Multi-gun mixed control paint coating robot based on visual servo and spraying method of multi-gun mixed control paint coating robot

Abstract

The invention discloses a multi-gun mixed control paint coating robot based on a visual servo and a spraying method of the multi-gun mixed control paint coating robot. A wall climbing car body, a visual servo mechanism, a connecting mechanism and a paint spraying mechanism are included, the wall climbing car body and the surface of to-be-operated equipment are attracted and fixed through permanentmagnet wheels, and the multi-gun mixed control paint coating robot has the multiple operation modes to adapt to the complicated operation working conditions; and in the robot paint spraying mechanism, all spraying guns are independently controlled, when large-area paint spraying operation is done, the spraying guns are all started to conduct efficient paint spraying operation, when local repairing point spraying operation is done, point spraying operating is carried out according to the surface position and shape obtained by the visual servo mechanism by adjusting the nearest spraying gun through a lead screw and nut module, and the effective fixed-point repairing and paint spraying operation is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a visual servo-based multi-gun mixed-control painting robot and a painting method thereof. Background technique [0002] Large ships, petrochemical storage tanks, and other large machinery and equipment are generally constructed of magnetically conductive materials such as steel. In order to ensure the safe operation of machinery and equipment, regular surface painting and anticorrosion operations are required. At present, the traditional manual spraying operation method is widely used in the world to carry out painting operations. Manual spraying operations are not only labor-intensive, the quality of spraying paint is unstable, the operation efficiency is low, and the economic investment is large. Moreover, the toxic environment of spraying paint will cause great harm to the body of the operator. great harm. With the rapid development of robot technology, the applica...

AI Technical Summary

Problems solved by technology

Due to the complex shape and structure of large mechanical equipment such as ships and petrochemical storage tanks, some of the outer surfaces are irregular and complex curved surfaces, and some of the internal structures are semi-enclosed or fully enclosed cabins with complex spaces. It has been found in long-term practical applications that the existing painting robots In the case of large-scale painting operations, the painting efficiency is relatively low, and the thickness and uniformity of the painting cannot be effectively guaranteed. When performing local painting operations in complex working conditions, the existing painting robots can perform some unconventional surface parts. Effective painting cannot be carried out. When detecting large-scale workpieces with high precision, factors such as pixels, light sources, and sunlight affect the imaging of the camera, resulting in low accuracy of visual detection and recognition of the outline and shape of the workpiece by the existing painting robots.

[0004] In summary, for the painting and anticorrosion operations of mechanical equipment such as large ships and petrochemical storage tanks, the existing painting robots are affected by complex working conditions, and the recognition accuracy of visual detection is low. At the same time, it cannot effectively achieve large-scale painting and partial repair painting operations. requirements

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