CN114011621B - Intelligent spraying device - Google Patents

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 technique

In important manufacturing fields such as aviation and automobiles, the quality of surface coatings on aircraft and automobiles is crucial, which not only affects the aesthetics of the equipment surface, but also protects the body from corrosion and aging, which affects safety. In related technologies, robot coating production lines are used in aircraft and automobile factories to realize automatic spraying of aircraft and automobile surfaces through manual off-line programming. After being used in a complex environment for a period of time, aircraft and automobiles often suffer physical or chemical damage due to accidental bumps or long-term erosion. In order to avoid cumulative corrosion, it is necessary to identify and repair irregular coating defects.

However, due to the large area, high cost, and low spraying flexibility of the fixed coating production lines of aircraft and automobile manufacturers, they are no longer suitable for aircraft and automobile repair plants with uncertain surface paints such as target aircraft, various types of automobiles, and defect locations and shapes. Defect patching work. In particular, almost all existing aircraft and automobile maintenance plants use manual spraying for complete surface repainting. It is obvious that there are many problems such as low spraying quality and efficiency, excessive paint waste, serious environmental pollution, and serious human injury, and there is room for improvement.

Contents of the 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 spraying position of the equipment to be sprayed, and realize automatic spraying process, with high spraying quality and efficiency.

The intelligent spraying device according to the embodiment of the present invention includes: a moving car; a spraying system, the spraying system is installed on the moving car, and the spraying system has a spray gun that can move with multiple degrees of freedom; an acquisition system, the acquisition system It is used to acquire the external state information of the equipment to be sprayed; the integrated control module, the moving car, the spraying system and the acquisition system are all connected to the integrated control module by communication, and the integrated control module is used to control the The acquisition system receives and analyzes the external state information, and controls the movement of the spraying system after identifying the position to be sprayed of the equipment to be sprayed so that the spray gun can spray the position to be sprayed.

According to the intelligent spraying device of the embodiment of the present invention, the geometric contour of the equipment to be sprayed can be automatically detected through the acquisition system, and the defective parts of the equipment to be sprayed can be identified, and then the moving car and the spraying system can be controlled to operate, so that the spraying can be realized through the spray gun. The defective parts of the equipment are sprayed, the structure is simple, the working space is large, the movement is flexible and the spraying range is large, and it can carry out paint repairing operations for different types of equipment to be sprayed.

According to the intelligent spraying device of some embodiments of the present invention, the moving trolley includes a main frame, a traveling mechanism and a lifting mechanism, the traveling mechanism is used to movably support the main frame on the ground, and the lifting mechanism is used to adjust The height of the main frame relative to the ground, the spraying system and the integrated control module are installed on the main frame.

According to the intelligent spraying device according to some embodiments of the present invention, the main frame has an installation cavity, and the integrated control module is installed in the installation cavity; wherein the installation cavity has an installation port, and the main frame is provided with a A movable cabinet door is used to selectively close or open the installation opening.

According to the intelligent spraying device in some embodiments of the present invention, the traveling mechanism is connected to the main frame through a shock absorber, the traveling mechanism is provided with omni-directional wheels and driving parts, and the driving parts are electrically connected to the integrated control module. connected, the output end of the driving member is connected to the omnidirectional wheel and used to drive the omnidirectional wheel to move relative to the main frame and the ground.

According to the intelligent spraying device of some embodiments of the present invention, the lifting mechanism includes an electric push rod and a support frame, and the electric push rod is connected between the support frame and the main frame, and is used to drive the main frame Raised or lowered relative to the support frame.

According to the intelligent spraying device according to some embodiments of the present invention, the spraying system includes a frame assembly, a first motion branch chain, a second motion branch chain and a mounting rod, the frame assembly is installed on the motion trolley, the The first kinematic branch chain and the second kinematic branch chain are respectively movably connected with the frame assembly; wherein the end of the first kinematic branch chain facing away from the frame assembly is connected to the first end of the installation rod The ends are movably connected, the end of the second kinematic branch chain away from the frame assembly is movably connected to the second end of the installation rod, and the spray gun is installed on the installation rod.

According to the intelligent spraying device in some embodiments of the present invention, the frame assembly includes a frame, a first motion unit and a second motion unit, the frame is fixedly installed on the motion trolley, and the first motion unit and the The frame is rotatably connected around a first axis, the second motion unit is rotatably connected with the first motion unit around a second axis, and the first motion branch chain and the second motion branch chain are both It is rotatably connected to the second motion unit around a third axis.

According to the intelligent spraying device in some embodiments of the present invention, the first motion branch chain includes a first parallelogram mechanism, a first rod, a second rod and a third rod, and the first parallelogram mechanism and the The frame assembly is rotatably connected, the first end of the first rod and the first end of the second rod are respectively rotatably connected with the first parallelogram mechanism, and the first rod The second end of the second rod, the second end of the second rod and the first end of the third rod are rotatably connected, and the second end of the third rod is connected to the first end of the installation rod. The ends are rotatably connected.

According to the intelligent spraying device in some embodiments of the present invention, the second motion branch chain includes a second parallelogram mechanism and a fourth rod, the second parallelogram mechanism is rotatably connected with the frame assembly, the A first end of the fourth rod is rotatably connected to the second parallelogram mechanism, and a second end of the fourth rod is rotatably connected to the second end of the mounting rod.

According to the intelligent spraying device of some embodiments of the present invention, the acquisition system includes a first shooting device, a second shooting device, a laser radar and a supplementary light, and the first shooting device and the second shooting device are installed on the The spraying system is set adjacent to the spray gun, the laser radar is installed in the spray booth, and the supplementary light is set toward the equipment to be sprayed; wherein the first photographing device is used for local, For fine modeling, the second shooting device is used to identify the parts on the surface of the equipment to be painted that need to be painted, and the laser radar is used to perform an overall and preliminary modeling of the equipment to be painted, the The supplementary light is used for supplementary light to the space where the equipment to be sprayed is located.

According to the intelligent spraying device in some embodiments of the present invention, the acquisition system further includes a protection device, the protection device includes a housing, a belt transmission structure, a mounting structure and a steering gear, the first photographing device is installed in the housing, The housing is rotatably mounted on the installation structure, and the steering gear is connected to the housing through the belt transmission structure and is used to drive the housing to rotate relative to the installation structure.

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

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a schematic structural view of an intelligent spraying device according to an embodiment of the present invention;

Fig. 2 is a schematic structural view of a moving car of an intelligent spraying device according to an embodiment of the present invention;

3 is a schematic structural view of a spraying system of an intelligent spraying device according to an embodiment of the present invention;

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

Reference signs:

Intelligent spraying device 100,

Sports trolley 1, main frame 11, cabinet door 12, shock absorber 13, traveling mechanism 14, lifting mechanism 15,

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

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

Acquisition system 4, first photographing device 41, laser radar 42, housing 43, belt transmission structure 44, installation structure 45, steering gear 46,

Integrated control module 5.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

The following describes an intelligent spraying device 100 according to an embodiment of the present invention with reference to FIGS. For example, when it is applied to the maintenance of aircraft and automobiles, it can automatically identify the surface paint repair position of aircraft and automobiles, so as to carry out corresponding spraying operations, which can not only improve the quality and efficiency of spraying, but also reduce pollution. The structure is simple , large working space, flexible movement and strong adaptability.

As shown in FIGS. 1-4 , the intelligent spraying device 100 according to the embodiment of the present invention includes: a moving car 1 , a spraying system 2 , an acquisition system 4 and an integrated control module 5 .

Motion dolly 1 is structured to be movably placed on the ground, and motion dolly 1 can move to different positions relative to the ground, as motion dolly 1 can be placed in the spraying room, and moves relative to the equipment to be sprayed in the spraying room, with The moving trolley 1 is moved to different positions around the equipment to be sprayed, so as to realize the corresponding work processing of the acquisition system 4 on the moving trolley 1 and the spraying system 2 on the equipment to be sprayed.

The spraying system 2 is installed on the sports trolley 1, and the spraying system 2 can be fixedly installed on the sports trolley 1. For example, multiple connection holes are set on the sports trolley 1, and the spraying system 2 can pass through multiple connection holes through multiple connectors fixed on the moving trolley 1, which not only facilitates the disassembly and replacement of the spraying system 2, but also ensures the stability of the spraying system 2 on the moving trolley 1.

And spraying system 2 has the movable spray gun 27 of multi-degree-of-freedom, promptly after spraying system 2 is installed stably with respect to motion dolly 1, spray gun 27 can realize the position adjustment of multi-degree-of-freedom with respect to motion dolly 1, as spray gun 27 among the present invention The position adjustment of five degrees of freedom can be realized relative to the moving trolley 1, so that the range of motion of the spray gun 27 is larger and the flexibility is stronger, so that it is suitable for spraying the outer surfaces of various modeling equipment, and can ensure that the spraying Effect.

The acquisition system 4 is used to acquire the external state information of the equipment to be sprayed, wherein the external state information includes the geometric profile, structural form and surface color of the equipment to be sprayed, so as to combine the various characteristics of the external state information to realize the The identification and analysis of the equipment will help to determine the defective parts of the equipment to be sprayed. For example, the acquisition system 4 is used to acquire the surface features of the aircraft or the surface features of the automobile.

The sports car 1, the spraying system 2 and the acquisition system 4 are all connected to the integrated control module 5 through communication, so that the control module 5 can be integrated in the spraying system 2 and the acquisition system 4 to realize information interaction. The external state information of equipment is sent to integrated control module 5, so that integrated control module 5 analyzes the external state information received, as by the geometric profile of equipment to be sprayed, structural form and the surface color of equipment to be sprayed, determine the surface color of equipment to be sprayed. The position of the defect in the spraying equipment, and after identifying the position to be sprayed of the equipment to be sprayed, control the movement of the moving car 1 and the spraying system 2 so that the spray gun 27 can spray the position to be sprayed.

Thus, the intelligent spraying device 100 in the present invention can automatically detect the geometric profile of the equipment to be sprayed through the acquisition system 4, and identify the defective parts of the equipment to be sprayed, and then control the moving car 1 and the spraying system 2 to perform actions, thereby passing The spray gun 27 realizes spraying on the defective parts of the equipment to be sprayed. It has a simple structure, a large working space, flexible movement and a large spraying range, and can carry out paint repairing operations for different types of equipment to be sprayed.

In some embodiments, the sports trolley 1 includes a main frame 11, a traveling mechanism 14 and a lifting mechanism 15, wherein, as shown in Figures 1 and 2, the main frame 11 is structured as a cube, so that the upper surface of the main frame 11 is structured Create a relatively flat installation plane, 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 integrated control module 5 The state is stable, and it is beneficial for the integrated control module 5 to realize the communication connection with the spraying system 2 and the acquisition system 4 in the form of electrical connection.

Wherein, as shown in Figure 2, four corners at the bottom of the main frame 11 are respectively provided with a running gear 14, and the running gear 14 supports the main frame 11 movably on the ground, so that the main frame 11 can move on the running gear. 14 to move relative to the ground, so that the intelligent spraying device 100 can move to different spatial positions in the spraying room. And the four running gears 14 that main frame 11 is correspondingly installed can cooperate, as four running gears 14 all communicate with integrated control module 5, so that integrated control module 5 controls four running gears 14 simultaneously, guarantees main frame After the four corner positions of 11 operate in coordination, the upper surface of the main frame 11 remains stable, thereby ensuring that the spraying system 2 can accurately spray the positions to be sprayed.

And, as shown in Figure 2, a lifting mechanism 15 is provided at the bottom of the main frame 11, and the lifting mechanism 15 is used to adjust the height of the main frame 11 relative to the ground, that is, the lifting mechanism 15 can drive the main frame 11 toward a direction away from the ground Movement, thereby increasing the height of the spray gun 27 relative to the ground, realizing the spraying at a higher position of the spraying equipment, or the lifting mechanism 15 can drive the main frame 11 to move towards the direction close to the ground, thereby reducing the height of the spray gun 27 relative to the ground, Realize the spraying at the lower position of the equipment to be sprayed. When spraying, the lifting mechanism 15 rises, and will replace the driving mechanism 14 to realize the function of supporting the whole mechanism and the ground, so that the support of the spraying process is more stable; when moving, the lifting mechanism 15 falls, so that the driving mechanism 14 is in contact with the ground, So as to realize the movement of the trolley.

In some embodiments, there is an installation cavity in the main frame 11, that is, the main frame 11 is constructed as a hollow structure, such as four spaces with two large and two small spaces are formed in the main frame 11, and the integrated control module 5 can be integrated and installed in the installation cavity. In the four spaces, the main frame 11 can protect the integrated control module 5 .

Wherein, the installation cavity has an installation opening, that is, the installation opening is opened on one side of the main frame 11, so that the installation opening is used to communicate the installation cavity with the external space, so that the operator can install the integrated control module 5 from the installation opening. In the installation cavity, or the integrated control module 5 is taken out from the installation opening, and as shown in Figure 2, the main frame 11 is provided with a movable cabinet door 12, and the cabinet door 12 is used to selectively close or open the installation opening, by Therefore, it is convenient to realize the pick-and-place of the integrated control module 5, which is beneficial to the later replacement and maintenance of the integrated control module 5.

In some embodiments, the traveling mechanism 14 is connected to the main frame 11 through the shock absorber 13, that is, the shock absorber 13 is elastically supported between the main frame 11 and the traveling mechanism 14, so that the shock absorber 13 can act against the main frame 11. to the damping effect. In this way, during the movement of the moving trolley 1, the vibration of the moving trolley 1 during movement is greatly reduced through the setting of the shock absorber 13, so that the state of the spray gun 27 is guaranteed to be stable.

Wherein, the traveling mechanism 14 is provided with omnidirectional wheels and driving parts, and the driving parts are fixedly installed on the bottom of the main frame 11, and the omnidirectional wheels are movably installed on the bottom of the main frame 11, and the output end of the driving parts is connected with the power of the omnidirectional wheels. connected, and the driving member is used to drive the omnidirectional wheel to move relative to the main frame 11 and the ground. The omnidirectional wheel can realize active movement in the direction perpendicular to the wheel axis and passive movement in the direction parallel to the wheel axis. The driving part is electrically connected with the integrated control module 5, that is, the integrated control module 5 can directly control the driving part, wherein the driving part can use a driving motor, so that the motor shaft of the driving motor is dynamically connected with the wheel shaft of the omnidirectional wheel. The integrated control module 5 controls the motion of the omnidirectional wheel when the drive motor is running. Through the integrated control module 5 to assign different speeds to the four driving parts, the combined movement of the four omnidirectional wheels in any direction can be realized. The synthetic movement of the omnidirectional wheel is obtained by synthesizing the active movement in the direction perpendicular to the wheel axis and the passive movement in the direction parallel to the wheel axis. The arbitrary direction and synthetic movement of the omnidirectional wheel realizes the movement of the main frame 11 to any direction.

In some embodiments, the lifting mechanism 15 includes an electric push rod and a support frame, one end of the electric push rod is connected to the support frame, and the other end is connected to the main frame 11, that is, the electric push rod is connected between the support frame and the main frame 11 , In this way, when the electric push rod is extended or contracted relative to the support frame, it can be used to drive the support frame to fall or rise relative to the main frame 11, so as to realize the support of the trolley instead of the traveling mechanism 14 to the ground when spraying.

In some embodiments, the spraying system 2 includes a frame 21 assembly, a first motion branch chain, a second motion branch chain and a mounting rod 26, and the frame 21 assembly is installed on the moving trolley 1, that is to say, the spraying system 2 can be The frame 21 assembly is fixedly installed on the sports trolley 1, and the first motion branch chain and the second motion branch chain are movably connected with the frame 21 assembly respectively. As shown in Figure 3, the lower end of the frame 21 assembly is connected to the main frame 11 The upper surface of the first kinematic branch chain is rotatably connected with the upper end of the frame 21 assembly, and the lower end of the second kinematic branch chain is rotatably connected with the upper end of the frame 21 assembly, so that the first kinematic Both the branch and the second kinematic branch are able to rotate relative to the frame 21 assembly.

Wherein, one end of the first motion branch chain away from the frame 21 assembly is movably connected with the first end of the mounting rod 26, and the second motion branch chain is away from the end of the frame 21 assembly and the second end of the mounting rod 26 can be Movably link to each other, and spray gun 27 is installed on mounting rod 26, as shown in Figure 3, the upper end of the first motion branch chain is connected with the upper end of mounting rod 26 rotationally, and the upper end of the second motion branch chain is connected with mounting rod The lower end of 26 is rotatably connected, and the spray gun 27 is fixedly connected with the installation rod 26 simultaneously, like this, can move relative to the frame 21 assembly by driving the first kinematic branch chain and the second kinematic branch chain, can be beneficial to adjust installation rod 26 relative At the position of the main frame 11, thereby adjusting the spraying position and spraying angle of the spray gun 27.

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

The frame 21 is fixedly installed on the sports car 1, wherein, as shown in Figure 3, the frame 21 is structured to include a bottom mounting plate and an upper support plate, the mounting plate extends in the horizontal direction, and the mounting plate and the upper part of the main frame 11 The surfaces are bonded so that the frame 21 is fixed on the upper surface of the main frame 11 , and at the same time, the supporting plate is connected with the mounting plate and extends upward. The first motion unit 22 is rotatably supported on the support plate through the first hinge 31, so that the first motion unit 22 is rotatably connected with the frame 21 around the first axis, so that the first motion unit 22 can move relative to the frame 21 Rotate to different positions. The second motion unit 23 is rotatably connected to the first motion unit 22 through a second hinge 32, so that the second motion unit 23 and the first motion unit 22 are rotatably connected around a second axis, so that the second motion unit 23 Can be rotated to different positions relative to the frame 21, the first kinematic branch chain and the second kinematic branch chain are rotatably connected to the second kinematic unit 23 through the first compound hinge 35, so that the first kinematic branch chain and the second kinematic branch chain The kinematic branch chains are both rotatably connected to the second kinematic unit 23 around the third axis, so that the first kinematic branch chain and the second kinematic branch chain can rotate to different positions relative to the frame 21 .

Thus, the spray gun 27 is installed on the mounting rod 26, and the mounting rod 26 is rotatably installed on the mounting rod 26 through the first motion branch chain and the second motion branch chain, the second motion unit 23, and the first motion unit 22. Frame 21, and then the frame 21 is fixedly installed on the main frame 11, so that the installation rod 26 can drive the spray gun 27 to move with respect to the main frame 11 to achieve multiple degrees of freedom, greatly expanding the motion range of the spray gun 27, increasing the spray gun 27 flexibility.

Wherein, as shown in Figure 3, the first axis and the third axis are parallel and spaced apart, and the second axis is perpendicular to the first axis, such as 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 The rotation in the horizontal plane can be realized, and the adjustment of the pitch angle relative to the horizontal plane can be realized, and the structure is flexible.

In some embodiments, the first motion branch chain includes a first parallelogram mechanism 241, a first rod 242, a second rod 243, and a third rod 244, wherein the second motion unit 23 sequentially passes through the first parallelogram The mechanism 241 , the first rod 242 , the second rod 243 and the third rod 244 are rotatably connected with the mounting rod 26 .

The first parallelogram mechanism 241 is rotatably connected with the frame 21 assembly. As shown in FIG. The first end of the first rod 242 and the first end of the second rod 243 are rotatably connected with the first parallelogram mechanism 241 respectively, as shown in FIG. 3 , the lower end of the first rod 242 is connected with the first parallelogram mechanism. The right hinged position of the upper end of 241 is rotatably connected by the second compound hinge 36, and the left hinged position of the lower end of the second bar 243 and the upper end of the first parallelogram mechanism 241 is rotatably connected by the third compound hinge 37. connected. 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 Figure 3, the upper end of the first rod 242, the second The upper end of the rod 243 and the left end of the third rod 244 are rotatably connected by the fourth composite hinge 38, and the second end of the third rod 244 is rotatably connected with the first end of the mounting rod 26, as the third The right end of the rod 244 is connected with the upper end of the mounting rod 26 through the third hinge 33 .

At the same time, the second motion branch chain includes a second parallelogram mechanism 251 and a fourth rod 252, wherein the second motion unit 23 is also rotatable through the second parallelogram mechanism 251, the fourth rod 252 and the installation rod 26 in sequence. ground connected.

Wherein, the second parallelogram mechanism 251 is rotatably connected with the frame 21 assembly. As shown in FIG. Connected, the first end of the fourth rod 252 is rotatably connected with the second parallelogram mechanism 251, as shown in FIG. The fifth composite hinge 39 is rotatably connected, and the second end of the fourth rod 252 is rotatably connected with the second end of the mounting rod 26, as shown in Figure 3, the right end of the fourth rod 252 is connected with the mounting rod The lower ends of 26 are rotatably connected by a fourth hinge 34 .

Thus, the multi-degree-of-freedom movement of the spray gun 27 relative to the frame 21 can be realized, wherein the spraying system 2 can also be provided with a drive motor for driving each bar to rotate, and the drive motor can be integrated with the integrated control module 5 are electrically connected, so that the integrated control module 5 can actively control the movement state of each rod by driving the motor, so as to realize the adjustment of the spraying position of the spray gun 27.

In some embodiments, the acquisition system 4 includes a first photographing device 41, a second photographing device, a laser radar 42 and a supplementary light, wherein the first photographing device 41 and the second photographing device are installed in the spraying system 2 and adjacent to the spray gun 27 Setting, the first photographing device 41 can be configured as a depth camera, and the depth camera can photograph the surface structure of the equipment to be sprayed, that is, the first photographing device 41 can be used for local and fine modeling of the equipment to be sprayed, and the second photographing device can It is configured as a color camera, so that the color camera can obtain the surface color of the equipment to be sprayed, that is, the second shooting device is used to identify the parts that need to be painted on the surface of the equipment to be sprayed, and the supplementary light is used to carry out the painting in the space where the equipment to be sprayed is located. Filling light, that is, when the light in the space where the equipment to be sprayed is weak, the filling light can be turned on for filling light, so as to ensure that the images captured by the first shooting device 41 and the second shooting device are clear and complete.

Laser radar 42 is installed in spraying booth, can be arranged as multiple as laser radar 42, and a plurality of laser radars 42 can be separated and distributed around the spraying booth, so that multiple laser radars 42 carry out laser irradiation to the spraying equipment simultaneously, and then Determine the geometric profile of the equipment to be sprayed by reflecting light, that is, the laser radar 42 is used to carry out overall and preliminary modeling of the equipment to be sprayed, which is beneficial to the integrated control module 5 for analyzing and identifying the equipment to be sprayed, so as to accurately determine the position to be sprayed .

In some embodiments, the acquisition system 4 also includes a protection device, and the protection device includes a housing 43, a belt drive structure 44, a mounting structure 45 and a steering gear 46, wherein the housing 43 can be fixedly installed at the end of the spraying system 2, and the first The photographing device 41 is installed in the shell 43, so that the shell 43 can play a protective role to the first photographing device 41, meanwhile, the second photographing device can also be integrated with the first photographing device 41, so that the shell 43 can be sprayed. Protect the lenses of the first shooting device 41 and the second shooting device from being polluted by spray paint.

The casing 43 is rotatably mounted on the mounting structure 45, such as the casing 43 is rotatably supported on the mounting structure 45 by a rotating shaft, the steering gear 46 is connected with the casing 43 through the belt transmission structure 44, and the steering gear 46 is used to drive the casing 43 relative to the The installation structure 45 rotates, and the driving shaft can be set at the steering gear 46, so that the steering gear 46 is connected with the belt transmission structure 44 at the driving shaft, and then the casing 43 is driven to rotate around the rotation shaft, which is beneficial to realize the angle adjustment of the casing 43 and realize the first Adjustment of the shooting angle of the shooting device 41 .

Wherein, the integrated control module 5 in the present invention can comprise the Beckhoff control module and be used to drive the various motor drivers and other electronic components of the spraying system 2 and the acquisition system 4, thereby realizing the control of the spray gun 27, the moving trolley 1 and the electric push rod. Motion control to realize the functions of spraying, moving and lifting. Because it is integrated inside the trolley, the electric control cabinet that is necessary for the general robot system is omitted, saving space.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.

In the description of the present invention, "first feature" and "second feature" may include one or more of these features.

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

In the description of the present invention, a first feature being "on" or "under" a second feature may include that the first and second features are in direct contact, and may also include that the first and second features are not in direct contact but pass through them. Additional feature contacts between.

In the description of the present invention, "above", "above" and "above" a first feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher than Second feature.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (8)

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).