Thermal spraying robot and AGV drive control system thereof

Abstract

The invention discloses a thermal spraying robot and an AGV drive control system thereof, and relates to the technical field of automatic spraying equipment, the thermal spraying robot comprises an AGV trolley mechanism and a side supporting mechanism, a thermal spraying mechanism is arranged on the AGV trolley mechanism, and a storage groove is formed in the side wall of the AGV trolley mechanism; each side supporting mechanism comprises a transverse outwards-extending support with one end hinged to the interior of the storage groove, the other end of each transverse outwards-extending support is connected with a vertical telescopic mechanism, the telescopic end of the bottom of each vertical telescopic mechanism is connected with a supporting universal wheel, and the outer side of each vertical telescopic mechanism is connected with a vertical follow-up electromagnet mechanism. The containing groove is connected with a transverse telescopic mechanism, and the telescopic end of the transverse telescopic mechanism is connected with the transverse outwards-extending support. The precise control capability of the AGV drive control system is combined with the design of the thermal spraying robot, so that the robot can realize automatic navigation, precise positioning and efficient spraying operation in indoor and outdoor complex environments, and the operation precision and quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic spraying equipment, and more particularly to a thermal spraying robot and an AGV drive control system thereof. Background Art

[0002] my country is a major country in bridge construction. Various cross-river and cross-sea bridges are constantly being built. The bridge industry has played a vital role in the development of the national economy. The design life of a bridge can reach 100 years, and anti-corrosion coating is an important part of extending the service life of the bridge. Steel box girder bridges are an important type of bridge and are widely used in bridge construction. At present, the anti-corrosion coating of steel box girders is mainly manual coating, using high-pressure airless sprayers and manual handheld spray guns for anti-corrosion coating operations. Although some automated equipment has appeared in recent years, automated equipment requires the installation of tracks on the workshop floor. Due to the different sizes of steel box girders, the versatility and flexibility of the spraying system are limited.

[0003] When anti-corrosion coating is done manually, the quality of the coating needs to be controlled by the operators, and the spraying quality varies. In addition, the coating environment is bad, and the paints are volatile chemicals, which can easily cause occupational health hazards to workers. At the same time, with the development of the economy, more and more people are unwilling to engage in coating operations, and workers are difficult to find. The track-type spraying system has limitations, and needs to be designed separately for different bridges. The coating coverage area is small and the cost investment is high.

[0004] AGV is an unmanned automatic transport tool with handling function. It is a battery-powered unmanned automatic transport vehicle equipped with a non-contact guiding device and an independent addressing system. It can automatically drive and stop along the specified route and position according to the pre-set program and the position information given by the on-board sensor, thereby completing a series of handling operations. AGV has been widely used in smart factories, flexible manufacturing systems, logistics production, etc.

[0005] The device combining AGV with a spraying robot has certain application prospects. However, the spraying robot vibrates greatly when working, and it is often difficult for AGV to ensure the stability of the structure, thus causing quality defects in the spraying.

[0006] Therefore, how to provide a structure combining a spraying device and an AGV while ensuring the stability of the spraying action during the spraying process is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0007] In view of this, the present invention provides a thermal spraying robot and an AGV drive control system thereof, aiming to solve the above technical problems.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] A thermal spraying robot, comprising:

[0010] An AGV trolley mechanism, wherein a thermal spraying mechanism is provided on the AGV trolley mechanism, and a storage groove is provided on the side wall of the AGV trolley mechanism;

[0011] A side support mechanism, wherein the side support mechanism includes a transverse outrigger bracket hinged at one end in the storage slot, the other end of the transverse outrigger bracket is connected to a vertical telescopic mechanism, the bottom telescopic end of the vertical telescopic mechanism is connected to a supporting universal wheel, the outer side of the vertical telescopic mechanism is connected to a vertical follow-up electromagnet mechanism, and the vertical follow-up electromagnet mechanism can move up and down in the opposite direction to the supporting universal wheel under the control of the vertical telescopic mechanism; the storage slot is connected to a transverse telescopic mechanism, and the telescopic end of the transverse telescopic mechanism is connected to the transverse outrigger bracket.

[0012] Through the above technical scheme, the thermal spraying mechanism provided by the present invention combines the AGV trolley mechanism with the thermal spraying mechanism, and utilizes the mobility of the AGV trolley mechanism to improve the spraying flexibility of the thermal spraying mechanism; at the same time, it is assisted by a side support mechanism as a stability guarantee. When different stability guarantees are required, the use of supporting universal wheels and vertical follow-up electromagnet mechanisms can be switched, and roller support or magnet adsorption support can be used to meet the stability effect of use.

[0013] Preferably, in the above thermal spraying robot, the vertical telescopic mechanism and the horizontal telescopic mechanism are both hydraulic cylinders. The hydraulic cylinder has a simple structure and has strong stability in use.

[0014] Preferably, in the above thermal spraying robot, when the lateral telescopic mechanism is fully retracted, the lateral outrigger is retracted into the storage slot, which can save space and prevent the width from being too large during operation, thereby preventing operation obstruction.

[0015] Preferably, in the above-mentioned thermal spraying robot, a limiting sleeve is fixed to one end of the lateral outrigger away from its hinged end, and the telescopic rod of the vertical telescopic mechanism is slidably connected in the limiting sleeve. The use of the limiting sleeve can improve the stability of the hydraulic cylinder action.

[0016] Preferably, in the above-mentioned thermal spraying robot, the vertical follow-up electromagnet mechanism includes a follow-up sleeve slidably mounted on the outside of the limit sleeve, the inner side of the follow-up sleeve is connected to the telescopic rod of the vertical telescopic mechanism through a follow-up assembly, and the bottom edge of the follow-up sleeve has an electromagnet. The present invention enables the supporting universal wheel and the electromagnet to be driven in opposite directions through the connection of the follow-up assembly, thereby meeting different usage scenarios, and the replacement of two different support forms can be met through only one driving structure.

[0017] Preferably, in the above-mentioned thermal spraying robot, the follower assembly includes a first rack, a second rack and a transmission gear; the first rack is vertically slidably connected to the inner cavity of the side wall of the limiting sleeve, and the bottom end of the first rack extends out of the limiting sleeve and is fixedly connected to the inner wall of the follower sleeve; the second rack is vertically slidably connected to the inner cavity of the side wall of the limiting sleeve, and the bottom end of the second rack extends out of the limiting sleeve and is fixedly connected to the outer wall of the telescopic rod of the vertical telescopic mechanism; the transmission gear is rotationally connected to the inner cavity of the side wall of the limiting sleeve, and is located between the first rack and the second rack, and meshes with the first rack and the second rack. The matching structure of the gear and rack can simply meet the use requirements of the structure.

[0018] Preferably, in the above thermal spraying robot, when the telescopic rod of the vertical telescopic mechanism is extended, the supporting universal wheel is at the lowest position, and when the telescopic rod of the vertical telescopic mechanism is retracted, the electromagnet is at the lowest position, so that the supporting universal wheel and the electromagnet are not affected when repeatedly switched.

[0019] The present invention also provides an AGV drive control system for controlling the AGV trolley mechanism of the above-mentioned thermal spraying robot, comprising:

[0020] a central control unit for receiving operating instructions and generating control signals;

[0021] A plurality of sensor modules, including but not limited to position sensors, speed sensors and load sensors, for real-time monitoring of the status of the AGV mechanism;

[0022] A drive control module, used to receive the control signal of the central control unit and control the movement of the AGV trolley mechanism and the control of the side support mechanism;

[0023] A communication interface is used to realize data exchange between the AGV vehicle mechanism and the central control system.

[0024] Through the above technical scheme, the present invention integrates the sensor module and the central control unit, and the system can realize precise control of the AGV trolley, thereby improving the automation level of the entire spraying operation. The precise control capability of the AGV drive control system, combined with the design of the thermal spray robot, enables the robot to realize automatic navigation, precise positioning and efficient spraying operations in complex indoor and outdoor environments, thereby improving the accuracy and quality of the operation.

[0025] Preferably, in the above-mentioned AGV drive control system, according to different requirements for stability, the drive control module controls the extension and retraction of the vertical retractable mechanism.

[0026] Preferably, in the above-mentioned AGV drive control system, the drive control module includes at least one motor controller for realizing independent control of the wheels of the AGV trolley mechanism.

[0027] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a thermal spraying robot and its AGV drive control system, which has the following beneficial effects:

[0028] 1. The thermal spraying mechanism provided by the present invention combines the AGV trolley mechanism with the thermal spraying mechanism, and utilizes the mobility of the AGV trolley mechanism to improve the spraying flexibility of the thermal spraying mechanism; at the same time, it is supplemented by a side support mechanism as a stability guarantee. When different stability guarantees are required, the use of the supporting universal wheel and the vertical follow-up electromagnet mechanism can be switched, and roller support or magnet adsorption support can be used to meet the stability effect of use.

[0029] 2. The present invention connects the follower assembly so that the supporting universal wheel and the electromagnet can be driven in opposite directions, thereby meeting different usage scenarios, and the replacement of two different support forms can be met by only one driving structure.

[0030] 3. Through the integrated sensor module and central control unit, the system of the present invention can realize precise control of the AGV trolley, thereby improving the automation level of the entire spraying operation. The precise control capability of the AGV drive control system, combined with the design of the thermal spraying robot, enables the robot to realize automatic navigation, precise positioning and efficient spraying operations in complex indoor and outdoor environments, thereby improving the accuracy and quality of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 The accompanying drawing is a schematic structural diagram of a thermal spraying robot provided by the present invention;

[0033] Figure 2 The accompanying drawing is a schematic structural diagram of the thermal spraying robot provided by the present invention in use;

[0034] Figure 3 The accompanying drawing is a bottom view of the thermal spraying robot provided by the present invention;

[0035] Figure 4 The accompanying drawing is a schematic structural diagram of the side support mechanism provided by the present invention;

[0036] Figure 5 The accompanying drawing is a cross-sectional view of the side support mechanism provided by the present invention in a state of supporting universal wheels;

[0037] Figure 6 The accompanying drawing is a cross-sectional view of the side support mechanism provided by the present invention using a vertical follow-up electromagnet mechanism;

[0038] Figure 7 The accompanying drawing is a block diagram of the AGV drive control system provided by the present invention.

[0039] in:

[0040] 1-AGV trolley mechanism;

[0041] 11- Storage slot;

[0042] 2-Side support mechanism;

[0043] 21-lateral outrigger; 22-vertical telescopic mechanism; 23-supporting universal wheel; 24-vertical follower electromagnet mechanism; 241-follower sleeve; 242-follower assembly; 2421-first rack; 2422-second rack; 2423-transmission gear; 243-electromagnet; 25-lateral telescopic mechanism; 26-limit sleeve;

[0044] 3- Thermal spraying mechanism;

[0045] 4- Central control unit;

[0046] 5-Sensor module;

[0047] 51-position sensor; 52-speed sensor; 53-load sensor;

[0048] 6-Drive control module;

[0049] 7- Communication interface. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] See attached Figure 1 To Attachment Figure 6 , an embodiment of the present invention discloses a thermal spraying robot, comprising:

[0052] An AGV trolley mechanism 1, a thermal spraying mechanism 3 is provided on the AGV trolley mechanism 1, and a storage groove 11 is provided on the side wall of the AGV trolley mechanism 1;

[0053] The side support mechanism 2 includes a transverse outrigger 21 having one end hinged in the storage groove 11, and the other end of the transverse outrigger 21 is connected to a vertical telescopic mechanism 22, and the bottom telescopic end of the vertical telescopic mechanism 22 is connected to a supporting universal wheel 23, and the outer side of the vertical telescopic mechanism 22 is connected to a vertical follow-up electromagnet mechanism 24, and the vertical follow-up electromagnet mechanism 24 can move up and down in the opposite direction to the supporting universal wheel 23 under the control of the vertical telescopic mechanism 22; the storage groove 11 is connected to a transverse telescopic mechanism 25, and the telescopic end of the transverse telescopic mechanism 25 is connected to the transverse outrigger 21.

[0054] In order to further optimize the above technical solution, the vertical telescopic mechanism 22 and the horizontal telescopic mechanism 25 are both hydraulic cylinders.

[0055] In order to further optimize the above technical solution, when the lateral telescopic mechanism 25 is fully retracted, the lateral outrigger 21 is retracted into the storage groove.

[0056] In order to further optimize the above technical solution, a limiting sleeve 26 is fixed to one end of the transverse outrigger 21 away from its hinged end, and the telescopic rod of the vertical telescopic mechanism 22 is slidably connected in the limiting sleeve 26 .

[0057] In order to further optimize the above technical solution, the vertical follower electromagnet mechanism 24 includes a follower sleeve 241 which is slidably mounted on the outside of the limiting sleeve 26. The inner side of the follower sleeve 241 is connected to the telescopic rod of the vertical telescopic mechanism 22 through a follower assembly 242. The bottom edge of the follower sleeve 241 has an electromagnet 243.

[0058] In order to further optimize the above technical solution, the follower assembly 242 includes a first rack 2421, a second rack 2422 and a transmission gear 2423; the first rack 2421 is vertically slidably connected to the inner cavity of the side wall of the limiting sleeve 26, and the bottom end of the first rack 2421 extends out of the limiting sleeve 26 and is fixedly connected to the inner wall of the follower sleeve 241; the second rack 2422 is vertically slidably connected to the inner cavity of the side wall of the limiting sleeve 26, and the bottom end of the second rack 2422 extends out of the limiting sleeve 26 and is fixedly connected to the outer wall of the telescopic rod of the vertical telescopic mechanism 22; the transmission gear 2423 is rotatably connected to the inner cavity of the side wall of the limiting sleeve 26, and is located between the first rack 2421 and the second rack 2422, and is meshed with the first rack 2421 and the second rack 2422.

[0059] In order to further optimize the above technical solution, when the telescopic rod of the vertical telescopic mechanism 22 is extended, the supporting universal wheel 23 is at the lowest position, and when the telescopic rod of the vertical telescopic mechanism 22 is retracted, the electromagnet 243 is at the lowest position.

[0060] See attached Figure 7 This embodiment also provides an AGV drive control system for controlling an AGV vehicle mechanism 1 of a thermal spraying robot, comprising:

[0061] A central control unit 4, for receiving operation instructions and generating control signals;

[0062] A plurality of sensor modules 5, including but not limited to a position sensor 51, a speed sensor 52 and a load sensor 53, are used to monitor the status of the AGV trolley mechanism 1 in real time;

[0063] A drive control module 6, used to receive control signals from the central control unit 4 and control the movement of the AGV trolley mechanism 1 and the control of the side support mechanism 2;

[0064] A communication interface 7 is used to realize data exchange between the AGV trolley mechanism 1 and the central control unit 4.

[0065] In order to further optimize the above technical solution, the drive control module 6 controls the extension and retraction of the vertical retractable mechanism 22 according to different requirements of stability.

[0066] In order to further optimize the above technical solution, the drive control module 6 includes at least one motor controller for realizing independent control of the wheels of the AGV trolley mechanism 1 .

[0067] See attached Figure 1 , which is a structural schematic diagram of the side support mechanism 2 of the thermal spraying robot provided in this embodiment in the unextended state, see the attached Figure 2 , which is a structural schematic diagram of the side support mechanism 2 of the thermal spraying robot provided in this embodiment in an extended state.

[0068] This embodiment aims to improve the stability during the spraying process, including the following situations:

[0069] 1. During normal driving, the side support mechanism 2 is retracted to reduce the width of the machine to prevent driving obstacles caused by excessive size.

[0070] 2. When spraying in a mobile state, the side support mechanism 2 is unfolded, and the telescopic rods of the vertical telescopic mechanism 22 are fully extended to support the universal wheel 23 to the ground as an auxiliary support to improve stability and can cooperate with the AGV trolley mechanism 1 to move.

[0071] 3. When spraying is performed in a non-moving state, which mainly refers to insufficient stability, the side support mechanism 2 is unfolded, the telescopic rod part of the vertical telescopic mechanism 22 is retracted, the electromagnet 243 touches the ground and is energized, so that the electromagnet 243 is charged and contacts and adsorbs on the iron sheet ground to improve stability.

[0072] This embodiment only provides the above three situations. In actual use, adaptive switching can be performed according to different scenarios.

[0073] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0074] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A thermal spraying robot, characterized in that: include: An AGV trolley mechanism (1), wherein a thermal spraying mechanism (3) is provided on the AGV trolley mechanism (1), and a storage groove (11) is provided on the side wall of the AGV trolley mechanism (1); A side support mechanism (2), the side support mechanism (2) comprising a transverse outrigger (21) having one end hinged in the storage slot (11), the other end of the transverse outrigger (21) being connected to a vertical telescopic mechanism (22), the bottom telescopic end of the vertical telescopic mechanism (22) being connected to a supporting universal wheel (23), the outer side of the vertical telescopic mechanism (22) being connected to a vertical follower electromagnet mechanism (24), the vertical follower electromagnet mechanism (24) being able to move up and down in opposite directions to the supporting universal wheel (23) under the control of the vertical telescopic mechanism (22); the storage slot (11) being connected to a transverse telescopic mechanism (25), the telescopic end of the transverse telescopic mechanism (25) being connected to the transverse outrigger (21).

2. A thermal spraying robot according to claim 1, characterized in that: The vertical telescopic mechanism (22) and the horizontal telescopic mechanism (25) are both hydraulic cylinders.

3. A thermal spraying robot according to claim 1, characterized in that: When the transverse telescopic mechanism (25) is fully retracted, the transverse outrigger (21) is retracted into the storage groove.

4. A thermal spraying robot according to any one of claims 1 to 3, characterized in that: A limiting sleeve (26) is fixed to one end of the transverse outrigger (21) away from the hinged end thereof, and the telescopic rod of the vertical telescopic mechanism (22) is slidably connected in the limiting sleeve (26).

5. A thermal spraying robot according to claim 4, characterized in that: The vertical follow-up electromagnet mechanism (24) comprises a follow-up sleeve (241) slidably mounted on the outside of the limit sleeve (26); the inner side of the follow-up sleeve (241) is connected to the telescopic rod of the vertical telescopic mechanism (22) via a follow-up assembly (242); and the bottom edge of the follow-up sleeve (241) has an electromagnet (243).

6. A thermal spraying robot according to claim 5, characterized in that: The follower assembly (242) comprises a first rack (2421), a second rack (2422) and a transmission gear (2423); the first rack (2421) is vertically slidably connected to the inner cavity of the side wall of the limiting sleeve (26), and the bottom end of the first rack (2421) extends out of the limiting sleeve (26) and is fixedly connected to the inner wall of the follower sleeve (241); the second rack (2422) is vertically slidably connected to the inner cavity of the side wall of the limiting sleeve (26), and the bottom end of the second rack (2422) extends out of the limiting sleeve (26) and is fixedly connected to the outer wall of the telescopic rod of the vertical telescopic mechanism (22); the transmission gear (2423) is rotationally connected to the inner cavity of the side wall of the limiting sleeve (26), and is located between the first rack (2421) and the second rack (2422), and is meshed with the first rack (2421) and the second rack (2422).

7. A thermal spraying robot according to claim 6, characterized in that: When the telescopic rod of the vertical telescopic mechanism (22) is extended, the supporting universal wheel (23) is at the lowest position, and when the telescopic rod of the vertical telescopic mechanism (22) is retracted, the electromagnet (243) is at the lowest position.

8. An AGV drive control system, used to control the AGV trolley mechanism (1) of the thermal spraying robot according to any one of claims 1 to 7, characterized in that: include: A central control unit (4) for receiving operation instructions and generating control signals; A plurality of sensor modules (5), including but not limited to a position sensor (51), a speed sensor (52) and a load sensor (53), for real-time monitoring of the state of the AGV trolley mechanism (1); A drive control module (6) for receiving control signals from the central control unit (4) and controlling the movement of the AGV trolley mechanism (1) and the control of the side support mechanism (2); A communication interface (7) is used to realize data exchange between the AGV trolley mechanism (1) and the central control unit (4).

9. The AGV drive control system according to claim 8, characterized in that: According to different requirements for stability, the drive control module (6) controls the extension and retraction of the vertical retractable mechanism (22).

10. The AGV drive control system according to claim 8, characterized in that: The drive control module (6) comprises at least one motor controller, which is used to realize independent control of the wheels of the AGV trolley mechanism (1).

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