A painting robot with adhesion and a control method

Abstract

The application discloses a spraying robot with certain adhesion and a control method, and belongs to the technical field of robot application. The robot comprises a body structure, landing legs, a spraying device, a paint filling device and a suction device. Four landing legs are symmetrically arranged on the two sides of the body structure. A vacuum suction cup is arranged on the foot of each landing leg. The spraying device is connected with the body structure and is arranged on the front side of the robot. The paint filling device is used before the robot is released. The hip joint motor, the knee joint motor and the ankle joint motor of the landing leg are used for buffering when landing. The robot is moved to a specified position for spraying operation. The suction force provided by the vacuum suction cup can improve the stability during landing and spraying operation. The robot is recovered after spraying. The spraying robot with certain adhesion provided by the application can ensure stable landing and walking on irregular surfaces by providing stable adhesion through the vacuum suction cup, and can be used for spraying operation in a working environment where manual spraying is difficult to realize.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot application, in particular to a spraying robot with certain adhesion and a control method. BACKGROUND

[0002] The field of bionic robot technology involves applying biological principles to the design and manufacture of robots to simulate and realize the structure and function of living organisms. With the continuous development of science and technology, bionic robot technology has gradually become one of the hotspots in scientific research and engineering fields. The concept of bionic robots is inspired by the excellent adaptability, perception and movement ability of living organisms in nature, aiming to draw on biological principles to improve the performance and application range of robots.

[0003] Spraying technology is an advanced coating method widely used in the fields of painting, coating and surface treatment. It uses compressed air or other gases to spray paint in powder or liquid form onto the target surface, forming a uniform and dense coating. This technology has been widely used in industries, automobiles, aerospace, construction and other fields, providing protection, decoration and functionality for material surfaces. The limitations of traditional spraying technology are that manual work cannot be completed in complex or dangerous tasks. For example, spraying in large structures, high altitude or toxic environments may involve personal safety risks, or it may be difficult to achieve the desired spraying effect due to environmental conditions. SUMMARY

[0004] The purpose of the present application is to solve the above problems and provide a spraying robot and control method that can work in environments where manual spraying is not possible, adapt to complex terrain landing surfaces, and provide certain adhesion for spraying operations.

[0005] To solve the above technical problems, the technical solution of the present application is: including a body structure, landing legs, a spraying device, a paint refilling device and a suction device, the landing legs are symmetrically arranged on both sides of the body structure, the spraying device is connected to the body structure and installed on the front side of the robot. The robot is released from the air, relies on the hip joint motor and knee joint motor of the landing leg for buffering, and provides suction force through the vacuum suction cup of the foot to complete stable landing, moves the robot to the designated position for spraying operation, and recovers the robot after spraying is completed.

[0006] Preferably, the body structure includes a fuselage, a power supply, a controller and a camera, the fuselage is internally loaded with an air compressor required by the suction device, the fuselage provides installation space for the landing legs and the spraying device, four lifting rings are installed on the back of the body structure, and a traction rope is connected to the spraying robot through the lifting rings.

[0007] Preferably, the landing leg comprises a hip joint motor, a thigh, a knee joint motor, a lower leg, an ankle joint motor and a vacuum chuck, the thigh of the robot is connected with the body structure through the hip joint motor, the other end is connected with the lower leg through the knee joint motor, and the bottom end of the lower leg is connected with the vacuum chuck of the foot through the ankle joint motor, when the robot lands, the vacuum chuck generates adsorption force on the landing surface, the hip joint and the knee joint motor provide buffer for landing, and when the robot walks, the ankle joint motor adjusts the motor angle when the foot falls according to the robot posture, so that the vacuum chuck is in good contact with the walking surface of the robot.

[0008] Preferably, the spraying device comprises a spraying tank, a spraying tank piston, an energy storage spring, a nozzle, a spraying control electromagnetic valve, a first stroke switch and a second stroke switch, one end of the energy storage spring is connected with the spraying tank piston, and the other end is connected with the bottom of the spraying tank, the spraying tank is connected with the spraying control electromagnetic valve through a pipeline, the spraying control electromagnetic valve is connected with the nozzle through a pipeline, the first stroke switch and the second stroke switch are installed on the inner wall of the spraying tank, the first stroke switch is connected with the spraying control electromagnetic valve, when the spraying operation is performed, the spraying control electromagnetic valve is in an open state, the spraying tank piston moves in translation in the spraying tank along with the energy storage spring, the paint is sprayed out from the nozzle through the pipeline and the spraying control electromagnetic valve, the spraying control electromagnetic valve is closed after the spraying tank piston triggers the first stroke switch, and the spraying process is ended.

[0009] Preferably, the paint adding device comprises a motor, a paint tank, a paint pump, a check valve and an adding control electromagnetic valve, the second stroke switch is connected with the motor, the motor is connected with the paint pump, the paint pump is connected with the paint tank through a pipeline, the paint pump is also connected with the check valve through a pipeline, the check valve is connected with the spraying control electromagnetic valve in an open state through a pipeline, the adding control electromagnetic valve is connected with the spraying tank through a pipeline, when the paint adding is performed, the motor works to drive the paint pump to work, the spraying control electromagnetic valve is in a closed state, the adding control electromagnetic valve is in an open state, the paint is extracted from the paint tank, flows through the check valve and the adding control electromagnetic valve through the pipeline, enters the spraying tank, the compression energy storage spring drives the spraying tank piston to move in translation, triggers the second stroke switch, the motor stops working, and the paint adding process is ended.

[0010] Preferably, the adsorption device comprises an air compressor, a first vacuum generator, a second vacuum generator, a third vacuum generator, a fourth vacuum generator, a first vacuum generator solenoid valve, a second vacuum generator solenoid valve, a third vacuum generator solenoid valve, and a fourth vacuum generator solenoid valve. One end of the vacuum generator solenoid valve is connected to the air compressor installed in the body structure through a pipeline, and the other end is connected to the vacuum generator through a pipeline, and the vacuum generator is connected to the vacuum chuck of the robot foot. The vacuum chuck of the left front foot of the spraying robot is controlled by the first vacuum generator and the first vacuum generator solenoid valve. The vacuum chuck of the right front foot of the spraying robot is controlled by the second vacuum generator and the second vacuum generator solenoid valve. The vacuum chuck of the left rear foot of the spraying robot is controlled by the third vacuum generator and the third vacuum generator solenoid valve. The vacuum chuck of the right rear foot of the spraying robot is controlled by the fourth vacuum generator and the fourth vacuum generator solenoid valve. When the vacuum chuck needs to provide adsorption force, the air compressor starts to work, the vacuum generator solenoid valve corresponding to the vacuum chuck is in the open state, and the corresponding vacuum chuck generates adsorption force. When the robot is walking, the vacuum generator solenoid valve corresponding to the vacuum chuck that needs to be stopped is in the closed state, and the vacuum chuck stops providing adsorption force.

[0011] The application also discloses a spraying robot control method with certain adhesion.

[0012] S1, initial state: the spraying robot is lifted to a suspended state by a lifting ring and a traction rope, and the adsorption device of the spraying robot is not in a working state;

[0013] S2, paint adding process: a paint adding instruction is sent, a motor works to drive a paint pump to work, a spraying control solenoid valve is in a closed state, and an adding control solenoid valve is in an open state, paint is extracted from a paint tank, flows through a one-way valve and the adding control solenoid valve into a spraying tank through a pipeline, and a compression energy spring drives a spraying tank piston to move translationally, a second travel switch is triggered, the motor stops working, and the paint adding process is completed.

[0014] S3, waiting to release state: when the spraying robot is ready to be released, the adsorption device enters the working state, the air compressor starts to work, the first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve and the fourth vacuum generator solenoid valve are in the open state, and the first vacuum generator, the second vacuum generator, the third vacuum generator and the fourth vacuum generator start to work.

[0015] S4, landing process: the spraying robot is released and falls under the traction of the traction rope, the hip joint motor, the knee joint motor and the ankle joint motor provide a buffer for landing, the vacuum chuck of the foot generates adsorption force after being in contact with the landing surface, and the landing stability of the spraying robot is improved.

[0016] S5, the first walking process: after the spraying robot lands, the controller sends instructions to control the spraying robot to take the first step on the landing surface. The first step requires the left front leg and the right rear leg of the spraying robot to leave the ground and move forward. The first vacuum generator solenoid valve and the fourth vacuum generator solenoid valve are closed after receiving the instructions sent by the controller, and the first vacuum generator and the fourth vacuum generator stop working. The vacuum chuck of the corresponding foot stops providing suction force. The left front leg and the right rear leg complete the action of leaving the ground, moving forward, and falling through the hip joint motor and the knee joint motor. During the falling process, the ankle joint motor adjusts the motor angle when the foot falls according to the robot posture to ensure good contact between the vacuum chuck and the walking surface. After the left front leg and the right rear leg fall to the ground, the first vacuum generator solenoid valve and the fourth vacuum generator solenoid valve are in an open state, the first vacuum generator and the fourth vacuum generator start working, and the vacuum chuck of the left front leg and the right rear leg foot starts to provide suction force.

[0017] S6, the second walking process: after the first walking process of the spraying robot ends, the controller sends instructions to control the spraying robot to take the second step on the landing surface. The second step requires the right front leg and the left rear leg of the spraying robot to leave the ground and move forward. The second vacuum generator solenoid valve and the third vacuum generator solenoid valve are closed after receiving the instructions sent by the controller, and the second vacuum generator and the third vacuum generator stop working. The vacuum chuck of the corresponding foot stops providing suction force. The right front leg and the left rear leg complete the action of leaving the ground, moving forward, and falling through the hip joint motor and the knee joint motor. During the falling process, the ankle joint motor adjusts the motor angle when the foot falls according to the robot posture to ensure good contact between the vacuum chuck and the walking surface. After the right front leg and the left rear leg fall to the ground, the second vacuum generator solenoid valve and the third vacuum generator solenoid valve are in an open state, the second vacuum generator and the third vacuum generator start working, and the vacuum chuck of the right front leg and the left rear leg foot starts to provide suction force.

[0018] S7, the walking process: steps S5 and S6 are alternately repeated to realize the continuous walking of the spraying robot. The spraying robot moves to the position where the nozzle is directly opposite the spraying target and then stops walking. The spraying robot is kept in a standing state, the motors are locked, and the vacuum chuck of the foot is kept in a working state to provide stable suction force for the spraying robot.

[0019] S8, the spraying process: a spraying operation instruction is issued, the spraying device spraying control solenoid valve is in an open state, the spraying tank piston moves in translation in the spraying tank with the energy storage spring, the paint is sprayed out from the nozzle through the pipeline after the spraying control solenoid valve, the spraying control solenoid valve is closed after the first stroke switch is triggered by the spraying tank piston, and the spraying process ends.

[0020] S9, desorption process: after the spraying operation is completed, the desorption instruction is sent, the first vacuum generator electromagnetic valve, the second vacuum generator electromagnetic valve, the third vacuum generator electromagnetic valve and the fourth vacuum generator electromagnetic valve are in the closed state, the first vacuum generator, the second vacuum generator, the third vacuum generator and the fourth vacuum generator stop working, and the vacuum chuck stops providing the adsorption force, so that the recycling of the robot is realized;

[0021] S10, the process of recovering: the recovery instruction is sent, and the spraying robot is recovered by the traction rope.

[0022] The beneficial effects of the present application are:

[0023] 1. The spraying robot with certain adhesion provided by the present application can work in a working environment where manual spraying is difficult to achieve, which enables the spraying work to be carried out in dangerous or hard-to-reach areas, and improves the safety and efficiency of the work.

[0024] 2. The landing leg of the present application adopts a multi-stage motor, which provides precise motion control and ensures the stability and reliability of each step. This precise control helps to improve the operation performance and operation accuracy of the robot.

[0025] 3. The present application adopts a vacuum chuck to provide adhesion, which can work stably on various complex landing surfaces. The strong adhesion provided by the vacuum chuck system enables the robot to maintain stability on uneven and irregular surfaces, and has strong adaptability. At the same time, the adhesion provided by the vacuum chuck can ensure the stability of the spraying robot under the action of the backwash force during the spraying operation of the spraying robot, thereby improving the stability of the spraying operation.

[0026] 4. The present application adopts a spraying device, which has simple filling and spraying process and simple structure. In the working process which may be subjected to impact force, the reliability of the spraying robot in realizing the spraying operation can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic diagram of the spraying robot with certain adhesion of the present application.

[0028] Figure 2 is a principle schematic diagram of the spraying device of the present application.

[0029] Figure 3 is a principle schematic diagram of the process of adding paint to the spraying tank of the present application.

[0030] Figure 4 is a principle schematic diagram of the process of ending the adding of paint to the spraying tank of the present application.

[0031] Figure 5is a schematic diagram of the principle of the spraying process of the spraying tank of the present application.

[0032] Figure 6 is a schematic diagram of the principle of the end process of the spraying process of the spraying tank of the present application.

[0033] Figure 7 is a schematic diagram of the principle of the adsorption device of the present application.

[0034] Figure 8 is a flow chart of the working sequence of the present application.

[0035] Reference signs: 1, body structure; 2, landing leg; 3, spraying device; 4, lifting ring; 21, hip joint motor; 22, thigh; 23, knee joint motor; 24, shank; 25, ankle joint motor; 26, vacuum chuck; 31, spraying tank; 32, spraying tank piston; 33, energy storage spring; 34, second travel switch; 35, first travel switch; 36, nozzle; 41, motor; 42, paint tank; 43, paint pump; 44, one-way valve; 51, first vacuum generator; 52, second vacuum generator; 53, third vacuum generator; 54, fourth vacuum generator. DETAILED DESCRIPTION

[0036] The present application will be further described below in conjunction with the drawings and specific embodiments;

[0037] As shown in the drawings, Figures 1 to 8 The present application provides a spraying robot with certain adhesion, which comprises a body structure 1, landing legs 2, a spraying device 3, a paint refilling device and an adsorption device, the landing legs 2 are symmetrically arranged on both sides of the body structure 1, the spraying device 3 is connected with the body structure 1 and is installed on the front side of the robot.

[0038] The body structure 1 comprises a fuselage, a battery, a controller and a camera, the fuselage is internally loaded with an air compressor required by the adsorption device, the fuselage provides mounting space for the landing legs 2 and the spraying device 5, four lifting rings 6 are installed on the back of the body structure 1, and a traction rope is connected with the spraying robot through the lifting rings.

[0039] The landing legs 2 comprise a hip joint motor 21, a thigh 22, a knee joint motor 23, a shank 24, an ankle joint motor 25 and a vacuum chuck 26, the thigh 22 of the robot is connected with the body structure 1 through the hip joint motor 21, the other end is connected with the shank 24 through the knee joint motor 23, and the bottom end of the shank 24 is connected with the vacuum chuck 26 of the foot through the ankle joint motor 25, when the robot lands, the vacuum chuck 26 will generate adsorption force to the landing surface, the hip joint and the knee joint motors will provide cushioning for landing, and when the robot walks, the ankle joint motor 25 will adjust the motor angle when the foot falls according to the robot posture, so as to ensure that the vacuum chuck 26 is in good contact with the walking surface of the robot.

[0040] In the embodiment, the angle of the ankle joint motor 25 is adjusted to make the vacuum chuck well contact with the contact surface, so that the spraying robot can perform spraying work on a complex or inclined surface.

[0041] The spraying device 3 comprises a spraying tank 31, a spraying tank piston 32, an energy storage spring 33, a first stroke switch 35, a second stroke switch 34, a spraying control electromagnetic valve and a nozzle 36. One end of the energy storage spring 33 is connected to the spraying tank piston 32, and the other end is connected to the bottom of the spraying tank 31. The spraying tank 31 is connected to the spraying control electromagnetic valve through a pipeline, and the spraying control electromagnetic valve is connected to the nozzle 36 through a pipeline. The first stroke switch 35 and the second stroke switch 34 are installed on the inner wall of the spraying tank 31. The first stroke switch 35 is connected to the spraying control electromagnetic valve. When the spraying work is performed, the spraying control electromagnetic valve is in an open state. The spraying tank piston 32 moves in translation in the spraying tank 31 along with the energy storage spring 33. The paint is sprayed from the nozzle 36 through the pipeline and the spraying control electromagnetic valve. After the spraying tank piston 32 triggers the first stroke switch 35, the spraying control electromagnetic valve is closed, and the spraying process is ended.

[0042] The spraying tank piston can move back and forth in the spraying tank shell, thereby pushing the liquid in the spraying tank to flow.

[0043] The paint refilling device comprises a motor 41, a paint tank 42, a paint pump 43, a one-way valve 44 and a refilling control electromagnetic valve. The second stroke switch 34 is connected to the motor 41. The motor 41 is connected to the paint pump 43. The paint pump 43 is connected to the paint tank 42 through a pipeline. The paint pump 43 is also connected to the one-way valve 44 through a pipeline. The one-way valve 44 is connected to the spraying control electromagnetic valve in an open state through a pipeline. The refilling control electromagnetic valve is connected to the spraying tank 41 through a pipeline. When the paint is refilled, the motor 41 works to drive the paint pump 43 to work. The spraying control electromagnetic valve is in a closed state. The refilling control electromagnetic valve is in an open state. The paint is extracted from the paint tank 42, flows through the one-way valve 44 and the refilling control electromagnetic valve into the spraying tank 31 through a pipeline. The compression energy storage spring 33 drives the spraying tank piston 32 to move in translation, triggers the second stroke switch 35, and the motor 41 stops working. The paint refilling process is ended.

[0044] In the embodiment, the spraying control electromagnetic valve and the refilling control electromagnetic valve have the same structure, both of which are two-position two-way electromagnetic valves. Figure 2 In the embodiment, 1YA and 2YA correspond to the spraying control electromagnetic valve and the refilling control electromagnetic valve, respectively.

[0045] The first stroke switch 35 and the second stroke switch 34 are used to detect the moving distance of the spraying tank piston 32 in the spraying tank shell, thereby controlling the stop of the motor 41 in the paint refilling device and the closing of the spraying control electromagnetic valve, so as to control the capacity of the paint refilling and the end of the spraying work.

[0046] In the embodiment, the spray control solenoid valve, the refill control solenoid valve and the travel switch are all mature existing technical devices.

[0047] The adsorption device comprises an air compressor, a first vacuum generator 51, a second vacuum generator 52, a third vacuum generator 53, a fourth vacuum generator 54, a first vacuum generator solenoid valve, a second vacuum generator solenoid valve, a third vacuum generator solenoid valve, and a fourth vacuum generator solenoid valve. One end of the vacuum generator solenoid valve is connected to the air compressor installed in the body structure 1 through a pipeline, and the other end is connected to the vacuum generator through a pipeline, and the vacuum generator is connected to the vacuum chuck 26 of the robot foot. The vacuum chuck of the left front foot of the spraying robot is controlled by the first vacuum generator 51 and the first vacuum generator solenoid valve. The vacuum chuck of the right front foot of the spraying robot is controlled by the second vacuum generator 52 and the second vacuum generator solenoid valve. The vacuum chuck of the left rear foot of the spraying robot is controlled by the third vacuum generator 53 and the third vacuum generator solenoid valve. The vacuum chuck of the right rear foot of the spraying robot is controlled by the fourth vacuum generator 54 and the fourth vacuum generator solenoid valve. When the vacuum chuck needs to provide adsorption force, the air compressor starts to work, the vacuum generator solenoid valve corresponding to the vacuum chuck is in the open state, and the corresponding vacuum chuck 26 generates adsorption force. When the robot is walking, the vacuum generator solenoid valve corresponding to the vacuum chuck that needs to be stopped is in the closed state, and the vacuum chuck 26 no longer provides adsorption force.

[0048] In the embodiment, the first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, and the fourth vacuum generator solenoid valve are all connected to the air compressor, and the air adsorption force generated by the air compressor is transmitted to the left front leg foot vacuum chuck, the right front leg foot vacuum chuck, the left rear leg foot vacuum chuck, and the right rear leg foot vacuum chuck through the first vacuum generator 51, the second vacuum generator 52, the third vacuum generator 53, and the fourth vacuum generator 54, respectively. Figure 7 The first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, and the fourth vacuum generator solenoid valve correspond to the first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, and the fourth vacuum generator solenoid valve, respectively.

[0049] In the embodiment, the first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, the fourth vacuum generator solenoid valve, and the air compressor are all mature existing technical devices.

[0050] As Figure 2 and Figure 7As shown, in the embodiment, the electromagnetic valve code of the control spraying is 1YA, the electromagnetic valve code of the control paint adding is 2YA, the electromagnetic valve code of the first vacuum generator is 3YA, the electromagnetic valve code of the control left front leg foot vacuum chuck is 4YA, the electromagnetic valve code of the control right front leg foot vacuum chuck is 5YA, the electromagnetic valve code of the control left rear leg foot vacuum chuck is 6YA, and the electromagnetic valve code of the control right rear leg foot vacuum chuck is 7YA.

[0051] The electromagnetic valve and the motion state control table are as follows:

[0052] 1YA 2YA 3YA 4YA 5YA 6YA Coating refilling process - + - - - - Landing process - - + + + + First walking process - - - + + - Second walking process - - + - - + Spraying process + - + + + + Detachment process - - - - - -

[0053] The application also provides a spraying robot control method with certain adhesion, comprising the following steps:

[0054] S1, initial state: the spraying robot is lifted by the traction rope through the sling 4 to be in a suspended state, and the adsorption device of the spraying robot is not in a working state.

[0055] S2, paint adding process: a paint adding instruction is sent, the motor 41 works to drive the paint pump 43 to work, the spraying control electromagnetic valve is in a closed state, the adding control electromagnetic valve is in an open state, the paint is extracted from the paint tank 42, flows through the one-way valve 44 and the adding control electromagnetic valve into the spraying tank 31 through the pipeline, as shown in Figure 3 As shown, the compression energy storage spring 33 drives the spraying tank piston 32 to move translationally, triggers the second travel switch 34, the motor 41 stops working, and the paint adding process ends, as shown in Figure 4 As shown.

[0056] S3, waiting to release state: when the spraying robot is ready to be released, the adsorption device enters a working state, the air compressor starts to work, the first vacuum generator electromagnetic valve, the second vacuum generator electromagnetic valve, the third vacuum generator electromagnetic valve and the fourth vacuum generator electromagnetic valve are in an open state, and the first vacuum generator 51, the second vacuum generator 52, the third vacuum generator 53 and the fourth vacuum generator 54 start to work.

[0057] S4, landing process: the spraying robot is released and falls under the traction of the traction rope, the hip joint motor 21, the knee joint motor 23 and the ankle joint motor 26 provide a buffer for landing, the vacuum chuck 26 of the foot is in contact with the landing surface to generate adsorption force, and the landing stability of the spraying robot is improved.

[0058] S5. First Step of Walking: After the painting robot lands, the controller sends a command to control the painting robot to take its first step on the landing surface. The first step requires the painting robot's left front leg and right hind leg to leave the ground and move forward. After receiving the command from the controller, the first vacuum generator solenoid valve and the fourth vacuum generator solenoid valve close, the first vacuum generator 51 and the fourth vacuum generator 54 stop working, and the corresponding vacuum suction cups 26 on the feet stop providing suction force. The left front leg and the right hind leg complete the actions of leaving the ground, moving forward and landing through the hip joint motor 21 and the knee joint motor 23. During the landing process, the ankle joint motor 25 will adjust the motor angle of the foot landing according to the robot's posture to ensure good contact between the vacuum suction cup 26 and the walking surface. After the left front leg and the right hind leg land, the first vacuum generator solenoid valve and the fourth vacuum generator solenoid valve are in the open state, the first vacuum generator 51 and the fourth vacuum generator 54 start working, and the vacuum suction cups 26 on the feet of the left front leg and the right hind leg start to provide suction force.

[0059] S6. Second Walking Process: After the first walking process of the painting robot is completed, the controller sends a command to control the painting robot to perform a second walking process on the landing surface. The second walking process requires the painting robot's right front leg and left hind leg to leave the ground and move forward. After receiving the command from the controller, the second vacuum generator solenoid valve and the third vacuum generator solenoid valve close, the second vacuum generator 52 and the third vacuum generator 53 stop working, and the corresponding foot vacuum suction cup 26 stops providing suction force. The right front leg and the left hind leg complete the actions of leaving the ground, moving forward and falling through the hip joint motor 21 and the knee joint motor 23. During the falling process, the ankle joint motor 25 will adjust the motor angle of the foot when falling according to the robot posture to ensure good contact between the vacuum suction cup 26 and the walking surface. After the right front leg and the left hind leg land, the second vacuum generator solenoid valve and the third vacuum generator solenoid valve are in the open state, the second vacuum generator 52 and the third vacuum generator 53 start working, and the vacuum suction cup 26 of the right front leg and the left hind leg foot starts to provide suction force.

[0060] S7. Walking process: Alternately repeating steps S5 and S6 can enable the spraying robot to walk forward continuously. After moving the spraying robot until its nozzle is facing the spraying target, it stops walking. Keep the spraying robot in a standing position, lock the motor, and keep the vacuum suction cup 26 on the foot in working condition to provide stable suction force for the spraying robot.

[0061] S8. Spraying Process: Upon issuing a spraying operation command, the spraying control solenoid valve of the spraying device 3 is in the open state. The piston 32 of the spray can moves horizontally within the spray can 31 along with the energy storage spring 33. The paint is sprayed out from the nozzle 36 through the pipeline and the spraying control solenoid valve. Figure 5As shown, the spray tank piston 32 triggers the first stroke switch 35, and the spray control solenoid valve is closed, ending the spraying process. Figure 6 As shown.

[0062] S9, desorption process: after the spraying operation is completed, the desorption instruction is issued, the first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, and the fourth vacuum generator solenoid valve are in the closed state, the first vacuum generator 51, the second vacuum generator 52, the third vacuum generator 53, and the fourth vacuum generator 54 stop working, and the vacuum chuck 26 stops providing the adsorption force, so as to realize the recycling of the robot.

[0063] S10, retraction process: the retraction instruction is issued, and the spraying robot is retracted by the traction rope.

[0064] The working sequence flow chart of the present application is as shown in Figure 8 As shown.

[0065] The spraying technology realized by the bionic robot of the present application is expected to play an important role in the fields of building, aerospace, ship, bridge, etc. These robots can be designed according to the specific task requirements, such as performing spraying tasks in a toxic environment or other dangerous working environment, thereby bringing greater flexibility and safety to the spraying work.

[0066] The spraying robot can be released from the air by the traction rope, the vacuum chuck provides the adhesion force, can work stably on various complex terrain landing surfaces, the strong adhesion force provided by the vacuum chuck system enables the robot to remain stable on uneven or irregular surfaces, and the adhesion force can also ensure that the spraying robot does not roll over at the moment of landing. The structure design of the landing leg includes multi-stage motors (hip joint motor, knee joint motor, ankle joint motor), which can adjust the falling angle of the foot according to the robot posture. These designs can effectively improve the adaptability of the spraying robot to the working environment, such as uneven landing surfaces or inclined surfaces with a certain inclination angle, thus having a wide application prospect.

[0067] The spraying device adopted by the present application has a simple structure, is suitable for working environments subjected to impact, is easy to install and maintain, has low requirements for users, and can improve the reliability of the spraying operation after landing impact during actual work.

[0068] Those skilled in the art will realize that the embodiments described herein are intended to help the reader understand the principles of the present application and should be understood as not limiting the scope of protection of the present application to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations according to the technical inspirations disclosed in the present application without departing from the essence of the present application, and these modifications and combinations are still within the scope of protection of the present application.

Claims

1. A control method for a spraying robot with a certain adhesion, characterized in that: The painting robot includes a main body structure (1), landing legs (2), a painting device (3), a paint filling device, and an adsorption device; the landing legs (2) are symmetrically arranged on both sides of the main body structure (1), and the painting device (3) is connected to the main body structure (1) and installed on the front side of the robot; the main body structure (1) includes a fuselage, a power supply, a controller, and a camera. The fuselage contains an air compressor required for the adsorption device. The fuselage provides installation space for the landing legs (2) and the painting device (3). Four hanging rings (4) are installed on the back of the main body structure (1), and the traction rope is connected to the painting robot through the hanging rings; the landing legs (2) include a hip joint motor (21), a thigh (22), a knee joint motor (23), a lower leg (24), and an ankle. The joint motor (25) and vacuum suction cup (26); the spraying device (3) includes a spray can (31), a spray can piston (32), an energy storage spring (33), a nozzle (36), a spraying control solenoid valve, a first limit switch (35) and a second limit switch (34); the paint filling device includes a motor (41), a paint tank (42), a paint pump (43), a one-way valve (44) and a filling control solenoid valve; the adsorption device includes an air compressor, a first vacuum generator (51), a second vacuum generator (52), a third vacuum generator (53), a fourth vacuum generator (54), a first vacuum generator solenoid valve, a second vacuum generator solenoid valve, a third vacuum generator solenoid valve and a fourth vacuum generator solenoid valve; Its control method The process includes the following: S1, Initial state: The painting robot is suspended in the air by the traction rope through the hanging ring (4), and the adsorption device of the painting robot has not entered the working state; S2, Paint filling process: When the paint filling command is issued, the motor (41) drives the paint pump (43) to work. The spray control solenoid valve is in the closed state, and the filling control solenoid valve is in the open state. The paint is drawn from the paint tank (42) and flows through the pipeline through the check valve (44) and the filling control solenoid valve into the spray tank (31). The compressed energy storage spring (33) drives the spray tank piston (32) to move horizontally, triggering the second limit switch (34). The motor (41) stops working, and the paint filling process ends. S3, Release State: When the painting robot is ready to release, the adsorption device enters the working state, the air compressor starts working, the first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, and the fourth vacuum generator solenoid valve are in the open state, and the first vacuum generator (51), the second vacuum generator (52), the third vacuum generator (53), and the fourth vacuum generator (54) start working. S4. Landing process: The painting robot is released and falls under the traction of the traction rope. When landing, the hip joint motor (21), knee joint motor (23) and ankle joint motor (26) will provide a buffer for landing. The vacuum suction cup (26) of the foot generates an adsorption force after contacting the landing surface, which improves the landing stability of the painting robot. S5, First step of walking process: After the painting robot lands, the controller sends a command to control the painting robot to take the first step of walking on the landing surface. The first step of walking requires the painting robot's left front leg and right hind leg to leave the ground and move forward. After receiving the command sent by the controller, the first vacuum generator solenoid valve and the fourth vacuum generator solenoid valve close. The first vacuum generator (51) and the fourth vacuum generator (54) stop working. The corresponding foot vacuum suction cup (26) stops providing suction force. The left front leg and the right hind leg complete the actions of leaving the ground, moving forward and falling through the hip joint motor (21) and the knee joint motor (23). During the falling process, the ankle joint motor (25) will adjust the motor angle of the foot when falling according to the robot posture to ensure good contact between the vacuum suction cup (26) and the walking surface. After the left front leg and the right hind leg land, the first vacuum generator solenoid valve and the fourth vacuum generator solenoid valve are in the open state. The first vacuum generator (51) and the fourth vacuum generator (54) start working. The vacuum suction cup (26) of the left front leg and the right hind leg foot starts to provide suction force. S6. Second Walking Process: After the first walking process of the painting robot is completed, the controller sends a command to control the painting robot to perform a second walking process on the landing surface. The second walking process requires the painting robot's right front leg and left hind leg to leave the ground and move forward. After receiving the command sent by the controller, the second vacuum generator solenoid valve and the third vacuum generator solenoid valve close. The second vacuum generator (52) and the third vacuum generator (53) stop working. The vacuum suction cups (26) of the corresponding feet stop providing suction force. The right front leg and the left hind leg pass through the hip joint. The ankle motor (21) and knee joint motor (23) complete the actions of lifting off the ground, moving forward and falling. During the fall, the ankle joint motor (25) will adjust the motor angle of the foot when it falls according to the robot's posture to ensure that the vacuum suction cup (26) makes good contact with the walking surface. After the right front leg and left hind leg land, the second vacuum generator solenoid valve and the third vacuum generator solenoid valve are in the open state, the second vacuum generator (52) and the third vacuum generator (53) start to work, and the vacuum suction cup (26) on the right front leg and left hind leg foot begins to provide suction force. S7. Walking process: Alternately repeat steps S5 and S6 to achieve continuous walking and forward movement of the spraying robot. Move the spraying robot until its nozzle is facing the spraying target and then stop walking. Keep the spraying robot standing, lock the motor and keep the vacuum suction cup (26) on the foot in working condition to provide stable suction force for the spraying robot. S8. Spraying process: When the spraying operation command is issued, the spraying control solenoid of the spraying device (3) is in the open state. The piston (32) of the spraying tank moves horizontally in the spraying tank (31) along with the energy storage spring (33). The paint is sprayed out from the nozzle (36) through the pipeline and the spraying control solenoid valve. After the piston (32) of the spraying tank triggers the first limit switch (35), the spraying control solenoid valve closes and the spraying process ends. S9. Desorption process: After the spraying operation is completed, a desorption command is issued. The first vacuum generator solenoid valve, the second vacuum generator solenoid valve, the third vacuum generator solenoid valve, and the fourth vacuum generator solenoid valve are closed. The first vacuum generator (51), the second vacuum generator (52), the third vacuum generator (53), and the fourth vacuum generator (54) stop working. The vacuum suction cup (26) stops providing adsorption force to achieve the subsequent robot recycling. S10. Retraction process: A retraction command is issued, and the painting robot is pulled back by the traction rope.

2. The control method for a spraying robot with a certain adhesion as described in claim 1, characterized in that: The landing leg (2) of the robot has its thigh (22) connected to the main body structure (1) via a hip joint motor (21), and its other end connected to the lower leg (24) via a knee joint motor (23). The bottom of the lower leg (24) is connected to the vacuum suction cup (26) of the foot via an ankle joint motor (25). When the robot lands, the vacuum suction cup (26) will generate an adsorption force on the landing surface. The motors at the hip and knee joints will provide a buffer for landing. When the robot walks, the ankle joint motor (25) will adjust the motor angle when the foot falls according to the robot's posture to ensure good contact between the vacuum suction cup (26) and the robot's walking surface.

3. The control method for a spraying robot with a certain adhesion as described in claim 1, characterized in that: In the spraying device (3), one end of the energy storage spring (33) is connected to the piston (32) of the spraying tank, and the other end is connected to the bottom of the spraying tank (31). The spraying tank (31) is connected to the spraying control solenoid valve through a pipe. The spraying control solenoid valve is connected to the nozzle (36) through a pipe. The first limit switch (35) and the second limit switch (34) are installed on the inner wall of the spraying tank (31). The first limit switch (35) is connected to the spraying control solenoid valve. When the spraying operation is performed, the spraying control solenoid valve is in the open state. The piston (32) of the spraying tank moves horizontally in the spraying tank (31) with the energy storage spring (33). The paint is sprayed out from the nozzle (36) through the pipe and the spraying control solenoid valve. After the piston (32) of the spraying tank triggers the first limit switch (35), the spraying control solenoid valve closes and the spraying process ends.

4. The control method for a spraying robot with a certain adhesion as described in claim 1, characterized in that: In the paint filling device, the second limit switch (34) is connected to the motor (41), the motor (41) is connected to the paint pump (43), the paint pump (43) is connected to the paint tank (42) through a pipe, the paint pump (43) is also connected to the check valve (44) through a pipe, the check valve (44) is connected to the spray control solenoid valve in the open state through a pipe, and the filling control solenoid valve is connected to the spray can (31) through a pipe. When the paint is filled, the motor (41) works to drive the paint pump (43) to work, the spray control solenoid valve is in the closed state, and the filling control solenoid valve is in the open state. The paint is drawn from the paint tank (42), flows through the check valve (44) and the filling control solenoid valve through the pipe into the spray can (31), the compressed energy storage spring (33) drives the piston (32) of the spray can to move horizontally, triggering the second limit switch (34), the motor (41) stops working, and the paint filling process ends.

5. The control method for a spraying robot with a certain adhesion as described in claim 1, characterized in that: In the adsorption device, one end of the vacuum generator solenoid valve is connected to the air compressor installed in the main body structure (1) through a pipeline, and the other end is connected to the vacuum generator through a pipeline. The vacuum generator is connected to the vacuum suction cup (26) of the robot's foot. The vacuum suction cup of the left front foot of the spraying robot is controlled by the first vacuum generator (51) and the first vacuum generator solenoid valve. The vacuum suction cup of the right front foot of the spraying robot is controlled by the second vacuum generator (52) and the second vacuum generator solenoid valve. The vacuum suction cup of the left rear foot of the spraying robot is controlled by the third vacuum generator (53) and the third vacuum generator solenoid valve. The vacuum suction cup of the right rear foot of the spraying robot is controlled by the fourth vacuum generator (54) and the fourth vacuum generator solenoid valve. When the vacuum suction cup needs to provide adsorption force, the air compressor starts to work, the vacuum generator solenoid valve of the corresponding vacuum suction cup is in the open state, and the corresponding vacuum suction cup (26) generates adsorption force. When the robot walks, the vacuum generator solenoid valve of the vacuum suction cup that needs to stop adsorption is in the closed state, and the vacuum suction cup (26) no longer provides adsorption force.

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