Intelligent spraying equipment for spraying rod piece

Abstract

The intelligent spraying equipment comprises a movable chassis, a spraying liquid storage device, a spraying device and a control device, and the spraying liquid storage device comprises a spraying liquid storage tank and a liquid level detection module; the control device comprises an image acquisition module, a laser ranging module and a control module; the control module is used for calculating the height and the diameter of a rod piece to be sprayed according to the received image information and the distance information, calculating the required spraying amount according to the obtained height and the obtained diameter, and comparing the spraying amount with the storage amount of the spraying liquid in the spraying liquid storage tank so as to determine whether to spray the rod piece or not. According to the intelligent spraying equipment, the situation that spraying liquid is insufficient when the rod pieces are sprayed can be avoided, and therefore it is guaranteed that each rod piece to be sprayed can be sprayed at a time, and the spraying quality is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of spraying technology, and in particular to an intelligent spraying device for spraying a rod. Background Art

[0002] When it is necessary to spray (e.g. paint) upright poles (such as electric poles, street light poles, trees, etc.), the traditional method is for workers to manually spray the spray liquid (or paint), which is not only time-consuming and labor-intensive, but also inefficient. For this reason, there are devices on the market that can automatically spray upright poles, that is, the spraying equipment is driven by a mobile device (such as a mobile cart) to automatically spray the poles, thereby improving the spraying efficiency.

[0003] However, when the existing spraying equipment is spraying paint on the rod, it is impossible to know in advance the spraying amount of the rod to be sprayed. In this way, when the spraying liquid carried by the spraying equipment is insufficient, it is easy to cause the rod to not be completely sprayed at one time. For example, when the spraying is halfway through, the spraying liquid is insufficient and needs to be replenished. This will cause excessively long spraying intervals between different parts of the rod, which will affect the quality of the spraying. Summary of the invention

[0004] The present invention aims to overcome the shortcomings of the prior art and provide an intelligent spraying device for spraying rods. The intelligent spraying device can avoid the situation of insufficient spraying liquid when spraying rods, thereby ensuring that each rod to be sprayed can be sprayed at one time, thereby ensuring the spraying quality.

[0005] The technical solution of the present invention to solve the above technical problems is: An intelligent spraying device for spraying a rod, comprising a mobile chassis, a spraying liquid storage device arranged on the mobile chassis, a spraying device and a control device, wherein: The spray liquid storage device comprises a spray liquid storage tank and a liquid level detection module arranged in the spray liquid storage tank, wherein the liquid level detection module is used to monitor the liquid level of the spray liquid in the spray liquid storage tank in real time and upload the monitoring result to the control module; The control device includes an image acquisition module, a laser distance measurement module and a control module, wherein the image acquisition module is used to collect image information of the rod to be sprayed, and upload the collected image information to the control module; the laser distance measurement module is used to detect the distance information between the rod to be sprayed and the mobile chassis, and upload the collected distance information to the control module; the control module calculates the height and diameter of the rod to be sprayed according to the received image information and distance information, and calculates the surface area of ​​the rod according to the obtained height and diameter, so as to obtain the required spraying amount, and compares it with the stock of the spraying liquid in the spraying liquid storage tank: When the amount of the spraying liquid in the spraying liquid storage tank is higher than the required spraying amount, the control module controls the mobile chassis to move to the corresponding rod to spray the rod; When the amount of spraying liquid in the spraying liquid storage tank is lower than the required spraying amount, the control module controls the mobile chassis to return to the supply point, and replenishes the spraying liquid to the spraying liquid storage tank through the supply device at the supply point.

[0006] In a preferred embodiment of the present invention, the image acquisition module is an industrial camera or a binocular camera.

[0007] In a preferred embodiment of the present invention, the laser ranging module is a laser radar or a millimeter wave radar.

[0008] According to a preferred embodiment of the present invention, the spraying device comprises a mounting frame, a plurality of spraying mechanisms arranged on the mounting frame, and a synchronous driving mechanism for driving the plurality of spraying mechanisms to move synchronously, wherein the spraying mechanism comprises a spray rod and a spray driving mechanism for driving the spray rod to move radially; the spray rod is connected to the spray liquid storage tank through a hose, and the spray driving mechanism comprises a mounting seat arranged on the mounting frame and a gear rack transmission mechanism arranged on the mounting seat, wherein the gear rack transmission mechanism comprises a gear and a rack meshed with the gear; the gear is rotatably connected to the mounting seat through a rotating shaft, and the rack is connected to the spray rod; the synchronous driving mechanism comprises a plurality of flexible shafts / ball cage type transmission shafts and a rotary driving mechanism for driving one of the flexible shafts / ball cage type transmission shafts to rotate, wherein each group of flexible shafts is arranged between two adjacent groups of spraying mechanisms, and the two sides of the flexible shaft / ball cage type transmission shaft are connected to the rotating shafts in the spray driving mechanisms of the two groups of spraying mechanisms through universal joints; the rotary driving mechanism is used to drive the flexible shaft located at the head end or the tail end to rotate.

[0009] In a preferred embodiment of the present invention, the rotation drive mechanism is a servo motor, which is mounted on a rotating shaft in a spray drive mechanism of a spray mechanism located at a head end or a tail end, and is electrically connected to the control module.

[0010] In a preferred embodiment of the present invention, the mounting frame comprises a fixed frame, a movable frame and an opening and closing driving mechanism for driving the movable frame to move, wherein the fixed frame and the movable frame are both semi-circular; a plurality of spraying mechanisms are arranged at equal angles on the fixed frame and the movable frame; the fixed frame is installed on the movable chassis, and the movable frame is installed on the fixed frame, and the fixed frame is provided with a receiving groove for accommodating the movable frame; the opening and closing driving mechanism is used to drive the movable frame to move, so as to cause the fixed frame and the movable frame to form a closed circular ring, or to cause a gap to appear between the fixed frame and the movable frame; when the rod to be sprayed enters the fixed frame and the movable frame through the gap, the opening and closing driving mechanism drives the movable frame to move, so as to cause the fixed frame and the movable frame to form a closed circular ring.

[0011] In a preferred embodiment of the present invention, a plurality of groups of laser rangefinders are further provided on the fixed frame and the movable frame, and the plurality of groups of laser rangefinders are used to measure the distance between the rod to be sprayed and each group of laser rangefinders and upload the distance to the control module; the control module realizes position Tai Chi of the mobile chassis according to the distance between each group of laser rangefinders and the rod to be sprayed, so as to ensure that the rod to be sprayed is located at the center position of the mounting frame.

[0012] A preferred solution of the present invention further comprises a lifting device for driving the spraying device to perform vertical movement; the lifting device is driven by a cylinder or an electric push rod.

[0013] In a preferred embodiment of the present invention, the mobile chassis includes a vehicle body and a travel drive mechanism for driving the vehicle body to move; wherein the travel drive mechanism includes travel wheels and a travel motor, wherein there are four travel wheels, the four travel wheels are located at four diagonal positions of the vehicle body, and are driven by the travel motor.

[0014] In a preferred embodiment of the present invention, the control device also includes an automatic navigation module, and the automatic navigation module adopts a GPS module; when it is necessary to return to the supply point to replenish the spray liquid, the GPS module uploads the location information at this time to the control module; the control module records the current location information; when the mobile chassis returns to the supply point and completes the replenishment of the spray liquid, the control module controls the mobile chassis to return to the position before replenishment based on the recorded location information.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The intelligent spraying equipment of the present invention collects image information of the rod to be sprayed through an image acquisition module, and uploads the collected image information to a control module; detects distance information between the rod and the mobile chassis through a laser distance measurement module, and uploads the collected distance information to the control module; and the control module calculates the height and diameter of the rod according to the received image information and distance information, and calculates the surface area of ​​the rod according to the acquired height and diameter, so as to obtain the required spraying amount, and compares it with the stock of the spraying liquid in the spraying liquid storage tank: when the stock of the spraying liquid in the spraying liquid storage tank is higher than the required spraying amount, the control module controls the mobile chassis to move to the corresponding rod to spray the rod; when the stock of the spraying liquid in the spraying liquid storage tank is lower than the required spraying amount, the control module controls the mobile chassis to return to the supply point to replenish the spraying liquid; in this way, insufficient spraying liquid can be avoided when spraying the rod, thereby ensuring that each rod to be sprayed can be sprayed once, thereby ensuring the spraying quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a structural block diagram of the intelligent spraying equipment for spraying rods according to the present invention.

[0017] Figure 2 It is a three-dimensional diagram of the intelligent spraying equipment for spraying rods according to the present invention.

[0018] Figure 3 It is a top view of the intelligent spraying equipment for spraying rods according to the present invention.

[0019] Figure 4 It is a side view of the intelligent spraying equipment for spraying rods according to the present invention. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0021] See also Figure 1-Figure 4 The intelligent spraying equipment for spraying rods of the present invention comprises a mobile chassis 1, a spraying liquid storage device 5 arranged on the mobile chassis 1, a spraying device 4 and a control device, wherein: The spray liquid storage device 5 includes a spray liquid storage tank and a liquid level detection module (such as a liquid level sensor) arranged in the spray liquid storage tank, wherein the liquid level detection module is used to monitor the liquid level of the spray liquid in the spray liquid storage tank in real time and upload the monitoring result to the control module; The control device includes an image acquisition module, a laser distance measurement module and a control module, wherein the image acquisition module is used to collect image information of the rod 3 to be sprayed, and upload the collected image information to the control module; the laser distance measurement module is used to detect the distance information between the rod and the mobile chassis 1, and upload the collected distance information to the control module; the control module calculates the height and diameter of the rod according to the received image information and distance information, and calculates the surface area of ​​the rod according to the obtained height and diameter, so as to obtain the required spraying amount, and compares it with the stock of the spraying liquid in the spraying liquid storage tank: When the amount of the spraying liquid in the spraying liquid storage tank is higher than the required spraying amount, the control module controls the mobile chassis 1 to move to the corresponding rod to spray the rod; When the amount of spraying liquid in the spraying liquid storage tank is lower than the required spraying amount, the control module controls the mobile chassis 1 to return to the supply point to replenish the spraying liquid.

[0022] In this embodiment, the image acquisition module is an industrial camera or a binocular camera; the laser ranging module is a laser radar or a millimeter wave radar.

[0023] See also Figure 1-Figure 4 , the spraying device 4 includes a mounting frame, a plurality of spraying mechanisms arranged on the mounting frame, and a synchronous driving mechanism for driving the plurality of spraying mechanisms to move synchronously, wherein the spraying mechanism includes a spray rod and a spray driving mechanism for driving the radial movement of the spray rod; the spray rod is connected to the spray liquid storage tank through a hose, and the spray driving mechanism includes a mounting seat arranged on the mounting frame and a gear rack transmission mechanism arranged on the mounting seat, wherein the gear rack transmission mechanism includes a gear and a rack meshed with the gear; the gear is rotatably connected to the mounting seat through a rotating shaft, and the rack is connected to the spray rod; the synchronous driving mechanism includes a plurality of flexible shafts / ball cage type transmission shafts and a rotary driving mechanism for driving one of the flexible shafts / ball cage type transmission shafts to rotate, wherein each group of flexible shafts is arranged between two adjacent groups of spraying mechanisms, and the two sides of the flexible shaft / ball cage type transmission shaft are connected to the rotating shafts in the spray driving mechanisms of the two groups of spraying mechanisms through universal joints; the rotary driving mechanism is used to drive the flexible shaft located at the head end or the tail end to rotate; The mounting frame includes a fixed frame, a movable frame and an opening and closing driving mechanism for driving the movable frame to move, wherein the fixed frame and the movable frame are both semi-circular; a plurality of spraying mechanisms are arranged at equal angles on the fixed frame and the movable frame; the fixed frame is installed on the movable chassis 1, and the movable frame is installed on the fixed frame, and the fixed frame is provided with a receiving groove for accommodating the movable frame; the opening and closing driving mechanism is used to drive the movable frame to move so as to cause the fixed frame and the movable frame to form a closed circular ring, or to cause a gap to appear between the fixed frame and the movable frame; when the rod 3 to be sprayed enters the fixed frame and the movable frame through the gap, the opening and closing driving mechanism drives the movable frame to move so as to cause the fixed frame and the movable frame to form a closed circular ring.

[0024] In this embodiment, the structure of the spraying device 4 can be implemented with reference to the tree whitening spraying device disclosed in the invention patent application with application publication number CN 118179801A, "A tree whitening spraying device and method"; the difference from the tree whitening spraying device 4 is that: 1. In this embodiment, the fixed frame and the mobile frame are also provided with laser rangefinders, which are used to measure the distance between the rod 3 to be sprayed and each laser rangefinder and upload it to the control module. The control module fine-tunes the mobile chassis 1 according to the distance between each laser rangefinder and the rod 3 to be sprayed, so as to ensure that the rod 3 to be sprayed is located at the center of the mounting frame; 2. The rotary drive mechanism in the present embodiment is a servo motor, which is mounted on a rotating shaft in a spray drive mechanism of a spray mechanism located at the head end or the tail end, and is electrically connected to the control module; when the rod 3 to be sprayed is located at the center of the mounting frame, the laser rangefinder detects the distance between it and the rod 3 to be sprayed, and uploads it to the control module, the control module determines the distance between the spray rod in each spray mechanism and the outer surface of the rod 3 to be sprayed according to the spraying conditions (such as the material of the rod 3 to be sprayed, the type of spraying liquid), generates a corresponding control instruction and sends it to the servo motor, the servo motor drives the rotating shaft to rotate, thereby synchronously adjusting the distance between the spray rod in each spray mechanism and the rod 3 to be sprayed; at the same time, for the rod 3 to be sprayed with a changing diameter, the intelligent spraying equipment in the present embodiment can also dynamically change the distance between the spray rod in each spray mechanism and the rod 3 to be sprayed to achieve the spraying of such rods.

[0025] See also Figure 1-Figure 4 The intelligent spraying equipment for spraying rods of the present invention further includes a lifting device 2 for driving the spraying device 4 to perform vertical movement; the lifting device 2 is driven by a cylinder or an electric push rod.

[0026] See also Figure 1-Figure 4 The mobile chassis 1 includes a vehicle body and a travel drive mechanism for driving the vehicle body to move; wherein the travel drive mechanism includes travel wheels and a travel motor, wherein there are four travel wheels, the four travel wheels are located at four diagonal positions of the vehicle body, and are driven by the travel motor.

[0027] See also Figure 1-Figure 4 The control device also includes an automatic navigation module, which uses a GPS module; when it is necessary to return to the supply point to replenish the spray liquid, the GPS module uploads the location information at this time to the control module; the control module records the current location information; when the mobile chassis 1 returns to the supply point and completes the replenishment of the spray liquid, the control module controls the mobile chassis 1 to return to the position before replenishment based on the recorded location information.

[0028] See also Figure 1-Figure 4 The working principle of the intelligent spraying equipment for spraying rods of the present invention is: During operation, the control module controls the mobile chassis 1 to move to the rod 3 to be sprayed according to a preset path. During this process, the image information of the rod 3 to be sprayed is collected by the image acquisition module, and the collected image information is uploaded to the control module; the distance information between the rod 3 to be sprayed and the mobile chassis 1 is detected by the laser distance measurement module, and the collected distance information is uploaded to the control module; the control module calculates the height and diameter of the rod according to the received image information and distance information, and calculates the surface area of ​​the rod according to the acquired height and diameter, so as to obtain the required spraying amount, and compares it with the stock of the spraying liquid in the spraying liquid storage tank: when the stock of the spraying liquid in the spraying liquid storage tank is higher than the required spraying amount, the control module controls the mobile chassis 1 to continue to move to the corresponding rod to spray the rod; when the stock of the spraying liquid in the spraying liquid storage tank is lower than the required spraying amount, the control module controls the mobile chassis 1 to return to the supply point to replenish the spraying liquid; When the tubular object is sprayed, the opening and closing driving mechanism drives the moving frame to move so as to cause a gap to appear between the fixed frame and the moving frame, and controls the movement of the moving chassis 1 to cause the rod 3 to be sprayed to enter the fixed frame and the moving frame; when the rod 3 to be sprayed enters the fixed frame and the moving frame, the opening and closing driving mechanism drives the moving frame to move so that the fixed frame and the moving frame form a closed circular ring; then, by measuring the distance between the rod 3 to be sprayed and each laser rangefinder and uploading it to the control module, the control module fine-tunes the moving chassis 1 according to the distance between each laser rangefinder and the rod 3 to be sprayed, so as to ensure that the rod 3 to be sprayed is located at the position of the mounting frame. center position; when the rod 3 to be sprayed is located at the center position of the mounting frame, the laser rangefinder detects the distance between it and the rod 3 to be sprayed, and uploads it to the control module, and the control module determines the distance between the spray rod in each spray mechanism and the outer surface of the rod 3 to be sprayed according to the spraying conditions (such as the material of the rod 3 to be sprayed and the type of spraying liquid), generates a corresponding control instruction and sends it to the servo motor, and the servo motor drives the rotating shaft to rotate, so as to synchronously adjust the distance between the spray rod in each spray mechanism and the rod 3 to be sprayed; then, multiple groups of spray mechanisms work synchronously to spray the rod 3 to be sprayed, and at the same time, the lifting device 2 drives the spray device 4 to rise and fall, so as to realize spraying of the entire rod; After the spraying is completed, the opening and closing driving mechanism drives the movable frame to move so as to cause a gap to appear between the fixed frame and the movable frame, and controls the movement of the movable chassis 1 to cause the rod 3 to be sprayed to be disengaged from the fixed frame and the movable frame; The control module controls the mobile chassis 1 to move to the next rod member to be sprayed according to a preset path, and repeats the above steps to complete the spraying work on all the rod members 3 to be sprayed.

[0029] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An intelligent spraying device for spraying a rod, characterized in that: The invention comprises a mobile chassis, a spraying liquid storage device, a spraying device and a control device arranged on the mobile chassis, wherein: The spray liquid storage device comprises a spray liquid storage tank and a liquid level detection module arranged in the spray liquid storage tank, wherein the liquid level detection module is used to monitor the liquid level of the spray liquid in the spray liquid storage tank in real time and upload the monitoring result to the control module; The control device includes an image acquisition module, a laser distance measurement module and a control module, wherein the image acquisition module is used to collect image information of the rod to be sprayed, and upload the collected image information to the control module; the laser distance measurement module is used to detect the distance information between the rod to be sprayed and the mobile chassis, and upload the collected distance information to the control module; the control module calculates the height and diameter of the rod to be sprayed according to the received image information and distance information, and calculates the surface area of ​​the rod according to the obtained height and diameter, so as to obtain the required spraying amount, and compares it with the stock of the spraying liquid in the spraying liquid storage tank: When the amount of the spraying liquid in the spraying liquid storage tank is higher than the required spraying amount, the control module controls the mobile chassis to move to the corresponding rod to spray the rod; When the amount of spraying liquid in the spraying liquid storage tank is lower than the required spraying amount, the control module controls the mobile chassis to return to the supply point, and replenishes the spraying liquid to the spraying liquid storage tank through the supply device at the supply point.

2. The intelligent spraying equipment for spraying a rod according to claim 1, characterized in that: The image acquisition module is an industrial camera or a binocular camera.

3. The intelligent spraying equipment for spraying a rod according to claim 1, characterized in that: The laser ranging module is a laser radar or a millimeter wave radar.

4. The intelligent spraying equipment for spraying a rod according to claim 1, characterized in that: The spraying device comprises a mounting frame, a plurality of spraying mechanisms arranged on the mounting frame, and a synchronous driving mechanism for driving the plurality of spraying mechanisms to move synchronously, wherein the spraying mechanism comprises a spray rod and a spray driving mechanism for driving the spray rod to move radially; the spray rod is connected to the spray liquid storage tank through a hose, and the spray driving mechanism comprises a mounting seat arranged on the mounting frame and a gear rack transmission mechanism arranged on the mounting seat, wherein the gear rack transmission mechanism comprises a gear and a rack meshed with the gear; the gear is rotatably connected to the mounting seat through a rotating shaft, and the rack is connected to the spray rod; the synchronous driving mechanism comprises a plurality of flexible shafts / ball cage type transmission shafts and a rotary driving mechanism for driving one of the flexible shafts / ball cage type transmission shafts to rotate, wherein each group of flexible shafts is arranged between two adjacent groups of spraying mechanisms, and the two sides of the flexible shaft / ball cage type transmission shaft are connected to the rotating shafts in the spray driving mechanisms of the two groups of spraying mechanisms through universal joints; the rotary driving mechanism is used to drive the flexible shaft located at the head end or the tail end to rotate.

5. The intelligent spraying equipment for spraying a rod according to claim 4, characterized in that: The rotation drive mechanism is a servo motor, which is installed on a rotating shaft in a spray drive mechanism of a spray mechanism located at the head end or the tail end, and is electrically connected to the control module.

6. The intelligent spraying equipment for spraying a rod according to claim 5, characterized in that: The mounting frame includes a fixed frame, a movable frame and an opening and closing driving mechanism for driving the movable frame to move, wherein the fixed frame and the movable frame are both semi-circular; a plurality of spraying mechanisms are arranged at equal angles on the fixed frame and the movable frame; the fixed frame is installed on the movable chassis, and the movable frame is installed on the fixed frame, and a receiving groove for accommodating the movable frame is arranged on the fixed frame; the opening and closing driving mechanism is used to drive the movable frame to move so as to cause the fixed frame and the movable frame to form a closed circular ring, or to cause a gap to appear between the fixed frame and the movable frame; when the rod to be sprayed enters the fixed frame and the movable frame through the gap, the opening and closing driving mechanism drives the movable frame to move so as to cause the fixed frame and the movable frame to form a closed circular ring.

7. The intelligent spraying equipment for spraying a rod according to claim 6, characterized in that: The fixed frame and the movable frame are also provided with a plurality of groups of laser rangefinders, which are used to measure the distance between the rod to be sprayed and each group of laser rangefinders and upload the distance to the control module. The control module realizes the position Tai Chi of the mobile chassis according to the distance between each group of laser rangefinders and the rod to be sprayed, so as to ensure that the rod to be sprayed is located at the center position of the mounting frame.

8. The intelligent spraying equipment for spraying a rod according to claim 1, characterized in that: It also includes a lifting device for driving the spraying device to make vertical movement; the lifting device is driven by a cylinder or an electric push rod.

9. The intelligent spraying equipment for spraying a rod according to claim 1, characterized in that: The mobile chassis includes a vehicle body and a travel drive mechanism for driving the vehicle body to move; wherein the travel drive mechanism includes travel wheels and a travel motor, wherein there are four travel wheels, the four travel wheels are located at four diagonal positions of the vehicle body, and are driven by the travel motor.

10. The intelligent spraying equipment for spraying a rod according to claim 1, characterized in that: The control device also includes an automatic navigation module, which uses a GPS module; when it is necessary to return to the supply point to replenish the spray liquid, the GPS module uploads the location information at this time to the control module; the control module records the current location information; when the mobile chassis returns to the supply point and completes the replenishment of the spray liquid, the control module controls the mobile chassis to return to the position before replenishment based on the recorded location information.

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