An omnidirectional paint spraying robot

Abstract

The utility model relates to the technical field of paint spraying, and specifically discloses an omnidirectional paint spraying robot, which comprises a walking module, a spraying module and a sensing module, the walking module comprises an AGV vehicle body and a control unit in the AGV vehicle, the control unit is connected with a driving motor in the AGV vehicle body to control the omnidirectional movement of the AGV vehicle body, the spraying module comprises a mechanical hand and a spray gun movably arranged on the AGV vehicle body through the mechanical hand, the AGV vehicle body can drive the multi-degree-of-freedom spray gun to move omnidirectionally, and the omnidirectional paint spraying robot can be applied to various complex terrains, the sensing module comprises a first detection sensor, the first detection sensor is used for detecting the flatness on a preset path and is connected with the control unit and the mechanical hand electric signal, millisecond-level response of "detection-obstacle avoidance-replanning" can be realized through the first detection sensor, the omnidirectional paint spraying robot can not only ensure the stability of the overall movement, but also can adjust the corresponding spatial position of the spray gun to ensure the uniformity of the coating.

Description

Technical Field

[0001] This utility model relates to the technical field of painting robots, and specifically to an omnidirectional painting robot. Background Technology

[0002] As a key piece of equipment in industrial automation, painting robots have been widely used in automobile manufacturing, aerospace, furniture production, and other fields. Their core value lies in improving painting efficiency, ensuring consistent coating quality, and reducing the physical strain on painting workers. However, existing painting robots still have the following shortcomings:

[0003] 1. Poor environmental adaptability: Traditional painting robots are mostly fixed on the production line or rely on simple track movement, which makes it difficult to adapt to the painting needs of complex terrain. For example, when painting the bridge, the existing painting robots cannot cover the entire bridge and still rely on manual painting. However, the operator is prone to fatigue when painting in complex terrain (such as when painting with the head tilted back), and cannot perform painting actions for a long time, which will affect the overall painting efficiency.

[0004] 2. Poor dynamic adjustment capability: The quality of spraying depends on the constant distance between the spray gun and the workpiece surface. Although the current technology detects the workpiece contour through vision sensors, it cannot respond to changes in surface unevenness in real time, which can easily lead to paint accumulation or incomplete coverage. Furthermore, the dynamic coordination of paint flow rate, robot movement speed and spray gun posture is insufficient, which affects the coating thickness. Utility Model Content

[0005] This utility model was developed in consideration of the aforementioned problems. The purpose of this utility model is to provide an omnidirectional painting robot that can realize omnidirectional movement of the painting module, is applicable to complex terrain, and has strong dynamic adjustment capabilities and good painting quality.

[0006] To achieve the above objectives, this utility model provides an omnidirectional painting robot, comprising:

[0007] The walking module includes an AGV body and a control unit disposed within the AGV body. The control unit is connected to a drive motor within the AGV body to control the AGV body to move omnidirectionally along a preset path.

[0008] A spraying module includes a spray gun and a robotic arm. The robotic arm is fixed to the AGV body, and the spray gun is detachably mounted at the end of the robotic arm. The robotic arm is configured to adjust the spatial position of the spray gun by rotating.

[0009] The sensing module includes a first detection sensor located on one side of the spray gun and connected to the control unit and the robotic arm's electric signal.

[0010] According to the above-described omnidirectional painting robot, the first detection sensor is used to detect the flatness information on the preset path, and the control unit controls the drive motor to avoid the path based on the flatness information, and the robotic arm adjusts the distance between the spray gun and the spraying surface.

[0011] According to the above-described omnidirectional painting robot, the signal input terminal of the control unit is connected to the signal output terminal of the first detection sensor to receive the flatness information, and the signal output terminal of the control unit is connected to the drive motor to output an avoidance path command to the drive motor according to the flatness information.

[0012] According to the above-described omnidirectional painting robot, the robotic arm includes a robotic arm body and a rotating platform. The rotating platform is arranged on the AGV vehicle body and can rotate horizontally. The lower end of the robotic arm body is connected to the rotating platform and can rotate vertically. The spray gun is fixed to one side of the upper section of the robotic arm body.

[0013] According to the omnidirectional painting robot described above, the walking module further includes obstacle avoidance sensors, which are located on both sides of the AGV body and are electrically connected to the control unit.

[0014] According to the above-described omnidirectional painting robot, the walking module further includes an explosion-proof battery and an explosion-proof electrical box. The explosion-proof battery and the explosion-proof battery box are both fixed on the top of the AGV body. The drive motor is located inside the explosion-proof electrical box, and an inspection window is provided on one side of the explosion-proof electrical box. The explosion-proof battery is used to provide power to the drive motor, the obstacle avoidance sensor, and the robotic arm.

[0015] According to the above-described omnidirectional painting robot, the painting module further includes a pressure tank, a stirrer, and a plunger pump. The stirrer is located inside the pressure tank, and the plunger pump is used to connect the pressure tank and the plunger pump.

[0016] A control method for an omnidirectional painting robot as described above includes the following steps:

[0017] S1: Determine the painting target and construct a painting model based on the painting target. Generate matching map coordinates based on the painting model and input them into the walking module.

[0018] S2: The walking module generates a painting motion model based on the input map coordinates and formulates a preset path based on the painting motion model;

[0019] S3: The walking module drives the spraying module to execute the preset painting motion model according to the current coordinates, and detects the flatness information on the preset path through the sensing module. Based on the flatness information, the walking module is controlled to travel on the preset path or the avoidance path. The distance between the spraying module and the spraying surface can also be adjusted.

[0020] According to the control method of the omnidirectional painting robot described above, in steps S2 and S3, the preset path adopts a Bézier curve or a spline curve.

[0021] According to the control method of the omnidirectional painting robot described above, in step S3, when the sensing module detects a depression or protrusion on the preset path, it determines whether the depression depth or protrusion height exceeds the preset value. If so, the sensing module transmits the signal to the walking module and controls the walking module to avoid the path. If not, it controls the walking module to travel along the preset path.

[0022] The sensing module can transmit the recess depth or protrusion height signal to the spraying module and realize the dynamic adjustment of the distance between the spraying module and the spraying surface.

[0023] According to the control method for an omnidirectional painting robot described above, the painting module includes a robotic arm and a spray gun. The spray gun is movably mounted on the walking module via the robotic arm. In step S3...

[0024] The paint flow rate of the spray gun is proportional to the moving speed of the walking module.

[0025] This utility model has the following beneficial effects:

[0026] 1. The AGV vehicle body can drive the multi-degree-of-freedom spray gun to move in all directions, making it suitable for various complex terrains, especially narrow spaces;

[0027] 2. By fusing the path planning algorithm with the first detection sensor, a millisecond-level response of "detection-obstacle avoidance-replanning" can be achieved. This can ensure the stability of the overall movement and ensure the uniformity of the coating by adjusting the corresponding spatial position of the spray gun.

[0028] 3. A painting model can be built from the painting target and converted into map coordinates for input into the walking module. This enables fully automatic painting of the target, with a high degree of automation and saving labor costs.

[0029] 4. Explosion-proof batteries and explosion-proof electrical boxes are used, which meet the standards for flammable and explosive working environments such as painting.

[0030] 5. In addition to adjusting the position of the spray gun, the paint flow rate of the spray gun can also be adjusted by the movement speed of the walking module, which can adjust the spray volume in real time and further ensure the uniformity of the spray. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the embodiment.

[0032] In the picture:

[0033] 100. Walking module; 110. AGV body; 120. Obstacle avoidance sensor; 130. Explosion-proof battery; 140. Explosion-proof electrical box; 141. Inspection window;

[0034] 200. Spraying module; 210. Spray gun; 220. Robotic arm; 221. Robotic arm body; 222. Rotary table; 230. Pressure tank; 240. Agitator; 250. Plunger pump;

[0035] 300. Sensing module; 310. First detection sensor. Detailed Implementation

[0036] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0037] like Figure 1 As shown, an omnidirectional painting robot includes a walking module 100, a painting module 200, and a sensing module 300.

[0038] The walking module 100 includes an AGV body 110 and a control unit disposed within the AGV body 110. The control unit is connected to a drive motor within the AGV body 110 to control the AGV body 110 to move omnidirectionally along a preset path. The spraying module 200 includes a spray gun 210 and a robotic arm 220. The robotic arm 220 is fixed to the AGV body 110, and the spray gun 210 is detachably disposed at the end of the robotic arm 220. The sensing module 300 includes a first detector located on one side of the spray gun 210. The omnidirectional movement of the AGV body 110 enables omnidirectional drive of the spraying module 200 and the sensing module 300, including 360° translation and rotation. This effectively increases the range of motion of the spraying module 200, making it suitable for operation in confined spaces. The robotic arm 220 is also configured to... The spatial position of the spray gun 210 is adjusted by rotation. The spatial position refers to the position in multiple dimensions. That is, the distance between the spray gun 210 and the surface to be sprayed can be adjusted by the robot arm 220 to ensure the spraying quality. The first detection sensor 310 is electrically connected to the control unit and the robot arm 220. In this embodiment, since the AGV body 110 travels along a preset path, there may be some unexpected protrusions and grooves on the preset path due to the processing error of the paint target or other reasons, which will cause the road surface to be uneven. The first detection sensor 310 can detect the protrusions and grooves and feed the signal back to the control unit and the robot arm 220. The control unit can realize obstacle avoidance, and the robot arm 220 can drive the spray gun 210 to move, thereby adjusting the distance between it and the protrusions or grooves to ensure the consistency of the coating thickness.

[0039] Furthermore, in this embodiment, the first detection sensor 310 is used to detect the flatness information on the preset path, and the control unit controls the drive motor to avoid the path based on the flatness information. The robot arm 220 adjusts the distance between the spray gun 210 and the spraying surface. After detecting the flatness information, the first detection sensor 310 feeds the information back to the control unit and the robot arm 220. If a protrusion or groove appears, the control unit can control the drive motor to avoid the path and prevent the robot from being too bumpy. At the same time, the robot arm 220 can also control the displacement of the spray gun 210 and adjust the distance between the spray gun 210 and the protrusion or groove to ensure the quality of the paint spraying.

[0040] Of course, in this embodiment, in addition to detecting whether there are protrusions or grooves, the flatness information also needs to detect the height of the protrusions or the depth of the grooves in order to make precise control of the position of the spray gun 210.

[0041] Furthermore, in order to achieve signal transmission, the signal input terminal of the control unit is connected to the signal output terminal of the first detection sensor 310 to receive the flatness information, and the signal output terminal of the control unit is connected to the drive motor to output an avoidance path command to the drive motor according to the flatness information. That is, the control unit receives the signal and issues a control command to the drive motor, and the drive motor executes the corresponding command to drive the AGV body 110 to move.

[0042] Furthermore, in order to enable the robotic arm 220 to drive the spray gun 210 for spatial position adjustment, the robotic arm 220 includes a robotic arm body 221 and a rotating platform 222. The rotating platform 222 is arranged on the AGV body 110 and can rotate horizontally. The lower end of the robotic arm body 221 is connected to the rotating platform 222 and can rotate vertically. The spray gun 210 is fixed to one side of the upper end of the robotic arm body 221. That is, the horizontal rotation of the rotating platform 222 can drive the robotic arm body 221 and the spray gun 210 to rotate horizontally, adjusting the horizontal position of the spray gun 210. Then, the vertical rotation of the robotic arm body 221 can drive the spray gun 210 to rotate vertically, adjusting the height position of the spray gun 210. This enables the adjustment of the spatial position of the spray gun 210, facilitating all-round spraying and also facilitating the adjustment of the spraying distance.

[0043] Furthermore, to prevent the AGV body 110 from directly colliding with obstacles, the walking module 100 also includes obstacle avoidance sensors 120. These obstacle avoidance sensors 120 are located on both sides of the AGV body 110 and are electrically connected to the control unit. Unlike the first detection sensor 310, these sensors are located on both sides of the AGV body 110 and can detect obstacles approaching the AGV body 110 when the AGV body 110 rotates in place, thereby preventing the AGV body 110 from directly colliding with obstacles. They do not detect the flatness of the preset path.

[0044] Of course, in this embodiment, based on the different functions of the first detection sensor 310 and the obstacle avoidance sensor 120, their types can also be different. That is, the first detection sensor 310 can be a visual sensor, and the obstacle avoidance sensor 120 can be an acoustic sensor, etc.

[0045] Furthermore, the walking module 100 also includes an explosion-proof battery 130 and an explosion-proof electrical box 140. The explosion-proof battery 130 and the explosion-proof battery box 130 are both fixed on the top of the AGV body 110. The drive motor is located inside the explosion-proof electrical box 140, and an inspection window 141 is provided on one side of the explosion-proof electrical box 140. The explosion-proof battery 130 is used to provide power to the drive motor, obstacle avoidance sensor 120, and robotic arm 220. Since the walking module 100 is used in a painting scenario, paint is a flammable and explosive material. Its organic solvents, such as xylene, lipids, and ketones, have high volatility and flammability. Under certain conditions, they may cause explosions or fires. If conventional batteries and conventional electrical boxes are used, the gases volatilized from the paint may easily cause electrical fires when they come into contact with the electrical components inside the batteries and electrical boxes. This could easily lead to fires or explosions of the omnidirectional painting robot, which could then cause fires or explosions of the painted target.

[0046] Of course, in this embodiment, in order to supply paint to the spray gun 210, the spraying module 200 also includes a pressure tank 230, a stirrer 240 and a plunger pump 250. The stirrer 240 is located inside the pressure tank 230, and the plunger pump 250 is used to connect the pressure tank 230 and the spray gun 210. Paint raw materials are placed inside the pressure tank 230. The stirrer 240 can stir the paint raw materials, and then the plunger pump 250 can deliver the stirred paint to the spray gun 210 for spraying. The overall spraying flow rate can be controlled and adjusted by the spray gun 210 and the plunger pump 250.

[0047] A control method for the above-mentioned omnidirectional painting robot includes the following steps:

[0048] S1: Determine the painting target and construct a painting model based on the painting target. Generate matching map coordinates based on the painting model and input them into the walking module 100. Taking the painting target as a bridge as an example, the operator can obtain the three-dimensional model of the bridge and construct the painting model based on the surfaces to be painted as needed. Then, the coordinates of each point on the painting model can be matched to obtain a complete map coordinate, which is then input into the walking module 100. The walking module 100 moves according to the map coordinate.

[0049] S2: The walking module 100 generates a painting motion model based on the input map coordinates and formulates a preset path based on the painting motion model. After the walking module 100 obtains the map coordinates, it can plan a travel path based on the map coordinates and obtain a preset path.

[0050] S3: The walking module 100 drives the spraying module 200 to execute a preset painting motion model based on the current coordinates. The sensing module 300 detects the flatness information on the preset path and controls the walking module 100 to travel along the preset path or an avoidance path based on the flatness information. It can also control the spraying module 200 to adjust the distance between itself and the spraying surface. Since the initial position of the omnidirectional painting robot is not necessarily at the starting point of the preset path, the omnidirectional painting robot can sense its current coordinates. Then, the walking module 100 drives the spraying module 200 and the sensing module 300 to the starting point of the preset path. The walking module 100 then moves the spraying module 200, and the spraying module 200 performs the spraying action, together executing the preset painting motion model. However, in this embodiment, the walking module 100 travels along the preset path... Taking the bridge as an example, due to processing precision or collision wear, its surface may have some unevenness. If the walking module 100 continues to travel when encountering these conditions, it will lead to poor overall stability of the omnidirectional painting robot, and may even cause the omnidirectional painting robot to tip over. Moreover, if the spraying module 200 maintains the original spraying position, the distance between the spray gun 210 and the surface to be sprayed will change, which will lead to a decrease in spraying quality. Therefore, in this embodiment, when the sensing module 300 detects the flatness information on the preset path, if it finds protrusions and grooves, it can transmit signals to the walking module 100 and the spraying module 200. The walking module 100 drives the whole to avoid the path, while the spraying module 200 can adjust the distance between itself and the surface to be sprayed to ensure the spraying quality.

[0051] Furthermore, in step S3, when the sensing module 300 detects a depression or protrusion on the preset path, it determines whether the depression depth or protrusion height exceeds a preset value. If so, the sensing module 300 transmits a signal to the walking module 100 and controls the walking module 100 to avoid the path. If not, it controls the walking module 100 to travel along the preset path. In this embodiment, the preset value is 5mm. That is, when the protrusion height and depression depth are less than 5mm, the walking module 100 still travels along the original preset path; when the depression depth and protrusion height are greater than 5mm... At this time, the walking module 100 travels along the avoidance path. Because bridge bodies have certain dimensional tolerances, the flatness cannot be perfect. Moreover, when the size of the protrusions or depressions is small, they will not have a significant impact on the travel of the walking module 100. Therefore, the walking module 100 does not need to adjust the path. However, the sensing module 300 can transmit the depression depth or protrusion height signal to the spraying module 200 and realize the dynamic adjustment of the distance between the spraying module 200 and the spraying surface. No matter how much the size changes, the spraying module 200 always maintains dynamic adjustment to ensure the spraying quality.

[0052] Furthermore, the spraying module 200 includes a robotic arm 220 and a spray gun 210. The spray gun 210 is movably mounted on the walking module 100 via the robotic arm 220. In step S3, the paint flow rate of the spray gun 210 is proportional to the moving speed of the walking module 100. The paint flow rate of the spray gun 210 determines the amount of paint sprayed by the spray gun 210 within a preset time. The faster the flow rate, the greater the amount of paint sprayed by the spray gun 210 within the preset time; the slower the flow rate, the smaller the amount of paint sprayed by the spray gun 210 within the preset time. The faster the moving speed of the walking module 100, the shorter the time it stays on the preset road section. In order to ensure the coating thickness, the paint flow rate of the spray gun 210 is required to be relatively high. Therefore, the paint flow rate of the spray gun 210 needs to be kept proportional to the moving speed of the walking module 100.

[0053] Furthermore, to ensure the smoothness of the omnidirectional painting robot's movement, in steps S2 and S3, the preset path adopts either a Bézier curve or a spline curve. The Bézier curve defines the curve shape through control points, and its mathematical essence is a parametric polynomial function. For example, a third-order Bézier curve can ensure the continuity of position and velocity at the start and end points of the curve, and the curvature changes smoothly. This characteristic avoids the sudden acceleration caused by traditional straight-line paths, allowing the robot's movement speed and acceleration changes to transition naturally. The spline curve uses a piecewise polynomial to construct the curve, and forces the continuity of position, first derivative, and second derivative at adjacent nodes. This high-order continuity ensures that the robot will not jitter or stop at the turning points of the path, and the movement process is like "drawing in one stroke," which can effectively improve the smoothness of the robot's movement.

[0054] This embodiment discloses an omnidirectional painting robot and its control direction. The omnidirectional painting robot includes a walking module 100, a spraying module 200, and a sensing module 300. The walking module 100 includes an AGV body 110 and a control unit inside the AGV. The control unit is connected to a drive motor inside the AGV body 110 to control the AGV body 110 to perform omnidirectional movement. The spraying module 200 includes a robotic arm 220 and a spray gun 210 movably mounted on the AGV body 110 via the robotic arm 220. The spray gun 210, which has multiple degrees of freedom, can move in all directions and is suitable for various complex terrains, especially narrow spaces. The sensing module 300 includes a first detection sensor 310, which is used to detect the flatness of the preset path and is connected to the control unit and the robot arm 220 by electrical signals. The first detection sensor 310 can achieve a millisecond-level response of "detection-obstacle avoidance-replanning". It can not only ensure the stability of the overall movement, but also ensure the uniformity of the coating by adjusting the corresponding spatial position of the spray gun 210.

[0055] The technical solution of this utility model has been described in detail above with reference to the accompanying drawings. The described embodiments are used to help understand the concept of this utility model. The specific embodiments described herein are merely illustrative examples of the spirit of this utility model. Those skilled in the art to which this utility model pertains can make various modifications or additions to the described specific embodiments or use similar methods to replace them, but without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0056] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0057] Furthermore, in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0059] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

Claims

1. An omnidirectional painting robot, characterized in that, include: The walking module includes an AGV body and a control unit disposed within the AGV body. The control unit is connected to a drive motor within the AGV body to control the AGV body to move omnidirectionally along a preset path. A spraying module includes a spray gun and a robotic arm. The robotic arm is fixed to the AGV body, and the spray gun is detachably mounted at the end of the robotic arm. The robotic arm is configured to adjust the spatial position of the spray gun by rotating. The sensing module includes a first detection sensor located on one side of the spray gun and connected to the control unit and the robotic arm's electric signal.

2. The omnidirectional painting robot according to claim 1, characterized in that, The first detection sensor is used to detect the flatness information on the preset path, and the control unit controls the drive motor to avoid the path and the robot arm to adjust the distance between the spray gun and the spraying surface according to the flatness information.

3. The omnidirectional painting robot according to claim 2, characterized in that, The signal input terminal of the control unit is connected to the signal output terminal of the first detection sensor to receive the flatness information, and the signal output terminal of the control unit is connected to the drive motor to output an avoidance path command to the drive motor according to the flatness information.

4. The omnidirectional painting robot according to claim 1, characterized in that, The robotic arm includes a robotic arm body and a rotating platform. The rotating platform is arranged on the AGV vehicle body and can rotate horizontally. The lower end of the robotic arm body is connected to the rotating platform and can rotate vertically. The spray gun is fixed to one side of the upper end of the robotic arm body.

5. An omnidirectional painting robot according to claim 1, characterized in that, The walking module also includes obstacle avoidance sensors, which are located on both sides of the AGV body and are electrically connected to the control unit.

6. An omnidirectional painting robot according to claim 5, characterized in that, The walking module also includes an explosion-proof battery and an explosion-proof electrical box. The explosion-proof battery and the explosion-proof battery box are both fixed on the top of the AGV body. The drive motor is located inside the explosion-proof electrical box, and an inspection window is provided on one side of the explosion-proof electrical box. The explosion-proof battery is used to provide power to the drive motor, the obstacle avoidance sensor and the robotic arm.

7. The omnidirectional painting robot according to claim 1, characterized in that, The spraying module also includes a pressure tank, a stirrer, and a plunger pump. The stirrer is located inside the pressure tank, and the plunger pump is used to connect the pressure tank and the plunger pump.

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