Intelligent robot integrating spraying and wiping functions

Abstract

The invention discloses an intelligent robot integrating spraying and wiping functions, comprising: a mechanical arm, the front end of which is connected with an integrated operation head; the integrated operation head comprises a base, a nozzle, a scraping plate and a motor; the scraping plate is rotationally arranged at the front end of the base and is arranged on one side of the nozzle; the motor is used for driving the scraping plate to rotate around a rotating shaft; the force sensor is arranged between the scraping plate and the rotating shaft; the multi-view camera system comprises a first depth camera fixedly arranged at the front end of the integrated operation head; and the computing terminal is in communication connection with the mechanical arm, the motor, the force sensor and the multi-view camera system. The integrated operation head is arranged on the mechanical arm, the nozzle and the scraping plate can be integrally designed, the head can be switched under different working conditions such as spraying, leveling at different angles and even finishing of a construction surface, the motor is arranged to drive the scraping plate to rotate, sprayed materials can be avoided, and multi-angle leveling can be achieved.

Description

Technical Field

[0001] The invention relates to the field of special equipment in the metallurgical industry and the construction industry, and in particular to an intelligent robot with integrated spraying and wiping functions. Background Art

[0002] In the fields of metallurgy and glass manufacturing, refractory materials are widely used as a vital protective layer on the inner wall of molten metal and glass containers. They are firmly fixed through manual spraying and coating technology to ensure the safety and durability of the containers. Similarly, in the construction industry, the spraying and coating of concrete and cement is also an indispensable part and is crucial to the stability of the building structure. However, these traditional construction methods face multiple challenges: The first difficulty lies in the harshness of the construction environment. Whether it is the high temperature and high dust environment in the metallurgical industry or the flying dust on the construction site, it poses a serious threat to the health of workers. Long-term exposure to this environment can easily damage the physical and mental health of workers.

[0003] Secondly, the stability of construction quality is highly dependent on the experience and skills of workers. When inexperienced workers carry out construction, it is often difficult to ensure the construction quality, and it may even cause serious safety accidents, causing immeasurable losses to production.

[0004] Furthermore, the lack of digital management of the construction process makes it difficult to quantify and evaluate construction activities, and it is difficult to effectively achieve goals such as cost control, defect tracking, and risk management, which seriously restricts construction efficiency and the level of refined project management.

[0005] In response to the above problems, Patent 202311576472.7 proposes an intelligent mortar spraying and leveling robot. Although it has achieved remarkable results in the automated spraying and leveling of mortar, it still faces challenges in the motion control of the scraping plate. If the scraping plate fits too tightly to the wall, it is easy to cause excessive scraping of the wet mortar, affecting the thickness design of the mortar layer; on the contrary, if the fit is not tight, the flatness of the wall surface is difficult to ensure.

[0006] Patent 202311671904.2 proposes a continuous casting tundish refractory spraying system, which uses dual robotic arms to achieve collaborative spraying and scraping, and introduces remote control technology to innovate the construction method. However, while this solution increases costs, it also greatly increases the complexity of path planning, and places higher requirements on the flexibility and accuracy of the system.

[0007] In summary, how to overcome the limitations of the existing technology while retaining its advantages has become a key issue to be solved in the present invention. The present invention aims to provide a more efficient, safe and controllable spraying and coating solution for the metallurgical, glass manufacturing and construction industries through technological innovation. Summary of the invention

[0008] The purpose of the present invention is to provide an intelligent robot with integrated spraying and wiping functions.

[0009] In order to achieve the above object, the technical solution adopted by the present invention is: An intelligent robot with integrated spraying and wiping functions, comprising: A mechanical arm, with an integrated operating head connected to the front end; The integrated operation head comprises a base, a nozzle, a scraping plate and a motor connected to the base; the scraping plate is rotatably arranged at the front end of the base and arranged at one side of the nozzle; the output shaft of the motor acts on the scraping plate to drive the scraping plate to rotate around a rotation axis; a force sensor disposed between the scraping plate and the rotating shaft; A multi-camera system, comprising a first depth camera fixedly mounted on the front end of the integrated operation head; A computing terminal is communicatively connected with the robotic arm, the motor, the force sensor and the multi-camera system.

[0010] In the above scheme, the scraper plate can be arranged on the lower side of the nozzle, or on the left side, right side or upper side. The specific setting position can be set according to the on-site construction requirements without affecting the realization of the operating function.

[0011] In the above solution, the force sensor is used to accurately receive the front end contact force during the construction process.

[0012] In the above scheme, the scraper board described in the present invention refers to a tool such as a trowel board / scraper.

[0013] In the above scheme, the nozzle of the present invention includes a spray pipe and a high-pressure air pipe, which are used to realize the spray function.

[0014] In a further technical solution, the robot arm is a six-axis robot arm, which can realize accurate real-time control and movement. In addition, a five-axis or four-axis robot arm, or a three-axis robot arm, a cylinder, or an electric cylinder that can only move in the x, y, and z directions can also be selected.

[0015] A further technical solution also includes a mechanical arm fixing device for fixing the end of the mechanical arm.

[0016] According to a further technical solution, the robot arm fixing device is a movable platform, and the movable platform can move via a track.

[0017] In addition to the ground track form installed on the ground, the track can also be other forms such as an inverted track (i.e., a ceiling track) or a side-mounted track, so that the robot can move in the horizontal or vertical direction, increase the robot's range of activity, and increase the construction area.

[0018] According to a further technical solution, the motor is provided with a reducer and is connected to the scraping plate through a transmission wheel and a belt.

[0019] Since the scraper plate is adjacent to the nozzle and both face the construction position, when the nozzle sprays materials, the sprayed materials (such as refractory materials or gravel, cement and other materials) will splash onto the scraper plate, causing the scraping function to fail. On the other hand, in order to achieve smoothing at different angles, the scraper plate also needs to rotate. Therefore, the scraper plate can be driven by a motor to rotate to avoid the sprayed materials or achieve smoothing at multiple angles.

[0020] Furthermore, the motor drives the reducer to rotate, and the reducer can increase the holding force of the scraper plate to maintain the stability of the scraper plate during construction.

[0021] In a further technical solution, the multi-camera system further includes a temperature camera, a color camera, and a second depth camera. The temperature camera and the color camera can analyze the temperature distribution and color distribution of the plane while the first depth camera performs three-dimensional reconstruction on the plane to be constructed, thereby facilitating the operator to plan the construction path and perform the corresponding construction operation. The specific construction principle is the prior art, so the present invention will not elaborate on it.

[0022] By setting up a second depth camera (multiple cameras can be set up and distributed at different angles), the operation of the robot arm can be monitored in real time, which is used to plan the path of the robot arm, and then drive the integrated operation head to perform construction according to the planned path. Specifically, by setting up the second depth camera, it is possible to achieve: 1) Completely photograph the area to be constructed, model it, and plan the movement path of the robot arm; 2) Real-time monitoring of the movement and operation of the robot arm to ensure that the robot arm will not have safety issues such as collisions.

[0023] Among them, the temperature camera and the color camera can be installed together with the second depth camera on the fixed frame (such as a movable platform) or track of the robot arm, or can be installed on the integrated working head, so as to realize the first or / and second depth camera combined with the color camera and the temperature camera to synchronously shoot the area to be constructed.

[0024] A further technical solution also includes a control console having an interactive device, through which an operator can control the movement of the robotic arm, control the nozzle to perform spraying operations, and control the scraper to smooth the construction surface.

[0025] If the above-mentioned control console is not available, construction can also be carried out in the following ways: 1) Use the first depth camera to photograph the area to be constructed and perform 3D modeling. After modeling, calculate the flatness, area, and posture of the plane to be constructed, and then perform path planning for the robotic arm to achieve related work such as spraying and scraping; 2) For areas or planes to be constructed with small individual differences, the equipment can be fixed at a designated position relative to the area to be constructed, and the relative position of the robotic arm and the area to be constructed can be adjusted through tracks, etc., so that the position is relatively fixed, and then construction is carried out through fixed spraying and smoothing paths.

[0026] According to a further technical solution, the control console also includes a display, and the interactive device includes a remote control rod. In addition, it can also include other interactive devices such as a keyboard, a mouse, and a foot switch. The above-mentioned interactive devices can be used alone or in combination.

[0027] A further technical solution is that the computing terminal is a computer or server host with computing capabilities, and the communication connection method includes wired communication methods, such as RJ45, USB, VGA, HDMI, DP and other commonly used wired communication methods, and wireless communication methods, such as wifi, 5G and other commonly used wireless communication methods.

[0028] In a further technical solution, the force sensor is a six-dimensional force sensor that can measure three-dimensional force (F x , F y , F z ) and three-dimensional moment (M x , M y , M z ).

[0029] According to a further technical solution, when the mechanical arm is in a static state, the force and torque data measured by the force sensor are composed of three parts: A. Error of the force sensor itself; B. The force sensor and the scraper plate’s own gravity; C. External contact force on the scraper plate; If the external contact force of the scraper plate needs to be obtained and the error of the force sensor itself and the gravity of the assembly need to be eliminated, the mass of the scraper plate and the center of mass position relative to the force sensor coordinate system need to be calibrated. The calibration process is: First, stop the motor and fix the positions of the force sensor and the scraper plate; Then, the axes of the robot arm are driven to move continuously. Since the force sensor is relatively positioned with the front end of the robot arm, the three-dimensional position of the force sensor and the scraper plate can be calculated in real time during the movement. Synchronously collect the value of the force sensor and the movement angle of each axis in the robot arm; Finally, the force and torque generated by the center of mass and gravity of the scraper plate acting on the force sensor in different postures are calculated, and then the load and zero drift of the force sensor are calibrated based on the least squares method.

[0030] In the above scheme, the gravity of the force sensor and the scraper plate will affect the force sensor in different positions of the mechanical arm. To avoid this problem, the present invention, when the position of the force sensor and the front end of the mechanical arm is known, after the integrated operation head is installed with the scraper plate, collects data of the front end position of multiple sets of mechanical arms and the force sensor, and calculates the zero point value of the force sensor based on the gravity compensation and force transformation of the force sensor, as well as the gravity of the force sensor and the scraper plate in different positions, and the component of the force sensor acting on the force sensor, thereby obtaining the external force borne by the rear end of the scraper plate, thereby realizing the tool calibration of the force sensor (calibration of force and center of mass), so that at any angle, the force sensor can keenly feel the force at the rear end of the scraper plate, filtering out the influence of the gravity of the scraper plate itself. Based on this, during the construction operation, the force at the rear end of the scraper plate is transmitted to the remote control rod, and the operator can accurately feel the contact force between the scraper plate and the construction plane during the leveling or scraping operation through the remote control rod.

[0031] Furthermore, according to the movement angle of the motor, the rotation angle of the scraper plate and the force sensor can be accurately calculated through the reducer transformation. Since the integrated working head is fixed at the front end of the robot arm, the spatial posture of the integrated working head can be calculated through the kinematic data of the six axes of the robot arm. The rotation angle of the scraper plate and the force sensor is known, and the precise spatial posture of the scraper plate and the force sensor can also be calculated. Based on the result of the gravity calibration of the scraper plate, the force sensor can accurately sense the force at the rear end of the scraper plate at different angles of the scraper plate.

[0032] The terms “first”, “second”, etc. used in the present invention do not particularly refer to an order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms.

[0033] As used in the present invention, “connection” or “positioning” may refer to direct physical contact between two or more components or devices, or indirect physical contact between two or more components or devices, or mutual operation or action.

[0034] The terms “include”, “including”, “have”, etc. used in the present invention are open-ended terms, meaning including but not limited to.

[0035] The terms used in the present invention generally have the ordinary meaning of each term used in this field, in the content of the present invention and in the special content, unless otherwise specified. Certain terms used to describe the present invention will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art on the description of the present invention.

[0036] The terms “front”, “back”, “up”, “down”, “left”, “right”, etc. used in the present invention are directional terms. They are only used to illustrate the positional relationship between the various structures in the present invention and are not used to limit the protection scheme of the present invention and the specific direction during actual implementation.

[0037] The working principle and advantages of the present invention are as follows: The present invention discloses an intelligent robot with integrated spraying and wiping functions, comprising a mechanical arm, and the front end of the mechanical arm is connected to an integrated working head. The integrated working head comprises a nozzle, a scraping plate and a motor, and the material is sprayed to the construction area through the nozzle, and the sprayed material is evenly smoothed through the scraping plate. The motor is used to drive the scraping plate to rotate. On the one hand, the material sprayed from the nozzle can be avoided by rotating, and on the other hand, it is also convenient to realize the scraping or smoothing of multiple angles by the scraping plate. It also includes a force sensor, which is arranged between the scraping plate and the rotating shaft, and is used to accurately receive the front end contact force during the construction process. In addition, it also includes a multi-eye camera system and a computing terminal.

[0038] (1) The present invention provides an integrated working head on the robot arm, so that the nozzle and the scraper plate can be designed as an integrated whole. Through the control of the motor, the head can be switched between different working conditions such as spraying, leveling at different angles, and even finishing of the construction surface.

[0039] (2) The present invention can accurately sense the contact force between the scraping plate and the construction surface by providing a force sensor, thereby ensuring the consistency of force and distance during the scraping or smoothing operation, thereby ensuring the construction quality.

[0040] (3) The present invention can realize remote control of the movement of the robot arm through the further design of the multi-camera system and the control console, so that the robot can complete the construction work under different construction surfaces and avoid the construction workers from entering the high temperature and high dust construction environment.

[0041] (4) The present invention can collect the motion status and equipment status of the robot arm in real time through the control and management of the robot arm kinematics, so as to realize the digital management of the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Attached Figure 1 It is a schematic diagram of the principle of an embodiment of the present invention; Attached Figure 2It is a schematic diagram of the structure of an embodiment of the present invention (Sky Rail Solution); Attached Figure 3 This is a schematic diagram of the structure of an integrated operation head according to an embodiment of the present invention; Attached Figure 4 Schematic diagram of the transmission connection structure between the motor and the rotating shaft according to an embodiment of the present invention.

[0043] In the above drawings: 1. Robotic arm; 2. Integrated operation head; 3. Force sensor; 4. First depth camera; 5. Computing terminal; 6. Movable platform; 7. Track; 8. Temperature camera; 9. Color camera; 10. Second depth camera; 11. Control panel; 12. Display; 13. Remote control lever; 21. Base; 22. Nozzle; 221. Spray pipe; 222. High-pressure air pipe; 23. Scraping plate; 24. Motor; 25. Rotating shaft; 26. Speed ​​reducer; 27. Transmission wheel; 28. Belt. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Embodiment: The present invention will be clearly described below with drawings and detailed descriptions. After understanding the embodiments of the present invention, any person skilled in the art can make changes and modifications based on the techniques taught by the present invention without departing from the spirit and scope of the present invention.

[0045] The terms used in the present invention are only for describing specific embodiments and are not intended to be limiting of the present invention. Singular forms such as "a", "this", "here", "this" and "the" as used in the present invention also include plural forms.

[0046] See attached Figures 1 to 3 As shown, an intelligent robot with integrated spraying and wiping functions in this embodiment includes: A robotic arm 1 is provided with an integrated operating head 2 at the front end. The robotic arm 1 is preferably a six-axis robotic arm to achieve precise real-time control and movement.

[0047] The integrated working head 2 includes a base 21 and a nozzle 22, a scraping plate 23 and a motor 24 connected to the base 21; the scraping plate 23 is rotatably arranged at the front end of the base 21 and is arranged at the lower side of the nozzle 22; the output shaft of the motor 24 acts on the scraping plate 23 to drive the scraping plate 23 to rotate around a rotating shaft 25.

[0048] A force sensor 3 is disposed between the scraping plate 23 and the rotating shaft 25 to accurately receive the front end contact force during the construction process.

[0049] A multi-camera system includes a first depth camera 4 fixedly mounted on the front end of the integrated operation head 2.

[0050] A computing terminal 5 is communicatively connected with the robotic arm 1, the motor 24, the force sensor 3 and the multi-camera system.

[0051] Since the scraping plate 23 and the nozzle 22 are arranged adjacent to each other and both face the construction operation position, when the nozzle 22 sprays materials, the sprayed materials (such as refractory materials or gravel, cement and other materials) will accumulate on the scraping plate 23, resulting in failure of the scraping function. On the other hand, in order to achieve smoothing at different angles, the scraping plate 23 also needs to rotate. Therefore, the motor 24 can be used to drive the scraping plate 23 to rotate to avoid the sprayed materials or achieve smoothing at multiple angles.

[0052] The nozzle 22 includes a spray pipe 221 and a high-pressure air pipe 222 for realizing a spraying function.

[0053] Preferably, a mechanical arm fixing device is further included, which is used to fix the end of the mechanical arm 1. The mechanical arm fixing device is a movable platform 6, and the movable platform 6 is moved by a track 7. The track 7 can be a ground track installed on the ground as shown in the figure, or it can be an inverted track or a side-mounted track.

[0054] Preferably, Figure 4 As shown, the motor 24 is equipped with a reducer 26, and is connected to the scraping plate 23 through a transmission wheel 27 and a belt 28. The motor 24 rotates to drive the reducer 26, which can increase the holding force of the scraping plate 23 and maintain the stability of the scraping plate 23 during construction.

[0055] Preferably, the multi-camera system further includes a temperature camera 8, a color camera 9 and a second depth camera 10. The temperature camera 8 and the color camera 9 can analyze the temperature distribution and color distribution of the plane while the first depth camera 4 performs three-dimensional reconstruction on the plane to be constructed, thereby facilitating the operator to plan the construction path and perform the corresponding construction operation. The specific construction principle is the prior art, so the present invention will not be elaborated.

[0056] By setting the second depth camera 10, the operation of the robot arm 1 can be monitored in real time, which is used to plan the path of the robot arm 1, and then drive the integrated operation head 2 to perform construction according to the planned path. Specifically, by setting the second depth camera 10, it is possible to achieve: 1) completely photograph the area to be constructed, model it, and plan the movement path of the robot arm 1; 2) monitor the movement and operation of the robot arm 1 in real time to ensure that the robot arm 1 will not have safety problems such as collisions.

[0057] Among them, the temperature camera 8 and the color camera 9 can be installed together with the second depth camera 10 on the fixed frame (such as the movable platform 6) or the track 7 of the robot arm 1, or can be installed on the integrated working head 2, so as to realize the first or / and second depth camera combined with the color camera 8 and the temperature camera 9 to synchronously shoot the area to be constructed.

[0058] Preferably, a control console 11 may be further included, and the control console 11 has an interactive device, through which the operator can control the movement of the robot arm 1, control the nozzle 22 to perform spraying operations, and control the scraper 23 to smooth the construction surface.

[0059] If the above-mentioned control console 11 is not available, construction can also be carried out in the following ways: 1) The area to be constructed is photographed by the first depth camera 4 to perform 3D modeling. After modeling, the flatness, area, and posture of the plane to be constructed are calculated, and then the path planning of the robot arm 1 is carried out to realize related work such as spraying and scraping; 2) For areas or planes to be constructed with small individual differences, the equipment can be fixed at a designated position relative to the area to be constructed, and the relative position of the robot arm 1 and the area to be constructed can be adjusted by the track 7, so that the position is relatively fixed, and then the construction is carried out through a fixed spraying and smoothing path.

[0060] Furthermore, the control console 11 also includes a display 12, and the interactive device includes a remote control rod 13. In addition, it can also include other interactive devices such as a keyboard, a mouse, and a foot switch (not shown in the figure). The above-mentioned interactive devices can be used alone or in combination.

[0061] Preferably, the computing terminal 5 is a computer or server host with computing capabilities, and the communication connection method includes wired communication methods, such as RJ45, USB, VGA, HDMI, DP and other commonly used wired communication methods, and wireless communication methods, such as wifi, 5G and other commonly used wireless communication methods. The computing terminal 5 displays various signals on the display 12 of the control console 11; the operator of the control console 11 maps the data of the remote control rod 13 to the motion data of the robot 1 by operating the remote control rod 13, and sends it to the robot 1 to complete the specified motion.

[0062] Preferably, the force sensor 3 is a six-dimensional force sensor, which can measure the three-dimensional force (F x , F y , F z ) and three-dimensional moment (M x , M y , M z ).

[0063] When the robot arm 1 is in a static state, the force and torque data measured by the force sensor 3 are composed of three parts: A. Error of force sensor 3 itself; B. The self-gravity of the force sensor 3 and the scraping plate 23; C. External contact force on the scraper plate 23; If the external contact force of the scraper plate 23 needs to be obtained and the error of the force sensor 1 itself and the gravity of the assembly need to be eliminated, the mass of the scraper plate 23 and the center of mass position relative to the coordinate system of the force sensor 3 need to be calibrated. The calibration process is as follows: First, the motor 24 is stopped, at which point the scraping plate 23 and the force sensor 3 can be fixed by the reducer 26; Then, the axes of the robot arm 1 are driven to move continuously. Since the force sensor 3 is relatively positioned with respect to the front end of the robot arm 1, that is, the force sensor 3 is not removable relative to the front end of the robot arm 1, the three-dimensional position of the force sensor 3 and the scraper plate 23 can be calculated in real time during the movement of the robot arm 1. Synchronously collect the value of the force sensor 3 and the movement angle of each axis in the robot arm 1; Finally, the force and torque generated by the center of mass and gravity of the scraper plate 23 acting on the force sensor 3 in different positions are calculated, and then the load and zero drift of the force sensor 3 are calibrated based on the least square method.

[0064] In the above scheme, the gravity of the force sensor 3 and the scraper plate 23 will affect the force sensor 3 at different positions of the robot arm 1. To avoid this problem, the present invention, when the positions of the force sensor 3 and the front end of the robot arm 1 are known, after the integrated working head 2 is installed with the scraper plate 23, collects data of the front end positions of multiple groups of the robot arm 1 and the force sensor 3, and calculates the zero point value of the force sensor 3 and the component of the gravity of the force sensor 3 and the scraper plate 23 acting on the force sensor 3 at different positions based on the gravity compensation and force transformation of the force sensor 3, thereby obtaining the external force borne by the rear end of the scraper plate 23, thereby realizing the tool calibration (calibration of force and center of mass) of the force sensor 3, so that at any angle, the force sensor 3 can sensitively feel the force at the rear end of the scraper plate 23, filtering out the influence of the gravity of the scraper plate 23 itself. Based on this, during the construction operation, the force at the rear end of the scraping plate 23 is transmitted to the remote control lever 13, and the operator can accurately feel the contact force between the scraping plate 23 and the construction plane during the leveling or scraping operation through the remote control lever 13.

[0065] Furthermore, according to the movement angle of the motor 24, the rotation angle of the scraper plate 23 and the force sensor 3 can be accurately calculated through the transformation of the reducer 26. Since the integrated working head 2 is fixed to the front end of the robot arm 1, the spatial posture of the integrated working head 2 can be calculated by the kinematic data of the six axes of the robot arm 1. The rotation angles of the scraper plate 23 and the force sensor 3 are known, and the precise spatial postures of the scraper plate 23 and the force sensor 3 can also be calculated. Based on the result of the gravity calibration of the scraper plate 23, the force sensor 3 can accurately sense the force at the rear end of the scraper plate 23 at different angles of the scraper plate 23.

[0066] The technical solution disclosed in the above embodiment has the following advantages: (1) In this embodiment, an integrated working head is provided on the robot arm, so that the nozzle and the scraper plate can be designed as an integrated whole. Through the control of the motor, the head can be switched between different working conditions such as spraying, leveling at different angles, and even finishing of the construction surface.

[0067] (2) By providing a force sensor, this embodiment can accurately sense the contact force between the scraping plate and the construction surface, thereby ensuring the consistency of force and distance during the scraping or smoothing operation, thereby ensuring the construction quality.

[0068] (3) Through the further design of the multi-camera system and the control console, this embodiment can realize remote control of the movement of the robotic arm, so that the robot can complete construction work under different construction surfaces, avoiding construction workers from entering a high-temperature and high-dust construction environment.

[0069] (4) This embodiment can collect the motion status and equipment status of the robot arm in real time through the control and management of the robot arm kinematics, so as to realize the digital management of the construction process.

[0070] Furthermore, this embodiment adopts a single robotic arm design, which has the following advantages compared to patent 202311671904.2: 1) The path planning and motion control difficulty of a single robotic arm is relatively low. When performing construction tasks, there is no problem of overlapping workspaces as with dual or multiple arms. Therefore, the workspace is relatively free and there will be no collision between arms. 2) The design of a single robotic arm is relatively simple. When performing horizontal movement on the guide rail, there will be no collision between the two robotic arms, thus reducing the difficulty of mechanical design. At the same time, the accuracy of single-arm movement can also be effectively guaranteed, and there will be no problem of double arms or multiple arms being magnified during coordinated movement due to design errors; 3) The operation of a single robotic arm is relatively simple, requiring only a remote control rod or foot switch or other interactive devices to achieve operation, without the difficulty of collaborative operation of two or more arms; 4) The cost of a single robotic arm is relatively low. In tasks such as refractory spraying, since there is no need to perform spraying and smoothing / scraping operations at the same time, spraying is usually performed first, followed by smoothing / scraping operations. At the same time, the accuracy of such operations is generally not high. Based on this, the significance and practical value of a single robotic arm is highlighted, while the significance of designing dual-arm or multi-arm synchronous operations becomes limited. Integrating the spraying and smoothing operations on the same robotic arm can reduce costs while being more suitable for existing working conditions.

[0071] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent robot with integrated spraying and wiping functions, characterized in that: include: A mechanical arm (1) having an integrated operating head (2) connected to its front end; The integrated operation head (2) comprises a base (21), a nozzle (22), a scraping plate (23) and a motor (24) connected to the base (21); the scraping plate (23) is rotatably arranged at the front end of the base (21) and arranged on one side of the nozzle (22); the output shaft of the motor (24) acts on the scraping plate (23) to drive the scraping plate (23) to rotate around a rotation axis (25); a force sensor (3) disposed between the scraping plate (23) and the rotating shaft (25); A multi-camera system, comprising a first depth camera (4) fixedly mounted on the front end of the integrated operation head (2); A computing terminal (5) is communicatively connected to the robotic arm (1), the motor (24), the force sensor (3) and the multi-camera system.

2. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: The robotic arm (1) is a six-axis robotic arm (1).

3. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: It also comprises a mechanical arm (1) fixing device, which is used to fix the end of the mechanical arm (1).

4. The intelligent robot with integrated spraying and wiping functions according to claim 3, characterized in that: The fixing device of the mechanical arm (1) is a movable platform (6), and the movable platform (6) is movable via a track (7).

5. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: The motor (24) is equipped with a reducer (26) and is connected to the scraping plate (23) through a transmission wheel (27) and a belt (28).

6. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: The multi-camera system also includes a temperature camera (8), a color camera (9) and a second depth camera (10).

7. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: It also comprises a control console (11) having an interactive device for controlling the movement of the mechanical arm (1), controlling the nozzle (22) to perform a spraying operation, and controlling the scraper (23) to perform a smoothing operation on the construction surface.

8. The intelligent robot with integrated spraying and wiping functions according to claim 7, characterized in that: The control console (11) also includes a display (12), and the interactive device includes a remote control rod (13).

9. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: The computing terminal (5) is a computer or a server host with computing capabilities, and the communication connection method includes a wired communication method and a wireless communication method.

10. The intelligent robot with integrated spraying and wiping functions according to claim 1, characterized in that: The force sensor (3) is a six-dimensional force sensor (3).

11. The intelligent robot with integrated spraying and wiping functions according to claim 10, characterized in that: When the mechanical arm (1) is in a static state, the force and torque data measured by the force sensor (3) are composed of three parts: A. Error of the force sensor (3) itself; B. the self-gravity of the force sensor (3) and the scraping plate (23); C, external contact force on the scraper plate (23); If it is necessary to obtain the external contact force of the scraping plate (23), eliminate the error of the force sensor (3) itself and the gravity of the force sensor (3) and the scraping plate (23), it is necessary to calibrate the mass of the scraping plate (23) and the center of mass position relative to the coordinate system of the force sensor (3). The calibration process is as follows: First, the motor (24) is stopped, and the positions of the force sensor (3) and the scraping plate (23) are fixed; Then, the axes of the mechanical arm (1) are driven to move continuously. Since the force sensor (3) and the front end of the mechanical arm (1) are relatively positioned, the three-dimensional position of the force sensor (3) and the scraper plate (23) can be calculated in real time during the movement. Synchronously collecting the value of the force sensor (3) and the movement angle of each axis in the robot arm (1); Finally, the force and torque generated by the center of mass and gravity of the scraper plate (23) acting on the force sensor (3) in different positions are calculated, and then the load and zero drift of the force sensor (3) are calibrated based on the least square method.

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