Spraying robot

Abstract

The utility model discloses a spraying robot, which belongs to the technical field of robots and comprises a frame, a mechanical arm, a spraying component, a first reflecting component, an image tracker and a positioning component, the mechanical arm is movably mounted on the frame, the spraying component is connected to the mechanical arm, the first reflecting component is mounted on the frame, and the image tracker is mounted on the frame. The image tracker is used for tracking the first reflection component, and the positioning component is used for feeding back position information. The spraying robot can accurately identify the shape of a target processing object and spray a stable amount of paint under complex working conditions, and efficient, reliable and automatic spraying operation is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, and especially relates to spraying robot. BACKGROUND

[0002] Robots are often used in the construction process, and are used for spraying various coatings or paints on different building parts such as walls, ceilings, steel structures, and complex environments such as narrow spaces and high altitudes. At the same time, the spraying robot has the functions of data recording and analysis, and can work cooperatively with other processes to improve the quality, efficiency and safety of construction.

[0003] When the spraying robot faces complex-shaped columns, pipelines or other complex design surfaces to be sprayed, the preset program built in the spraying robot is often difficult to accurately adapt, which can easily cause problems such as spraying trajectory deviation, uneven coating distribution, large spraying area being missed, excessive spraying and coating accumulation. This seriously affects the aesthetic effect of building decoration, therefore, it is necessary to design a spraying robot with high spraying precision and high work efficiency. SUMMARY

[0004] The utility model aims at overcoming the problem that the spraying robot in the prior art cannot accurately spray complex building surfaces, and provides a spraying robot.

[0005] To achieve the above-mentioned purpose, the utility model technical scheme is as follows: a spraying robot is provided, comprising,

[0006] a vehicle frame;

[0007] a mechanical arm movably mounted on the vehicle frame;

[0008] a spraying component connected to the mechanical arm;

[0009] a first reflecting component mounted on the vehicle frame;

[0010] an image tracker for tracking the first reflecting component;

[0011] a positioning component for feeding back position information.

[0012] In an embodiment, the positioning component is a second reflecting component mounted on the spraying component.

[0013] In an embodiment, the first reflecting component includes at least three reflecting mirrors arranged in a triangular shape on the vehicle frame.

[0014] In an embodiment, the straight line where the at least two reflective components are located forms a reference axis, and the center axis of the vehicle frame is at an angle with the reference axis.

[0015] In an embodiment, the angle is 90°.

[0016] In an embodiment, the image tracker is a total station or a laser tracker, and the image tracker is arranged at a known coordinate in the field to be measured, or the image tracker is arranged at an installation position determined from the field to be measured according to the back sight method in combination with at least two known reference points.

[0017] In an embodiment, the spraying robot further comprises a control unit connected with the image tracker.

[0018] In an embodiment, the first reflective component and the second reflective component are full-perimeter prisms.

[0019] In an embodiment, the positioning component is an encoder installed on the pivot of the mechanical arm.

[0020] In an embodiment, the first reflective component comprises a sensor and at least two reflective mirrors, and the sensor and the reflective mirrors are used to acquire the position information and the attitude of the vehicle frame.

[0021] In summary, the spraying robot provided by the present application uses the image tracker to track the plurality of reflective components arranged non-linearly on the vehicle frame to obtain the position and attitude information of the vehicle frame, and the sensor and the encoder can also be used for feedback. The control unit compares and calculates the information of the surface to be sprayed with the position and attitude information of the vehicle frame, thereby providing guidance for the spraying operation of the spraying robot. The spraying robot can accurately identify the shape of the target processing object under complex working conditions, and can spray a stable amount of paint, thereby realizing efficient and reliable automatic spraying operation.

[0022] In order to make the above features and advantages of the present application more obvious and easy to understand, the following embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 FIG. 1 is a schematic view of a spraying robot in the present application.

[0024] Figure 2 FIG. 2 is a schematic view of an image tracker in the present application.

[0025] Figure 3 FIG. 3 is a schematic view of the spraying robot in the present application during spraying operation.

[0026] Spraying robot - 1;

[0027] Vehicle frame - 11; robotic arm - 12; painting component - 13; drive component - 14; image tracker - 15; first reflective component - 16; control unit - 17; positioning component - 18;

[0028] First reflector-161; Second reflector-162; Third reflector-163; Second reflective component-181;

[0029] Surface to be coated - 2. Detailed Implementation

[0030] To make the objectives and technical solutions of the present utility model clearer, the technical solutions of the present utility model 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 utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] The spraying robot in this application can accurately identify the shape of the target object and spray a stable amount of paint evenly. It is suitable for spraying complex building surfaces, especially for complex-shaped columns, pipes, or a large number of corners where there are many details to be sprayed.

[0033] Example 1

[0034] Figure 1 This is a schematic diagram of the painting robot in Embodiment 1 of this utility model. Figure 1 As shown, the painting robot 1 includes a frame 11, a robotic arm 12, and a painting component 13. The robotic arm 12 is movably mounted on the frame 11, and the painting component 13 is connected to the robotic arm 12.

[0035] A drive unit 14 is provided at the bottom of the chassis 11. The drive unit 14 enables the painting robot 1 to move freely within the working area, facilitating the adjustment of the angle and distance between the painting robot 1 and the surface 2 to be painted. The drive unit 14 is mainly used for ground travel, including ground with different flatness or slope, and can be equipped with wheels or tracks. The chassis 11 can be a trolley or an automated guided vehicle.

[0036] The mechanical arm 12 is pivotally mounted on the frame 11 and can rotate relative to the frame 11 in all directions to improve the flexibility of the spraying operation and the accuracy of the target positioning. When the mechanical arm 12 rotates, the spraying component 13 connected thereto will also rotate to quickly perform continuous operation. The cooperation between the driving component 14 and the mechanical arm effectively ensures that the distance and angle between the spraying component 13 and the surface 2 to be sprayed are constant, so that the surface 2 to be sprayed is uniformly covered, meeting the high-quality spraying requirement.

[0037] As shown in Figure 2 The spraying robot 1 also comprises an image tracker 15 for measuring the geometry of the surface 2 to be sprayed and converting it into a three-dimensional data model in real time. At the same time, the image tracker 15 can also detect and track reflective components. The image tracker 15 can be a total station or a laser tracker. The image tracker 15 is installed at a known coordinate in the measured site or relies on at least two known reference points to determine the installation position from the measured site by using the back sight method. During the acquisition process, in order to avoid the shielding caused by the measurement from a single point, the image tracker 15 needs to measure the surface 2 to be measured from at least two points.

[0038] It can be known from Figure 1 and Figure 2 that a first reflective component 16 will be installed on the frame 11 to cooperate with the image tracker 15. The first reflective component 16 can be a full-perimeter prism, and the first reflective component 16 comprises a plurality of mirrors which are nonlinearly mounted on the frame 11 to accurately provide a reflection signal for the image tracker 15 to realize distance and angle measurement. At the same time, the image tracker 15 also interacts with a control unit 17, the image tracker 15 transmits position information to the control unit 17, and the control unit 17 will perform real-time operation control on the frame 11, the mechanical arm 12 and the spraying component 13.

[0039] In addition, when working on the surface 2 to be sprayed, in order to keep the coating thickness consistent and improve the repeatability of the spraying operation, the relevant parameters need to be managed, including the distance and angle between the frame 11 and the surface 2 to be sprayed, the distance and angle between the spraying component 13 and the surface 2 to be sprayed, and the moving speed of the spraying component 13, etc.

[0040] Therefore, three mirrors are selected for measurement, as shown in Figure 3As shown, the first reflecting component 16 comprises a first mirror 161, a second mirror 162 and a third mirror 163, which are installed on the frame and arranged in a triangular shape.

[0041] Preferably, the first mirror 161 and the second mirror 162 are installed at the end far from the mechanical arm 12, and are installed at two corners of the frame 11 housing respectively. The third mirror 163 is installed at the end close to the mechanical arm 12, and is located on the central axis of the frame surface in the horizontal direction, which is perpendicular to the reference axis. In other embodiments, the straight line passing through the third mirror 163 and the straight line passing through the first mirror 161 and the second mirror 162 can also form a right angle, an acute angle, an obtuse angle or a straight angle according to actual needs.

[0042] The image tracker 15 can alternatively track the first mirror 161 and the second mirror 162 to form a reference axis for determining the moving direction of the frame 11, which provides a reference for the subsequent movement and posture adjustment of the frame 11. Meanwhile, the plane formed by the first mirror 161, the second mirror 162 and the third mirror 163 is taken as the reference plane, and a spatial coordinate system is established thereon, so as to convert the positional relationship between the frame 11 and the surface to be sprayed 2 into a spatial coordinate numerical relationship.

[0043] The image tracker 15 acquires the frame position information from the reflecting component 16 and feeds back to the control unit 17 in real time. The control unit 17 compares the coordinates of the surface to be sprayed 2 with the coordinates of the first mirror 161, the second mirror 162 and the third mirror 163 on the surface of the frame 11, and judges the appropriateness of the distance between the frame 11 and the surface to be sprayed 2 and the accuracy of the orientation of the frame 11. The control unit 17 controls the frame 11 to adjust the position according to the judgment result, so that the frame 11 can perform the spraying operation on the surface to be sprayed 2 at a proper distance. When the distance adjustment of the frame 11 is completed, the central axis of the frame 11 always maintains the same angle with the reference axis and the surface to be sprayed 2. It is worth noting that if the surface to be sprayed 2 is an arc surface or an angular surface, the angle is formed by the central axis and the tangent plane of the arc surface or the angular surface. As a preferred embodiment, the central axis of the frame 11 (and the orientation of the frame 11) always maintains the angle relationship perpendicular to the reference axis and the surface to be sprayed 2.

[0044] Further, in order to accurately locate the movement path of the spraying component 13, the spraying robot 1 further comprises a locating component 18. In this embodiment, the locating component 18 can adopt a second reflecting component 181 mounted on the spraying component 13, which constantly receives the observation of the image tracker 15 to real-time feedback the position information of the spraying component 13. The second reflecting component 181 can adopt a full perimeter prism.

[0045] When the vehicle frame 11 moves under the instruction of the control unit 17, the image tracker 15 transmits the position information feedback by the second reflecting component 181 to the control unit 17, which will give the instruction to adjust the posture of the mechanical arm 12 and the angle of the spraying component 13 until the distance and angle between the spraying component 13 mounted on the top end of the mechanical arm 12 and the surface to be sprayed 2 are appropriate. In addition, in order to ensure the uniformity of the coating thickness and improve the repeatability of the spraying operation, the control unit 17 will constantly receive the position information feedback by the second reflecting component 181. If the vehicle frame 11 shakes, the control unit 17 will immediately adjust the posture of the mechanical arm 12, the angle and movement speed of the spraying component 13 to ensure that the distance and angle between the spraying component 13 mounted on the mechanical arm 12 and the surface to be sprayed 2 always remain consistent.

[0046] The installation of the first reflecting component 16 and the second reflecting component 181 establishes a visual feedback path for the spraying robot 1, which can constantly adjust the position of the vehicle frame 11, the posture of the mechanical arm 12 and the angle of the spraying component 13 according to the feedback information to achieve closed-loop control, so that the spraying operation of the spraying robot 1 is not blindly executed according to the preset instruction, but can be dynamically corrected according to the actual situation, which significantly improves the movement accuracy of the spraying component 13.

[0047] Embodiment Two

[0048] In addition to constructing a spatial coordinate system and calculating the tilt angle and rotation angle according to the coordinates to determine the position and posture of the vehicle frame 11, a sensor can also be used to feedback the change of the angle.

[0049] The first reflecting component 16 of the spraying robot 1 in this embodiment comprises a sensor (not shown in the figure) mounted on the vehicle frame 11. The sensor is used to measure the tilt angle of the vehicle frame 11 to provide the posture information of the spraying robot 1. The sensor can be a dual-axis tilt sensor or an inertial measurement unit.

[0050] In addition, the first reflecting component further comprises the first mirror 161 and the second mirror 162, both of which are installed on the frame. In this embodiment, the third mirror 163 can not be installed. The image tracker 15 alternately tracks the first mirror 161 and the second mirror 162 to form a first reference axis, and the central axis of the surface of the frame is a second reference axis, and the angle between the first reference axis and the second reference axis is 90°. In other embodiments, the angle between the first reference axis and the second reference axis can also be an acute angle or an obtuse angle according to actual conditions. The first reference axis and the second reference axis can provide the position information of the frame 11 for the control unit 17. For example, the control unit 17 can determine whether the positional relationship between the frame 11 and the surface to be sprayed 2 is appropriate and whether the orientation of the frame 11 is correct according to the inclination angle of the frame 11 fed back by the sensor and in combination with the position coordinates of the first mirror 161 and the second mirror 162. The control unit 17 plans the moving route of the frame 11 according to the comparison result, drives the frame 11 to move to an appropriate position, so that the angle between the first reference axis and the second reference axis is equal to the angle between the second reference axis and the surface to be sprayed 2. It is worth noting that if the surface to be sprayed 2 is an arc surface or an edge, the angle is formed by the second reference axis and the tangent plane of the arc surface or the edge. As a preferred embodiment, the central axis of the frame 11 (and the orientation of the frame 11) always maintains a perpendicular angle relationship with the first reference axis and the surface to be sprayed 2 during movement.

[0051] Further, the positioning component 18 in this embodiment will adopt an encoder (not shown in the figure) to accurately position the movement trajectory of the mechanical arm. An encoder is installed on each pivot of the mechanical arm 12, which can feed back the rotation angle of the mechanical arm 12 to the control unit 17. The encoder is a rotation detection encoder. The spraying component 13 in this embodiment does not need to be installed with a second reflecting component 181. The control unit 17 will continuously adjust the posture of the mechanical arm 12 according to the rotation angle transmitted by the encoder, so that the spraying component 13 installed at the top end of the mechanical arm 12 always remains horizontal. This can also ensure that the spraying component 13 always maintains the same distance and speed during the spraying operation. The spraying robot 1 significantly improves the movement accuracy of the spraying component 13 through a closed-loop control mechanism.

[0052] In summary, the spraying robot is provided by the utility model, utilizes the image tracker 15 to track the several reflection components of non-linear setting on the frame 11 to obtain the position and attitude information of the frame 11, also can utilize the sensor and the encoder feedback.The control unit 17 compares and calculates the information of the surface to be sprayed 2 with the frame position and attitude information, provides the guidance for the spraying operation of the spraying robot 1.The spraying robot 1 can accurately identify the shape of the target processing object under complex working conditions, and sprays the stable amount of paint, realizes the efficient, reliable automatic spraying operation.

[0053] Although the utility model has disclosed as above with example, it is not used to limit the utility model, anyone with ordinary knowledge in the art can make some changes and decorations without departing from the spirit and scope of the utility model, so the protection scope of the utility model is defined by the following application patent range.

Claims

1. A painting robot, characterized in that, Comprising, a frame; a mechanical arm movably mounted on the frame; a spraying component connected to the mechanical arm; a first reflecting component mounted on the frame; an image tracker for tracking the first reflecting component; a positioning component for feeding back position information.

2. The spray robot of claim 1, wherein, The positioning component is a second reflecting component mounted on the spraying component.

3. The spray robot of claim 1, wherein, The first reflecting component comprises at least three reflecting mirrors arranged in a triangle on the frame.

4. The spray robot of claim 3, wherein, At least two straight lines where the reflecting mirrors are located form a reference axis, and the central axis of the frame and the reference axis form an angle.

5. The spray robot of claim 4, wherein, The angle is 90°.

6. The spray robot of claim 1, wherein, The image tracker is a total station or a laser tracker, and the image tracker is arranged at a known coordinate in a to-be-measured site, or the image tracker is arranged at an installation position determined from the to-be-measured site according to a rear-view method and in combination with at least two known reference points.

7. The spray robot of claim 6, wherein, The spraying robot further comprises a control unit connected to the image tracker.

8. The spray robot of claim 2, wherein, The first reflecting component and the second reflecting component are full-peripheral prisms.

9. The spray robot of claim 1, wherein, The positioning component is an encoder mounted on a pivot of the mechanical arm.

10. The spray robot of claim 9, wherein, The first reflecting component comprises a sensor and at least two reflecting mirrors for acquiring position information and an attitude of the frame.

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