An asynchronous sliding rail type multi-directional self-adaptive close contact spraying robot and a control method thereof

Abstract

The present application relates to a kind of asynchronous slide rail type multi-directional self-adapting close spraying robot and its control method, spraying robot is used to spray the piece to be sprayed, including mobile chassis, electric control cabinet, three-dimensional motion mechanism and the swing arm self-adapting close mechanism with spray gun assembly, electric control cabinet and three-dimensional motion mechanism are all installed on mobile chassis and three-dimensional motion mechanism is close to electric control cabinet, swing arm self-adapting close mechanism is installed on three-dimensional motion mechanism, electric control cabinet is respectively connected with mobile chassis, three-dimensional motion mechanism and swing arm self-adapting close mechanism communication;Electric control cabinet controls mobile chassis and three-dimensional motion mechanism to make swing arm self-adapting close mechanism close to the piece to be sprayed, and swing arm self-adapting close mechanism adjusts the spraying posture of spray gun assembly according to the posture of the piece to be sprayed.By three-dimensional motion mechanism and swing arm self-adapting close mechanism cooperation, realize the coating type spraying, can be adapted to different sizes and different cross-sectional shape steel column, realize the full range continuous spraying operation to the surface of steel column.

Description

Technical Field

[0001] This invention relates to the field of spraying robot technology, and in particular to an asynchronous sliding rail type multi-directional adaptive contact spraying robot and its control method. Background Technology

[0002] In steel structure engineering, the spraying of steel column surfaces is a crucial step in ensuring the durability, corrosion resistance, and fire resistance of the steel structure. With the large-scale application of steel structure buildings, manual spraying operations can no longer meet engineering requirements, and mechanized spraying is gradually replacing manual labor. The development of related spraying robots has also made some progress. However, existing publicly available steel column spraying assemblies suffer from limitations in freedom of movement, insufficient structural adaptability, and difficulty in completing omnidirectional spraying in confined spaces. Therefore, further improvements to existing technologies are needed.

[0003] Utility model patent CN219111969U discloses a spraying device for processing steel structure columns. It clamps both ends of the steel column using a clamping mechanism and relies on a motor to drive the column to rotate around its axis, thus achieving spraying of the column surface with a fixed spray gun. This patent enables automatic column changing and improves spray uniformity, but its application depends on the steel column being in a clampable state, making it more suitable for environments where the steel column is in a fixed position. For steel columns already installed on-site, especially those in narrow passages, this device cannot clamp them or complete the painting task. Furthermore, this patent relies on the rotation of the steel column for coverage spraying, and the spray gun position is relatively fixed, lacking adaptability to different postures and cross-sectional shapes of the steel column. When the steel column has a certain tilt angle or is partially obstructed, its spraying range and angle cannot be effectively adjusted, making it difficult to achieve all-around spraying.

[0004] Chinese patent CN113210153B discloses an intelligent fire-retardant coating spraying robot that uses a tracked chassis, a hydraulic lifting platform, and a six-degree-of-freedom robotic arm to spray steel structures. While its spraying efficiency and quality are better than manual labor, the robot's large size and footprint significantly limit its mobility within floors, near steel beam joints, or in narrow building spaces. Especially when one side of a steel column is close to a wall or surrounded by dense components, the robotic arm struggles to wrap around the column to achieve a complete, enveloping spray, requiring multiple chassis movements to complete all-around spraying. Furthermore, for non-perfectly vertical steel columns, such as those with a slight inclination, adaptive adjustment of the robotic arm's trajectory is difficult, making it hard to maintain a constant spraying distance and affecting the uniformity of the coating.

[0005] Therefore, how to spray paint column structures with different postures is an urgent problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects of the prior art by providing an asynchronous sliding rail type multi-directional adaptive contact spraying robot and its control method.

[0007] The objective of this invention can be achieved through the following technical solutions: According to one aspect of the present invention, an asynchronous sliding rail type multi-directional adaptive contact spraying robot is provided. The spraying robot is used to spray parts to be sprayed and includes a mobile chassis, an electrical control cabinet, a three-way motion mechanism, and a swing arm adaptive contacting mechanism with a spray gun assembly. The electrical control cabinet and the three-way motion mechanism are both mounted on the mobile chassis and the three-way motion mechanism is close to the electrical control cabinet. The swing arm adaptive contacting mechanism is mounted on the three-way motion mechanism. The electrical control cabinet is communicatively connected to the mobile chassis, the three-way motion mechanism, and the swing arm adaptive contacting mechanism. The electrical control cabinet controls the mobile chassis and the three-way motion mechanism to bring the swing arm adaptive contact mechanism closer to the workpiece to be sprayed. The swing arm adaptive contact mechanism adjusts the spraying posture of the spray gun assembly according to the posture of the workpiece to be sprayed.

[0008] As a preferred technical solution, the swing arm adaptive contact mechanism includes a first spraying swing arm group, a second spraying swing arm group, and a first swing arm rotation drive module. The first spraying swing arm group and the second spraying swing arm group are both mounted on the three-way motion mechanism through the first swing arm rotation drive module, and the first swing arm rotation drive module is communicatively connected to the electrical control cabinet.

[0009] As a preferred technical solution, both the first spraying swing arm group and the second spraying swing arm group include a first swing arm, a second swing arm, and a second swing arm rotation drive module. The spray gun assembly is mounted on the first swing arm and the second swing arm. The second swing arm is movably mounted on the first swing arm through the second swing arm rotation drive module. The first swing arm and the first swing arm rotation drive module are connected. The second swing arm rotation drive module is communicatively connected to the electrical control cabinet.

[0010] As a preferred technical solution, the second swing arm rotation drive module is located at the end away from the connection between the first swing arm segment and the first swing arm rotation drive module.

[0011] As a preferred technical solution, both the first and second swing arms include a swing arm bracket, a spray gun slide drive module, a spray gun slide, a spray gun slide drive shaft, and a slide rail. The spray gun slide drive module, the spray gun slide drive shaft, and the slide rail are all mounted on the swing arm bracket. The spray gun slide drive module and the spray gun slide drive shaft are connected in a driving manner. The spray gun slide is mounted on the spray gun slide drive shaft and is connected in a driving manner. The slide rail and the spray gun slide are slidably connected. The spray gun slide drive module in the first swing arm is connected to the first swing arm rotation drive module.

[0012] As a preferred technical solution, the three-way motion mechanism includes a gantry, a lifting platform drive module, a lifting platform, a lateral movement drive module, and a rotary drive module. The gantry is mounted on a mobile chassis, the lifting platform drive module is mounted on the gantry, the lifting platform is mounted on the lifting platform drive module, the lateral movement drive module is mounted on the lifting platform, and the rotary drive module is mounted on the lateral movement drive module. The swing arm adaptive contact mechanism is connected to the rotary drive module, and the lifting platform drive module, lateral movement drive module, and rotary drive module are all communicatively connected to the electrical control cabinet.

[0013] As a preferred technical solution, the rotary drive module includes a rotary support base, and the swing arm adaptive contact mechanism is mounted on the rotary support base.

[0014] As a preferred technical solution, the gantry includes an inner gantry, an outer gantry, and a gantry fixing seat. The gantry fixing seat is mounted on a mobile chassis, the outer gantry is mounted on the gantry fixing seat, the inner gantry and the outer gantry are slidably connected, and the lifting platform drive module is mounted on the inner gantry.

[0015] As a preferred technical solution, the gantry further includes an inner gantry lifting drive module, which is installed on the inner gantry and the gantry fixing seat and allows the inner gantry to slide in the outer gantry.

[0016] According to another aspect of the present invention, a control method for an asynchronous sliding rail type multi-directional adaptive contact spraying robot as described above is provided, the method specifically comprising: S1. Obtain the positional relationship between the painting robot and the part to be painted, as well as the working environment; S2. Plan the movement path of the painting robot according to the positional relationship and the working environment, and move it to the part to be painted; S3. The spraying robot identifies the posture of the part to be sprayed; S4. Based on the posture of the part to be sprayed and with the target spraying distance and spraying angle of the spray gun assembly as constraints, solve the lifting displacement, lateral displacement and rotation angle of the three-way motion mechanism, as well as the unfolding angle and asynchronous slide rail position of the swing arm adaptive contact mechanism, adjust the posture of the spray gun assembly and complete the spraying operation.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention is equipped with a three-way motion mechanism and a swing arm adaptive contact mechanism. The three-way motion mechanism enables the swing arm adaptive contact mechanism to move in three directions. The swing arm adaptive contact mechanism can be flexibly adjusted according to the posture of the part to be sprayed. The coordinated movement of the three-way motion mechanism and the swing arm adaptive contact mechanism enables the swing arm to form a wrapping spraying layout around the steel column during the spraying operation. It can adapt to steel columns of different sizes and cross-sectional shapes, and realize all-round continuous spraying operation on the surface of the steel column.

[0018] 2. The three-way motion mechanism of this invention can realize composite motions of lifting, lateral movement, and rotation around an axis, enabling the mobile chassis to adjust the spray gun assembly in a small workspace without moving. This allows the painting robot to adapt to complex, especially narrow, workspaces, and to perform omnidirectional painting operations in confined spaces, solving the problem that existing technologies cannot perform painting in narrow spaces.

[0019] 3. This invention sets up a first spraying swing arm group and a second spraying swing arm group. Each of the first and second spraying swing arm groups consists of two swing arm segments, forming a double-group double-swing arm configuration. This allows for 360° circling of the workpiece to be sprayed. The lifting platform drives the swing arm adaptive contact mechanism to rise and fall, enabling the spray gun to continuously spray the surface of the steel column in one go. This significantly improves the coverage of the spraying, reduces repeated positioning during the spraying process, and improves the efficiency of the spraying operation.

[0020] 4. The adaptive contact mechanism of this invention adopts an asynchronous slide rail design, meaning that the spray gun slides on the first and second sections of the swing arm are controlled separately. Each spray gun slide can move independently along its own slide rail, and the position of the spray gun slide can automatically compensate for left and right angles and adjust according to the actual tilt angle of the steel column. Through the movement and asynchronous adjustment of the swing arm, the spray gun mounted on the spray gun slide asynchronously slides to the center of the surface of the steel column to be sprayed, achieving high-quality spraying of steel column surfaces in vertical and various tilt states. Compared with traditional spraying technology, the spraying range and angle can be adjusted autonomously, with multiple spraying position and angle combinations, and can autonomously adapt to steel columns with various tilt states.

[0021] 5. The painting robot of the present invention can automatically plan a path to move to the part to be painted, and can identify the current posture of the part to be painted, thereby controlling the opening and closing angle of the first and second swing arms in the same swing arm group, adapting to the surface of the part to be painted, dynamically adjusting the posture of the spray gun assembly and completing the painting operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the spraying process for the first-sized vertical steel column of the present invention; Figure 3 This is a top view of the spraying process of the first-dimensional vertical steel column of the present invention; Figure 4 This is a top view of the spraying process for spraying a second-dimensional vertical steel column according to the present invention; Figure 5 This is a top view of the spraying process for the third-dimensional vertical steel column of the present invention; Figure 6 This is a schematic diagram of the spraying process for spraying inclined steel columns according to the present invention; Figure 7 This is a top view of the spraying process for spraying inclined steel columns according to the present invention; Figure 8 This is a schematic diagram of the structure of the mobile chassis of the present invention; Figure 9 This is a schematic diagram of the three-way movement mechanism of the present invention; Figure 10 This is a schematic diagram of the adaptive contact mechanism of the swing arm of the present invention; Figure 11 This is a schematic diagram of the various segments of the swing arm structure of the present invention; Figure 12 This is a schematic diagram of the electrical control cabinet of the present invention; Figure 13 This is a schematic diagram of the workflow of the painting robot of the present invention; 100 - Mobile chassis; 101 - Chassis frame; 102 - Wheelset; 200 - Electrical control cabinet; 201 - Heat sink cover; 202 - Electrical control cabinet control buttons; 203 - First electrical control sub-cabinet; 204 - Second electrical control sub-cabinet; 300-Three-way motion mechanism; 301-Inner gantry; 302-Outer gantry; 303-Lifting platform drive module; 304-Inner gantry lifting drive module; 305-Lifting platform; 3061-Side shift drive module; 3062-Rotation drive module; 307-Rotation support seat; 308-Gantry fixing seat; 400 - Swing arm contact mechanism; 401 - First swing arm rotation drive module; 402a - First segment left swing arm; 4021 - Spray gun slide drive module; 4022 - Spray gun slide; 4023 - Spraying slide drive shaft; 4024 - Slide rail; 402b - First segment right swing arm; 403a - Second segment left swing arm; 403b - Second segment right swing arm; 404 - Second swing arm rotation drive module; 405 - Spray gun assembly; 5 - First dimension vertical steel column; 6 - Second dimension vertical steel column; 7 - Third dimension vertical steel column; 8 - Inclined steel column. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] Example 1 like Figure 1 and Figure 2 As shown, an asynchronous sliding rail type multi-directional adaptive contact spraying robot is used to spray parts to be sprayed. The spraying robot includes a mobile chassis 100, an electrical control cabinet 200, a three-way motion mechanism 300, and a swing arm adaptive contacting mechanism 400 with a spray gun assembly 405. The electrical control cabinet 200 and the three-way motion mechanism 300 are both mounted on the mobile chassis 100 and the three-way motion mechanism 300 is close to the electrical control cabinet 200. The swing arm adaptive contacting mechanism 400 is mounted on the three-way motion mechanism 300. The electrical control cabinet 200 is communicatively connected to the mobile chassis 100, the three-way motion mechanism 300, and the swing arm adaptive contacting mechanism 400. The electrical control cabinet 200 controls the mobile chassis 100 and the three-way motion mechanism 300 to bring the swing arm adaptive contact mechanism 400 closer to the workpiece to be sprayed. The swing arm adaptive contact mechanism 400 adjusts the spraying posture of the spray gun assembly 405 according to the posture of the workpiece to be sprayed.

[0025] In this embodiment, the part to be coated is specifically columnar, including square columns, round columns, or other shaped columns, and the material can be metal or other materials.

[0026] The mobile chassis 100 is used to drive the painting robot to move to the position of the steel column (the part to be painted) and coordinate other mechanisms to complete the action of the swing arm touching the surface of the steel column. The electrical control cabinet 200 is fixedly installed on the upper surface of the mobile chassis 100 and is used for the operation control and power management of the entire painting robot. The three-way motion structure 300 is mounted on the upper surface of the mobile chassis 100 and close to the back of the electrical control cabinet 200; The swing arm adaptive contact mechanism 400 is installed at the front end of the three-way motion mechanism 300. It can automatically unfold and contact the surface of the steel column, and at the same time, it is used to support the spray gun and realize the asynchronous adjustment movement of the spray gun.

[0027] like Figure 8 As shown, the mobile chassis 100 includes a chassis frame 101 and four omnidirectional wheel sets 102. The chassis frame 101 is equipped with wheel guards to reduce damage and interference to the wheel sets when working in harsh construction environments; the wheel sets 102 are omnidirectional wheels that can turn freely, enabling the robot to move flexibly in narrow or complex spaces.

[0028] The electrical control cabinet 200 is fixedly installed on the mobile chassis 100, such as Figure 12 As shown, the external structure includes a heat sink 201, an electrical control cabinet control button 202, a first electrical control cabinet 203, and a second electrical control cabinet 204; different electrical control cabinets are responsible for different tasks, and their internal components include a main controller, a motor drive unit, a spraying system control module, and a sensor interface module, etc.

[0029] The adaptive contact mechanism 400 includes a first spraying swing arm group, a second spraying swing arm group, and a first swing arm rotation drive module 401. The first and second spraying swing arm groups are both mounted on the three-way motion mechanism 300 via the first swing arm rotation drive module 401. The first swing arm rotation drive module 401 is communicatively connected to the electrical control cabinet 200.

[0030] The first and second spraying swing arm assemblies each include a first swing arm, a second swing arm, and a second swing arm rotation drive module 404. The spray gun assembly 405 is mounted on the first and second swing arms. The second swing arm is movably mounted on the first swing arm via the second swing arm rotation drive module 404. The first swing arm is connected to the first swing arm rotation drive module 401. The second swing arm rotation drive module 404 is communicatively connected to the electrical control cabinet 200.

[0031] The second swing arm rotation drive module 404 is located at the end away from the first swing arm segment and the first swing arm rotation drive module 401.

[0032] Both the first and second swing arms include a swing arm bracket, a spray gun slide drive module 4021, a spray gun slide 4022, a spray gun slide drive shaft 4023, and a slide rail 4024. The spray gun slide drive module 4021, the spray gun slide drive shaft 4023, and the slide rail 4024 are all mounted on the swing arm bracket. The spray gun slide drive module 4021 and the spray gun slide drive shaft 4023 are connected in a driving manner. The spray gun slide 4022 is mounted on the spray gun slide drive shaft 4023 and is connected in a driving manner. The slide rail 4024 and the spray gun slide 4022 are slidably connected. The spray gun slide drive module 4021 in the first swing arm is connected to the first swing arm rotation drive module 401.

[0033] In this embodiment, as Figure 10 and Figure 11 As shown, the swing arm adaptive contact mechanism 400 mainly consists of a first spraying swing arm group and a second spraying swing arm group, and both the first spraying swing arm group and the second spraying swing arm group are composed of two swing arms.

[0034] To explain in detail the working process of the arm adaptive contact mechanism 400, the following description is provided in conjunction with the accompanying drawings: The first and second spraying swing arm groups are located on both sides of the steel column, dividing it into left and right sides. Specifically, the first spraying swing arm group consists of the first left swing arm 402a (first swing arm) and the second left swing arm 403a (second swing arm); the second spraying swing arm group consists of the first right swing arm 402b (first swing arm) and the second right swing arm 403b (second swing arm). Each segment of the swing arm includes a spray gun slide drive module 4021 for driving, a spray gun slide 4022 connecting the slide rail 4024 and the spray gun assembly 405, a spraying slide rail drive shaft 4023 for spray gun slide transmission, and a slide rail 4024. Because there are two swing arm assemblies, there are corresponding two first swing arm rotation drive modules 401. These two first swing arm rotation drive modules 401 are respectively mounted on the rotary support 307. The first left swing arm 402a (first swing arm) and the first right swing arm 402b (first swing arm) are respectively connected to their respective first swing arm rotation drive modules 401 for rotational adjustment. The first and second spraying swing arm assemblies can rotate and unfold relative to the rotary support 307. The second right swing arm 403b (second swing arm) and the second left swing arm 403a (second swing arm) are both connected to the second swing arm rotation drive module 404. The first left swing arm 402a (first swing arm) and the first right swing arm 402b (first swing arm) are respectively directionally connected; the second right swing arm 403b (second swing arm) and / or the second left swing arm 403a (second swing arm) can rotate relative to the first left swing arm 402a (first swing arm) and / or the first right swing arm 402b (first swing arm), respectively. The joints of the two swing arms rotate in combination, forming a wrapping posture around the steel column; the second swing arm rotation drive module 404 consists of a rotary drive motor, a reducer and an output shaft. By setting the second swing arm rotation drive module 404, the angle between the first and second swing arms is dynamically controlled, and the spray gun assembly 405 can move freely, forming multiple degrees of freedom. The first and second swing arms of different swing arm groups surround the workpiece to be sprayed, with a great degree of freedom, which can adapt to the workpiece to be sprayed in different postures, and can dynamically adjust along the direction of the workpiece to be sprayed, and can adapt to the surface of the workpiece to be sprayed.

[0035] The spray gun slide 4022 is slidably engaged with the slide rail 4024, and the linear reciprocating motion of the spray gun slide 4022 on the slide rail 4024 is realized by the spray gun slide drive module 4021. The spray gun slide drive module 4021 adopts a screw drive structure to convert the rotational motion of the motor into the linear motion of the spray gun slide 4022. It should be noted that each segment of the swing arm uses one spray gun slide 4022 and one spray gun slide drive module 4021. The spray gun slide 4022 and the spray gun slide drive module 4021 are identical structures distributed at different positions on different swing arms. Each spray gun slide drive module 4021 is independently controlled by the electrical control cabinet 200 system, and the spray gun assembly 405 can move asynchronously on the slide rail.

[0036] The three-way motion mechanism 300 includes a gantry, a lifting platform drive module 303, a lifting platform 305, a lateral movement drive module 3061, and a rotary drive module 3062. The gantry is mounted on the mobile chassis 100. The lifting platform drive module 303 is mounted on the gantry. The lifting platform 305 is mounted on the lifting platform drive module 303. The lateral movement drive module 3061 is mounted on the lifting platform 305. The rotary drive module 3062 is mounted on the lateral movement drive module 3061. The swing arm adaptive contact mechanism 400 is connected to the rotary drive module 3062. The lifting platform drive module 303, the lateral movement drive module 3061, and the rotary drive module 3062 are all communicatively connected to the electrical control cabinet 200.

[0037] The rotary drive module 3062 includes a rotary support base 307, and the swing arm adaptive contact mechanism 400 is mounted on the rotary support base 307.

[0038] The gantry includes an inner gantry 301, an outer gantry 302, and a gantry fixing seat 308. The gantry fixing seat 308 is mounted on the mobile chassis 100, and the outer gantry 302 is mounted on the gantry fixing seat 308. The inner gantry 301 and the outer gantry 302 are slidably connected, and the lifting platform drive module 303 is mounted on the inner gantry 301.

[0039] The gantry also includes an inner gantry lifting drive module 304, which is mounted on the inner gantry 301 and the gantry fixing seat 308 and allows the inner gantry 301 to slide in the outer gantry 302.

[0040] In this embodiment, as Figure 9As shown, the three-way motion mechanism 300 includes an inner gantry 301, an outer gantry 302, a lifting platform drive module 303, an inner gantry lifting drive module 304, a lifting platform 305, a side-shifting drive module 3061, a rotary drive module 3062, a rotary support 307, and a gantry fixing seat 308. The inner gantry lifting drive module 304 consists of a double-stroke hydraulic mechanism, a transmission chain, and a sprocket. The double-stroke hydraulic mechanism provides power, and the lifting platform 305 is lifted and lowered through the cooperation of the transmission chain and the sprocket. The inner gantry 301 and the outer gantry 302 are slidably connected through the guide rails on the inner side of the inner gantry lifting drive module 304 and the outer gantry 302. The side-shifting drive module 3061 is slidably connected to the guide rails on the lifting platform 305 and meshes with the rack on it to form a meshing transmission, realizing the left and right sliding of the swing arm adaptive contact mechanism 400. The rotary support 307 is driven by the rotary drive module 3062 to rotate around an axis. It should be noted here that the side-moving platform is also included. The side-moving platform is divided into two parts: the side-moving drive module 3061 and the rotary drive module 3062. These two drive modules are fixedly installed inside the side-moving platform. The rotary drive module 3062 is installed together with the side-moving platform and the side-moving drive module 3061 and moves together. The left and right movement of the side-moving platform as a whole and the rotation of the rotary support 307 around the axis are realized by the motor drive and the reduction gear.

[0041] When the part to be painted is a vertical steel column 5 of the first dimension, such as Figure 2 As shown, the working process of the painting robot in this embodiment is as follows: The mobile chassis 100 drives the painting robot to move near the first-dimension vertical steel column 5, and the omnidirectional wheels 102 are driven by the power control system to complete precise positioning. The three-way motion mechanism 300 adjusts the height, front-to-back distance and initial angle of the execution end, so that the swing arm adaptive contact mechanism 400 faces the first-dimension vertical steel column 5 at a suitable angle. Under the action of the drive device, the swing arm adaptive contact mechanism 400 unfolds the first left and right swing arms 402a and 402b outward, and at the same time, the second left and right swing arms 403a and 403b also unfold and place their ends against the surface of the first-dimension vertical steel column 5, forming a swing arm covering the steel column. The slide rail 4024 in the swing arm adaptive contact mechanism 400 remains horizontal and opposite, and the spray gun slide 4022 slides asynchronously, so that all four spray guns are facing the center of the surface of the steel column. Through the lifting and lowering movement of the three-way motion mechanism 300, the spray guns can perform continuous spraying of the first-dimension vertical steel column 5 in one go along the vertical direction.

[0042] refer to Figure 3 The above is a top view of the state of the above embodiment. The combination positions of the spray gun assembly 405 are symmetrically distributed. This is because the first dimension vertical steel column 5 is a square column. The spraying slide control system will plan the spraying slide to execute the symmetrical position combination through asynchronous control, so as to maximize the spraying efficiency.

[0043] Reference Figure 4 The image shows a top view of the second-sized vertical steel column 6 embodiment. Unlike the previous embodiment, the second-sized vertical steel column 6 is smaller, and the spray gun assembly 405 is farther from the center of the steel column surface. However, the spraying distance of each spray gun is consistent, which can still ensure the uniformity of the spraying. The control system adjusts the spraying parameters of the spraying assembly 405 to ensure the spraying quality. The spraying robot of this invention is adaptable to steel columns of different sizes.

[0044] refer to Figure 5 The image shows a top view of the third-dimensional vertical steel column 7 embodiment. The spray gun slide drive module 4021 drives the spray gun slide to move asynchronously, so that the spray gun is facing the center of the steel column surface. The spray gun assembly 405 is asymmetrically distributed. The spraying robot of the present invention is adapted to steel columns with different cross-sectional shapes.

[0045] When the steel column to be sprayed is an inclined steel column 7, such as Figure 6 and Figure 7 As shown, the painting robot uses an asynchronous compensation method for painting, and the working process is as follows: The mobile chassis 100 moves to the vicinity of the inclined steel column 7, and adjusts its posture through the three-way motion mechanism 300 so that the initial angle of the swing arm contact mechanism 400 is aligned with the tilt direction of the steel column. Similar to the previous embodiment, the drive device drives the two left and right swing arms to unfold. Due to the tilt of the steel column, the contact points of the first and second swing arms are at different axial heights relative to the inclined steel column 7. If the spray gun assembly 405 operates synchronously and symmetrically, the spraying distance between the spray guns on the first and second swing arms and the inclined steel column 7 will be inconsistent, resulting in inconsistent spraying and reduced spraying quality. The swing arm adaptive contact mechanism 400 starts the asynchronous adjustment function. The electrical control cabinet 200 controls and adjusts the spray gun slide 4022 on the first swing arm and the spray gun slide 4022 on the second swing arm to be nearly consistent with the surface of the inclined steel column 7, so as to achieve compensation spraying. At the same time, each swing arm is deployed in coordination so that each spray gun assembly 405 is sprayed directly towards the center of the steel column surface. Through the lifting and lowering and left and right compound movement of the three-way motion mechanism 300, the swing arm contact mechanism is able to rise or fall relative to the axis of the inclined steel column, so as to complete a one-time all-round continuous spraying operation.

[0046] Example 2 like Figure 13 As shown, a control method for an asynchronous sliding rail type multi-directional adaptive contact spraying robot is disclosed, the method specifically including: S1. Obtain the positional relationship between the painting robot and the part to be painted, as well as the working environment; S2. Plan the movement path of the painting robot according to the positional relationship and the working environment, and move it to the part to be painted; S3. The spraying robot identifies the posture of the part to be sprayed; S4. Based on the posture of the part to be sprayed and with the target spraying distance and spraying angle of the spray gun assembly 405 as constraints, solve the lifting displacement, lateral displacement and rotation angle of the three-way motion mechanism 300, as well as the unfolding angle and asynchronous slide rail position of the swing arm adaptive contact mechanism 400, adjust the posture of the spray gun assembly 405 and complete the spraying operation.

[0047] In this embodiment, the painting robot enters the work site, and the visual sensor performs feature recognition on the steel column to simulate the scene. The site map is imported into the calculation system, which analyzes and obtains the painting path and trajectory. The mobile chassis 100 travels to the planned position along the optimal path.

[0048] After the painting robot moves to the vicinity of the part to be painted, it uses vision sensors to identify the size, cross-sectional shape, and tilt state of the steel column and determine its location. The calculation system analyzes and sets the painting parameters and plans the painting trajectory based on the identified information. Specifically, under the premise of ensuring that the swing arm does not interfere with the steel column and surrounding components, and with the target painting distance and painting angle of the spray gun as constraints, the lifting displacement, lateral displacement, and rotation angle of the three-way motion mechanism, as well as the swing arm's unfolding angle and the asynchronous slide rail position, are solved to maximize the painting coverage and minimize the amount of mechanical movement.

[0049] The three-way motion mechanism 300, through its lifting motion, transports the swing arm adaptive contact mechanism 400 to a designated height. The swing arm adaptive contact mechanism then unfolds optimally according to the planned spraying path, forming a posture that envelops the steel column. The spray gun assembly 405 sprays according to the set spraying parameters. In this optimal manner, the two swing arms unfold simultaneously according to the planned swing arm unfolding angle. The first swing arm unfolds outwards to form an angle, while the second swing arm rotation drive module 404 drives the second swing arm to unfold forward from the inside of the first swing arm. The spray gun assembly 405 moves to a preset position facing the center line of each sprayed surface according to the planned asynchronous slide rail position. During the spraying process, various sensors monitor the actual spraying parameters and spraying trajectory in real time, providing real-time feedback on the spraying operation. The three-way motion mechanism 300 and the swing arm adaptive contact mechanism 400 adjust their posture continuously to complete the spraying of one steel column. The moving chassis 100 then moves to the planned position of the next steel column to be sprayed, and sprays the surface of the next steel column. If the quality of the spraying operation does not meet the standard, the spraying parameters will be reset and the spraying path will be planned according to the current spraying status, and corrective spraying will be carried out.

[0050] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An asynchronous sliding rail type multi-directional adaptive contact spraying robot, the spraying robot being used to spray parts to be sprayed, characterized in that, The device includes a mobile chassis (100), an electrical control cabinet (200), a three-way motion mechanism (300), and a swing arm adaptive contact mechanism (400) with a spray gun assembly (405). The electrical control cabinet (200) and the three-way motion mechanism (300) are both mounted on the mobile chassis (100), and the three-way motion mechanism (300) is close to the electrical control cabinet (200). The swing arm adaptive contact mechanism (400) is mounted on the three-way motion mechanism (300). The electrical control cabinet (200) is communicatively connected to the mobile chassis (100), the three-way motion mechanism (300), and the swing arm adaptive contact mechanism (400). The electrical control cabinet (200) controls the mobile chassis (100) and the three-way motion mechanism (300) to bring the swing arm adaptive contact mechanism (400) close to the workpiece to be sprayed. The swing arm adaptive contact mechanism (400) adjusts the spraying posture of the spray gun assembly (405) according to the posture of the workpiece to be sprayed.

2. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 1, characterized in that, The adaptive contact mechanism (400) includes a first spraying arm group, a second spraying arm group and a first swing arm rotation drive module (401). The first spraying arm group and the second spraying arm group are both mounted on the three-way motion mechanism (300) through the first swing arm rotation drive module (401). The first swing arm rotation drive module (401) is communicatively connected to the electrical control cabinet (200).

3. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 2, characterized in that, The first and second spraying arm groups each include a first swing arm, a second swing arm, and a second swing arm rotation drive module (404). The spray gun assembly (405) is mounted on the first and second swing arms. The second swing arm is movably mounted on the first swing arm via the second swing arm rotation drive module (404). The first swing arm and the first swing arm rotation drive module (401) are connected. The second swing arm rotation drive module (404) is communicatively connected to the electrical control cabinet (200).

4. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 3, characterized in that, The second swing arm rotation drive module (404) is located at the end away from the connection between the first swing arm segment and the first swing arm rotation drive module (401).

5. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 3, characterized in that, Both the first and second swing arms include a swing arm bracket, a spray gun slide drive module (4021), a spray gun slide (4022), a spray gun slide drive shaft (4023), and a slide rail (4024). The spray gun slide drive module (4021), the spray gun slide drive shaft (4023), and the slide rail (4024) are all mounted on the swing arm bracket. The spray gun slide drive module (4021) and the spray gun slide drive shaft (4023) are connected in a driving manner. The spray gun slide (4022) is mounted on the spray gun slide drive shaft (4023) and is connected in a driving manner. The slide rail (4024) and the spray gun slide (4022) are slidably connected. The spray gun slide drive module (4021) in the first swing arm is connected to the first swing arm rotation drive module (401).

6. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 1, characterized in that, The three-way motion mechanism (300) includes a gantry, a lifting platform drive module (303), a lifting platform (305), a side-shift drive module (3061), and a rotary drive module (3062). The gantry is mounted on a mobile chassis (100). The lifting platform drive module (303) is mounted on the gantry. The lifting platform (305) is mounted on the lifting platform drive module (303). The side-shift drive module (3061) is mounted on the lifting platform (305). The rotary drive module (3062) is mounted on the side-shift drive module (3061). The swing arm adaptive contact mechanism (400) is connected to the rotary drive module (3062). The lifting platform drive module (303), the side-shift drive module (3061), and the rotary drive module (3062) are all communicatively connected to the electrical control cabinet (200).

7. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 6, characterized in that, The rotary drive module (3062) includes a rotary support base (307), and the swing arm adaptive contact mechanism (400) is mounted on the rotary support base (307).

8. The asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 6, characterized in that, The gantry includes an inner gantry (301), an outer gantry (302), and a gantry fixing seat (308). The gantry fixing seat (308) is mounted on a mobile chassis (100), the outer gantry (302) is mounted on the gantry fixing seat (308), the inner gantry (301) and the outer gantry (302) are slidably connected, and the lifting platform drive module (303) is mounted on the inner gantry (301).

9. An asynchronous sliding rail type multi-directional adaptive contact spraying robot according to claim 8, characterized in that, The gantry also includes an inner gantry lifting drive module (304), which is installed on the inner gantry (301) and the gantry fixing seat (308) and allows the inner gantry (301) to slide in the outer gantry (302).

10. A control method for an asynchronous sliding rail type multi-directional adaptive contact spraying robot as described in any one of claims 1-9, characterized in that, The method specifically includes: S1. Obtain the positional relationship between the painting robot and the part to be painted, as well as the working environment; S2. Plan the movement path of the painting robot according to the positional relationship and the working environment, and move it to the part to be painted; S3. The spraying robot identifies the posture of the part to be sprayed; S4. Based on the posture of the part to be sprayed and with the target spraying distance and spraying angle of the spray gun assembly (405) as constraints, solve the lifting displacement, lateral displacement and rotation angle of the three-way motion mechanism (300) and the unfolding angle and asynchronous slide rail position of the swing arm adaptive contact mechanism (400), adjust the posture of the spray gun assembly (405) and complete the spraying operation.

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