CN115213032B - A bionic elephant spraying robot and spraying control method - Google Patents

Abstract

The invention discloses a bionic image spraying robot, which comprises a robot body, a first main control board, a first wireless communication module, a temperature sensor module, a ranging sensor module, an inertial navigation module and a camera, wherein the first main control board, the first wireless communication module, the temperature sensor module, the ranging sensor module, the inertial navigation module and the camera are arranged on the robot body; the device comprises a second main control board, a second wireless communication module, a balancing module, an infrared obstacle avoidance sensor and a laser film thickness detection sensor; the paint tank comprises a paint tank box, a spray hose outlet, a paint pouring inlet, a spray hose and a lithium battery box, wherein a spray pump and an ultrasonic liquid level sensor are arranged in the paint tank box; the laser film thickness detection sensor is arranged at the extending end of the bionic trunk transmission mechanism, and the spraying opening of the spraying hose is also arranged at the extending end of the bionic trunk transmission mechanism; bionic elephant foot movement mechanism. The invention realizes the spraying operation of the manual remote control robot, simultaneously realizes the flexible spraying without regard to the spraying dead angle and the like through the unique trunk bionic mechanism, and improves the spraying working efficiency.

Description

A bionic elephant spraying robot and spraying control method

Technical field

The invention relates to the field of spraying technology, and in particular to a bionic elephant spraying robot and a spraying control method.

Background technique

During cabin spraying work, painters are often exposed to high temperatures, heatstroke, gas poisoning, explosions of flammable gases when exposed to open flames, and other dangers. At the same time, the labor efficiency is relatively low due to the large amount of work. The cabin spraying machine reduces the probability of such dangers and improves the efficiency of spraying work. However, there are also some dangers associated with operating the machine. The cabin space is small and manual spraying is sometimes required. Early cabin spraying machines cannot The spraying work can be handled flexibly, and the machine is still prone to explosions and other accidents when the cabin safety factor is low.

Nowadays, as digital twin technology matures and the GPS and Beidou navigation systems are fully equipped, the work of robots in small and enclosed spaces has become more and more visual, precise, automated and systematic. However, in the small spraying work space of the ship cabin, there is no corresponding combination of digital twin technology and navigation system control system to control robots to replace manual work.

Contents of the invention

Purpose of the invention: In order to overcome the shortcomings of the background technology, the first purpose of the present invention is to disclose a bionic elephant spraying robot; the second purpose is to disclose a spraying control method of the above-mentioned robot.

Technical solution: The bionic elephant spraying robot disclosed in the present invention includes a robot body and a device located on the robot body:

The first main control board, the first wireless communication module, the temperature sensor module, the ranging sensor module, the inertial navigation module, and the camera;

The second main control board, the second wireless communication module, the balance module, the infrared obstacle avoidance sensor, and the laser film thickness detection sensor;

Paint tank box, spray hose outlet, paint pouring inlet, spray hose, lithium battery box, the paint tank box is equipped with a spray pump and an ultrasonic liquid level sensor;

Bionic elephant trunk transmission mechanism, the laser film thickness detection sensor is located at the extended end of the bionic elephant trunk transmission mechanism, and the spraying port of the spray hose is also located at the extended end of the bionic elephant trunk transmission mechanism;

Bionic elephant foot locomotion mechanism.

Furthermore, the lithium battery box is provided with a charging port, and supplies power to each electronic component through a voltage stabilizing module.

Further, the first main control board connects to and controls the first wireless communication module, temperature sensor module, ranging sensor module, inertial navigation module, camera and ultrasonic liquid level sensor; the second main control board connects to and controls the second main control board. 2. Wireless communication module, balance module, infrared obstacle avoidance sensor, laser film thickness detection sensor, spray pump, bionic elephant trunk transmission mechanism and bionic elephant foot movement mechanism.

Further, the bionic elephant trunk transmission mechanism includes a frame provided on the robot body. The frame is provided with a linear motor, a lead screw, a front end cover, and a connecting hole sleeve in sequence along the extending direction of the elephant trunk. The linear motor Two are arranged horizontally in parallel, and their driving ends are respectively connected to screws. The front end cover is fixed on the frame. The screw extends to the front end cover and is connected through the screw bearing. The connecting hole sleeve is fixed on the front end cover. On the front end cover, a first fixed shaft is fixed and extends in the direction of the elephant trunk. A middle sleeve is coaxially mounted on the first fixed shaft. The middle sleeve and the first fixed shaft pass through the first inner ring sleeve. The side of each screw is equipped with a transmission rod parallel to it. One end of the transmission rod is connected to the screw through the screw sleeve, and the other end extends to the side of the middle sleeve and is connected to the middle sleeve through a connecting piece. lateral connection;

The end of the first fixed shaft is provided with a first involute ring-shaped ball gear mechanism, a second involute ring-shaped ball gear mechanism, and a third involute ring-shaped ball gear mechanism in sequence along the extending direction of the elephant trunk. A first cross transmission mechanism is provided between the first involute annular toothed ball gear mechanism and the second involute annular toothed ball gear mechanism, and the second involute annular toothed ball gear mechanism and the third involute A second cross transmission mechanism is provided between the linear ring-shaped ball gear mechanisms. The third involute ring-shaped ball gear mechanism is connected to a second fixed shaft, and a second inner ring sleeve is set on the second fixed shaft. , the first cross transmission mechanism includes a first cross transmission part connected to the first involute ring toothed ball gear mechanism, a first cross transmission part two connected to the second involute ring toothed ball gear mechanism, and a second cross transmission part connected to the second involute ring toothed ball gear mechanism. A cross shaft, the first cross transmission part 1 and the first cross transmission part 2 are U-shaped structures, and their U-shaped struts are respectively connected to the coaxial ends of the first cross shaft; the second cross transmission mechanism It includes a second cross transmission part one connected to the second involute ring tooth ball gear mechanism, a second cross transmission part two connected to the third involute ring tooth ball gear mechanism, and a second cross shaft. The first cross transmission part and the second cross transmission part 2 are both U-shaped structures, and their U-shaped struts are connected to the coaxial ends of the second cross shaft respectively; the outer wall of the second inner ring sleeve is provided with an inner ring shaft; The middle sleeve is coaxially fixedly connected with a first outer sleeve, and the first outer sleeve extends to form the same U-shaped structure as the first cross transmission member two, and its U-shaped support rods are respectively connected with the U-shaped supports of the first cross transmission member two. The rods are connected correspondingly through the axes of the first cross shaft. The second involute annular tooth ball gear mechanism is sleeved with a second outer sleeve. Both ends of the second outer sleeve extend to form a U-shaped strut. The first outer sleeve is The third involute ring gear ball gear mechanism is connected to the first cross transmission part one and the second cross transmission part two respectively in the same way. The third outer jacket is set in the third outer jacket in the same way as the second outer jacket. Connected to the second cross transmission member 1 and the inner ring rotating shaft, the laser film thickness detection sensor is located at the end of the second fixed shaft.

Further, the first inner ring sleeve and the second inner ring sleeve have the same structure, including a first inner ring, and the inner and outer sides of the first inner ring are respectively connected by the mutually perpendicular first inner ring rotating shaft and the second inner ring. The ring rotating shaft is connected to the outer wall of the first fixed shaft and the inner wall of the middle sleeve respectively. Through the telescopic movement of the transmission rod, it drives the middle sleeve to perform left and right yaw and up and down pitch movements.

Furthermore, the transmission rod is provided with two hinge shafts whose bending directions are perpendicular to each other, so that when the middle sleeve deflects, the transmission direction of the transmission rod does not shift.

Further, the bionic elephant foot movement mechanism is four bionic elephant feet, each bionic elephant foot includes a first steering gear provided on the robot body, and the driving end of the first steering gear is connected to the second steering gear, so A steering gear base is fixed to the outside of the second steering gear. A thigh piece is fixed to the driving end of the second steering gear. The thigh piece is connected to the calf piece through a connecting shaft. A third steering gear is provided on the thigh piece. The driving end of the third steering gear is connected to the lower leg member through a rotating shaft connecting rod, and the bionic elephant foot is controlled by controlling the first steering gear, the second steering gear and the third steering gear.

The above-mentioned spraying control method of the bionic elephant spraying robot includes the following steps:

S1. Plan the spraying trajectory. The main steps of planning the trajectory are: spraying surface shape, setting parameters, generating spraying trajectory, generating robot motion trajectory, including trunk movement and leg movement, analyzing simulation and generating robot control program to control joint motor movement; The spray surface modeling stage is obtained through three-dimensional modeling or point cloud scanning, and the spray surface CAD data is obtained through modeling;

S2. Assuming that the paint viscosity, temperature, air pressure and humidity remain unchanged, import the CAD data of the spray surface into the trajectory planning software, set the nozzle opening angle, paint rate flux, expected spray film thickness and allowable spray deviation, and generate a spray Trajectory, complete trajectory planning and optimization, automatically generate spraying trajectories through parameters, and optimize the solution with the shortest spraying time. The spraying area of the nozzle at a certain position can be expressed as a circular area. The radius of the spraying circular area is R, and the nozzle trajectory It is the solution set of the nozzle at each position. The position of the nozzle at a certain point in the trajectory can be expressed as (X, Y, Z, α, β, γ), where X, Y, Z represent the nozzle relative to the fixed Cartesian coordinate system The XYZ position, α, β, and γ respectively represent the rotation angle of the nozzle relative to the XYZ axis;

S3. Use the principle of inverse kinematics of the robot to convert the generated nozzle trajectory into the motion trajectory of each joint of the robot;

S4. Build a simulation environment based on the data in the previous steps, graphically display the robot nozzle trajectory, motion trajectory, and sprayed surface, display the coating coverage of the sprayed surface when the nozzle sprays along the specified path, and list the average thickness of the sprayed surface. and maximum deviation data, and can also simulate whether there is a collision between the robot and the workpiece;

S5. At the end of the simulation, import the robot's motion trajectory into the program generation module, set the initial position of the robot and the initial state of each joint of the robot, and generate the motor control program for each joint of the robot;

S6. Place the robot in the initial position and initial state, turn on the robot, and transmit power to the first main control board and the second main control board. The initial state is that the four limbs and legs stand upright in the spraying position;

S7, temperature sensor module, ranging sensor module, inertial navigation module, camera and ultrasonic liquid level sensor transmit the measured signal to the console display to display the robot working environment, and display the distance to the spray wall through the ranging sensor. A warning is issued when the distance is less than a safe distance, the robot's path map is displayed through the inertial navigation module, and the robot's own posture and surrounding environment are displayed through digital twin technology. The temperature sensor reflects the current ambient temperature to the remote console display in real time, and the ultrasonic liquid level sensor transmits The paint liquid level in the paint tank. When the liquid level is less than 5cm, a prompt will be sent to the remote control terminal;

S8. If the temperature measured by the temperature sensor module exceeds the explosion-proof warning temperature, the robot will automatically turn off the main switch. If the temperature in the cabin is lower than the explosion-proof warning temperature, it will work normally;

S9. If the infrared obstacle avoidance sensor detects whether there is an obstacle ahead, when the infrared obstacle avoidance sensor finds an obstacle exceeding the maximum height threshold, it will stop moving; when the infrared obstacle avoidance sensor finds that the height of the obstacle is between the maximum height threshold and the minimum height When between the thresholds, obstacle avoidance actions are taken normally;

S10. If the robot stumbles due to operation or accident, the main board reads the attitude information of the balance module and determines the abnormality, immediately shuts down the spray pump and controls the steering gear unit to climb up and stand up to restore the original attitude;

S11. Transmit the spraying environment image to the console through the camera, and the remote control terminal controls the bionic elephant trunk transmission mechanism to face the spraying area through remote control, and turns on the spraying pump;

S12. During spraying, the trunk mechanism and the fuselage remain relatively stationary. The wet film thickness of the sprayed layer is detected through the laser film thickness ranging module. In order to keep the wet film thickness of the sprayed film under the index, the movement power of the steering gear unit is adjusted according to the measured film thickness. To ensure that the walking speed of the robot is adjusted according to the different wet film thickness indicators, so that under the specified wet film thickness indicator, the steering gear unit maintains uniform speed transmission and achieves uniform spraying;

S13. According to the display information of the remote console, send signal instructions through the remote control terminal to enable the robot to complete the work.

Beneficial effects: Compared with the existing technology, the advantages of the present invention are: while realizing manual remote control of the robot for spraying operations, the unique elephant trunk bionic mechanism can achieve flexible spraying and ignore problems such as spraying dead corners, and can cope with spraying in narrow cabins. The working space improves the efficiency of spraying work.

Description of the drawings

Figure 1 is an overall structural diagram of the present invention;

Figure 2 is a structural diagram of the bionic elephant trunk transmission mechanism of the present invention;

Figure 3 is a structural diagram of Figure 2 with the rack removed;

Figure 4 is a structural view of the bionic elephant trunk transmission mechanism from the first fixed shaft to the end of the elephant trunk according to the present invention;

Figure 5 is a structural view of Figure 4 after removing the first coat, the second coat and the third coat;

Figure 6 is a structural diagram of the meshing state of the involute annular ball gear mechanism of the present invention;

Figure 7 is a structural diagram of the bionic elephant foot of the present invention;

Figure 8 is a structural diagram of the bionic elephant foot movement mechanism of the present invention;

Figure 9 is a schematic flow chart of the spray control method of the present invention;

Figure 10 is a wiring schematic diagram of the first main control board transmitting signals to the remote console according to the present invention;

Figure 11 is a schematic wiring diagram of the remote control terminal transmitting signals to the second main control board of the robot according to the present invention.

Implementation

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and examples.

A bionic elephant spraying robot as shown in Figure 1 includes a robot body and a robot body located on the robot body:

The first main control board 1-1, the first wireless communication module, the temperature sensor module 1-2, the ranging sensor module 1-3, the inertial navigation module 1-4, and the camera 1-5; the second main control board 2-1 , second wireless communication module, balance module 2-2, infrared obstacle avoidance sensor 2-3, laser film thickness detection sensor 2-4; the first wireless communication module and the second wireless communication module both contain AS01 wireless communication module and AS01- The ML01DP5 wireless communication module can wirelessly transmit remote control signals to the bionic robot, and can also transmit environmental data signals to the remote control end. Paint tank 3-1, spray hose outlet 3-2, paint pouring inlet 3-3, spray hose 3-4, lithium battery box, the paint tank 3-1 is equipped with a spray pump and ultrasonic liquid level Sensor; bionic elephant trunk transmission mechanism, the laser film thickness detection sensor 2-4 is located at the extended end of the bionic elephant trunk transmission mechanism, and the spraying port of the spray hose 3-4 is also located at the extended end of the bionic elephant trunk transmission mechanism ; Bionic elephant foot movement mechanism. The lithium battery box is provided with a charging port, and supplies power to each electronic component through a voltage stabilizing module.

The first main control board 1-1 connects and controls the first wireless communication module, temperature sensor module 1-2, ranging sensor module 1-3, inertial navigation module 1-4, camera 1-5 and ultrasonic liquid level sensor ; The second main control board 2-1 connects and controls the second wireless communication module, balance module 2-2, infrared obstacle avoidance sensor 2-3, laser film thickness detection sensor 2-4, spray pump, and bionic elephant trunk transmission Mechanism and bionic elephant foot movement mechanism.

The above-mentioned electrical products are required to be sealed and cannot be exposed to gas environment. A digital twin system is established through three-dimensional analysis of the robot and spraying positions, and the robot's motion posture and surrounding environment conditions are transmitted to the console.

As shown in Figure 2-6, the bionic elephant trunk transmission mechanism includes a frame 4-1 provided on the robot body. The frame 4-1 is sequentially provided with linear motors 4-2, Lead screw 4-3, front end cover 4-4, connecting hole sleeve 4-5, two linear motors 4-2 are arranged horizontally, their driving ends are connected to lead screws 4-3 respectively, and the front end cover 4- 4 is fixed on the frame 4-1, the screw 4-3 extends to the front end cover 4-4 and is connected through the screw bearing 4-6, and the connecting hole sleeve 4-5 is fixed on the front end cover 4-4 On the front end cover 4-4, a first fixed shaft 4-7 is fixed and extends in the direction of the elephant trunk. A middle sleeve 4-8 is coaxially mounted on the first fixed shaft 4-7. The sleeve 4-8 is connected to the first fixed shaft 4-7 through the first inner ring sleeve 4-9. The side of each screw 4-3 is respectively provided with a transmission rod 4-10 parallel to it. One end of the rod 4-10 is connected to the screw 4-3 through the screw sleeve 4-11, and the other end extends to the side of the middle sleeve 4-8 and is connected to the outside of the middle sleeve 4-8 through a connecting piece; the transmission rod 4 -10 is provided with two hinge rotating shafts 4-10-1 whose bending directions are perpendicular to each other, so that when the middle sleeve 4-8 deflects, the transmission direction of the transmission rod 4-10 does not deflect.

The end of the first fixed shaft 4-7 is successively provided with a first involute annular toothed ball gear mechanism 4-12, a second involute annular toothed ball gear mechanism 4-13, and a third involute annular toothed ball gear mechanism 4-13 along the extending direction of the elephant trunk. Involute ring gear mechanism 4-14, a first cross transmission mechanism is provided between the first involute ring gear mechanism 4-12 and the second involute ring gear mechanism 4-13 4-15. A second cross transmission mechanism 4-16 is provided between the second involute ring-shaped ball gear mechanism 4-13 and the third involute ring-shaped ball gear mechanism 4-14. The third The involute ring gear ball gear mechanism 4-14 is connected to a second fixed shaft 4-17, and a second inner ring sleeve 4-18 is set on the second fixed shaft 4-17. The first cross transmission mechanism 4-15 includes a first cross transmission member 4-15-1 connected to the first involute ring gear mechanism 4-12, and a first cross transmission member 4-15-1 connected to the second involute ring gear mechanism 4-13. The second cross transmission part 4-15-2 and the first cross shaft 4-15-3, the first cross transmission part 4-15-1 and the first cross transmission part 4-15-2 are both U-shaped structures , its U-shaped struts are respectively connected to both coaxial ends of the first cross shaft 4-15-3; the second cross transmission mechanism 4-16 includes a connection with the second involute annular ball gear mechanism 4-13 The second cross transmission part 4-16-1, the second cross transmission part 4-16-2 and the second cross shaft 4-16-3 connected to the third involute ring gear ball gear mechanism 4-14 , the second cross transmission part 4-16-1 and the second cross transmission part 4-16-2 are both U-shaped structures, and their U-shaped struts are the same as those of the second cross shaft 4-16-3 respectively. The two ends of the shaft are connected; the outer wall of the second inner ring sleeve 4-18 is provided with an inner ring rotating shaft 4-18-1; the middle sleeve 4-8 is coaxially fixedly connected with the first outer sleeve 4-19 and the third outer sleeve 4-19. An outer sleeve 4-19 extends to form the same U-shaped structure as the first cross transmission part 2 4-15-2, and its U-shaped struts pass through the U-shaped struts of the first cross transmission part 2 4-15-2 respectively. The axes of a cross shaft 4-15-3 are connected correspondingly. The second involute ring gear ball gear mechanism 4-13 is sleeved with a second outer sleeve 4-20, and both ends of the second outer sleeve 4-20 extend A U-shaped strut is formed and connected to the first cross transmission member 4-15-1 and the second cross transmission member 4-16-2 in the same manner as the first outer jacket 4-19. The third involute line The ring-shaped ball gear mechanism 4-14 is equipped with a third outer jacket 4-21. The third outer jacket 4-21 is connected to the second cross transmission member 4-16-1 and the inner inner sleeve in the same manner as the second outer jacket 4-20. The rotating shaft 4-18-1 is connected, and the laser film thickness detection sensor 2-4 is provided at the end of the second fixed shaft 4-17. Since a pair of involute ring-toothed ball gear mechanisms can theoretically rotate 60° around the axis, the elephant trunk bionic mechanism can pitch up and down 120° and deflect left and right 240°.

The first inner ring sleeve 4-9 and the second inner ring sleeve 4-18 have the same structure and include a first inner ring 4-9-1. The inner and outer sides of the first inner ring 4-9-1 are respectively Through the mutually perpendicular first inner ring rotating shaft 4-9-2 and the second inner ring rotating shaft 4-9-3, they are respectively connected to the outer wall of the first fixed shaft 4-7 and the inner wall of the middle sleeve 4-8, and through the transmission rod The telescopic movement of 4-10 drives the middle sleeve 4-8 to perform left and right yaw and up and down pitching movements.

As shown in Figures 7-8, the bionic elephant foot movement mechanism is four bionic elephant feet. Each bionic elephant foot includes a first steering gear 5-1 provided on the robot body. The first steering gear 5-1 The driving end of 1 is connected to the second steering gear 5-2. The second steering gear 5-2 is fixed with a steering gear base 5-3. The driving end of the second steering gear 5-2 is fixed with a thigh piece 5-2. 4. The thigh piece 5-4 is connected to the lower leg piece 5-6 through the connecting shaft 5-5. The thigh piece 5-4 is provided with a third steering gear 5-7, and the third steering gear 5-7 drives The end is connected to the lower leg piece 5-6 through the rotating shaft connecting rod 5-8. The rotating shaft connecting rod 5-8 makes a crank movement to realize the thigh linkage with the lower leg and the movement of lifting the lower leg. Control of the bionic elephant foot is achieved by controlling the first servo 5-1, the second servo 5-2 and the third servo 5-7.

The second steering gear 5-2 located in the steering gear base 5-3 is connected to the thigh. When the steering gear rotates, the thigh is driven to swing forward and backward along the path direction, and is connected to the second steering gear 5-2 through the third steering gear 5-7. The rotation can realize the bending and stretching of the legs. The first steering gear 5-1 is movably connected to one end of the steering gear base 5-3. When the first steering gear 5-1 rotates, the whole leg can be deflected left and right around the axis of the first steering gear 5-1 to achieve stability. and the overall left-right steering motion of the robot. The four-legged motion control method of the bionic robot is the combined movement of two sets of legs on diagonals. The left front leg and right rear leg are one set, and the right front leg and left rear leg are one set. The first set of legs makes a forward movement. After landing, The second set of legs then extends forward, and the two sets of legs reciprocate to achieve forward or backward movement. Then, the four first servos control the left and right deflection of the four legs to achieve the overall crawling, head-raising, turning, and other movements of the robot. The stability of the body.

Before producing the robot and the control method, a digital twin was established through three-dimensional analysis of the bionic elephant robot, and various digital working conditions were applied and tested to virtualize the digital twin in various working environments. Test and iterate. After the test results meet the standards initially set by the control system, 1. Use digital twin technology to visualize the movement posture behavior of the bionic elephant spraying mechanism, and at the same time conduct status evaluation and performance evaluation of the robot's quadruped movement mechanism and trunk transmission mechanism. When the evaluation standards are not met, the remote control terminal is prompted to evacuate the robot from the working environment. 2. Use digital twin technology to predict faults on the robot of the present invention. 3. Optimize the design and performance of the bionic elephant robot through digital twin technology and improve product development. 4. Through digital twin technology, the remote control terminal signal transmission and the signal feedback of various sensors in the console are collaboratively controlled to improve the integration of the control system.

As shown in Figure 9-11, the above-mentioned spraying control method of the bionic elephant spraying robot includes the following steps:

Plan the spraying trajectory. The main steps of planning the trajectory are: spray surface shape, set parameters, generate spraying trajectory, generate robot motion trajectory, including trunk movement and leg movement, analyze simulation and generate robot control program to control joint motor movement; where spraying The surface modeling stage is obtained through three-dimensional modeling or point cloud scanning, and the sprayed surface CAD data is obtained through modeling;

Assuming that the paint viscosity, temperature, air pressure and humidity remain unchanged, import the CAD data of the spray pattern surface into the trajectory planning software, set the nozzle opening angle, paint rate flux, expected spray film thickness and allowable spray deviation to generate a spray trajectory. Complete trajectory planning and optimization, automatically generate spraying trajectories through parameters, and optimize the solution with the shortest spraying time. The spraying area of the nozzle at a certain position can be expressed as a circular area. The radius of the spraying circular area is R, and the nozzle trajectory is the nozzle. In the solution set at each position, the position of the nozzle at a certain point in the trajectory can be expressed as (X, Y, Z, α, β, γ), where X, Y, Z are expressed as the position of the nozzle relative to the fixed Cartesian coordinate system XYZ Position, α, β, and γ respectively represent the rotation angle of the nozzle relative to the XYZ axis;

Through the principle of robot inverse kinematics, the generated nozzle trajectory is converted into the motion trajectory of each joint of the robot;

Build a simulation environment based on the data in the previous steps, graphically display the robot nozzle trajectory, motion trajectory, and sprayed surface, display the coating coverage of the sprayed surface when the nozzle sprays along the specified path, and list the average thickness and maximum thickness of the sprayed surface. Deviation data can also simulate whether there is a collision between the robot and the workpiece;

After the simulation is completed, import the robot's motion trajectory into the program generation module, set the initial position of the robot and the initial state of each joint of the robot, and generate the motor control program for each joint of the robot;

Place the robot in the initial position and initial state, turn on the main switch of the bionic elephant spraying robot, and transmit power to the first main control board and the second main control board. The initial state is that the four limbs and elephant legs are standing vertically on the cabin surface.

The temperature sensor module, ranging sensor module, inertial navigation module, camera and ultrasonic liquid level sensor transmit the measured signal to the console display. The camera displays the working environment of the bionic elephant robot, and the ranging sensor displays the distance between the robot and the ship's bulkhead. When the distance is less than the safe distance, a warning is issued. The robot's path map is displayed through the inertial navigation module. The robot's own posture and surrounding environment are displayed through digital twin technology. The temperature sensor reflects the current ambient temperature to the remote console display in real time. Ultrasonic fluid The level sensor transmits the paint liquid level in the paint tank. When the liquid level is less than 5cm, a prompt is sent to the remote control terminal.

If the temperature measured by the temperature sensor exceeds the explosion-proof warning temperature, the robot automatically turns off the main switch. If the temperature in the cabin is lower than the explosion-proof warning temperature, it will operate normally.

If the infrared obstacle avoidance sensor detects whether there is an obstacle in front, when the infrared obstacle avoidance sensor detects an obstacle exceeding the maximum height threshold, it will stop moving; when the infrared obstacle avoidance sensor detects that the height of the obstacle is between the maximum height threshold and the minimum height threshold. time, take normal obstacle avoidance actions.

If the bionic elephant painting robot stumbles due to operation or accident, the main board reads the attitude information of the balance module and determines the abnormality, immediately shuts down the spray pump and controls the steering gear unit to climb up and stand to restore the original attitude.

The image of the spraying environment is transmitted to the console through the camera, and the remote control terminal controls the elephant's trunk to face the spraying area through remote control and turns on the spraying pump.

During spraying, the trunk mechanism and the fuselage remain relatively stationary, and the wet film thickness of the sprayed layer is detected through the laser film thickness ranging module. In order to keep the wet film thickness of the sprayed film under the index, the movement power of the steering gear unit is adjusted according to the measured film thickness to ensure As the wet film thickness index is different, the walking speed of the elephant is adjusted, so that under the specified wet film thickness index, the steering gear unit maintains uniform speed transmission and achieves uniform spraying.

The worker sends signal instructions through the remote control terminal according to the display information of the remote console, so that the robot of the present invention completes the work.

Claims (7)

1. A bionic image spraying robot is characterized by comprising a robot body and a plurality of spraying robots, wherein the spraying robots are arranged on the robot body:

the device comprises a first main control board (1-1), a first wireless communication module, a temperature sensor module (1-2), a distance measuring sensor module (1-3), an inertial navigation module (1-4) and a camera (1-5);

the device comprises a second main control board (2-1), a second wireless communication module, a balancing module (2-2), an infrared obstacle avoidance sensor (2-3) and a laser film thickness detection sensor (2-4);

the paint spraying device comprises a paint tank (3-1), a spraying hose outlet (3-2), a paint pouring inlet (3-3), a spraying hose (3-4) and a lithium battery box, wherein a spraying pump and an ultrasonic liquid level sensor are arranged in the paint tank (3-1);

the laser film thickness detection sensor (2-4) is arranged at the extending end of the bionic trunk transmission mechanism, and a spraying opening of the spraying hose (3-4) is also arranged at the extending end of the bionic trunk transmission mechanism;

a bionic elephant foot movement mechanism;

the bionic trunk transmission mechanism comprises a frame (4-1) arranged on a robot body, the frame (4-1) is sequentially provided with a linear motor (4-2), a lead screw (4-3), a front end cover (4-4) and a connecting hole sleeve (4-5) along the trunk extending direction, the linear motor (4-2) is horizontally arranged in parallel, the driving ends of the linear motor are respectively connected with the lead screw (4-3), the front end cover (4-4) is fixed on the frame (4-1), the lead screw (4-3) extends to the front end cover (4-4) and is connected with the lead screw through a lead screw bearing (4-6), the connecting hole sleeve (4-5) is fixed on the front end cover (4-4), a first fixed shaft (4-7) is fixed on the front end cover (4-4) and extends towards the trunk extending direction, a middle sleeve (4-8) is coaxially sleeved on the first fixed shaft (4-7), the middle sleeve (4-8) is connected with the first fixed shaft (4-7) through a first inner ring sleeve (4-9), each side edge of the middle sleeve is parallel to one lead screw (4-10), one end of the transmission rod (4-10) is connected with the screw rod (4-3) through the screw rod sleeve (4-11), and the other end extends to the side edge of the middle sleeve (4-8) and is connected with the outer side of the middle sleeve (4-8) through a connecting piece;

the end part of the first fixed shaft (4-7) is sequentially provided with a first involute annular gear ball gear mechanism (4-12), a second involute annular gear ball gear mechanism (4-13) and a third involute annular gear ball gear mechanism (4-14) along the extending direction of the trunk, a first cross transmission mechanism (4-15) is arranged between the first involute annular gear ball gear mechanism (4-12) and the second involute annular gear ball gear mechanism (4-13), a second cross transmission mechanism (4-16) is arranged between the second involute annular gear ball gear mechanism (4-13) and the third involute annular gear ball gear mechanism (4-14), the third involute annular gear ball gear mechanism (4-14) is connected with a second fixed shaft (4-17), a second inner ring sleeve (4-18) is sleeved on the second fixed shaft (4-17), the first cross transmission mechanism (4-15) comprises a first cross transmission piece (4-15) connected with the first involute annular gear ball gear mechanism (4-12), a second cross transmission piece (4-15) connected with the second cross transmission piece (4-15) and a second cross transmission piece (4-15) connected with the second cross transmission piece (4-15), the first cross transmission piece I (4-15-1) and the first cross transmission piece II (4-15-2) are of U-shaped structures, and U-shaped supporting rods of the U-shaped structures are respectively connected with the two coaxial ends of the first cross rotating shaft (4-15-3); the first and second (4-16-1, 4-16-3) of the first and second (4-16-2) of the second (4-16-1) of the third (4-14) of the third) involute ring gear mechanism are respectively connected with the coaxial two ends of the first (4-16-3) of the second (4-16-1) of the third involute ring gear mechanism; an inner ring rotating shaft (4-18-1) is arranged on the outer wall of the second inner ring sleeve (4-18); the middle sleeve (4-8) is coaxially and fixedly connected with a first outer sleeve (4-19), the first outer sleeve (4-19) extends to form a U-shaped structure identical to that of a first cross transmission piece II (4-15-2), the U-shaped supporting rods of the middle sleeve are respectively connected with the U-shaped supporting rods of the first cross transmission piece II (4-15-2) correspondingly through the shaft of a first cross rotating shaft (4-15-3), a second outer sleeve (4-20) is sleeved on a second involute ring gear mechanism (4-13), two ends of the second outer sleeve (4-20) extend to form U-shaped supporting rods, the U-shaped supporting rods are respectively connected with the first cross transmission piece I (4-15-1) and the second cross transmission piece II (4-16-2) in the same mode of the first outer sleeve (4-19), a third outer sleeve (4-21) is sleeved on the third involute ring gear mechanism (4-14) in the same mode of the second outer sleeve (4-20) and is respectively connected with a first laser sensor (4-16-2) and a second laser sensor (4-1) at the end part of the second outer sleeve (4-20).

2. The biomimetic image spraying robot according to claim 1, wherein: and a charging port is arranged on the lithium battery box, and power is supplied to each electronic component through the voltage stabilizing module.

3. The biomimetic image spraying robot according to claim 1, wherein: the first main control board (1-1) is connected with and controls the first wireless communication module, the temperature sensor module (1-2), the distance measuring sensor module (1-3), the inertial navigation module (1-4), the camera (1-5) and the ultrasonic liquid level sensor; the second main control board (2-1) is connected with and controls the second wireless communication module, the balance module (2-2), the infrared obstacle avoidance sensor (2-3), the laser film thickness detection sensor (2-4), the spraying pump, the bionic trunk transmission mechanism and the bionic trunk movement mechanism.

4. The biomimetic image spraying robot according to claim 1, wherein: the first inner ring sleeve (4-9) and the second inner ring sleeve (4-18) are identical in structure and comprise a first inner ring (4-9-1), the inner side and the outer side of the first inner ring (4-9-1) are respectively connected with the outer wall of the first fixed shaft (4-7) and the inner wall of the middle sleeve (4-8) through a first inner ring rotating shaft (4-9-2) and a second inner ring rotating shaft (4-9-3) which are mutually perpendicular, and the middle sleeve (4-8) is driven to do left-right deflection and pitching movement up and down through telescopic movement of a transmission rod (4-10).

5. The biomimetic image spraying robot of claim 4, wherein: two hinge rotating shafts (4-10-1) with mutually perpendicular bending directions are arranged on the transmission rod (4-10), so that when the middle sleeve (4-8) deflects, the transmission direction of the transmission rod (4-10) does not deviate.

6. The biomimetic image spraying robot according to claim 1, wherein: the bionic image foot motion mechanism is four bionic image feet, each bionic image foot comprises a first steering engine (5-1) arranged on a robot body, a driving end of each first steering engine (5-1) is connected with a second steering engine (5-2), a steering engine base (5-3) is fixedly arranged outside each second steering engine (5-2), thigh pieces (5-4) are fixedly arranged at the driving ends of the second steering engines (5-2), the thigh pieces (5-4) are connected with the thigh pieces (5-6) through connecting shafts (5-5), third steering engines (5-7) are arranged on the thigh pieces (5-4), driving ends of the third steering engines (5-7) are connected with the thigh pieces (5-6) through rotating shaft connecting rods (5-8), and control of the bionic image feet is achieved through control of the first steering engines (5-1), the second steering engines (5-2) and the third steering engines (5-7).

7. The spray control method of a bionic image spray robot according to claim 1, comprising the steps of:

s1, planning a spraying track, wherein the main steps of planning the track are as follows: spraying surface modeling, parameter setting, spraying track generation, robot motion track generation, trunk motion and leg motion, analysis simulation and robot control program generation, and joint motor motion control; the spray surface modeling stage is realized by three-dimensional modeling or point cloud scanning, and spray surface CAD data is obtained through modeling;

s2, assuming that the viscosity, temperature, air pressure and humidity of paint are kept unchanged, introducing CAD data of the surface of a spray pattern into track planning software, setting the opening angle, coating rate flux, expected spraying film thickness and allowable spraying deviation of a spray nozzle, generating a spraying track, completing track planning and optimizing, automatically generating the spraying track through parameters, optimizing to obtain a scheme with shortest spraying time, wherein a spraying area of the spray nozzle at a certain position is represented as a circular area, the radius of the spraying circular area is R, the spray nozzle track is a solution set of the spray nozzle at each position, the position of the spray nozzle at a certain point in the track is represented as X, Y, Z, alpha, beta and gamma, wherein X, Y, Z is represented as the position of the spray nozzle relative to a fixed Cartesian coordinate system XYZ, and alpha, beta and gamma respectively represent the rotation angle of the spray nozzle relative to the XYZ axes;

s3, converting the generated spray head track into a motion track of each joint of the robot through a robot inverse kinematics principle;

s4, setting up a simulation environment according to the data of the previous steps, carrying out graphical display on the track, the motion track and the spraying surface of the robot nozzle, displaying the coating coverage condition of the sprayed surface when the nozzle is sprayed along a specified path, listing the average thickness and the maximum deviation data of the spraying surface, and simulating whether the robot collides with a workpiece or not;

s5, after the simulation is finished, introducing a motion trail of the robot into a program generation module, setting an initial position of the robot and an initial state of each joint of the robot, and generating a motor control program of each joint of the robot;

s6, placing the robot in an initial position and an initial state, starting the robot, transmitting power to the first main control board and the second main control board, wherein the initial state is that limbs stand at a spraying position like legs vertically;

s7, the temperature sensor module, the ranging sensor module, the inertial navigation module, the camera and the ultrasonic liquid level sensor transmit measured signals to a control console display screen to display the working environment of the robot, the distance between the working environment and the spraying wall is displayed through the ranging sensor, a warning is sent out when the working environment is smaller than the safe distance, a path diagram of the robot is displayed through the inertial navigation module, the self-posture and the surrounding environment condition of the robot are displayed through a digital twin technology, the temperature sensor reflects the current environment temperature to a remote control console display screen in real time, the ultrasonic liquid level sensor transmits the liquid level height of paint in the paint tank, and when the liquid level height is smaller than 5cm, a prompt is sent to a remote control end;

s8, if the temperature measured by the temperature sensor module exceeds the explosion-proof warning temperature, the robot automatically turns off the master switch, and if the temperature in the cabin is lower than the explosion-proof warning temperature, the robot works normally;

s9, if the infrared obstacle avoidance sensor detects whether an obstacle exists in front, stopping moving when the infrared obstacle avoidance sensor finds that the obstacle exceeds a maximum height threshold; when the infrared obstacle avoidance sensor finds that the height of the obstacle is between the maximum height threshold value and the minimum height threshold value, normally taking an obstacle avoidance action;

s10, if the robot is tripped carelessly or operated, the main board reads the posture information of the balance module, and judges that the robot is abnormal, the spraying pump is immediately turned off to work, and the rudder unit is controlled to take a climbing standing action to restore the original posture;

s11, transmitting a spraying environment image to a control console through a camera, and enabling a remote control end to start a spraying pump by controlling a bionic trunk transmission mechanism to face a spraying area through remote control;

s12, during spraying, the trunk mechanism and the machine body are kept relatively static, the wet film thickness of the spraying layer is detected through the laser film thickness ranging module, the moving power of the rudder unit is adjusted according to the measured film thickness to ensure that the walking speed of the robot is adjusted along with different film thickness indexes of the wet film, and therefore the steering engine group keeps uniform speed transmission under the specified film thickness indexes of the wet film, and uniform spraying is achieved;

s13, according to display information of the remote control console, a signal instruction is sent out through the remote control end, so that the robot can complete work.