Track correction system of spraying machine arm

Abstract

The utility model discloses a track correction system of a spraying machine arm, which relates to the technical field of track correction of spraying machine arms and comprises a spraying machine workbench, a spraying portal frame is fixedly mounted on the edge of the top end of one side of the spraying machine workbench, and a sliding limiting groove is formed in the surface of the top end of the spraying portal frame. Through transmission of a sliding block on the surface of a transmission screw rod, the sliding block slides in a sliding limiting groove, the horizontal position of the spraying device is controlled, the spraying controller controls the telescopic arm to stretch out and draw back in the telescopic arm, the overall height of the spraying head is adjusted, and spraying operation at multiple positions is achieved through the spraying head; the track correctors are arranged on the two sides of the spraying controller, the spraying track is inquired in time through the track recognition camera, the effect that the two sides are monitored at the same time is achieved, once the problem of track deviation occurs, a correction instruction is transmitted into the spraying controller in time, and rotation correction is conducted through the rotating shaft at the bottom end of the spraying controller.

Description

Technical Field

[0001] The utility model relates to the technical field of trajectory correction of a spraying machine arm, in particular to a trajectory correction system of a spraying machine arm. Background Art

[0002] Most spraying robots use teaching spraying, spraying according to the trajectory pre-set by technical staff. This spraying method is effective based on the experience of previous spraying, but the initial programming work is large, and the trajectory optimization is not obvious, the efficiency is low, and the waste of paint is relatively large. Trajectory optimization based on reinforcement learning uses reinforcement learning to model the environment through the robot, simulates the same or similar conditions as the environment inside the machine, optimizes the spraying trajectory, and realizes the trajectory correction of the spraying robot arm. However, the traditional correction device can only perform correction in a single direction, which will also cause the problem of deviation in one direction. In order to improve the correction accuracy of the device, we redesigned a trajectory correction system for the spraying robot arm. Utility Model Content

[0003] The utility model aims to provide a trajectory correction device for a spraying machine arm.

[0004] To solve the above technical problems, the utility model provides the following technical solutions: a trajectory correction system for a spraying machine arm, comprising a spraying machine workbench, a spraying gantry is fixedly installed on the top edge of one side of the spraying machine workbench, a sliding limit groove is opened on the top surface of the spraying gantry, the sliding limit groove is rotatably connected with a transmission screw inside, a sliding block is movably connected with a sliding block on one side surface of the transmission screw, the top of the sliding block is fixedly connected with a top limiter, the bottom end of one side of the sliding block is fixedly connected with a spray controller, the bottom end of one side of the spray controller is rotatably connected with a rotating shaft, the edge of one side of the rotating shaft is fixedly connected with a connecting arm, the bottom end of one side of the connecting arm is fixedly connected with a retractable arm, the bottom end of the retractable arm is telescopically connected with a telescopic arm, the bottom end of one side of the telescopic arm is fixedly connected with a spray head, and one side of the spray controller is fixedly connected with a trajectory corrector.

[0005] Preferably, the connection relationship between the transmission screw and the sliding block is a threaded connection, the connection relationship between the transmission screw and the sliding limit groove is a sliding connection, the cross-sectional width of the top limiter is greater than the cross-sectional width of the sliding limit groove, the connection relationship between the top limiter and the spray gantry is a sliding connection, the cross-sectional width of the spray controller is greater than the cross-sectional width of the sliding limit groove, and the connection relationship between the spray controller and the spray gantry is a sliding connection.

[0006] Preferably, the trajectory corrector includes a mounting plate, a trajectory recognition camera is fixedly connected to the bottom end of one side of the mounting plate, a fill light is fixedly installed on the edge of the bottom surface of the trajectory recognition camera, and a main power box is fixedly connected to the top end of one side of the mounting plate.

[0007] Preferably, trajectory correctors are symmetrically installed on both sides of the spray controller, and the structures of the trajectory correctors on both sides are the same.

[0008] Preferably, a power motor is fixedly mounted on the top outer wall of one side of the spray gantry close to the transmission screw, and a limit press is fixedly mounted on the top of one side of the spray machine workbench.

[0009] Preferably, a spray material reserve box is fixedly installed on one side of the spray controller, a spray pump is fixedly installed on one side of the spray material reserve box, a paint transmission pipe is connected to one side of the spray pump, the top of one side of the paint transmission pipe is connected to the spray head, a spray main controller is fixedly installed on one side of the spray material reserve box, a data display is fixedly installed on the front side of the spray main controller, and a control panel is provided on the front side of the spray main controller.

[0010] Compared with the related art, the trajectory correction device for the spraying machine arm provided by the utility model has the following beneficial effects:

[0011] 1. The utility model provides a trajectory correction device for a spraying machine arm, which controls the horizontal position of the spraying device by arranging the transmission of the sliding block on the surface of the transmission screw so as to slide inside the sliding limit groove, controls the extension and retraction of the telescopic arm inside the retracting arm through the spraying controller, adjusts the overall height of the spray head, and realizes spraying operations at multiple positions by using the spray head. Trajectory correctors are arranged on both sides of the spraying controller, and the spraying trajectory is timely queried by the trajectory recognition camera. The effect of simultaneous monitoring on both sides is that once the problem of trajectory deviation occurs, the correction instruction is timely transmitted to the inside of the spraying controller, and the rotation correction is performed by the rotating shaft at the bottom of the spraying controller.

[0012] 2. The utility model provides a trajectory correction device for a spraying machine arm. By setting up a spray paint reserved box to pre-store paint inside, the paint is pumped into the paint transmission pipe through a spray pump, and then directly transmitted to the inside of the spray head for spraying. The start and stop of the spray pump are controlled by the spray main controller. The setting control panel on the spray main controller can directly set the spray rate, and the spray rate can be directly controlled, thereby improving the convenience of using the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0014] Figure 2It is a schematic diagram of the structure of the side elevation view of the device of the utility model;

[0015] Figure 3 This is a schematic diagram of the structure of the trajectory corrector of the utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the spray main controller of the utility model.

[0017] Numbers in the figure: 1. Sprayer workbench; 2. Spraying gantry; 3. Sliding limit groove; 4. Drive screw; 5. Sliding block; 6. Top limiter; 7. Spraying controller; 8. Rotating shaft; 9. Connecting arm; 10. Retracting arm; 11. Telescopic arm; 12. Spraying head; 13. Trajectory corrector; 14. Power motor; 15. Limit button; 16. Spray material reserve box; 17. Spraying pump; 18. Paint transfer pipe; 19. Spraying main controller; 20. Data display; 21. Setting control panel; 131. Installation panel; 132. Trajectory recognition camera; 133. Fill light; 134. Main power box. DETAILED DESCRIPTION

[0018] Embodiment 1:

[0019] See also Figure 1-4The utility model provides a technical solution: a trajectory correction system for a spraying machine arm, comprising a spraying machine workbench 1, a spraying gantry 2 is fixedly installed on the top edge of one side of the spraying machine workbench 1, a sliding limit groove 3 is opened on the top surface of the spraying gantry 2, a transmission screw 4 is rotatably connected inside the sliding limit groove 3, a sliding block 5 is movably connected to the surface of one side of the transmission screw 4, a top limiter 6 is fixedly connected to the top of the sliding block 5, a spraying controller 7 is fixedly connected to the bottom end of one side of the sliding block 5, a rotating shaft 8 is rotatably connected to the bottom end of one side of the spraying controller 7, a connecting arm 9 is fixedly connected to the bottom end of one side of the connecting arm 9, a retractable arm 10 is fixedly connected to the bottom end of the retractable arm 10, a retractable arm 11 is telescopically connected to the bottom end of one side of the retractable arm 11, a spray head 12 is fixedly connected to the bottom end of one side of the retractable arm 11, and a trajectory correction system is fixedly connected to one side of the spraying controller 7. The connection relationship between the corrector 13, the transmission screw 4 and the sliding block 5 is a threaded connection, the connection relationship between the transmission screw 4 and the sliding limit groove 3 is a sliding connection, the cross-sectional width of the top limiter 6 is greater than the cross-sectional width of the sliding limit groove 3, the connection relationship between the top limiter 6 and the spray gantry 2 is a sliding connection, the cross-sectional width of the spray controller 7 is greater than the cross-sectional width of the sliding limit groove 3, the connection relationship between the spray controller 7 and the spray gantry 2 is a sliding connection, the trajectory corrector 13 includes a mounting plate 131, a trajectory recognition camera 132 is fixedly connected to the bottom end of one side of the mounting plate 131, a fill light 133 is fixedly installed on the edge of the bottom surface of the trajectory recognition camera 132, a main power box 134 is fixedly connected to the top end of one side of the mounting plate 131, and the trajectory correctors 13 are symmetrically installed on both sides of the spray controller 7, and the structures of the trajectory correctors 13 on both sides are the same.

[0020] In the implementation scheme, the sliding block 5 is set to transmit on the surface of the transmission screw 4 so as to slide inside the sliding limit groove 3 to control the horizontal position of the spraying device. The telescopic arm 11 is controlled to extend and retract inside the retracting arm 10 through the spraying controller 7 to adjust the overall height of the spray head 12. The spraying operation at multiple positions is realized by using the spray head 12. A trajectory corrector 13 is set on both sides of the spraying controller 7. The trajectory recognition camera 132 is used to timely query the spraying trajectory. The effect of simultaneous monitoring on both sides is achieved. Once a trajectory deviation problem occurs, the correction instruction is promptly transmitted to the inside of the spraying controller 7, and the rotation correction is performed through the rotating shaft 8 at the bottom of the spraying controller 7.

[0021] Embodiment 2:

[0022] See also Figure 1-4The utility model provides a technical solution: a trajectory correction system for a spraying machine arm, comprising a spray gantry 2 with a power motor 14 fixedly installed on the top outer wall of one side close to the transmission screw 4, a limit button 15 fixedly installed on the top of one side of the sprayer workbench 1, a spray material reserve box 16 fixedly installed on one side of the spray controller 7, a spray pump 17 fixedly installed on one side of the spray material reserve box 16, a paint transmission pipe 18 connected to one side of the spray pump 17, and the top of one side of the paint transmission pipe 18 is connected to the spray head 12, a spray main controller 19 fixedly installed on one side of the spray material reserve box 16, a data display 20 fixedly installed on the front side of the spray main controller 19, and a control panel 21 is provided on the front side of the spray main controller 19.

[0023] In the implementation scheme, by setting up a spray paint reserve box 16 to pre-store paint inside, the paint is pumped into the paint transmission pipe 18 by the spray pump 17, and then directly transmitted to the inside of the spray head 12 for spraying. The start and stop of the spray pump 17 are controlled by the spray main controller 19. The setting control panel 21 on the spray main controller 19 can directly set the spray rate, and the spray rate can be directly controlled, thereby improving the convenience of using the device.

[0024] Working principle:

[0025] By setting the transmission of the sliding block 5 on the surface of the transmission screw 4, so that it slides inside the sliding limit groove 3, the horizontal position of the spraying device is controlled, the telescopic arm 11 is controlled to be extended and retracted inside the contraction arm 10 through the spraying controller 7, the overall height of the spraying head 12 is adjusted, and the spraying operation at multiple positions is realized by using the spraying head 12. A trajectory corrector 13 is set on both sides of the spraying controller 7, and the trajectory recognition camera 132 is used to timely query the spraying trajectory. The effect of simultaneous monitoring on both sides, once the problem of trajectory deviation occurs, the correction instruction is timely transmitted to the inside of the spraying controller 7, and the rotation correction is performed by the rotating shaft 8 at the bottom of the spraying controller 7;

[0026] By setting the paint pre-stored inside the spray paint reserve box 16, the paint is pumped into the paint transmission pipe 18 by the spray pump 17, and then directly transmitted to the inside of the spray head 12 for spraying. The start and stop of the spray pump 17 are controlled by the spray main controller 19. The setting control panel 21 on the spray main controller 19 can directly set the spray rate, and the spray rate can be directly controlled, thereby improving the convenience of using the device;

[0027] The power motor 14 directly controls the rotation of the transmission screw 4 to achieve the transmission effect for the sliding block 5. The limit button 15 can be used to limit and fix the spraying material to increase the accuracy of spraying.

Claims

1. A trajectory correction system for a spraying machine arm, comprising a spraying machine workbench (1), a spraying gantry (2) being fixedly mounted on the top edge of one side of the spraying machine workbench (1), characterized in that: The top surface of the spraying gantry (2) is provided with a sliding limit groove (3), the interior of the sliding limit groove (3) is rotatably connected to a transmission screw (4), a sliding block (5) is movably connected to a side surface of the transmission screw (4), the top of the sliding block (5) is fixedly connected to a top limiter (6), the bottom end of one side of the sliding block (5) is fixedly connected to a spraying controller (7), the bottom end of one side of the spraying controller (7) is rotatably connected to a rotating shaft (8), a side edge of the rotating shaft (8) is fixedly connected to a connecting arm (9), the bottom end of one side of the connecting arm (9) is fixedly connected to a retractable arm (10), the bottom end of the retractable arm (10) is telescopically connected to a telescopic arm (11), the bottom end of one side of the telescopic arm (11) is fixedly connected to a spray head (12), and one side of the spraying controller (7) is fixedly connected to a trajectory corrector (13).

2. A trajectory correction system for a spraying robot arm according to claim 1, characterized in that: The connection relationship between the transmission screw (4) and the sliding block (5) is a threaded connection, the connection relationship between the transmission screw (4) and the sliding limit groove (3) is a sliding connection, the cross-sectional width of the top limiter (6) is greater than the cross-sectional width of the sliding limit groove (3), the connection relationship between the top limiter (6) and the spraying gantry (2) is a sliding connection, the cross-sectional width of the spraying controller (7) is greater than the cross-sectional width of the sliding limit groove (3), and the connection relationship between the spraying controller (7) and the spraying gantry (2) is a sliding connection.

3. The trajectory correction system for a spraying robot arm according to claim 1, characterized in that: The track corrector (13) comprises a mounting plate (131), a track recognition camera (132) is fixedly connected to the bottom end of one side of the mounting plate (131), a fill light (133) is fixedly mounted on the edge of the bottom surface of the track recognition camera (132), and a main power box (134) is fixedly connected to the top end of one side of the mounting plate (131).

4. A trajectory correction system for a spraying robot arm according to claim 1, characterized in that: Track correctors (13) are symmetrically installed on both sides of the spray controller (7), and the track correctors (13) on both sides have the same structure.

5. The trajectory correction system for a spraying robot arm according to claim 1, characterized in that: A power motor (14) is fixedly mounted on the outer wall of the top end of one side of the spraying gantry (2) close to the driving screw (4), and a limit button (15) is fixedly mounted on the top end of one side of the spraying machine workbench (1).

6. The trajectory correction system for a spraying robot arm according to claim 1, characterized in that: A spray material reserve box (16) is fixedly mounted on one side of the spray controller (7), a spray pump (17) is fixedly mounted on one side of the spray material reserve box (16), a paint transmission pipe (18) is connected to one side of the spray pump (17), a top end of one side of the paint transmission pipe (18) is connected to the spray head (12), a spray main controller (19) is fixedly mounted on one side of the spray material reserve box (16), a data display (20) is fixedly mounted on the front side of the spray main controller (19), and a control panel (21) is arranged on the front side of the spray main controller (19).

Images