CN114011621B

CN114011621B - Intelligent spraying device

Info

Publication number: CN114011621B
Application number: CN202111322332.8A
Authority: CN
Inventors: 吴军; 张瑞杰; 宋雨遥
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2023-07-18
Anticipated expiration: 2041-11-09
Also published as: CN114011621A

Abstract

The invention discloses an intelligent spraying device, which comprises: a movement trolley; the spraying system is arranged on the moving trolley and is provided with a spray gun capable of moving in multiple degrees of freedom; the acquisition system is used for acquiring external state information of the equipment to be sprayed; the integrated control module is used for receiving and analyzing the external state information acquired by the acquisition system, and controlling the spraying system to move after identifying the position to be sprayed of the equipment to be sprayed so that the spray gun sprays the position to be sprayed. The intelligent spraying device can automatically realize the spraying of the defect part of the equipment to be sprayed, has a simple structure, large working space and flexible movement, and can carry out paint repair operation aiming at different types of equipment to be sprayed.

Description

Intelligent spraying device

Technical Field

The invention relates to the technical field of mechanical manufacturing, in particular to an intelligent spraying device.

Background

In important manufacturing fields such as aviation, automobiles, the quality of surface coatings of airplanes, automobiles and the like is important, the attractiveness of the surfaces of equipment is affected, and a body can be protected from corrosion and ageing, so that the safety is affected. In the related art, a robot coating production line is adopted in an aircraft and automobile manufacturing plant, and the automatic spraying of the surfaces of the aircraft and the automobile is realized through manual off-line programming. After an aircraft or an automobile is used in a complex environment for a period of time, physical or chemical damage is often generated due to accidental collision or long-term corrosion, and in order to avoid forming accumulated corrosion, irregular coating defects need to be identified and repaired.

However, the fixed coating production line of the aircraft and automobile manufacturing plants has large occupied area, high cost and low spraying flexibility, and is no longer suitable for the surface paint defect repair work with uncertain target aircraft, various automobile types, defect position shapes and the like in the aircraft and automobile maintenance plants. In particular, the existing aircraft and automobile maintenance factories almost completely adopt manual spraying to complete surface repair coating, obviously have the problems of low spraying quality and efficiency, much paint waste, serious environmental pollution, great human body injury and the like, and have room for improvement.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide an intelligent spraying device, which can automatically identify the position to be sprayed of equipment to be sprayed, and realize automatic spraying treatment, and has high spraying quality and efficiency.

According to an embodiment of the invention, an intelligent spraying device comprises: a movement trolley; the spraying system is arranged on the moving trolley and is provided with a spray gun capable of moving in multiple degrees of freedom; the acquisition system is used for acquiring external state information of the equipment to be sprayed; the integrated control module is used for receiving and analyzing the external state information acquired by the acquisition system, and controlling the spraying system to move after identifying the position to be sprayed of the equipment to be sprayed so that the spray gun sprays the position to be sprayed.

According to the intelligent spraying device provided by the embodiment of the invention, the geometric outline of the equipment to be sprayed can be automatically detected through the acquisition system, the defect part of the equipment to be sprayed is identified, and the movement trolley and the spraying system are further controlled to act, so that the defect part of the equipment to be sprayed is sprayed through the spray gun, the intelligent spraying device is simple in structure, large in working space, flexible in movement and wide in spraying range, and paint supplementing operation can be performed on different types of equipment to be sprayed.

According to some embodiments of the invention, the intelligent spraying apparatus comprises a main frame, a travelling mechanism for movably supporting the main frame on the ground, and a lifting mechanism for adjusting the height of the main frame relative to the ground, wherein the spraying system and the integrated control module are both mounted on the main frame.

According to some embodiments of the invention, the main frame has a mounting cavity therein, and the integrated control module is mounted in the mounting cavity; the installation cavity is provided with an installation opening, and the main frame is provided with a movable cabinet door which is used for selectively closing or opening the installation opening.

According to the intelligent spraying device of some embodiments of the present invention, the travelling mechanism is connected with the main frame through a shock absorber, the travelling mechanism is provided with an omni-wheel and a driving member, the driving member is electrically connected with the integrated control module, and an output end of the driving member is in power connection with the omni-wheel and is used for driving the omni-wheel to move relative to the main frame and the ground.

According to some embodiments of the invention, the lifting mechanism comprises an electric push rod and a supporting frame, wherein the electric push rod is connected between the supporting frame and the main frame and is used for driving the main frame to lift or fall relative to the supporting frame.

According to some embodiments of the invention, the intelligent spraying device comprises a frame component, a first moving branched chain, a second moving branched chain and a mounting rod piece, wherein the frame component is mounted on the moving trolley, and the first moving branched chain and the second moving branched chain are respectively and movably connected with the frame component; the first moving branched chain is movably connected with the first end of the mounting rod piece at one end deviating from the frame component, the second moving branched chain is movably connected with the second end of the mounting rod piece at one end deviating from the frame component, and the spray gun is mounted on the mounting rod piece.

According to some embodiments of the invention, the rack assembly comprises a rack, a first moving unit and a second moving unit, the rack is fixedly mounted on the moving trolley, the first moving unit is rotatably connected with the rack around a first axis, the second moving unit is rotatably connected with the first moving unit around a second axis, and the first moving branched chain and the second moving branched chain are rotatably connected with the second moving unit around a third axis.

According to some embodiments of the invention, the first moving branch comprises a first parallelogram mechanism, a first rod, a second rod and a third rod, the first parallelogram mechanism is rotatably connected with the frame assembly, a first end of the first rod and a first end of the second rod are rotatably connected with the first parallelogram mechanism respectively, a second end of the first rod, a second end of the second rod and a first end of the third rod are rotatably connected, and a second end of the third rod is rotatably connected with the first end of the mounting rod.

According to some embodiments of the invention, the second moving branch comprises a second parallelogram mechanism rotatably connected to the frame assembly and a fourth lever having a first end rotatably connected to the second parallelogram mechanism and a second end rotatably connected to the second end of the mounting lever.

According to some embodiments of the invention, the acquiring system comprises a first shooting device, a second shooting device, a laser radar and a light supplementing lamp, wherein the first shooting device and the second shooting device are installed in the spraying system and are arranged adjacent to the spray gun, the laser radar is installed in a spraying room, and the light supplementing lamp is arranged towards the device to be sprayed; the first shooting equipment is used for carrying out local and fine modeling on equipment to be sprayed, the second shooting equipment is used for identifying a part to be sprayed on the surface of the equipment to be sprayed, the laser radar is used for carrying out integral and preliminary modeling on the equipment to be sprayed, and the light supplementing lamp is used for supplementing light to a space where the equipment to be sprayed is located.

According to some embodiments of the invention, the intelligent spraying device further comprises a protection device, the protection device comprises a shell, a belt transmission structure, a mounting structure and a steering engine, the first shooting equipment is mounted in the shell, the shell is rotatably mounted in the mounting structure, and the steering engine is connected with the shell through the belt transmission structure and is used for driving the shell to rotate relative to the mounting structure.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic view of a construction of an intelligent spraying apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the structure of a motion cart of the intelligent spraying apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a spray system of an intelligent spray device according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a protection device of the intelligent spraying apparatus according to an embodiment of the present invention.

Reference numerals:

the intelligent spraying apparatus 100 is configured to perform,

the moving trolley 1, the main frame 11, the cabinet door 12, the shock absorber 13, the running mechanism 14, the lifting mechanism 15,

the spray system 2, the frame 21, the first movement unit 22, the second movement unit 23, the first parallelogram mechanism 241, the first rod 242, the second rod 243, the third rod 244, the second parallelogram mechanism 251, the fourth rod 252, the mounting rod 26, the spray gun 27,

a first hinge 31, a second hinge 32, a third hinge 33, a fourth hinge 34, a first compound hinge 35, a second compound hinge 36, a third compound hinge 37, a fourth compound hinge 38, a fifth compound hinge 39,

the acquisition system 4, the first photographing apparatus 41, the lidar 42, the housing 43, the belt transmission structure 44, the mounting structure 45, the steering engine 46,

and an integrated control module 5.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

The following describes an intelligent spraying device 100 according to an embodiment of the present invention with reference to fig. 1 to 4, where the intelligent spraying device 100 can acquire external status information of equipment to be sprayed, and perform corresponding judgment and analysis to accurately identify a defect position of the equipment to be sprayed, for example, when the intelligent spraying device is applied to maintenance of an aircraft or an automobile, a paint repair position of the aircraft or the automobile can be automatically identified, so that corresponding spraying operation is performed, and not only quality and efficiency of spraying can be improved, but also pollution can be reduced, the intelligent spraying device has a simple structure, a large working space, flexible movement, and strong adaptability.

As shown in fig. 1 to 4, an intelligent spraying apparatus 100 according to an embodiment of the present invention includes: a motion trolley 1, a spraying system 2, an acquisition system 4 and an integrated control module 5.

The movement trolley 1 is configured to be movably placed on the ground and the movement trolley 1 is capable of moving to different positions relative to the ground, e.g. the movement trolley 1 can be placed in a spray booth and moved relative to the equipment to be sprayed in the spray booth such that the movement trolley 1 moves to different positions around the equipment to be sprayed to effect a corresponding working process of the acquisition system 4 and the spray system 2 on the movement trolley 1.

The spraying system 2 is installed in the moving trolley 1, the spraying system 2 can be fixedly installed in the moving trolley 1, for example, a plurality of connecting holes are formed in the moving trolley 1, and the spraying system 2 can pass through the connecting pieces and are fixed on the moving trolley 1, so that the spraying system 2 can be detached and replaced conveniently, and the position of the spraying system 2 on the moving trolley 1 can be guaranteed to be stable.

The spray system 2 is provided with the spray gun 27 which can move with multiple degrees of freedom, namely, after the spray system 2 is stably installed relative to the moving trolley 1, the spray gun 27 can realize the position adjustment with multiple degrees of freedom relative to the moving trolley 1, for example, the spray gun 27 in the invention can realize the position adjustment with five degrees of freedom relative to the moving trolley 1, so that the spray gun 27 has a larger moving range and higher flexibility, is suitable for the spray of the outer surfaces of various different modeling devices, and can ensure the spray effect.

The obtaining system 4 is configured to obtain external state information of the equipment to be sprayed, where the external state information includes a geometric outline, a structural form, a surface color of the equipment to be sprayed, and the like, so that identification analysis of the equipment to be sprayed is implemented by combining with each feature of the external state information, and further determination of a defect part of the equipment to be sprayed is facilitated. Such as the acquisition system 4 for acquiring surface features of an aircraft or for acquiring surface features of an automobile.

The moving trolley 1, the spraying system 2 and the acquiring system 4 are all in communication connection with the integrated control module 5, so that information interaction can be realized by the integrated control module 5 in the spraying system 2 and the acquiring system 4, for example, the acquiring system 4 can send the acquired external state information of the equipment to be sprayed to the integrated control module 5, so that the integrated control module 5 can analyze the received external state information, for example, the geometric profile, the structural form and the surface color of the equipment to be sprayed are used for determining the defect position of the equipment to be sprayed, and after the position to be sprayed of the equipment to be sprayed is identified, the moving trolley 1 and the spraying system 2 are controlled to move so that the spray gun 27 sprays the position to be sprayed.

Therefore, the intelligent spraying device 100 can automatically detect the geometric outline of equipment to be sprayed through the acquisition system 4, identify the defect part of the equipment to be sprayed, and further control the motion trolley 1 and the spraying system 2 to act, so that the defect part of the equipment to be sprayed is sprayed through the spray gun 27, and the intelligent spraying device has the advantages of simple structure, large working space, flexible motion and wide spraying range, and can carry out paint repair operation on different types of equipment to be sprayed.

In some embodiments, the moving trolley 1 includes a main frame 11, a travelling mechanism 14 and a lifting mechanism 15, where, as shown in fig. 1 and 2, the main frame 11 is configured as a cube structure, so that a relatively flat installation plane is configured on an upper surface of the main frame 11, so that the spraying system 2 can be installed on the installation plane, so that the working environment of the spraying system 2 is relatively stable, and the integrated control module 5 is installed on the main frame 11, so that the state of the integrated control module 5 is stable, and the integrated control module 5 is beneficial to realizing communication connection with the spraying system 2 and the acquisition system 4 in an electric connection manner.

As shown in fig. 2, four corners of the bottom of the main frame 11 are respectively provided with a running mechanism 14, and the running mechanism 14 movably supports the main frame 11 on the ground, so that the main frame 11 can move relative to the ground under the action of the running mechanism 14, and further, the intelligent spraying device 100 can move to different space positions in the spraying room. And the four running mechanisms 14 correspondingly installed on the main frame 11 can cooperate, for example, the four running mechanisms 14 are all in communication connection with the integrated control module 5, so that the integrated control module 5 can control the four running mechanisms 14 simultaneously, the upper surface of the main frame 11 is kept stable after the four corner positions of the main frame 11 cooperatively run, and the spraying system 2 can accurately spray the positions to be sprayed.

And, as shown in fig. 2, a lifting mechanism 15 is disposed at the bottom of the main frame 11, where the lifting mechanism 15 is used to adjust the height of the main frame 11 relative to the ground, i.e. the lifting mechanism 15 can drive the main frame 11 to move away from the ground, so as to increase the height of the spray gun 27 relative to the ground, so as to implement spraying at a higher position of the equipment to be sprayed, or the lifting mechanism 15 can drive the main frame 11 to move toward the ground, so as to reduce the height of the spray gun 27 relative to the ground, so as to implement spraying at a lower position of the equipment to be sprayed. During spraying, the lifting mechanism 15 is lifted, and the whole mechanism and ground support function is realized instead of the running mechanism 14, so that the support in the spraying process is more stable; during movement, the lifting mechanism 15 falls so that the running gear 14 is in contact with the ground, thereby effecting movement of the trolley.

In some embodiments, the main frame 11 has a mounting cavity, that is, the main frame 11 is configured as a hollow structure, for example, four spaces with two large and two small are formed in the main frame 11, and the integrated control module 5 may be integrally mounted in the four spaces of the mounting cavity, so that the main frame 11 can play a role in protecting the integrated control module 5.

Wherein the installation cavity has the installation mouth, the installation mouth opens in one side of main frame 11 promptly to make the installation mouth be used for with installation cavity and external space intercommunication, like this, the integrated control module 5 can be packed into the installation intracavity from the installation mouth, perhaps take out integrated control module 5 from the installation mouth, and as shown in fig. 2, main frame 11 is equipped with mobilizable cabinet door 12, cabinet door 12 is used for selectively closing or opening the installation mouth, from this, be convenient for realize the getting of integrated control module 5 and put, do benefit to later stage to integrated control module 5 and change and maintenance.

In some embodiments, the chassis 14 is connected to the main frame 11 by the damper 13, i.e. the damper 13 is elastically supported between the main frame 11 and the chassis 14, so that the damper 13 can play a role in damping the main frame 11. In this way, during the movement of the movement trolley 1, the vibration of the movement trolley 1 during the movement is greatly reduced by the arrangement of the shock absorber 13, and the stable state of the spray gun 27 is ensured.

The running mechanism 14 is provided with an omni-wheel and a driving member, the driving member is fixedly mounted at the bottom of the main frame 11, the omni-wheel is movably mounted at the bottom of the main frame 11, the output end of the driving member is in power connection with the omni-wheel, and the driving member is used for driving the omni-wheel to move relative to the main frame 11 and the ground. The omni-wheel can realize active movement in the direction perpendicular to the wheel axis and passive movement in the directions parallel to the wheel axis. The driving piece is electrically connected with the integrated control module 5, namely the integrated control module 5 can directly control the driving piece, wherein the driving piece can adopt a driving motor so that a motor shaft of the driving motor is in power connection with a wheel shaft of the omnidirectional wheel, and the omnidirectional wheel is driven to move when the integrated control module 5 controls the driving motor to run. The four omni-directional wheels can be moved in any direction in a combined mode by distributing different speeds to the four driving parts through the integrated control module 5. The resultant movement of the omni-wheel is synthesized by active movement in a direction perpendicular to the wheel axis and passive movement in a direction parallel to the wheel axis. The arbitrary direction of the line of the omni-wheel and the resultant movement realize the movement of the main frame 11 in an arbitrary direction.

In some embodiments, the lifting mechanism 15 includes an electric push rod and a supporting frame, one end of the electric push rod is connected with the supporting frame, and the other end of the electric push rod is connected with the main frame 11, that is, the electric push rod is connected between the supporting frame and the main frame 11, so that when the electric push rod stretches out or contracts relative to the supporting frame, the electric push rod can be used for driving the supporting frame to drop or lift relative to the main frame 11, and the electric push rod is used for realizing the support of the travelling mechanism 14 to the ground during spraying.

In some embodiments, the spray coating system 2 includes a frame 21 assembly, a first moving branch, a second moving branch, and a mounting bar 26, the frame 21 assembly being mounted to the moving cart 1, that is, the spray coating system 2 may be fixedly mounted to the moving cart 1 by the frame 21 assembly, the first moving branch and the second moving branch being respectively movably coupled to the frame 21 assembly, as shown in fig. 3, a lower end of the frame 21 assembly being fixedly coupled to an upper surface of the main frame 11, a lower end of the first moving branch being rotatably coupled to an upper end of the frame 21 assembly, and a lower end of the second moving branch being rotatably coupled to an upper end of the frame 21 assembly, such that both the first moving branch and the second moving branch are capable of rotating relative to the frame 21 assembly.

Wherein, the first end of the first moving branched chain deviating from the frame 21 component is movably connected with the first end of the mounting rod 26, the second end of the second moving branched chain deviating from the frame 21 component is movably connected with the second end of the mounting rod 26, and the spray gun 27 is mounted on the mounting rod 26, as shown in fig. 3, the upper end of the first moving branched chain is rotatably connected with the upper end of the mounting rod 26, and the upper end of the second moving branched chain is rotatably connected with the lower end of the mounting rod 26, and meanwhile, the spray gun 27 is fixedly connected with the mounting rod 26, so that the positions of the mounting rod 26 relative to the main frame 11 can be adjusted by driving the first moving branched chain and the second moving branched chain to move relative to the frame 21 component, thereby adjusting the spraying position and the spraying angle of the spray gun 27.

In some embodiments, the gantry 21 assembly includes a gantry 21, a first motion unit 22, and a second motion unit 23.

The frame 21 is fixedly installed on the moving trolley 1, wherein, as shown in fig. 3, the frame 21 is configured to include a mounting plate at the bottom and a supporting plate at the upper portion, the mounting plate extends in the horizontal direction, and the mounting plate is attached to the upper surface of the main frame 11, so that the frame 21 is fixed on the upper surface of the main frame 11, and meanwhile, the supporting plate is connected with the mounting plate and extends upwards. The first moving unit 22 is rotatably supported to the support plate by a first hinge 31 such that the first moving unit 22 is rotatably connected to the frame 21 about a first axis, and such that the first moving unit 22 can be rotated to different positions with respect to the frame 21. The second motion unit 23 is rotatably connected to the first motion unit 22 by a second hinge 32 such that the second motion unit 23 is rotatably connected to the first motion unit 22 about a second axis such that the second motion unit 23 is rotatable to different positions relative to the frame 21, and the first and second motion branches are rotatably connected to the second motion unit 23 by a first compound hinge 35 such that both the first and second motion branches are rotatably connected to the second motion unit 23 about a third axis such that the first and second motion branches are rotatable to different positions relative to the frame 21.

Therefore, the spray gun 27 is mounted on the mounting rod 26, and the mounting rod 26 is rotatably mounted on the frame 21 through the first moving branched chain, the second moving unit 23 and the first moving unit 22 in sequence, so that the frame 21 is fixedly mounted on the main frame 11, the mounting rod 26 can drive the spray gun 27 to move relative to the main frame 11 in multiple degrees of freedom, the movement range of the spray gun 27 is greatly enlarged, and the flexibility of the spray gun 27 is increased.

The first axis is parallel to the third axis, and the second axis is perpendicular to the first axis, as shown in fig. 3, where the first axis is parallel to the horizontal plane, and the second axis is perpendicular to the horizontal plane, so that the spraying system 2 can rotate in the horizontal plane, and the pitch angle of the spraying system relative to the horizontal plane can be adjusted, and the structure is flexible.

In some embodiments, the first kinematic chain includes a first parallelogram mechanism 241, a first rod 242, a second rod 243, and a third rod 244, wherein the second kinematic unit 23 is rotatably coupled to the mounting rod 26 via the first parallelogram mechanism 241, the first rod 242, the second rod 243, and the third rod 244, in sequence.

The first parallelogram mechanism 241 is rotatably connected to the frame 21 assembly, the right side hinge position of the lower end of the first parallelogram mechanism 241 is connected to the upper end of the second moving unit 23 by the first complex hinge 35 as shown in fig. 3, the first end of the first lever 242 and the first end of the second lever 243 are rotatably connected to the first parallelogram mechanism 241, respectively, the right side hinge position of the lower end of the first lever 242 and the upper end of the first parallelogram mechanism 241 is rotatably connected by the second complex hinge 36 as shown in fig. 3, and the left side hinge position of the lower end of the second lever 243 and the upper end of the first parallelogram mechanism 241 are rotatably connected by the third complex hinge 37. And the second end of the first rod 242, the second end of the second rod 243, and the first end of the third rod 244 are rotatably connected, as shown in fig. 3, the upper end of the first rod 242, the upper end of the second rod 243, and the left end of the third rod 244 are rotatably connected by the fourth complex hinge 38, and the second end of the third rod 244 is rotatably connected with the first end of the mounting rod 26, as shown in fig. 3, the right end of the third rod 244 is rotatably connected with the upper end of the mounting rod 26 by the third hinge 33.

Meanwhile, the second moving branch includes a second parallelogram mechanism 251 and a fourth lever 252, wherein the second moving unit 23 is also rotatably connected with the mounting lever 26 through the second parallelogram mechanism 251 and the fourth lever 252 in turn.

Wherein the second parallelogram mechanism 251 is rotatably connected to the frame 21 assembly, the right hinge position of the lower end of the second parallelogram mechanism 251 is rotatably connected to the upper end of the second moving unit 23 by the first complex hinge 35 as shown in fig. 3, the first end of the fourth bar 252 is rotatably connected to the second parallelogram mechanism 251, the left end of the fourth bar 252 is rotatably connected to the right hinge position of the upper end of the second parallelogram mechanism 251 by the fifth complex hinge 39 as shown in fig. 3, and the second end of the fourth bar 252 is rotatably connected to the second end of the mounting bar 26 by the fourth hinge 34 as shown in fig. 3, the right end of the fourth bar 252 is rotatably connected to the lower end of the mounting bar 26.

Thereby, a multi-degree of freedom movement of the spray gun 27 relative to the frame 21 can be achieved, wherein a driving motor for driving each rod to rotate can be arranged in the spraying system 2, and likewise, the driving motor can be electrically connected with the integrated control module 5, so that the integrated control module 5 can actively control the movement state of each rod through the driving motor, thereby realizing the adjustment of the spraying position of the spray gun 27.

In some embodiments, the obtaining system 4 includes a first photographing device 41, a second photographing device, a laser radar 42, and a light supplementing lamp, where the first photographing device 41 and the second photographing device are installed in the spraying system 2 and are disposed adjacent to the spray gun 27, the first photographing device 41 may be configured as a depth camera, the depth camera may be capable of photographing a surface structure of the device to be sprayed, that is, the first photographing device 41 may be used for performing local and fine modeling on the device to be sprayed, and the second photographing device may be configured as a color camera, so that the color camera may obtain a surface color of the device to be sprayed, that is, the second photographing device is used for identifying a location on a surface of the device to be sprayed, where the paint needs to be sprayed, and the light supplementing lamp is used for supplementing light in a space where the device to be sprayed is located, that is, when light in the space where the device to be sprayed is located is weak, the light supplementing lamp may be turned on, so as to ensure that photographed images of the first photographing device 41 and the second photographing device are clear and complete.

The laser radars 42 are installed in the spraying room, for example, the laser radars 42 can be multiple, and the multiple laser radars 42 can be distributed around the spraying room at intervals, so that the multiple laser radars 42 can irradiate laser on equipment to be sprayed at the same time, and then the geometric outline of the equipment to be sprayed is determined through reflected light, namely, the laser radars 42 are used for carrying out integral and preliminary modeling on the equipment to be sprayed, so that the integrated control module 5 can be used for analyzing and identifying the equipment to be sprayed, and the position to be sprayed can be accurately judged.

In some embodiments, the acquisition system 4 further includes a protection device, where the protection device includes a housing 43, a belt transmission structure 44, a mounting structure 45, and a steering engine 46, where the housing 43 may be fixedly mounted at an end of the spraying system 2, and the first photographing device 41 is mounted in the housing 43, so that the housing 43 may protect the first photographing device 41, and at the same time, the second photographing device may be integrally attached to the first photographing device 41, so that the housing 43 may protect the first photographing device 41 and a lens of the second photographing device from contamination caused by spraying during spraying.

The shell 43 is rotatably installed in the mounting structure 45, if the shell 43 is rotatably supported in the mounting structure 45 through the rotation shaft, the steering engine 46 is connected with the shell 43 through the belt transmission structure 44, and the steering engine 46 is used for driving the shell 43 to rotate relative to the mounting structure 45, namely, a driving shaft can be arranged on the steering engine 46, so that the steering engine 46 is connected with the belt transmission structure 44 at the driving shaft, and the shell 43 is driven to rotate around the rotation shaft, thereby being beneficial to realizing the angle adjustment of the shell 43 and realizing the adjustment of the shooting angle of the first shooting equipment 41.

The integrated control module 5 in the invention can comprise a multiple-benefit control module, and various motor drivers and other electronic elements for driving the spraying system 2 and the acquisition system 4, so as to realize the motion control of the spray gun 27, the motion trolley 1 and the electric push rod, and realize the functions of spraying, moving and lifting. Because it integrates in the dolly inside, the general robot system that omits has indispensable automatically controlled cabinet, has saved the space.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

In the description of the invention, a "first feature" or "second feature" may include one or more of such features.

In the description of the present invention, "plurality" means two or more.

In the description of the invention, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by another feature therebetween.

In the description of the invention, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An intelligent spraying device (100), characterized by comprising:

a movement trolley (1);

a spraying system (2), wherein the spraying system (2) is arranged on the moving trolley (1), and the spraying system (2) is provided with a spray gun (27) which can move with multiple degrees of freedom;

the acquisition system (4) is used for acquiring external state information of equipment to be sprayed;

the integrated control module (5), the moving trolley (1), the spraying system (2) and the acquisition system (4) are all in communication connection with the integrated control module (5), the integrated control module (5) is used for receiving and analyzing the external state information acquired by the acquisition system (4), and controlling the spraying system (2) to move after identifying the position to be sprayed of the equipment to be sprayed so as to enable the spray gun (27) to spray the position to be sprayed;

the spraying system (2) comprises a frame (21) component, a first moving branched chain, a second moving branched chain and a mounting rod piece (26), wherein the frame (21) component is mounted on the moving trolley (1), and the first moving branched chain and the second moving branched chain are respectively and movably connected with the frame (21) component; wherein the method comprises the steps of

One end of the first moving branched chain, which is away from the rack (21) component, is movably connected with a first end of the mounting rod piece (26), one end of the second moving branched chain, which is away from the rack (21) component, is movably connected with a second end of the mounting rod piece (26), and the spray gun (27) is mounted on the mounting rod piece (26);

the frame (21) assembly comprises a frame (21), a first movement unit (22) and a second movement unit (23), the frame (21) is fixedly arranged on the movement trolley (1), the first movement unit (22) is rotatably connected with the frame (21) around a first axis, the second movement unit (23) is rotatably connected with the first movement unit (22) around a second axis, and the first movement branched chain and the second movement branched chain are rotatably connected with the second movement unit (23) around a third axis;

the acquisition system (4) comprises a first shooting device (41), a second shooting device, a laser radar (42) and a light supplementing lamp, wherein the first shooting device (41) and the second shooting device are installed in the spraying system (2) and are arranged adjacent to the spray gun (27), the laser radar (42) is installed in a spraying room, and the light supplementing lamp is arranged towards the equipment to be sprayed; wherein the method comprises the steps of

The first shooting device (41) is used for carrying out local and fine modeling on the equipment to be sprayed, the second shooting device is used for identifying a part to be sprayed on the surface of the equipment to be sprayed, the laser radar (42) is used for carrying out integral and preliminary modeling on the equipment to be sprayed, and the light supplementing lamp is used for supplementing light to a space where the equipment to be sprayed is located.

2. The intelligent spraying device (100) according to claim 1, characterized in that the moving trolley (1) comprises a main frame (11), a travelling mechanism (14) and a lifting mechanism (15), the travelling mechanism (14) is used for movably supporting the main frame (11) on the ground, the lifting mechanism (15) is used for adjusting the height of the main frame (11) relative to the ground, and the spraying system (2) and the integrated control module (5) are both mounted on the main frame (11).

3. The intelligent spraying device (100) according to claim 2, characterized in that the main frame (11) has a mounting cavity therein, the integrated control module (5) being mounted in the mounting cavity; wherein the method comprises the steps of

The installation cavity is provided with an installation opening, the main frame (11) is provided with a movable cabinet door (12), and the cabinet door (12) is used for selectively closing or opening the installation opening.

4. The intelligent spraying device (100) according to claim 2, characterized in that the travelling mechanism (14) is connected with the main frame (11) through a shock absorber (13), the travelling mechanism (14) is provided with an omni wheel and a driving member, the driving member is electrically connected with the integrated control module (5), and the output end of the driving member is in power connection with the omni wheel and is used for driving the omni wheel to move relative to the main frame (11) and the ground.

5. The intelligent spraying device (100) according to claim 2, wherein the lifting mechanism (15) comprises an electric push rod and a supporting frame, the electric push rod is connected between the supporting frame and the main frame (11), and is used for driving the main frame (11) to lift or fall relative to the supporting frame.

6. The intelligent spray device (100) of claim 1, wherein the first moving branch comprises a first parallelogram mechanism (241), a first rod (242), a second rod (243), and a third rod (244), the first parallelogram mechanism (241) is rotatably coupled to the frame (21) assembly, a first end of the first rod (242) and a first end of the second rod (243) are rotatably coupled to the first parallelogram mechanism (241), respectively, and a second end of the first rod (242), a second end of the second rod (243), and a first end of the third rod (244), a second end of the third rod (244) is rotatably coupled to the first end of the mounting rod (26).

7. The intelligent spraying device (100) of claim 1, wherein the second moving branch comprises a second parallelogram mechanism (251) and a fourth lever (252), the second parallelogram mechanism (251) being rotatably connected with the frame (21) assembly, a first end of the fourth lever (252) being rotatably connected with the second parallelogram mechanism (251), and a second end of the fourth lever (252) being rotatably connected with a second end of the mounting lever (26).

8. The intelligent spraying device (100) according to claim 7, wherein the acquisition system (4) further comprises a protection device comprising a housing (43), a belt transmission structure (44), a mounting structure (45) and a steering engine (46), the first shooting device (41) is mounted in the housing (43), the housing (43) is rotatably mounted in the mounting structure (45), and the steering engine (46) is connected with the housing (43) through the belt transmission structure (44) and is used for driving the housing (43) to rotate relative to the mounting structure (45).