Inkjet apparatus, inkjet robot, and inkjet method

Abstract

The invention discloses an inkjet device, an inkjet robot and an inkjet method, the inkjet robot comprises a robot body for driving the inkjet device to move on an inkjet surface, the inkjet device comprises: an inkjet mechanism comprising an inkjet nozzle for spraying ink to the inkjet surface; the spray painting mechanism is arranged on the spray painting moving mechanism, the spray painting moving mechanism is used for driving the spray painting mechanism to move in a preset movement range, and the area of the preset movement range is smaller than the area of the spray painting surface; wherein the inkjet mechanism further comprises a laser range finder and a depth compensation assembly, the laser range finder is used for measuring the distance between the laser range finder and the inkjet surface, and the depth compensation assembly is configured to drive the inkjet nozzle to move towards or away from the inkjet surface according to the measurement result of the laser range finder. According to the inkjet device, the inkjet robot and the inkjet method, the inkjet precision and the inkjet uniformity can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spray painting robots, and in particular to a spray painting device, a spray painting robot and a spray painting method. Background Art

[0002] With the continuous development of market demands for decoration and advertising, there is an increasing demand for pattern painting on the exterior walls of large-scale equipment and architectural structures. For example, the exterior walls of wind turbine towers, bridge piers, and storage tanks can be further expanded to include patterns, promotional slogans, and other visual effects, achieving environmental beautification and other promotional goals.

[0003] Tower spray painting is generally done manually at high altitude. Operators use lifting ropes to manually spray paint the tower from top to bottom. There are problems such as low spray painting efficiency, long spray painting cycle, high risk factor, low safety, high labor intensity, high labor cost, and high spray painting cost.

[0004] In this regard, a technical solution provides a spray painting robot, which includes a spray painting mechanism and a robot body. The robot body drives the spray painting mechanism to move, and the spray painting mechanism sprays ink to achieve the spray painting operation. However, its spray painting accuracy is low and the spray painting uniformity is poor. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a printing device that can improve printing accuracy and printing uniformity.

[0006] The present invention also provides a spray painting robot having the spray painting device.

[0007] The present invention also provides a spray painting method suitable for the above-mentioned spray painting robot.

[0008] According to a first aspect of an embodiment of the present invention, a spray painting device is applicable to a spray painting robot, wherein the spray painting robot includes a robot body for driving the spray painting device to move on a spray painting surface, and the spray painting device includes:

[0009] The inkjet printing mechanism includes an inkjet nozzle for spraying ink onto the printing surface;

[0010] a printing moving mechanism, the printing mechanism being arranged on the printing moving mechanism, the printing moving mechanism being used to drive the printing mechanism to move within a preset range of movement, the area of the preset range of movement being smaller than the area of the printing surface;

[0011] The inkjet printing mechanism further includes a laser rangefinder and a depth compensation component. The laser rangefinder is used to measure the distance between itself and the printing surface. The depth compensation component is configured to drive the inkjet nozzle to move toward or away from the printing surface according to the measurement result of the laser rangefinder.

[0012] The inkjet printing device according to the embodiment of the present invention has at least the following beneficial effects:

[0013] The printing device is driven by the robot body to move across the printing surface. Simultaneously, the printing movement mechanism within the printing device drives the printing mechanism to move within a preset range of motion. Therefore, even when the robot body is not operating, the printing movement mechanism can move the printing mechanism to achieve printing. Furthermore, because the area of the preset range of motion is smaller than the area of the printing surface, the printing movement mechanism has a shorter stroke, resulting in relatively better stability, printing accuracy, and uniformity. A laser rangefinder measures the distance to the printing surface. Based on the laser rangefinder's measurement results, the depth compensation component drives the inkjet nozzle and laser rangefinder toward or away from the printing surface, thereby adjusting the distance between the inkjet nozzle and the printing surface. This ensures that the distance between the inkjet nozzle and the printing surface remains relatively consistent during the printing process, preventing bending or deformation of the printing surface from affecting the printing effect. This further ensures printing accuracy and uniformity.

[0014] According to some embodiments of the present invention, a light curing lamp is further included to irradiate and cure the ink sprayed on the printing surface.

[0015] According to some embodiments of the present invention, the inkjet printing moving mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism and a support frame, the X-axis moving mechanism and the Y-axis moving mechanism are arranged on the support frame, the X-axis moving mechanism is used to drive the inkjet printing mechanism to move along the X-axis within the preset active range, and the Y-axis moving mechanism is used to drive the inkjet printing mechanism to move along the Y-axis within the preset active range.

[0016] A spray painting robot according to a second embodiment of the present invention includes:

[0017] The inkjet printing device described in the above embodiment;

[0018] The robot body, the printing device is arranged on the robot body, and the robot body drives the printing device to move within the printing surface, wherein the printing surface includes multiple printing areas spliced together, and the preset movable range can cover one of the printing areas and a part of another adjacent printing area along the printing direction.

[0019] According to some embodiments of the present invention, the robot body comprises:

[0020] frame;

[0021] A climbing mechanism is provided on the frame, and is used to drive the frame and the printing device to move up and down along the Y-axis;

[0022] Two luffing brackets, located on both sides of the frame in the width direction and hinged to the frame;

[0023] A plurality of walking mechanisms are provided on the amplitude-changing bracket, and the amplitude-changing bracket is configured to be able to swing back and forth relative to the frame so that the walking mechanisms abut against the printing surface.

[0024] According to some embodiments of the present invention, the walking mechanism includes a walking wheel and a magnetic component, the magnetic component is used to adsorb the printing surface, and the walking wheel is configured to walk on the printing surface when the magnetic component is adsorbed on the printing surface.

[0025] A printing method according to a third aspect of an embodiment of the present invention, applicable to the printing robot of the above embodiment, includes:

[0026] S1. Controlling the robot body to drive the printing device to move to a target position, wherein a preset movable range of the printing device at the target position can cover a printing area and a portion of another adjacent printing area along a printing direction;

[0027] S2, controlling the printing moving mechanism to cooperate with the printing mechanism to complete printing in one printing area and to form a positioning cursor by printing in another adjacent printing area;

[0028] S3, controlling the robot body to drive the printing device to move so that the preset movable range of the printing device can cover a printing area with a positioning cursor and a portion of another adjacent printing area along the printing direction;

[0029] S4, calibrating the position of the printing device according to the positioning cursor;

[0030] S5. Repeat steps S2-S4 until the last printing area, and control the printing moving mechanism to cooperate with the printing mechanism to complete the printing.

[0031] According to some embodiments of the present invention, before controlling the robot body to drive the printing device to move to the target position, the process includes:

[0032] Obtaining the shape and size of the printing surface, and dividing the printing surface into multiple printing areas according to the shape and size of the printing surface;

[0033] Determine the current printing area according to the printing operation sequence;

[0034] Determine the target position based on the geodetic coordinate system and the current printing area.

[0035] According to some embodiments of the present invention, the control printing movement mechanism cooperates with the printing mechanism to complete printing in one printing area before printing in another adjacent printing area to form a positioning cursor, including:

[0036] According to the geodetic coordinate system, confirm the position of the positioning cursor in another adjacent printing area;

[0037] The pattern of the positioning cursor is determined according to the position of the positioning cursor and the inkjet pattern.

[0038] According to some embodiments of the present invention, controlling the printing movement mechanism to cooperate with the printing mechanism to complete printing in one printing area and to form a positioning cursor by printing in another adjacent printing area includes:

[0039] Controlling the inkjet printing moving mechanism to drive the inkjet printing mechanism to move, and controlling the inkjet printing mechanism to spray ink;

[0040] Get the real-time position of the origin of the base coordinate system of the printing robot;

[0041] According to the earth coordinate system, confirm the theoretical position of the origin of the base coordinate system of the printing robot;

[0042] Confirm whether the real-time position of the origin of the base coordinate system is the same as the theoretical position of the origin of the base coordinate system;

[0043] If not, controlling the robot body to adjust the origin position of the base coordinate system of the printing robot until it is at the theoretical position;

[0044] Confirm that one printing area has completed printing, and another adjacent printing area has been printed to form a positioning cursor.

[0045] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0047] Figure 1 Schematic diagram of the structure of the inkjet printing robot according to an embodiment of the present invention;

[0048] Figure 2 Schematic diagram of the structure of the inkjet printing device according to an embodiment of the present invention;

[0049] Figure 3 for Figure 2 A partial enlarged schematic diagram;

[0050] Figure 4 Schematic diagram of the flow of the inkjet printing method according to an embodiment of the present invention.

[0051] Reference numerals:

[0052] 10. Inkjet printing device;

[0053] 101. Printing mechanism; 1011. Inkjet nozzle; 1012. Curing light; 1013. Laser rangefinder; 1014. Depth compensation component; 1015. Protective cover;

[0054] 102, inkjet printing moving mechanism; 1021, X-axis moving mechanism; 1022, Y-axis moving mechanism; 1023, support frame;

[0055] 20. Robot body;

[0056] 201, frame; 202, climbing mechanism; 203, luffing bracket;

[0057] 204. Traveling mechanism; 2041. Traveling wheel; 2042. Magnetic element; 205. Traveling support wheel. DETAILED DESCRIPTION

[0058] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0059] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0060] In the description of the present invention, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0061] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0062] In the description of the present invention, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0063] Please refer to Figure 1-Figure 3 The embodiment of the present application provides a spray painting device suitable for a spray painting robot. The spray painting robot includes a robot body 20 for driving a spray painting device 10 to move on a spray painting surface. The spray painting device 10 includes a spray painting mechanism 101 and a spray painting moving mechanism 102. Please refer to Figure 2 and Figure 3 The printing mechanism 101 includes an inkjet nozzle 1011 for spraying ink onto a curved surface. The printing surface can be the outer wall of a storage tank or a tower. The printing movement mechanism 102 is used to move the printing mechanism 101. The two mechanisms work together to complete the printing operation on the printing surface.

[0064] The inkjet printing device 10 is driven by the robot body 20 to move on the inkjet printing surface. At the same time, in the inkjet printing device 10, the inkjet printing moving mechanism 102 drives the inkjet printing mechanism 101 to move within the preset range of movement. Therefore, when the robot body 20 is not working, the inkjet printing moving mechanism 102 can move the inkjet printing mechanism 101 to achieve the inkjet printing work. And because the area of the preset range of movement is smaller than the area of the inkjet printing surface, it can be seen that the stroke of the inkjet printing moving mechanism 102 is shorter and the stability is relatively better, thereby improving the inkjet printing accuracy and uniformity. It should be noted that the inkjet printing moving mechanism 102 cannot enable the inkjet printing mechanism 101 to complete the work of the entire inkjet printing surface. It is necessary to combine the movement of the robot body 20 to achieve the drawing of the entire inkjet printing surface. Specifically, the inkjet printing moving mechanism 102 cannot enable the inkjet printing mechanism 101 to complete the inkjet printing in the current inkjet printing area, and then the robot body 20 transfers the inkjet printing device 10 to the next inkjet printing area. The inkjet printing device 10 does not work during the transfer process.

[0065] The printing mechanism 101 also includes a laser rangefinder 1013 and a depth compensation component 1014. The laser rangefinder 1013 is used to measure the distance between itself and the printing surface. The depth compensation component 1014 is configured to drive the inkjet nozzle 1011 and the laser rangefinder 1013 to move toward or away from the printing surface based on the measurement results of the laser rangefinder 1013, so as to maintain a preset distance between the inkjet nozzle 1011 and the printing surface.

[0066] The laser rangefinder 1013 is mounted directly behind the inkjet nozzle 1011, allowing its measured data to more accurately reflect the distance between the inkjet nozzle 1011 and the printing surface, particularly when the printing surface is a curved arc. A depth compensation assembly 1014 is mounted on the printing movement mechanism 102, with the inkjet nozzle 1011 and the laser rangefinder 1013 mounted on the depth compensation assembly 1014. Specifically, the depth compensation assembly 1014 can be a drive mechanism consisting of a motor and a lead screw assembly, or a drive mechanism consisting of a motor and a synchronous drive belt assembly.

[0067] It can be understood that the laser rangefinder 1013 measures the distance to the printing surface, and the depth compensation component 1014 drives the inkjet nozzle 1011 and the laser rangefinder 1013 to move toward or away from the printing surface according to the measurement result of the laser rangefinder 1013, thereby adjusting the distance between the inkjet nozzle 1011 and the printing surface, so that the distance between the inkjet nozzle 1011 and the printing surface remains relatively consistent during the printing process, and the printing effect will not be affected by the bending deformation of the printing surface, thereby ensuring the printing accuracy and uniformity.

[0068] In some embodiments, the printing mechanism 101 further includes a light curing lamp 1012 for irradiating and curing the ink sprayed on the printing surface. The light curing process allows the ink to quickly solidify and set, reducing ink diffusion and penetration on the printing surface, thereby achieving clearer, sharper image edges and higher resolution.

[0069] The light curing lamp 1012 is disposed on one side or both sides behind the inkjet nozzle 1011 , and the light curing lamp 1012 may be a UV lamp.

[0070] In some specific embodiments, the printing mechanism 101 further includes a protective cover 1015 , which is installed on the outside of the laser rangefinder 1013 and the UV lamp to provide dust protection.

[0071] In some embodiments, the inkjet printing movement mechanism 102 includes an X-axis movement mechanism 1021, a Y-axis movement mechanism 1022, and a support frame 1023. The X-axis movement mechanism 1021 and the Y-axis movement mechanism 1022 are arranged on the support frame 1023, and the size of the preset range of movement is constrained by the size of the rectangular frame. Specifically, the support frame 1023 is a rectangular frame, including two parallel long frames and two parallel short frames. The X-axis movement mechanism 1021 is used to drive the inkjet printing mechanism 101 to move along the X-axis within the preset range of movement, and the Y-axis movement mechanism 1022 is used to drive the inkjet printing mechanism 101 to move along the Y-axis within the preset range of movement, thereby realizing the movement of the inkjet printing mechanism 101 in the XY plane. It can be understood that the reference plane is the XY plane. Among them, the Y-axis is roughly in the direction of gravity and is parallel to the outer wall surface.

[0072] Please refer to Figure 1 , an embodiment of the present application provides a spray painting robot, comprising a spray painting device 10 and a robot body 20. The spray painting device 10 is disposed on the robot body 20, and the robot body 20 is used to drive the spray painting device 10 to move within the spray painting surface. The spray painting surface includes a plurality of spray painting areas spliced together. It is understandable that since the spray painting surface is relatively large, it needs to be divided into a plurality of spray painting areas spliced together, and then each spray painting area is sprayed in turn, and the robot body 20 is used to drive the spray painting device 10 to move between the spray painting areas.

[0073] The preset range of activity can cover a portion of a painting area and another adjacent painting area. That is to say, during the painting process, when the robot body 20 is not working, the painting device 10 can paint a portion of a painting area and another adjacent painting area.

[0074] It should be noted that when the robot body 20 drives the printing device 10 to move between the various printing areas, the printing device 10 has positioning issues, which will affect the splicing quality of adjacent printing areas. By enabling the printing device 10 to print one printing area and part of another adjacent printing area, it is convenient for the printing device 10 to form a positioning cursor in another printing area after printing one printing area. This positioning cursor can adjust the position of the printing device 10 relative to the printing area with the positioning cursor after the robot body 20 subsequently drives the printing device 10, thereby improving the splicing quality.

[0075] In some embodiments, the preset active range can cover a printing area and a portion of a plurality of adjacent printing areas.

[0076] In some embodiments, the robot body 20 includes a frame 201 , a climbing mechanism 202 , two luffing supports 203 , and a plurality of walking mechanisms 204 .

[0077] The frame 201 is used to provide a mounting base for the climbing mechanism 202 , two amplitude adjustment brackets 203 and the inkjet printing device 10 .

[0078] The climbing mechanism 202 is used to drive the frame 201 and the inkjet printing device 10 to rise and fall along the Y axis. In some specific embodiments, the climbing mechanism 202 is a hoisting mechanism, which cooperates with the steel cable to achieve Y axis lifting.

[0079] One of the two luffing brackets 203 is located on one side of the frame 201 in the width direction and is hinged to the frame 201, while the other is located on the opposite side of the frame 201 in the width direction and is also hinged to the frame 201. Multiple running mechanisms 204 are separately provided on the two luffing brackets 203. The luffing brackets 203 can swing back and forth relative to the frame 201, allowing the running mechanisms 204 to move toward the printing surface and abut against the printing surface. It should be noted that the printing surface is the outer wall of the wind tower, that is, the printing surface is a curved surface. Therefore, the luffing brackets 203 need to swing back and forth to adapt to the curved printing surface.

[0080] Furthermore, in some embodiments, the walking mechanism 204 includes walking wheels 2041 and magnetic components 2042, and the number of walking wheels 2041 in each walking mechanism 204 is two. The magnetic component 2042 is arranged between the two walking wheels 2041 and is used to adsorb the spray-painted surface. It can be understood that the spray-painted surface is made of steel or iron. The walking wheels 2041 are configured to walk on the spray-painted surface when the magnetic component 2042 is adsorbed on the spray-painted surface. In this way, the spray-painting robot can maintain a stable relative position with the spray-painted surface under the action of the magnetic component 2042, and can also move on the spray-painted surface along a preset path without being easily deflected.

[0081] Among them, each variable amplitude bracket 203 is correspondingly provided with two walking mechanisms 204, which are arranged at intervals along the Y axis. Each walking mechanism 204 includes two walking wheels 2041 and a magnetic component 2042. The magnetic component 2042 is arranged between the two walking wheels 2041, which can make the magnetic force more evenly distributed on the walking wheels 2041, thereby ensuring that the equipment moves stably along the predetermined path, which helps to improve the accuracy and quality of inkjet printing.

[0082] The traveling wheel 2041 is an omnidirectional wheel that can move in multiple directions, making it more maneuverable on the printing surface.

[0083] The spray painting robot further includes a camera for acquiring image information, a sensor for acquiring its own position information, and an anti-collision detector for anti-collision. In order to facilitate the movement and transfer of the frame 201, in some embodiments, a walking support wheel 205 is provided at the bottom of the frame 201.

[0084] Please refer to Figure 4 The embodiment of the present application also provides a spray painting method suitable for a spray painting robot. It should be noted that the robot body drives the spray painting device to move within the spray painting surface, wherein the spray painting surface includes multiple spray painting areas spliced together.

[0085] Printing methods include:

[0086] S1. Control the robot body to drive the printing device to move to a target position, wherein a preset movable range of the printing device at the target position can cover a printing area and a portion of another adjacent printing area along a printing direction.

[0087] That is to say, on the basis that the robot body does not move, the printing device at the target position can complete the printing of one printing area and can also complete part of the printing work in another adjacent printing area at the same time.

[0088] S2. Control the printing moving mechanism to cooperate with the printing mechanism to complete printing in one printing area and to form a positioning cursor by printing in another adjacent printing area.

[0089] Specifically, the inkjet printing mechanism drives the inkjet printing mechanism to move, and the inkjet printing mechanism sprays ink and solidifies it, and the two work together to achieve inkjet printing. The positioning cursor formed is used for positioning in step S4. There is no clear order in which the inkjet printing is completed in one inkjet printing area and the positioning cursor is formed in another adjacent inkjet printing area. For example, the positioning cursor can be formed in another adjacent inkjet printing area while the inkjet printing is in progress in one inkjet printing area. Alternatively, the inkjet printing work in one inkjet printing area can be completed first, and then the positioning cursor can be formed in another adjacent inkjet printing area.

[0090] S3. Control the robot body to drive the printing device to move so that the preset movable range of the printing device can cover a printing area with a positioning cursor and a part of another adjacent printing area along the printing direction.

[0091] That is, in step 2, the positioning cursors of the previous printing area and another adjacent printing area have been completed, and the printing device is moved by the robot body to the printing area where the positioning cursor has been completed and the next printing area.

[0092] S4. Calibrate the position of the printing device according to the positioning cursor.

[0093] The positioning cursor can be identified by the camera of the printing robot and used as a reference point to calibrate the position of the printing device.

[0094] S5. Repeat steps S2-S4 until the last printing area is reached, and control the printing moving mechanism to cooperate with the printing mechanism to complete the printing.

[0095] In some embodiments, before step S1, the following steps are included:

[0096] S101: Obtain the shape and size of the printing surface, and divide the printing surface into multiple printing areas according to the shape and size of the printing surface. It is understandable that the printing surface is composed of multiple printing areas spliced together.

[0097] S102: Determine the current printing area according to the printing operation sequence.

[0098] The printing operation sequence is not limited. For example, when the printing surface is divided into nine printing areas, three vertical and three horizontal, the printing operation sequence can be in an N-shaped sequence or a Z-shaped sequence.

[0099] S103: Determine the target position according to the earth coordinate system and the current printing area.

[0100] It is understood that the geodetic coordinate system is an absolute coordinate system with its origin set on the earth. For example, a point at the bottom of the tower can be selected as the origin. Based on the geodetic coordinate system, the position of the current printing area in the geodetic coordinate system is determined, and then the target position is obtained.

[0101] Each printing area has a relative coordinate system. The relative coordinate system is the coordinate system corresponding to each printing area. The origin of the relative coordinate system is fixed relative to the earth coordinate system and does not change due to changes in the position of the printing robot. The target position can be the origin of the current printing area.

[0102] In some embodiments, in step S1, the position of the printing robot in the earth coordinate system needs to be obtained. The printing robot has a base coordinate system whose origin is fixed relative to the support frame. As the support frame is moved by the robot body, the origin of the base coordinate system also changes. The base coordinate system is used to determine the position of the printing mechanism during operation.

[0103] Furthermore, the position of the origin of the base coordinate system on the earth coordinate system is the position of the printing robot on the earth coordinate system. On this basis, the robot body is controlled to drive the printing device to move to the target position.

[0104] In some embodiments, the step S2 includes:

[0105] S201. Confirm the position of the positioning cursor in another adjacent printing area according to the geodetic coordinate system.

[0106] The position of the positioning cursor is generally selected at the upper right corner of the printing area. Its shape is not limited, for example, it can be a cross structure.

[0107] S202: Determine a pattern of the positioning cursor according to the position of the positioning cursor and the inkjet printing pattern.

[0108] That is to say, the pattern of the positioning cursor is determined according to the inkjet printing pattern, is used for positioning, and is also a part of the inkjet printing pattern.

[0109] It is understandable that if the current printing area has a positioning cursor, the position of the positioning cursor may not be sprayed during the printing process, or the positioning cursor may be sprayed and covered with the same pattern to avoid splicing problems.

[0110] When one printing area is finished and a positioning cursor is formed in the adjacent printing area, the printing robot moves to print the area with the positioning cursor. During this process, a camera intervenes to accurately identify the positioning cursor in the area to be printed and feedback is sent to the printing control system. The control system algorithm controls the printing position and angle to ensure that the printing content between different printing areas is accurately connected and achieves the best splicing effect.

[0111] In some embodiments, step S2 includes:

[0112] S21, controlling the inkjet printing moving mechanism to drive the inkjet printing mechanism to move, and controlling the inkjet printing mechanism to spray ink.

[0113] S22. Obtain the real-time position of the origin of the base coordinate system of the printing robot.

[0114] S23. According to the earth coordinate system, confirm the theoretical position of the origin of the base coordinate system of the printing robot.

[0115] S24. Confirm whether the real-time position of the origin of the base coordinate system is the same as the theoretical position of the origin of the base coordinate system.

[0116] S25: If not, control the robot body to adjust the origin position of the base coordinate system of the printing robot until it is at the theoretical position.

[0117] It is understood that if there is a difference, it means that the position of the printing robot has deviated due to external interference or mechanical error. Real-time correction and adjustment are performed based on the deviation to ensure the accuracy and quality of the printing.

[0118] S26: Confirm that one printing area has completed printing, and another adjacent printing area has completed printing to form a positioning cursor.

[0119] While the embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the embodiments described above. Various modifications may be made within the scope of knowledge possessed by a person skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof may be combined with one another unless there is a conflict.

Claims

1. A printing device, characterized in that: Applicable to a spray painting robot, the spray painting robot includes a robot body for driving the spray painting device to move on the spray painting surface, and the spray painting device includes: The inkjet printing mechanism includes an inkjet nozzle for spraying ink onto the printing surface; a printing moving mechanism, the printing mechanism being arranged on the printing moving mechanism, the printing moving mechanism being used to drive the printing mechanism to move within a preset range of movement, the area of the preset range of movement being smaller than the area of the printing surface; The inkjet printing mechanism further includes a laser rangefinder and a depth compensation component. The laser rangefinder is used to measure the distance between itself and the printing surface. The depth compensation component is configured to drive the inkjet nozzle to move toward or away from the printing surface according to the measurement result of the laser rangefinder.

2. The inkjet printing device according to claim 1, characterized in that: The inkjet printing mechanism further comprises a light curing lamp for irradiating and curing the ink sprayed on the inkjet printing surface.

3. The inkjet printing device according to claim 1, wherein: The inkjet printing moving mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism and a support frame. The X-axis moving mechanism and the Y-axis moving mechanism are arranged on the support frame. The X-axis moving mechanism is used to drive the inkjet printing mechanism to move along the X-axis within the preset range of movement. The Y-axis moving mechanism is used to drive the inkjet printing mechanism to move along the Y-axis within the preset range of movement.

4. A spray painting robot, characterized in that: include: The inkjet printing device according to any one of claims 1 to 3; The robot body, the printing device is arranged on the robot body, and the robot body drives the printing device to move within the printing surface, wherein the printing surface includes multiple printing areas spliced together, and the preset movable range can cover one of the printing areas and a part of another adjacent printing area along the printing direction.

5. The spray painting robot according to claim 4, characterized in that: The robot body comprises: frame; A climbing mechanism is provided on the frame, and is used to drive the frame and the printing device to move up and down along the Y-axis; Two luffing brackets, located on both sides of the frame in the width direction and hinged to the frame; A plurality of walking mechanisms are provided on the amplitude-changing bracket, and the amplitude-changing bracket is configured to be able to swing back and forth relative to the frame so that the walking mechanisms abut against the printing surface.

6. The spray painting robot according to claim 5, characterized in that: The walking mechanism includes a walking wheel and a magnetic member, the magnetic member is used to absorb the printing surface, and the walking wheel is configured to walk on the printing surface when the magnetic member is absorbed on the printing surface.

7. A printing method, characterized in that: The spray painting robot according to any one of claims 4 to 6 comprises: S1. Controlling the robot body to drive the printing device to move to a target position, wherein a preset movable range of the printing device at the target position can cover a printing area and a portion of another adjacent printing area along a printing direction; S2, controlling the printing moving mechanism to cooperate with the printing mechanism to complete printing in one printing area and to form a positioning cursor by printing in another adjacent printing area; S3, controlling the robot body to drive the printing device to move so that the preset movable range of the printing device can cover a printing area with a positioning cursor and a portion of another adjacent printing area along the printing direction; S4, calibrating the position of the printing device according to the positioning cursor; S5. Repeat steps S2-S4 until the last printing area, and control the printing moving mechanism to cooperate with the printing mechanism to complete the printing.

8. The printing method according to claim 7, wherein: Before the control robot body drives the printing device to move to the target position, the control robot body includes: Obtaining the shape and size of the printing surface, and dividing the printing surface into multiple printing areas according to the shape and size of the printing surface; Determine the current printing area according to the printing operation sequence; Determine the target position based on the geodetic coordinate system and the current printing area.

9. The inkjet printing method according to claim 7, wherein: The control printing movement mechanism cooperates with the printing mechanism to complete printing in one printing area before printing in another adjacent printing area to form a positioning cursor, including: According to the geodetic coordinate system, confirm the position of the positioning cursor in another adjacent printing area; The pattern of the positioning cursor is determined according to the position of the positioning cursor and the inkjet pattern.

10. The printing method according to claim 7, wherein: The controlling of the printing moving mechanism to cooperate with the printing mechanism to complete printing in one printing area and to form a positioning cursor by printing in another adjacent printing area includes: Controlling the inkjet printing moving mechanism to drive the inkjet printing mechanism to move, and controlling the inkjet printing mechanism to spray ink; Get the real-time position of the origin of the base coordinate system of the printing robot; According to the earth coordinate system, confirm the theoretical position of the origin of the base coordinate system of the printing robot; Confirm whether the real-time position of the origin of the base coordinate system is the same as the theoretical position of the origin of the base coordinate system; If not, controlling the robot body to adjust the origin position of the base coordinate system of the printing robot until it is at the theoretical position; Confirm that one printing area has completed printing, and another adjacent printing area has been printed to form a positioning cursor.

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