Camouflage coating spraying device and intelligent construction equipment

Abstract

The invention relates to the technical field of coating equipment, in particular to a camouflage coating spraying device and intelligent construction equipment. The camouflage paint spraying device comprises a spraying gun which is installed on the base frame, communicated with paint raw material liquid and used for spraying the paint liquid and forming a spraying range. And the movable frame is mounted on the base frame in a sliding manner and forms a shielding surface capable of adjusting the angle of the shielding line. The movable driving part is mounted on the base frame, the output end is connected with the movable frame, and the movable driving part is used for driving the movable frame to quantitatively slide. According to the spraying mode, overlapping spraying is not needed, a coating with a special thickness is not needed to cover the color of the lower layer to prevent bleeding, meanwhile, construction is convenient, the construction period cannot be prolonged, use of paint can be greatly reduced, and therefore the cost is reduced. Manual operation is not needed, and construction damage is avoided. Three-dimensional simulation construction, overall construction, observation and modification can be carried out in advance, and overall adjustment of the camouflage pattern is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of coating equipment, and in particular to a camouflage coating spraying device and intelligent construction equipment. Background Art

[0002] Camouflage paint is a special-purpose paint used to imitate or change the appearance of an object so that it looks similar to or completely blends into the surrounding environment, thereby achieving the purpose of concealment, deception or protection. Camouflage paints are usually composed of a variety of substances, such as pigments, resins, nanoparticles, powders and other additives. They can be sprayed on any object, including metal, plastic, wood, concrete and fiber fabrics. In some cases, camouflage paints can also adjust the color or texture by adding chemicals or changing the thickness of the coating. Camouflage paints are widely used in military, security, civilian and other fields. For example, in the military field, camouflage paints are often used to camouflage aircraft, ships, vehicles, etc., in order to hide or deceive the enemy. In the civilian field, camouflage paints are also used to camouflage the exterior walls of buildings to protect important facilities from natural disasters or malicious attacks.

[0003] In the existing camouflage pattern spraying, the spots that need to be sprayed are generally square or rectangular, either alone or in combination, and there are also some circular, elliptical or other shapes. In the existing camouflage spot spraying, it is necessary to cut the empty shielding plate according to the shape of the spot block in advance, and then spray a large area, and then paste the empty shielding plate to the required spot block position according to the spraying position, and then spray the background color. This spraying process is complicated and requires a lot of preparation in advance. In addition, it is necessary to spray a large area of ​​the spot block position in advance, and then wait for the paint to dry before spraying the next layer of paint. If the number of spray layers is large, the construction period will be seriously prolonged, resulting in a lot of time waste. This construction process has the upper and lower layers of paint overlapping, which will cause paint bleeding. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a camouflage paint spraying device, which is used to spray the surface of military or civilian vehicles or other large equipment to form camouflage spots. The camouflage paint spraying device includes:

[0005] The base frame forms an installation foundation, and the base frame can be a disc-shaped structure or a steel frame structure.

[0006] The spray gun is installed on the base frame, which is connected to various coating raw material liquids and is used to spray the coating liquid and form a spray range. The spray direction of the spray gun can be set perpendicular to the plane where the base frame is located, and of course, a certain inclination angle can be set according to actual needs. The specific inclination angle value is not repeated here. The installation position of the spray gun can be at the center of the base frame.

[0007] The mobile frame is slidably mounted on the base frame and forms a shielding surface that can adjust the shielding line angle. It can slide vertically on the plane where the base frame is located, and of course it can also be radially slidable.

[0008] The mobile driving member is installed on the base frame, and its output end is connected to the mobile frame, so as to drive the mobile frame to slide quantitatively.

[0009] Preferably: the movable frame may include a first frame body, a second shielding sheet, a first shielding sheet and a rotating drive member. The first frame body may be a straight rod structure and slidably mounted on the base frame, and may be guided and slid by a guide rail or a guide rod, which will not be described in detail here. The first shielding sheet is fixedly connected to the first frame body and forms a shielding surface that blocks a straight line, which is used to limit the spray boundary of the spray gun. The edge of the first shielding sheet is a straight line, and its distribution direction may be perpendicular to the spray radius of the spray gun. The second shielding sheet is rotatably connected to the first frame body, and its edge intersects with the edge of the first shielding sheet to form a steering angle that limits the boundary.

[0010] The rotating driving member is mounted on the first frame and connected to the second shielding sheet, and is used to quantitatively drive the second shielding sheet to rotate, thereby forming a steering angle. The first shielding sheet and the second shielding sheet can be smooth stainless steel plate structures, which are convenient for cleaning the paint thereon.

[0011] Preferably: the camouflage paint spraying device also includes a rotating drive member, which is transmission-connected to the driving base and is used to drive the base to rotate quantitatively, so that the base and the spray gun can rotate, so that selective angle blocking spraying can be performed to form the edge line of the camouflage spot block of the required shape, thereby being suitable for camouflage spots and blocks of various shapes.

[0012] Preferably, the rotary drive member may include a driving motor and a rotating transmission assembly, wherein the output shaft of the driving motor is connected to the base frame through the rotating transmission assembly, and the base frame may be quantitatively rotated under the drive of the driving motor. The rotating transmission assembly may include a fixed gear ring and a driving gear, wherein the fixed gear ring is fixedly arranged on the base frame, and the base frame needs to be rotated at this time, and the base frame and the fixed gear ring have the same rotation center, and the driving gear is coaxially fixedly connected to the output shaft of the driving motor, and the driving gear and the fixed gear ring are meshed. Under the drive of the driving motor, the driving gear rotates and drives the fixed gear ring to rotate, thereby rotating the base frame.

[0013] Preferably, the rotation transmission assembly can also be a worm wheel and a worm, the worm is coaxially fixedly connected to the output shaft of the driving motor, the worm wheel is coaxially fixedly connected to the rotation axis of the base frame, and the worm wheel and the worm are meshed. Under the drive of the driving motor, the worm drives the worm wheel to rotate, thereby driving the base frame to rotate. Through the coordinated drive of the worm wheel and the worm, the output of the driving motor can be reduced in the same proportion, thereby increasing the accuracy of the rotation angle of the base frame, while avoiding the angle error caused by the active rotation of the base frame, and increasing the stability of the installation.

[0014] The present invention also proposes a camouflage paint intelligent construction equipment, including a mechanical operation component and the above-mentioned camouflage paint spraying device, the camouflage paint spraying device can be installed at the operating end of the mechanical operation component, and the mechanical operation component controls the camouflage paint spraying device to spray. The mechanical operation component can be an existing operating robot, the mechanical operation component can be installed on the ground, and of course can also be installed on the top surface of the installation, and the number of mechanical operation components can be set according to actual conditions.

[0015] Preferably: the mechanical operation assembly may also include a rotating mounting seat, a feed drive device, a lifting base and a manipulator, the rotating mounting seat may be slidably mounted on a circular track, a sliding drive device may be installed on the rotating mounting seat, under the action of the sliding drive device, the rotating mounting seat slides quantitatively on the circular track, thereby controlling the operating position of the camouflage paint spraying device. The rotating mounting seat is slidably provided with a lifting base and a feed drive device is fixedly installed, the output end of the feed drive device is connected to the lifting base, and the lifting base can slide on the rotating mounting seat under the drive of the feed drive device, thereby controlling the operating feed amount of the camouflage paint spraying device. The manipulator is installed on the lifting base, and the lifting base can control the lifting height of the manipulator, and the operating angle and position of the camouflage paint spraying device can be controlled by the manipulator.

[0016] Preferably: the annular track can be installed on the top surface of the installation, so that the working space of the spraying equipment can be increased and the installation space occupied by the camouflage coating intelligent construction equipment can be reduced. The annular track can be a circular ring structure, which is more suitable for the equipment to be sprayed with a similar length-to-width ratio. When the length-to-width ratio of the equipment to be sprayed is larger, the annular track can be provided with a rectangular structure with rounded corners, which needs to be designed according to the operation object.

[0017] Preferably: the sliding drive device may include a motor and a gear structure, the motor is installed on the rotating mounting seat, the output shaft of the motor is coaxially fixed with a gear, the corresponding edge of the annular track is provided with a tooth pattern, the gear and the tooth pattern are meshed, and the gear rotates under the drive of the motor, thereby driving the rotating mounting seat to slide. Of course, the sliding drive device can also be other structures, which are specifically the existing technology and will not be elaborated here.

[0018] Preferably: an image acquisition device is installed on the mechanical operation component, and the image acquisition device is used to take a picture of the spraying equipment to obtain a picture of the equipment.

[0019] Preferably: the camouflage paint intelligent construction equipment also includes a control center, which is connected to the sliding drive device, the feed drive device, the lifting base, the manipulator, the image acquisition device and the camouflage paint spraying device in the mechanical operation component. When the spraying equipment is in place, the control center obtains the corresponding equipment model, controls the movement of the mechanical operation component, and then extracts the pre-stored equipment spraying model through the control center, constructs a three-dimensional space coordinate system, and scales and replaces the equipment spraying model according to the equipment feature position to obtain the equipment three-dimensional model and determine the spraying surface coordinates. The control center divides the spraying surface coordinates to obtain the spraying area surface, and assigns the spraying area surface to the corresponding camouflage paint spraying device. The control center divides the color area of ​​the color working surface, obtains each color working surface and its corresponding coordinate range, and sorts the color working surface i, i is the number of the color working surface, and I is the total number of color working surfaces in the spraying area surface. i=1, 2, ..., I. The control center controls the mechanical operation component to move the camouflage paint spraying device to the spraying point coordinate position, and then determines the coverage range of the spraying point. Determine the spraying point coordinate position of the spray gun, obtain the color of the color working surface, and make the current spraying color of the camouflage paint spraying device consistent with the color of the color working surface. Determine whether the edge line of the color working surface is within the spraying range of the spray gun. If so, start the mobile drive and drive the mobile frame to slide, and make the covering edge of the first shielding sheet coincide with the tangent of the spraying relative point, and obtain a front point on the spraying edge. The front point is a point on the spraying edge with a preset distance interval of h, and then calculate the spraying relative point and the front point spraying edge tangent L 1 and L 2 The tangent calculation method is specifically the prior art, and then the control center controls the base frame to rotate through the rotating drive member so that the edge of the first shielding sheet is aligned with L 1 The control center controls the movement of the spray gun, and makes the relative spraying point move at a uniform speed along the edge line of the color working surface, and records the moving path of the spraying point of the spray gun. When the edge line moves, it is determined that the edge line of the color working surface is not within the spraying range of the spray gun. Then, the control center controls the moving drive member to slide the moving frame, so that the shielding surface moves out of the spraying range of the spray gun. The control center controls the spraying point of the spray gun to move and spray along a preset moving line.

[0020] Preferably, the method for obtaining the equipment model is as follows: starting the image acquisition device to take a picture of the equipment to be sprayed to obtain an equipment picture, combining the taken pictures to obtain a combined three-dimensional model, and then obtaining the equipment model through equipment features.

[0021] Preferably: starting from the periphery of the spot block, i.e. the edge line of the color working surface, obtain the relative spraying point. The relative spraying point can start from the corner and use an edge at the corner as the spraying edge. The coordinates of the spraying point are within the color working surface and the distance from the edge is l. l can be determined according to the spraying performance of the spray gun. When the spraying range of the spray gun is circular, the distance Where R is the radius of the spraying range of the spray gun.

[0022] Preferably: the preset spacing is Among them, ɑ is the adjustment coefficient, B is the required accuracy of the spot block, and R is the radius of the spraying range of the spray gun.

[0023] Preferably: the steering angle where k 1 and k 2 are the slopes of the two tangent lines respectively.

[0024] The technical effects and advantages of the present invention are as follows: the spraying method of the present application is not overlapping spraying, and does not require a special thickness coating to cover the lower color to prevent color bleeding. At the same time, the construction is convenient and does not extend the construction period, which can greatly reduce the use of paint, thereby reducing costs. The construction process can be simple, the operation is convenient and does not require manual operation, avoiding construction damage. Three-dimensional simulation construction can be carried out in advance, and the overall construction, observation and modification can be carried out, which is convenient for adjusting the camouflage pattern as a whole. From the overall perspective, the camouflage spots can be planned more reasonably. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention provides a schematic top view of the stereoscopic structure of a camouflage paint spraying device.

[0026] Figure 2 This is a schematic diagram of the main structure of a camouflage paint spraying device proposed by the present invention.

[0027] Figure 3 This is a schematic diagram of the upward-looking three-dimensional structure of a camouflage paint spraying device proposed by the present invention.

[0028] Figure 4 This is a schematic diagram of the three-dimensional structure of an intelligent camouflage coating construction device proposed by the present invention.

[0029] Explanation of the reference numerals: base frame 1, movable frame 2, spray gun 3, first frame body 4, rotating drive member 5, first shielding plate 6, second shielding plate 7, movable drive member 8, rotating drive member 9, fixed ring gear 10, drive motor 11, drive gear 12, mounting top surface 13, annular track 14, rotating mounting seat 15, feed drive device 16, lifting base 17, manipulator 18, image acquisition device 19. DETAILED DESCRIPTION

[0030] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and are not to be construed as limitations of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0031] Example 1

[0032] refer to Figure 1-Figure 3 In this embodiment, a camouflage paint spraying device is proposed, which is used to spray the surface of military or civilian vehicles or other large equipment to form camouflage spots. The camouflage paint spraying device includes:

[0033] The base frame 1 forms the installation foundation. The base frame 1 can be a disc-shaped structure. Of course, the base frame 1 can also be a steel frame structure. The details are not repeated here. The base frame 1 is preferably a disc structure, which can increase the installation support area of ​​the base frame 1 and can also shield the sprayed paint to avoid splashing of paint micro droplets.

[0034] The spray gun 3 is installed on the base frame 1, and is used to spray the coating liquid and form a spray range. The specific structure of the spray gun 3 can be the existing technology, and the specific structure is not repeated here. The spray direction of the spray gun 3 can be set perpendicular to the plane where the base frame 1 is located. Of course, a certain inclination angle can be set according to actual needs. The specific inclination angle value is not repeated here. The installation position of the spray gun 3 can be at the center of the base frame 1, and of course other positions are not excluded, and the specific details are not repeated here.

[0035] The mobile frame 2 is slidably mounted on the base frame 1 and forms a shielding surface for adjusting the shielding line angle. It can slide vertically on the plane where the base frame 1 is located, or it can slide radially, which can be determined according to the operation object, and will not be described in detail here.

[0036] The mobile driving member 8 is mounted on the base frame 1, and its output end is connected to the mobile frame 2, and is used to drive the mobile frame 2 to slide. The mobile driving member 8 can be a hydraulic rod, an electric telescopic rod, a starting rod or a motor screw rod combination structure. The specific structures of various methods are prior art, and are not described in detail here. The mobile frame 2 can include a first frame body 4, a second shielding plate 7, a first shielding plate 6 and a rotating driving member 5. The first frame body 4 can be a straight rod structure and is slidably mounted on the base frame 1. It can be guided and slid by a guide rail or a guide rod. The specific details are not described here. The first shielding plate 6 is fixedly connected to the first frame body 4 and forms a shielding surface that blocks a straight line, which is used to limit the spray boundary of the spray gun 3. The edge of the first shielding plate 6 is a straight line, and its distribution direction can be vertical to the spray radius of the spray gun 3, and of course, other directions are not excluded. The second shielding sheet 7 is rotatably connected to the first frame 4, and its edge intersects with the edge of the first shielding sheet 6 to form a steering angle with a limiting boundary. The steering angle range is 0-360 degrees, and of course it can also be 90-180 degrees, of course, depending on the actual situation.

[0037] The rotating drive member 5 is mounted on the first frame 4 and connected to the second shielding piece 7, and is used to quantitatively drive the second shielding piece 7 to rotate, thereby forming a steering angle. The first shielding piece 6 and the second shielding piece 7 can be smooth stainless steel plate structures, which are convenient for cleaning the paint thereon. The rotating drive member 5 can be a hydraulic rod, an electric telescopic rod, a starting rod or a motor screw rod combination structure, and the details are not repeated here. A limiting plate structure can be provided on the base frame 1, and the limiting plate structure covers the structure of the mobile frame 2 to prevent the mobile frame 2 from being contaminated by paint splashing. The limiting plate structure can be an arc-shaped plate structure. Of course, its coverage does not include the first shielding piece 6 and the second shielding piece 7, and the details are not repeated here.

[0038] The rotating driving member 9 is connected to the driving base frame 1 in a transmission manner, and is used to drive the base frame 1 to rotate, so that the base frame 1 and the spray gun 3 can rotate, so that the selective angle blocking spraying can be performed to form the edge line of the camouflage spot block of the required shape, so as to be applicable to camouflage spot blocks of various shapes. In actual work, the shape of the spot block to be sprayed is generally square, rectangular, single or combined, and there are also some circular, elliptical or other shapes, which are not described in detail here. The existing camouflage spot block spraying requires cutting the vacant shielding plate according to the shape of the spot block in advance, and then spraying a large area, and then sticking the vacant shielding plate to the required spot block position according to the spraying position, and then spraying the background color. In this way, the spraying process is complicated, and more operations need to be prepared in advance, and the spot block position needs to be sprayed in a large area in advance, and then it is necessary to wait for the paint to dry before spraying the next layer of paint. If the number of spray layers is large, the construction period will be seriously prolonged, resulting in a large amount of time waste. This construction process has the upper and lower layers of paint overlapping, which will cause paint bleeding. The spraying method of the present application is not overlapping spraying, and does not require a special thickness coating to cover the lower color to prevent color bleeding. At the same time, the construction is convenient and will not prolong the construction period, which can greatly reduce the use of paint and thus reduce costs.

[0039] The rotating drive member 9 may include a driving motor 11 and a rotating transmission assembly. The output shaft of the driving motor 11 is connected to the base frame 1 through the rotating transmission assembly. Under the drive of the driving motor 11, the base frame 1 can be quantitatively rotated. The rotating transmission assembly may include a fixed gear ring 10 and a driving gear 12. The fixed gear ring 10 is fixedly arranged on the base frame 1. At this time, the base frame 1 needs to be rotated. The base frame 1 coincides with the rotation center of the fixed gear ring 10. The driving gear 12 is coaxially fixedly connected to the output shaft of the driving motor 11, and the driving gear 12 is meshed with the fixed gear ring 10. Under the drive of the driving motor 11, the driving gear 12 rotates and drives the fixed gear ring 10 to rotate, thereby rotating the base frame 1. The quantitative control of the rotation of the base frame 1 is a prior art, and the specific details are not repeated here. The rotating transmission assembly may also be a worm gear and a worm. The worm is coaxially fixedly connected to the output shaft of the driving motor 11, and the worm wheel is coaxially fixedly connected to the rotation axis of the base frame 1, and the worm wheel and the worm are meshed. The worm drives the worm wheel to rotate under the drive of the driving motor 11, thereby driving the base frame 1 to rotate. Through the coordinated drive of the worm wheel and the worm, the output of the driving motor 11 can be reduced in the same proportion, thereby increasing the accuracy of the rotation angle of the base frame 1, and at the same time avoiding the angle error caused by the active rotation of the base frame 1, thereby increasing the stability of the installation.

[0040] In the actual working process, the spray gun 3 sprays paint to form camouflage spots, which avoids manual work, thereby reducing manual workload and avoiding human harm caused by paint. When it is necessary to spray the edge of the spot block, and this edge is a straight edge, the second shielding sheet 7 is driven to rotate by the rotating driving member 5, so that the second shielding sheet 7 and the first shielding sheet 6 shield the edge to form a straight edge, and the base frame 1 is driven to rotate by the rotating driving member 9, so that the straight edge formed by the first shielding sheet 6 and the second shielding sheet 7 coincides with the camouflage spot block to be sprayed. The overlap here can be considered that the straight edge formed by the first shielding sheet 6 and the second shielding sheet 7 is projected on the straight edge to be sprayed. The straight edge formed by the first shielding sheet 6 and the second shielding sheet 7 can be at a certain distance from the surface of the equipment, which is generally 5-50mm, and the specific details are not repeated here. Start the spray gun 3 to spray, the shielding surface formed by the first shielding sheet 6 and the second shielding sheet 7 shields the paint sprayed by the spray gun 3, and prevents the paint from falling outside the camouflage spot block, thereby increasing the clarity of the edge of the camouflage spot block and avoiding the blurring of the edge. When the edge of the spot block is not a straight line, the angle of the edge where the spraying position is located can be determined, the tangent of the two-way edge of the spraying position can be calculated, and the angle θ of the two tangents can be obtained, and the rotation drive member 5 is controlled to drive the second shielding sheet 7 and the first shielding sheet 6 The steering angle is θ, and the rotation drive member 9 is controlled to drive the base frame 1 to rotate and make the edges of the first shielding sheet 6 and the second shielding sheet 7 coincide with the two tangents, and then the spraying position is sprayed. Spraying by the camouflage paint spraying device of the present application can realize automatic spraying, avoid manual operation, reduce workload, improve work efficiency, and make the edge of the spot block clear, and can complete spraying at various angles to form the required camouflage spot block edge line, so that camouflage spots of various shapes can be sprayed. The applicability and extensiveness of the spraying are improved. After spraying, the paint on the shielding surfaces of the first shielding sheet 6 and the second shielding sheet 7 needs to be removed in time to avoid uneven edges of the first shielding sheet 6 and the second shielding sheet 7.

[0041] Example 2

[0042] refer to Figure 4 The present invention also proposes a camouflage paint intelligent construction equipment, including a mechanical operation component and the above-mentioned camouflage paint spraying device, the camouflage paint spraying device can be installed at the operating end of the mechanical operation component, and the mechanical operation component controls the camouflage paint spraying device to spray. The mechanical operation component can be an existing operating robot, the mechanical operation component can be installed on the ground, and of course can also be installed on the installation top surface 13, and the number of mechanical operation components can be set according to actual conditions.

[0043] The mechanical operation assembly may also include a rotating mounting seat 15, a feed drive device 16, a lifting base 17 and a manipulator 18. The rotating mounting seat 15 may be slidably mounted on the annular track 14. A sliding drive device may be installed on the rotating mounting seat 15. Under the action of the sliding drive device, the rotating mounting seat 15 slides quantitatively on the annular track 14, thereby controlling the operating position of the camouflage paint spraying device. Specifically, the annular track 14 may be installed on the installation top surface 13, so that the operating space required for the spraying equipment can be increased and the installation space occupied by the camouflage paint intelligent construction equipment can be reduced. The annular track 14 may be a circular ring structure, which is more suitable for equipment to be sprayed with a length-to-width ratio close to 1. When the length-to-width ratio of the equipment to be sprayed is large, the annular track 14 may be provided with a rectangular structure with rounded corners, which needs to be designed according to the operation object. The sliding drive device may include a motor and a gear structure. The motor is mounted on the rotating mounting seat 15. The output shaft of the motor is coaxially fixed with a gear. The corresponding edge of the annular track 14 is provided with a tooth pattern. The gear and the tooth pattern are meshed. The gear rotates under the drive of the motor, thereby driving the rotating mounting seat 15 to slide. Of course, the sliding drive device can also be other structures, which are specifically prior art and will not be described here. The rotating mounting seat 15 is slidably provided with a lifting base 17 and a feed drive device 16 is fixedly installed. The output end of the feed drive device 16 is connected to the lifting base 17. Under the drive of the feed drive device 16, the lifting base 17 can slide on the rotating mounting seat 15, so that the operating feed amount of the camouflage paint spraying device can be controlled. The manipulator 18 is installed on the lifting base 17. The lifting base 17 can control the lifting height of the manipulator 18, and the operating angle and position of the camouflage paint spraying device can be controlled by the manipulator 18. The specific quantitative control structure and method of the sliding drive device, the feeding drive device 16, the lifting base 17 and the manipulator 18 are the existing technology and will not be described in detail here.

[0044] The image acquisition device 19 can be installed on the lifting base 17 to take pictures of the spraying equipment to be sprayed, so as to obtain equipment pictures. Of course, the image acquisition device 19 can also be a scanning device, etc., which will not be described in detail here.

[0045] The control center is connected to the sliding drive device, the feed drive device 16, the lifting base 17, the manipulator 18, the image acquisition device 19 and the camouflage paint spraying device in the mechanical operation component. The control center can be a remote control center. Specifically, the camouflage paint intelligent construction equipment can be installed in a room, and the control center can be installed in the next room. The partition wall between the two rooms can be glass, so that the operator can visually observe the status of the equipment to be sprayed in time. When it is necessary to spray the equipment to be sprayed, the equipment to be sprayed can be placed between the various mechanical operation components. When the equipment to be sprayed is in place, the control center controls the movement of the mechanical operation component, and starts the image acquisition device 19 to take a picture of the equipment to be sprayed to obtain a picture of the equipment, and the taken pictures are combined to obtain a combined three-dimensional model. It is a prior art to obtain a combined three-dimensional model by combining pictures, which will not be described in detail here. The equipment features are extracted from the combined three-dimensional model. The equipment features can be the length, width, height, equipment logo or equipment shape of the equipment, etc., which will not be described in detail here. Then, the equipment model is obtained through the equipment features. Specifically, we can make an equipment model-feature information table in advance through the equipment features of various equipment, and search the equipment model-feature information table through the equipment features, so as to obtain the corresponding equipment model. Of course, the equipment model can also be directly input manually, which will not be described in detail here. Then, the control center extracts the pre-stored equipment spraying model. The equipment spraying model can be an equipment spraying model that we make in advance according to the spraying requirements of each equipment to be sprayed, which includes a three-dimensional model of the equipment to be sprayed and a camouflage pattern on its surface. In this way, we can perform three-dimensional simulation construction in advance, and can build, observe and modify the whole, which is convenient for adjusting the camouflage pattern as a whole. From the overall perspective, the camouflage spots can be planned more reasonably. Construct a three-dimensional space coordinate system, and scale and replace the equipment spraying model according to the equipment feature position. The replacement and scaling methods are existing technologies and will not be described here. Implant the equipment spraying model into the three-dimensional space coordinate system, obtain the equipment three-dimensional model and determine the spraying surface coordinates. The control center divides the spraying surface coordinates to obtain the spraying area surface, and allocates the spraying area surface to the corresponding camouflage paint spraying device. Generally, the division of the spraying area surface can be determined according to the number of camouflage paint spraying devices. Generally, the number of camouflage paint spraying devices can be four, and the color working surfaces of the equipment to be sprayed can also be four, so that they can be allocated one by one. Of course, it can also be allocated according to the workload, which will not be described in detail here. The control center divides the color area of ​​the color working surface, obtains each color working surface and its corresponding coordinate range, and sorts the color working surface i, where i is the number of the color working surface, and I is the total number of color working surfaces in the spraying area surface. i = 1, 2, ..., I.The division of the color working surface can be divided according to the color of different spots. There are as many color working surfaces as there are color blocks. For the same color and unconnected color spots, they are defined as different color working surfaces. The color distinction is a prior art, and the specific details are not repeated here. The sorting method can be carried out according to the order of connection, so as to minimize the moving distance. The control center controls the mechanical working component to move the camouflage paint spraying device to the spraying point coordinate position, and then determines the coverage range of the spraying point. In the actual working process, we take the intersection of the vector of the point facing the spray gun 3 and the color working surface as the spraying point coordinate position. The spraying range of the spray gun 3 is not a point, and the spraying range of the spray gun 3 is a circle. The greater the distance from the spraying port of the spray gun 3, the greater the radius of this circle. In general, we can determine the spraying radius of the spray gun 3 according to the spraying performance of the spray gun 3. The spraying radius of the spray gun 3 is generally 50mm-200mm, which depends on the actual situation of the spray gun 3, and the specific details are not repeated here. Determine the spray point coordinate position of the spray gun 3, obtain the color of the color working surface, and make the current spray color of the camouflage paint spraying device consistent with the color of the color working surface. Generally, start from the periphery of the spot block, that is, the edge line of the color working surface, and obtain the spray relative point. The spray relative point can start from the corner and use an edge at the corner as the spray edge. The spray point coordinate is within the color working surface and the distance from the edge is l. The coordinate point l can be determined according to the spray performance of the spray gun 3. When the spray range of the spray gun 3 is circular, the distance. Where R is the radius of the spraying range of the spray gun 3. Determine whether the edge line of the color working surface is within the spraying range of the spray gun 3. If so, start the mobile drive 8 and drive the mobile frame 2 to slide, and make the covering edge of the first shielding piece 6 coincide with the tangent of the relative spraying point. The driving amount can be set in advance based on experience, and the details are not repeated here. Obtain a frontier point on the spraying edge. The frontier point is a point on the spraying edge with a preset distance spacing h. The preset spacing h can be determined according to actual conditions. Generally, it can be obtained based on spraying experience. The specific preset spacing Among them, ɑ is the adjustment coefficient, which can be set according to actual needs. Its value is generally 0.5-5, which is a manually set value and will not be described in detail here. B is the required accuracy of the spot block, which can be set manually according to needs. Its value can be set in 1-10 for level setting. The specific details will not be described here. Then calculate the tangent L on the spraying edge of the relative spraying point and the front spraying point 1 and L 2 The calculation method of the tangent line is specifically the prior art, and then the control center controls the base frame 1 to rotate by the rotating driving member 9 so that the edge of the first shielding sheet 6 is aligned with L 1overlap, and then the steering angle between the second shielding sheet 7 and the first shielding sheet 6 is controlled to be θ by rotating the driving member 5. where k 1 and k 2 They are the slopes of the two tangents respectively. Of course, the setting of other values ​​is not excluded, and the specific details are not repeated here. The control center controls the movement of the spray gun 3, and makes its spraying relative point move at a uniform speed along the edge line of the color working surface, and records the moving path of the spraying point of the spray gun 3. When the edge line moves after the edge line is finished, that is, it is judged that the edge line of the color working surface is not within the spraying range of the spray gun 3, then the control center controls the mobile drive member 8 to slide the mobile frame 2 so that its shielding surface moves out of the spraying range of the spray gun 3. The driving amount can be set in advance according to experience, and the specific details are not repeated here. The control center controls the spraying point of the spray gun 3 to move along a preset moving line. The preset moving line can be within the camouflage spot block and the distance between the outer moving path is 2l. Of course, the setting of other values ​​is not excluded, and the specific details are not repeated here. The end of the spraying operation, color change and other operation controls are specifically prior art and are not repeated here. This method can achieve automatic intelligent control, avoid manual operation, and the edges of the spraying path have a certain overlap. Since the spraying range of the spray gun 3 is circular, the uniformity of the spraying can be increased, the color bleeding caused by overlapping spraying of the paint can be avoided, and the quality of the sprayed spots can be improved. At the same time, the waste of paint can be avoided, because there is no need for overlapping spraying, and there is no need to wait for the sprayed paint to dry before spraying, which can greatly shorten the construction period.

[0046] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0047] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A camouflage paint spraying device according to claim 1, characterized in that: The camouflage paint spraying device comprises: Scaffolding; A spray gun, mounted on a base frame and connected to the coating raw material liquid, is used to spray the coating liquid and form a spray range; A mobile frame is slidably mounted on the base frame to form a shielding surface with an adjustable shielding line angle; The mobile driving member is installed on the base frame, and the output end is connected to the mobile frame, and is used to drive the mobile frame to slide quantitatively.

2. A camouflage paint spraying device according to claim 1, characterized in that: The mobile frame includes a first frame body, a second shielding sheet, a first shielding sheet and a rotating driving member; The first frame is slidably mounted on the base frame, the first shielding sheet is fixedly connected to the first frame and forms a shielding surface that shields the straight line; the second shielding sheet is rotatably connected to the first frame, and its edge intersects with the edge of the first shielding sheet to form a steering angle of the limiting boundary; The rotation driving member is installed on the first frame and connected to the second shielding piece, and is used for quantitatively driving the second shielding piece to rotate.

3. A camouflage paint spraying device according to claim 1, characterized in that: The camouflage paint spraying device includes a rotating drive member, which is transmission-connected to a driving base frame and is used to drive the base frame to rotate quantitatively, so that the base frame and the spray gun rotate, and selectively block spraying at a desired angle to form a camouflage spot block edge line.

4. A camouflage paint spraying device according to claim 3, characterized in that: The rotary drive member comprises a drive motor and a rotary transmission assembly, and the output shaft of the drive motor is connected to the base frame through the rotary transmission assembly.

5. A camouflage paint spraying device according to claim 4, characterized in that: The rotary transmission assembly comprises a worm wheel and a worm, the worm is coaxially fixedly connected to the output shaft of the driving motor, the worm wheel is coaxially fixedly connected to the rotating axis of the base frame, and the worm wheel and the worm are meshed.

6. An intelligent camouflage coating construction device, characterized in that: The camouflage coating intelligent construction equipment includes a mechanical operation component; And the camouflage paint spraying device according to any one of claims 1 to 5, wherein the camouflage paint spraying device is installed at the operating end of the mechanical working component.

7. The intelligent camouflage coating construction equipment according to claim 6 is characterized in that: The mechanical operation assembly includes a rotating mounting seat, a feeding drive device, a lifting base and a manipulator, wherein the rotating mounting seat is slidably mounted on a circular track, and a sliding drive device for driving the rotating mounting seat to slide quantitatively on the circular track is installed on the rotating mounting seat; A lifting base is slidably arranged on the rotating mounting seat and a feed drive device is fixedly installed. The output end of the feed drive device is connected to the lifting base. The lifting base slides on the rotating mounting seat under the drive of the feed drive device to control the operating feed amount of the camouflage paint spraying device. The manipulator is installed on the lifting base, and the lifting base can control the lifting height of the manipulator.

8. The intelligent camouflage coating construction equipment according to claim 7 is characterized in that: The annular track is installed on the installation top surface.

9. The intelligent camouflage coating construction equipment according to claim 6 is characterized in that: The camouflage paint intelligent construction equipment also includes a control center, which is connected to the mechanical operation component and the camouflage paint spraying device; the control center obtains the equipment model of the equipment to be sprayed in place, controls the movement of the mechanical operation component, and then extracts the pre-stored equipment spraying model through the control center to construct a three-dimensional space coordinate system, and scales and replaces the equipment spraying model according to the equipment feature position to obtain the equipment three-dimensional model and determine the spraying surface coordinates; the control center divides the spraying surface coordinates to obtain the spraying area surface, and allocates the spraying area surface to the corresponding camouflage paint spraying device; the control center divides the color area of ​​the color working surface, obtains each color working surface and its corresponding coordinate range, and sorts the color working surface i, i is the number of the color working surface, I is the total number of color working surfaces in the spraying area surface, i=1, 2,..., I; the control center controls the mechanical operation component to move the camouflage paint spraying device to the spraying point coordinate position, and then determines the spraying point coverage range surrounding; determine the coordinate position of the spraying point of the spray gun, obtain the color of the color working surface, and make the current spraying color of the camouflage paint spraying device consistent with the color of the color working surface; judge whether the edge line of the color working surface is within the spraying range of the spray gun; if so, start the mobile drive component, drive the mobile frame to slide, and make the covering edge of the mobile frame coincide with the tangent of the spraying relative point, obtain a front point on the spraying edge, and then calculate and obtain the tangent lines L1 and L2 on the spraying relative point and the front point spraying edge, the control center controls the base frame to rotate and make one side of the mobile frame coincide with L1, and then make its shielding line angle θ, the control center controls the spray gun to move, and make its spraying relative point move at a uniform speed along the edge line of the color working surface, and record the moving path of the spraying point of the spray gun; if not, the control center controls the mobile drive component to slide the mobile frame so that its shielding surface moves out of the spraying range of the spray gun; the control center controls the spraying point of the spray gun to move and spray along a preset moving route.

10. The intelligent camouflage coating construction equipment according to claim 9, characterized in that: The method for obtaining the equipment model comprises starting an image acquisition device to photograph the spraying equipment to obtain equipment images, combining the photographed images to obtain a combined three-dimensional model, extracting equipment features from the combined three-dimensional model, and then obtaining the equipment model through the equipment features.

Images