Marking system for robots

Abstract

The invention relates to a marking system 1 for a robot 2, comprising a paint container 12 arranged to store paint 11 for marking, a head 10 for spraying or printing the paint, a hose 13 for delivering the paint to the head, said hose 13 having a first end 131 connected to the head 10 and a second end 132 inserted in the paint container 12, and a vacuum device 14 for extracting the paint 11 from the paint container 12 into the hose 13, a guide device 3 being received in the paint container 12, said guide device 3 being arranged to keep said second end 132 of the hose in contact with the paint 11 regardless of the orientation of the paint container. Using such a guide device, the marking system 1 for a robot 2 can function well even if the paint container 12 moves and / or rotates.

Description

Technical Field

[0001] The present invention relates to a marking system. The present invention also relates to a marking system for tools, particularly for robots used in the construction field.

Background Art

[0002] Marking systems and prints on concrete are common tools. Generally, a marking system includes a print head and a paint container. The paint container is stationary, while the print head moves or the object moves in front of the print head.

[0003] A problem with this type of marking system is its use with construction robots. This is because the paint container needs to be placed stationary, while the print head is attached to the robot arm. Usually, such a container needs to stand upright so that the fluid paint can flow out of the container. When the path for the paint to flow becomes long, problems occur in the operation of the robot arm. In addition, in the case of a robot, it is necessary to implement a tool changer. For example, the end effector of the robot may be exchanged, for example, from a ball disk to a printing device or vice versa. When the paint container is attached to a movable platform, it is necessary to connect or disconnect a hose, etc. to the (moving) printing device, which becomes very complicated. Furthermore, the paint in the hose may dry out, making the situation even more complicated.

[0004] However, when the paint container is attached to the robot arm, depending on whether the paint is printed or sprayed on the ceiling, wall, or floor, the paint container may move, change orientation, or even become upside down. Due to the movement or rotation of the paint container, the paint moves according to gravity, and if the hose in the paint container is not in the lower position, the paint will not flow out. Therefore, a normal paint container will not function when moving or rotating on a robot.

Summary of the Invention

[0005] The objective of the present invention is to provide a marking system for robots in which paint can flow out of a paint container regardless of the orientation of the paint container.

[0006] Another object of the present invention is to provide a robotic marking system with a simple interface for fluid paints that avoids rapid drying of the paint and the occurrence of paint clogging. [Means for solving the problem]

[0007] The present invention provides a marking system for a robot, comprising: a paint container configured to store paint; a head for spraying or printing paint; a hose for delivering paint to the head, the hose having a first end connected to the head and a second end inserted into the container; and a negative pressure device for extracting paint from the paint container into the hose, wherein a guide device is received within the paint container, and the guide device is configured to keep the second end of the hose in contact with the paint regardless of the orientation of the paint container. Using such a guide device, the marking system for a robot can function well even when the paint container is moved or rotated.

[0008] In an advantageous configuration of the marking system according to the present invention, the guide device is attached to the second end of the hose and moves the second end of the hose by gravity. Due to gravity, the guide device attached to the second end of the hose guides the second end of the hose below the horizontal level of the paint in the paint container, because the paint also flows to the lower position of the container by gravity.

[0009] In another advantageous configuration of the marking system according to the present invention, the guide device is a mass, the hose is inserted into the mass, and the weight of the mass is greater than the maximum buoyancy of the paint stored in the paint container. Such a guide device is a simple and effective solution for using gravity to keep the second end of the hose in constant contact with the paint.

[0010] In yet another advantageous configuration of the marking system according to the present invention, the marking system is configured to act as a robot end-effector. This allows the marking system to be configured as a robot end-effector tool that can mark at any position in space without the problem of paint entering the hose. Another advantage is that the shorter distance between the paint container and the spray nozzle of the head results in faster spray initiation, a lower likelihood of clogging, and improved maintenance.

[0011] The robot preferably has a movable and / or rotatable tool arm. The marking system is configured to be attached to and / or detached from the robot's tool arm. This configuration allows the robot to perform tool changes. The marking system can be removed and / or lifted by the robot equipped with the tool change system.

[0012] The paint container is preferably cylindrical or rectangular. Such cylindrical or rectangular paint containers help the paint flow out smoothly, and they are also easy to manufacture and to install hoses to.

[0013] In yet another advantageous configuration of the dispenser according to the present invention, the hose includes a straight portion formed of a rigid, inflexible material and a bent portion formed of a flexible, flexible material, wherein the straight portion is connected to the bent portion by a rotatable connector. This allows the paint to flow towards a lower position within the paint container as the container moves or rotates with the movement of the robot arm, and the flexible, flexible portion also bends towards a lower position within the paint container.

[0014] The length of the straight section is preferably substantially equal to the length of the bent section. This allows the second end of the hose to reach any plane or corner inside the container, and, if in an upright position, also reach the cylindrical or rectangular upper wall of the container. For example, the container is rotated 180 degrees so that the flexible, bendable section bends from the connection point of the straight section toward the upper wall of the container.

[0015] Alternatively, the hose may be made of a soft, flexible material. The entire length of the hose is made of a soft, flexible material. This eliminates the need for straight sections, making the hose flexible. The soft, flexible material should be suitable for the size of the paint container. Preferably, the hose material allows for arc bending while preventing pinching.

[0016] The paint container preferably includes a top surface, an opposing bottom surface, at least one side surface connecting the top and bottom surfaces, and a central axis substantially perpendicular to the top and bottom surfaces. The hose is positioned offset (at a distance) from the central axis of the paint container. More preferably, the hose is positioned near the side surface of the paint container. This allows the hose inside the container to always bend toward a lower position within the paint container.

[0017] Further features and advantages of the present invention will be described in more detail below with reference to the drawings, by an exemplary embodiment.

[0018] In drawings, similar reference numbers are used to indicate similar parts across various drawings. [Brief explanation of the drawing]

[0019] [Figure 1] This figure shows one embodiment of a marking system attached to a robot. [Figure 2] This is a schematic diagram of one embodiment of a marking system for robots. [Figure 3] This is a schematic diagram of one embodiment of a marking system rotated 90 degrees. [Figure 4] This is a schematic diagram of one embodiment of a marking system rotated 180 degrees. [Modes for carrying out the invention]

[0020] As shown in Figure 1, the marking system 1 is for robot 2. For example, robot 2 is a robot used on a construction site that helps increase the productivity of construction projects. This innovative construction robot can undertake installation work and allows workers to track the progress and status of the project through data. Using digital drawings, the robot marks and drills holes, freeing construction workers from the arduous task of drilling overhead and allowing them to concentrate on operating the construction robot. Robot 2 includes a tool arm 20 that can move or rotate to perform various functions as a component of the robot. An end effector is a tool, device, or process subsystem attached to the end of the robot arm. The end effector is specifically designed to interact with the work environment in which the robot operates. The tools and their programming vary depending on the project the robot is performing. For example, robot 2 can use a painting end effector tool connected to the end of the robot arm 20 to mark on concrete such as ceilings, walls, or floors. A typical end-effector attached to a robot used in manufacturing usually performs only one repetitive task with a single end-effector. However, by adding a tool changer, robot 2 can swap to a different end-effector to perform other tasks.

[0021] Referring to Figures 1 to 4, the marking system 1 for robot 2 according to the present invention is a type of end effector attached to the tip of a robot arm 20. The marking system 1 comprises a head 10 for printing or spraying paint 11, a hose 13 for delivering the paint to the head 10, a paint container 12 for storing the fluid paint 11, and a negative pressure device 14 that helps the paint as a fluid flow from the container to the head and then spray or inject from the head to the point or location to be marked. The paint 11 is a type of colored fluid that can be used to mark concrete or other surfaces. For example, the paint 11 may be an ink, pigment, oil-based paint, colorant, etc.

[0022] As is well known in the art, the negative pressure device 14 is a device for utilizing the air pressure in the coating container 12. For example, the negative pressure device 14 can be formed as a second pipe parallel to the hose 13 (not shown in FIGS. 1, 3, and 4). An air pressure higher than the normal pressure is introduced into the paint container 11 through the second pipe, and as a result, the paint 11 flows out of the container 12 through the hose 13 due to the higher air pressure.

[0023] The hose 13 has two opposing ends. The first end 131 is connected to the head 10, and the second end 132 opposite to the first end is inserted into the paint container 12. The hose 13 functions as a flow path for delivering the paint 11 or color fluid in the paint container 12 to the head 10. As described above, the negative pressure device 14 is used to utilize the air pressure, and as a result, the paint 11 in the container 12 can flow out of the container 12 through the hose 13 to the head 10.

[0024] According to an embodiment of the present invention, the marking system 1 is an end effector of the robot 2. The marking system 1 is configured to be connected and / or disconnected from the end of the tool arm 20. This enables the creation of a marking end effector tool with a container as an integral part. Preferably, the marking system 1 further includes hardware for interacting with the robot. For example, both the hose 13 through which the paint flows and the negative pressure device 14 for pressure are connected to the hardware, and the hardware is connected to the robot. Pressure is applied to the paint container by the hardware, so that the paint can move. Further, since both the paint container 12 and the head 10 are part of the end effector, the hose 13 does not require a long path. As a result, the marking system becomes a separate device of the robot 2, and can mark at any position in the space without the problem of paint entering the hose, reducing the risk of the paint 11 in the hose 13 drying.

[0025] The marking system 1 can be lifted and stopped by a robot equipped with a tool exchange system. For example, the working device can be exchanged, for example, from a ball grinder to the marking system or vice versa, without the need to connect or remove a hose 11 or the like to the movable marking system, greatly improving the working efficiency and applicability of the robot 2. Furthermore, such a marking system does not interfere with the operation of the robot arm. A guide device 3 is provided which is housed in the paint container and attached to the second end 132 of the hose 11. The guide device is configured to keep the second end 132 of the hose 11 in contact with the paint 11 regardless of the orientation of the paint container 12. The guide device 3 preferably moves the second end 132 of the hose 11 by gravity. Since the paint 11 is stored as a fluid in the container, when the container 12 is rotated or moved, the paint 11 flows downward in the container 12 by gravity. Since the second end 132 of the hose 13 is also moved by the guide device, the second end 132 of the hose 13 always remains in contact with the fluid paint.

[0026] According to a preferred embodiment of the present invention, the guide device 3 is a mass, and the weight of the guide device 3 is greater than the maximum buoyancy of the paint stored in the paint container. According to gravity, the mass attached to the second end of the hose guides the second end of the hose below the horizontal level of the paint in the paint container because the paint also flows to the lower position of the container by gravity. Since the weight of this mass is greater than the maximum buoyancy of the paint stored in the paint, even when the paint fills the container, this mass can still guide the second end 132 of the hose 12 to the bottom of the fluid paint. This mass is adapted based on the size / shape of the paint container, and the density of the fluid paint, as well as the material of the soft and bendable hose. In any case, such a guide device provides a simple and effective solution for ensuring that the second end of the hose is always in contact with the paint using gravity, and furthermore, this solution does not waste the paint in the container at all and ensures that the marking system can always operate normally.

[0027] The hose 13 is made of a soft, flexible material. Preferably, the entire length of the hose is made of a soft, flexible material. This allows the hose inside the container to always bend towards the lower part of the inside of the container.

[0028] The paint container 12 is preferably cylindrical or rectangular in shape. Such a cylindrical or rectangular paint container 12 helps the paint to flow out smoothly from the container, and furthermore, the regular shape of the container facilitates manufacturing and the installation of hoses to the paint container.

[0029] The paint container 12 more preferably includes a top surface 120, a bottom surface 121 opposite the top surface, at least one side surface 122 extending between the top surface 120 and the bottom surface 121, and a central axis 123 substantially perpendicular to the top and bottom surfaces. According to one preferred embodiment, the hose 13 is positioned offset (at a distance) from the central axis 123 of the paint container. The hose is more preferably positioned near the side surface 122 of the paint container 12. This configuration provides more space for bending the hose within the paint container and avoids the possibility of the flexible hose getting pinched.

[0030] According to yet another preferred embodiment of the present invention, the hose 13 comprises a straight portion 133 made of a rigid, non-flexible material and a bendable portion 134 made of a flexible, flexible material, wherein the straight portion 121 is connected to the bendable portion using a rotatable connector 135. The connector 135 can be bent into an arc shape. This allows the paint to flow toward the lower position in the paint container as the container moves or rotates with the movement of the robot arm, and also causes the flexible bendable portion 135 to bend toward the lower position in the paint container.

[0031] It is more preferable that the length of the straight section 133 is substantially equal to the length of the bent section. Due to gravity, the bent section 134 bends around the connector 135. Since the straight section 133 and the bent section 134 have the same length, the second end 132 of the hose 13 can reach any plane or corner inside the container, and can also reach the top surface of the cylindrical or rectangular body of the container when in an upright position. For example, the container is rotated 180 degrees so that the flexible and bendable section bends from the rotatable connector 135 toward the top surface 120 of the container.

[0032] The hose material must be selected according to the paint 11. Ideally, the material for forming the hose should be such that the top of the hose is always at the bottom of the paint container. Therefore, the bendable portion can be part of the hose or the entire hose within the paint container. The important thing about the hose material is that it does not get pinched or block the fluid when bent. The hose is made of a soft, bendable material to fit the size of the container. The hose material allows for arc-shaped bending but prevents sharp bends, pinching, and even stacking, which could cause paint blockage. The weight and / or material of the guide device shall be appropriate based on the material used for the hose.

[0033] The marking system 1 for robot 2 according to the present invention provides a special movable paint container equipped with a flexible hose and a guide device 3 at the end of the hose. By providing such a guide device at the end of the flexible and bendable hose, the end of the hose will always be in contact with the paint, regardless of the orientation of the paint container, due to gravity. Furthermore, the marking system is designed as a robot end effector tool that can be removed and picked up by a robot equipped with a tool changer system. This makes it possible to create a robot marking end effector with an integrated paint container, enabling marking at any position in space without the problem of paint not entering the hose.

[0034] While only selected examples illustrate the present invention, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made herein without departing from the technical scope of the invention as defined in the appended claims. Accordingly, the foregoing description of examples according to the present invention is provided for illustrative purposes only and is not intended to limit the technical scope of the invention as defined in the appended claims and their equivalents.

Claims

1. A marking system (1) for a robot (2), comprising: a paint container (12) configured to store marking paint (11); a head (10) for spraying or printing the paint; a hose (13) for delivering the paint to the head, the hose (13) having a first end (131) connected to the head (10) and a second end (132) inserted into the paint container (12); and a negative pressure device (14) for extracting the paint (11) from the paint container (12) into the hose (13), wherein a guide device (3) is received within the paint container (12), and the guide device (3) is configured to keep the second end (132) of the hose in contact with the paint (11) regardless of the orientation of the paint container, The hose (13) includes a straight portion (133) made of a rigid, non-bendable material and a bent portion (134) made of a flexible, bendable material, and the straight portion (133) is connected to the bent portion (134) using a rotatable, arc-shaped connector (135). A marking system (1) characterized by the following.

2. The marking system (1) according to claim 1, wherein the guide device (3) is attached to the second end (132) of the hose (13) and moves the second end (132) of the hose (13) by gravity.

3. The marking system (1) according to claim 2, wherein the guide device (3) is a heavy body, and the weight of the guide device (3) is greater than the maximum buoyancy of the paint (11) stored in the paint container (12).

4. The marking system (1) according to claim 3, wherein the second end (132) of the hose (13) is inserted into the through hole of the weight body.

5. The marking system (1) according to any one of claims 1 to 4, wherein the marking system (1) is configured to be the end effector of the robot (2).

6. The marking system (1) according to claim 5, wherein the robot (2) comprises a movable and / or rotatable tool arm (20).

7. The marking system (1) according to claim 6, wherein the marking system (1) is configured to be attached to and / or released from the tool arm (20) of the robot (2).

8. The marking system (1) according to claim 1, wherein the paint container (12) is cylindrical or rectangular.

9. The marking system (1) according to claim 1, wherein the length of the straight portion (133) is equal to the length of the bent portion (134).

10. The marking system (1) according to any one of claims 1 to 4, wherein the paint container (12) includes a top surface (120), an opposing bottom surface (121), at least one side surface (122) connecting the top surface (120) and the bottom surface (121), and a central axis (123) perpendicular to the top surface (120) and the bottom surface (121), and the hose (13) is positioned at a distance from the central axis (123) of the paint container (12).

11. The marking system (1) according to claim 10, wherein the hose (13) is located near the side surface (122) of the paint container (12).

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