23 is a schematic structural diagram of another embodiment of a spraying robot according to an embodiment of the present application.
- FIG. 24 is a schematic structural diagram of a spraying method of a spraying robot according to an embodiment of the present application.
- Figure 25 is a schematic structural view of a part of the structure of Figure 24;
- Figure 26 is an enlarged view of area H in Figure 25;
- FIG. 27 is a schematic flowchart of a control method of an embodiment of a spraying robot according to an embodiment of the present application.
- FIG. 28 is a schematic flowchart of a control method of another embodiment of a spraying robot according to an embodiment of the present application.
- FIG. 29 is a schematic flowchart of a control method of another embodiment of a spraying robot according to an embodiment of the present application.
- Fig. 30 is a schematic flowchart of a control method of another embodiment of a spraying robot according to an embodiment of the present application.
- the spraying robot 100 according to an embodiment of the present application will be described below with reference to FIGS. 1 to 30.
- the spraying robot 100 includes: a frame body 1, a first lifting mechanism 2, a lifting motor 3 and a spray gun 4.
- the frame 1 is provided with a lifting channel 12
- the first lifting mechanism 2 is provided in the lifting channel 12
- the first part of the first lifting mechanism 2 is fixedly connected with the frame 1
- the lifting motor 3 is driven by the first lifting mechanism 2 Connected so that the first lifting mechanism 2 moves in the lifting channel 12 under the driving of the lifting motor 3.
- the spray gun 4 is arranged in the second part of the first lifting mechanism 2, wherein the first part and the second part are arranged in the first lifting On both sides of the mechanism 2, driven by the lifting motor 3, the first lifting mechanism 2 extends or retracts the lifting channel 12, and relative movement occurs between the spray gun 4 and the first lifting mechanism 2.
- the spray gun 4 is arranged at the second part of the first lifting mechanism 2, so that the spray gun 4 can move relative to the first lifting mechanism 2, that is, the relative movement of the spray gun 4 on the first lifting mechanism 2
- the position can be changed, and at the same time, the first lifting mechanism 2 can also extend or retract the lifting channel 12, so that the position of the spray gun 4 can be raised or lowered with the first lifting mechanism 2.
- the spray gun 4 makes further position changes relative to the first lifting mechanism 2, such as further lifting, or horizontal movement, to expand the working range of the spray gun 4, thereby increasing the spraying flexibility of the spraying robot 100 and its adaptability to the construction environment.
- the position of the spray gun 4 can be automatically adjusted according to the construction location, which improves the degree of automation of the product and reduces the dependence on labor.
- the structure of the spraying robot 100 can be made compact, and the first lifting mechanism 2 can move in the lifting channel 12, that is, the first lifting mechanism 2 can be extended or The lifting channel 12 is retracted, thereby expanding the working range of the spraying robot 100.
- the lifting motor 3 can drive the first lifting mechanism 2 to move in the lifting channel 12, thereby improving the automation level of the product and reducing the dependence on labor.
- the movable range of the first lifting mechanism 2 can be limited, and the first lifting mechanism 2 can be prevented from coming out of the lifting channel 12, thereby ensuring the stability of the first lifting mechanism 2 Performance and reliability;
- the spray gun 4 is arranged in the second part of the first lifting mechanism 2, and the second part and the first part of the first lifting mechanism 2 are respectively arranged on both sides of the first lifting mechanism 2, so that the second part can face each other In the first part of the movement, the working range of the spray gun 4 is increased, and the degree of automation of the spraying robot 100 is further improved.
- the spray gun 4 can carry paint itself, or it can be connected to a container for storing paint through a pipeline, and the paint can be drawn from the container for spraying.
- the first lifting mechanism 2 specifically includes: at least two transmission wheels 21 and a transmission belt 22, and one of the at least two transmission wheels 21 is drivingly connected to the lifting motor 3.
- the transmission belt 22 is wound around a transmission wheel 21 that is connected to the lifting motor 3 in a driving manner.
- the transmission belt 22 cooperates with at least two transmission wheels 21 to move under the drive of the lifting motor 3.
- the transmission belt 22 is moved under the driving of the lifting motor 3.
- a structure is simple and is beneficial for the transmission belt 22 to drive the spray gun 4 to move.
- one transmission wheel 21 is drivingly connected with the hoisting motor 3, so that it serves as the driving wheel 211 and transmits the torque of the hoisting motor 3 to drive the transmission belt 22, and the other transmission wheel 21 is used as the driven wheel 212 to rotate with the movement of the transmission belt 22. It is convenient to provide tension for the transmission belt 22 and ensure the stability of the operation of the transmission belt 22.
- the first lifting mechanism 2 has a two-stage lifting structure: the first lifting mechanism 2 is one stage, and the conveyor belt is one stage.
- the length of the conveyor belt is the lifting height of the first lifting mechanism 2, that is, when the lifting height of the first lifting mechanism 2 is S, the lifting height of the spray gun 4 through the first lifting mechanism 2 is S.
- one side of the frame body 1 is provided with a fixing plate 111 extending upwardly parallel to the direction of the lifting channel 12, the first part 221 of the transmission belt is fixedly connected with the fixing plate 111, and the spray gun 4 is arranged on the transmission belt 22 The second part on the side away from the fixed plate 111.
- the first part 221 of the transmission belt is fixedly connected to the fixing plate 111, and the spray gun 4 is arranged on the second part of the transmission belt 22 away from the fixing plate 111,
- the purpose of the transmission belt 22 moving in different directions and two-stage lifting that is, the purpose of lifting along the lifting channel 12 and two-stage lifting can be realized.
- the transmission belt 22 moves downward, because the first part is fixed on the fixed plate 111, the transmission belt 22 moves downward as a whole, and the spray gun 4 can move downward as the overall position of the transmission belt 22 moves down, while still on the transmission belt 22.
- the upper part moves relative to the first lifting mechanism 2 itself, and moves to the lower end of the transmission belt 22; when the transmission belt 22 moves upward, because the first part is fixed on the fixed plate 111, the transmission belt 22 moves upward as a whole, and the spray gun 4 can follow the transmission belt 22
- the overall position of the spray gun 4 moves up and up, and at the same time, it moves on the transmission belt 22 relative to the first lifting mechanism 2 itself, and moves to the upper end of the transmission belt 22 to achieve two-stage lifting, which greatly increases the working range of the spray gun 4 and improves The degree of automation of the product reduces the dependence on labor.
- the transmission wheel 21 is a gear
- the transmission belt 22 is a rack
- the transmission wheel 21 is a pulley and the transmission belt 22 is a timing belt
- the transmission wheel 21 is a sprocket and the transmission belt 22 is a chain belt.
- the structure is relatively simple, the accessories are widely used, and the production and maintenance are convenient, and the transmission process is stable and reliable. , Is conducive to improving product accuracy and automation.
- the gear has a compact structure, a high degree of meshing with the rack, and low cost.
- the pulley and timing belt drive smoothly with little vibration.
- the elongation of the chain belt is low, the sprocket diameter is small, and the load capacity is large.
- the spraying robot 100 further includes: a hanger 5, the hanger 5 is provided in the second part of the first lifting mechanism 2, and the hanger 5 is provided with a first sliding assembly 6, and the spray gun 4 is provided On the first sliding component 6 to slide under the action of the first sliding component 6.
- the spray gun 4 is arranged on the first sliding assembly 6, so that the spray gun 4 can slide Therefore, the spray gun 4 can not only move along the longitudinal direction of the lifting channel 12, but also move along the lateral direction of the lifting channel 12, which greatly increases the working range of the spray gun 4.
- the first sliding assembly 6 specifically includes a first guide rail 61, a first guide block 62, and a sliding motor 303.
- the first guide rail 61 is fixedly connected to the hanger 5, and the first guide block 62 is provided with
- the spray gun 4 is provided in the first guide rail 61 and the first guide block 62.
- the sliding motor 303 is electrically connected with the first guide block 62 to control the sliding of the first guide block 62 on the first guide block 61.
- the first sliding assembly 6 includes the first guide rail 61, the first guide block 62, and the sliding motor 303, which is simple in structure, easy to produce and install, and the sliding motor 303 controls the first guide block 62 to drive the spray gun 4 to slide. ,
- the automation degree of the spraying robot 100 is improved, the labor intensity is reduced, and the dependence of the product on the labor is reduced.
- the spraying robot 100 further includes: a rotating assembly 7, the rotating assembly 7 is arranged on the first sliding assembly 6, and the spray gun 4 is arranged on the rotating assembly 7, so as to be in the working surface of the spray gun 4 under the action of the rotating assembly 7 Spin.
- the spray gun 4 can be rotated through the arrangement of the rotating assembly 7, which not only increases the spraying range of the spray gun 4, but also increases the spray angle of the spray gun 4, thereby further improving the flexibility and automation of the spraying robot 100.
- the spraying robot 100 further includes a second lifting mechanism, the second lifting mechanism is arranged on the frame 1, and the second lifting mechanism can move relative to the frame 1, wherein the second lifting mechanism With a lifting channel 12.
- the lifting channel 12 is provided in the second lifting mechanism, so that the first lifting mechanism 2 can follow the second lifting channel 12
- the movement of the lifting mechanism further expands the movement range, thereby further increasing the working range of the spray gun 4.
- the second lifting mechanism specifically includes: a second guide rail and a second guide block slidably connected to each other, and a lifting channel 12 is provided on the second guide block.
- the second lifting mechanism includes the second guide rail and the second guide block, and the lifting channel 12 is arranged on the second guide block.
- This structure is simple, easy to produce and install, and easy to ensure that the movement direction of the second lifting mechanism is maintained. Straight line makes the product easier to control, thereby improving product accuracy and automation.
- the spraying robot 100 further includes: a barrel 8, the barrel 8 is arranged in the frame 1, and a communicating conveying pipeline is provided between the spray gun 4 and the barrel 8, and/or mobile
- the device 9, the moving device 9 is arranged at the bottom of the frame 1 to drive the frame 1 to move; and/or the power supply device 10, the power supply device 10 is arranged in the frame 1 to provide electrical energy for the spraying robot 100 during operation.
- the spray gun 4 to directly extract the paint from the barrel 8 through the conveying pipeline for spraying, that is, the spraying robot 100 can bring the paint itself, without the need for external supply.
- the device is connected, which is beneficial to improve the autonomous and independent walking ability of the spraying robot 100, and avoids being restricted by the external feeding device and reducing the degree of automation.
- the moving device 9 is arranged at the bottom of the frame 1, so that the moving device 9 can drive the frame 1 to move, so that the spraying robot 100 can walk.
- Power is supplied by the power supply device 10, so that the spraying robot 100 can have the energy required for walking, and there is no need to connect an external power source through a cable line, so as to realize autonomous walking, reduce the dependence on external resources and labor, and avoid the cable line to the spraying robot 100 Interference during use.
- the spraying robot 100 can perform fully automatic spraying.
- the spraying robot 100 includes an automatic spraying system, a robot walking and route planning system, a secondary lifting mechanism, etc., which can realize wall and ceiling spraying. Spraying quality inspection, etc.
- the spray gun 4 of the automatic spraying system has two degrees of freedom, which can realize horizontal and vertical rotation.
- the spraying system has an extension arm, which can be combined with the rotation of the spray head to realize spraying of special-shaped walls such as bay windows.
- the extension arm mechanism of the spray gun 4 is equipped with a folding and rotating mechanism, which is convenient for the equipment to enter and exit the elevator, room door and other narrow space areas.
- spraying, material storage, power supply, navigation, and walking can be integrated into one to realize fully automatic spraying operations.
- the spraying robot 100 of the present application includes a frame body 1, in which a lifting channel 12 is provided, and the lifting channel 12 is provided with a first moving up and down along the lifting channel 12. As shown in FIG. 5, the lifting mechanism 2 moves up and down along the guide rail in the lifting channel 12.
- the first lifting mechanism 2 is provided with a horizontally arranged hanger 5.
- the hanger 5 is fixedly provided with a first rail 61 perpendicular to the lifting channel 12, and the first rail 61 is slidably provided
- the first guide block 62, the spray gun 4 is arranged on the first guide block 62 through the rotating assembly 7, and the first guide block 62 is driven by the sliding motor 303 to slide along the first guide rail 61.
- This structure allows the spray gun 4 to be lifted with the first
- the mechanism 2 moves up and down, and moves horizontally as the first guide block 62 slides on the first guide rail 61. It can also rotate to different angles with the rotation of the rotating assembly 7, so as to achieve horizontal and vertical rotation and enlargement The scope of operation of the spray gun 4.
- the first lifting mechanism 2 is configured as a secondary lifting mechanism and used as an extension arm of the spraying system.
- the first lifting mechanism 2 is divided into two parts. The first part of the first lifting mechanism 2 is fixed to the frame 1 and the second part of the first lifting mechanism 2 and the first part of the first lifting mechanism 2 are separately arranged on the left and right sides of the first lifting mechanism 2. On the side, the hanger 5 and the spray gun 4 are arranged on the second part of the first lifting mechanism 2 so as to move up and down with the second part of the first lifting mechanism 2.
- the second part of the first lifting mechanism 2 is provided with a transmission belt 22 and two transmission wheels 21 matched with the transmission belt 22.
- the driving wheel 211 is connected to the lifting motor 3, and the other is from Moving wheel 212; the first part 221 of the transmission belt is fixedly connected to the fixed plate 111 on the frame 1, the first part 222 of the transmission belt is movable, and the spray gun 4 is connected to the first part 222 of the transmission belt.
- the transmission wheel 21 connected to the lifting motor 3 rotates, so that the transmission belt 22 moves accordingly. Since the first part 221 of the transmission belt is fixed, as shown in FIG.
- the spraying robot 100 can be used for automatic spraying of interior walls of buildings. Its outstanding feature is fully automatic spraying, which can ensure that the spraying robot 100 can automatically drive along the predetermined route and complete the wall without manual labor. Surface spraying. In addition, the spraying robot 100 uses digital spraying, which can improve the spraying efficiency and spraying effect of the spraying robot 100.
- the transmission belt 22 is provided with a first matching portion 23 fixedly connected to the frame 1. Driven by the lifting motor 3, the first lifting mechanism 2 passes through the first matching portion 23 realizes relative movement with the frame 1.
- the transmission belt 22 is provided with the first matching portion 23 fixedly connected to the frame 1, since the transmission belt 22 is driven by the lifting motor 3 to continuously circulate and rotate, the transmission belt 22 is fixed to the frame by the first matching portion 23
- the first lifting mechanism 2 will move relative to the frame 1. That is, the timing belt of the first lifting mechanism 2 can not only rotate around the transmission wheel 21, but can also move as a whole relative to the frame 1.
- the first lifting mechanism 2 can achieve two-stage lifting, which increases the space range of the spraying operation without increasing the size of the spraying robot 100, effectively reducing the cost, and at the same time enhancing the flexibility of the spraying operation and the adaptability to the working environment. It is especially suitable for spraying environments that need to enter a small space or a high height.
- first matching portion 23 is fixedly connected with the frame body 1, including but not limited to riveting, bolt connection, and snap connection, which can limit the range of movement of the first lifting mechanism 2, thereby ensuring the working stability of the first lifting mechanism 2 And reliability.
- the first matching portion 23 is provided on one side of the transmission belt 22, specifically the side close to the frame 1, and the other side of the transmission belt 22 is provided with a spraying robot 100.
- the spray gun 4, that is, the spray gun 4 of the spraying robot 100 is provided on the side of the transmission belt 22 away from the frame 1, so that the spray gun 4 moves on the transmission belt 22 under the drive of the lifting motor 3, and the first lifting mechanism 2 and the frame 1 Relative movement occurs.
- the first matching portion 23 is provided on the side of the transmission belt 22 close to the frame 1, and the spray gun 4 of the spraying robot 100 is provided on the side of the transmission belt 22 away from the frame 1, so that the spray gun 4 can be mounted on the lifting motor Driven by 3, it moves on the transmission belt 22 to adjust the working height of the spray gun 4.
- the spray gun 4 and the first matching portion 23 are respectively arranged on both sides of the transmission belt 22 to increase the stroke of the spray gun 4 on the transmission belt 22.
- the first lifting mechanism 2 can move relative to the frame 1, so that the spray gun 4 can not only move on the transmission belt 22, but can also move with the first lifting mechanism 2 relative to the frame 1 as a whole.
- the two-stage improvement of the spraying position increases the space range of the spraying operation without increasing the size of the spraying robot 100, which effectively reduces the cost, and can also enhance the flexibility of the spraying operation and the adaptability to the working environment, especially suitable for spraying robots 100 needs to enter a small space or a high-altitude spraying environment.
- the stroke of the spray gun 4 on the transmission belt 22 is the largest.
- the first lifting mechanism 2 further includes a second matching portion 24, the second matching portion 24 is provided on the frame 1, and at least part of the transmission belt 22 is provided in the second matching portion 24 to
- the fixed connection between the transmission belt 22 and the frame 1 is realized by the cooperation of the first matching portion 23 and the second matching portion 24.
- the second matching portion 24 is provided on the frame 1, and at least part of the transmission belt 22 is provided in the second matching portion 24, that is, the first matching portion 23 provided in the transmission belt 22 passes through the first matching portion 23 and
- the cooperation of the second matching part 24 can realize the fixed connection between the transmission belt 22 and the frame 1, which greatly reduces the possibility of safety accidents of the first lifting mechanism 2 during the spraying process, and effectively improves the safety and stability of the spraying robot 100 .
- the fixed connection method through the cooperation of the first matching portion 23 and the second matching portion 24 has greater strength and is less likely to fall off and slip.
- the first matching portion 23 is a tooth groove that matches the shape of the gear tooth of the transmission wheel 21, and the second matching portion 24 is a convex tooth with the same shape as the gear tooth to pass through
- the cooperation of the tooth grooves and the convex teeth realizes the fixed connection between the transmission belt 22 and the frame body 1; and/or the second matching portion 24 is provided with a toothed block 25 protruding toward the transmission belt 22 to fix the first matching through the toothed block 25 Department 23.
- the tooth grooves on the first matching portion 23 and the convex teeth on the second matching portion 24 can be engaged with each other through the convex teeth and tooth grooves of the same shape. Therefore, the strength of the fixed connection between the transmission belt 22 and the frame 1 is enhanced, and the transmission belt 22 is stronger during the transmission process, thereby improving the safety and stability of the first lifting mechanism 2 during the lifting process.
- the tooth grooves are adapted to the shape of the gear teeth of the transmission wheel 21, so that the tooth grooves and convex teeth can be selected with the same processing parameters as the gear teeth of the transmission wheel 21, which is convenient for processing and helps ensure processing accuracy and reduce costs.
- the second matching portion 24 may also be provided with tooth grooves having the same shape as the gear teeth of the transmission wheel 21, and the first matching portion 23 is correspondingly provided with convex teeth having the same shape as the gear teeth of the transmission wheel 21 It is also possible to realize the mutual cooperation between the first matching portion 23 and the second matching portion 24 so as to realize the fixed connection between the transmission belt 22 and the frame body 1. There is no limitation here, and the actual needs can be met.
- the toothed block 25 protruding toward the transmission belt 22 on the second mating part 24, so that the toothed block 25 fixes the first mating part 23, the relationship between the first mating part 23 and the second mating part 24 can be improved. Fixed strength. At the same time, there is no need to process the first matching portion 23, which simplifies the structure of the transmission belt 22 and saves processing procedures.
- the standard transmission belt 22 can be used, which is beneficial to reducing costs.
- the first lifting mechanism 2 further includes: a lifting frame 26, which is slidably connected to the frame body 1 in the height direction; and the driving wheel 21 that is connected to the lifting motor 3 is a driving wheel 211.
- the wheel 211 is installed at one end of the lifting frame 26 in the height direction;
- the other transmission wheel 21 is a driven wheel 212, and the driven wheel 212 is installed at the other end of the lifting frame 26 in the height direction;
- the transmission belt 22 is wrapped around the driving wheel 211 and the driven wheel 212
- the first part 221 of the transmission belt is located on one side of the central connection line between the driving wheel 211 and the driven wheel 212, and the first part 222 of the transmission belt is located on the other side of the central connection line between the driving wheel 211 and the driven wheel 212.
- the body 1 is fixedly connected, and the second part is used to install the spray gun 4. When the spray gun 4 is at the highest working position, the second part is located at the upper part of the first lifting mechanism 2 and the first part is located at the
- the lifting motor 3 can drive the driving wheel 211 to rotate.
- the driving wheel 211 drives the transmission belt 22 to move.
- the first part remains stationary.
- the lifting frame 26 moves relative to the frame body 1 in the height direction, and the second part moves relative to the lifting frame 26 in the height direction.
- Ascending process During the movement of the driving belt 22 driven by the driving wheel 211, the first part remains stationary, the lifting frame 26 moves upward relative to the frame 1 in the height direction, and the second part moves upward relative to the lifting frame 26 in the height direction.
- Descending process During the movement of the driving belt 22 driven by the driving wheel 211, the first part remains stationary, the lifting frame 26 moves downward relative to the frame 1 in the height direction, and the second part moves downward relative to the lifting frame 26 in the height direction.
- the second part is located at the upper part of the first lifting mechanism 2 and the first part is located at the lower part of the first lifting mechanism 2.
- the second part is located at the lower part of the first lifting mechanism 2, and the first part is located at the upper part of the first lifting mechanism 2;
- the spray gun 4 When in the intermediate working position, as shown in FIGS. 8 to 18 and as shown in FIG. 19b, the second part is located in the middle of the first lifting mechanism 2, and the first part is located in the middle of the first lifting mechanism 2.
- the transmission belt 22 can drive the lifting frame 26 and the frame 1 at a height.
- the relative sliding direction is defined as a first-level stroke; the first part and the second part are further arranged on the transmission belt 22, and the spray gun 4 is installed on the second part, so that the transmission belt 22 drives the spray gun 4 to move in the height direction.
- the stroke is equal to twice the stroke of the lifting frame 26.
- the two-stage lift of the spray gun 4 can expand the operating coverage of the equipment in the height direction and improve the versatility of the equipment; on the other hand, it can reduce the height of the equipment in a non-operating state, thereby improving the passage of the equipment in a small space. performance.
- the first part is fixedly connected to the upper part of the frame 1.
- This design can make the first lifting mechanism 2 reach a higher position on the premise that the height of the frame 1 remains unchanged, thereby facilitating the expansion of the equipment Operational coverage in the height direction.
- the first lifting mechanism 2 further includes a driving motor 19, and the output end of the driving motor 19 is connected to the driving wheel 211.
- the transmission belt 22 is a toothed belt, the driving wheel 211 and the driven wheel 212 are both gears, and the toothed belt cooperates with the gears to achieve reliable transmission.
- the first lifting mechanism 2 further includes a first connecting piece 13 and a second connecting piece 14.
- One end of the first connecting piece 13 is fixedly connected to the second part, and the other end of the first connecting piece 13 is connected to the spray gun 4;
- One end of the second connecting member 14 is fixedly connected to the first part, and the other end of the second connecting member 14 is connected to the frame 1.
- first connecting member 13 and the second connecting member 14 the connection reliability and convenience of the transmission belt 22 with the spray gun 4 and the frame 1 can be improved.
- first connecting piece 13 may also be a component part of the spray gun 4; and the second connecting piece 14 is a component part of the frame 1. This integrated design can reduce the number of parts and thus shorten the installation Process.
- the first connector 13 includes a connecting main board 131 and a connecting side plate 132.
- One side of the connecting main board 131 is connected to the second part, and the other side of the connecting main board 131 is connected to the spray gun 4; both ends of the connecting main board 131 are provided
- a first slide rail is provided on the inner side of the vertical walls 261 on both sides of the lifting frame 26, a first sliding block is provided on the outer side of the connecting side plate 132, and the first slide rail is slidably connected to the first slide block.
- the lifting frame 26 includes two vertical walls 261 and two reinforcing walls 262.
- the upper and lower ends of the two vertical walls 261 are respectively connected by the reinforcing walls 262, and the vertical walls 261 are in the horizontal direction.
- the adjacent sides are respectively provided with relief openings, the relief openings are elongated notches extending along the height of the lifting frame 26, the first connecting piece 13 penetrates one of the relief openings, and the second connecting piece 14 penetrates the other one. Bit mouth.
- the area enclosed by the vertical wall 261 and the reinforcing wall 262 can form an accommodating space.
- Two relief openings are provided on both sides of the accommodating space.
- the driving wheel 211, the driven wheel 212 and the transmission belt 22 are all located in the accommodating space. It does not protrude from the lifting frame 26. This design can prevent the driving wheel 211 and the driven wheel 212 from colliding with the external structure, that is, to protect the driving wheel 211 and the driven wheel 212, thereby improving the service life of the equipment.
- the driving wheel 211 is arranged in the upper part of the accommodating space, the driving wheel 211 is fixed at the output end of the driving motor 19, and the driving motor 19 penetrates the vertical wall 261.
- the first lifting mechanism 2 further includes a first upper limit member 15 and a first lower limit member 16.
- the first upper limit member 15 is arranged on the upper part of the lifting frame 26, and the first upper limit member 15 is used to limit the high position of the second part
- the first lower limit member 16 is arranged at the lower part of the lifting frame 26, and the first lower limit member 16 is used to limit the low position of the second part.
- the first lifting mechanism 2 further includes a second upper limit member and a second lower limit member 17.
- the second upper limit member is arranged on the upper part of the frame body 1, and the second upper limit member is used to limit the high position of the lifting frame 26.
- the second lower limit member 17 is arranged at the lower part of the frame body 1, and the second lower limit member 17 is used to limit the low position of the lifting frame 26.
- the high and low limit positions of the spray gun 4 relative to the lifting frame 26 can be reliably controlled to avoid abnormal collision of the spray gun 4 and equipment failure;
- the second upper limit member and the second lower limit member 17 can reliably control the height limit position of the lifting frame 26 to avoid abnormal collision of the lifting frame 26 and equipment failure.
- the first upper limit member 15 is used to define the highest position of the first connecting member 13 relative to the lifting frame 26 and the first lower limit member 16 is used to define the lowest position of the first connecting member 13 relative to the lifting frame 26.
- Position; the second upper limit member is used to define the highest position of the bottom of the lifting frame 26, and the second lower limit member 17 is used to define the lowest position of the bottom of the lifting frame 26.
- the first upper limit member 15, the first lower limit member 16, the second upper limit member, and the second lower limit member 17 are all elastic limit blocks, which can achieve limit on the one hand, and cushion on the other hand Collision avoids rigid impact, thereby increasing the service life of equipment.
- a second slide rail 11 is provided on the inner side of both side walls of the frame body 1, and a second sliding block 18 is provided on the outer side of the vertical wall 261 on both sides of the lifting frame 26.
- the block 18 is located at the lower part of the lifting frame 26, and the second sliding block 18 is slidably connected with the second sliding rail 11. Specifically, by arranging the second sliding block 18 at the lower part of the lifting frame 26, it can be ensured that when the lifting frame 26 reaches the highest position, the second sliding block 18 can still be connected with the second slide rail 11, thereby ensuring that the lifting frame 26 Reliability of sliding with frame 1.
- a back plate is connected between the side walls on both sides of the frame body 1, and the first part is connected to the back plate of the frame body 1.
- the rotating assembly 7 is arranged on the frame 1, and the rotating assembly 7 includes a first rotating structure 71 and a second rotating structure 72, wherein the first rotating structure 71 is arranged on the frame 1.
- the two rotating structures 72 are arranged on the first rotating structure 71, and the second rotating structure 72 and the first rotating structure 71 have different rotation directions; the spray gun 4 is arranged on the second rotating structure 72 to be driven by the rotating assembly 7 Spin.
- the rotating assembly 7 includes a first rotating structure 71 and a second rotating structure 72.
- the first rotating structure 71 is provided on the frame 1 and the second rotating structure 72 is provided on the first rotating structure 71.
- the rotation directions of the second rotating structure 72 and the first rotating structure 71 are different, so that the rotating structure has two degrees of freedom, so as to increase the spraying range of the spray gun 4 and improve the spraying flexibility.
- the rotation directions of the second rotating structure 72 and the first rotating structure 71 are different.
- the axis of the second rotating structure 72 is perpendicular to the axis of the first rotating structure 71.
- the spray gun 4 is arranged on the second rotating structure 72, and can be rotated under the drive of the rotating assembly 7, that is, the spray gun 4 can either rotate with the second rotating structure 72 itself, or it can follow the first rotating structure 72 together with the second rotating structure 72.
- the rotating structure 71 rotates, of course, it can also rotate with the first rotating structure 71 while rotating with the second rotating structure 72, so as to realize the orientation adjustment of two degrees of freedom to adapt to different spraying working environments, thereby improving the spraying Flexibility to meet the needs of different spraying precision, reduce dependence on labor, and reduce costs.
- the overall movement of the spraying robot 100 is limited.
- the first rotating structure 71 and the second rotating structure 72 can change the spraying orientation within a smaller space. After spraying is completed, even when the rotation of the first rotating structure 71 is restricted in a smaller space, the orientation of the spray gun 4 can still be adjusted by the second rotating structure 72 to complete the spraying.
- the orientation of spray gun 4 can be adjusted by the second rotating structure 72 to complete the spraying.
- the paint on the working surface is uniform and the thickness is consistent, thereby improving the spraying accuracy.
- the rotation angle range of the first rotating structure 71 and the second rotating structure 72 can be any angle range within the range, that is, it can rotate around the entire circle of the rotating shaft, or can rotate around a part of the circle of the rotating shaft, such as at 0° To rotate within the range of 180° or 0° to 90°, optionally, the rotation angle range of the first rotating structure 71 and the second rotating structure 72 is to the range to maximize the spraying range of the spray gun 4.
- one end of the frame 1 is provided with a rotating platform 73
- the first rotating structure 71 specifically includes: a first rotating base 711 arranged on the rotating platform 73;
- the rotating body 712 is arranged coaxially with the first rotating base 711, and the first rotating body 712 can rotate on the first rotating base 711;
- the first rotating motor 713 is drivingly connected with the first rotating body 712 to realize the The rotation of a rotating body 712.
- a rotating platform 73 is provided at one end of the frame 1 to provide an installation space and a rotating operation space for the rotating assembly 7.
- the first rotating structure 71 includes a first rotating base 711 provided on the rotating platform 73 and a first rotating body 712 arranged coaxially with the first rotating base 711.
- the first rotating body 712 is mounted on the first rotating base 711. The upward rotation realizes the rotation of the first rotating structure 71 relative to the frame 1, thereby changing the spraying orientation of the spray gun 4 to improve spraying flexibility and adapt to different spraying operating environments.
- the rotation of the first rotating body 712 is realized under the driving of the first rotating motor 713, and the electric driving of the first rotating structure 71 is realized, which can reduce the dependence on labor ,
- the rotation operation accuracy is higher, and the continuity and stability of the spraying operation are stronger.
- the first rotating electric machine 713 is directly driven and connected to the first rotating body 712, which has higher transmission efficiency, simple structure and less space.
- the second rotating structure 72 specifically includes: a second rotating base 721, a second rotating body 722 and a second rotating electric machine 723.
- the second rotating base 721 is arranged on the first rotating body 712
- the second rotating body 722 is arranged coaxially with the second rotating base 721
- the second rotating body 722 can rotate on the second rotating base 721.
- the spray gun 4 is disposed on the second rotating body 722, and the second rotating motor 723 is drivingly connected with the second rotating body 722 to realize the rotation of the second rotating body 722.
- the second rotating structure 72 rotates relative to the first rotating body 712, thereby further adjusting the spraying orientation of the spray gun 4, thereby improving the flexibility of spraying.
- the second rotating body 722 can be rotated under the driving of the second rotating motor 723, thereby realizing the electric drive of the second rotating structure 72, and the second rotating body 722 It can independently rotate relative to the first rotating body 712 without being restricted by the first rotating motor 713.
- first rotating body 712 and the second rotating body 722 can also be driven by only one rotating motor, and a transmission wheel 21 or other structures may be provided in the middle for transmission, but at this time, the first rotating body 712 and the second rotating body 722 needs to rotate at the same time and cannot realize independent rotation. That is, the activities of the first rotating body 712 and the second rotating body 722 are related.
- driving the second rotating body 722 by the second rotating motor 723 can also reduce the dependence on labor, improve the accuracy of the rotating operation, and ensure the continuity and stability of the spraying operation.
- the first rotating body 712 specifically includes a first plate 7121 and a second plate 7122 connected to one side of the first plate 7121, wherein the first plate 7121 and the second plate 7121
- the two plates 7122 are at a predetermined angle
- the second rotating motor 723 is disposed in the space sandwiched by the first plate 7121 and the second plate 7122.
- the preset angle is 90°.
- the second plate 7122 is connected to one side of the first plate 7121, and the first plate 7121 and the second plate 7122 are at a preset angle, which reserves installation space for the second rotating electric machine 723 so that the second rotating electric machine 723 can Set in the space sandwiched by the first plate 7121 and the second plate 7122, while ensuring that the second rotating motor 723 will not collide with the first rotating structure 71 when the second rotating structure 72 rotates, so as to avoid mutual occurrence during the rotation. interference.
- the preset angle of the first plate 7121 and the second plate 7122 can also be any angle that can accommodate the second rotating motor 723.
- the preset angle is 90°, which is convenient for the construction and construction of the spatial coordinate model. The positioning of the spray gun 4 will not interfere with each other during the rotation.
- the spraying robot 100 further includes a right-angle reducer 38.
- One end of the right-angle reducer 38 is connected to the second rotating motor 723, and the other end is connected to the second rotating body 722. So that the axis of the second rotating electric machine 723 and the axis of the second rotating base 721 are at right angles.
- the transmission between the second rotating electric machine 723 and the second rotating body 722 can be achieved.
- the output power of the second rotating motor 723 reduces the rotation speed of the second rotating body 722, that is, reduces the rotation speed of the spray gun 4, so that the spray gun 4 is suitable for spraying on the spraying surface with high precision requirements in a small area, so as to avoid the second
- the excessively fast rotating speed of the rotating body 722 affects the spraying accuracy of the spray gun 4.
- the output direction of the second rotating electric machine 723 can be changed by the right-angle reducer 38, which is conducive to the installation of the second rotating electric machine 723, and the second rotating electric machine 723 can make reasonable use of the first plate 7121 and the first plate 7121 on the first rotating body 712.
- the space reserved by the second plate 7122 prevents mutual interference with the first rotating structure 71 during the rotation due to the large occupied space.
- the right-angle reducer 38 is used to reduce the speed of the second rotating electric machine 723, so that the second rotating electric machine 723 can be selected from the same type of motor as the first rotating electric machine 713, which increases the versatility of the motor and reduces production and maintenance costs.
- the moving component 39 specifically includes: a rotating shaft 392 arranged on the frame 1; a rotating blade 393 rotatably connected to the rotating shaft 392, and the rotating component 7 is arranged on the rotating shaft. On the blade 393.
- the moving assembly 39 includes a rotating shaft 392 and a rotating blade 393, wherein the rotating shaft 392 is provided on the frame 1, and the rotating blade 393 is rotatably connected with the rotating shaft 392, so that the rotating blade 393 can be driven by the rotating shaft 392.
- the number of blades can be one or more. For example, choosing two blades to be symmetrically arranged with respect to the rotating shaft 392 can improve the stability of the rotating blades 393 during the rotation.
- the spraying robot 100 further includes: a rotating bracket 20, one end of the rotating bracket 20 is connected to the frame 1, and the rotating bracket 20 is provided with a wire passing space, and the other end of the rotating bracket 20 is connected to the rotating assembly 7 Connected. Therefore, the line crossing space can reserve a channel for the connecting pipeline between the components of the spraying robot 100, so as to prevent the connecting pipeline and the components of the spraying robot 100 from being entangled during the spraying operation, which will affect the normal spraying operation, and it can also prevent the pipeline from being damaged. Damage and reduce maintenance costs.
- the rotating assembly 7 is arranged at the other end of the rotating support 20 to facilitate the arrangement of the pipeline between the rotating assembly 7 and the body of the spraying robot 100 in the space passing through the rotating support 20 and minimize the exposure of the pipeline.
- the first rotating base 711 is provided on the rotating support 20, whereby by setting the first rotating base 711 on the first rotating base 711 to rotate, the first rotating structure
- the 71 can be rotated relative to the frame 1, thereby changing the spraying orientation of the spray gun 4, thereby improving the flexibility of spraying and adapting to different spraying operating environments.
- the spraying robot 100 further includes: a second sliding assembly 30, the second sliding assembly 30 is arranged on the frame 1, and the first rotating structure 71 is arranged on the second sliding assembly 30, that is to say ,
- the second sliding assembly 30 can be arranged on the frame 1 and can move relative to the frame 1.
- the first rotating structure 71 is provided on the second sliding assembly 30, so that the second sliding assembly 30 can drive the first rotating structure 71 to move in a horizontal direction, thereby increasing the spraying range of the spraying robot 100 and improving the flexibility of spraying. Sex.
- the rotation angle range of the first rotating structure 71 can be any angle range within the range of 0° to 360°, that is, it can rotate around the full circle of the shaft or part of the circle around the shaft, such as between 0° and 180°. ° range or 0° to 90° range, optionally, the rotation angle range of the first rotating structure 71 is 0° to 360° range, so as to maximize the spraying range of the spray gun 4 assembly.
- the sliding direction of the second sliding assembly 30 is parallel to the horizontal plane and parallel to the direction of the spraying work surface. It can be understood that during the spraying operation, the length of the work surface in the horizontal direction is usually much greater than the height in the vertical direction.
- the sliding direction of 30 is parallel to the horizontal plane and the spraying surface, so that the spraying robot 100 as a whole can be kept stable within a certain distance in the horizontal direction, and the spray gun 4 slides with the second sliding assembly 30 to complete the horizontal range within this distance.
- the spraying operation reduces the influence of the movement of the spraying robot 100 on the stability of the spray gun 4 and the spraying accuracy.
- the second sliding assembly 30 includes: a lead screw 301 and a bracket sliding block 302.
- the lead screw 301 is provided on the frame 1, and the bracket sliding block 302 is provided with threads that cooperate with the lead screw 301.
- the support slider 302 can move along the axial direction of the lead screw 301, and the support slider 302 is provided with a rotating assembly 7.
- the bracket slider 302 realizes movement along the axial direction of the lead screw 301 through the thread matched with the lead screw 301 and the rotating assembly 7, thereby driving the rotating assembly 7 along the axis of the lead screw 301 Move in the direction to expand the spraying range of the spraying robot 100 and improve the flexibility of spraying and the adaptability to the environment.
- the thread on the bracket slider 302 that matches the screw 301 can be provided in the bracket slider 302, that is, the bracket slider 302 is provided with a threaded hole that matches the screw 301, or it can be provided in the bracket block.
- the outer side, that is, the side of the bracket sliding block 302 is provided with a threaded groove matched with the lead screw 301, which is not limited.
- a threaded hole matched with the lead screw 301 may be provided in the bracket slider 302 to improve the stability of the movement of the second sliding assembly 30.
- the spraying robot 100 further includes a movable plate 31 and an electric push rod 32.
- the movable plate 31 and the rotating bracket 20 are hinged, the spray gun 4 and the movable plate 31 are fixedly connected, and the spray gun 4 is used for spraying operations.
- the movable plate 31 and the rotating bracket 20 are hinged so that the movable plate 31 can rotate relative to the rotating bracket 20.
- the movable plate 31 and the rotating bracket 20 can be hinged by a hinge shaft.
- the movable plate 31 and the rotating bracket 20 can also be hinged together by other hinge methods, which is not specifically limited here.
- the spray gun 4 and the movable plate 31 are fixedly connected, for example, the spray gun 4 can be installed on the movable plate 31 by using screws. In this way, the spray gun 4 can rotate around the axis of the hinge shaft, and can also be fixedly connected in other ways without limitation.
- the spray gun 4 is used for spraying operations.
- the feeding device provides paint to the muzzle of the spray gun 4 through a pipe, and the muzzle of the spray gun 4 sprays paint to realize the spraying operation.
- one end of the electric push rod 32 is hinged with the rotating bracket 20, and the other end of the electric push rod 32 is hinged with the movable plate 31, and both ends of the electric push rod 32 can perform telescopic movement. That is, both ends of the electric push rod 32 can perform an extension movement, and both ends of the electric push rod 32 can perform a contraction movement.
- the electric push rod 32 can rotate relative to the rotating bracket 20, and the electric push rod 32 can also rotate relative to the movable plate 31, which ensures that the two ends of the electric push rod 32 can perform telescopic movement.
- the electric push rod 32 can rotate relative to the rotating support 20 and the movable plate 31 at the same time.
- the spray gun 4 of the embodiment of the present application may be a foldable spray gun 4, that is, the spray gun 4 itself is foldable, or the spray gun 4 is a fixed spray gun 4, which is not specifically limited in the embodiment of the present application.
- the spray gun 4 and the movable plate 31 may be integrally formed, or may be two independent parts, which are not specifically limited in the embodiment of the present application.
- the spraying robot 100 further includes an in-position switch 35 and a sensing plate 36, and the in-position switch 35 is arranged on the rotating bracket 20 , The sensing sheet 36 is arranged on the movable plate 31.
- the in-position switch 35 and the sensing plate 36 trigger the sensing signal.
- the induction signal can be transmitted to the upper computer or the processor, so that the upper computer or the processor controls the electric push rod 32 to stop the extension movement at both ends.
- the position switch 35 is an infrared distance measuring sensor.
- the induction sheet 36 blocks the infrared rays of the infrared distance measuring sensor, so that the position switch 35 senses the induction sheet 36, the position switch 35 generates an induction signal.
- the in-position switch 35 and the sensing sheet 36 are magnetic induction sensors, magnets, etc., and the embodiment of the present application does not limit the specific implementation of the in-position switch 35 and the sensing sheet 36.
- the spraying robot 100 further includes an elastic telescopic component, one end of the elastic telescopic component is hinged with the rotating bracket 20, and the other end of the elastic telescopic component is hinged with the movable plate 31.
- the elastic telescopic component can rotate relative to the rotating bracket 20 and the elastic telescopic component can rotate relative to the movable plate 31.
- the elastic force of the elastic telescopic component is used to offset at least part of the gravity of the spray gun 4, thereby, the output power of the electric push rod 32 can be reduced.
- the number of elastic telescopic parts is two.
- the two elastic telescopic parts are respectively located on both sides of the rotating surface, and the rotating surface is the plane where the electric push rod 32 rotates, so that both sides of the spraying machine are The function of the elastic telescopic part can be received, so that the force of the spraying robot 100 is more uniform, and the operation thereof is more reliable.
- the elastic telescopic component is a nitrogen gas spring 33
- the electric push rod 32 is located at the center of the rotating bracket 20
- two nitrogen gas springs 33 are respectively located on both sides of the rotating bracket 20.
- the force of the electric push rod 32 and the two nitrogen gas springs 33 on the movable plate 31 is approximately symmetrically arranged, so that the movable plate The force of 31 and spray gun 4 is more even, and the rotation of movable plate 31 and spray gun 4 is more stable and reliable.
- the structure of the double nitrogen gas spring 33 ensures that the force on both sides of the electric push rod 32 is even during the entire movement of the movable plate 31.
- the use of the double nitrogen gas spring 33 structure reduces the driving load of the electric push rod 32 and the structural size of the spraying robot 100.
- the electric push rod 32 can be hinged and the nitrogen gas spring 33 can be hinged through a hinge shaft.
- the spraying robot 100 further includes a first lower pin, a first upper pin, a second lower pin, and a second upper pin.
- One end of the electric push rod 32 is hinged to the rotating support 20 through a first lower pin, and the other end of the electric push rod 32 is hinged to the movable plate 31 through a first upper pin.
- One end of the nitrogen gas spring 33 is hinged to the rotating support 20 through a second lower pin, and the other end of the nitrogen gas spring 33 is hinged to the movable plate 31 through a second upper pin.
- the electric push rod 32 and the nitrogen spring 33 can be located above the movable plate 31, or the electric push rod 32 and the nitrogen spring 33 are located below the movable plate 31, or the electric push rod 32 and the nitrogen spring 33 are located on the movable plate 31.
- the electric push rod 32 and the nitrogen gas spring 33 are located on the right of the movable plate 31, etc.
- the elastic elastic member is a nitrogen gas spring 33.
- the first position is lower than the second position, the first position is the position where one end of the electric push rod 32 is hinged with the rotating bracket 20, and the second position is the position where the other end of the electric push rod 32 is hinged with the movable plate 31;
- the position is lower than the fourth position.
- the third position is a position where one end of the nitrogen gas spring 33 is hinged with the rotating bracket 20, and the fourth position is a position where the other end of the nitrogen gas spring 33 is hinged with the movable plate 31.
- the nitrogen spring 33 is in a compressed state, so that the elastic force of the nitrogen spring 33 can offset at least part of the gravity of the spray gun 4, and the thrust provided by the nitrogen spring 33 is used to offset at least part of the gravity of the spray gun 4.
- the movable plate 31 and the spray gun 4 rotate upward, and the spray gun 4 expands until it rotates to a preset position.
- the position switch 35 and the sensor plate 36 trigger a sensor signal.
- the signal controls the electric push rod 32 to stop rotating.
- the two ends of the electric push rod 32 contract, the movable plate 31 and the spray gun 4 rotate downward, and the spray gun 4 is folded until it is folded in place.
- the nitrogen gas spring 33 can be extended with the extension of the electric push rod 32, and during the elongation process, the nitrogen gas spring 33 is always output due to the compression of the nitrogen gas spring 33 With thrust, the nitrogen gas spring 33 can bear part of the gravity of the spray gun 4, thereby reducing the output power of the electric push rod 32.
- the spraying robot 100 further includes a limit device 34, which is arranged on the rotating bracket 20 on.
- the limiting device 34 includes an elastic abutment part, which is located above the movable plate 31.
- the movable plate 31 and the spray gun 4 can be rotated upwards at the target rotation position.
- the elastic abutment component abuts against the movable plate 31 to exert a downward elastic force on the movable plate 31.
- the target rotation position can be understood as the movable plate 31 rotates upward to the position where the movable plate 31 is before the preset position.
- the elastic abutting member includes a compression spring 41, a limiting guide shaft 42, a guide sleeve 43 and a pressure plate 44.
- the guide kit 43 includes a cavity
- the limit guide shaft 42 is sleeved in the cavity of the guide kit 43
- the guide kit 43 and the limit guide shaft 42 are slidably connected
- the pressure plate 44 is provided at the end of the cavity of the guide kit 43
- One end of the compression spring 41 is connected to the guide sleeve 43, and the other end of the compression spring 41 is connected to the limit guide shaft 42.
- the end of the limit guide shaft 42 away from the guide sleeve 43 has an extension part, one end of the compression spring 41 abuts the guide sleeve 43, and the other end of the compression spring 41 abuts the extension part, so that when the limit When the guide shaft 42 moves toward the guide sleeve 43, the compression spring 41 can be compressed, so that the compression spring 41 provides a downward elastic force to the limit guide shaft 42.
- the limiting guide shaft 42 includes a first end 45 and a second end 46 that are far away from each other.
- the first end 45 protrudes from the cavity of the guide sleeve 43 and faces the movable plate 31.
- the first end 45 is used to abut against the movable plate 31.
- the second end 46 is located in the cavity of the guide sleeve 43, and the pressing plate 44 is used to abut against the second end 46.
- the spraying robot 100 further includes: a control device, a vision sensor 37 and a moving device 9.
- the control device is arranged on the frame 1, and the control device and the lifting mechanism are electrically connected to the first lifting mechanism 2 and the spray gun 4. Connected to control the lifting of the first lifting mechanism 2 of the lifting mechanism and the spraying of the spray gun 4.
- the control device controls the movement of the first lifting mechanism 2 in the lifting channel 12, and the spray gun 4 moves with the first lifting mechanism 2 in the direction extending along the lifting channel 12, so that the spray gun 4 As the first lifting mechanism 2 rises, it rises.
- the visual sensor 37 is arranged on the frame 1 to obtain the distance between the position of the frame 1 and the obstacle, and the control device is electrically connected to the visual sensor 37 to determine the position of the frame 1 by the distance detected by the visual sensor 37 Type information of the space. Specifically, before the spraying operation of the spraying robot 100, the visual sensor 37 installed on the frame 1 obtains the distance information between the frame 1 and the obstacles in each direction in the house, and then transmits the obtained information to the control device. The spraying robot 100 can determine the structure information of the house type where the frame 1 is located.
- the moving device 9 is arranged at the bottom of the frame 1, and the control device is electrically connected with the moving component moving device 9 to control the movement of the moving component moving device 9 according to the spraying path corresponding to the house type information. Therefore, after determining the house type information of the frame 1, the control device controls the mobile device 9 to move along the spraying path according to the spraying path set to match the house type to perform the spraying operation, so that the spraying robot 100 can be autonomous.
- the house type information is identified, and the spraying operation is performed on the spraying path matching the house type information, so as to realize the automatic operation of the spraying robot 100, reduce manual intervention, and save labor costs.
- the visual sensor 37 has two functions. On the one hand, the visual sensor 37 obtains the distance information between the frame 1 and obstacles in various directions, and obtains basic information such as the length, width, and height of the space in which the frame 1 is located. Determine the information of the house type of the frame 1; on the other hand, when the spraying robot 100 is working, the distance between the frame 1 and the working wall can be obtained through the vision sensor 37, so that the control device can be based on the obtained frame 1 and The distance information between the working walls, the moving device 9 is controlled to move the spraying robot 100, so as to adjust the distance between the frame 1 and the working wall, so that the spraying robot 100 always keeps the proper distance with the working wall during operation Distance to improve the quality of spraying.
- the vision sensors 37 there may be multiple vision sensors 37. By setting the vision sensors 37 around and on the top of the frame 1, more detailed and accurate house type information can be obtained to reduce the judgment error of the house type structure. At the same time, the vision sensor 37 also It can be set on the spray gun 4 to obtain the distance between the spray gun 4 and the sprayed wall, so that when the spraying robot 100 operates, according to the obtained distance between the spray gun 4 and the wall, the control device controls the spray gun 4 and the sprayed wall Keep the proper distance between the surfaces to improve the spraying quality. There are two or more than two, and there is no specific limitation.
- the spraying robot 100 further includes a memory, which is electrically connected to the control device, and a plurality of house plans and a spraying path corresponding to each house plan are pre-stored in the memory, so that the control device is
- the house-type information determines the house-type map stored in the memory, and determines the corresponding spraying path according to the house-type map.
- the spraying robot 100 can determine its spraying path, so that the spraying robot 100 can obtain the distance between the frame 1 and the obstacle through the visual sensor 37 during the spraying operation, and determine the different
- the house type diagram corresponding to different house type information can be determined, and the spraying path corresponding to the house type diagram can be determined according to the determined house type diagram, so that the spraying robot 100 can be based on different house types,
- the execution of the corresponding spraying path improves the application range of the spraying robot 100 and facilitates the spraying operation.
- the greater the number of house plans and spray paths corresponding to the house plans stored in the memory the wider the application range of the spray robot 100, and the increase in the house plans in the memory and the number of spray paths corresponding to the house plans.
- the application range of the spraying robot 100 can be improved.
- the spraying robot 100 can be adapted to the ever-changing market and the adaptability of the spraying robot 100 can be improved.
- the vision sensor 37 may include: a lidar sensor, an infrared sensor, and/or an ultrasonic sensor, that is, the vision sensor 37 may be at least one of a lidar sensor, an infrared sensor, and an ultrasonic sensor.
- the spraying robot 100 is adapted to different working environments.
- the lidar sensor when it is working, and when it encounters an obstacle such as a wall, it causes the reflection of the laser beam.
- the lidar sensor receives the reflected light, By measuring the running time of the reflected light, the distance of the obstacle is determined, so as to accurately measure the distance between the spraying robot 100 and the obstacle such as a wall, so that the spraying robot 100 can obtain more accurate house information.
- the vision sensor 37 is an ultrasonic radar.
- the ultrasonic radar emits high-frequency mechanical waves. When an obstacle is encountered, part of the mechanical wave is reflected.
- the ultrasonic sensor measures the running time of the reflected mechanical wave to determine the distance of the obstacle.
- the sensor has good directionality and can be used for level detection of the spraying robot 100, thereby preventing the spraying robot 100 from colliding with obstacles.
- the visual sensor 37 is an infrared sensor.
- the infrared sensor can sense the temperature of obstacles such as walls. When the temperature of the obstacles such as walls is too low, the control device can interrupt the operation of the spraying robot 100 to prevent the spraying process. , Due to the low wall temperature, the paint freezes and affects the quality of work.
- This application also proposes a control method of the spraying robot 100 with the above-mentioned embodiment.
- the control method includes: step S102, determining the house type information of the location of the spraying robot 100 through the vision sensor 37; step S104, searching for the house type map corresponding to the house type structure; step S106, The spraying robot 100 is controlled to move according to the spraying path corresponding to the house plan.
- the spraying robot 100 first obtains the house structure information of the location through the vision sensor 37, and compares with the pre-stored house layout in the memory to determine the house layout corresponding to the current house structure of the spraying robot 100, and then the control device controls the spraying The robot 100 moves according to the spraying path corresponding to the determined floor plan, so that the spraying robot 100 autonomously plans the spraying route according to the real-time information obtained by the vision sensor 37, thereby omitting manual operations, saving labor costs, and improving work efficiency.
- control method of the spraying robot 100 specifically includes the following process steps:
- Step S202 Determine the house type information of the location where the spraying robot 100 is located through the vision sensor 37;
- Step S204 searching for a house plan corresponding to the house structure
- Step S206 controlling the spraying robot 100 to move according to the spraying path corresponding to the house plan
- step S208 when the spraying robot 100 moves to any spraying position of the spraying path, the moving device 9 of the spraying robot 100 is controlled to stop moving, and the movement of the spray gun 4 of the spraying robot 100 is controlled by the first lifting mechanism 2 of the spraying robot 100, and Control spray gun 4 for spraying;
- step S210 during the process of the spraying robot 100 moving along the spraying path, the first lifting mechanism 2 of the spraying robot 100 controls the movement of the spray gun 4 of the spraying robot 100 and controls the spray gun 4 to spray.
- the mobile device 9 of the spraying robot 100 is controlled to stop moving, so that the spraying robot 100 can be in any position of the spraying path according to the spraying requirements.
- a position is stopped, and according to the spraying requirements, the first lifting mechanism 2 of the spraying robot 100 controls the movement of the spray gun 4 of the spraying robot 100 and controls the spray gun 4 to spray.
- the frame 1 is relative to the ground.
- the spraying robot 100 When the spraying robot 100 is stationary, the spraying robot 100 has higher stability, so it is more stable during the spraying operation of the spray gun 4, and the accuracy of the spraying operation is improved; in addition, the spraying robot 100 can also pass through the spraying robot 100 when the spraying robot 100 moves along the spraying path.
- the first lifting mechanism 2 controls the movement of the spray gun 4 of the spraying robot 100, and controls the spray gun 4 to spray, so that the spraying robot 100 moves while performing spraying operations, so as to improve the efficiency of spraying operations.
- control method of the spraying robot 100 specifically includes the following process steps:
- Step S302 Determine the house type information of the location where the spraying robot 100 is located through the vision sensor 37;
- Step S304 respectively determining the degree of matching between each house type map pre-stored in the memory and the house type information
- Step S306 It is determined that the house type diagram with the highest degree of matching among the multiple house type diagrams is the house type diagram corresponding to the house type structure;
- Step S308 controlling the spraying robot 100 to move according to the spraying path corresponding to the house plan
- step S310 when the spraying robot 100 moves to any spraying position of the spraying path, the movement device 9 of the spraying robot 100 is controlled to stop moving, and the movement of the spray gun 4 of the spraying robot 100 is controlled by the first lifting mechanism 2 of the spraying robot 100, and Control spray gun 4 for spraying;
- step S312 during the movement of the spraying robot 100 along the spraying path, the first lifting mechanism 2 of the spraying robot 100 controls the movement of the spray gun 4 of the spraying robot 100, and controls the spray gun 4 to spray.
- the visual sensor 37 acquires the house structure information, it first determines the degree of matching of each house diagram in the memory with the house structure information, and then selects the degree of matching with the house structure information according to the degree of matching of each house diagram with the house structure information
- the highest house map is used as the house map corresponding to the house information, so as to provide a more accurate spraying path for the spraying operation.
- control method of the spraying robot 100 specifically includes the following process steps:
- Step S402 Determine the house type information where the spraying robot 100 is located through the vision sensor 37;
- Step S404 judge whether a memory is connected to the memory interface, if it is, execute S406, otherwise it ends;
- Step S406 respectively determining the degree of matching between each house type map pre-stored in the memory and the house type information
- Step S408 It is determined that the house type diagram with the highest degree of matching among the multiple house type diagrams is the house type diagram corresponding to the house type structure;
- Step S410 controlling the spraying robot 100 to move according to the spraying path corresponding to the house plan
- step S412 when the spraying robot 100 moves to any spraying position of the spraying path, the moving device 9 of the spraying robot 100 is controlled to stop moving, and the movement of the spray gun 4 of the spraying robot 100 is controlled by the first lifting mechanism 2 of the spraying robot 100, and Control spray gun 4 for spraying;
- step S414 during the movement of the spraying robot 100 along the spraying path, the first lifting mechanism 2 of the spraying robot 100 controls the movement of the spray gun 4 of the spraying robot 100, and controls the spray gun 4 to spray.
- the use state of the memory interface must be determined first, and whether the memory interface is connected to the memory, when the memory interface is connected to the memory Execute the step of separately determining the matching degree of each house-type map stored in the external memory with the house-type information to avoid errors in the spraying program when the memory interface is not connected to the memory, causing the spraying robot 100 to operate illegally and perform incorrect spraying Path, resulting in damage to the spraying robot 100 due to collision or damage to the working surface.
- This application also proposes a computer-readable storage medium having the control method of the spraying robot 100 of the above-mentioned embodiment.
- a computer program is stored thereon for realizing the steps of any one of the above-mentioned control methods when the computer program is executed by a processor, thereby having all the above-mentioned beneficial effects. Repeat it again.
- the spraying robot 100 of the present application includes an automatic spraying system, a robot walking and route planning system, a secondary first lifting mechanism 2, etc., which can realize wall and ceiling spraying, spraying quality inspection, and can obtain location information, and The spraying path matching the house type information is determined, and the spraying robot 100 automatically performs the spraying operation along the spraying path.
- the vision sensor 37 first determines the house type information where the spraying robot 100 is located, and then the control device determines whether a memory is connected to the memory interface. If yes, respectively determine the matching degree of each house type map stored in the memory with the house type information, and then determine the house type diagram with the highest matching degree among multiple house type diagrams as the house type diagram corresponding to the house type structure, and control
- the spraying robot 100 moves according to the spraying path corresponding to the floor plan, and according to specific needs, the spraying robot 100 can stop moving at any position of the spraying path and perform the spraying operation, or it can be while the spraying robot 100 is moving along the path. , While moving, control the spray gun 4 for spraying to meet different spraying needs.
- the spray gun 4 of the automatic spraying system has two degrees of freedom, which can realize 360° rotation in horizontal and vertical directions.
- the spraying system has an extension arm, which can be combined with the rotation of the spray head to realize spraying of special-shaped walls such as bay windows.
- the extension arm mechanism of the spray gun 4 is equipped with a folding and rotating mechanism, which is convenient for the equipment to enter and exit the elevator, room door and other narrow space areas.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
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Abstract
Description
Claims (43)
- 一种喷涂机器人,其特征在于,包括:架体,所述架体内设有提升通道;第一提升机构,设于所述提升通道内,所述第一提升机构的第一部分与所述架体固定连接;提升电机,与所述第一提升机构传动连接,以在所述提升电机的驱动下,所述第一提升机构在所述提升通道内移动;喷枪,设于所述第一提升机构的第二部分,其中,所述第一部分与所述第二部分设于所述第一提升机构的两侧,以在所述提升电机的驱动下,所述第一提升机构伸出或缩回所述提升通道,且所述喷枪与所述第一提升机构之间发生相对移动。
- 根据权利要求1所述的喷涂机器人,其特征在于,所述第一提升机构包括:至少两个传动轮,所述至少两个传动轮中的一个与所述提升电机传动连接;传动带,绕设于与所述提升电机传动连接的传动轮外,所述传动带与至少两个所述传动轮配合,以在所述提升电机的带动下移动。
- 根据权利要求2所述的喷涂机器人,其特征在于,所述架体的一侧设有与所述提升通道的方向平行向上延伸的固定板,所述传动带的第一部分与所述固定板固定连接,所述喷枪设于所述传动带中远离所述固定板一侧的第二部分。
- 根据权利要求3所述的喷涂机器人,其特征在于,所述传动轮为齿轮,所述传动带为齿条;或所述传动轮为带轮,所述传动带为同步带;或所述传动轮为链轮,所述传动带为链带。
- 根据权利要求1所述的喷涂机器人,其特征在于,还包括:挂架,设于所述第一提升机构的第二部分,且所述挂架上设有第一滑动组件,所述喷枪设于所述第一滑动组件上,以在所述第一滑动组件的作用下滑动。
- 根据权利要求5所述的喷涂机器人,其特征在于,所述第一滑动组件包括:第一导轨,与所述挂架固定连接;第一导块,设于所述第一导轨内,且所述第一导块上设有所述喷枪;滑动电机,与所述第一导块电连接,以控制所述第一导块在所述第一导轨上的滑动。
- 根据权利要求5所述的喷涂机器人,其特征在于,还包括:旋转组件,设于所述第一滑动组件上,所述喷枪设于所述旋转组件上,以在所述旋转组件的作用下在所述喷枪的作业面内旋转。
- 根据权利要求1所述的喷涂机器人,其特征在于,还包括:第二提升机构,设于所述架体上,所述第二提升机构可与所述架体发生相对移动,其中,所述第二提升机构内设有所述提升通道。
- 根据权利要求8所述的喷涂机器人,其特征在于,所述第二提升机构包括:相互滑动连接的第二导轨和第二导块,所述第二导块上设有所述提升通道。
- 根据权利要求1所述的喷涂机器人,其特征在于,还包括:料桶,设于所述架体内,所述喷枪与所述料桶之间设有连通的输料管路;和/或移动装置,设于所述架体的底部,以带动所述架体运动;和/或供电装置,设于所述架体内,以提供所述喷涂机器人运行时的电能。
- 根据权利要求3所述的喷涂机器人,其特征在于,其中,所述传动带内设有与所述架体固定连接的第一配合部,在所述提升电机的驱动下,所述第一提升机构通过所述第一配合部实现与所述架体的相对移动。
- 根据权利要求11所述的喷涂机器人,其特征在于,所述第一配合部设于所述传动带的一侧,所述传动带的另一侧设有所述喷涂机器人的喷枪,以在所述提升电机的驱动下所述喷枪在所述传动带上运动,且所述第一提升机构与所述架体发生相对移动。
- 根据权利要求11所述的喷涂机器人,其特征在于,还包括:第二配合部,设于所述架体上,且至少部分所述传动带设于所述第二配合部内,以通过所述第一配合部和所述第二配合部的配合实现所述传动带与所述架体的固定连接。
- 根据权利要求13所述的喷涂机器人,其特征在于,所述第一配合部和所述第二配合部中的一个为与所述传动轮的轮齿形状相适配的齿槽,另一个为与所述轮齿的形状相同的凸齿,以通过所述齿槽与所述凸齿的配合实现所述传动带与所述架体的固定连接;或所述第二配合部上设有朝向所述传动带凸出的齿形块,以通过所述齿形块固定所述第一配合部。
- 根据权利要求3所述的喷涂机器人,其特征在于,所述第一提升机构还包括:升降架,所述升降架在高度方向与所述架体滑动连接;与所述提升电机传动连接的所述传动轮为主动轮,所述主动轮安装在所述升降架的高度方向的一端;另一个所述传动轮为从动轮,所述从动轮安装在所述升降架的高度方向的另一端;所述传动带包绕在所述主动轮与从动轮的外周,所述传动带的所述第一部分位于所述主动轮和从动轮的中心连接线的一侧,所述传动带的所述第二部分位于所述主动轮和从动轮的中心连接线的另一侧,所述第一部分与所述架体固定连接,所述第二部分用于安装喷枪,当所述喷枪位于最高作业位置时,所述第二部分位于所述第一提升机构的上部,所述第一部分位于所述第一提升机构的下部。
- 根据权利要求15所述的喷涂机器人,其特征在于,还包括第一连接件和第二连接件,所述第一连接件的一端与所述第二部分固定连接,所述第一连接件的另一端与所述喷枪连接;所述第二连接件的一端与所述第一部分固定连接,所述第二连接件的另一端与所述架体连接。
- 根据权利要求16所述的喷涂机器人,其特征在于,所述第一连接件包括:连接主板,所述连接主板的一侧与所述第二部分连接,所述连接主板的另一侧与所述喷枪连接;连接侧板,所述连接主板的两端均设置有所述连接侧板,两个所述连接侧板分别与所述升降架滑动连接。
- 根据权利要求16所述的喷涂机器人,其特征在于,所述升降架包括两个竖向壁和两个加强壁,两个所述竖向壁的上端和下端分别通过所述加强壁连接,所述竖向壁在水平方向的相邻侧分别设置有让位口,所述第一连接件贯穿其中一个所述让位口,所述第二连接件贯穿另一个所述让位口。
- 根据权利要求15所述的喷涂机器人,其特征在于,所述第一提升机构还包括第一上限位件和第一下限位件,所述第一上限位件设置在所述升降架的上部,所述第一上限位件用于限定所述第二部分的高位,所述第一下限位件设置在所述升降架的下部,所述第一下限位件用于限定所述第二部分的低位;和/或,还包括第二上限位件和第二下限位件,所述第二上限位件设置在所述架体的上部,所述第二上限位件用于限定所述升降架的高位,所述第二下限位件设置在所述架体的下部,所述第二下限位件用于限定所述升降架的低位。
- 根据权利要求18所述的喷涂机器人,其特征在于,所述架体的两侧侧壁的内侧设置有第二滑轨,所述升降架两侧的所述竖向壁的外侧设置有第二滑块,所述第二滑块位于所述升降架的下部,所述第二滑块与所述第二滑轨滑动连接。
- 根据权利要求1~20中任一项所述的喷涂机器人,其特征在于,还包括:旋转组件,设于所述架体上,所述旋转组件包括第一旋转结构以及第二旋转结构,其中,所述第一旋转结构设于所述架体上,所述第二旋转结构设于所述第一旋转结构上,且所述第二旋转结构与所述第一旋转结构的旋转方向不同;所述喷枪设于所述第二旋转结构上,以在所述旋转组件的带动下实现旋转。
- 根据权利要求21所述的喷涂机器人,其特征在于,所述架体的一端设有旋转平台,所述第一旋转结构包括:第一旋转基座,设于所述旋转平台上;第一旋转体,与所述第一旋转基座同轴设置,且所述第一旋转体可在所述第一旋转基座 上转动;第一旋转电机,与所述第一旋转体传动连接,以实现所述第一旋转体的转动。
- 根据权利要求22所述的喷涂机器人,其特征在于,所述第二旋转结构包括:第二旋转基座,设于所述第一旋转体上;第二旋转体,与所述第二旋转基座同轴设置,且所述第二旋转体可在所述第二旋转基座上转动,所述喷枪设于所述第二旋转体上;第二旋转电机,与所述第二旋转体传动连接,以实现所述第二旋转体的转动。
- 根据权利要求22所述的喷涂机器人,其特征在于,所述第一旋转体包括第一板和与所述第一板的一侧相连的第二板,其中,所述第一板和所述第二板呈预设角度,所述第二旋转电机设于所述第一板和所述第二板所夹的空间内。
- 根据权利要求23所述的喷涂机器人,其特征在于,还包括:直角减速器,所述直角减速器的一端与所述第二旋转电机相连,另一端与所述第二旋转体相连,以使所述第二旋转电机的轴线与所述第二旋转基座的轴线之间呈直角。
- 根据权利要求21所述的喷涂机器人,其特征在于,所述第一旋转结构的旋转面和所述第二旋转结构的旋转面垂直。
- 根据权利要求22所述的喷涂机器人,其特征在于,还包括:旋转支架,所述旋转支架的一端与所述架体相连,且所述旋转支架内设有过线空间,所述第一旋转基座设于所述旋转支架上。
- 根据权利要求21所述的喷涂机器人,其特征在于,还包括:第二滑动组件,设于所述架体上,所述第一旋转结构设于所述第二滑动组件上。
- 根据权利要求28所述的喷涂机器人,其特征在于,所述第二滑动组件包括:丝杠,设于所述架体上;支架滑块,所述支架滑块内设有与所述丝杠配合的螺纹,且在所述丝杠受滑动电机的驱动而发生转动时,所述支架滑块可沿所述丝杠的轴向方向运动,所述支架滑块上设有所述旋转组件。
- 根据权利要求27所述的喷涂机器人,其特征在于,还包括:活动板,所述活动板和所述旋转支架铰接,所述喷枪和所述活动板固定连接,所述喷枪用于进行喷涂操作;电动推杆,所述电动推杆的一端和所述旋转支架铰接,所述电动推杆的另一端和所述活动板铰接,所述电动推杆的两端能进行伸缩运动。
- 根据权利要求30所述的喷涂机器人,其特征在于,所述喷涂机器人还包括弹性伸缩部件,所述弹性伸缩部件的一端和所述旋转支架铰接,所述弹性伸缩部件的另一端和所述活动板铰接;所述弹性伸缩部件的弹性力用于抵消所述喷枪的至少部分重力。
- 根据权利要求31所述的喷涂机器人,其特征在于,所述弹性伸缩部件的数量为二个;二个所述弹性伸缩部件分别位于转动面的两侧,所述转动面为所述电动推杆转动时所在的平面。
- 根据权利要求31所述的喷涂机器人,其特征在于,所述弹性伸缩部件为氮气弹簧;第一位置比第二位置低,所述第一位置为所述电动推杆的一端和所述旋转支架铰接的位置,所述第二位置为所述电动推杆的另一端和所述活动板铰接的位置;第三位置比第四位置低,所述第三位置为所述氮气弹簧的一端和所述旋转支架铰接的位置,所述第四位置为所述氮气弹簧的另一端和所述活动板铰接的位置;所述氮气弹簧处于压缩状态,所述氮气弹簧提供的推力用于抵消所述喷枪的至少部分重力。
- 根据权利要求33所述的喷涂机器人,其特征在于,所述喷涂机器人还包括限位装置,所述限位装置设置在所述旋转支架上;所述限位装置包括弹性抵接部件,所述弹性抵接部件位于所述活动板上方;当所述电动推杆作用于所述活动板,以使所述活动板和所述喷枪向上转动时,在目标转动位置处,所述弹性抵接部件和所述活动板抵接,以向所述活动板作用一向下的弹性力;所述目标转动位置为所述活动板向上转动到预设到位位置前所述活动板所处的位置。
- 根据权利要求30所述的喷涂机器人,其特征在于,所述喷涂机器人还包括到位开关和感应片,所述到位开关设置在所述旋转支架上,所述感应片设置在所述活动板上;当在所述电动推杆的推力作用下,所述活动板和所述喷枪转动到预设到位位置时,所述到位开关和所述感应片触发感应信号。
- 根据权利要求1~35中任一项所述的喷涂机器人,其特征在于,还包括:控制装置,设于所述架体上,且所述控制装置与所述第一提升机构和所述喷枪电连接,以控制所述第一提升机构的升降以及所述喷枪的喷涂;视觉传感器,设于所述架体上,用于获取所述架体所处位置与障碍物之间的距离,且所述控制装置与所述视觉传感器电连接,以通过所述视觉传感器检测的距离确定所述架体所处空间的户型信息;移动装置,设于所述架体的底部,所述控制装置与所述移动装置电连接,以根据所述户型信息对应的喷涂路径控制所述移动装置的运动。
- 根据权利要求36所述的喷涂机器人,其特征在于,还包括:存储器,与所述控制装置电连接,且所述存储器中预先存储有多个户型图以及对应于每个所述户型图的喷涂路径,以使所述控制装置根据所述户型信息确定存储在所述存储器中的户型图,并根据所述户型图确定对应的喷涂路径。
- 根据权利要求36所述的喷涂机器人,其特征在于,所述视觉传感器具体包括以下至少一种:激光雷达传感器、红外传感器、超声波传感器。
- 一种控制方法,用于如权利要求36至38中任一项所述的喷涂机器人,其特征在于,包括:通过所述喷涂机器人的视觉传感器确定所述喷涂机器人所处位置的户型信息;查找与所述户型结构相对应的户型图;控制所述喷涂机器人根据所述户型图对应的喷涂路径进行移动。
- 根据权利要求39所述的控制方法,其特征在于,还包括:在所述喷涂机器人移动至所述喷涂路径的任一喷涂位置时,控制所述喷涂机器人的移动装置停止运动,通过所述喷涂机器人的第一提升机构控制所述喷涂机器人的喷枪的移动,且控制所述喷枪进行喷涂;或在所述喷涂机器人沿所述喷涂路径移动的过程中,通过所述喷涂机器人的第一提升机构控制所述喷涂机器人的喷枪的移动,且控制所述喷枪进行喷涂。
- 根据权利要求39所述的控制方法,其特征在于,所述查找与所述户型结构相对应的户型图,具体包括:分别确定在存储器中预先存储的每个户型图与所述户型信息匹配的匹配程度;在多个所述户型图中确定所述匹配程度最高的户型图为所述与所述户型结构相对应的户型图。
- 根据权利要求41所述的控制方法,其特征在于,在所述分别确定在所述外置存储器中存储的每个户型图与所述户型信息匹配的匹配程度之前,还包括:确定存储器接口的使用状态,判断所述存储器接口处是否连接有存储器,生成判断结果;在所述判断结果为是时,执行所述分别确定在所述外置存储器中存储的每个户型图与所述户型信息匹配的匹配程度的步骤。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述计算机程序 被处理器执行时实现如权利要求39至42中任一项所述的控制方法的步骤。
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SG11202111861PA (en) | 2021-11-29 |
CA3138027A1 (en) | 2020-10-29 |
US20220314256A1 (en) | 2022-10-06 |
JP2022530156A (ja) | 2022-06-27 |
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EP3960961A4 (en) | 2022-05-18 |
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