Automatic wall roughening equipment

Abstract

The invention relates to the technical field of roughening equipment, and in particular to automatic roughening equipment for wall surfaces. A primary mechanical arm and a secondary mechanical arm are provided. The primary mechanical arm is connected to a moving seat. A driving motor 1 is installed on the moving seat. There is a stable installation platform. A motor with a larger power can be selected. Accordingly, a swing arm 1 with a larger size can be selected to provide a stable foundation for the secondary mechanical arm. The primary mechanical arm is connected to a reaction force device 1. The swing arm 1 is driven by the driving motor 1 to move. After reaching a predetermined position, the reaction force generated during the operation of the working part is resisted by the reaction force device 1. The secondary mechanical arm is connected to a connecting seat 1. A driving motor 2 is installed on the connecting seat 1. A swing arm 2 with a smaller size is selected so as to stably support the working part. The secondary mechanical arm is connected to a reaction force device 2. The swing arm 2 is driven by the driving motor 2 to move. After reaching a predetermined position, the reaction force generated during the operation of the working part is resisted by the reaction force device 2.

Description

Technical Field

[0001] The invention relates to the technical field of building surface treatment equipment, in particular to automatic wall roughening equipment. Background Art

[0002] In the process of building surface or facade construction, roughening is an important construction link. If the roughening is not handled properly, the bonding adhesion between new and old concrete will be reduced, resulting in cracks and early corrosion of the steel bars in these areas, which will reduce the bearing capacity of the steel bars and further reduce the durability of the overall structure. The roughening effect directly affects the quality.

[0003] In order to ensure the roughening effect, technical personnel in this field have developed a variety of roughening equipment to adapt to complex working conditions such as curved surfaces and flat surfaces. The roughening working part is installed on the frame to expand the roughening area. At the same time, dust suppression devices and remote control are introduced to protect the operators. In order to better control the roughening accuracy, technical personnel in this field have also studied the roughening data monitoring method, which collects the roughening data through image sensors, distance sensors, etc., processes the data, and judges the roughening effect.

[0004] The existing swing arm type haircutting equipment drives the swing arm to move through a motor or a cylinder. The driving mechanism is subjected to a large reaction force, and usually a larger swing arm is required to ensure the strength of the mechanism. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an automatic wall roughening device which can effectively resist the reaction force during the roughening operation.

[0006] The present invention is realized by the following technical scheme: an automatic wall roughening device comprises a base, a movable seat is arranged on the base, a mechanical arm is arranged on the movable seat, a working part is arranged at the end of the mechanical arm, and the mechanical arm comprises a primary mechanical arm and a secondary mechanical arm connected in sequence,

[0007] The primary mechanical arm comprises a swing arm 1, a driving motor 1 matched with the swing arm 1 is arranged on the moving seat, a connecting seat 1 is hinged at the end of the swing arm 1, and a reaction force device 1 is arranged between the moving seat and the connecting seat 1.

[0008] The secondary mechanical arm comprises a second swing arm, a second driving motor matched with the second swing arm is arranged on the first connecting seat, a second connecting seat is hinged at the end of the second swing arm, and a second reaction force device is arranged between the first connecting seat and the second connecting seat.

[0009] The working part is arranged on the second connecting seat.

[0010] Furthermore, the reaction force device 1 includes an articulated seat 1 connected to the movable seat, and the upper end of the articulated seat 1 is connected to the connecting seat 1 through a rocker arm 1.

[0011] Furthermore, the rocker arm 1 includes a cross bar 1 connected to a hinge seat 1 and a cross bar 2 connected to a connecting seat 1, the cross bar 1 and the cross bar 2 are of equal length, a rocker arm 1 is arranged between the first sides of the corresponding ends of the cross bar 1 and the cross bar 2, and a rocker arm 2 is arranged between the second sides of the corresponding ends of the cross bar 1 and the cross bar 2, and the rocker arm 1 and the rocker arm 2 are of equal length.

[0012] Furthermore, the second reaction force device comprises a second articulated seat connected to the first connecting seat, and the upper end of the second articulated seat is connected to the second connecting seat via a second rocker arm.

[0013] Further, the rocker arm 2 includes a cross bar 3 connected to the hinge seat 2 and a cross bar 4 connected to the connecting seat 2, the cross bar 3 and the cross bar 4 are of equal length, a rocker arm 3 is arranged between the first sides of the corresponding ends of the cross bar 3 and the cross bar 4, and a rocker arm 4 is arranged between the second sides of the corresponding ends of the cross bar 3 and the cross bar 4, and the rocker arm 3 and the rocker arm 4 are of equal length.

[0014] Furthermore, an adjustment cross bar cooperating with cross bar three is arranged on the hinged seat two, the adjustment cross bar is equal in length to cross bar three, connecting rod one and connecting rod two are hinged between the corresponding ends of the adjustment cross bar and cross bar three, and the adjustment cross bar is connected to a self-locking angle adjustment device.

[0015] Furthermore, the self-locking angle adjustment device includes a worm arranged on a connecting seat, the adjustment cross bar is connected to a worm wheel matching the worm, and the worm is connected to an adjustment handle.

[0016] Furthermore, the base is provided with a track cooperating with the moving seat, and the moving seat is connected with a moving drive device.

[0017] Furthermore, the mobile driving device is a ball screw pair.

[0018] The beneficial effects of the present invention are:

[0019] 1. Set a primary mechanical arm and a secondary mechanical arm. The primary mechanical arm is connected to a moving seat. A driving motor 1 is installed on the moving seat. There is a stable installation platform. A motor with a larger power can be selected. Accordingly, a swing arm 1 with a larger size can be selected. The structural strength is high and the swing amplitude is large. It also provides a stable foundation for the secondary mechanical arm. The primary mechanical arm is connected to a reaction force device 1. The swing arm 1 is driven by the driving motor 1 to move. After reaching the predetermined position, the reaction force generated during the operation of the working part is resisted by the reaction force device 1. The secondary mechanical arm is connected to a connecting seat 1. A driving motor 2 is installed on the connecting seat 1. A motor with a smaller power can be selected. Accordingly, a swing arm 2 with a smaller size can be selected. The working part can be stably supported. The secondary mechanical arm is connected to a reaction force device 2. The swing arm 2 is driven by the driving motor 2 to move. After reaching the predetermined position, the reaction force generated during the operation of the working part is resisted by the reaction force device 2.

[0020] 2. The reaction force device 1 includes an articulated seat 1 connected to the movable seat, the upper end of the articulated seat 1 is connected to the connecting seat 1 through a rocker arm 1, and the rocker arm 1 is a parallelogram rocker arm 1 composed of a cross bar 1, a cross bar 2, a rocker arm 1, and a rocker arm 2, which can ensure that the cross bar 1 and the cross bar 2 are always parallel, that is, the connecting seat 1 is parallel to the movable seat, and in the process of resisting the reaction force, stress concentration on the output shaft of the driving motor 1 is avoided, thereby playing a role in resisting the reaction force;

[0021] 3. The reaction force device 2 includes an articulated seat 2 connected to the connecting seat 1, the upper end of the articulated seat 2 is connected to the connecting seat 2 through a rocker arm 2, and the rocker arm 2 is a parallelogram rocker arm 2 composed of a cross bar 3, a cross bar 4, a rocker arm 3, and a rocker arm 4, which can ensure that the cross bar 3 and the cross bar 4 are always parallel, that is, the connecting seat 1 is parallel to the connecting seat 2, and in the process of resisting the reaction force, the stress is avoided from being concentrated on the output shaft of the driving motor 2, thereby playing a role in resisting the reaction force;

[0022] 4. The self-locking angle adjustment device can adjust the angle between the crossbar three and the connecting seat one by adjusting the crossbar, and then adjust the angle between the connecting seat one and the connecting seat two, thereby eliminating the angle deviation caused during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural schematic diagram of Example 1;

[0024] Figure 2 It is a structural schematic diagram of a rocker arm;

[0025] Figure 3 It is a schematic diagram of the structure of the swing arm 2;

[0026] Figure 4 It is a schematic diagram of the structure of rocker arm 2;

[0027] Figure 5It is a structural schematic diagram of a self-locking angle adjustment device;

[0028] Figure 6 It is a structural schematic diagram of a connecting block;

[0029] Figure 7 Create a flow chart for the database;

[0030] Figure 8 Schematic diagram of solving curve for robot arm angle information Figure 1 ;

[0031] Fig. 9 Schematic diagram of solving curve for robot arm angle information Figure 2 ;

[0032] Fig.10 The present invention is a flow chart of the control method of the automatic wall roughening equipment.

[0033] Among them: 1. base; 2. track; 3. lead screw; 4. moving seat; 5. rotating seat; 6. swing arm one; 7. drive motor one; 8. drive motor three; 9. connecting seat one; 10. rocker arm one; 11. drive motor two; 12. swing arm two; 13. rocker arm two; 14. connecting seat two; 15. working part; 16. hinge seat one; 17. cross bar one; 18. rocker arm one; 19. rocker arm two; 20. cross bar two; 21. worm; 22. adjusting handle; 23. worm gear; 24. adjusting cross bar; 25. connecting rod one; 26. connecting rod two; 27. hinge seat two; 28. cross bar three; 29. ​​rocker arm three; 30. rocker arm four; 31. cross bar four; 32. bearing seat; 33. rotating shaft; 34. connecting block one. DETAILED DESCRIPTION

[0034] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0036] Example 1

[0037] like Figure 1-6 As shown, an automatic wall roughening device includes a base 1, which is a steel structure base and can be installed on a mobile or fixed basis. It is light in weight and has high structural strength. It provides a stable foundation for the roughening working part 15. A moving base 4 is installed on the base 1. Specifically, a track 2 that cooperates with the moving base 4 is installed on the base 1. The track 2 uses a linear slide rail. The moving base 4 is connected to a moving drive device. The moving drive device uses a ball screw pair. The screw 3 of the ball screw pair is connected to the base 1, and the screw 3 is connected to a drive motor 3 8. The position of the moving base 4 is controlled by controlling the rotation angle of the drive motor 3 8.

[0038] A robotic arm is installed on the movable seat 4, and a working part 15 is installed at the end of the robotic arm. In this embodiment, the robotic arm is upward and is mainly used to roughen the construction surface upward, which can be a vertical construction surface, an inclined construction surface or an arc-shaped construction surface. The working part 15 can be a pneumatic roughening machine, an electric pick or a hydraulic pick. The working head is driven to move by the robotic arm to control the roughening area.

[0039] The mechanical arm includes a primary mechanical arm and a secondary mechanical arm connected in sequence, wherein the primary mechanical arm includes a swing arm 6, a driving motor 7 matched with the swing arm 6 is installed on the moving seat 4, a connecting seat 9 is hinged at the end of the swing arm 6, the driving motor 7 is installed on the moving seat 4, there is a stable installation platform, a motor with a larger power can be selected, and a swing arm 6 with a larger size can be selected accordingly, the structural strength is high, the swing amplitude is large, and a stable foundation is provided for the secondary mechanical arm, a reaction force device 1 is installed between the moving seat 4 and the connecting seat 9, and the reaction force device 1 includes an articulated seat 16 connected to the moving seat 4 The upper end of the articulated seat 16 is connected to the connecting seat 9 through a rocker arm 10. The rocker arm 10 includes a cross bar 17 connected to the articulated seat 16 and a cross bar 20 connected to the connecting seat 9. The cross bar 17 and the cross bar 20 are of equal length. A rocker arm 18 is connected between the first sides of the corresponding ends of the cross bar 17 and the cross bar 20. A rocker arm 29 is connected between the second sides of the corresponding ends of the cross bar 17 and the cross bar 20. The rocker arm 18 and the rocker arm 29 are of equal length. The rocker arm 10 is a parallelogram rocker arm 10 composed of the cross bar 17, the cross bar 20, the rocker arm 18, and the rocker arm 29, which can ensure the horizontal The rod 17 and the crossbar 20 are always parallel, that is, the connecting seat 9 is parallel to the moving seat 4. In the process of resisting the reaction force, the stress is avoided from being concentrated on the output shaft of the driving motor 7, thereby playing a role in resisting the reaction force. The swing arm 6 is a rectangular tube formed by welding steel plates. The rocker arm 10 is installed in the swing arm 6, thereby protecting the rocker arm 10. Under normal circumstances, the swing arm 6 can be driven by the driving motor 7. During use, it is found that the reaction force generated by the operation of the working head is concentrated on the main shaft of the driving motor 7, which has a greater impact on the driving motor 7, causing the driving motor 7 to The service life of the swing arm 10 is reduced, and the connection between the main shaft of the drive motor 7 and the swing arm 6 is easy to loosen. After the rocker arm 10 is introduced, the rotational torque transmitted to the connecting seat 9 is transmitted to the rocker arm 10, and the force is transmitted through the rocker arm 18, the cross bar 17, and the rocker arm 19, resulting in a lag, and then the rotational torque is delayed and buffered, weakening the impact on the main shaft of the drive motor 7. Accordingly, the working part 15 is stably supported and the working stability is guaranteed. After the rocker arm 10 is introduced, the structural strength of the swing arm 6 is reduced, and a thinner steel plate is selected for welding to obtain the swing arm 6, which still has high stability and service life.

[0040] The secondary robot arm includes a swing arm 12, a driving motor 11 matched with the swing arm 12 is installed on the connecting seat 19, and a connecting seat 14 is hinged at the end of the swing arm 12. The driving motor 11 is installed on the connecting seat 19, and the swing arm 12 can be controlled to swing by the driving motor 11, thereby extending the swing arm 16, and can cooperate with the swing arm 16 to complete the roughening of irregular surfaces. Since the driving motor 11 is installed on the connecting seat 14, a stable installation foundation cannot be obtained. The driving motor 11 needs to select a motor with smaller power, and the size of the corresponding swing arm 12 is limited. A reaction force device 2 is installed between the connecting seat 19 and the connecting seat 14, and the reaction force device 2 includes a hinge connected to the connecting seat 9 Connecting seat 27, the upper end of articulated seat 27 is connected to connecting seat 2 14 through rocker arm 2 13, rocker arm 2 13 includes cross bar 3 28 connected to articulated seat 27, cross bar 4 31 connected to connecting seat 2 14, cross bar 3 28 and cross bar 4 31 are of equal length, rocker arm 3 29 is connected between the first sides of the corresponding ends of cross bar 3 28 and cross bar 4 31, rocker arm 4 30 is connected between the second sides of the corresponding ends of cross bar 3 28 and cross bar 4 31, rocker arm 3 29 and rocker arm 4 30 are of equal length, rocker arm 2 13 is a parallelogram rocker arm 2 13 composed of cross bar 3 28, cross bar 4 31, rocker arm 3 29, and rocker arm 4 30, which can ensure that cross bar 3 28 and cross bar 4 31 are always parallel, that is, connecting seat 2 14 and connecting seat 1 9 are connected. In parallel, in the process of resisting the reaction force, stress is avoided from being concentrated on the output shaft of the driving motor 2 11, thereby playing a role in resisting the reaction force. The swing arm 2 12 is also a rectangular tube shape formed by welding of steel plates. The rocker arm 2 13 is installed in the swing arm 2 12, thereby being able to protect the rocker arm 2 13. Under normal circumstances, the swing arm 2 12 can be driven to move by the driving motor 2 11. It is found during use that the reaction force generated by the operation of the working head is concentrated on the main shaft of the driving motor 2 11, which has a greater impact on the driving motor 2 11, resulting in a reduction in the service life of the driving motor 2 11, and the connection between the main shaft of the driving motor 2 11 and the swing arm 2 12 is easy to loosen. After the rocker arm 2 13 is introduced, it is transmitted to the connecting seat 2 14. The rotational torque is transmitted to the rocker arm 13, and force is transmitted through the rocker arm 3 29, the cross bar 3 28, and the rocker arm 4 30, resulting in a lag, thereby delaying and buffering the rotational torque, thereby weakening the influence on the main shaft of the drive motor 11. Accordingly, the working part 15 is stably supported, and the working stability is guaranteed. After the introduction of the rocker arm 13, the structural strength of the swing arm 12 is reduced, and the swing arm 12 is obtained by welding with a thinner steel plate, which still has high stability and service life. The reaction force generated by the operation of the working part 15 forms an irregular impact torque, which is buffered by the reaction force device 2 and then transmitted to the connecting seat 9, and then is buffered by the reaction force device 2. Through multiple buffering, the influence on the drive motor 7 is reduced.

[0041] Under normal conditions, the movable seat 4, the connecting seat 1 9 and the connecting seat 2 14 should be parallel to each other. After long-term use, since the swing arm 2 12 and the reaction force device 2 are small in size and directly subjected to force, an angle deviation occurs between the connecting seat 2 14 and the connecting seat 1 9, which affects the roughening effect and changes the reaction force angle, aggravating the damage to the mechanical arm. An adjustment cross bar 24 matched with the cross bar 3 28 is installed on the articulated seat 2 27. The adjustment cross bar 24 is equal in length to the cross bar 3 28. A connecting rod 1 25 and a connecting rod 26 are hinged between the corresponding ends of the adjustment cross bar 24 and the cross bar 3 28. The adjustment cross bar 24 is connected to The self-locking angle adjustment device includes a worm 21 installed on a connecting seat 9, an adjusting cross bar 24 connected to a worm wheel 23 matching the worm 21, and an adjusting handle 22. The worm 21 is driven to rotate by the adjusting handle 22, and then the adjusting cross bar 24 is driven to rotate by the worm wheel. The rotation of the adjusting cross bar 24 drives the cross bar three 28 to rotate through the connecting rod one 25 and the connecting rod two 26, and then drives the cross bar four 31 to rotate through the rocker three 29 and the rocker four 30. The cross bar four 31 drives the connecting seat two 14 to rotate to be parallel to the connecting seat one 9, thereby eliminating the angle deviation caused during use.

[0042] For the convenience of installation, in this embodiment, the connecting seat 1 9 is connected to the reaction force device 1 through a connecting block 1 34, and the connecting seat 2 14 is connected to the reaction force device 2 through a connecting block 2. Both the connecting block 1 34 and the connecting block 2 are connected with a rotating shaft 33. The swing arm 1 6 and the swing arm 2 12 are provided with a bearing seat 32 matched with the corresponding rotating shaft 33. The cross bar 2 20 is integrally formed with the connecting block 1 34, and the cross bar 4 31 is integrally formed with the connecting block 2, thereby ensuring the structural strength and facilitating installation. The connecting block 1 34 and the connecting seat 1 9 are positioned and connected by bolts and locating pins, and the connecting block 2 and the connecting seat 2 14 are positioned and connected by bolts and locating pins.

[0043] In this embodiment, a rotating seat 5 is installed on the upper end of the moving seat 4, and a driving motor 7, a swing arm 6, and a reaction force device are connected to the rotating seat 5. The rotating seat 5 can be connected to a rotating driving motor, so that the robotic arm drives the working part 15 to rotate horizontally, thereby adjusting the angle.

[0044] In addition, it is worth noting that a rocker bar 18 is connected between the first sides of the corresponding ends of cross bar 17 and cross bar 20, a rocker bar 2 19 is connected between the second sides of the corresponding ends of cross bar 17 and cross bar 20, rocker bar 18 is located on the first side of cross bar 17 and cross bar 20, rocker bar 2 19 is located on the second side of cross bar 17 and cross bar 20, and the resulting parallelogram rocker arm 10, a rocker bar 3 29 is connected between the first sides of the corresponding ends of cross bar 3 28 and cross bar 4 31, a rocker bar 4 30 is connected between the second sides of the corresponding ends of cross bar 3 28 and cross bar 4 31, rocker bar 3 29 is located on the first side of cross bar 3 28 and cross bar 4 31, rocker bar 4 30 is located on the second side of cross bar 3 28 and cross bar 4 31, and the resulting parallelogram rocker arm 2 13 has an overall rotation angle that can exceed 180°, thereby obtaining a larger roughening angle, which can complete the overall roughening of the tunnel wall.

[0045] The automatic wall roughening equipment provided in the present embodiment, after collecting the data of the wall roughening area, obtains the control parameters of the drive motor 1 7, the drive motor 2 11, and the drive motor 3 8 through conversion, and then controls the drive motor 1 7, the drive motor 2 11, the drive motor 3 8 and the working part 15 through the controller to complete the roughening operation and realize automatic roughening operation. It has a wide range of applications. In particular, under the action of the reaction force device 1 and the reaction force device 2, while maintaining the state of the working part 15, it can also play a good reaction force buffering role, thereby ensuring the stability of the working part 15 and the high precision of automatic roughening.

[0046] The automatic wall roughening device provided in this embodiment includes the following working steps and control method:

[0047] like Figure 7-10 As shown,

[0048] 1. Preparation before work and establishment of data set:

[0049] When performing roughening operations on the roof or the top of a tunnel, the roughening tool is fixed on the upper platform, and the binocular camera is installed directly below the robotic arm to process the image obtained after image preprocessing such as grayscale.

[0050] When performing roughening operations on vertical walls, the binocular camera can be placed at the rear side relative to the robot arm and the working plane for measurement.

[0051] Transmit image information to the host computer to transmit data, collect and produce key points of each joint of the robot arm and target work point position data sets including training sets, test sets, etc., mark key points of the data sets, train and test them.

[0052] Since the detection method is not innovative, the more commonly used YOLO algorithm is used as an example: Yolo-Pose and other algorithms are used for key point detection. Before detection, the robot arm needs to be labeled with the points and boxes to be detected, and the labeled data set is used to train Yolo-Pose. The GIOU loss function is used to predict the prediction effect of the prediction box.

[0053]

[0054] A and B represent the prediction box and the target box, and C represents the smallest rectangular box that contains both the prediction box and the target box.

[0055] The trained Yolo-Pose is used to detect the position information of each joint point. The image information is sent to the YOLO algorithm for processing. The trained YOLO-pose posture model is used to identify the target in the image. YOLO outputs normalized pixel size information, including the size of the target box, the coordinates of the center point, and the confidence information.

[0056] 2. Hand-eye calibration:

[0057] The hand-eye calibration of the robotic arm is carried out using the eye-outside-the-hand calibration method. Since the end of the robotic arm is always parallel to the platform below, the posture transformation can be omitted during the calibration process. Therefore, the improved camera and robotic arm base coordinate system transformation matrix is , the camera detection position information can be converted into the position information in the robot coordinate system using the transformation matrix.

[0058]

[0059] base is the base coordinate system of the robot arm, cam is the coordinate system of the depth camera, and cal is the coordinate system of the calibration plate.

[0060] 3. Level the upper platform (adjust to be parallel to the work surface):

[0061] By using yolo-pose's key point detection, we can simultaneously obtain the position information of the work target and the upper platform, obtain the angle that needs to be adjusted to make the upper platform parallel to the work surface, and adjust it to make it parallel to the work surface based on the detection data.

[0062]

[0063] x is the horizontal coordinate of the key point of the robot arm, and y is the vertical coordinate of the key point of the robot arm. Depth information of key points identified by the camera, The angle that needs to be adjusted to make the upper platform angle parallel to the work surface.

[0064] 4. Solving the angle information of the robotic arm:

[0065] The posture of the robotic arm is detected by training the neural network data set, and the transformation matrix obtained by hand-eye calibration is transformed to obtain the target position of the robotic arm.

[0066] When the robotic arm is working, the binocular camera detects the key point position information in real time through the deep learning algorithm, and converts it into the target working angle of each motor of the robotic arm through the inverse solution formula. The calculation method is:

[0067] Kinematics positive solution formula:

[0068]

[0069] The inverse solution formula is:

[0070] : When len is not equal to 0, x and y are not 0 at the same time: =tan → =atan2(y,x)

[0071] When Len=0:

[0072] =acos( + + / (2* * )+atan( ) (( + - + + -pi / 2

[0073] is the sum of the distances between the robot joints in the height direction, is the rotation angle of each joint, is the vertical projection length of the robot arm, is the height of the projection in the vertical direction. It is the position information of each point in each direction.

[0074] 5. Trajectory planning method of obtaining motor rotation parameters in multiple ways and weighted fitting:

[0075] According to the path planning, an interpolation polynomial is established, and the interpolation points are selected as nodes. The motor rotation angle is obtained according to the above-mentioned camera relative robot arm transformation matrix and the inverse equation, and the upper computer controls the motor rotation to reach the target position.

[0076] The three-term interpolation method is selected for trajectory planning. This method provides higher trajectory smoothness while requiring relatively less calculation, thus meeting the requirements for roughening.

[0077]

[0078] Where t is a parameter ranging from 0 to 1. The interpolation polynomial is used to calculate the value of the robotic arm within the range of the time parameter t.

[0079] In order to determine the coefficient We usually use the following four conditions:

[0080] Starting Position:

[0081] Starting speed: (Usually the starting velocity is assumed to be 0)

[0082] End position: End speed: (Usually the end velocity is assumed to be 0)

[0083] With these conditions, we can solve for the coefficients .

[0084] Because the work of roughening is labor-intensive and lasts for a long time, in order to reduce mechanical errors, it is necessary to analyze the causes of the errors:

[0085] These include systematic errors in the robotic arm structure (such as accuracy errors in the end-arm due to long-term operation), position errors caused by motor operation, and accuracy errors in key point detection.

[0086] Through target detection, the robot arm and the target working position are obtained. Based on the above data, the rotation angle monitored by the encoder and the visual test are compared and weighted fitting is established, and the obtained fitting rotation angle is used to control the motor rotation and reach the target position. The calculation method of the actual rotation angle of the robot arm is as follows:

[0087]

[0088]

[0089] x, y are the horizontal and vertical coordinates of the key points of the robot arm. To detect the angle parameters combined with the arm length through key points, is the length of the robot arm. It is the angle information of the depth information detection of the binocular camera.

[0090]

[0091] For the actual control angle, is the weighting coefficient; They are the servo motor encoder, the binocular camera through distance measurement, and the angle parameters obtained through key point measurement. The value can be calculated and adjusted by testing the accuracy of the data results.

[0092] Example Calculation method: For each detection method , calculate its accuracy The difference from the average accuracy The difference between It is calculated by dividing the sum of the accuracies of all methods by the number of methods. :

[0093]

[0094]

[0095] The accuracy difference of each method Divide by the sum of all differences , get the weight of each method, where the total difference is all the difference The sum of:

[0096]

[0097]

[0098] Make sure all weights add up to 1 and normalize the weights by the following formula:

[0099]

[0100] Result analysis and output of the adjusted rotation angle: Substitute into the following formula

[0101]

[0102]

[0103]

[0104] make

[0105] And recalculate the coefficients get

[0106]

[0107] The trajectory of the robot is planned through the new polynomial formula to achieve smooth motion and reduce the impact of structure and single vision on the offset of the robot.

[0108] By visually detecting the actual rotation angle of each robot arm, the robot arm can be made more accurate and its precision and robustness can be increased. Because the accuracy of the three solution methods and the accuracy of the calculation required parameters are different. The key point detection information of the actual position and the motor encoder detection angle and other information are weighted fitting calculations, and the control parameters of the node are brought into the real-time modification of the motor rotation angle, which can be used to eliminate the error between the target rotation and the actual rotation and improve the reliability of the target detection algorithm. The optimized rotation parameters are output and transmitted to the motor through the bus, so that the robot arm reaches the predetermined posture and position.

[0109] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic wall roughening device, comprising a base, a movable seat is arranged on the base, a mechanical arm is arranged on the movable seat, and a working part is arranged at the end of the mechanical arm, characterized in that: The mechanical arm comprises a primary mechanical arm and a secondary mechanical arm connected in sequence, The primary mechanical arm comprises a swing arm 1, a driving motor 1 matched with the swing arm 1 is arranged on the moving seat, a connecting seat 1 is hinged at the end of the swing arm 1, and a reaction force device 1 is arranged between the moving seat and the connecting seat 1. The secondary mechanical arm comprises a second swing arm, a second driving motor matched with the second swing arm is arranged on the first connecting seat, a second connecting seat is hinged at the end of the second swing arm, and a second reaction force device is arranged between the first connecting seat and the second connecting seat. The working part is arranged on the second connecting seat. The reaction force device 1 includes an articulated seat 1 connected to the movable seat, and the upper end of the articulated seat 1 is connected to the connecting seat 1 through a rocker arm 1. The rocker arm 1 includes a cross bar 1 connected to the hinge seat 1 and a cross bar 2 connected to the connection seat 1, the cross bar 1 and the cross bar 2 are of equal length, a rocker arm 1 is arranged between first sides of the corresponding ends of the cross bar 1 and the cross bar 2, and a rocker arm 2 is arranged between second sides of the corresponding ends of the cross bar 1 and the cross bar 2, and the rocker arm 1 and the rocker arm 2 are of equal length, The second reaction force device comprises a second hinged seat connected to the first connection seat, and the upper end of the second hinged seat is connected to the second connection seat through a second rocker arm. The rocker arm 2 includes a cross bar 3 connected to the hinge seat 2 and a cross bar 4 connected to the connection seat 2. The cross bar 3 and the cross bar 4 are of equal length. A rocker arm 3 is arranged between the first sides of the corresponding ends of the cross bar 3 and the cross bar 4. A rocker arm 4 is arranged between the second sides of the corresponding ends of the cross bar 3 and the cross bar 4. The rocker arm 3 and the rocker arm 4 are of equal length. The hinge seat 2 is provided with an adjustment cross bar matched with the cross bar 3, the adjustment cross bar is of equal length to the cross bar 3, the corresponding ends of the adjustment cross bar and the cross bar 3 are hinged with a connecting rod 1 and a connecting rod 2, and the adjustment cross bar is connected with a self-locking angle adjustment device. The self-locking angle adjustment device comprises a worm arranged on a connecting seat, the adjusting cross bar is connected to a worm wheel matched with the worm, and the worm is connected to an adjusting handle.

2. The automatic wall roughening device according to claim 1 is characterized in that: The base is provided with a track matched with the moving seat, and the moving seat is connected with a moving driving device.

3. The automatic wall roughening device according to claim 2 is characterized in that: The moving drive device is a ball screw pair.

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