Six-degree-of-freedom spraying robot and image acquisition system

Abstract

The invention belongs to the technical field of paint spraying robots, and particularly relates to a six-degree-of-freedom spraying robot and an image acquisition system.The six-degree-of-freedom spraying robot comprises an advancing machine body, a robot arm fixedly installed at the lifting end of the advancing machine body, a spraying gun fixedly installed at the free end of the robot arm, a first conical supporting plate and a second conical supporting plate, and the first conical supporting plate and the second conical supporting plate are arranged outside the spraying gun in a circumferential array mode; a storage bin is integrally formed on the first conical supporting plate, a fan-shaped cover plate covering an opening is rotationally connected to the opening of the first conical supporting plate, and an industrial camera hidden in the storage bin is fixedly installed on the fan-shaped cover plate. An adsorption head is integrally formed at the end, away from the advancing machine body, of the second conical supporting plate, and a ventilation bin used for cleaning paint spraying abnormal substances is integrally formed on the second conical supporting plate and communicates with the adsorption head. The industrial camera can be unfolded when needed and hidden during paint spraying to be prevented from being polluted, meanwhile, dust and other foreign matter attached to the surface of a workpiece can be removed in time, volatile paint and other substances can be absorbed, and the paint spraying efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of painting robots, and in particular relates to a six-degree-of-freedom painting robot and an image acquisition system. Background Art

[0002] With the advancement of technology, jobs like painting that are harmful to human health are gradually being replaced by robots. Painting robots generally include the following components:

[0003] Robotic arm: As a core component, it is typically made of aluminum alloy or carbon fiber, offering lightweight, high strength, and corrosion resistance. Its degree of freedom (mostly 5-6 axes, with some reaching 7) determines its operational range and flexibility. For example, articulated robots utilize multiple joints to achieve spray coating on complex curved surfaces, while fixed-arm robots are suitable for spraying large flat surfaces.

[0004] End effector (spray gun): This directly impacts spray quality and comes in a variety of styles, including pressure-type and high-pressure airless spray guns. The spray gun utilizes a flow controller, atomizer, and air pressure regulator to precisely spray the paint. Some high-end models incorporate electrostatic spraying for improved adhesion.

[0005] Control system: The robot controller analyzes the spraying program, generates motion instructions, and supports offline programming; the process control cabinet processes the conversion between electrical and pneumatic signals, and integrates safety relays and emergency stop circuits; the system console integrates the HMI (human-machine interface) to display real-time status, alarm information, and production data.

[0006] And the visual system, which uses industrial cameras to identify, locate, detect defects and plan paths for workpieces; however, in order to ensure clear identification, existing industrial cameras are generally set close to the head, which makes them easily contaminated by volatile paint during the painting process.

[0007] Secondly, after the workpiece is identified, if there is dust or other attachments, it needs to be manually cleaned before painting. Otherwise, the painting quality will be affected, resulting in low painting efficiency. After painting, it is necessary to wait for the volatile paint to dissipate to avoid affecting the recognition of the industrial camera or contaminating the industrial camera, which affects the efficiency of painting. Summary of the Invention

[0008] The purpose of the present invention is to provide a six-degree-of-freedom spraying robot and image acquisition system, which can unfold the industrial camera when needed and hide it during painting to avoid it from being contaminated. At the same time, it can promptly remove foreign matter such as dust attached to the surface of the workpiece, absorb volatilized paint and other substances, and improve the painting efficiency.

[0009] The technical solutions adopted by the present invention are as follows:

[0010] A six-degree-of-freedom spraying robot comprises a traveling body, a robot arm fixedly mounted on a lifting end of the traveling body, a spray gun fixedly mounted on a free end of the robot arm, and a first conical support plate and a second conical support plate arranged in a circumferential array outside the spray gun;

[0011] The first cone support plate and the second cone support plate are gathered in a cone shape and can be freely unfolded;

[0012] A storage bin is integrally formed on the first cone support plate, and a fan-shaped cover plate covering the opening is rotatably connected to the opening, and an industrial camera hidden in the storage bin is fixedly installed on the leaf of the fan-shaped cover plate;

[0013] An adsorption head is integrally formed on one end of the second cone support plate away from the traveling body, and an air vent for cleaning abnormal paint spraying substances is integrally formed on the second cone support plate and is connected to the adsorption head.

[0014] As a preferred solution, a support base is fixedly installed at the free end of the traveling body, a pushing cylinder is vertically installed at the axis of the support base, a movable push plate that slides in the support base is fixedly installed at the power output end of the pushing cylinder, and a connecting bolt for pushing the first conical support plate and the second conical support plate is integrally formed on the movable push plate.

[0015] As a preferred solution, a first rotating support sleeve is integrally formed on the outer edge of the bottom surface of the first conical support plate, and a first rotating groove is opened at the bottom opening; a second rotating support sleeve is integrally formed on the outer edge of the bottom surface of the second conical support plate, and a second rotating groove is opened at the bottom opening; the first rotating support sleeve and the second rotating support sleeve are both rotatably connected to the outer edge of the support base, and a linkage rod is rotatably connected between the connecting bolt and the first rotating groove and the second rotating groove.

[0016] As a preferred solution, a nozzle parallel to the spraying direction of the spray gun is fixedly mounted on one end of the first conical support plate away from the traveling body.

[0017] As a preferred solution, an air supply bin is fixedly installed on the bottom surface of the first conical support plate and relative to one side opening of the storage bin, and a corrugated cover is adhered to the top of the air supply bin to seal the hinge gap of the fan-shaped cover plate, and an air inlet connected to a blowing device is provided at the bottom of the air supply bin to blow the fan-shaped cover plate into rotation inside the storage bin by wind to flip the industrial camera out.

[0018] As a preferred solution, the cross-section of the storage bin is fan-shaped, and its inner diameter is the same as the length of one of the blades of the fan-shaped cover plate. The rotation axis of the fan-shaped cover plate passes through the center of the storage bin, and its two blades are the same length. The side wall of the fan-shaped cover plate is adhered with a sealing latex strip.

[0019] As a preferred solution, the air supply bin is connected to the nozzle through a pipeline, and a solenoid valve is provided at one end close to the nozzle.

[0020] As a preferred solution, an air extraction bin connected to the ventilation bin is fixedly installed at the bottom of the second cone support plate, and an air extraction port connected to an air suction device is provided at the bottom of the air extraction bin to absorb abnormal substances in the paint spraying.

[0021] As a preferred solution, it also includes an elastic curtain, which is embedded in the joint gap between the adjacent first cone support plate and the second cone support plate, and can expand and contract accordingly. The side walls of the first cone support plate and the second cone support plate are both provided with storage grooves, and the elastic curtain is hidden in the storage grooves in the contracted state.

[0022] A six-degree-of-freedom spraying robot image acquisition system, applied to the above-mentioned six-degree-of-freedom spraying robot, comprising:

[0023] An image acquisition module, configured to acquire images of the painting object based on the deployment of the robot arm and the industrial camera, and to control the industrial camera to hide in the storage bin during painting;

[0024] An image processing module is used to filter the collected image and perform image segmentation on the filtered image according to preset parameters;

[0025] A feature extraction and recognition module is used to obtain feature recognition data of a target object based on a target database and locate the target object based on the feature recognition data;

[0026] A control processing module, configured to generate a work end control instruction based on the positioning of the target object, and complete the painting of the painting object based on the work end control instruction;

[0027] The recognition feedback module is used to collect images of the painted object based on the deployment of the robot arm and the industrial camera after the painting is completed, and to provide feedback on whether the painting effect meets the standards after image processing and feature extraction and recognition;

[0028] If the standard is met, the next area will be painted; if the standard is not met, the insufficient area will be marked and repaired by painting.

[0029] The technical effects achieved by the present invention are:

[0030] By providing a storage bin that cooperates with the industrial camera, the present invention can hide the industrial camera inside the storage bin during painting to prevent it from being contaminated. At the same time, by cooperating with the nozzle, air supply bin, and solenoid valve, the airflow can not only be used to clean foreign matter such as dust attached to the workpiece, but also the airflow propulsion force can be used to adjust the expansion angle of the industrial camera for image acquisition, killing two birds with one stone, ensuring the safety of image acquisition and the quality of workpiece painting. Secondly, the nozzle and air supply bin cooperate to air dry the area that needs to be dried quickly after painting, further improving the efficiency of painting.

[0031] The present invention cooperates with the first cone support plate, the second cone support plate and the elastic curtain. During the painting process, the first cone support plate, the second cone support plate and the elastic curtain can be unfolded to cover volatile paint and other substances, and the adsorption head, the ventilation chamber and the vacuum chamber can be used to absorb the volatile substances to prevent them from spreading and polluting the environment. At the same time, it can prevent them from affecting the image acquisition field of view of the industrial camera, so that the image can be acquired immediately after the painting is completed, thereby improving the painting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0033] Figure 2 is a schematic structural diagram of the free end of a robot arm according to an embodiment of the present invention;

[0034] Figure 3 2 is a schematic diagram of the combined structure of the first cone support plate and the second cone support plate in an embodiment of the present invention;

[0035] Figure 4 1 is a schematic diagram of the independent structures of the first cone support plate and the second cone support plate in an embodiment of the present invention;

[0036] Figure 5 is a schematic structural diagram of the first cone support plate in an embodiment of the present invention;

[0037] Figure 6 In the present invention Figure 5 Exploded diagram;

[0038] Figure 7 is a schematic structural diagram of the second cone support plate in an embodiment of the present invention;

[0039] Figure 8 It is a schematic cross-sectional view of a part of an embodiment of the present invention;

[0040] Figure 9 This invention Figure 8 A magnified view of the part in the middle;

[0041] Figure 10 1 is a schematic diagram of the expanded structure of an industrial camera according to an embodiment of the present invention;

[0042] Figure 11 1 is a schematic diagram of the expanded structure of the first cone support plate and the second cone support plate in an embodiment of the present invention;

[0043] Figure 12 2 is a schematic diagram of the combined structure of the first cone support plate, the second cone support plate and the elastic curtain in an embodiment of the present invention;

[0044] Figure 13 Schematic diagram of the unfolded structure of the first cone support plate, the second cone support plate and the elastic curtain in an embodiment of the present invention;

[0045] Figure 14 It is a schematic diagram of the three-dimensional structure from another perspective in an embodiment of the present invention.

[0046] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0047] 1. Moving body;

[0048] 2. Robotic arm;

[0049] 21. Support base; 22. Movable push plate; 23. Connecting bolt; 24. Linkage rod; 25. Limiting bump; 26. Push cylinder;

[0050] 3. Spray gun;

[0051] 4. First cone support plate;

[0052] 41. Storage bin; 42. Fan-shaped cover; 43. Industrial camera; 44. Printhead; 45. Air supply bin; 46. Corrugated cover; 47. Solenoid valve; 48. Air inlet; 49. First rotating support sleeve; 410. First rotating groove;

[0053] 5. Second cone support plate;

[0054] 51. Adsorption head; 52. Ventilation chamber; 53. Air extraction chamber; 54. Air extraction port; 55. Second rotating support sleeve; 56. Second rotating groove;

[0055] 6. Elastic curtain. DETAILED DESCRIPTION

[0056] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is described in detail below with reference to the following examples. It should be understood that the following text is only used to describe one or more specific embodiments of the present invention and does not strictly limit the scope of protection of the present invention.

[0057] like Figures 1-14As shown, a six-degree-of-freedom spraying robot includes a traveling body 1, a robot arm 2 fixedly mounted on the lifting end of the traveling body 1, a spray gun 3 fixedly mounted on the free end of the robot arm 2, and a first conical support plate 4 and a second conical support plate 5 arranged in a circular array outside the spray gun 3. By gathering the first conical support plate 4 and the second conical support plate 5 into a conical cylinder shape, not only can the spray gun 3 be protected, but the splashing range of the paint can also be controlled by gathering and opening and closing the two to prevent the volatilized splashed paint from contaminating the body.

[0058] Among them, the traveling body 1 is composed of a driving base, a paint stirring structure and a vertical lifting structure. It is also equipped with an autonomous control system and a system operating console for interacting with staff. The robot arm 2 is fixedly installed on the lifting platform of the handling lifting structure to realize the free lifting of the robot arm 2.

[0059] Refer to the attached Figure 1 In this embodiment, the robot arm 2 adopts a six-degree-of-freedom robot arm (of course, in other embodiments, a robot arm with other degrees of freedom can be selected as needed), and a support base 21 is fixedly installed at its free end, a spray gun 3 is installed at the center of the support base 21, and the first conical support plate 4 and the second conical support plate 5 are movably installed in a circular array around the spray gun 3 on the outer edge of the support base 21.

[0060] Refer to the attached Figure 2-Figure 3 In this embodiment, three groups of the first cone support plates 4 and the second cone support plates 5 are provided, and are arranged in an alternating circular array, and the combination is in the shape of a regular hexagonal cone.

[0061] In some other embodiments, the number of the first conical support plate 4 and the second conical support plate 5 can be selected according to needs, and the combination form of the two can also be set according to the specific scenario, and can be set to a cone, a regular quadrilateral cone, a regular octagonal cone, etc.

[0062] Refer to the attached Figure 3-Figure 4 as well as Figure 8-Figure 9 In order to drive the first cone support plate 4 and the second cone support plate 5 to expand or gather, a pushing cylinder 26 is vertically installed at the axis of the support base 21. A movable pushing plate 22 that slides in the support base 21 is fixedly installed at the power output end of the pushing cylinder 26. At the same time, a connecting bolt 23 for pushing the first cone support plate 4 and the second cone support plate 5 is integrally formed on the movable pushing plate 22.

[0063] In contrast, a first rotating support sleeve 49 is integrally formed on the outer edge of the bottom surface of the first conical support plate 4, and a first rotating groove 410 is opened at the bottom. A second rotating support sleeve 55 is integrally formed on the outer edge of the bottom surface of the second conical support plate 5, and a second rotating groove 56 is opened at the bottom. The first rotating support sleeve 49 and the second rotating support sleeve 55 are both rotatably connected to the outer edge of the support base 21, and a linkage rod 24 is rotatably connected between the connecting bolt 23 and the first rotating groove 410 and the second rotating groove 56.

[0064] According to the above structure, a receiving groove is provided on the edge of the support base 21, which is rotatably connected to the first rotating support sleeve 49 and the second rotating support sleeve 55, and a movable groove for accommodating the linkage rod 24 is provided on the inner opening of the support base 21. At the same time, one end of the linkage rod 24 is rotatably connected to the connecting bolt 23, and the other end is rotatably connected to the first rotating groove 410 and the second rotating groove 56. The power output end of the pushing cylinder 26 can be used to push the movable push plate 22 to move in the support base 21, and at the same time, the first cone support plate 4 and the second cone support plate 5 are pushed by the linkage rod 24 to rotate around the edge of the support base 21 to achieve synchronous expansion or gathering (as shown in the attached figure). Figure 10 and Figure 2 shown).

[0065] Furthermore, a limiting protrusion 25 is raised on the movable push plate 22 perpendicularly relative to the connecting bolt 23, and is slidably installed in a movable groove accommodating the linkage rod 24. In this way, the movable push plate 22 is limited to the sliding track of the support base 21, so that it can slide along the predetermined track to ensure the stability of movement.

[0066] Refer to the attached Figure 4-Figure 6 A storage bin 41 is integrally formed on the first conical support plate 4, and a fan-shaped cover plate 42 covering the opening is rotatably connected to its opening. An industrial camera 43 hidden in the storage bin 41 is fixedly installed on the fan-shaped cover plate 42, which can protect the industrial camera 43 during painting. At the same time, when needed, the fan-shaped cover plate 42 is rotated to push the industrial camera 43 out for image acquisition.

[0067] Furthermore, the cross-section of the storage bin 41 is fan-shaped, and its inner diameter is the same as the length of one of the fan blades of the fan-shaped cover 42. At the same time, the rotation axis of the fan-shaped cover 42 passes through the center of the storage bin 41, and its two fan blades are the same length. In this way, the fan-shaped cover 42 can continue to fit against the side wall of the storage bin 41 during rotation, thereby limiting the rotation of the fan-shaped cover 42.

[0068] Secondly, an air delivery bin 45 is fixedly installed on the bottom surface of the first cone support plate 4 and an opening on one side of the storage bin 41. A corrugated cover 46 is adhered to the top of the air delivery bin 45 so that the hinge gap of the fan-shaped cover plate 42 can be sealed by the corrugated cover 46 to prevent gas leakage during rotation and at the same time not hinder its rotation. By providing an air inlet 48 connected to a blowing device at the bottom of the air delivery bin 45, the fan-shaped cover plate 42 is blown by wind to rotate inside the storage bin 41 under the action of the blowing wind, thereby flipping the industrial camera 43 out (as shown in the attached figure). Figure 10 As shown), and an air pressure sensor is provided on the blowing equipment. When the specified air pressure is reached and the industrial camera 43 can be pushed out, the air supply is stopped to avoid excessive air pressure damaging the equipment body.

[0069] Furthermore, in order to improve the sealing and rotation resistance of the fan-shaped cover 42, a sealing latex strip is adhered to the side wall of the fan-shaped cover 42, so that it is embedded between the side wall of the fan-shaped cover 42 and the inner wall of the storage bin 41, which can prevent gas leakage. At the same time, its characteristics can be used to increase the sliding friction, thereby making the rotation process of the fan-shaped cover 42 more stable. At the same time, a resistance torsion spring can be set on the rotation axis of the fan-shaped cover 42 or a damping shaft can be used to ensure the stable placement of the industrial camera 43.

[0070] Refer to the attached Figure 4 、 Figure 6 as well as Figure 8 A nozzle 44 parallel to the spray direction of the spray gun 3 is fixedly installed at one end of the first conical support plate 4 away from the moving body 1, and is connected to the nozzle 44 through a pipe in the air supply bin 45. At the same time, a solenoid valve 47 is provided at one end close to the nozzle 44, and the direction of the air flow is controlled by the solenoid valve 47. When it is necessary to push the industrial camera 43, the solenoid valve 47 is closed, so that the air flow is concentrated in the air supply bin 45 to push the fan-shaped cover plate 42.

[0071] Secondly, when the surface of the workpiece needs to be cleaned, the solenoid valve 47 is opened, so that the air flow passes through the solenoid valve 47 and is sprayed out from the nozzle 44 to clean the dust and other impurities on the surface of the workpiece, so as to avoid affecting the painting effect, thereby eliminating the need for manual cleaning and improving the painting efficiency; of course, in order to maintain the support stability of the industrial camera 43, the air flow supply can be increased or the industrial camera 43 can be rotated to the storage bin 41 for storage under the action of the reverse force of the torsion spring and its own gravity.

[0072] Refer to the attached Figure 7-Figure 8The second conical support plate 5 is integrally formed with an adsorption head 51 at one end away from the traveling body 1, and the second conical support plate 5 is integrally formed with a ventilation bin 52 for cleaning abnormal substances in the paint spraying, and is connected to the adsorption head 51; in contrast, an exhaust bin 53 connected to the ventilation bin 52 is fixedly installed at the bottom of the second conical support plate 5. By providing an exhaust port 54 connected to an air suction device at the bottom of the exhaust bin 53, the air suction device can be used to absorb paint volatilized during the painting process and other abnormal substances generated by the paint spraying through the adsorption head 51, the ventilation bin 52 and the exhaust bin 53, and process them through the purification equipment to avoid them from volatilizing into the air and causing pollution. At the same time, it can avoid affecting the image acquisition field of the industrial camera 43, so that it can immediately perform image acquisition after the painting is completed, thereby improving the painting efficiency.

[0073] Refer to the attached Figure 12-14 In this embodiment, an elastic curtain 6 is also provided, which is embedded in the splicing gap between the adjacent first cone support plate 4 and the second cone support plate 5, and can be expanded and contracted when the first cone support plate 4 and the second cone support plate 5 are expanded and contracted. At the same time, the side walls of the first cone support plate 4 and the second cone support plate 5 are provided with storage grooves, which can be hidden in the storage grooves when the elastic curtain 6 is in the contracted state, ensuring the beauty of the equipment. At the same time, during the painting process, the first cone support plate 4, the second cone support plate 5 and the elastic curtain 6 can be unfolded to cover volatile paint and other substances, and the adsorption head 51, the ventilation bin 52 and the exhaust bin 53 can be used to absorb the volatile substances to prevent them from spreading and polluting the environment.

[0074] It should be noted that the elastic curtain 6 is made of one of the materials of highly transparent PVC, spandex blend or thermoplastic polyurethane. By utilizing its high rebound rate, the elastic curtain 6 can continuously maintain its elasticity. At the same time, an oleophobic coating is attached to its outer surface to prevent paint from adhering.

[0075] Of course, in some other embodiments, the elastic curtain 6 may not be provided, and it can be selected according to specific needs. The purpose of removing volatile paint and other substances can be achieved only by the second cone support plate 5 and its related components.

[0076] like Figures 1-14 As shown, a six-degree-of-freedom spray robot image acquisition system is applied to the six-degree-of-freedom spray robot in this example, including an image acquisition module, an image processing module, a feature extraction and recognition module, a control processing module, and an identification feedback module; it cooperates with the robot's autonomous control system to perform painting operations.

[0077] Before painting, the moving body 1 is used to move the equipment to the designated area, and the blowing equipment is started at the same time. The solenoid valve 47 is closed, and the industrial camera 43 is pushed and unfolded through the air supply chamber 45. At the same time, the image acquisition module is used to capture images of the painting object based on the cooperation between the robot arm 2 and the industrial camera 43.

[0078] After the image acquisition is completed and before painting, the solenoid valve 47 is opened to release the pressure, thereby controlling the industrial camera 43 to hide in the storage compartment 41.

[0079] Then, the collected image is filtered by the image processing module, and the filtered image is segmented according to preset parameters; and the feature extraction and recognition module is used to obtain the feature recognition data of the target object based on the target database, and the target object is positioned based on the feature recognition data.

[0080] If dust or other foreign matter is identified on the surface of the target workpiece, the surface can be cleaned by spraying air through the blowing equipment, the air supply chamber 45, the solenoid valve 47 and the nozzle 44.

[0081] Afterwards, the autonomous control system is coordinated with the control processing module to generate a work terminal control instruction based on the positioning of the target object, and the painting of the painting object is completed based on the work terminal control instruction; and during the painting process, the first cone support plate 4 and the second cone support plate 5 are pushed to unfold by the pushing cylinder 26, and at the same time, the suction equipment is started to absorb the paint volatilized during the painting process and other abnormal substances produced by the painting through the adsorption head 51, the ventilation chamber 52 and the exhaust chamber 53.

[0082] Finally, after the painting is completed, the industrial camera 43 is pushed and deployed again. After the painting is completed, the recognition feedback module is used to capture images of the painted object based on the deployment of the robot arm 2 and the industrial camera 43. After image processing and feature extraction and recognition, feedback is given on whether the painting effect meets the standards.

[0083] If the standard is met, the next area will be painted; if the standard is not met, the insufficient area will be marked and repaired by painting.

[0084] The foregoing is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained herein shall, unless otherwise specified or limited, be implemented in accordance with conventional means in the art.

Claims

1. A six-degree-of-freedom spraying robot, comprising a traveling body (1), characterized in that: A robot arm (2) fixedly mounted on the lifting end of the traveling body (1), a spray gun (3) fixedly mounted on the free end of the robot arm (2), and a first conical support plate (4) and a second conical support plate (5) arranged in a circular array outside the spray gun (3); The first conical support plate (4) and the second conical support plate (5) are gathered together in a conical cylinder shape and can be freely unfolded; A storage bin (41) is integrally formed on the first cone support plate (4), and a fan-shaped cover plate (42) covering the opening is rotatably connected to the opening, and an industrial camera (43) hidden in the storage bin (41) is fixedly mounted on the upper leaf of the fan-shaped cover plate (42); An adsorption head (51) is integrally formed on one end of the second conical support plate (5) away from the traveling body (1), and a ventilation chamber (52) for cleaning abnormal paint spraying substances is integrally formed on the second conical support plate (5) and is connected to the adsorption head (51).

2. A six-degree-of-freedom spraying robot according to claim 1, characterized in that: A support base (21) is fixedly mounted on the free end of the traveling body (1), a pushing cylinder (26) is vertically mounted at the axis of the supporting base (21), a movable pushing plate (22) sliding in the supporting base (21) is fixedly mounted on the power output end of the pushing cylinder (26), and a connecting bolt (23) for pushing the first cone support plate (4) and the second cone support plate (5) is integrally formed on the movable pushing plate (22).

3. The six-degree-of-freedom spraying robot according to claim 2, characterized in that: A first rotating support sleeve (49) is integrally formed on the outer edge of the bottom surface of the first conical support plate (4), and a first rotating groove (410) is provided at the bottom opening; a second rotating support sleeve (55) is integrally formed on the outer edge of the bottom surface of the second conical support plate (5), and a second rotating groove (56) is provided at the bottom opening; the first rotating support sleeve (49) and the second rotating support sleeve (55) are both rotatably connected to the outer edge of the support base (21); and a linkage rod (24) is rotatably connected between the connecting bolt (23) and the first rotating groove (410) and the second rotating groove (56).

4. The six-degree-of-freedom spraying robot according to claim 1, characterized in that: A spray head (44) parallel to the spray direction of the spray gun (3) is fixedly mounted on one end of the first cone support plate (4) away from the traveling machine body (1).

5. The six-degree-of-freedom spraying robot according to claim 4, characterized in that: An air supply bin (45) is fixedly installed on the bottom surface of the first conical support plate (4) relative to an opening on one side of the storage bin (41); a corrugated cover (46) for sealing the hinge gap of the fan-shaped cover plate (42) is adhered to the top of the air supply bin (45); an air inlet (48) connected to a blowing device is provided at the bottom of the air supply bin (45) so that the fan-shaped cover plate (42) is blown by wind to rotate inside the storage bin (41) and flip the industrial camera (43) out.

6. The six-degree-of-freedom spraying robot according to claim 5, characterized in that: The cross section of the storage bin (41) is fan-shaped, and its inner diameter is the same as the length of one of the fan blades of the fan-shaped cover plate (42). The rotation axis of the fan-shaped cover plate (42) passes through the center of the circle of the storage bin (41), and its two fan blades are the same length. The side wall of the fan-shaped cover plate (42) is adhered with a sealing latex strip.

7. The six-degree-of-freedom spraying robot according to claim 5, characterized in that: The air delivery chamber (45) is connected to the nozzle (44) through a pipeline, and a solenoid valve (47) is provided at one end close to the nozzle (44).

8. The six-degree-of-freedom spraying robot according to claim 1, characterized in that: An air extraction chamber (53) connected to the ventilation chamber (52) is fixedly installed at the bottom of the second cone support plate (5), and an air extraction port (54) connected to an air suction device is provided at the bottom of the air extraction chamber (53) to absorb abnormal paint spraying substances.

9. The six-degree-of-freedom spraying robot according to claim 1, characterized in that: It also includes an elastic curtain (6), which is embedded in the joint gap between the adjacent first cone support plate (4) and the second cone support plate (5) and can be expanded and contracted accordingly. The side walls of the first cone support plate (4) and the second cone support plate (5) are both provided with a storage groove, and the elastic curtain (6) is hidden in the storage groove in the contracted state.

10. A six-degree-of-freedom spraying robot image acquisition system, applied to the six-degree-of-freedom spraying robot according to any one of claims 1 to 9, characterized in that: include: An image acquisition module is used to acquire images of the painting object based on the deployment of the robot arm (2) and the industrial camera (43), and to control the industrial camera (43) to hide in the storage bin (41) during painting; An image processing module is used to filter the collected image and perform image segmentation on the filtered image according to preset parameters; A feature extraction and recognition module is used to obtain feature recognition data of a target object based on a target database and locate the target object based on the feature recognition data; A control processing module, configured to generate a work end control instruction based on the positioning of the target object, and complete the painting of the painting object based on the work end control instruction; An identification feedback module is used to collect images of the painted object based on the deployment of the robot arm (2) and the industrial camera (43) after the painting is completed, and to provide feedback on whether the painting effect meets the standard after image processing and feature extraction and recognition; If the standard is met, the next area will be painted; if the standard is not met, the insufficient area will be marked and repaired by painting.

Images