High-altitude flying spraying robot and spraying method

Abstract

The invention relates to the technical field of high-altitude spraying equipment, in particular to a high-altitude flying spraying robot and a spraying method. The spraying robot comprises a paint spraying ring, a magnetic attraction assembly, a flying mechanism and a feeding system. The paint spraying ring is of a split structure and comprises at least two ring bodies, a spray head is arranged on the inner circle of each ring body, a paint injection nozzle is arranged on the outer circle of each ring body, a cavity is formed in each ring body, a communicating pipe is arranged in each cavity, and the two ends of each communicating pipe are communicated with the corresponding spray head and the corresponding paint injection nozzle respectively. The magnetic attraction assemblies are arranged at the two ends of the ring bodies, all the ring bodies form a complete ring shape in a surrounding mode through attraction, the flying mechanisms are arranged on the outer sides of the ring bodies and used for driving the ring bodies to move, and the feeding system communicates with paint injection nozzles of the ring bodies and used for providing paint. According to the invention, the problems of high risk of manual high-altitude operation, high cost of traditional automatic equipment, limited construction height and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-altitude spraying equipment, and in particular, to a high-altitude flying spraying robot and a spraying method. Background Art

[0002] At present, there are mainly the following several ways for high-altitude spraying operations: The first is the traditional manual climbing for painting. For example, in scenarios such as high-altitude natural gas pipelines and factories, scaffolding needs to be erected or an aerial work platform needs to be used, and workers carry rollers or brushes for painting; the second is an improved hand-held spraying device, which uses a compressed air spray gun. Although the spraying efficiency is improved compared with painting with a brush, it still requires manual climbing to the working position for spraying; the third is an automated spraying device, including a robotic arm spraying vehicle or a rail-mounted spraying robot. Its typical structure includes a walking chassis, a lifting column, a multi-joint robotic arm, and a spray gun assembly, etc. Among the above devices, the robotic arm spraying vehicle controls the spray gun trajectory through a preset program, and the rail-mounted robot relies on a pre-erected guide rail for movement. Such devices are expensive and the construction height is limited.

[0003] Therefore, the existing high-altitude spraying methods have the following problems: Both traditional manual painting and hand-held spraying require high-altitude operations, there is a risk of falling, and professional high-altitude operation personnel need to be equipped, resulting in high labor costs. In addition, it takes time and the work efficiency is low; although the hand-held spraying device improves the spraying efficiency to a certain extent, it still cannot avoid the problem of personnel climbing to high altitudes and fails to fundamentally solve the disadvantages of high labor costs and high risks. Moreover, it is necessary to pre-install facilities such as guide rails and cannot achieve rapid deployment; the existing automatic devices are expensive and are limited by the length of the robotic arm or the height of the rail and cannot cover ultra-high working surfaces. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the embodiments of the present invention is to provide a high-altitude flying spraying robot. The painting ring is lifted into the air by a flight mechanism, and the magnetic attraction assembly is used to achieve the combination and separation of the painting rings. Under the action of a high-pressure pump chamber and a high-pressure pipeline, the paint in the paint tank is transported to the paint nozzle through the paint injection nozzle, so as to achieve uniform spraying of the target object.

[0005] In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

[0006] An aerial spraying robot, comprising: a paint spraying ring, a magnetic attraction assembly, a flight mechanism and a feeding system; the paint spraying ring is a split structure, including at least two ring bodies, the inner ring of the ring body is provided with spray nozzles, the outer ring of the ring body is provided with paint injection nozzles, the interior of the ring body has a cavity, and a connecting pipe is arranged in the cavity, and both ends of the connecting pipe are respectively communicated with the spray nozzles and the paint injection nozzles; the magnetic attraction assembly is arranged at both ends of the ring body, and all the ring bodies are surrounded into a complete ring by suction, the flight mechanism is arranged outside each ring body for driving the ring body to move, and the feeding system is communicated with the paint injection nozzles of the ring body for providing paint.

[0007] This spraying robot is mainly applied to scenarios that require surface coating such as high-altitude pipelines, building facades, steel structures, etc. By the flight mechanism carrying the annular paint spraying ring and cooperating with the magnetic attraction positioning device, automatic spraying for high-altitude operations is realized. The working principle is to use multiple groups of flight mechanisms to provide lift and thrust. After being adsorbed on the target surface by the magnetic attraction assembly, uniform spraying is carried out by the nozzle array built in the paint spraying ring.

[0008] Optionally, the spray nozzles on the inner ring of the ring body have nozzles facing the center of the paint spraying ring. There are multiple spray nozzles, and the multiple spray nozzles are evenly distributed on the inner ring of the ring body in a circumferential array manner with the center of the paint spraying ring as the reference. The multiple spray nozzles are arranged at equal angles along the circumference to ensure that all angles of the pipeline are covered during spraying, avoiding missed spraying or double spraying. The distribution density of the spray nozzles matches the spraying flow rate, and the coating consistency is achieved through uniform spraying, while adapting to the requirements of different pipe diameters.

[0009] Optionally, the paint injection nozzles on the outer ring of the ring body have interfaces facing away from the center of the paint spraying ring. Each ring body has one paint injection nozzle, and the paint injection nozzle is arranged at the middle position in the circumferential direction of the ring body. This layout enables the paint injection nozzle to avoid the spraying area when connected to the feeding system, preventing paint pollution. The middle position ensures that the paint is evenly distributed to the spray nozzles on both sides through the connecting pipe, reducing pressure loss.

[0010] Optionally, there are multiple connecting pipes in the cavity of the ring body, and the number of the connecting pipes is equal to the number of the spray nozzles. The multiple connecting pipes are radially distributed in the cavity of the ring body. The radial layout shortens the pipeline length, reduces the flow resistance of the paint, and ensures that the paint supply pressure of each spray nozzle is consistent. The connecting pipes correspond to the spray nozzles one by one, avoiding uneven flow caused by multiple spray nozzles sharing the pipeline.

[0011] Optionally, the paint spraying ring includes two ring bodies, each ring body is semi-circular, and the two ring bodies are sucked together by the magnetic attraction assembly to form a complete circle. The semi-circular ring bodies are convenient for separation and combination in the air, and the magnetic attraction assembly is automatically aligned when sucking, ensuring the annular accuracy after closing. This structure is suitable for spraying standard circular pipelines.

[0012] Optionally, the magnetic attraction assembly includes a power source, a wire coil, and an iron core. The wire coil is wound around the iron core, and both ends of the wire coil are connected to the power source. After being powered on, the wire coil generates a magnetic field, and the magnetic force is enhanced by the iron core to attract the ring body. After the power is cut off, the magnetic force disappears and the ring body separates.

[0013] Optionally, the flight mechanism includes a motor, a gearbox, a connecting rod, and a propeller blade. The motor drives the gearbox, the connecting rod is installed at the output end of the gearbox, and the propeller blade is installed at the other end of the connecting rod. The motor provides power, the gearbox adjusts the speed and torque, the connecting rod transmits the power to the propeller blade, and the propeller blade generates lift and thrust to achieve precise movement of the ring body in horizontal, vertical and other directions.

[0014] Optionally, the gearbox includes a vertical gear and a horizontal gear that mesh with each other. Both the vertical gear and the horizontal gear are bevel gears. The vertical gear is connected to the output end of the motor, and the horizontal gear is connected to the connecting rod. The bevel gear transmission reduces the space occupation and improves the power transmission efficiency, ensuring the stable operation of the propeller blade in different flight postures.

[0015] Optionally, the feeding system includes a high-pressure pipeline, a high-pressure pump, and a paint tank. The paint tank is used to contain paint. The high-pressure pump is communicated with the paint tank, and both ends of the high-pressure pipeline are respectively communicated with the high-pressure pump and the paint injection nozzle on the outer ring of the ring body. The high-pressure pump extracts the paint in the paint tank and transports it to the paint injection nozzle through the high-pressure pipeline.

[0016] The embodiment of the present invention also provides a spraying method for the high-altitude flight spraying robot as described above, including:

[0017] The magnetic attraction assembly loses power, and each ring body of the paint spraying ring takes off under the drive of its respective flight mechanism;

[0018] When each ring body flies to the predetermined spraying position, the magnetic attraction assembly is powered on to attract all the ring bodies into a complete ring shape;

[0019] The feeding system conveys paint to the paint spraying ring. At the same time, the paint spraying ring descends uniformly under the drive of the flight mechanism, and the spray head evenly sprays the surface of the object to be sprayed;

[0020] After spraying is completed, the magnetic attraction assembly loses power, and each ring body of the paint spraying ring separates under the drive of the flight mechanism, and each ring body is recovered.

[0021] By combining lifting and uniform movement, continuous spraying from top to bottom is achieved, avoiding secondary pollution, and the separation and combination control of the magnetic attraction assembly simplifies the operation process.

[0022] One or more technical solutions provided in the embodiment of the present invention have at least the following technical effects or advantages:

[0023] 1. The high-altitude flight spraying robot of the present invention includes a spraying ring, a magnetic attraction assembly, a flight mechanism, and a feeding system. The spraying ring adopts a split structure and is composed of at least two ring bodies. Nozzles are arranged on the inner circle of the ring body, and paint injection nozzles are arranged on the outer circle. A connecting pipe is arranged in the cavity inside the ring body, and both ends of the connecting pipe are respectively connected to the nozzles and the paint injection nozzles to build a paint conveying channel. The magnetic attraction assembly is located at both ends of the ring body, and all the ring bodies are tightly enclosed by suction to form a complete ring, providing a stable support structure for the spraying operation. The flight mechanism is installed on the outer side of each ring body, and with its power, the ring body can be flexibly moved in space to ensure that the equipment can accurately reach the spraying position. The feeding system is connected to the paint injection nozzles of the ring body to continuously and stably supply the required paint for the spraying operation. Each component cooperates to ensure the efficient development of the spraying operation. By carrying a split spraying ring with the flight mechanism, the technical problems of high risk in manual high-altitude operation, high cost of traditional automated equipment, and limited construction height are solved.

[0024] 2. As a high-altitude flight spraying robot, the present invention acts quickly, precisely controls the spraying height, angle, and flow rate, achieves a uniform coating effect, avoids common problems such as missed spraying and double spraying in traditional spraying, significantly improves the spraying efficiency and effect, greatly reduces the operation time, improves productivity, reduces labor costs, and while significantly shortening the construction time, also reduces the number of construction workers.

[0025] Advantages of additional aspects of the present invention will be given in the following description, some of which will become obvious from the following description, or can be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In addition, the distances or sizes between components are exaggerated for showing the positions of the components, and the schematic diagrams are only for illustration.

[0027] Figure 1 It is a schematic diagram of the overall spraying robot provided by an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the ring body provided by an embodiment of the present invention;

[0029] Figure 3 It is a schematic diagram of the magnetic attraction assembly provided by an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the flight mechanism provided by an embodiment of the present invention;

[0031] In the figure: 1. Flight mechanism; 11. Motor; 12. Connecting rod; 13. Propeller blade; 14. Horizontal gear; 15. Gearbox; 16. Vertical gear; 2. Spray paint ring; 21. Ring body; 22. Connecting pipe; 23. Paint injection nozzle; 24. Sprayer; 3. Feeding system; 31. High-pressure pipeline; 32. High-pressure pump; 33. Paint tank; 4. Magnetic attraction assembly; 41. Coil package; 42. Iron core; 43. Power supply. Specific embodiments

[0032] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Embodiment 1

[0034] As Figure 1 、 Figure 2 shown, this embodiment proposes an aerial flight spraying robot, including: a spray paint ring 2, a magnetic attraction assembly 4, a flight mechanism 1, and a feeding system 3; the spray paint ring 2 is a split structure, including at least two ring bodies 21, the inner circle of the ring body 21 is provided with a sprayer 24, the outer circle of the ring body 21 is provided with a paint injection nozzle 23, the ring body 21 has a cavity inside, and a connecting pipe 22 is arranged in the cavity, and both ends of the connecting pipe 22 are respectively communicated with the sprayer 24 and the paint injection nozzle 23; the magnetic attraction assembly 4 is arranged at both ends of the ring body 21, and all the ring bodies 21 are surrounded into a complete ring by magnetic attraction, the flight mechanism 1 is arranged outside each ring body 21 to drive the ring body 21 to move, and the feeding system 3 is communicated with the paint injection nozzle 23 of the ring body 21 to provide paint.

[0035] This aerial flight spraying robot realizes flexible assembly in the air through split design. The cavity reduces the weight and hides the connecting pipe 22 to avoid pipeline shaking. The magnetic attraction assembly 4 ensures the closing stability of the ring body 21, and the flight mechanism 1 provides the ability to move in multiple directions, solving the difficulty and danger of manual high-altitude operation. The construction of high-altitude operation scaffolds and the suspension of high-altitude ropes are omitted, and the operator can operate on the ground.

[0036] The spray nozzles 24 on the inner ring of the ring body 21 have nozzles facing the center of the paint spraying ring 2. There are multiple spray nozzles 24, and the multiple spray nozzles 24 are evenly distributed on the inner ring of the ring body 21 in a circumferential array pattern with the center of the paint spraying ring 2 as the reference. This layout ensures that during the spraying operation, the paint can be evenly sprayed from all angles, covering the surface of the object to be sprayed in all directions, effectively avoiding spraying dead angles, making the coating more uniform and delicate, significantly improving the spraying quality, especially suitable for spraying circular objects such as pipelines, and can complete the comprehensive spraying of the whole pipeline in one go, greatly improving the work efficiency.

[0037] The paint injection nozzles 23 on the outer ring of the ring body 21 have interfaces facing away from the center of the paint spraying ring 2. There is one paint injection nozzle 23 on each ring body 21, and the paint injection nozzle 23 is arranged at the middle position in the circumferential direction of the ring body 21, which is convenient for the connection between the feeding system 3 and the paint spraying ring 2, making the paint transportation smoother and avoiding problems such as paint leakage or unsmooth transportation caused by improper interface positions.

[0038] As Figure 2 shown, there are multiple connecting pipes 22 in the cavity of the ring body 21. The number of the connecting pipes 22 is equal to the number of the spray nozzles 24, and the multiple connecting pipes 22 are radially distributed in the cavity of the ring body 21. The radial layout of the connecting pipes 22 can ensure that after the paint enters from the paint injection nozzles 23, it is quickly and evenly distributed to each spray nozzle 24, ensuring the synchronous and stable paint supply of each spray nozzle 24 and further improving the uniformity of spraying.

[0039] In this embodiment, the paint spraying ring 2 includes two ring bodies 21, each ring body 21 is semi-circular, and the two ring bodies 21 are attracted and combined into a complete circle by the magnetic attraction component 4. The split design is convenient for assembly and disassembly according to actual spraying requirements, flexibly adapting to spraying tasks with different pipe diameters, improving the versatility and practicality of the equipment, and reducing the equipment cost. Of course, it can be understood that the paint spraying ring 2 can also be set in a rectangular or other shape to adapt to different spraying requirements.

[0040] As Figure 3 shown, the magnetic attraction component 4 includes a power supply 43, a wire coil 41 and an iron core 42. The wire coil 41 is wound around the iron core 42, and both ends of the wire coil 41 are connected to the power supply 43. When energized, the wire coil 41 generates a magnetic field, and the iron core 42 is attracted to the corresponding component under the action of the magnetic field, thereby realizing the tight connection between the ring bodies 21; when powered off, the magnetic field disappears, and the attraction force is eliminated, and the ring bodies 21 can be separated conveniently. This electromagnetic attraction method has a rapid response and precise control, can effectively ensure the reliability of the connection between the ring bodies 21 and the convenience of separation, and meets the requirements of frequent assembly and disassembly in the spraying operation.

[0041] As Figure 4As shown in the figure, the flight mechanism 1 includes a motor 11, a gearbox 15, a connecting rod 12 and a propeller blade 13. The motor 11 drives the gearbox 15. The connecting rod 12 is installed at the output end of the gearbox 15, and the propeller blade 13 is installed at the other end of the connecting rod 12. The motor 11 serves as a power source to drive the gearbox 15 to operate. The gearbox 15 transmits the power to the propeller blade 13 through the connecting rod 12, causing the propeller blade 13 to rotate at a high speed, generating lift and thrust, and driving the ring body 21 to fly stably in the air.

[0042] The gearbox 15 includes a vertical gear 16 and a horizontal gear 14 that are engaged with each other. Both the vertical gear 16 and the horizontal gear 14 are bevel gears. The vertical gear 16 is connected to the output end of the motor 11, and the horizontal gear 14 is connected to the connecting rod 12. The bevel gear transmission design can effectively change the direction of power transmission, optimize the spatial layout of the flight mechanism 1, while ensuring the efficiency and stability of power transmission, and improving the flight performance. It can be understood that in other embodiments, the flight mechanism 1 can adopt a jet flight device.

[0043] The feeding system 3 includes a high-pressure pipeline 31, a high-pressure pump 32 and a paint tank 33. The paint tank 33 is used to hold paint. The high-pressure pump 32 is connected to the paint tank 33. Both ends of the high-pressure pipeline 31 are respectively connected to the high-pressure pump 32 and the paint injection nozzle 23 on the outer circle of the ring body 21. The paint tank 33 is responsible for storing the paint required for spraying. The high-pressure pump 32 is connected to the paint tank 33, pumping out and pressurizing the paint to make it have sufficient pressure energy. Both ends of the high-pressure pipeline 31 are respectively connected to the high-pressure pump 32 and the paint injection nozzle 23 on the outer circle of the ring body 21, acting as a channel for paint delivery, accurately delivering the pressurized paint to each spray head 24 of the paint spraying ring 2, ensuring the continuity and stability of the spraying operation. The high-pressure delivery method helps to improve the adhesion and uniformity of spraying, and improve the coating quality.

[0044] In summary, the high-altitude flight spraying robot can be used in pipeline or non-pipeline situations. The left and right paint spraying rings are respectively used to spray paint on high-altitude arc-shaped or flat buildings, solving the problems of high danger coefficient, high labor cost and time-consuming in manual climbing and painting of existing high-altitude pipelines, saving the labor cost of high-altitude painting and improving the working efficiency of high-altitude spraying. In addition, the magnetic attraction component 4 in this embodiment can be replaced by a docking buckle.

[0045] Embodiment 2

[0046] This embodiment provides a spraying method for the high-altitude flight spraying robot as described above, including:

[0047] In the initial state, the magnetic attraction component 4 is powered off, and each ring body 21 takes off independently under the drive of the flight mechanism 1 and flexibly moves to the target area. After reaching the predetermined spraying position, the magnetic attraction component 4 is powered on, and all the ring bodies 21 are quickly attracted to form a complete ring, constructing a stable spraying platform. Then, the feeding system 3 is started immediately to convey paint to the paint spraying ring 2. At the same time, the paint spraying ring 2 descends uniformly under the drive of the flight mechanism 1, and the nozzle 24 continuously and evenly sprays paint on the surface of the object to be painted, realizing efficient and stable spraying coverage. After the spraying task is completed, the magnetic attraction component 4 is powered off again, and each ring body 21 separates and is safely recovered under the action of the flight mechanism 1. The whole process has a high degree of automation, greatly reducing the manual risk and cost and significantly improving the work efficiency.

[0048] In order to avoid problems such as uneven spraying and damage to the pipeline due to the collision of the paint spraying ring and the pipeline being non-concentric during the ring body attraction and spraying processes, in this embodiment, a plurality of infrared rangefinders are further evenly arranged along the circumferential direction on the inner side of the ring body for detecting the distance between the ring body and the pipeline to be painted in real time. During the attraction process, the ring body approaches the pipeline. When the distance from a certain nozzle position on the ring body to the outer surface of the pipeline reaches the preset spraying distance, the thrust of the corresponding position flight mechanism is adjusted to stop the approach of this position to the pipeline, while the other nozzle positions continue to approach the pipeline until the distances from all nozzles to the painting surface are within the appropriate spraying range, and then the attraction of multiple ring bodies is completed.

[0049] During the spraying process, the data of each infrared rangefinder are continuously acquired. According to the position information and distance information of each infrared rangefinder, the thrust that each flight mechanism needs to adjust is calculated by using a control algorithm to keep the paint spraying ring concentric with the pipeline to be sprayed, that is, the distances from all nozzles to the painting surface are equal, so as to ensure the spraying effect.

[0050] Specifically, at least 4 infrared rangefinders are evenly distributed along the circumferential direction of the inner circle of the paint spraying ring, and the detection axes of each infrared rangefinder intersect at the central axis of the paint spraying ring. It also includes a flight control system, and the flight control system includes: a data acquisition module that acquires the distance data of each infrared rangefinder and its installation position coordinates on the ring body in real time; an attitude calculation module that calculates the spatial deviation value between the central axis of the paint spraying ring and the central axis of the pipeline to be sprayed according to each ranging data and the corresponding coordinates; a control instruction generation module that generates a rotation speed adjustment instruction for the flight mechanism according to the spatial deviation value. Among them, the attitude calculation module executes the following algorithm:

[0051] (1) Establish a three-dimensional coordinate system with the geometric center of the paint spraying ring as the origin;

[0052] (2) According to the coordinates (x i , y i , z i) ) of the i-th infrared rangefinder and the ranging value L i , calculate the coordinates P of the corresponding pipeline surface pointi =(x i , y i , z i - L i );

[0053] (3) Perform cylindrical surface fitting on all Pi points to obtain the equation of the central axis of the fitted cylinder;

[0054] (4) Calculate the angular deviation α and the radial offset Δd between the central axis of the paint spraying ring and the central axis of the fitted cylinder.

[0055] The control instruction generation module executes the PID control algorithm, takes the angular deviation α and the radial offset Δd as input parameters, and outputs the rotational speed adjustment amount of each flight mechanism:

[0056] Δω j = K p * E j + K i * ∫E j d t + K d * dE j / d t ;

[0057] where E j is the position deviation component in the corresponding direction of the j th flight mechanism, K p is the proportional gain coefficient, K i is the integral gain coefficient, and K d is the differential gain coefficient.

[0058] The flight control system performs closed-loop control during the suction process of the magnetic attraction component:

[0059] Start the pre-suction of the magnetic attraction component to keep the distance between the ring body and the pipeline surface at a safe distance D;

[0060] Scan the data of each infrared rangefinder at a frequency of 0.5 Hz to generate a real-time three-dimensional attitude deviation map;

[0061] Prioritize adjusting the propulsion amount of the flight mechanism corresponding to the direction of the maximum distance to make the paint spraying ring approach in a pendulum-like manner;

[0062] When all ranging values enter the interval [D - δ, D + δ], activate the full suction of the magnetic attraction component, where δ = 0.1D.

[0063] Execute the dynamic compensation algorithm during the spraying operation:

[0064] Calculate the change rate of the central axis offset V = Δ(Δd) / Δt in real time for two adjacent samplings;

[0065] When V > threshold value V0, start the predictive control mode and apply a reverse adjustment torque in advance in the direction of V.

[0066] The magnitude of the adjustment torque M = k * V 2 , where M is the reverse adjustment torque and k is a dynamic coefficient that is positively correlated with the paint viscosity.

[0067] In the embodiment, the infrared rangefinders are distributed at 90° intervals to form a four-quadrant detection system. The attitude calculation module uses the least squares method for cylindrical surface fitting, and the calculation formula is:

[0068] Assume the equation of the fitted cylindrical axis is (x - x0) / a = (y - y0) / b = (z - z0) / c. By minimizing Σ[(x i - x0 - az i )^ 2 +(y i - y0 - bz i )^ 2 - r^ 2 , the optimal solution is obtained, where x0, y0, z0 are the coordinate values of the reference point of the fitted cylindrical axis, a, b are the direction vector parameters of the fitted cylindrical axis, and r is the radius of the fitted cylinder.

[0069] The flight control system adopts a progressive approximation strategy during the suction phase: when the ranging value in a certain quadrant reaches D first, lock the height of the flight mechanism on that side and switch to the unilateral approximation mode. By changing the thrust of the adjacent wings to generate a rotational torque, a fine adjustment action for the ring body to rotate around the pipeline axis is generated until the standard deviation of the four-quadrant ranging values is less than 0.5 mm.

[0070] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. An aerial spraying robot, characterized in that, Comprising: A paint spraying ring, a magnetic attraction assembly, a flight mechanism, and a feeding system; The paint spraying ring is of a split structure and includes at least two ring bodies. Spray nozzles are provided on the inner circle of the ring body, paint injection nozzles are provided on the outer circle of the ring body, a cavity is provided inside the ring body, and a connecting pipe is provided in the cavity. Two ends of the connecting pipe are respectively communicated with the spray nozzle and the paint injection nozzle; The magnetic attraction assembly is arranged at both ends of the ring body, and all the ring bodies are surrounded into a complete ring through magnetic attraction. The flight mechanism is arranged outside each ring body to drive the ring body to move, and the feeding system is communicated with the paint injection nozzle of the ring body to provide paint.

2. The high-altitude flight spraying robot according to claim 1, characterized in that, The spray nozzles on the inner circle of the ring body have nozzles facing the center of the paint spraying ring. There are multiple spray nozzles, and the multiple spray nozzles are evenly distributed on the inner circle of the ring body in a circumferential array manner with the center of the paint spraying ring as the reference.

3. The high-altitude flight spraying robot according to claim 2, wherein The paint injection nozzles on the outer circle of the ring body have interfaces facing away from the center of the paint spraying ring. There is one paint injection nozzle on each ring body, and the paint injection nozzle is arranged at the middle position in the circumferential direction of the ring body.

4. The high-altitude flight spraying robot according to claim 3, characterized in that Multiple connecting pipes are provided in the cavity of the ring body. The number of the connecting pipes is equal to the number of the spray nozzles, and the multiple connecting pipes are radially distributed in the cavity of the ring body.

5. The high-altitude flight spraying robot according to claim 1, characterized in that, The paint spraying ring includes two ring bodies, each ring body is semicircular, and the two ring bodies are attracted by the magnetic attraction assembly to form a complete circle.

6. The high-altitude flight spraying robot according to claim 1, wherein The magnetic attraction assembly includes a power source, a wire coil, and an iron core. The wire coil is wound around the iron core, and two ends of the wire coil are connected to the power source.

7. The high-altitude flight spraying robot according to claim 1, characterized in that, The flight mechanism includes a motor, a gear box, a connecting rod, and a propeller. The motor drives the gear box, the connecting rod is installed at the output end of the gear box, and the propeller is installed at the other end of the connecting rod.

8. The high-altitude flight spraying robot according to claim 7, characterized in that, The gear box includes a vertical gear and a horizontal gear that mesh with each other. Both the vertical gear and the horizontal gear are bevel gears. The vertical gear is connected to the output end of the motor, and the horizontal gear is connected to the connecting rod.

9. The high-altitude flight spraying robot according to claim 1, wherein, The feeding system includes a high-pressure pipeline, a high-pressure pump, and a paint tank. The paint tank is used to contain paint. The high-pressure pump is communicated with the paint tank, and two ends of the high-pressure pipeline are respectively communicated with the high-pressure pump and the paint injection nozzle on the outer circle of the ring body.

10. A spraying method of the high-altitude flight spraying robot according to any one of claims 1-9, characterized in that, Comprising: When the magnetic attraction assembly loses power, each ring body of the paint spraying ring takes off respectively under the drive of its own flight mechanism; When each ring body flies to a predetermined spraying position, the magnetic attraction assembly is powered on to attract all the ring bodies into a complete ring; The feeding system conveys paint to the paint spraying ring. At the same time, the paint spraying ring descends uniformly under the drive of the flight mechanism, and the spray nozzles perform uniform spraying on the surface of the object to be painted; After spraying is completed, the magnetic attraction assembly loses power, and each ring body of the paint spraying ring separates under the drive of the flight mechanism, and each ring body is recovered.

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