A building spraying robot ranging device and a method of using the same

Abstract

The application relates to a building spraying robot distance measuring device and a use method thereof, and belongs to the field of building distance measuring devices. The device comprises a spraying robot main body; a gas supply source is arranged on the spraying robot main body; a mechanical arm is arranged on the spraying robot main body; a spray gun is arranged at the end of the mechanical arm; a cleaning unit is arranged at the end of the spray gun; a distance measuring frame is fixedly connected to the bottom of the mechanical arm; a detection shell is arranged on the distance measuring frame; a gas outlet of the gas supply source is in communication with the inside of the detection shell; a detection telescopic pipe is arranged on the detection shell; an elastic marking unit is slidably arranged in the detection telescopic pipe; a gas spraying telescopic pipe is sleeved on the detection telescopic pipe; the gas spraying telescopic pipe is in communication with the inside of the detection shell; a gas spraying channel is arranged between the gas spraying telescopic pipe and the detection telescopic pipe; and the application has the technical effects of being applicable to harsh working environments, being easy to maintain and prolonging the service life of the detection device.

Description

Technical Field

[0001] This application relates to the technical field of building distance measuring devices, and in particular to a distance measuring device for a building spraying robot and its usage method. Background Technology

[0002] Currently, spraying robots are widely used in the construction industry for wall painting operations. To ensure uniform spray thickness and meet construction quality standards, the equipment needs to precisely control the working distance between the machine body and the wall. A building spraying robot mainly consists of a mobile chassis, a lifting and telescopic mechanism, a robotic arm, a spray gun, a paint supply system, a whole-machine control system, and a sensing and safety module. The robotic arm is mounted on the lifting and telescopic mechanism, and the spray gun is installed at the end of the robotic arm. During operation, the mobile chassis first autonomously moves to the working position and positions itself using navigation sensors. Then, the lifting mechanism raises the robotic arm to the working height. The control system schedules the robotic arm according to a preset trajectory to flexibly adjust the position of the spray gun. Simultaneously, the supply system stably delivers paint at a constant pressure, which is then atomized by the spray gun. Combined with the sensing module, real-time detection of the wall distance and working condition information dynamically corrects the movement path and spraying parameters, achieving automated and uniform spraying operations on walls, ceilings, and other areas.

[0003] Most existing painting robots use electronic sensing methods such as laser, infrared, and vision to complete distance measurement operations. However, construction sites have high dust levels, paint mist, and high humidity, which can easily cause dust and paint to accumulate on the surface of electronic sensing components. This can not only obstruct the sensing light path, causing signal attenuation and measurement data deviation, but also lead to sensor short circuits due to moisture and component aging and failure, significantly increasing the probability of equipment failure. At the same time, traditional electronic distance measurement structures have poor protection performance. Working in complex construction environments for a long time results in a short service life for the equipment, and requires frequent professional cleaning and accuracy calibration, making the maintenance process cumbersome.

[0004] Regarding the aforementioned technologies, the inventors believe that there are drawbacks, such as the reduced accuracy of spacing detection and the shortened service life of equipment due to harsh construction environments. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a distance measuring device for a building spraying robot and its usage method.

[0006] This application provides a distance measuring device for a building spraying robot and its usage method, which adopts the following technical solution: A distance measuring device for a building spraying robot includes a spraying robot body; an air supply source is provided on the spraying robot body; a robotic arm is provided on the spraying robot body; a spray gun is provided at the end of the robotic arm; a cleaning unit is provided at the end of the spray gun; a distance measuring frame is fixedly connected to the bottom of the robotic arm; a detection shell is provided on the distance measuring frame; the air outlet of the air supply source is connected to the interior of the detection shell; a detection telescopic tube is provided on the detection shell; an elastic marking unit is slidably disposed inside the detection telescopic tube; an air jet telescopic tube is sleeved on the detection telescopic tube; the air jet telescopic tube is connected to the interior of the detection shell; an air jet channel is provided between the air jet telescopic tube and the detection telescopic tube; an image sensor is provided inside the detection telescopic tube; the image sensor is used to identify the position of the elastic marking unit.

[0007] By adopting the above technical solution, gas is injected into the jet telescopic tube using an air supply source. The airflow rebounding from the wall enters the detection telescopic tube and pushes the elastic marking unit to move, achieving the distance measurement effect of the painting robot body. The inner detection telescopic tube is completely wrapped and shielded by the outer jet tube, which can effectively prevent paint mist, dust, and debris from the construction site from entering the internal detection air path, avoiding pipe blockage and inner wall contamination, and ensuring smooth sliding of the elastic marking unit inside the telescopic tube. This solves the problems of dust accumulation, moisture-induced failure, and signal blockage failure of electronic sensing elements at construction sites, improving the distance measurement stability and equipment lifespan. Furthermore, daily maintenance only requires simple cleaning of the surface of the tube to remove dust and paint mist, without the need for professional inspection and calibration.

[0008] Preferably, the jet telescopic tube includes a first fixed tube, a first extension tube, and a first spring; the first fixed tube is disposed on the detection shell and communicates with the interior of the detection shell; the first extension tube is slidably disposed inside the first fixed tube; a piston plate is disposed on the first extension tube; a plurality of vent holes are formed on the piston plate; the first spring is sleeved on the first extension tube, and the two ends of the first spring are respectively connected to the inner wall of the first fixed tube and the piston plate.

[0009] By adopting the above technical solution, the airflow is quantitatively diverted and limited through multiple vent holes on the piston plate, forming a pressure difference structure where the intake air is greater than the exhaust air. The first extension tube can be pushed outward by detecting the accumulated air pressure inside the shell, simplifying the overall transmission structure. Furthermore, the stable rise of the air pressure inside the shell is detected, avoiding the rapid movement of the first extension tube caused by instantaneous high pressure, and preventing the first extension tube from hitting the wall or damaging the components.

[0010] Preferably, the detection telescopic tube includes a second fixed tube and a second extension tube; the second fixed tube is disposed on the detection seat; the second fixed tube is located inside the first fixed tube; the second extension tube is sleeved on the outside of the second fixed tube and located inside the first extension tube; the second extension tube is connected to the first extension tube.

[0011] By adopting the above technical solution, the second extension tube is fixedly connected to the first extension tube. When the first extension tube is driven to extend and retract by air pressure, it can directly drive the second extension tube to move forward and backward synchronously, so as to achieve the effect of synchronous movement of the detection extension tube and the air jet extension tube. The extension length and the position against the wall of the detection extension tube and the air jet extension tube are always consistent, avoiding positional deviation and improving detection accuracy.

[0012] Preferably, a guide sleeve is provided at the end of the first extension tube; the guide sleeve is an outwardly expanding tapered structure.

[0013] By adopting the above technical solution, the outer conical surface of the guide sleeve allows the high-pressure airflow flowing out of the jet telescopic pipe to be evenly dispersed and sprayed in all directions along the conical surface, avoiding the phenomenon of local airflow turbulence and vortex accumulation caused by the concentrated airflow hitting the wall. This ensures that the airflow in the jet channel is sprayed normally, and allows the airflow reflected from the wall to smoothly flow into the interior of the detection telescopic pipe, ensuring that the elastic marking unit is accurately and reliably displaced by force.

[0014] Preferably, a detection cavity is provided between the first extension tube and the first fixed tube; a detection tube communicating with the detection cavity is provided on the first extension tube; a detection piston is slidably disposed vertically inside the detection tube; and a fourth spring is connected between the detection piston and the inner wall of the detection tube away from the detection cavity.

[0015] By adopting the above technical solution, the change in air pressure inside the detection chamber can directly push the detection piston to slide vertically along the detection tube, directly converting the air pressure into the displacement of the detection piston, which can accurately correspond to the actual extension length of the jet telescopic pipe. The displacement stroke of the detection piston is used as a rigid mechanical criterion for determining whether the pipe is fully extended. It can be verified in conjunction with the airflow distance measurement results of the elastic marking unit. This can determine both the size of the distance of the airflow feedback and verify the actual extension stroke of the pipe, effectively avoiding the misjudgment problem caused by a single detection method.

[0016] Preferably, the elastic marking unit includes a marking frame, a sliding rod, a marking plate, and a second spring; the marking frame is disposed inside the detection telescopic tube; the sliding rod is slidably disposed on the marking frame along the axial direction of the detection telescopic tube; the marking plate is disposed at the end of the sliding rod; the second spring is sleeved on the sliding rod; the second spring is located between the marking plate and the marking frame; an image sensor is disposed inside the detection telescopic tube; the image sensor is used to identify the position of the marking plate.

[0017] By adopting the above technical solution, the airflow reflected from the wall directly impacts the signboard, pushing the slide bar to slide axially along the sign frame. The second spring force acts as a reverse resistance, accurately converting the airflow pressure difference into the linear displacement of the signboard. The real-time position of the signboard is captured directly by an image sensor inside the pipe, and the movement distance can be accurately read by the scale on the pipe wall. It can be quickly compared with the preset standard distance to determine the deviation of the spraying operation spacing. The elastic sign unit consists of a sign frame, slide bar, signboard, and second spring. It has few parts, is not easily damaged or jammed by long-term reciprocating sliding, and is simple to clean internally and replace parts.

[0018] Preferably, the cleaning unit includes a cleaning hood and a flexible ring plate; the cleaning hood is fitted onto the spray gun; the end of the detection telescopic tube away from the wall passes through the detection shell and communicates with the interior of the cleaning hood; the end of the cleaning hood near the nozzle of the spray gun has an air outlet; the flexible ring plate is located at the air outlet; the outer side of the flexible ring plate is fixedly connected to the cleaning hood; the inner side of the flexible ring plate is in contact with the spray gun.

[0019] By adopting the above technical solution, the backflow airflow inside the telescopic fitting is directly introduced into the cleaning hood, eliminating the need for a separate air source and supply pipeline, thus reducing equipment energy consumption. The flexible ring plate is fixed on the outside and tightly attached to the outer wall of the spray gun on the inside. Under normal conditions, it can block the air outlet, effectively preventing paint mist and dust from entering the cleaning hood from the construction site and avoiding internal dirt accumulation that could clog the air passage. During operation, the airflow enters the cleaning hood and exits through the air outlet, forming a concentrated airflow with the flexible ring plate. This airflow is precisely aimed at the spray nozzle of the spray gun for cleaning, effectively removing residual paint and adhering paint mist from the end of the spray gun.

[0020] Preferably, the cleaning cover is provided with a limiting plate; a third spring is sleeved on the cleaning cover; a plurality of connecting blocks are provided on the flexible ring plate; and the third spring is located between the limiting plate and the connecting blocks.

[0021] By adopting the above technical solution, the third spring is installed between the limiting plate and the connecting block of the flexible ring plate. When the air pressure pushes the flexible ring plate to fold outward, the connecting block squeezes the third spring to complete the elastic energy storage. After the air supply is stopped and the pressure is released, the spring releases its elastic force and pulls the connecting block in the opposite direction, which drives the flexible ring plate to quickly return to its original position and fit the spray gun, thereby improving the reaction speed of the flexible ring plate.

[0022] Preferably, a sealing cover is fitted onto the cleaning cover; the limiting plate and the third spring are both located inside the sealing cover; an abutment plate is provided on the sealing cover; the abutment plate is located between the third spring and the connecting block.

[0023] By adopting the above technical solution, the sealing cover completely encloses the limiting plate and the third spring, which can effectively prevent paint mist, dust and mortar debris from entering the third spring at the construction site, avoid paint accumulation and corrosion of the third spring and jamming of moving parts, ensure the long-term flexible and smooth extension and retraction of the third spring, and greatly improve the mechanism's dirt resistance and service life; by adding an abutment plate between the third spring and the connecting block, the elastic force of the third spring is evenly transmitted to each connecting block, avoiding the spring directly pressing the connecting block at a single point and causing force imbalance, so that the flexible ring plate is evenly stressed when it is folded back.

[0024] To address the aforementioned technical problems, this application also provides a method for using a distance measuring device for a building spraying robot, comprising the following steps: Step S1: Move the main body of the spraying robot to the detection position and check that the cleaning unit, the detection telescopic tube, the air jet telescopic tube, and the elastic marking unit are in their initial reset state. Step S2: Start the air supply source and set a constant output air pressure. The output gas pushes the jet telescopic pipe and the detection telescopic pipe to extend synchronously until the end of the jet telescopic pipe is in contact with the wall. In step S3, the airflow reflected from the wall enters the detection telescopic tube and pushes the elastic marking unit to move; the image sensor identifies the distance the elastic marking unit moves and determines the distance between the robot body and the robotic arm and the wall.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. By using an air supply source to fill the jet telescopic tube with gas, the airflow rebounding from the wall enters the detection telescopic tube and pushes the elastic marking unit to move, achieving the distance measurement effect of the painting robot body. The inner detection telescopic tube is completely wrapped and shielded by the outer jet tube, which can effectively prevent paint mist, dust and debris from the construction site from entering the internal detection air path, avoiding pipeline blockage and inner wall dirt accumulation, and ensuring smooth sliding of the elastic marking unit inside the telescopic tube. It solves the problems of dust accumulation, moisture failure and signal blockage failure of electronic sensing elements at construction sites, improves the distance measurement stability and equipment service life; and daily maintenance only requires simple cleaning of dust and paint mist on the surface of the tube, without the need for professional inspection and calibration.

[0026] 2. The airflow returning from the telescopic tube is directly introduced into the cleaning hood, eliminating the need for a separate air source and supply line, thus reducing energy consumption. The flexible ring plate is fixed on the outside and tightly attached to the outer wall of the spray gun on the inside. Under normal conditions, it can block the air outlet, effectively preventing paint mist and dust from entering the cleaning hood from the construction site and avoiding internal dirt accumulation that could clog the air passage. During operation, the airflow enters the cleaning hood and exits through the air outlet, forming a concentrated airflow with the flexible ring plate. This airflow is precisely aimed at the spray nozzle of the spray gun for cleaning, effectively removing residual paint and paint mist from the end of the spray gun. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a distance measuring device for a building spraying robot.

[0028] Figure 2 This is a schematic diagram of the structure of the parts on the rangefinder frame in the embodiment.

[0029] Figure 3 yes Figure 2 A magnified view of part A in the image.

[0030] Figure 4 This is a schematic diagram of the structure of the elastic identification unit in the embodiment.

[0031] Figure 5 yes Figure 2 A magnified view of part B in the image.

[0032] Figure 6 This is a structural schematic diagram of the working state of the cleaning unit in the embodiment.

[0033] Explanation of reference numerals in the attached figures: 1. Main body of the painting robot; 11. Robotic arm; 12. Rangefinder; 13. Spray gun; 2. Detection shell; 3. Detection telescopic tube; 31. Second fixed tube; 32. Second extension tube; 4. Air jet telescopic tube; 41. First fixed tube; 42. First extension tube; 421. Piston plate; 4211. Vent hole; 422. Guide sleeve; 423. Detection chamber; 43. First spring; 5. Air jet channel; 6. Cleaning unit; 61. Cleaning cover; 611. Limiting plate; 612. Third spring; 614. Sealing cover; 6141. Abutment plate; 62. Flexible ring plate; 621. Connecting block; 7. Elastic marking unit; 71. Marking frame; 72. Slide rod; 73. Marking plate; 74. Second spring; 8. Detection tube; 81. Detection piston; 82. Fourth spring. Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0035] This application discloses a ranging device for a building spraying robot. (Refer to...) Figure 1-2The system includes a painting robot body 1; an air supply source is provided on the painting robot body 1; a robotic arm 11 is provided on the painting robot body 1; a spray gun 13 is provided at the end of the robotic arm 11; a cleaning unit 6 is provided at the end of the spray gun 13; a spray nozzle is provided at the end of the spray gun 13; the cleaning unit 6 can clean the residual paint at the spray nozzle; a rangefinder 12 is fixedly connected to the bottom of the robotic arm 11; a detection shell 2 is provided on the rangefinder 12; the air outlet of the air supply source is connected to the inside of the detection shell 2; a detection telescopic tube 3 is provided on the detection shell 2; an elastic marking unit 7 is slidably provided inside the detection telescopic tube 3; an air jet telescopic tube 4 is sleeved on the detection telescopic tube 3; the air jet telescopic tube 4 is connected to the inside of the detection shell 2; an air jet channel 5 is provided between the air jet telescopic tube 4 and the detection telescopic tube 3.

[0036] After the spraying operation of a single area is completed, the main body 1 of the spraying robot, equipped with the robotic arm 11, moves to the next area to be sprayed. At this time, the measuring frame 12 is positioned synchronously with the robotic arm 11, and the jet telescopic tube 4 and the detection telescopic tube 3 extend towards the wall. The end of the jet telescopic tube 4 abuts against the wall. There is a gap between the detection telescopic tube 3 and the wall. The air supply source can continuously supply constant pressure gas into the detection shell 2. After the pressurized gas enters the detection shell 2, it is diverted and introduced into the jet channel 5 reserved between the jet telescopic tube 4 and the detection telescopic tube 3, and sprayed at high speed along the jet channel 5 to the surface of the building wall.

[0037] When the end of the jet telescopic tube 4 abuts against the wall and seals the inside of the jet telescopic tube 4, the high-pressure airflow impacts the wall and causes directional backflow reflection. The reflected airflow enters the internal cavity of the detection telescopic tube 3 in the opposite direction. The airflow pressure acts on the elastic marking unit 7 that is slidably assembled inside the tube and pushes the elastic marking unit 7 to move along the axial direction of the detection telescopic tube 3.

[0038] When the jet telescopic nozzle 4 is fully extended and its end abuts against the wall, sealing the inside of the jet telescopic nozzle 4, the distance moved by the elastic marking unit 7 at this time is defined as the standard moving distance. This distance is then compared with the actual moving distance of the elastic marking unit 7 to determine whether the distance between the spraying robot body 1 and the robotic arm 11 and the wall has changed. If the spacing deviates, it indicates that there is a gap between the jet telescopic nozzle 4 and the wall, and the distance between the spraying robot body 1 and the robotic arm 11 and the wall is too large. The robot can automatically fine-tune the posture and travel position of the robotic arm 11 to ensure that the spray gun 13 always maintains the optimal spraying distance, guaranteeing uniform spray thickness and consistent spraying effect.

[0039] Reference Figures 2 to 4The jet telescopic tube 4 includes a first fixed tube 41, a first extension tube 42, and a first spring 43. One end of the first fixed tube 41 is fixedly connected to the detection shell 2 and communicates with the interior of the detection shell 2. The other end of the first fixed tube 41 extends towards the wall. The first extension tube 42 is slidably connected inside the first fixed tube 41. A guide sleeve 422 is provided at the end of the first extension tube 42 away from the detection shell 2 and protrudes from the first fixed tube 41. A rubber pad is provided at the end of the guide sleeve 422. Specifically, the guide sleeve 422... One end is connected to the first extension tube 42, and the other end expands outward from the first extension tube 42, making the whole structure an outwardly expanding conical structure; a piston plate 421 is provided at one end of the first extension tube 42 located inside the first fixed tube 41; multiple vent holes 4211 are opened on the piston plate 421; a first spring 43 is sleeved on the first extension tube 42, and the two ends of the first spring 43 are respectively connected to the inner wall of the first fixed tube 41 and the piston plate 421; under normal conditions, the first extension tube 42 is kept in a retracted state by the elastic force of the first spring 43.

[0040] The telescopic tube 3 includes a second fixed tube 31 and a second extension tube 32. The second fixed tube 31 is mounted on the testing seat and is coaxially arranged inside the first fixed tube 41. The second extension tube 32 is sleeved outside the second fixed tube 31 and located inside the first extension tube 42. The second extension tube 32 can slide on the second fixed tube 31. At the same time, the second extension tube 32 is rigidly connected to the first extension tube 42, so that when the first extension tube 42 slides axially, it can synchronously drive the second extension tube 32 to extend and retract.

[0041] When the gas supply source continuously supplies constant pressure gas into the detection housing 2, part of the high pressure gas inside the detection housing 2 is slowly discharged into the jet channel 5 between the jet telescopic pipe 4 and the detection telescopic pipe 3 through multiple vent holes 4211 on the piston plate 421. Since the total ventilation cross-sectional area of ​​the vent holes 4211 is limited, the exhaust flow rate of the vent holes 4211 is less than the intake flow rate of the gas supply source. The internal air pressure of the detection housing 2 will gradually accumulate and increase, forming an internal air pressure difference. The continuously increasing air pressure acts on the end face of the piston plate 421, overcoming the elastic preload of the first spring 43, and pushing the piston plate 421 to drive the first extension tube 42 to slide outward toward the wall. At the same time, the first extension tube 42 synchronously pulls the second extension tube 32 to slide axially along the second fixed tube 31, realizing that the two sets of tubes extend toward the wall simultaneously. Until the guide sleeve 422 at the end of the first extension tube 42 flexibly abuts against the wall surface through the bottom rubber pad, the extension stroke is limited. The rubber pad flexibly fits against the wall surface, sealing the gap between the guide sleeve 422 and the wall surface, greatly improving the end face sealing effect and reducing lateral leakage of airflow. The gas flowing out from the inside of the second extension tube 32 flows out through the inner cavity of the guide sleeve 422, and is then guided by the outward expanding conical structure of the guide sleeve 422, and evenly diffused and sprayed around the outside of the first extension tube 42, avoiding local accumulation of airflow in the middle of the tube, which would affect the rebound effect of the gas.

[0042] After the spraying operation is completed and the air supply stops replenishing, the first spring 43 returns to its original position, pulling the piston plate 421 and the first extension tube 42 and the second extension tube 32 to retract synchronously, automatically resetting and storing, waiting for the next distance measurement operation.

[0043] Reference Figure 3 and 4 The elastic marking unit 7 includes a marking frame 71, a sliding rod 72, a marking plate 73, and a second spring 74. The marking frame 71 is fixedly mounted in the inner cavity of the detection telescopic tube 3 as a fixed support base. The sliding rod 72 is slidably mounted on the marking frame 71 along the axial direction of the detection telescopic tube 3. The marking plate 73 is fixed at the end of the sliding rod 72 facing the airflow direction, and the second spring 74 is sleeved on the sliding rod 72. The second spring 74 is located between the marking plate 73 and the marking frame 71. Under normal conditions, the marking plate 73 is kept in its initial reference position by the elastic support of the second spring 74. The inner wall of the second fixed tube 31 has scale lines. An image sensor is installed inside the second fixed tube 31 of the detection telescopic tube 3. The image sensor is a miniature pinhole camera. The image sensor is used to identify the position of the marking plate 73 of the elastic marking unit 7. The image sensor is electrically connected to the central control module. The data output terminal of the image sensor is connected to the data input terminal of the central control module. The image sensor can transmit the captured position image data to the central control module for analysis and processing in real time.

[0044] A detection cavity 423 is provided between the first extension tube 42 and the first fixed tube 41; a detection tube 8 is provided on the first extension tube 42 and is vertically arranged in communication with the detection cavity 423; a detection piston 81 is slidably arranged vertically inside the detection tube 8; a fourth spring 82 is connected between the detection piston 81 and the inner wall of the detection tube 8 away from the detection cavity 423; in the initial retracted state when the jet telescopic tube 4 and the detection telescopic tube 3 are not extended outward, the fourth spring 82 is in the normal extended state, pushing the detection piston 81 to stop at the end of the detection tube 8 near the detection cavity 423.

[0045] When pressurized airflow is reflected back through the wall and enters the interior of the telescopic tube 3, the returning airflow acts on the end face of the marking plate 73, pushing the marking plate 73 to drive the slide rod 72 to slide backward along the axial direction against the elastic force of the second spring 74. The magnitude of the airflow thrust varies with the distance between the robot and the wall, thus determining the actual sliding distance of the marking plate 73. The image sensor captures the offset position of the marking plate 73 relative to the inner wall scale line in real time and transmits it to the central control module for comparison and calculation. When the actual moving distance of the marking plate 73 matches the preset standard moving distance and is within the allowable error range, the central control module determines that the end of the jet telescopic tube 4 has achieved stable contact with the wall, completing the single distance benchmark determination.

[0046] When the central control module controls the air supply source to continuously supply air, the air pressure inside the detection shell 2 increases. On the one hand, this drives the first extension tube 42 and the second extension tube 32 to extend axially. On the other hand, the pressurized gas inside the detection shell 2 acts on the detection chamber 423, causing the air pressure inside the detection chamber 423 to increase synchronously. This compresses the gas in the detection chamber 423 into the detection tube 8, thereby pushing the detection piston 81 to overcome the elastic resistance of the fourth spring 82 and move upward. A standard scale is marked on the detection tube 8. The tube wall of the detection tube 8 is pre-marked with a standard scale. Only when the jet telescopic fitting 4 is fully extended and the stroke reaches the design standard value can the air pressure just push the detection piston 81 to move to the standard scale position. This serves as the mechanical stroke judgment benchmark for the full extension of the fitting.

[0047] First, compare the actual moving distance of the elastic marking unit 7 and the marking plate 73 with the standard moving distance. If it is within the allowable error range, further verify whether the detection piston 81 has reached the standard scale. If the detection piston 81 is in place, it is determined that the distance between the robot and the robotic arm 11 and the wall is qualified. If the detection piston 81 has not reached the standard scale, it means that the pipe is not fully extended, the robot is too close to the wall, and the distance does not meet the spraying standard.

[0048] The detection tube 8 can be a transparent quartz glass tube; a CCD camera is installed on the detection tube 8, which can acquire and identify the position image of the detection piston 81 inside the detection tube 8; the data output terminal of the CCD camera is electrically connected to the central control module; if the actual moving distance of the marker plate 73 does not reach the standard moving distance, the central control module identifies the image data transmitted by the CCD camera; if the detection piston 81 moves to the standard scale, it means that the distance between the main body 1 of the painting robot and the robotic arm 11 and the wall is qualified; if the detection piston 81 does not move to the standard scale, it means that the distance between the main body 1 of the painting robot and the robotic arm 11 and the wall is too close, which poses a risk of spraying too close, and the main body 1 of the painting robot needs to automatically adjust its position.

[0049] Reference Figure 5 and Figure 6 The cleaning unit 6 includes a cleaning cover 61 and a flexible ring plate 62. The cleaning cover 61 is fitted around the spray gun 13. The end of the detection telescopic pipe 3 away from the wall passes through the detection shell 2 and communicates with the inside of the cleaning cover 61 to form an airflow passage. The end of the cleaning cover 61 near the nozzle of the spray gun 13 has an air outlet. The flexible ring plate 62 is a rubber plate. The flexible ring plate 62 is located at the air outlet. The outer side of the flexible ring plate 62 is fixedly connected to the cleaning cover 61. The inner wall of the inner ring of the flexible ring plate 62 is tightly fitted to the spray gun 13. Under normal conditions, the flexible ring plate 62 remains vertically fitted and sealed, which can block the air outlet and prevent paint mist and dust from entering the interior of the cleaning cover 61 in reverse.

[0050] A limiting plate 611 is fixedly installed on the outside of the cleaning cover 61; a third spring 612 is sleeved on the cleaning cover 61; multiple connecting blocks 621 are provided on the flexible ring plate 62; the third spring 612 is located between the limiting plate 611 and the connecting blocks 621; a sealing cover 614 is sleeved on the cleaning cover 61; the limiting plate 611 and the third spring 612 are both located inside the sealing cover 614, which plays a role in preventing dust and paint mist; an abutment plate 6141 is provided on the sealing cover 614; the abutment plate 6141 is placed between the third spring 612 and the connecting blocks 621.

[0051] When performing wall distance measurement, the gas reflected back into the detection telescopic fitting 3 by the wall will eventually be guided into the internal cavity of the cleaning hood 61 along the pipeline. As air continues to enter, the internal air pressure of the cleaning hood 61 gradually increases. The high-pressure air acts on the inner surface of the flexible ring plate 62, overcoming the toughness of the rubber itself and the preload of the third spring 612, pushing the flexible ring plate 62 to fold and deflect outwards towards the spray gun 13, so that the flexible ring plate 62 is in an inclined guiding state. The folded flexible ring plate 62 forms an annular guiding slope. The high-pressure airflow in the cleaning hood 61 is guided along the inner side of the inclined flexible ring plate 62 and converges towards the spray nozzle of the spray gun 13. The directional airflow is used to sweep away and peel off residual paint and splashed paint mist at the spray nozzle port.

[0052] As the flexible ring plate 62 folds and deforms outward toward the spray gun 13, multiple connecting blocks 621 arranged on it move outward synchronously with the flexible ring plate 62. The connecting blocks 621 push the abutment plate 6141 synchronously, causing the abutment plate 6141 to slide along the cleaning cover 61 axially and compress the third spring 612.

[0053] After the ranging process is completed, the air supply source stops supplying air to the detection housing 2, and the overall air pressure in the pipeline is released; the first extension tube 42 retracts and resets under the action of the first spring 43, simultaneously driving the second extension tube 32 to reset; the air pressure inside the detection chamber 423 decreases accordingly, and the detection piston 81 retracts to its initial position under the action of the fourth spring 82. At the same time, the air pressure inside the cleaning cover 61 drops and disappears, no longer generating air pressure thrust on the flexible ring plate 62; at this time, the compressed third spring 612 releases its elastic potential energy, pushing the abutment plate 6141 back to its initial position in the opposite direction. The abutment plate 6141 then pulls the flexible ring plate 62 towards the inside of the cleaning cover 61 through multiple connecting blocks 621, causing the flexible ring plate 62 to re-adhere to the outer wall of the spray gun 13, restoring the sealed shielding state.

[0054] The working principle of the distance measuring device for a building spraying robot and its usage method described in this application is as follows: After completing the spraying of a single area, the spraying robot moves to the next work area, and the measuring frame 12 is positioned synchronously with the robotic arm 11. After moving to the next work area, the air supply source continuously supplies air to the detection shell 2. The gas enters the jet channel 5 through the vent 4211 of the piston plate 421. Because the intake volume is greater than the exhaust volume of the vent 4211, the accumulated air pressure in the detection shell 2 pushes the piston plate 421 to overcome the elastic force of the first spring 43, and drives the first extension tube 42 and the second extension tube 32 to extend towards the wall synchronously. Until the end of the first extension tube 42 with the rubber pad of the outward expansion guide sleeve 422 flexibly fits the wall surface to achieve end face sealing, while the second extension tube 32 leaves a gap with the wall. The airflow is sprayed to the wall surface through the jet channel 5 and then flows back into the detection telescopic tube 3.

[0055] The recirculating airflow pushes the marking plate 73 of the elastic marking unit 7 inside the pipe to overcome the elastic force of the second spring 74 and generate axial displacement. The built-in micro pinhole image sensor collects the position and scale data of the marking plate 73 in real time and transmits it to the central control module. The displacement of the marking plate 73 when the pipe is fully extended and the guide sleeve 422 is sealed against the wall is used as the standard distance. The actual displacement is compared with the standard distance to preliminarily determine whether the distance between the robot and the wall is too large.

[0056] Simultaneously, the air pressure of the detection shell 2 is increased to pressurize the detection chamber 423, pushing the detection piston 81 inside the transparent quartz glass detection tube 8 to overcome the fourth spring 82 and slide vertically. The detection piston 81 reaching the standard scale is used as the travel reference for the complete extension of the tube. When the displacement of the marking plate 73 is qualified or the displacement of the marking plate 73 is not qualified, the position of the detection piston 81 is identified by the external CCD camera for secondary verification, accurately determining whether the distance is qualified or too close. Based on this, the robot automatically fine-tunes the posture and position of the robotic arm 11 to maintain the optimal spraying distance.

[0057] The backflow gas inside the telescopic fitting 3 is introduced into the cleaning cover 61 on the outside of the spray gun 13. The pressure inside the cleaning cover 61 pushes the flexible rubber ring plate 62 to overcome its own toughness and the preload of the third spring 612, causing it to fold outwards at an inclined guide position. The airflow is directed along the ring plate to sweep the spray nozzle of the spray gun 13, removing residual paint and paint mist. When the flexible ring plate 62 folds, it compresses the third spring 612 through the connecting block 621 and the abutment plate 6141, storing energy. After the distance measurement is completed, the air supply is stopped and the pressure is released. The telescopic fitting, the detection piston 81, and the flexible ring plate 62 all automatically return to their original positions, awaiting the next work cycle.

[0058] This application also discloses a method for using a distance measuring device for a building spraying robot, including the following steps: Step S1: Move the main body 1 of the spraying robot to the detection position and check that the cleaning unit 6, the detection telescopic tube 3, the air jet telescopic tube 4, and the elastic marking unit 7 are in their initial reset state. Step S2: Start the air supply source and set a constant output air pressure. The output gas pushes the jet telescopic tube 4 and the detection telescopic tube 3 to extend synchronously until the end of the jet telescopic tube 4 is in contact with the wall. In step S3, the airflow reflected from the wall enters the detection telescopic tube 3 and pushes the elastic marking unit 7 to move; the image sensor identifies the distance the elastic marking unit 7 moves and determines the distance between the robot body and the robotic arm 11 and the wall.

[0059] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A distance measuring device for a building spraying robot, characterized in that: The system includes a painting robot body (1); an air supply source is provided on the painting robot body (1); a robotic arm (11) is provided on the painting robot body (1); a spray gun (13) is provided at the end of the robotic arm (11); a cleaning unit (6) is provided at the end of the spray gun (13); a rangefinder (12) is fixedly connected to the bottom of the robotic arm (11); a detection shell (2) is provided on the rangefinder (12); the air outlet of the air supply source is connected to the inside of the detection shell (2); the detection shell ( 2) A detection telescopic tube (3) is provided on the upper part; an elastic marking unit (7) is slidably provided inside the detection telescopic tube (3); a jet telescopic tube (4) is sleeved on the detection telescopic tube (3); the jet telescopic tube (4) is connected to the inside of the detection shell (2); there is a jet channel (5) between the jet telescopic tube (4) and the detection telescopic tube (3); an image sensor is provided inside the detection telescopic tube (3); the image sensor is used to identify the position of the elastic marking unit (7).

2. The distance measuring device for a building spraying robot according to claim 1, characterized in that: The jet telescopic tube (4) includes a first fixed tube (41), a first extension tube (42), and a first spring (43); the first fixed tube (41) is disposed on the detection shell (2) and communicates with the interior of the detection shell (2); the first extension tube (42) is slidably disposed inside the first fixed tube (41); a piston plate (421) is disposed on the first extension tube (42); a plurality of vent holes (4211) are opened on the piston plate (421); the first spring (43) is sleeved on the first extension tube (42), and the two ends of the first spring (43) are respectively connected to the inner wall of the first fixed tube (41) and the piston plate (421).

3. The distance measuring device for a building spraying robot according to claim 2, characterized in that: The detection telescopic tube (3) includes a second fixed tube (31) and a second extension tube (32); the second fixed tube (31) is disposed on the detection seat; the second fixed tube (31) is located inside the first fixed tube (41); the second extension tube (32) is sleeved on the outside of the second fixed tube (31) and is located inside the first extension tube (42); the second extension tube (32) is connected to the first extension tube (42).

4. The distance measuring device for a building spraying robot according to claim 2, characterized in that: The end of the first extension tube (42) is provided with a guide sleeve (422); the guide sleeve (422) is an outwardly expanding tapered structure.

5. The distance measuring device for a building spraying robot according to claim 2, characterized in that: A detection cavity (423) is provided between the first extension tube (42) and the first fixed tube (41); a detection tube (8) communicating with the detection cavity (423) is provided on the first extension tube (42); a detection piston (81) is slidably arranged vertically inside the detection tube (8); a fourth spring (82) is connected between the detection piston (81) and the inner wall of the detection tube (8) away from the detection cavity (423).

6. The distance measuring device for a building spraying robot according to claim 1, characterized in that: The elastic marking unit (7) includes a marking frame (71), a sliding rod (72), a marking plate (73), and a second spring (74); the marking frame (71) is disposed inside the detection telescopic tube (3); the sliding rod (72) is slidably disposed on the marking frame (71) along the axial direction of the detection telescopic tube (3); the marking plate (73) is disposed at the end of the sliding rod (72); the second spring (74) is sleeved on the sliding rod (72); the second spring (74) is located between the marking plate (73) and the marking frame (71).

7. The distance measuring device for a building spraying robot according to claim 1, characterized in that: The cleaning unit (6) includes a cleaning cover (61) and a flexible ring plate (62); the cleaning cover (61) is sleeved on the spray gun (13); the end of the detection telescopic pipe (3) away from the wall passes through the detection shell (2) and communicates with the inside of the cleaning cover (61); the end of the cleaning cover (61) near the nozzle of the spray gun (13) has an air outlet; the flexible ring plate (62) is located at the air outlet; the outer side of the flexible ring plate (62) is fixedly connected to the cleaning cover (61); the inner side of the flexible ring plate (62) is in contact with the spray gun (13).

8. The distance measuring device for a building spraying robot according to claim 7, characterized in that: A limiting plate (611) is provided on the cleaning cover (61); a third spring (612) is sleeved on the cleaning cover (61); a plurality of connecting blocks (621) are provided on the flexible ring plate (62); the third spring (612) is located between the limiting plate (611) and the connecting blocks (621).

9. A distance measuring device for a building spraying robot according to claim 8, characterized in that: A sealing cover (614) is fitted onto the cleaning cover (61); the limiting plate (611) and the third spring (612) are both located inside the sealing cover (614); an abutment plate (6141) is provided on the sealing cover (614); the abutment plate (6141) is located between the third spring (612) and the connecting block (621).

10. A method of using a distance measuring device for a building spraying robot according to claim 1, applied to the distance measuring device for a building spraying robot according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1: Move the main body (1) of the spraying robot to the detection position and check that the cleaning unit (6), the detection telescopic tube (3), the jet telescopic tube (4), and the elastic marking unit (7) are in the initial reset state. Step S2: Start the air supply source and set a constant output air pressure. The output gas pushes the jet telescopic pipe (4) and the detection telescopic pipe (3) to extend synchronously until the end of the jet telescopic pipe (4) is in contact with the wall. In step S3, the airflow reflected from the wall enters the detection telescopic tube (3) and pushes the elastic marking unit (7) to move; the image sensor identifies the distance the elastic marking unit (7) moves and determines the distance between the robot body and the robotic arm (11) and the wall.

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