A paint inspection robot and a paint inspection method

Abstract

The application belongs to the technical field of bridge detection, and discloses a paint surface maintenance robot and a maintenance method. The paint surface maintenance robot comprises a main body mechanism and a maintenance mechanism. The maintenance mechanism moves along the main cable with the main body mechanism. The maintenance mechanism comprises an installation component, a visual assembly and a paint spraying assembly. The visual assembly is arranged on the installation component and faces the direction of the main cable, collects the paint surface condition of the main cable to identify the surface defects of the main cable. The paint spraying assembly is slidably arranged on the installation component and faces the direction of the main cable to spray paint and repair the surface defects of the main cable. The installation component is provided with at least three installation components. The at least three installation components are arranged in a closed manner at the ends to cover the outer peripheral wall of the main cable. Each installation component is independently arranged on the main body mechanism. Adjacent installation components have a clearance. The installation component, the visual assembly and the paint spraying assembly are arranged one by one. The application can reduce the maintenance difficulty of the main cable paint surface, greatly improve the maintenance efficiency of the main cable paint surface and ensure the maintenance effect.

Description

Technical Field

[0001] This application relates to the technical field of bridge inspection, and more specifically, to a paint inspection robot and a paint inspection method. Background Technology

[0002] Suspension bridge main cables are exposed to the natural environment year-round. Due to natural disasters and the lifespan of materials, the protective coating on the surface of the main cables may crack or peel off. When the protective coating is damaged, rainwater and acidic substances will slowly corrode the main cables, causing internal corrosion and eventual breakage. This endangers the safety of vehicles and personnel on the suspension bridge and significantly reduces its service life. Therefore, suspension bridge main cables need to be inspected regularly, and after a certain number of years of use, a complete replacement of the paint is required.

[0003] In existing technologies, when the paint peeling off the main cable surface is minor, professional technicians with specialized equipment are used for spray painting repair. When the paint peeling off the main cable surface is severe, scaffolding is installed over the entire main cable, and technicians with specialized equipment replace the paint. Suspension bridge main cables vary in diameter from 350mm to 1200mm and have long spans. When the paint peeling is minor, manual identification is incomplete and prone to omissions, resulting in unsatisfactory repair results. When the paint peeling off the main cable is severe, the entire main cable needs to be repainted, which is time-consuming and involves high-altitude operations. Summary of the Invention

[0004] This application provides a paint surface inspection robot and a paint surface inspection method, which can reduce the difficulty of inspecting the paint surface of the main cable, greatly improve the inspection efficiency of the paint surface of the main cable, and ensure the inspection effect.

[0005] The paint surface inspection robot and inspection method provided in this application adopt the following technical solution:

[0006] Firstly, this application provides a paint surface inspection robot, which adopts the following technical solution:

[0007] A paint surface inspection robot, comprising:

[0008] The main structure moves along the main cable to provide power;

[0009] The inspection mechanism is installed on the main body and moves synchronously with the main body along the main cable to inspect the main cable. The inspection mechanism includes an installation component, a vision component, and a painting component. The vision component is disposed on the installation component and faces the main cable to collect data on the paint surface of the main cable to identify surface defects. The painting component is slidably disposed on the installation component and faces the main cable to repair surface defects of the main cable with paint.

[0010] At least three mounting components are provided, and the at least three mounting components surround the outer perimeter of the main cable. Each mounting component is independently provided in the main body structure, and there is a clearance between adjacent mounting components. The mounting components are provided in a one-to-one correspondence with the vision component and the painting component.

[0011] Optionally, the maintenance mechanism further includes a mounting frame fixedly connected to the main body. The mounting frame is provided with at least three sets of telescopic modules. Each telescopic module is provided in a one-to-one correspondence with the mounting component. Each mounting component is provided at the output end of the corresponding telescopic module and is used to adjust the distance between the mounting component and the main body.

[0012] Optionally, the mounting frame is further provided with electric actuators, at least two of which are provided. One end of the electric actuator is connected to the mounting frame, and the other end of the electric actuator is connected to the end of the mounting component near the mounting frame. The electric actuator extends and retracts to drive the mounting component to rotate and cooperate with the mounting frame, and cooperates with the other mounting components to enclose or release the main cable.

[0013] Optionally, the painting assembly includes a third mounting base, a motor, a spray gun, and a solenoid valve. The motor, the spray gun, and the solenoid valve are all mounted on the third mounting base. The motor drives the third mounting base to slide and engage with the mounting component. The spray gun is used to communicate with a booster pump, and the nozzle of the spray gun faces the main cable. The solenoid valve opens and closes to control the spray gun to output coating material.

[0014] Optionally, the mounting component has a rack on its end face facing the main cable, and the third mounting base has a gear that meshes with the rack. The gear is located on the output shaft of the motor. The gear meshes with the rack and drives the third mounting base to reciprocate along the rack. The mounting component has a first limit switch and a second limit switch. The first limit switch and the second limit switch are respectively located at both ends of the rack to limit the range of motion of the motor.

[0015] Optionally, the maintenance mechanism further includes a grinding assembly, which includes a second mounting base, a robotic arm, and a grinding disc. The second mounting base is disposed on the mounting component, the robotic arm is fixedly connected to the second mounting base, and the grinding disc is detachably connected to the end of the robotic arm. The robotic arm drives the grinding disc to grind the defect location of the main cable.

[0016] Secondly, this application provides a method for repairing paint surfaces, employing the following technical solution:

[0017] A paint surface inspection method, employing the aforementioned paint surface inspection robot, includes:

[0018] The vision component is invoked to obtain the first coating information on the surface of the main cable;

[0019] If the first coating information contains defect features corresponding to the preset defect coating information, then the defect location on the main cable surface is determined, and the distance between the paint spraying component location and the defect location is calculated.

[0020] The painting assembly is moved according to the distance and painted on the surface of the main cable at the defect location;

[0021] Obtain the second coating information of the main cable surface after painting, so that the second coating information does not contain the defect features corresponding to the preset defect coating information.

[0022] Optionally, before invoking the painting assembly to move according to the said distance and painting the main cable surface at the defect location, the method further includes:

[0023] The end of the robotic arm that invokes the grinding component moves according to the distance and grinds the surface of the main cable at the defect location;

[0024] The painting component is invoked to move according to the distance and to paint the surface of the main cable at the defect location after grinding.

[0025] Optionally, if the first coating information contains defect features corresponding to preset defect coating information, including:

[0026] The preset defect coating information is obtained from the database. The preset defect coating information is used to characterize the coating information with defects on the surface of the main cable.

[0027] Based on a preset defect analysis method, the defect features corresponding to the preset defect coating information are determined;

[0028] Determine whether the first coating information contains the defect feature.

[0029] Optionally, before invoking the vision component to obtain the first coating information of the main cable surface, the method further includes:

[0030] The order in which the power supply starts for the main body mechanism, electric actuator, vision component, grinding component, and painting component are determined, wherein the order of the power supply starts is as follows: main body mechanism, electric actuator, vision component, grinding component, and painting component.

[0031] Determine the order of the power supply termination times for the sanding component and the painting component, wherein the power supply termination time for the sanding component is earlier than that for the painting component.

[0032] Based on the order of the power supply start time and the order of the power supply end time, the main mechanism, electric actuator, vision component, grinding component and painting component are invoked to perform the corresponding paint surface repair tasks.

[0033] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0034] When the main cable requires maintenance, the robot, powered by the main mechanism, moves along the main cable, thereby driving the maintenance mechanism to move synchronously along the main cable. This involves at least three mounting components moving synchronously along the main cable, enclosing and covering it. During this movement, vision components on each mounting component work together to collect data on the coating condition of the main cable's surface, identifying surface defects. Then, a painting component in the corresponding direction of the defect repairs the defect, completing the main cable's paint repair work. The vision components provide a more comprehensive view of the main cable's paint condition to identify defects, while the painting components automatically repair these defects, reducing the difficulty of main cable paint repair. Multiple painting components can perform repairs simultaneously without interference, greatly improving the efficiency of main cable paint repair and ensuring effective maintenance. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0036] Figure 1 This is a schematic diagram of the overall structure of a paint repair robot disclosed in an embodiment of this application;

[0037] Figure 2 This is a schematic diagram of the structure of the installation components of a paint repair robot disclosed in an embodiment of this application;

[0038] Figure 3 This is a schematic flowchart of a paint surface repair method disclosed in an embodiment of this application;

[0039] Figure 4 This is a power-on / off timing diagram of a paint surface repair method disclosed in an embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Inspection mechanism; 11. Mounting components; 111. Rack; 112. First limit switch; 113. Second limit switch; 12. Vision component; 121. First mounting base; 122. Depth camera; 13. Grinding component; 131. Second mounting base; 132. Robotic arm; 14. Painting component; 15. Mounting bracket; 151. Telescopic module; 152. Electric actuator. Detailed Implementation

[0042] The present application will be further described in detail below with reference to the accompanying drawings.

[0043] This application provides a paint surface inspection robot and inspection method.

[0044] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0045] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] Suspension bridge main cables are exposed to the natural environment year-round. Due to natural disasters and material lifespan, the protective coating on the main cable surface often cracks and peels. In existing technologies, when the paint peeling on the main cable surface is minor, professional technicians with specialized equipment perform paint repairs. When the paint peeling is severe, scaffolding is erected over the entire main cable, and technicians with specialized equipment replace the paint. When the paint peeling is minor, manual identification is incomplete and prone to omissions, resulting in unsatisfactory repair results. When the paint peeling is severe, the entire main cable needs to be repainted, which is time-consuming and involves high-altitude operations. To solve the above technical problems, this application discloses a paint inspection robot and inspection method. Please refer to [link to relevant documentation]. Figure 1 This is one embodiment of the paint repair robot in this application, including a main body and a repair mechanism 1. The main body moves along the main cable to provide power and carries repair materials and a material booster pump. The repair mechanism 1 is installed on the main body and moves synchronously with the main body along the main cable to detect and repair the main cable. The main body and the repair mechanism 1 have clear functional divisions and simple control logic.

[0047] Please see Figure 1 and Figure 2 The inspection mechanism 1 includes an installation component 11, a vision component 12, a grinding component 13, and a painting component 14. The installation component 11 is installed on the main structure. The vision component 12 is installed on the installation component 11 and faces the main cable to collect data on the paint surface of the main cable to identify surface defects. The painting component 14 is slidably installed on the installation component 11 and faces the main cable to repair surface defects of the main cable with paint. The grinding component 13 is installed on the installation component 11 to grind surface defects of the main cable. In order to improve the repair effect, the grinding component 13 can be used to grind the defect location before repair. Grinding can remove old paint, scratches, and rust from the surface of the main cable, making the defect location smooth. This provides a solid foundation for the subsequent painting repair by the painting component 14, ensures the adhesion of the new coating, avoids poor bonding between the new coating and the old paint, and improves the visual quality of the final repair effect.

[0048] In some other embodiments, a cleaning component can be added. After a defect is discovered, the damaged area can be cleaned using the cleaning component, or the sanded area can be cleaned after the sanding component 13 has finished sanding, facilitating subsequent painting repairs by the painting component 14. Other tool modules can also be added according to maintenance needs.

[0049] Continue reading Figure 1 and Figure 2Specifically, at least three mounting components 11 are provided, with the three mounting components 11 enclosing the outer perimeter of the main cable. There are clearance gaps between adjacent mounting components 11. Each mounting component 11 corresponds to a vision component 12, a grinding component 13, and a painting component 14. In this embodiment, three mounting components 11 are provided, and three sets of each of the vision component 12, grinding component 13, and painting component 14 are also provided. Each mounting component 11 is equipped with one vision component 12, one grinding component 13, and one painting component 14 for detecting, grinding, and repairing the position of the mounting component 11 corresponding to the main cable. The clearance gaps between adjacent mounting components 11 serve two purposes: obstacle avoidance and providing space for adjustment to accommodate cables of different diameters.

[0050] All three mounting components 11 are arc-shaped, forming a ring that fits the shape of the outer wall of the main cable to cover it for maintenance. Opening two of the mounting components 11 facilitates the assembly of the maintenance mechanism 1 onto or retrieval from the main cable. The ring formed by the three mounting components 11 provides non-contact enclosure for the main cable, reserving working space for the grinding assembly 13 and the painting assembly 14. It is understood that the arc lengths of the three mounting components 11 can be the same or different. To ensure that the mounting components 11 can accommodate main cables with larger diameters, two of the three mounting components 11 can be symmetrically arranged, with the arc length of the two symmetrically arranged components being greater than that of the third. Opening the two symmetrically arranged components further increases the passageway for the main cable to accommodate larger diameter main cables.

[0051] When the main cable requires maintenance, the robot, powered by the main mechanism, moves along the main cable, thereby driving the maintenance mechanism 1 to move synchronously along the main cable. This, in turn, drives at least three mounting components 11 to move synchronously along the main cable, enclosing and covering it. During this movement, the vision components 12 on each mounting component 11 collect data on the coating condition of the main cable's paint surface, identifying surface defects. A grinding component 13 in the corresponding direction grinds the defect location. After grinding, a painting component 14 repairs the paint on the defect location, completing the main cable paint repair work. This reduces the difficulty of main cable paint repair, as multiple painting components 14 can perform repair work simultaneously without interference, greatly improving the efficiency of main cable paint repair and ensuring the repair effect.

[0052] To accommodate main cables of different diameters, the maintenance mechanism 1 also includes a mounting frame 15 fixedly connected to the main body. The mounting frame 15 has at least three sets of telescopic modules 151 and at least two electric actuators 152. Each telescopic module 151 corresponds to one of the mounting components 11, with each mounting component 11 positioned at the output end of its corresponding telescopic module 151 to adjust the distance between the mounting component 11 and the main body. Two electric actuators 152 are positioned corresponding to two of the mounting components 11. One end of the electric actuator 152 is fixedly connected to the mounting frame 15, and the other end is fixedly connected to the end of the mounting component 11 closest to the mounting frame 15. The electric actuators 152 extend and retract to rotate the mounting component 11 and the mounting frame 15, cooperating with the remaining mounting components 11 to enclose or release the main cable. In this embodiment, the mounting frame 15 is located on one side of the mounting member 11 with a shorter arc length. Three sets of telescopic modules 151 are provided and are arranged one-to-one with the three sets of mounting members 11. The three sets of telescopic modules 151 are arranged in parallel on the mounting frame 15. The two electric push rods 152 are located on the same side of the mounting frame 15. The two electric push rods 152 are respectively connected to the two symmetrically arranged mounting members 11.

[0053] When assembling the maintenance mechanism 1 onto the main cable, the telescopic module 151 is adaptively adjusted according to the diameter of the main cable to adjust the distance between the mounting component 11 and the main cable. Then, the two electric actuators 152 are adjusted to adjust the angle between the mounting component 11 and the main cable, so that the three mounting components 11 enclose the outer perimeter of the main cable without contacting it. After the main cable maintenance is completed, it is necessary to detach the maintenance mechanism 1 from the main cable. The electric actuators 152 are controlled to open two of the mounting components 11 outwards to expand the passage for the main cable to exit; the telescopic module 151 retracts, moving the mounting components 11 away from the main cable for easy robot retrieval.

[0054] Please see Figure 1 and Figure 2 The vision component 12 includes a first mounting base 121 and a depth camera 122. The first mounting base 121 is fixedly connected to the mounting member 11, and the depth camera 122 is fixedly mounted on the first mounting base 121. The depth camera 122 is used to collect information on the first coating on the surface of the main cable to automatically identify surface defects. In this embodiment, each mounting member 11 may be provided with multiple sets of vision components 12 to more comprehensively collect information on the coating on the surface of the main cable and reduce blind spots.

[0055] The polishing assembly 13 includes a second mounting base 131, a robotic arm 132, and a polishing disc. The second mounting base 131 is disposed on the mounting member 11, the robotic arm 132 is fixedly connected to the second mounting base 131, and the polishing disc is detachably connected to the end of the robotic arm 132 for easy replacement. The robotic arm 132 drives the polishing disc to polish the defect location of the main cable. In this embodiment, the second mounting base 131 is located on the upper end face of the mounting member 11 to separate it from the installation position of the painting assembly 14, avoiding interference between the polishing assembly 13 and the painting assembly 14. In some other embodiments, the second mounting base 131 can be slidably connected to the mounting member 11 to adjust the relative position of the polishing disc and the defect location on the surface of the main cable. The robotic arm 132 can be a multi-section robotic arm 132 to increase its flexibility. Understandably, after identifying the defects on the main cable surface, the robotic arm 132 controls the grinding disc to move to the defect location, grinds and polishes the defect location, and after the grinding is completed, the robotic arm 132 retracts and the painting component 14 is called to spray paint and repair the ground defect location.

[0056] The painting assembly 14 includes a third mounting base, a motor, a spray gun, and a solenoid valve. The motor, spray gun, and solenoid valve are all mounted on the third mounting base. The motor drives the third mounting base to slide against the mounting component 11. The spray gun is connected to the booster pump, and its nozzle faces the main cable. The solenoid valve opens and closes to control the output of coating material from the spray gun; a high-pressure solenoid valve is selected. The motor drives the third mounting base, spray gun, and solenoid valve to the corresponding position of the defect location. Then, the solenoid valve is opened, and coating material, specifically the professional paint for suspension bridge main cables, is output through the spray gun. With the solenoid valve open, the coating material, under the action of the booster pump, is sprayed through the spray gun onto the sanded defect location, completing the main cable paint repair work.

[0057] Please see Figure 2 Specifically, the mounting component 11 has a rack 111 on its end face facing the main cable. The rack 111 is arc-shaped and serves as a fixed travel channel for the motor-driven third mounting base. The third mounting base has a gear that meshes with the rack 111. The gear is located on the output shaft of the motor. The gear meshes with the rack 111, and the gear drives the third mounting base to reciprocate along the rack 111. The mounting component 11 has a first limit switch 112 and a second limit switch 113, which are respectively located at both ends of the rack 111 to limit the range of motion of the motor and prevent the third mounting base from sliding off from both ends of the rack 111. Furthermore, the motor is electrically connected to an encoder, which is used to measure the motor's step length.

[0058] This invention also discloses a method for repairing paint surfaces; please refer to [link / reference]. Figure 1 and Figure 3 The application of the above-mentioned paint surface inspection robot includes:

[0059] S100, Invoke the vision component 12 to obtain the first coating information on the surface of the main cable.

[0060] The first coating information refers to the information displayed by the paint coating on the surface of the main cable, including information indicating that the paint is intact and information indicating that the paint is damaged.

[0061] Specifically, the mounting components 11 are equipped with vision components 12. As the paint inspection robot crawls along the main cable, multiple mounting components 11 drive multiple vision components 12 to move along the main cable to detect the paint coating condition on the main cable surface in real time, thereby obtaining the first coating information of the main cable surface. The vision components 12 include a depth camera 122. As the paint inspection robot crawls along the main cable, the depth camera 122 captures real-time images of the coating on the main cable surface. These coating images include images of intact coatings and images of damaged coatings.

[0062] S200. If the first coating information contains defect features corresponding to the preset defect coating information, then determine the defect location on the main cable surface and calculate the distance between the position of the paint spraying component 14 and the defect location.

[0063] In a specific embodiment, if the first coating information contains defect features corresponding to preset defect coating information, the steps include: S201, obtaining preset defect coating information from the database. The preset defect coating information is used to characterize coating information with defects on the surface of the main cable. Specifically, the database stores a set of multiple preset defect coating information sets for subsequent extraction and analysis.

[0064] S202. Based on a preset defect analysis method, determine the defect features corresponding to the preset defect coating information. Based on the preset defect analysis method, for each defect of each preset defect coating information, determine the defect depth and / or defect area and other defect information corresponding to each defect, thereby determining the defect degree (e.g., low, medium, high), and take the defect information that reaches the defect degree threshold (e.g., medium) as the defect feature.

[0065] S203. Determine whether the first coating information contains the defect feature. By comparing the first coating information with preset defect coating information, determine whether there is a defect feature in the first coating information that matches the defect feature in the preset defect coating information. If the first coating information contains a defect feature corresponding to the preset defect coating information, then the paint coating on the main cable surface has a defect. Then, determine the specific location of the defect on the main cable surface and calculate the distance between the position of the painting component 14 and the defect position. S300. Call the painting component 14 to move according to the distance and paint the main cable surface at the defect position.

[0066] Specifically, the motor drives the spray gun to move according to the distance, and the encoder synchronously detects the step size of the motor's movement, so that the spray gun moves to the defect position and corresponds to the defect position; the solenoid valve switch is turned on, and the spray gun outputs coating material so that the coating material is sprayed to the defect position through the booster pump, thus completing the main cable paint repair work.

[0067] In a specific embodiment, before the painting component 14 moves according to a distance and paints the main cable surface at the defect location, the process includes: moving the end of the robotic arm 132 of the grinding component 13 according to a distance and grinding the main cable surface at the defect location; and then moving the painting component 14 according to the distance and painting the main cable surface at the ground defect location. After grinding, the end of the robotic arm 132 moves away from the defect location, and then the painting component 14 is called to paint the main cable surface at the ground defect location. Grinding the defect location using the grinding component 13 before painting repair removes old paint, scratches, and rust from the main cable surface, making the defect location smooth and providing a foundation for the subsequent painting repair by the painting component 14, thus improving the visual quality of the final repair effect.

[0068] S400: Obtain the second coating information of the main cable surface after painting, so that the second coating information does not contain the defect features corresponding to the preset defect coating information.

[0069] In this process, after the painting component 14 paints the surface of the main cable at the defect location, it shuts off the booster pump and solenoid valve switch, and the spray gun stops outputting coating material. The vision component 12 obtains the second coating information of the main cable surface after painting. If the second coating information does not contain the defect features corresponding to the preset defect coating information, the painting repair meets the repair standard, the inspection task is completed, and the paint inspection robot continues to move along the main cable to continue inspecting the paint surface of the main cable. If the second coating information contains the defect features corresponding to the preset defect coating information, the painting repair does not meet the repair standard. In this case, the painting component 14 is called to continue painting the surface of the main cable at the defect location until the second coating information obtained by the vision component 12 does not contain the defect features corresponding to the preset defect coating information.

[0070] In this embodiment, to save energy and extend the operation time, power supply control is implemented for each component of the paint repair robot. Specifically, before calling the vision component 12 to obtain the first coating information on the surface of the main cable, the order of power supply start times for the main body mechanism, electric push rod 152, vision component 12, grinding component 13, and painting component 14 is determined, wherein the order of power supply start times is as follows: main body mechanism, electric push rod 152, vision component 12, grinding component 13, and painting component 14.

[0071] The order of the power supply termination times for the grinding component 13 and the painting component 14 is determined, wherein the power supply termination time for the grinding component 13 is earlier than the power supply termination time for the painting component 14.

[0072] Based on the order of power supply start and end times, the main mechanism, electric actuator 152, vision component 12, grinding component 13, and painting component 14 are invoked to perform the corresponding paint surface inspection tasks.

[0073] Understandably, before the paint repair robot begins its repair, the main body of the robot is powered up first to provide power for the repair mechanism 1 to crawl along the cable, providing a foundation for the repair. When the paint repair robot is assembled onto the main cable, the depth camera 122 in the vision component 12 needs to be powered on to obtain the first coating information on the surface of the main cable, thereby determining the location of defects on the surface of the main cable. Subsequently, the control motor of the telescopic module 151 is powered on to push the mounting component 11 closer to the main cable to a suitable position, and then the power supply to the control motor is turned off. The electric push rod 152 is powered on to drive the mounting component 11 connected to the electric push rod 152 to rotate relative to the mounting frame 15, so that multiple mounting components 11 surround the main cable. The main cable is brought closer to the grinding assembly 13 and painting assembly 14 on the mounting component 11. Based on the defect location on the main cable surface, the grinding assembly 13 is activated, powering on the robotic arm 132 so that its end effector moves to the defect location and grinds the main cable surface at the defect location. After grinding, the end effector of the robotic arm 132 is moved away from the defect location, and the power supply is then cut off. The painting assembly 14 is activated, powering on the motor to drive the spray gun to move to the ground defect location according to the distance, and then the power supply to the motor is cut off. The booster pump is powered on to increase the pressure, and then the solenoid valve is powered on. The solenoid valve switch is opened, and under the action of the booster pump, the coating material is sprayed onto the ground defect location through the spray gun. Finally, the power supply to the booster pump and the solenoid valve is cut off, thus completing the main cable paint repair work. By using time-sequence control for each component in the paint repair process, energy consumption is saved and the operation time is extended.

[0074] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A paint inspection robot, characterized by, The utility model relates to a main body mechanism, along the main cable movement to provide power, the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the main cable synchronous movement to overhaul the main cable, and the utility model discloses a main body mechanism, and the main body mechanism is installed along the ​ ​ ​ ​ ​ 2. A paint inspection robot according to claim 1, characterized in that ​ 3. A paint inspection robot according to claim 1, wherein ​ 4. A paint inspection method using the paint inspection robot according to any one of claims 1 to 3, characterized by, ​ ​ ​ ​ Obtain second coating information of the main cable surface after painting, so that the second coating information does not have a defect feature corresponding to the preset defect coating information.

5. A method of refinishing a painted surface according to claim 4, wherein, Before calling the painting assembly to move according to the distance and paint the main cable surface at the defect position, the method further comprises: Calling the end of the mechanical arm of the polishing assembly to move according to the distance and polish the main cable surface at the defect position; Calling the painting assembly to move according to the distance and paint the main cable surface at the defect position after polishing.

6. A method of refinishing a painted surface according to claim 4, wherein, If the first coating information has a defect feature corresponding to the preset defect coating information, comprising: Obtaining the preset defect coating information from the database, the preset defect coating information being used to represent the coating information of the main cable surface having defects; Based on a preset defect analysis method, determining the defect feature corresponding to the preset defect coating information; Determine whether the first coating information has the defect feature.

7. A method of refinishing a painted surface according to claim 4, wherein, Before the method calls the vision component to obtain the first coating information of the main cable surface, the method further comprises: Determine the order of the power supply start time corresponding to each of the main mechanism, the electric push rod, the vision component, the polishing assembly and the painting assembly, wherein the order of the power supply start time is in the order of the main mechanism, the electric push rod, the vision component, the polishing assembly and the painting assembly; Determine the order of the power supply end time corresponding to each of the polishing assembly and the painting assembly, wherein the power supply end time corresponding to the polishing assembly is earlier than the power supply end time corresponding to the painting assembly; Based on the order of the power supply start time and the order of the power supply end time, call the main mechanism, the electric push rod, the vision component, the polishing assembly and the painting assembly to perform the corresponding paint maintenance task.

Images