Aircraft painting and de-rusting robot

Abstract

The application discloses a flying coating derusting robot, which comprises a separable flying unit and a base unit, the flying unit takes off or lands through a lifting fan at the bottom, the flying unit is specially configured with a multi-axis manipulator, the multi-axis manipulator supports installation of a laser gun head or a paint spraying gun to perform laser derusting or paint spraying, the base unit moves or stops following the action of the flying unit, the flying unit is controlled by a flight control system, and the base unit is controlled by a driving control box. The application increases the multi-axis manipulator on the basis of the flying platform, integrates the flight control system of the AI artificial intelligence algorithm, and realizes automatic operation functions such as high-altitude automatic laser derusting, automatic cleaning, automatic paint spraying and the like. The equipment can continuously operate for 24 hours. The laser derusting does not generate solid waste, is clean and environmentally-friendly, highly intelligent unmanned operation improves the operation safety factor, and is more efficient and low in cost.

Description

Technical Field

[0001] This invention relates to the field of rust removal and coating technology, and more specifically, to an aerial coating and rust removal robot. Background Technology

[0002] The rust removal and painting industry is extensive, encompassing, but not limited to, the construction, shipbuilding, and heavy industries, involving all aspects of metal structure production, processing, and post-maintenance. Currently, high-altitude rust removal and painting operations mainly rely on suspended platforms, scaffolding, or elevators to transport workers to their workstations for manual labor, which is not only inefficient but also poses significant safety hazards. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a flying painting and rust removal robot. Based on a flight platform, a new type of intelligent, unmanned high-altitude flying rust removal, cleaning and painting robot is developed to solve one or more of the above-mentioned problems.

[0004] To achieve the above objectives, the present invention provides the following technical solution: Flying painting and rust removal robots, including The base unit, which is a mobile carrier, has a standby platform and an electric cable reel on top; The flight unit, which docks with the cable on the electric cable reel, lands on the standby platform, has an open area at the bottom and at least six built-in lift fans, and is equipped with two tilt sensors; An external power source supplies power to the flight unit via cables on an electric cable reel; The robotic arm, which is a multi-axis robotic arm, is installed in a cabinet with a roller shutter door at the front of the flight unit. The end of the robotic arm can be detachably equipped with a laser gun or a paint spray gun. The flight control system, which is built into the flight unit, is equipped with AI intelligent algorithms to calculate and control the flight unit to complete take-off, landing, rust removal, and spraying actions. The flight control box is mounted on the base unit and controls the base unit to perform actions such as moving and stopping based on feedback from the flight unit; the flight control box is linked with the flight control system.

[0005] Furthermore, both the flight unit and the base unit are equipped with transformers with separate connecting cables, and the base unit is also equipped with an emergency battery pack with parallel connecting cables.

[0006] Furthermore, the standby platform of the base unit is equipped with at least two vertical lidars, and the bottom of the flight unit is equipped with an equal number of lidar receiving points. The vertical lidars and the corresponding lidar receiving points are matched, and the flight unit and the base unit are kept relatively perpendicular through the vertical lidars and the lidar receiving points.

[0007] Furthermore, the flight unit has a built-in laser generator, and the laser gun head emits laser light and removes rust after docking with the laser generator.

[0008] Furthermore, the base unit and the flight unit are equipped with several lidar and scanning lenses around their perimeter. The lidar and scanning lenses collect environmental data and send it to the pilot control box or flight control system.

[0009] Furthermore, the flight unit has several built-in motor drivers, and the flight control system adjusts and controls the lift fan's operation individually through the motor drivers.

[0010] Furthermore, the flight unit has a built-in chiller to accelerate heat dissipation.

[0011] Furthermore, the flight control system receives scanning feedback information from the scanning lens and lidar of the work site, autonomously plans the work grid area according to the site scene, and controls the gantry robot and its laser gun head or paint spray gun to perform the work.

[0012] In summary, this invention offers the following advantages: A gantry manipulator is added to the existing flight platform, integrating an AI-powered flight control system. Through visual scanning, lidar, and inertial navigation, the manipulator, in conjunction with the flight control system, automatically scans the work area, autonomously navigates and positions itself, autonomously avoids obstacles, and performs automatic flight, achieving automated high-altitude laser rust removal, automatic cleaning, and automatic paint spraying. The equipment transmits power via a power cable, using AC 380V electricity, enabling 24-hour continuous operation. Laser rust removal generates no solid waste, making it clean and environmentally friendly. This highly intelligent, unmanned operation improves operational safety and is more efficient and cost-effective. Attached Figure Description

[0013] Figure 1 An overall structural diagram of one embodiment of the present invention; Figure 2 An internal structural diagram of one embodiment of the present invention.

[0014] In the diagram: 10. Base unit; 11. Standby platform; 12. Electric cable reel; 13. Flight control box; 14. Emergency battery pack; 20. Flight unit; 21. Lift fan; 22. Tilt sensor; 23. Laser generator; 24. Water chiller; 30. Robotic arm; 40. Flight control system; 50. Transformer; 60. LiDAR; 70. Scanning lens. Detailed Implementation

[0015] Example: The following is in conjunction with the appendix Figure 1-2The present invention will be described in further detail below.

[0016] The flying painting and rust removal robot consists of a base unit 10 and a flying unit 20. The electric cable reel 12 on the base unit 10 is connected to the power interface of the flying unit 20, providing power to the flying unit 20 via the cable. The flying unit 20 can rise away from or descend towards the base unit 10. Two vertical lidar sensors 60 are installed on the standby platform 11 of the base unit 10, and corresponding lidar sensors 60 are located at the bottom of the flying unit 20. The vertical lidar sensors 60 on the base unit 10 and the lidar sensors 60 at the bottom of the flying unit 20 sense each other, ensuring not only smooth takeoff and accurate landing of the flying unit 20, but also assisting in autonomous attitude adjustment during operation, ensuring it does not deviate from its position and maintaining a relatively vertical state between the base unit 10 and the flying unit 20. This is because the flying unit 20's power is delivered via cable, and this design facilitates cable retraction and deployment. Simultaneously, two tilt sensors 22 are installed on the top of the flying unit 20 to maintain its balance during movement.

[0017] The flight unit 20 is equipped with six lift fans 21 within its open space, capable of basic ascent, descent, and hovering maneuvers. The fans' output angle is adjustable, allowing for additional movements such as forward, backward, and left / right shifting, enhancing its flexibility. Inside the cabinet with a roller shutter door, the flight unit 20 houses a dedicated multi-axis robotic arm 30. This robotic arm 30 can move freely within a fixed range along the X, Y, and Z axes, including but not limited to extending and retracting the cabinet and full-angle rotation. A detachable laser gun head for rust removal can be mounted on the robotic arm 30, which can also be replaced with a specially designed paint spray gun, switching between rust removal and painting functions to meet operational needs. Eight lidar sensors 60 and scanning lenses 70 are evenly and rationally arranged around the flight unit 20 according to its casing dimensions. These components work together to scan the work site in real time, and the flight unit 20 autonomously plans the work grid area based on the scene. The lift fans 21 and the gantry robotic arm 30 then operate autonomously according to the grid area's location. The lidar sensors 60 and scanning lenses 70 are essential hardware support. The flight unit 20 is also equipped with necessary electronic components, such as a laser generator 23 that supports laser gun head operation, a transformer 50 for use with cables, a water cooler 24 for enhanced heat dissipation, a flight control system 40 with six motor drivers, and necessary wires and connectors. The flight control system 40 is equipped with AI intelligent algorithms, which can not only process and respond to collected information such as environmental conditions and real-time equipment status, but also automatically plan the operation route, area and steps, which is the key to autonomous operation. It can also intervene and control the individual lift fan 21 through the motor drivers to flexibly operate the attitude and movement of the flight unit 20.

[0018] The base unit 10 is designed as a vehicle structure, with four drive wheels mounted on the chassis, capable of carrying the flight unit 20 or moving short distances independently. An electric cable reel 12 with wound cables is located on the area outside the standby platform 11 of the base unit 10, surrounded by guardrails. Optionally, a driving control box 13 is installed at this end to control the movement, power supply, and laser positioning of the base unit 10. Eight lidar sensors 60 and scanning lenses 70 are also correspondingly installed around the base unit 10, primarily for confirming road conditions and preventing collisions with obstacles. The base unit 10 operates fully automatically, moving with the flight unit 20 from the current grid area to the next subdivided grid area as needed. An electrical storage box is located at the bottom of the base unit 10, including a built-in backup emergency battery pack 14, a transformer 50, and a drive controller. A tool storage box is also provided at the bottom of the base unit 10 for storing work tools, emergency fire extinguishers, and other equipment. The base unit 10 is connected to an external AC 380V mains power supply. The main power supply is transformed to 600V by the transformer 50 inside the base unit 10 and transmitted to the transformer 50 of the flight unit 20 via cable. The voltage is then boosted to 800V and the DC 12V voltage required by the flight control system 40. In the event of a sudden interruption of the external power supply, the backup emergency battery pack 14 built into the base unit 10 will supply power to the transformer 50 with a millisecond-level response speed to ensure that the flight unit 20 can land safely.

[0019] It should be noted that this specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A flying painting and rust removal robot, characterized in that: include The base unit, which is a mobile carrier, has a standby platform and an electric cable reel on top; The flight unit, which docks with the cable on the electric cable reel, lands on the standby platform, has an open area at the bottom and at least six built-in lift fans, and is equipped with two tilt sensors; An external power source supplies power to the flight unit via cables on an electric cable reel; The robotic arm, which is a multi-axis robotic arm, is installed in a cabinet with a roller shutter door at the front of the flight unit, and its end can be detachably equipped with a laser gun head or a paint spray gun. The flight control system, which is built into the flight unit, is equipped with AI intelligent algorithms to calculate and control the flight unit to complete take-off, landing, rust removal, and spraying actions. The flight control box is mounted on the base unit and controls the base unit to perform actions such as moving and stopping based on feedback from the flight unit; the flight control box is linked with the flight control system.

2. The flying painting and rust removal robot according to claim 1, characterized in that: Both the flight unit and the base unit are equipped with transformers with separate connecting cables. The base unit is also equipped with an emergency battery pack with parallel connecting cables.

3. The flying painting and rust removal robot according to claim 1, characterized in that: The standby platform of the base unit is equipped with at least two vertical lidars, and the bottom of the flight unit is equipped with an equal number of lidar receiving points. The vertical lidars and the corresponding lidar receiving points are matched, and the flight unit and the base unit are kept relatively perpendicular through the vertical lidars and the lidar receiving points.

4. The flying painting and rust removal robot according to claim 1, characterized in that: The flight unit has a built-in laser generator, and the laser gun head emits laser light and removes rust after docking with the laser generator.

5. The flying painting and rust removal robot according to claim 1, characterized in that: The base unit and the flight unit are equipped with several lidar and scanning lenses around their perimeter. The lidar and scanning lenses collect environmental data and send it to the pilot control box or flight control system.

6. The flying painting and rust removal robot according to claim 1, characterized in that: The flight unit has several built-in motor drivers, and the flight control system adjusts and controls the operation of the lift fan individually through the motor drivers.

7. The flying painting and rust removal robot according to claim 1, characterized in that: The flight unit has a built-in chiller to accelerate heat dissipation.

8. The flying painting and rust removal robot according to claim 5, characterized in that: The flight control system receives scanning feedback information from the scanning lens and lidar of the work site, autonomously plans the work grid area according to the site scene, and controls the gantry robot and its laser gun head or paint spray gun to perform the work.

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