CN112593680A - Building outer wall spraying method based on intelligent spraying robot - Google Patents
Building outer wall spraying method based on intelligent spraying robot Download PDFInfo
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- CN112593680A CN112593680A CN202011419313.2A CN202011419313A CN112593680A CN 112593680 A CN112593680 A CN 112593680A CN 202011419313 A CN202011419313 A CN 202011419313A CN 112593680 A CN112593680 A CN 112593680A
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- 238000005507 spraying Methods 0.000 title claims abstract description 74
- 239000003973 paint Substances 0.000 claims abstract description 64
- 239000007921 spray Substances 0.000 claims abstract description 7
- 239000011248 coating agent Substances 0.000 claims description 44
- 238000000576 coating method Methods 0.000 claims description 44
- 210000001503 joint Anatomy 0.000 claims description 28
- 239000007788 liquid Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 abstract description 4
- 238000003032 molecular docking Methods 0.000 description 33
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- 238000010586 diagram Methods 0.000 description 4
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- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a building outer wall spraying method based on an intelligent spraying robot, which comprises the following steps: controlling a retraction assembly of the retraction device to operate so as to enable the robot body to rise or fall on a current spraying line, and simultaneously controlling a spraying assembly to draw paint from a paint box and spray the paint onto an outer wall of a building; judging whether the robot body reaches the end position of the current spraying line; when the robot body reaches the end point position of the current spraying route, the frame body of the retraction device is controlled to transversely translate by a step distance. According to the building outer wall spraying method based on the intelligent spraying robot, the operation of the retraction assembly and the transverse translation of the frame body are controlled, so that the robot body can automatically perform spraying operation on the building outer wall along a wavy track.
Description
Technical Field
The invention relates to the technical field of intelligent equipment for building construction, in particular to a building outer wall spraying method based on an intelligent spraying robot.
Background
At present mainly use artifical implementation to construction and later maintenance to give first place to, to having the colored building outer wall, need regularly spraying coating to maintain brand-new face of building, among the current spraying mode, need build the scaffold frame with convenient construction, perhaps need the manual work to suspend in midair and carry out the operation, former construction cost is high, and can produce great influence to the normal life in the building, the personal safety of the latter constructor is difficult to obtain the guarantee.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the building outer wall spraying method based on the intelligent spraying robot, which can automatically operate outside a building without directly participating in spraying operation manually.
The technical scheme is as follows: in order to achieve the purpose, the building outer wall spraying method based on the intelligent spraying robot comprises the robot body, a winding and unwinding device and a controller, wherein the winding and unwinding device comprises a winding and unwinding assembly used for driving the robot body to move up and down; the retractable device also comprises a frame body which can carry out controllable transverse translation relative to the building; the robot body comprises a movable seat body, a coating box and a spraying component;
the method comprises the following steps:
controlling a retraction assembly of the retraction device to operate so as to enable the robot body to rise or fall on a current spraying line, and simultaneously controlling the spraying assembly to draw the coating from the coating box and spray the coating onto the outer wall of the building;
judging whether the robot body reaches the end position of the current spraying line;
and when the robot body reaches the end point position of the current spraying route, controlling the frame body of the retraction device to transversely translate by a step pitch.
Furthermore, a liquid level detection sensor is arranged in the paint tank, a paint main cabin is installed on the frame body, and a first butt joint body is installed on the lower side of the paint main cabin; the upper end of the coating box is provided with a second butt joint body; the method further comprises the following steps:
judging whether the robot body is at a high point position of a descending spraying line;
when the robot body is positioned at the high point position of a descending spraying line, the residual amount value of the coating in the coating tank is obtained through the liquid level sensor;
judging whether the residual paint quantity value is smaller than the paint quantity required by spraying two spraying lines or not;
when the residual paint value is smaller than the amount of paint required by two spraying lines, controlling the retraction assembly to operate to drive the robot body to ascend so as to realize mutual butt joint of the first butt joint body and the second butt joint body, so that the paint in the paint general cabin flows into the paint tank;
judging whether the paint residual value is larger than a preset maximum value or not;
when the paint allowance value is larger than a preset maximum value, the retraction assembly is controlled to operate to drive the robot body to descend, so that the first butt joint body is separated from the second butt joint body.
Further, a surplus detection sensor is installed in the paint main cabin;
the method further comprises the following steps:
obtaining a residual value of the coating in the coating main cabin through the residual detection sensor;
judging whether the residual value is smaller than a preset minimum value or not;
and when the residual value is smaller than a preset minimum value, outputting an alarm signal.
Further, the robot body further comprises a wind-proof assembly; the windproof component comprises a balancing weight, a support and a telescopic arm, the support is fixed relative to the movable base, and the telescopic arm is arranged between the support and the balancing weight; during operation, the telescopic arm enables the balancing weight to be far away from the movable base body in the direction deviating from the outer wall of the building; the telescopic arm can be controlled by the controller to be controllably telescopic; the robot body is also provided with a wind power monitoring sensor;
the method further comprises the following steps:
acquiring an ambient wind speed value through the wind power monitoring sensor;
acquiring a paint residual value in the paint tank through the liquid level sensor;
and adjusting the telescopic amount of the telescopic arm according to the environment wind speed value and the paint allowance value.
Has the advantages that: according to the building outer wall spraying method based on the intelligent spraying robot, the operation of the retraction assembly and the transverse translation of the frame body are controlled, so that the robot body can automatically perform spraying operation on the building outer wall along a wavy track.
Drawings
FIG. 1 is a side view structural diagram of an intelligent spraying robot;
FIG. 2 is a schematic flow chart of a building outer wall spraying method based on an intelligent spraying robot;
FIG. 3 is a three-dimensional structure diagram of the intelligent spraying robot;
FIG. 4 is a schematic flow diagram for automatically replenishing the paint tank with paint;
fig. 5 is a first perspective view structural view of the robot body;
fig. 6 is a second perspective view structural view of the robot body;
FIG. 7 is a combined structure of a first docking body and a second docking body;
FIG. 8 is a block diagram of the support assembly;
fig. 9 is an internal structural view of the active telescopic unit.
In the figure: 1-moving the base; 2-a paint tank; 21-a second docking body; 211-a second docking cradle; 211-1-liquid inlet hole; 212-a second plug body; 213-a second spring; 214-an extension; 215-barriers; 3-a support assembly; 31-a support wheel; 32-a barrier crossing assembly; 33-a component rack; 331-a bifurcation; 34-rotating the telescopic arm; 341-active telescoping unit; 341-1-first seat; 341-2-first telescoping unit; 342-a driven telescopic unit; 342-1-a second seat body; 342-2-a second telescoping unit; 343-connecting rod; 344-translational seat; 345-fixed gear; 346-a driven gear; 347-a change gear box; 348-bevel gear set; 349-drive screw; 35-a synchronous drive assembly; 351-double-end lead screw; 352-a slide carriage; 353, driving a motor; 354-a drive rod; 4-a wind-proof component; 41-a balancing weight; 42-a scaffold; 43-telescopic arm; 5-a spray assembly; 51-a nozzle base plate; 52-a spray head; 6-a retraction device; 61-retracting and releasing the motor; 62-retracting and releasing wheels; 63-winding and unwinding the rope; 64-a frame body; 65-paint general cabin; 66-a first docking body; 661-first docking cradle; 661-1-through hole; 662-a first plug body; 663-first spring; 664-a sliding sleeve; 665-a third spring; 671-slide rail; 672-rack; 673-sliding block; 674-gear; 675-traversing driving motor.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The building outer wall spraying method based on the intelligent spraying robot is implemented by a controller of the intelligent spraying robot, as shown in the attached figure 1, the intelligent spraying robot comprises a robot body, a winding and unwinding device 6 and the controller, wherein the winding and unwinding device 6 comprises a winding and unwinding assembly for driving the robot body to move up and down; the retraction device 6 further comprises a frame 64, wherein the frame 64 can controllably translate laterally relative to the building; the robot body comprises a movable seat body 1, a coating box 2 and a spraying component 5; as shown in fig. 6, the spray assembly 5 includes a nozzle base plate 51, a plurality of rows of nozzle arrays arranged transversely are disposed on the nozzle base plate 51, each row of nozzle arrays includes a plurality of linear arrays of nozzles 52, and the nozzles 52 of two adjacent rows of nozzle arrays are staggered in the longitudinal direction. The arrangement can ensure the uniformity of spraying.
As shown in FIG. 2, the method comprises the following steps A1-A3:
step A1, controlling the retraction assembly of the retraction device 6 to operate, so that the robot body is raised or lowered on the current spraying line, and simultaneously controlling the spraying assembly 5 to draw the coating from the coating box 2 and spray the coating onto the outer wall of the building;
step A2, judging whether the robot body reaches the end position of the current spraying line, if so, entering step A3;
step a3, controlling the frame 64 of the retraction device 6 to translate a step distance transversely.
Specifically, as shown in fig. 3, a slide rail 671 and a rack 672 are fixed on the top of the building, and the frame body 64 is provided with a slide block 673 which is in slide fit with the slide rail 671, a gear 674 which is engaged with the rack 672 and a traverse driving motor 675 which is in driving connection with the gear 674, so that the controller can control the frame body 64 to do controllable transverse translational motion relative to the building by controlling the operation of the traverse driving motor 675.
Preferably, the paint tank 2 is provided with a liquid level detection sensor therein, as shown in fig. 3, a main paint chamber 65 is mounted on the frame body 64, and a first docking body 66 is mounted on the lower side of the main paint chamber 65; the upper end of the paint tank 2 is provided with a second butt joint body 21; as shown in FIG. 4, the method further includes the following steps B1-B3:
step B1, judging whether the robot body is at the high point position of the descending spraying line, if so, entering step B2;
step B2, acquiring the paint residual value in the paint tank 2 through the liquid level sensor;
step B3, judging whether the residual value of the coating is less than the amount of the coating needed by the two spraying lines, if so, entering step B4;
step B4, controlling the retraction assembly to operate to drive the robot body to ascend so as to realize the mutual butt joint of the first butt joint body 66 and the second butt joint body 21, so that the paint in the paint main chamber 65 flows into the paint tank 2;
step B5, judging whether the paint residual value is larger than a preset maximum value, if so, entering step B6;
and step B6, controlling the retraction assembly to operate to drive the robot body to descend so as to separate the first docking body 66 from the second docking body 21.
Through the steps, the worker only needs to add the coating into the coating main cabin 65 at regular time, the coating is not needed to be directly added into the coating box 2, the coating adding times can be reduced, and the danger of directly adding the coating into the coating box 2 is avoided.
Specifically, as shown in fig. 7, the first docking body 66 includes a tubular first docking seat 661, an upper end of the first docking seat 661 is sealed, a lower end of the first docking seat 661 is open, and a through hole 661-1 is formed around an upper side of the first docking seat 661; the first docking cradle 661 is formed of two sections, the aperture of the through hole in the lower section is smaller than the aperture of the through hole in the upper section; a first plug body 662 is installed in the first butt joint seat 661, the first plug body 662 is composed of an upper section and a lower section, and the diameters of the upper section and the lower section are respectively matched with the diameters of the upper section and the lower section of the inner hole of the first butt joint seat 661; a first spring 663 is arranged between the upper end of the first plug body 662 and the upper end of the first butt seat 661;
the second butt joint body 21 comprises a tubular second butt joint seat 211, the lower end of the second butt joint seat 211 is sealed, the upper end of the second butt joint seat 211 is open, and the periphery of the lower side of the second butt joint seat is provided with a liquid inlet hole 211-1; the second docking seat 211 is composed of two sections, and the aperture of the through hole in the lower section is larger than that of the through hole in the upper section; a second plug body 212 is arranged in the second docking seat 211, the second plug body 212 is composed of an upper section and a lower section, and the diameters of the upper section and the lower section are respectively matched with the diameters of the upper section and the lower section of the inner hole of the second docking seat 211; a second spring 213 is arranged between the upper end of the second plug body 212 and the upper end of the second docking seat 211; an extending body 214 extending out of the second docking seat 211 and capable of acting on the first plug body 662 is fixed at the upper end of the second plug body 212.
The stiffness of the first spring 663 is greater than the stiffness of the second spring 213; a stopper 215 for restricting the movement of the second plug body 212 is installed in the second docking seat 211.
Through the structure, when the coating in the coating box 2 is insufficient, the retraction device 6 drives the robot body to rise, so that the first butt joint body 66 and the second butt joint body 21 are in butt joint to supplement the coating to the coating box 2, therefore, a worker only needs to add the coating into the coating main cabin 65 at regular time, the coating does not need to be directly added to the coating box 2, the coating adding frequency can be reduced, and the danger of directly adding the coating to the coating box 2 is avoided.
In the initial state, the first plug body 662 and the second plug body 212 respectively block the through hole 661-1 and the liquid inlet hole 211-1, and when the first docking body 66 and the second docking body 21 approach each other and are docked, first, the extension body 214 contacts the first plug body 662, since the first spring 663 has a stiffness greater than that of the second spring 213, the second spring 213 is deformed first, the second plug body 212 is pushed to move downward relative to the paint tank 2, so that the inlet hole 211-1 is opened first, when the second plug 212 contacts the blocking member 215, the second plug 212 cannot move downwards continuously, the compression amount of the second spring 213 reaches the maximum, as the first docking seat 661 and the second docking seat 211 get closer together continuously, the blocking member 215 pushes the first plug 662 to move upwards, so that the through hole 661-1 is opened so that the paint in the paint header tank 65 can enter the paint tank 2.
In addition, in order to prevent the paint in the first docking cradle 661 and the second docking cradle 211 not yet completely docked with the paint main chamber 65 from flowing down to cause paint leakage, a sliding sleeve 664 is sleeved on the periphery of the lower section of the first docking cradle 661, the sliding sleeve 664 can slide relative to the first docking cradle 661, and a sealing ring is arranged between the inner wall of the sliding sleeve 664 and the first docking cradle 661; the first docking body 66 also includes a third spring 665 that tends to move the sliding sleeve 664 downward. The lower end of the sliding sleeve 664 is provided with a joint surface, and a rubber ring is arranged on the joint surface. With this structure, during the upward movement of the blocking member 215 pushing the first plug body 662, the upper end surface of the second docking seat 211 first contacts with the rubber ring on the engaging surface of the lower end of the sliding sleeve 664, then the first plug body 662 rises to a position where the through hole 661-1 is opened, and as the second docking body 21 continues to move upward, the first plug body 662 continues to rise to maximize the opening range of the through hole 661-1.
Preferably, a residual quantity detection sensor is installed in the paint main chamber 65; the method further comprises the following steps C1-C3:
step C1, obtaining the residual quantity value of the coating in the total coating cabin 65 through the residual quantity detection sensor;
step C2, judging whether the residual value is smaller than a preset minimum value, if so, entering step C3;
and step C3, outputting an alarm signal.
The paint shortage in the paint hopper 65 can be prevented by the above-described steps C1-C3. The alarm signal may be sent by an alarm lamp, a buzzer, etc. mounted on the frame body 64.
Further, as shown in fig. 5, the robot body further includes a wind-proof assembly 4; the windproof component 4 comprises a counterweight 41, a bracket 42 and a telescopic arm 43, the bracket 42 is fixed relative to the movable base 1, and the telescopic arm 43 is disposed between the bracket 42 and the counterweight 41; during operation, the telescopic arm 43 makes the counterweight 41 far away from the movable base 1 in the direction away from the outer wall of the building; and the whole focus of prevent wind subassembly 4 is higher than the whole focus of removing pedestal 1, supporting component 3 and scribbling the workbin 2 three, through this structure, because balancing weight 41 is far away from the outer wall, the action of gravity of balancing weight 41 can form great torque, the effect of this torque can make supporting component 3 with the supporting wheel 31 of outer wall contact tightly contact with the outer wall for auxiliary equipment tightly pastes with the outer wall and leans on, when having great wind, wind can not blow the spraying robot, guaranteed the stability of operation. The telescopic arm 43 can be controlled by the controller to be controllably telescopic; the robot body is also provided with a wind power monitoring sensor;
the method further comprises the following steps D1-D3:
step D1, acquiring an ambient wind speed value through the wind power monitoring sensor;
step D2, acquiring the paint residual value in the paint tank 2 through the liquid level sensor;
and D3, adjusting the expansion amount of the telescopic arm 43 according to the ambient wind speed value and the paint allowance value.
In the step D3, the expansion amount of the telescopic arm 43 may be adjusted according to the preset corresponding relationship table of the ambient wind speed value, the paint allowance value, and the expansion amount.
In addition, the robot body of the intelligent spraying robot further comprises a supporting component 3, as shown in fig. 8, the supporting component 3 comprises four sets of obstacle crossing components 32, each set of obstacle crossing component 32 comprises a component frame 33, the component frame 33 has three branch parts 331 arranged in a circumferential array, and one supporting wheel 31 is rotatably mounted at the end part of each branch part 331; the module frame 33 is rotatably mounted with respect to the moving body 1. By arranging the obstacle crossing assembly 32, the supporting wheels 31 can be prevented from being blocked by step obstacles such as a cross beam protruding from an outer wall, when the obstacle crossing assembly meets the step obstacles, the supporting wheels 31 contacting with the step obstacles are blocked by the obstacles and cannot move continuously, however, the movable base body 1 still moves downwards under the action of gravity or upward traction force, and at the moment, the assembly frame 33 rotates for about 120 degrees relative to the movable base body 1 so that the blocked supporting wheels 31 can cross the obstacles.
Preferably, each obstacle crossing assembly 32 is mounted on the movable base 1 through a rotary telescopic arm 34, the rotary telescopic arm 34 can make the obstacle crossing assembly 32 perform two-axis motions of rotation and expansion relative to the movable base 1, and the two-axis motions of the obstacle crossing assembly 32 relative to the movable base 1 are in a linkage relationship, that is, the rotary telescopic arm 34 makes the obstacle crossing assembly 32 perform principle motion relative to the rotation center when the rotary translational motion is performed on the obstacle crossing assembly 32 along the rotation center. Thus, the width of the supporting component 3 can be adjusted, and the distance between the two groups of obstacle crossing components 32 which are symmetrical in the transverse direction can be adjusted far during operation, so that the supporting width of the supporting component 3 in the width direction is increased, and the movable seat body 1 is prevented from being lifted by crosswind; when the auxiliary equipment needs to be stored or needs to pass through a narrow area, the distance between the two groups of obstacle crossing assemblies 32 which are symmetrical in the transverse direction can be adjusted to be close, so that the whole structure of the auxiliary equipment is compact.
Specifically, the rotary telescopic arm 34 includes a driving telescopic unit 341, a driven telescopic unit 342, and a connecting rod 343, wherein the driving telescopic unit 341 has a first seat 341-1 and a first telescopic unit 341-2 capable of sliding relatively, and the driven telescopic unit 342 has a second seat 342-1 and a second telescopic unit 342-2 capable of sliding relatively; one end of each of the first seat 341-1 and the second seat 342-1 is rotatably mounted with respect to the movable seat 1, and two ends of the connecting rod 343 are respectively hinged to the first seat 341-1 and the second seat 342-1; the relative hinge rotation axes of the first seat 341-1, the second seat 342-1, the connecting rod 343 and the movable seat 1 form four corner points of a parallelogram; the ends of the first telescopic unit 341-2 and the second telescopic unit 342-2 far away from the movable base body 1 are respectively hinged on the translational seat 344, and the assembly frame 33 is rotatably mounted on the translational seat 344. Through the structure, the obstacle crossing assembly 32 can only translate relative to the movable seat body 1, and the self pose can not be changed.
In order to realize the linkage between the two-axis motions of obstacle crossing assembly 32 with respect to movable base 1, said rotary telescopic arm 34 further comprises a fixed gear 345 and a driven gear 346, said fixed gear 345 is fixed on said movable base 1 and its center coincides with the rotation center of first base 341-1, said driven gear 346 is rotatably mounted on said first base 341-1 and it meshes with said fixed gear 345; the driven gear 346 is connected to the first telescopic unit 341-2 through a transmission assembly to drive the first telescopic unit 341-2 to telescope relative to the first base 341-1.
As shown in fig. 9, the transmission assembly includes a speed change gear box 347, a bevel gear set 348 and a drive screw 349; the input end and the output end of the speed change gear box 347 are respectively connected with the bevel gear set 348 and the driving screw 349, the bevel gear set 348 is in driving connection with the driven gear 346, and a screw nut matched with the driving screw 349 for use is fixed on the first telescopic unit 341-2.
In order to realize the synchronous movement of the four rotary telescopic arms 34 relative to the moving base 1, a synchronous driving assembly 35 is further mounted on the moving base 1, as shown in fig. 8, the synchronous driving assembly 35 includes a double-headed lead screw 351, two sliding bases 352, a driving motor 353 and four driving rods 354; the double-end lead screw 351 is rotatably mounted relative to the movable base 1, two ends of the double-end lead screw are respectively provided with a spiral part, the spiral directions of the spiral parts at the two ends are opposite, lead screw nuts which are in spiral pair fit with the two sliding seats 352 are respectively mounted on the two sliding seats 352, and the double-end lead screw 351 is driven by the driving motor 353 to operate; each sliding seat 352 is connected to two rotary telescopic arms 34 through two driving rods 354, and both ends of each driving rod 354 are respectively hinged to the sliding seat 352 and the second seat 342-1 of the corresponding rotary telescopic arm 34. Thus, by controlling the driving motor 353 to operate, the four rotary telescopic arms 34 can synchronously move, and the driving cost is reduced.
According to the building outer wall spraying method based on the intelligent spraying robot, the operation of the retraction assembly and the transverse translation of the frame body are controlled, so that the robot body can automatically perform spraying operation on the building outer wall along a wavy track.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. The building outer wall spraying method based on the intelligent spraying robot is characterized in that the intelligent spraying robot comprises a robot body, a winding and unwinding device (6) and a controller, wherein the winding and unwinding device (6) comprises a winding and unwinding assembly used for driving the robot body to move up and down; the retraction device (6) further comprises a frame body (64), and the frame body (64) can be controlled to transversely translate relative to the building; the robot body comprises a movable base body (1), a coating box (2) and a spraying component (5);
the method comprises the following steps:
controlling the operation of the retraction assembly of the retraction device (6) to enable the robot body to rise or fall on the current spraying line, and simultaneously controlling the spraying assembly (5) to draw the coating from the coating box (2) and spray the coating onto the outer wall of the building;
judging whether the robot body reaches the end position of the current spraying line;
and when the robot body reaches the end point position of the current spraying route, controlling the frame body (64) of the retraction device (6) to transversely translate by a step distance.
2. The building exterior wall spraying method based on the intelligent spraying robot is characterized in that a liquid level detection sensor is arranged in the paint tank (2), a paint main cabin (65) is installed on the frame body (64), and a first butt joint body (66) is installed on the lower side of the paint main cabin (65); the upper end of the paint tank (2) is provided with a second butt joint body (21); the method further comprises the following steps:
judging whether the robot body is at a high point position of a descending spraying line;
when the robot body is positioned at the high point position of a descending spraying line, the residual amount value of the coating in the coating tank (2) is obtained through the liquid level sensor;
judging whether the residual paint quantity value is smaller than the paint quantity required by spraying two spraying lines or not;
when the residual paint value is smaller than the amount of paint required by two spraying lines, controlling the retraction assembly to operate to drive the robot body to ascend so as to realize mutual butt joint of the first butt joint body (66) and the second butt joint body (21), so that the paint in the paint main cabin (65) flows into the paint tank (2);
judging whether the paint residual value is larger than a preset maximum value or not;
when the paint allowance value is larger than a preset maximum value, the retraction assembly is controlled to operate to drive the robot body to descend, so that the first butt joint body (66) is separated from the second butt joint body (21).
3. The building outer wall spraying method based on the intelligent spraying robot is characterized in that a surplus detection sensor is installed in the paint main cabin (65);
the method further comprises the following steps:
acquiring a residual amount value of the coating in the coating general cabin (65) through the residual amount detection sensor;
judging whether the residual value is smaller than a preset minimum value or not;
and when the residual value is smaller than a preset minimum value, outputting an alarm signal.
4. The building outer wall spraying method based on the intelligent spraying robot is characterized in that the robot body further comprises a windproof component (4); the windproof component (4) comprises a balancing weight (41), a support (42) and a telescopic arm (43), the support (42) is fixed relative to the movable base body (1), and the telescopic arm (43) is arranged between the support (42) and the balancing weight (41); during operation, the telescopic arm (43) enables the balancing weight (41) to be far away from the movable base body (1) in the direction of deviating from the outer wall of the building; the telescopic arm (43) can be controlled by the controller to controllably stretch; the robot body is also provided with a wind power monitoring sensor;
the method further comprises the following steps:
acquiring an ambient wind speed value through the wind power monitoring sensor;
acquiring a paint residual value in the paint tank (2) through the liquid level sensor;
and adjusting the telescopic amount of the telescopic arm (43) according to the ambient wind speed value and the paint allowance value.
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| CN202011419313.2A CN112593680B (en) | 2020-12-07 | 2020-12-07 | Building outer wall spraying method based on intelligent spraying robot |
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| CN202011419313.2A CN112593680B (en) | 2020-12-07 | 2020-12-07 | Building outer wall spraying method based on intelligent spraying robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192489A (en) * | 2021-05-16 | 2021-07-30 | 金陵科技学院 | Paint spraying robot voice recognition method based on multi-scale enhancement BiLSTM model |
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| CN113192489A (en) * | 2021-05-16 | 2021-07-30 | 金陵科技学院 | Paint spraying robot voice recognition method based on multi-scale enhancement BiLSTM model |
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| CN115233942A (en) * | 2022-07-21 | 2022-10-25 | 如你所视(北京)科技有限公司 | Painting method and device |
| CN115233942B (en) * | 2022-07-21 | 2023-09-29 | 如你所视(北京)科技有限公司 | Painting method and device |
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