Spraying execution device, high-altitude spraying vehicle and high-altitude spraying operation control method

Abstract

The invention discloses a spraying execution device, a high-altitude spraying vehicle and a high-altitude spraying operation control method.The spraying execution device comprises a body assembly, a head assembly and an arm assembly, the body assembly can be installed at the tail end of an arm support device, and the head assembly is arranged on the body assembly and provided with a surveying and mapping module capable of surveying and mapping a to-be-sprayed face; the arm assembly is arranged on the body assembly and has multiple degrees of freedom, a spray gun module is installed at the tail end of the arm assembly, the spray gun module can conduct spraying operation on a to-be-sprayed face, and the arm assembly is used for driving the spray gun module to move according to the surveying and mapping result of the surveying and mapping module, so that automation of spraying operation is achieved, working personnel do not need to work aloft, and the working efficiency is improved. And the purpose of improving the safety and efficiency of spraying operation is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of high-altitude spraying, and in particular relates to a spraying execution device, a high-altitude spraying vehicle and a high-altitude spraying operation control method. Background Art

[0002] The current operation mode of the high-altitude spraying industry is mainly for workers to stand on an aerial work platform and complete the spraying operation with a spray gun. Spraying operations will produce a harsh dusty space, which will cause great harm to the workers' health. Spraying for a long time will easily lead to fatigue and there is a risk of falling or collision from a high altitude. In addition, manual spraying is not conducive to precise control of the thickness of the paint film, and the operation efficiency is also low. A large number of high-altitude spraying operation scenarios such as shipbuilding and maintenance, petrochemical tank maintenance, metal curtain wall renovation, aircraft spraying, etc. have put forward an urgent need for more efficient and safer high-altitude spraying equipment. Summary of the invention

[0003] In view of the above-mentioned defects or shortcomings, the present invention provides a spray execution device, a high-altitude spraying vehicle and a high-altitude spraying operation control method, aiming to solve the technical problems of low safety and low operation efficiency in the spraying operation method in the prior art.

[0004] To achieve the above-mentioned purpose, the first aspect of the present invention provides a spraying execution device, wherein the spraying execution device includes a body assembly, a head assembly and an arm assembly; the body assembly can be installed at the end of the arm device; the head assembly is arranged on the body assembly and has a mapping module that can map the surface to be sprayed; the arm assembly is arranged on the body assembly and has multiple degrees of freedom, and a spray gun module is installed at the end of the arm assembly, and the spray gun module can spray the surface to be sprayed, and the arm assembly is used to drive the spray gun module to move according to the mapping results of the mapping module.

[0005] In one embodiment of the present invention, the surveying result of the surveying module is set as a three-dimensional model of the surface to be sprayed, and the surveying module includes a first laser radar for scanning the surface to be sprayed to obtain point cloud data, and a camera for photographing the surface to be sprayed to obtain multi-view images, so that a three-dimensional model of the surface to be sprayed can be constructed based on the point cloud data and the multi-view images.

[0006] In one embodiment of the present invention, the spraying execution device also includes a neck assembly, and the head assembly is arranged on the body assembly through the neck assembly. The upper end of the body assembly is provided with a neck rotation drive assembly, and the neck assembly includes a neck rotating seat and a head pitch drive mechanism arranged on the neck rotating seat. The lower end of the neck rotating seat is connected to the output end of the neck rotation drive assembly, and the output end of the neck rotation drive assembly outputs a rotational motion with the vertical direction as the axis of rotation. The head pitch drive mechanism is connected to the head assembly and can drive the head assembly to perform pitch motion.

[0007] In one embodiment of the present invention, the head pitch drive mechanism includes a first telescopic drive member and a head pitch drive frame, the head pitch drive frame includes a horizontal frame portion and a vertical frame portion, the horizontal frame portion is provided with a first hinge point and a second hinge point in sequence along the length direction, the horizontal frame portion is hinged to the upper end of the neck rotating seat through a first pin shaft at the first hinge point, the vertical frame portion is upright on the side of the first hinge point away from the second hinge point and the lower end is connected to the horizontal frame portion, the head assembly is arranged at the upper end of the vertical frame portion, the first telescopic drive member is arranged on the neck rotating seat, and the upwardly arranged telescopic drive end is hinged to the second hinge point through a second pin shaft.

[0008] In one embodiment of the present invention, the neck rotating seat includes a rotating base plate and two rotating vertical plates, the rotating base plate is connected to the output end of the neck rotating drive assembly, the two rotating vertical plates are erected on the rotating base plate with relative intervals, the first telescopic driving member is placed between the two rotating vertical plates and the lower end is hinged to the lower ends of the two rotating vertical plates through a third pin shaft, and the cross frame is placed between the two rotating vertical plates and is hinged to the upper ends of the two rotating vertical plates through a first pin shaft arranged at the first hinge point.

[0009] In one embodiment of the present invention, there are two cross-frame parts, which are placed between two rotating vertical plates and arranged in sequence along the spacing direction of the two rotating vertical plates. The first pin shaft is connected in series with the two cross-frame parts and the two rotating vertical plates, the second pin shaft is connected in series with the telescopic driving end of the first telescopic driving member and the two cross-frame parts, and the second pin shaft is provided with a first shaft sleeve at the gap between each cross-frame part and the telescopic driving end of the first telescopic driving member, and the third pin shaft is provided with a second shaft sleeve at the gap between each rotating vertical plate and the lower end of the first telescopic driving member.

[0010] In one embodiment of the present invention, the head assembly includes a head shell, a head mounting bracket and a surveying and mapping module. The head shell forms a head cavity with a front opening. The head mounting bracket is arranged in the head cavity. The camera is arranged on the head mounting bracket with the lens facing the front opening. The first laser radar is arranged at the chin position of the head shell.

[0011] In one embodiment of the present invention, a first obstacle detection component is provided on the head assembly, and the first obstacle detection component can emit a detection signal upward. A second obstacle detection component is provided at the lower end of the body assembly, and the second obstacle detection component can emit a detection signal downward.

[0012] In one embodiment of the present invention, a first distance measuring detection member for measuring the distance of the surface to be sprayed is provided on the body assembly.

[0013] In one embodiment of the present invention, there are two arm assemblies, which are arranged on the shoulders of the torso assembly and each includes a six-degree-of-freedom human hand robotic arm. The shoulder joint module of the human hand robotic arm is arranged on the shoulder of the torso assembly, and a spray gun module is installed at the end of the wrist joint module of the human hand robotic arm.

[0014] In one embodiment of the present invention, the spray execution device also includes a nozzle clearing module, which includes a docking block, a nozzle part and a reverse switching drive mechanism. An inlet installation channel that passes through along a first direction is formed on the docking block. The nozzle part is placed in the inlet installation channel. The muzzle of the spray gun module can be docked with the first end of the inlet installation channel. The reverse switching drive mechanism can control the nozzle port of the nozzle part to switch between the second end of the inlet installation channel and the muzzle.

[0015] In one embodiment of the present invention, a pressure sensor is provided on the spray delivery pipe connected to the spray gun module, and the reverse switching drive mechanism is used to control the nozzle member to switch according to the detection data of the pressure sensor.

[0016] To achieve the above-mentioned purpose, the second aspect of the present invention provides a high-altitude spraying vehicle, wherein the high-altitude spraying vehicle includes a chassis device, a turntable device, an arm device and a spraying execution device according to the above-mentioned, the turntable device can be rotatably arranged on the chassis device, the arm device can be variably lifted and lowered on the turntable device, and the spraying execution device can be installed at the end of the arm device.

[0017] In one embodiment of the present invention, the arm device includes a telescopic main arm, a leveling mechanism, a telescopic small arm and a spraying pitch mechanism. The telescopic main arm is variable in amplitude and is mounted on a turntable device. A leveling mechanism is provided at the end of the telescopic main arm, and the head end of the telescopic small arm is rotatably arranged around a vertical rotation axis on the leveling seat of the leveling mechanism. A spraying pitch mechanism on which a body assembly can be installed is provided at the end of the telescopic small arm, and the spraying pitch mechanism can drive the body assembly to perform pitch movement.

[0018] In one embodiment of the present invention, a positioning module for positioning the end of the arm device is provided on the telescopic arm.

[0019] To achieve the above object, the third aspect of the present invention provides a method for controlling a high-altitude spraying operation, wherein the method for controlling a high-altitude spraying operation is applied to the high-altitude spraying vehicle described above and comprises:

[0020] Controlling the surveying and mapping module to survey the surface to be sprayed, so as to generate a three-dimensional model of the surface to be sprayed;

[0021] Determine the spraying area setting and spraying parameter setting for the three-dimensional model;

[0022] Determine the chassis stop position of the chassis device of the aerial spray painting vehicle and the end stop position of the boom device at each chassis stop position according to the spraying area setting;

[0023] Control the chassis device to move to each chassis stop position in sequence;

[0024] At each chassis stop position, the end of the control arm device is adjusted to each end stop position of the current chassis stop position in sequence;

[0025] At each end stop position, the control arm assembly drives the spray gun module according to the spray path setting to spray the spray area at the current end stop position with the spray parameter setting.

[0026] In one embodiment of the present invention, the control arm assembly drives the spray gun module to perform spraying operation on the spray area at the current end stop position according to the spraying path setting and the spraying parameter setting, including:

[0027] Determine a spray path setting in a spraying area, wherein the spray path setting includes a vertical spray path and a gun-swinging spray path, the arm assembly can drive the spray gun module to perform spraying at a vertical angle on the vertical spray path, the arm assembly can drive the spray gun module to perform spraying at an outward inclined angle on the gun-swinging spray path, the number of vertical spray paths is at least two, at least two vertical spray paths are arranged in parallel along a first direction in sequence within the spraying area, and each vertical spray path extends along a second direction perpendicular to the first direction, and a previous vertical spray path is connected to a subsequent vertical spray path through a gun-swinging spray path.

[0028] In one embodiment of the present invention, the high-altitude spraying operation control method further includes:

[0029] When it is determined that the spray gun module is blocked, the spraying operation of the spray gun module is suspended;

[0030] The control arm assembly adjusts the nozzle opening on the spray gun module to a position outside the surface to be sprayed;

[0031] Controlling the reverse switching driving mechanism to switch the nozzle opening of the nozzle member from the second end facing the inlet installation channel to the muzzle facing the spray gun module;

[0032] The spray gun module is controlled to open so as to backflush the nozzle opening of the nozzle member.

[0033] Through the above technical solution, the spraying execution device provided by the present invention has the following beneficial effects:

[0034] When using the above-mentioned spray execution device, since it includes a body assembly, a head assembly and an arm assembly, the body assembly can be installed at the end of the arm device, the mapping module on the head assembly can map the surface to be sprayed, and the arm assembly has multiple degrees of freedom and a spray gun module is installed at the end, so that the arm assembly can drive the spray gun module to move according to the mapping results of the mapping module, thereby realizing the automation of the spraying operation, eliminating the need for operators to work at high altitudes, and achieving the purpose of improving the safety and efficiency of the spraying operation.

[0035] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0037] Figure 1 is a schematic structural diagram of a high-altitude spray painting vehicle according to one embodiment of the present invention;

[0038] Figure 2 is a structural schematic diagram of a spray execution device and a part of an arm device from one perspective according to an embodiment of the present invention;

[0039] Figure 3 is a structural schematic diagram of a spray execution device and a part of an arm support device from another perspective according to an embodiment of the present invention;

[0040] Figure 4 is a schematic structural diagram of a neck assembly and a head assembly according to an embodiment of the present invention;

[0041] Figure 5 is a schematic structural diagram of a spray gun module and a nozzle clearing module according to an embodiment of the present invention;

[0042] Figure 6 is a partial structural schematic diagram of a reverse switching drive mechanism according to an embodiment of the present invention;

[0043] Figure 7 is a schematic structural diagram of the arrangement of a spray delivery pipe, a first air pipe and a second air pipe according to an embodiment of the present invention;

[0044] Figure 8 It is a schematic diagram of spray path setting of spray gun modules on two arm assemblies in the same spray area according to one embodiment of the present invention.

[0045] Description of reference numerals:

[0046] 100 Spraying actuator 110 Body assembly

[0047] 111 Neck rotation drive assembly 112 Second obstacle detection component

[0048] 113 First distance measuring detection part

[0049] 120 head assembly 121 head shell

[0050] 122 Head mounting bracket 123 First laser radar

[0051] 124 Camera 125 First obstacle detection unit

[0052] 130 Arm assembly 131 Shoulder joint module

[0053] 132 Elbow Joint Module 133 Wrist Joint Module

[0054] 140 Neck assembly 150 Neck swivel seat

[0055] 151 Rotating bottom plate 152 Rotating vertical plate

[0056] 160 Head pitch drive mechanism 161 First telescopic drive member

[0057] 162 Head pitch drive frame 163 Horizontal frame

[0058] 164 stand portion 165 first pin

[0059] 166 Second pin 167 Third pin

[0060] 168a first sleeve 168b second sleeve

[0061] 169 Second distance measuring detection part

[0062] 170 Spray gun module 171 Spraying pipe

[0063] 172 Pressure sensor 173 Second solenoid valve

[0064] 180 Nozzle clearing module 181 Docking block

[0065] 182 Reverse switching drive mechanism 183 Nozzle member

[0066] 184 Connector 185 First solenoid valve

[0067] 200 Chassis device 300 Turntable device

[0068] 400 Boom device 410 Telescopic main boom

[0069] 411 Main boom section 1 412 Main boom section 2

[0070] 413 Main boom three-section boom 414 Boom cylinder

[0071] 420 Leveling mechanism 421 Leveling cylinder

[0072] 422 Leveling seat 430 Telescopic arm

[0073] 431 Forearm 1st section 432 Forearm 2nd section

[0074] 433 Positioning module 434 Arm telescopic cylinder

[0075] 440 Spraying pitch mechanism 441 Pitch cylinder

[0076] 442 Pitch link 443 Pitch seat

[0077] L1 vertical spraying path L2 swing gun spraying path DETAILED DESCRIPTION

[0078] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0079] The following describes the spraying execution device, the high-altitude spraying vehicle and the high-altitude spraying operation control method of the present invention with reference to the accompanying drawings.

[0080] like Figure 1 and Figure 2 As shown, the present invention provides a spraying execution device, wherein the spraying execution device 100 includes:

[0081] The body assembly 110 can be mounted on the end of the arm device 400;

[0082] The head assembly 120 is disposed on the body assembly 110 and has a mapping module capable of mapping the surface to be sprayed;

[0083] The arm assembly 130 is arranged on the body assembly 110 and has multiple degrees of freedom. A spray gun module 170 is installed at the end of the arm assembly 130. The spray gun module 170 can spray the surface to be sprayed. The arm assembly 130 is used to drive the spray gun module 170 to move according to the mapping results of the mapping module.

[0084] When using the above-mentioned spray execution device 100, since it includes a body assembly 110, a head assembly 120 and an arm assembly 130, the body assembly 110 can be installed at the end of the arm device 400, and the mapping module on the head assembly 120 can map the surface to be sprayed. The arm assembly 130 has multiple degrees of freedom and a spray gun module 170 is installed at the end, so that the arm assembly 130 can drive the spray gun module 170 to move according to the mapping results of the mapping module, thereby realizing the automation of the spraying operation, without the need for operators to work at high altitudes, and achieving the purpose of improving the safety and efficiency of the spraying operation.

[0085] In one embodiment of the present invention, the surveying result of the surveying module is set as a three-dimensional model of the surface to be sprayed, and the surveying module includes a first laser radar 123 for scanning the surface to be sprayed to obtain point cloud data, and a camera 124 for photographing the surface to be sprayed to obtain multi-view images, so that the three-dimensional model of the surface to be sprayed can be constructed according to the point cloud data and the multi-view images. By setting the surveying module to include the first laser radar 123 and the camera 124, the operation scene can be three-dimensionally reconstructed by the first laser radar 123 and the camera 124, so that the constructed three-dimensional model has higher accuracy and is more realistic and intuitive, which is convenient for the subsequent division of the spraying area of ​​the surface to be sprayed. Of course, the present invention is not limited to this, and it is also possible to survey the surface to be sprayed only by the first laser radar 123.

[0086] See also Figures 1 to 4 In one embodiment of the present invention, the spraying execution device 100 further includes a neck assembly 140, the head assembly 120 is arranged on the body assembly 110 through the neck assembly 140, the upper end of the body assembly 110 is provided with a neck rotation drive assembly 111, the neck assembly 140 includes a neck rotation seat 150 and a head pitch drive mechanism 160 arranged on the neck rotation seat 150, the lower end of the neck rotation seat 150 is connected to the output end of the neck rotation drive assembly 111, the output end of the neck rotation drive assembly 111 outputs a rotation motion with the vertical direction as the rotation axis, and the head pitch drive mechanism 160 is drivingly connected to the head assembly 120 and can drive the head assembly 120 to perform a pitch motion. That is, the head assembly 120 can not only follow the neck assembly 140 to perform a rotation motion with the vertical direction as the rotation axis on the body assembly 110, but also can perform a pitch motion under the drive of the head pitch drive mechanism 160, so as to expand the surveying and mapping field of the surveying and mapping module on the head assembly 120. Specifically, the neck rotation driving assembly 111 includes but is not limited to a servo reducer, and the output end of the servo reducer is arranged upward.

[0087] In one embodiment of the present invention, the head pitch drive mechanism 160 includes a first telescopic drive member 161 and a head pitch drive frame 162, the head pitch drive frame 162 includes a horizontal frame portion 163 and a vertical frame portion 164, the horizontal frame portion 163 is provided with a first hinge point and a second hinge point in sequence along the length direction, the horizontal frame portion 163 is hinged to the upper end of the neck rotating seat 150 through a first pin 165 at the first hinge point, the vertical frame portion 164 is vertically arranged on the side of the first hinge point away from the second hinge point and the lower end is connected to the horizontal frame portion 163, the head assembly 120 is arranged at the upper end of the vertical frame portion 164, the first telescopic drive member 161 is arranged on the neck rotating seat 150, and the telescopic drive end arranged upward is hinged to the second hinge point through a second pin 166. By adding the head pitch drive frame 162, the pitch control of the head assembly 120 is realized, and it is convenient to disassemble and assemble with the first telescopic drive member 161 and the neck rotating seat 150 respectively. Of course, the present invention is not limited to this, the head assembly 120 is directly hinged on the neck rotating seat 150, and the telescopic driving end of the first telescopic driving member 161 is directly hinged to the head assembly 120. At the same time, the addition of the stand 164 in the head pitch driving frame 162 can play a role in expanding the pitch angle.

[0088] Specifically, the vertical frame 164 can be connected to the end of the horizontal frame 163 that is set forward and bend upward to extend. The first hinge point and the second hinge point are arranged in sequence from front to back on the horizontal frame 163, and the second hinge point can be located at the end of the horizontal frame 163 that is set backward. The first telescopic drive member 161 can be set as an electric push rod. The telescopic drive end of the first telescopic drive member 161 is set upward, and the first telescopic drive member 161 can be tilted backward from bottom to top, that is, the lower end of the first telescopic drive member 161 is located in front of the telescopic drive end in the front-to-back direction. When the telescopic drive end of the first telescopic drive member 161 is extended, the head assembly 120 is driven to lower its head downward; when the telescopic drive end of the first telescopic drive member 161 is retracted, the head assembly 120 is driven to raise its head upward. It should be particularly noted that the front and back directions in the present invention are defined based on the installation of the surveying and mapping module on the head assembly 120.

[0089] In one embodiment of the present invention, the neck rotating seat 150 includes a rotating base plate 151 and two rotating vertical plates 152, the rotating base plate 151 is connected to the output end of the neck rotation driving assembly 111, and the two rotating vertical plates 152 are erected on the rotating base plate 151 with relative intervals, the first telescopic driving member 161 is placed between the two rotating vertical plates 152 and the lower end is hinged to the lower ends of the two rotating vertical plates 152 through the third pin shaft 167, and the cross frame portion 163 is placed between the two rotating vertical plates 152 and is hinged to the upper ends of the two rotating vertical plates 152 through the first pin shaft 165 arranged at the first hinge point. The addition of a rotating base plate 151 in the neck rotating seat 150 can facilitate disassembly and assembly with the output end of the neck rotating drive assembly 111. The addition of two rotating vertical plates 152 can ensure the installation stability of the first telescopic drive component 161 on the neck rotating seat 150 on the one hand, and can ensure the installation stability of the cross frame part 163 on the neck rotating seat 150 on the other hand. At the same time, such a configuration can make the neck rotating seat 150 be subjected to balanced force, thereby ensuring the stability of the rotational movement.

[0090] In one embodiment of the present invention, the number of the cross frame parts 163 can be two, and the two cross frame parts 163 are placed between the two rotating upright plates 152 and are arranged in sequence along the spacing direction of the two rotating upright plates 152. The first pin shaft 165 is connected in series with the two cross frame parts 163 and the two rotating upright plates 152, and the second pin shaft 166 is connected in series with the telescopic driving end of the first telescopic driving member 161 and the two cross frame parts 163, and the second pin shaft 166 is sleeved with a first shaft sleeve 168a at the gap between each cross frame part 163 and the telescopic driving end of the first telescopic driving member 161, and the third pin shaft 167 is sleeved with a second shaft sleeve 168b at the gap between each rotating upright plate 152 and the lower end of the first telescopic driving member 161. The addition of the first shaft sleeve 168a and the second shaft sleeve 168b can ensure that the upper and lower ends of the first telescopic driving member 161 are both arranged in the middle to ensure the stability of the pitch motion drive.

[0091] like Figure 2 As shown, in one embodiment of the present invention, the head assembly 120 includes a head shell 121, a head mounting bracket 122 and a surveying and mapping module. The head shell 121 forms a head cavity with a front opening, the head mounting bracket 122 is arranged in the head cavity, and the camera 124 is arranged on the head mounting bracket 122 and the lens is arranged toward the front opening, that is, the head shell 121 can protect the camera 124, and the opening of the front side can also ensure the shooting requirements of the camera 124. At the same time, the first laser radar 123 is arranged at the chin position of the head shell 121, so that the first laser radar 123 can emit detection laser without any obstruction.

[0092] In one embodiment of the present invention, a first obstacle detection member 125 is provided on the head assembly 120, and the first obstacle detection member 125 can emit a detection signal upward. Specifically, the first obstacle detection member 125 is set to the top of the head shell 121 or the upper end of the head mounting bracket 122 exposed, and the lower end of the body assembly 110 is provided with a second obstacle detection member 112, and the second obstacle detection member 112 can emit a detection signal downward. The addition of the first obstacle detection member 125 and the second obstacle detection member 112 can play a role in avoiding obstacles up and down. Specifically, the first obstacle detection member 125 and the second obstacle detection member 112 can both be set as millimeter wave radars. Millimeter wave radars emit short-wavelength electromagnetic wave signals, which will be reflected when encountering objects. The radar system determines the distance, speed and angle of the object by receiving these reflected signals. Of course, the present invention is not limited to this, and the first obstacle detection member 125 and the second obstacle detection member 112 can also be set as other obstacle detection devices.

[0093] In one embodiment of the present invention, the body assembly 110 is provided with a first distance measuring detection member 113 for measuring the distance of the surface to be sprayed. The first distance measuring detection member 113 is added to facilitate the determination of the distance between the body assembly 110 and the surface to be sprayed, so that the distance between the spray gun module 170 and the surface to be sprayed can be calculated, thereby ensuring the position accuracy of the spray gun module 170 for spraying. Specifically, the number of the first distance measuring detection member 113 on the body assembly 110 can be two, and the two first distance measuring detection members 113 are arranged at intervals along the width direction on the front side of the body assembly 110, and at the same time, the head pitch drive frame 162 is provided with a second distance measuring detection member 169 for measuring the distance of the surface to be sprayed at the junction of the horizontal frame portion 163 and the vertical frame portion 164, and the first distance measuring detection member 113 and the second distance measuring detection member 169 can both be set as ultrasonic radars, of course, the present invention is not limited to this, and the first distance measuring detection member 113 and the second distance measuring detection member 169 can also be set as other distance measuring devices.

[0094] See also Figure 2 and Figure 3In one embodiment of the present invention, the number of arm assemblies 130 can be two, and the two arm assemblies 130 are respectively arranged at the shoulders of the torso assembly 110 on both sides and each includes a human hand manipulator with six degrees of freedom. The shoulder joint module 131 of the human hand manipulator is arranged at the shoulder of the torso assembly 110, and the end of the wrist joint module 133 of the human hand manipulator is installed with a spray gun module 170. Setting the arm assembly 130 as a human hand manipulator with six degrees of freedom can enable high-precision position control and posture control to be maintained, and the human hand manipulator with six degrees of freedom has a faster movement speed, which can meet the needs of high-speed movement and improve the spraying efficiency. Specifically, the human hand manipulator includes a shoulder joint module 131, an elbow joint module 132 and a wrist joint module 133, the shoulder joint module 131 has two rotational degrees of freedom, the elbow joint module 132 has one rotational degree of freedom, and the wrist joint module 133 has three rotational degrees of freedom.

[0095] like Figure 1 , Figure 2 as well as Figures 5 to 7 As shown, in one embodiment of the present invention, the spray execution device 100 also includes a nozzle clearing module 180, and the nozzle clearing module 180 includes a docking block 181, a nozzle part 183 and a reverse switching drive mechanism 182. An inlet installation channel that passes through along a first direction is formed on the docking block 181, and the nozzle part 183 is placed in the inlet installation channel. The muzzle of the spray gun module 170 can be docked with the first end of the inlet installation channel, and the reverse switching drive mechanism 182 can control the nozzle mouth of the nozzle part 183 to switch between the second end of the inlet installation channel and the muzzle. If the nozzle opening is blocked, the reverse switching drive mechanism 182 can be controlled to drive the nozzle opening of the nozzle member 183 to switch from the second end toward the inlet installation channel to the muzzle toward the spray gun module 170, so that the spray gun module 170 can be controlled to recoil the nozzle opening of the nozzle member 183 to eliminate the blockage. Of course, before the spray gun module 170 performs the recoil operation control, it is necessary to first drive the spray gun module 170 and the nozzle clearing module 180 through the arm assembly 130 to adjust the nozzle opening to align with the area outside the surface to be sprayed or the recovery container to avoid damage to the surface to be sprayed. After the blockage is eliminated, the switching drive mechanism can be controlled to drive the nozzle opening of the nozzle member 183 to switch from the muzzle toward the spray gun module 170 to the second end toward the inlet installation channel to continue the interrupted spraying operation.

[0096] Specifically, the muzzle of the spray gun module 170 can be docked with the first end of the inlet mounting channel through a connector 184. One end of the connector 184 is embedded in the first end of the inlet mounting channel, and the other end is extended and docked with the muzzle of the spray gun module 170. The reverse switching drive mechanism 182 includes a rotating shaft and a rotary cylinder that drives the rotating shaft to perform reverse switching rotation. The rotating shaft can be rotatably penetrated on the docking block 181 in a direction perpendicular to the inlet mounting channel, and the rotating shaft is provided with a radial mounting hole at a position corresponding to the inlet mounting channel. The nozzle member 183 is installed in the radial mounting hole. The connector 184 has a feed channel connecting the muzzle and the nozzle member 183. The rotary cylinder can drive the rotating shaft to rotate 180° when ventilated, and control the nozzle mouth of the nozzle member 183 to switch between the second end facing the inlet mounting channel and the muzzle. More specifically, a first electromagnetic valve 185 for controlling on and off is disposed on the first air pipe of the rotary cylinder, and a second electromagnetic valve 173 for controlling on and off is also disposed on the second air pipe for controlling the opening and closing of the spray gun module 170.

[0097] In one embodiment of the present invention, a pressure sensor 172 is provided on a spray delivery pipe 171 connected to the spray gun module 170. Specifically, the spray delivery pipe 171 is used to deliver spray liquid to the spray gun module 170. The reverse switching drive mechanism 182 is used to control the nozzle opening of the nozzle member 183 to switch between the second end facing the inlet installation channel and the muzzle according to the detection data of the pressure sensor 172, so that when the nozzle opening is blocked, the pressure sensor 172 can sense that the pressure in the spray delivery pipe 171 increases abnormally, and then can automatically The reverse switching drive mechanism 182 is dynamically controlled to drive the nozzle opening of the nozzle member 183 to switch from the second end toward the inlet installation channel to the muzzle toward the spray gun module 170, so that the spray gun module 170 can be controlled to recoil the nozzle opening of the nozzle member 183 to eliminate blockage. After the pressure sensor 172 senses that the pressure in the spray delivery pipe 171 has returned to normal, it can automatically confirm that the blockage has been eliminated, and then the switching drive mechanism can be controlled to drive the nozzle opening of the nozzle member 183 to switch from the muzzle toward the spray gun module 170 to the second end toward the inlet installation channel.

[0098] Also, see again Figure 1 and Figure 2 The present invention also provides a high-altitude spray painting vehicle, wherein the high-altitude spray painting vehicle comprises a chassis device 200, a turntable device 300, an arm device 400 and the spray execution device 100 described above, the turntable device 300 is rotatably arranged on the chassis device 200, the arm device 400 is variable in amplitude and is lifted and lowered on the turntable device 300, and the spray execution device 100 can be installed at the end of the arm device 400. Since the high-altitude spray painting vehicle adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0099] In one embodiment of the present invention, the arm device 400 includes a telescopic main arm 410, a leveling mechanism 420, a telescopic small arm 430 and a spraying pitch mechanism 440. The telescopic main arm 410 is variable in amplitude and is set on the turntable device 300. The end of the telescopic main arm 410 is provided with a leveling mechanism 420, and the head end of the telescopic small arm 430 is rotatably arranged around a vertical rotation axis on a leveling seat 422 of the leveling mechanism 420. The end of the telescopic small arm 430 is provided with a spraying pitch mechanism 440 on which the body assembly 110 can be installed. The spraying pitch mechanism 440 can drive the body assembly 110 to perform pitch movement. The addition of the leveling mechanism 420 can ensure that the subsequent telescopic arm 430, the spraying pitch mechanism 440 and the spraying execution device 100 are not affected by the amplitude change angle of the telescopic main arm 410. The addition of the telescopic arm 430 makes it possible to fine-tune the position of the end of the arm device 400. The addition of the coating pitch mechanism makes it possible to realize the pitch adjustment of the spraying execution device 100.

[0100] Specifically, the chassis device 200 can be a four-wheel drive, and the turntable device 300 can rotate 360 ​​degrees on the chassis device 200. The telescopic main arm 410 includes a main arm section 1 arm 411, a main arm section 2 arm 412 and a main arm section 3 arm 413 which are nested in sequence. The main arm section 1 arm 411 can be raised and lowered on the turntable device 300 by a variable amplitude oil cylinder 414. The main arm section 2 arm 412 and the main arm section 3 arm 413 are telescopically arranged. The end of the main arm section 3 arm 413 is provided with a leveling oil cylinder 421 and a leveling seat 422 of a leveling mechanism 420. The leveling oil cylinder 421 is drivingly connected to the leveling seat 422. The leveling seat 422 is also provided with a first swing oil cylinder. The first swing oil cylinder is drivingly connected to the arm section 1 arm 431 of the telescopic small arm 430, and can drive the arm section 1 arm 431 to move. 1 is swung left and right around the vertical axis of rotation. The second arm section 432 of the telescopic arm 430 is telescopically arranged on the first arm section 431 and is telescopically driven by the arm telescopic cylinder 434. The second arm section 432 is provided with a spraying pitch mechanism 440, which includes a pitch cylinder 441, a pitch connecting rod 442 and a pitch seat 443. The pitch cylinder 441 drives the pitch connecting rod 442 to drive the pitch seat 443 to perform a pitch movement. The pitch seat 443 is also provided with a second swinging cylinder, which is drivingly connected to the body assembly 110 and can drive the body assembly 110 to swing left and right around the vertical axis of rotation.

[0101] More specifically, the leveling seat 422 and the pitch seat 443 are both provided with angle sensors to detect the swing angles of the first swing cylinder and the second swing cylinder respectively, and a pull rope sensor is provided between the first arm section 431 and the second arm section 432 to detect the telescopic length of the second arm section 432.

[0102] In one embodiment of the present invention, a positioning module 433 for positioning the end of the arm device 400 is provided on the telescopic arm 430. By adding the positioning module 433, it is convenient to obtain the end position of the arm device 400, so as to adjust the end stop position. Specifically, the positioning module 433 can be arranged on the telescopic arm of the telescopic arm 430. The positioning module 433 can be configured to include a second laser radar and an IMU (inertial measurement unit). The second laser radar can estimate the motion state of the laser radar through the laser point cloud. The IMU (inertial measurement unit) is a sensor widely used in the field of robots and automobiles. It integrates a gyroscope and an accelerometer, and can accurately capture and output the angular velocity and acceleration information of the measured object, and then calculate its posture and position changes within a certain period of time through integral calculation. In view of the fact that laser mileage calculation relies on low-frequency environmental perception for positioning, and IMU estimates posture through high-frequency self-motion state integration, the two have natural complementarity in function. The laser mileage calculation is combined with the IMU to achieve high-precision and real-time positioning.

[0103] In addition, the third aspect of the present invention provides a high-altitude spraying operation control method, wherein the high-altitude spraying operation control method is applied to the high-altitude spraying vehicle according to the above, and includes:

[0104] Step S100, controlling the surveying and mapping module to survey the surface to be sprayed, so as to generate a three-dimensional model of the surface to be sprayed.

[0105] Specifically, the chassis device 200 of the aerial spray painting vehicle is first controlled to travel in front of the surface to be sprayed, and the distance between the chassis device 200 and the surface to be sprayed is controlled within the vehicle operating range curve, which can be determined according to the vehicle body size, the telescopic range of the arm device 400 and the stability of the vehicle. Then, while controlling the movement of the neck assembly 140, the mapping module on the head assembly 120 is driven to map the surface to be sprayed. The mapping module includes a first laser radar 123 for scanning the surface to be sprayed to obtain point cloud data, and a camera 124 for photographing the surface to be sprayed to obtain multi-view images, so that a three-dimensional model of the surface to be sprayed can be constructed based on the point cloud data and the multi-view images.

[0106] Step S110, determining the spraying area setting and spraying parameter setting for the three-dimensional model.

[0107] It is understandable that after generating the three-dimensional model of the surface to be sprayed, the division of the spray area setting and the spray parameter setting can be automatically determined by the pre-stored setting rules, or the spray area setting and the spray parameter setting can be freely selected and planned by manual input. Specifically, the spray area setting can be divided into multiple rows and columns, and the spray parameter setting can include the paint film thickness and nozzle flow rate. In addition, the spray path within a single spray area can also be set.

[0108] Step S120, determining the chassis stop position of the chassis device 200 of the aerial spray painting vehicle and the end stop position of the boom device 400 at each chassis stop position according to the spraying area setting.

[0109] Specifically, after the spraying area is set, especially the spraying area is set in multiple rows and columns, each column of spraying areas can correspond to a chassis stop position of the chassis device 200, that is, the column length set for the spraying area corresponds to the driving distance of the chassis device 200, and at the same time, each spraying area in each column can correspond to an end stop position of an arm device 400, that is, the row height set for the spraying area corresponds to the position adjustment of the arm device 400 on the front plane, thereby making the subsequent spraying operation control more reasonable and orderly.

[0110] Step S130, controlling the chassis device 200 to move to each chassis stop position in sequence.

[0111] More specifically, when the chassis device 200 is controlled to move, it can move from the leftmost side of the surface to be sprayed to the rightmost side, or from the rightmost side to the leftmost side. It should be noted that the chassis device 200 is controlled to move to the next chassis stop position only after each spraying area in a column of spraying areas corresponding to the current chassis stop position has completed the spraying operation.

[0112] Step S140, at each chassis stop position, the end of the control arm device 400 is adjusted to each end stop position of the current chassis stop position in sequence.

[0113] More specifically, when corresponding to a column of spraying areas at each chassis stop position, the position adjustment of the arm device 400 can be performed from top to bottom or from bottom to top. It should be noted that only after the spraying operation of the spraying area corresponding to the current end stop position is completed, the end of the arm device 400 is controlled to adjust to the next end stop position of the column.

[0114] Step S150, at each end stop position, the arm assembly 130 is controlled to drive the spray gun module 170 to spray the spray area at the current end stop position according to the spray path setting and the spray parameter setting.

[0115] It can be understood that the spraying path in the spraying area can be pre-set. Then, at each end stop position, the arm assembly 130 can be controlled to drive the spray gun module 170 to spray the current spraying area according to the spraying path setting, so as to further make the spraying operation control more reasonable and orderly.

[0116] When the above-mentioned high-altitude spraying operation control method is used, the surface to be sprayed can be automatically surveyed and mapped by the surveying and mapping module on the head assembly 120, and the spraying area and spraying parameters can be set by setting the three-dimensional model generated by the automatic surveying, so that the chassis stop position of the chassis device 200 of the high-altitude spraying vehicle and the end stop position of the arm device 400 at each chassis stop position can be automatically determined according to the spraying area setting. During the spraying operation, the chassis device 200 is controlled to move to each chassis stop position in turn, and at each chassis stop position, the end of the arm device 400 is controlled to be adjusted to each end stop position of the current chassis stop position in turn, and at each end stop position, the arm assembly 130 is controlled to drive the spray gun module 170 according to the spraying path setting to spray the spray area at the current end stop position with the spraying parameter setting, so that the spraying operation of the surface to be sprayed can be automatically completed without the need for operators to work at high altitude, thereby achieving the purpose of improving the safety and efficiency of the spraying operation.

[0117] In one embodiment of the present invention, the control arm assembly 130 drives the spray gun module 170 to spray the spray area at the current end stop position according to the spray path setting and the spray parameter setting, before performing the spray operation, including:

[0118] Determine the spray path setting within the spray area, where Figure 8As shown, the spraying path is set to include a vertical spraying path L1 and a gun-swinging spraying path L2. The arm assembly 130 can drive the spray gun module 170 to spray at a vertical angle on the vertical spraying path L1. The arm assembly 130 can drive the spray gun module 170 to spray at an outward tilt angle on the gun-swinging spraying path L2. The number of vertical spraying paths L1 is at least two. At least two vertical spraying paths L1 are arranged in parallel in a first direction in the spraying area, and each vertical spraying path L1 extends along a second direction perpendicular to the first direction. The previous vertical spraying path L1 is connected to the next vertical spraying path L1 through the gun-swinging spraying path L2. Specifically, there is a spraying operation connection area in the adjacent spraying areas. The gun-swinging spraying path L2 is located at the end of the vertical spraying path L1. The gun-swinging operation on the gun-swinging spraying path L2 is to avoid the phenomenon of insufficient spraying in the connection area. In particular, when there are two arm assemblies 130, and the two arm assemblies 130 are respectively arranged on both sides of the shoulders of the body assembly 110, and a spray gun module 170 is provided at the end of each arm assembly 130, then there are two spray gun modules 170 performing spraying operations in the same spraying area. If at least two vertical spraying paths L1 in the spraying path setting of each spray gun module 170 are arranged in parallel in sequence from top to bottom, and each vertical spraying path L1 is extended from left to right, then not only adjacent spraying areas have connecting areas, but also there is a connecting area between the two spray gun modules 170 in the same spraying area. Therefore, the gun swinging operation on the gun swinging spraying path L2 can avoid the phenomenon of inadequate spraying in the above-mentioned two connecting areas. It should be noted that the spraying path of the spray gun module 170 is set continuously and uninterruptedly, that is, when the spray gun module 170 moves, the spray gun module 170 on the previous vertical spraying path L1 moves from left to right, and the spray gun module 170 on the next vertical spraying path L1 should move from right to left.

[0119] Specifically, on the vertical spraying path L1, the angle between the spraying direction of the spray gun module 170 and the surface to be sprayed is 90 degrees. If the gun-swinging spraying path L2 is located at the left end of the vertical spraying path L1, the spraying direction of the spray gun module 170 should be tilted to the left on this gun-swinging spraying path L2, and the angle between the spraying direction of the spray gun module 170 and the surface to be sprayed is 45 degrees. If the gun-swinging spraying path L2 is located at the right end of the vertical spraying path L1, the spraying direction of the spray gun module 170 should be tilted to the right on this gun spraying path, and the angle between the spraying direction of the spray gun module 170 and the surface to be sprayed is 45 degrees, and the gun-swinging operation can be adjusted by controlling the wrist joint module 133 of the arm assembly 130.

[0120] In one embodiment of the present invention, the high-altitude spraying operation control method further includes:

[0121] Step S200 , when it is determined that the spray gun module 170 is blocked, controlling the spraying operation of the spray gun module 170 to be suspended.

[0122] It can be understood that during the spraying operation, if the pressure sensor 172 detects an abnormal increase in the pressure in the spray delivery pipe 171, it can be determined that the spray gun module 170 is blocked. At this time, the second solenoid valve 173 can be controlled to close and the spray gun module 170 can be closed to suspend the spraying operation of the spray gun module 170.

[0123] Step S210, controlling the arm assembly 130 to adjust the nozzle opening on the spray gun module 170 to a position outside the surface to be sprayed.

[0124] Specifically, adjusting the spray gun port on the spray gun module 170 to a position outside the surface to be sprayed can prevent the subsequent recoil operation from causing damage to the surface to be sprayed.

[0125] Step S220 , controlling the reverse switching driving mechanism 182 to switch the nozzle opening of the nozzle member 183 from the second end facing the inlet installation channel to the muzzle facing the spray gun module 170 .

[0126] More specifically, the first solenoid valve 185 is controlled to open so that the air source enters the rotary cylinder, and then the rotary cylinder drives the rotary shaft to rotate 180°, so that the nozzle opening of the nozzle member 183 on the rotary shaft switches from the second end facing the inlet installation channel to the muzzle facing the spray gun module 170.

[0127] Step S230 , controlling the spray gun module 170 to start, so as to back-flush the nozzle opening of the nozzle member 183 .

[0128] Furthermore, after the reverse switching of the nozzle opening, the second solenoid valve 173 is controlled to be opened to start the spray gun module 170 to recoil the nozzle opening. Furthermore, when the pressure sensor 172 detects that the pressure has returned to normal, it can be determined that the gun blocking phenomenon has been eliminated. At this time, the spray gun module 170 is first controlled to be closed, and then the reverse switching drive mechanism 182 is controlled to switch the nozzle opening of the nozzle member 183 from the muzzle facing the spray gun module 170 to the second end facing the inlet installation channel to achieve the nozzle opening reset, and the arm assembly 130 drives the spray gun module to reset to the operation interruption position to continue to complete the subsequent spraying operation.

[0129] In one embodiment of the present invention, the high-altitude spraying operation control method further includes:

[0130] When receiving the automatic cycle cleaning instruction, the spray gun module 170 is controlled to switch to the cleaning posture.

[0131] Specifically, after the spraying operation of the surface to be sprayed is completed, the spraying direction of the spray gun module 170 is adjusted toward the cleaning circulation container, and the diluted cleaning liquid in the cleaning circulation container is guided to the spray delivery pipe 171 and the spray gun module 170 in turn to realize the circulation cleaning of the spray pipeline.

[0132] Therefore, the spraying execution device, the high-altitude spraying vehicle and the high-altitude spraying operation control method provided by the present invention have the following advantages:

[0133] 1. When dealing with various complex curved working surfaces, the six-degree-of-freedom human-hand robotic arm can simulate the manual spraying posture trajectory, with high spraying quality and good spraying effect.

[0134] 2. When the gun is blocked during the spraying process, the pressure sensor determines that the pressure in the pipe is abnormal. The arm assembly and the reverse switching drive mechanism are controlled to reverse the flushing nozzle until it is unblocked and then automatically returns to its original position to continue the spraying operation, thus solving the problem of manual intervention to clear the gun.

[0135] 3. After the spraying operation is completed, it can automatically enter the set cleaning posture and perform long-term cycle cleaning, reducing the manual intervention steps during cleaning, cleaning more thoroughly, reducing subsequent gun blockage, and extending the use time of consumables such as spray delivery pipes and spray gun modules.

[0136] 4. The spraying area setting and spraying parameter setting can be freely selected and planned.

[0137] 5. The head pitch and angle pause movements are achieved through an electric push rod, which has a simpler structure, lower cost, stronger head weight support and higher reliability than a joint motor.

[0138] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0139] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0140] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0141] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A spraying execution device, characterized in that: The spraying execution device (100) comprises: A body assembly (110) can be mounted on the end of the arm device (400); A head assembly (120) is arranged on the body assembly (110) and has a mapping module capable of mapping the surface to be sprayed; The arm assembly (130) is arranged on the body assembly (110) and has multiple degrees of freedom. A spray gun module (170) is installed at the end of the arm assembly (130). The spray gun module (170) can perform a spraying operation on a surface to be sprayed. The arm assembly (130) is used to drive the spray gun module (170) to move according to the mapping results of the mapping module.

2. The spraying execution device according to claim 1, characterized in that: The surveying result of the surveying module is set as a three-dimensional model of the surface to be sprayed, and the surveying module includes a first laser radar (123) for scanning the surface to be sprayed to obtain point cloud data, and a camera (124) for photographing the surface to be sprayed to obtain multi-view images, so that the three-dimensional model of the surface to be sprayed can be constructed according to the point cloud data and the multi-view images.

3. The spraying execution device according to claim 1, characterized in that: The spraying execution device (100) further comprises a neck assembly (140), wherein the head assembly (120) is arranged on the body assembly (110) via the neck assembly (140), wherein a neck rotation driving assembly (111) is arranged at the upper end of the body assembly (110), wherein the neck assembly (140) comprises a neck rotation seat (150) and a head pitch driving mechanism (160) arranged on the neck rotation seat (150), wherein the lower end of the neck rotation seat (150) is connected to the output end of the neck rotation driving assembly (111), wherein the output end of the neck rotation driving assembly (111) outputs a rotational motion with the vertical direction as the rotation axis, and wherein the head pitch driving mechanism (160) is drivingly connected to the head assembly (120) and can drive the head assembly (120) to perform a pitch motion.

4. The spraying execution device according to claim 3, characterized in that: The head pitch drive mechanism (160) comprises a first telescopic drive member (161) and a head pitch drive frame (162), wherein the head pitch drive frame (162) comprises a transverse frame portion (163) and a vertical frame portion (164), wherein the transverse frame portion (163) is provided with a first hinge point and a second hinge point in sequence along the length direction, wherein the transverse frame portion (163) is hinged to the upper end of the neck rotating seat (150) at the first hinge point through a first pin shaft (165), wherein the vertical frame portion (164) is vertically arranged on a side of the first hinge point away from the second hinge point and the lower end is connected to the transverse frame portion (163), wherein the head assembly (120) is arranged at the upper end of the vertical frame portion (164), wherein the first telescopic drive member (161) is arranged on the neck rotating seat (150), and the telescopic drive end arranged upward is hinged to the second hinge point through a second pin shaft (166).

5. The spraying execution device according to claim 4, characterized in that: The neck rotating seat (150) comprises a rotating base plate (151) and two rotating upright plates (152); the rotating base plate (151) is connected to the output end of the neck rotating driving assembly (111); the two rotating upright plates (152) are vertically arranged on the rotating base plate (151) at a relative interval; the first telescopic driving member (161) is arranged between the two rotating upright plates (152) and the lower end is hinged to the lower ends of the two rotating upright plates (152) through a third pin shaft (167); the cross frame portion (163) is arranged between the two rotating upright plates (152) and is hinged to the upper ends of the two rotating upright plates (152) through the first pin shaft (165) arranged at the first hinge point.

6. The spraying execution device according to claim 5, characterized in that: The number of the cross frame parts (163) is two, and the two cross frame parts (163) are placed between the two rotating vertical plates (152) and are arranged in sequence along the spacing direction of the two rotating vertical plates (152); the first pin shaft (165) is connected in series with the two cross frame parts (163) and the two rotating vertical plates (152); the second pin shaft (166) is connected in series with the telescopic driving end of the first telescopic driving member (161) and the two cross frame parts (163); and the second pin shaft (166) is sleeved with a first shaft sleeve (168a) at a gap between each cross frame part (163) and the telescopic driving end of the first telescopic driving member (161); and the third pin shaft (167) is sleeved with a second shaft sleeve (168b) at a gap between each rotating vertical plate (152) and the lower end of the first telescopic driving member (161).

7. The spraying execution device according to claim 2, characterized in that: The head assembly (120) includes a head shell (121), a head mounting bracket (122) and a mapping module. The head shell (121) forms a head cavity with a front opening. The head mounting bracket (122) is arranged in the head cavity. The camera (124) is arranged on the head mounting bracket (122) with the lens facing the front opening. The first laser radar (123) is arranged at the chin position of the head shell (121).

8. The spraying execution device according to any one of claims 1 to 7, characterized in that: The head assembly (120) is provided with a first obstacle detection component (125), and the first obstacle detection component (125) can emit a detection signal upward; the lower end of the body assembly (110) is provided with a second obstacle detection component (112), and the second obstacle detection component (112) can emit a detection signal downward; And / or, the body assembly (110) is provided with a first distance measuring detection component (113) for measuring the distance of the surface to be sprayed; And / or, the number of the arm assemblies (130) is two, the two arm assemblies (130) are respectively arranged on the shoulders of both sides of the body assembly (110) and both include a six-degree-of-freedom human hand robotic arm, the shoulder joint module (131) of the human hand robotic arm is arranged on the shoulder of the body assembly (110), and the spray gun module (170) is installed at the end of the wrist joint module (133) of the human hand robotic arm.

9. The spraying execution device according to any one of claims 1 to 7, characterized in that: The spraying execution device (100) further comprises a nozzle clearing module (180), wherein the nozzle clearing module (180) comprises a docking block (181), a nozzle member (183) and a reverse switching drive mechanism (182), wherein the docking block (181) is formed with an inlet installation channel extending in a first direction, and the nozzle member (183) is disposed in the inlet installation channel, and the muzzle of the spray gun module (170) can be docked with the first end of the inlet installation channel, and the reverse switching drive mechanism (182) can control the nozzle opening of the nozzle member (183) to switch between the second end of the inlet installation channel and the muzzle.

10. The spraying execution device according to claim 9, characterized in that: A pressure sensor (172) is provided on the spraying delivery pipe (171) connected to the spray gun module (170), and the reverse switching drive mechanism (182) is used to control the switching of the nozzle opening of the nozzle member (183) according to the detection data of the pressure sensor (172).

11. A high-altitude spray painting vehicle, characterized in that: The aerial spray painting vehicle comprises a chassis device (200), a turntable device (300), an arm device (400) and a spray execution device (100) according to any one of claims 1 to 10, wherein the turntable device (300) is rotatably disposed on the chassis device (200), the arm device (400) is variably mounted on the turntable device (300), and the spray execution device (100) can be installed at the end of the arm device (400).

12. The high-altitude spray painting vehicle according to claim 11, characterized in that: The arm device (400) comprises a telescopic main arm (410), a leveling mechanism (420), a telescopic small arm (430) and a spraying pitch mechanism (440); the telescopic main arm (410) is variable in amplitude and is disposed on the turntable device (300); the leveling mechanism (420) is disposed at the end of the telescopic main arm (410); and the head end of the telescopic small arm (430) is rotatably disposed around a vertical rotation axis on a leveling seat (422) of the leveling mechanism (420); the spraying pitch mechanism (440) on which the body assembly (110) can be installed is disposed at the end of the telescopic small arm (430); and the spraying pitch mechanism (440) can drive the body assembly (110) to perform a pitch movement.

13. The high-altitude spray painting vehicle according to claim 12, characterized in that: The telescopic small arm (430) is provided with a positioning module (433) for positioning the end of the arm support device (400).

14. A method for controlling high-altitude spraying operations, characterized in that: The high-altitude spraying operation control method is applied to the high-altitude spraying vehicle according to any one of claims 11 to 13, and comprises: Controlling the surveying and mapping module to survey the surface to be sprayed, so as to generate a three-dimensional model of the surface to be sprayed; Determine the spraying area setting and spraying parameter setting for the three-dimensional model; Determining the chassis stop position of the chassis device (200) of the aerial spray painting vehicle and the end stop position of the boom device (400) at each chassis stop position according to the spraying area setting; Controlling the chassis device (200) to move to each chassis stop position in sequence; At each chassis stop position, the end of the control arm support device (400) is adjusted in sequence to each end stop position of the current chassis stop position; At each end stop position, the control arm assembly (130) drives the spray gun module (170) to perform a spraying operation on the spraying area at the current end stop position according to the spraying path setting and the spraying parameter setting.

15. The high-altitude spraying operation control method according to claim 14, characterized in that: Before the control arm assembly (130) drives the spray gun module (170) to perform a spraying operation on the spraying area at the current end stop position according to the spraying path setting and the spraying parameter setting, the following steps are included: Determine the spray path setting in the spraying area, wherein the spray path setting includes a vertical spray path (L1) and a gun-swinging spray path (L2), the arm assembly (130) can drive the spray gun module (170) to perform spraying at a vertical angle on the vertical spray path (L1), and the arm assembly (130) can drive the spray gun module (170) to perform spraying at an outward inclined angle on the gun-swinging spray path (L2), the number of vertical spray paths (L1) is at least two, at least two vertical spray paths (L1) are arranged in parallel in sequence along a first direction in the spraying area, and each vertical spray path (L1) is extended along a second direction perpendicular to the first direction, and a previous vertical spray path (L1) is connected to a subsequent vertical spray path (L1) through the gun-swinging spray path (L2).

16. The high-altitude spraying operation control method according to claim 14, characterized in that: The high-altitude spraying operation control method also includes: When it is determined that the spray gun module (170) is blocked, controlling the spraying operation of the spray gun module (170) to be suspended; Controlling the arm assembly (130) to adjust the nozzle opening on the spray gun module (170) to a position outside the surface to be sprayed; Controlling the reverse switching driving mechanism (182) to switch the nozzle opening of the nozzle member (183) from the second end facing the inlet installation channel to the gun opening facing the spray gun module (170); The spray gun module (170) is controlled to be turned on to perform back flushing on the nozzle opening of the nozzle member (183).

Images