CN116159697A - Six-degree-of-freedom spraying robot - Google Patents

Abstract

The invention relates to the technical field of spraying robots, in particular to a six-degree-of-freedom spraying robot which comprises a base, a flexible hose, a connecting block, an unmanned aerial vehicle, a power unit, a rotating unit, a spraying unit and a control unit, wherein the base is provided with a plurality of spraying nozzles; a flexible hose is fixedly arranged in the base; the bottom of the base is fixedly provided with a power unit; a rotating unit is fixedly arranged at the top of the base; the top of the rotating unit is fixedly arranged at the bottom of the connecting block; the top of the connecting block is fixedly arranged with the bottom of the unmanned aerial vehicle; a spraying unit is fixedly arranged on the unmanned aerial vehicle; the invention not only can freely walk in the spraying process, but also can spray different large-sized workpieces, thereby realizing omnibearing spraying, greatly improving the spraying efficiency and the spraying quality, and simultaneously having large working space, good flexibility, high precision and good flexibility.

Description

Six-degree-of-freedom spraying robot

Technical Field

The invention relates to the technical field of spraying robots, in particular to a six-degree-of-freedom spraying robot.

Background

With the development of modern industry and modern manufacturing technology, the quality requirement of products is not only the practicality of the products per se, the appearance of the products is an important index, and the products relate to various application fields, especially in industries such as home appliances, automobiles, light industry and heavy industry, the appearance quality of the products even affects the competitiveness of the products in the market, paint and other spraying materials are usually adopted for carrying out coloring treatment on the products for the appearance processing, the aesthetic property of the products is improved, the service life of the products is also improved, in the traditional spraying process, spraying is often carried out manually, but a large amount of harmful gas is generated in a dark and sealed spraying workshop in the process of workers, and the physical health and the labor emotion of the operators are affected, so that the problem of traditional manual spraying is solved by the appearance of a spraying robot.

With the continuous appearance of various novel products, the requirements on spraying machines are also improved, the complexity of different products is different, a plurality of surfaces can be formed, and only some simple spraying robots cannot meet the spraying requirements of the products, so the prior art discloses a spraying robot, such as Chinese patent invention: CN107932476B (publication: 2020-10-20) discloses a six-degree-of-freedom self-reconstruction parallel spraying robot, which comprises a spray head, a spray head supporting platform, three spray head hinges with identical structures, three identical long struts, a brake, three cylinders with identical specifications, three support hinges with identical structures and a frame; the spraying robot can adapt to different spraying works through flexible changing of the configuration, and the spraying robot can be used for spraying from a simple straight line to a complex space curve, but has certain limitation in the use process, when a workpiece with a slightly larger size is sprayed, a spray head cannot be sprayed to the rear end of the workpiece, and the workpiece is required to rotate to spray.

When spraying workpieces of different products, the required spraying places are different, when spraying larger workpieces, the spray heads of the spraying robot are required to extend to a certain height, strict manufacturing requirements are met for the spraying robot, the mechanical arm of the spraying robot cannot be overweight, otherwise, after spraying the workpieces for a long time, the dynamic response and the control precision of the mechanical arm can be affected to a certain extent, and aiming at the problems, the prior art discloses a plurality of solutions, such as Chinese patent invention: CN106272399a (publication day: 2017-01-04) discloses a hollow offset six-degree-of-freedom spraying robot, which comprises a hollow base, a hollow base gear box, a hollow big arm, a hollow small arm and a hollow wrist of an offset structure, wherein the base, the big arm, the small arm and the wrist are all of hollow structures, so that pipelines are not exposed, the device has the advantages that the working space is large, the control precision is high, the weight of the mechanical arm is reduced, the load is increased, the device has certain limitation when in use, and when large workpieces are sprayed, the length of the mechanical arm cannot reach the spraying position, and a plurality of spraying robots are required to be installed at different positions to finish the spraying of the workpieces.

In the spraying process of the spraying robot, a flexible and changeable mechanical arm can greatly improve the working efficiency of the whole spraying robot, along with the development of technology, the flexible mechanical arm alone cannot meet the spraying of products, the whole device needs to be more flexible, and based on the problems, the prior art also provides some solutions, such as Chinese patent invention: CN110743736a (publication day: 2020-02-04) discloses a suspension type six-degree-of-freedom hybrid spraying robot, which belongs to the technical field of robots, and comprises a spraying mechanism, a conveyor belt mechanism, a rack and a spray gun; the spraying mechanism comprises a parallel mechanism and a serial mechanism; the parallel mechanism is fixedly arranged at the inner top of the frame through the fixed platform; the conveying belt mechanism is fixedly arranged at the bottom of the frame; the parallel mechanism is connected with the series mechanism through the movable platform; the serial mechanism comprises a connecting transmission mechanism and three motors, the connecting transmission mechanism comprises a rotary chassis, a middle arm and a lower arm, and the spray gun is arranged at the lower end of the lower arm; the spray gun realizes three-direction movement through parallel mechanism, realizes three-direction rotation through series mechanism, totally six degrees of freedom, and the device accessible conveyer belt mechanism carries the work piece fast, and spraying mechanism can remove at the frame top, has realized carrying out the diversified spraying of multi-angle to all kinds of work pieces of different specifications, but the device can only be applied to some work pieces that are less than self frame, also can have certain limitation in the use, and fixed frame also can reduce the flexibility property of whole device.

In view of the above-mentioned shortcomings, the present invention improves and optimizes the existing six-degree-of-freedom painting robot, and develops a six-degree-of-freedom painting robot.

Disclosure of Invention

The invention aims to solve the technical problems that: the invention provides a six-degree-of-freedom spraying robot which not only can freely walk in the spraying process, but also can spray different large workpieces, so that the full-directional spraying is realized, the spraying efficiency and the spraying quality are greatly improved, and meanwhile, the working space is large, the flexibility is good, the precision is high, and the flexibility is good.

The invention provides the following technical scheme: a six-degree-of-freedom spraying robot comprises a base, a flexible hose, a connecting block, an unmanned aerial vehicle, a power unit, a rotating unit, a spraying unit and a control unit; a flexible hose is fixedly arranged in the base; the flexible hose is used for transporting paint; one end of the flexible hose is fixedly connected with the external coating device, a section of the middle of the flexible hose is coiled in a serpentine shape in the base, and the other end of the flexible hose is fixedly connected with the spraying unit; the bottom of the base is fixedly provided with a power unit; the power unit is used for driving the whole device to walk; a rotating unit is fixedly arranged at the top of the base; the rotating unit is used for adjusting the direction; the top of the rotating unit is fixedly arranged at the bottom of the connecting block; the top of the connecting block is fixedly arranged with the bottom of the unmanned aerial vehicle; the unmanned aerial vehicle is used for carrying a spraying unit; a spraying unit is fixedly arranged on the unmanned aerial vehicle; the spraying unit is used for spraying the workpiece; the connecting block comprises a permanent magnet and an electromagnet; the permanent magnet and the electromagnet are of a cuboid structure, and through holes are formed in the same positions of the same end of the permanent magnet and the electromagnet; the permanent magnet and the electromagnet are provided with through holes at the same position for the passage of the flexible hose, and the top of the permanent magnet is fixedly arranged with the bottom of the unmanned aerial vehicle; the bottom of the electromagnet is fixedly arranged with the top of the rotating unit; the flexible hose penetrates through the through holes at one ends of the permanent magnet and the electromagnet and is fixedly connected with the spraying unit; the flexible hose can play a role in automatic positioning through the through hole; the unmanned aerial vehicle, the power unit, the rotating unit and the spraying unit are electrically connected with the control unit; the control unit is used for controlling the operation of the unmanned aerial vehicle, the power unit, the rotating unit and the spraying unit respectively.

The base comprises a rotating motor, a chassis, a first rotating shaft and a turntable; the base is of a hollow long hair body structure, and a round hole is formed in one end of the top surface of the base; a round hole is formed in one end of the top surface of the base for the flexible hose to pass through; a rotating motor is fixedly arranged at the center position inside the base; a chassis is fixedly arranged above the rotating motor; the chassis is provided with a circular groove, and the chassis is radially penetrated and provided with a groove; the chassis is provided with a circular groove for placing the flexible hose, the rotating motor is fixedly provided with a first rotating shaft, and the first rotating shaft penetrates through the center of the turntable; a turntable is fixedly arranged at the top of the first rotating shaft; the turntable is positioned in the chassis; the rotating motor is used for driving the turntable to rotate.

The power unit comprises a frame and wheels; the bottom of the base is fixedly provided with a frame; wheels are fixedly arranged on the periphery of the frame, and a driving motor (not shown in the figure) is used for driving the wheels to rotate so as to drive the whole device to move.

The rotating unit comprises a big arm, a middle arm and a small arm; the bottom end of the large arm is rotatably arranged on the base; one side of the top end of the large arm is rotatably arranged with one end of the middle arm; the other end of the middle arm is rotatably arranged with one end of the small arm; the other end of the small arm is fixedly arranged with the electromagnet; the bottom end of the large arm is rotatably arranged on the base and used for driving the whole mechanical arm to rotate; the middle arm is arranged between the large arm and the small arm so as to improve the freedom of movement of the mechanical arm; and an electromagnet is fixedly arranged at the other end of the forearm and used for fixing the unmanned aerial vehicle.

The spraying unit comprises a tubule, a spray head and a conical cover; one end of the tubule is fixedly arranged at the front end of the unmanned aerial vehicle; a spray head is fixedly arranged at the other end of the thin tube; a conical cover is fixedly arranged at the joint of the tubule and the spray head; the conical cover is used for preventing wind power of the unmanned aerial vehicle wing from blowing off the paint during spraying, so that uneven spraying is caused.

A visual sensor is fixedly arranged at the front end of the top of the unmanned aerial vehicle; the front end of the top of the unmanned aerial vehicle is fixedly provided with a visual sensor for detecting the shape of the surface of a workpiece.

Ultrasonic sensors are fixedly arranged on the peripheral side surfaces of the top of the base and the peripheral side surfaces of the unmanned aerial vehicle respectively; the base top side all around and unmanned aerial vehicle bottom are last respectively fixed mounting have ultrasonic sensor and are used for detecting the base have the barrier all around to and unmanned aerial vehicle's fly height and unmanned aerial vehicle and the distance between the work piece.

The included angle between the tubule and the spray head is 150 degrees; the tubule can rotate 360 degrees around the axis of the tubule; the included angle between the thin pipe and the spray head is 150 degrees, so that the spray of the spray head is more uniform; the tubule can rotate 360 degrees around the axis of the tubule to realize no dead angle for spraying in the spraying process.

The central axis of the conical cover coincides with the central axis of the spray head; the central axis of the conical cover coincides with the central axis of the spray head so that the coating can be sprayed on a workpiece.

The length of the tubule ranges from 1 m to 3 m; the length range of the tubule is between 1 and 3m, so that the balance of the unmanned aerial vehicle in the ascending process can be increased, and meanwhile, the unmanned aerial vehicle can be sprayed by extending the tubule into a narrow space.

The beneficial effects of the invention are as follows:

1. according to the invention, the power unit is fixedly arranged at the bottom of the base, and the wheels can drive the whole spraying robot to walk, so that the working space of the spraying robot is increased, and the spraying robot is more flexible.

2. According to the invention, the unmanned aerial vehicle is fixedly arranged on the connecting block, and the spraying unit is fixedly arranged on the unmanned aerial vehicle, so that the spraying robot can spray large-sized workpieces, and high-altitude spraying can be realized, so that the spraying robot has higher flexibility, can be suitable for spraying workpieces with different specifications and different shapes, greatly improves the spraying efficiency, and reduces the labor intensity.

3. According to the invention, the ultrasonic sensor is fixedly arranged on the base, and the ultrasonic sensor and the visual sensor are fixedly arranged on the unmanned aerial vehicle, so that the cooperation of the unmanned aerial vehicle and the base can be realized, the spraying track is diversified, the whole system is more flexible, the positioning precision is higher, and the spraying quality is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of another view of the present invention.

Fig. 3 is a front view of fig. 2 of the present invention.

Fig. 4 is a left side view of fig. 2 of the present invention.

Fig. 5 is a top view of fig. 2 of the present invention.

Fig. 6 is a schematic perspective view of the rotary motor, chassis and turntable of the present invention.

Fig. 7 is a schematic perspective view of a structure of the unmanned aerial vehicle and the spraying unit of the present invention.

Fig. 8 is a cross-sectional view of a spray unit of the present invention.

Fig. 9 is an enlarged partial cross-sectional view of fig. 4 at a in accordance with the present invention.

Fig. 10 is a schematic perspective view of the inside of the base of the present invention.

In the figure: the base 1, the rotating motor 11, the chassis 12, the first rotating shaft 13, the turntable 14, the round hole 15, the round groove 16, the flexible hose 2, the connecting block 3, the permanent magnet 31, the electromagnet 32, the through hole 33, the unmanned aerial vehicle 4, the power unit 5, the frame 51, the wheels 52, the rotating unit 6, the large arm 61, the middle arm 62, the small arm 63, the spraying unit 7, the thin pipe 71, the spray head 72 and the conical cover 73.

Detailed Description

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

First embodiment: this embodiment is used for spraying large-scale cask and large-scale ship shell, when spraying such large-scale work piece, power pack 5 drive whole device is gone forward to the work piece by one, unmanned aerial vehicle 4 starts slowly to rise, the inside rotating electrical machines 11 of base 1 rotates simultaneously, transport flexible hose 2 outwards slowly, the electro-magnet 32 circular telegram through connecting block 3 produces the magnetism the same with permanent magnet 31, give unmanned aerial vehicle 4 a thrust, then unmanned aerial vehicle 4 rises to a take the flexible hose 2 to a altitude, begin to spray, when flying about taking flexible hose 2, power pack 5 drive whole device follows the removal, thereby realize the omnidirectional spraying of large-scale work piece.

As shown in fig. 1, 2, 4, 5, 7, 9 and 10, a six-degree-of-freedom spraying robot includes a base 1, a flexible hose 2, a connection block 3, an unmanned aerial vehicle 4, a power unit 5, a rotation unit 6, a spraying unit 7 and a control unit; a flexible hose 2 is fixedly arranged in the base 1; the flexible hose 2 is used for transporting paint; one end of the flexible hose 2 is fixedly connected with an external coating device, a section of the middle of the flexible hose 2 is coiled in a snake shape in the base 1, and the other end of the flexible hose 2 is fixedly connected with the spraying unit 7; the paint is transported to a spraying unit 7 through a flexible hose 2, and a power unit 5 is fixedly arranged at the bottom of the base 1; the power unit 5 is used for driving the whole device to walk; a rotating unit 6 is fixedly arranged at the top of the base 1; the rotating unit 6 is used for adjusting the direction; the top of the rotating unit 6 is fixedly arranged at the bottom of the connecting block 3; the top of the connecting block 3 is fixedly arranged with the bottom of the unmanned aerial vehicle 4; the unmanned aerial vehicle 4 is used for carrying a spraying unit 7; a spraying unit 7 is fixedly arranged on the unmanned aerial vehicle 4; the spraying unit 7 is used for spraying the workpiece.

The connecting block 3 comprises a permanent magnet 31 and an electromagnet 32; the permanent magnet 31 and the electromagnet 32 have a cuboid structure, and through holes 33 are formed in the same positions of the same ends of the permanent magnet 31 and the electromagnet 32; the permanent magnet 31 and the electromagnet 32 are provided with through holes 33 at the same position at the same end for the passage of the flexible hose 2, and the top of the permanent magnet 31 and the bottom of the unmanned aerial vehicle 4 are fixedly arranged; the bottom of the electromagnet 32 is fixedly arranged with the top of the rotating unit 6; the flexible hose 2 passes through a through hole 33 at one end of the permanent magnet 31 and one end of the electromagnet 32 and is fixedly connected with the spraying unit 7; the flexible hose 2 can play a role in automatic positioning through the through hole 33, after spraying is finished, the unmanned aerial vehicle 4 flies back to the rotating unit 6, the unmanned aerial vehicle 4 is adsorbed through the electromagnet 32, the falling position of the unmanned aerial vehicle 4 can be adjusted between the unmanned aerial vehicle 4 and the rotating unit 6 while the flexible hose 2 is adsorbed, the electromagnet 32 is aligned with the through hole 33 on the permanent magnet 31, the positioning effect is realized, and the unmanned aerial vehicle 4, the power unit 5, the rotating unit 6 and the spraying unit 7 are electrically connected with the control unit; the control unit respectively controls the operations of the unmanned aerial vehicle 4, the power unit 5, the rotating unit 6 and the spraying unit 7, so that the whole system can be mutually coordinated, mutually noninterfered and operated together, and the running stability of the whole system is improved.

As shown in fig. 1, 2, 6 and 10, the base 1 includes a rotating motor 11, a chassis 12, a first rotating shaft 13 and a turntable 14; the base 1 is of a hollow long hair body structure, and one end of the top surface of the base 1 is provided with a round hole 15; a round hole 15 is formed in one end of the top surface of the base 1 for the flexible hose 2 to pass through; a rotating motor 11 is fixedly arranged in the center position inside the base 1; a chassis 12 is fixedly arranged above the rotating motor 11; the chassis 12 is provided with a circular groove 16, and the chassis 12 is radially and penetratingly provided with a groove; a circular groove 16 is formed in the chassis 12 and used for placing the flexible hose 2, a first rotating shaft 13 is fixedly arranged on the rotating motor 11, and the first rotating shaft 13 passes through the center of the turntable 14; the top of the first rotating shaft 13 is fixedly provided with a rotating disc 14; the turntable 14 is positioned inside the chassis 12; the rotating motor 11 is used for driving the turntable 14 to rotate, thereby drive flexible hose 2 on the turntable 14 to curl and stretch out, when unmanned aerial vehicle 4 takes off, unmanned aerial vehicle 4 drives shower nozzle 72 upward movement, rotating motor 11 starts, drive pivot 13 and rotate, pivot 13 drives the turntable 14 and rotates, turntable 14 slowly rotates flexible hose 2 out of turntable 14 through the recess, simultaneously through unmanned aerial vehicle 4 pulling, flexible hose 2 is pulled out, thereby follow unmanned aerial vehicle 4 and rise, for spraying unit 7 provides the coating, guarantee that the coating can not interrupt.

As shown in fig. 1, 2, 3, 4 and 5, the power unit 5 includes a frame 51 and wheels 52; the bottom of the base 1 is fixedly provided with a frame 51; the wheels 52 are fixedly arranged around the frame 51, the driving motor (not shown in the figure) drives the wheels 52 to rotate so as to drive the whole device to move, when the spraying unit 7 sprays a workpiece, the driving motor (not shown in the figure) drives the wheels 52 to rotate and then drives the whole device to spray around the workpiece, so that the omnibearing spraying is realized, meanwhile, the labor is saved for moving the workpiece or the spraying device, the spraying working efficiency and the spraying uniformity are improved, and the spraying quality is better.

As shown in fig. 1, 2, 3, 4 and 5, the rotation unit 6 includes a large arm 61, a medium arm 62 and a small arm 63; the bottom end of the large arm 61 is rotatably arranged on the base 1; one side of the top end of the large arm 61 is rotatably arranged with one end of the middle arm 62; the other end of the middle arm 62 is rotatably arranged with one end of the small arm 63; the other end of the small arm 63 is fixedly arranged with the electromagnet 32; the bottom end of the large arm 61 is rotatably arranged on the base 1 and used for driving the whole mechanical arm to rotate; the middle arm 62 is installed between the large arm 61 and the small arm 63 to improve the freedom of movement of the mechanical arm; the mechanical arm moves more flexibly, and more operations can be realized; the fixed mounting electro-magnet 32 is used for fixed unmanned aerial vehicle 4 on the forearm 63 other end, after unmanned aerial vehicle 4 spraying is accomplished, electro-magnet 32 circular telegram on the forearm 63 produces magnetism and the permanent magnet 31 on the unmanned aerial vehicle 4 and attracts each other, realize the fixed to unmanned aerial vehicle 4, prevent that unmanned aerial vehicle 4 from falling because the landing is not right when getting back to the normal position, electro-magnet 32 on the forearm 63 can also push away unmanned aerial vehicle 4 simultaneously, when unmanned aerial vehicle 4 breaks away from the forearm 63 top, electro-magnet 32 circular telegram produces the magnetism that repels with permanent magnet 31, release unmanned aerial vehicle 4 through magnetic force.

As shown in fig. 1, 2, 3, 4, 5, 7 and 8, the spraying unit 7 includes a tubule 71, a spray head 72 and a cone-shaped cover 73; one end of the tubule 71 is fixedly arranged at the front end of the unmanned plane 4; a nozzle 72 is fixedly arranged at the other end of the thin tube 71; a conical cover 73 is fixedly arranged at the joint of the thin tube 71 and the spray head 72; the conical cover 73 is used for preventing the wind power of the wings of the unmanned aerial vehicle 4 from blowing off the paint during spraying, so that the spraying is uneven, when the spraying is started, the spray heads 72 can be moved to different places for spraying through the movement of the unmanned aerial vehicle 4, and when a place with a narrow spraying space is required, the unmanned aerial vehicle 4 can control the spray heads 72 and the conical cover 73 to enter the space for spraying.

A visual sensor is fixedly arranged at the front end of the top of the unmanned aerial vehicle 4; the visual sensor is fixedly arranged at the front end of the top of the unmanned aerial vehicle 4 and used for detecting the shape of the surface of a workpiece, the visual sensor sends detection data to the control unit, the control unit analyzes and processes the data sent by the visual sensor, then the flight position of the unmanned aerial vehicle 4 is controlled, the workpiece is sprayed, and the workpieces with different surfaces are sprayed.

Ultrasonic sensors are fixedly arranged on the side surfaces around the top of the base 1 and the side surfaces around the unmanned aerial vehicle 4 respectively and on the bottom of the unmanned aerial vehicle 4; ultrasonic sensors are fixedly arranged on the side surfaces around the top of the base 1, the side surfaces around the unmanned aerial vehicle 4 and the bottom of the unmanned aerial vehicle 4 respectively and used for detecting whether obstacles exist around the base 1, the flying height of the unmanned aerial vehicle 4 and the distance between the unmanned aerial vehicle 4 and a workpiece; when the unmanned aerial vehicle 4 breaks away from the small arm 63, the unmanned aerial vehicle 4 flies upwards, the ultrasonic sensor detects the flying height of the unmanned aerial vehicle 4 in real time, and when the unmanned aerial vehicle 4 flies to the side of a workpiece, the ultrasonic sensor detects the distance between the unmanned aerial vehicle 4 and the workpiece and then sends a detected signal to the control unit, and the control unit controls the flying height of the unmanned aerial vehicle 4 and the distance between the unmanned aerial vehicle 4 and the workpiece according to the signal sent by the ultrasonic sensor; meanwhile, the base 1 detects whether obstacles exist around in real time through the ultrasonic sensor and sends a signal to the control unit, and the control unit controls the driving motor to rotate and controls the base 1 to move along with the unmanned aerial vehicle 4; preventing the flexible hose 2 from protruding.

As shown in fig. 8, the included angle between the tubule 71 and the nozzle 72 is 150 °; the tubule 71 may rotate 360 ° about its own axis; the included angle between the thin tube 71 and the spray head 72 is 150 degrees, so that the spray of the spray head 72 is more uniform; the tubule 71 can rotate 360 degrees around the axis of the tubule 71 so as to realize no dead angle for spraying in the spraying process, the area at the top of a workpiece can be sprayed through the self rotation of the tubule 71 in the spraying process, and meanwhile, some spaces and dead angles with smaller inlets can be sprayed through the included angle between the tubule 71 and the spray head 72.

As shown in fig. 8, the central axis of the conical cover 73 coincides with the central axis of the nozzle 72; the central axis of the conical cover 73 coincides with the central axis of the spray head 72, so that paint can be sprayed on a workpiece, the paint is sprayed out in the spraying process and then moves along the axis, the conical cover 73 can prevent the paint from being blown away by wind of the wing of the unmanned aerial vehicle 4, and meanwhile, the paint cannot be blocked in the conical cover 73, so that the paint is prevented from being wasted in the spraying process.

The length of the thin tube 71 ranges from 1 m to 3 m; the length of the tubule 71 ranges from 1 to 3m, which can be used to increase the balance of the unmanned aerial vehicle 4 during the ascent; when unmanned aerial vehicle 4 is at the in-process that slowly rises, along with the rising of height, flexible hose 2 of unmanned aerial vehicle 4 rear end also is becoming longer along with it, and the load increases gradually, and the tubule 71 of unmanned aerial vehicle 4 front end can further guarantee unmanned aerial vehicle 4's balance, has prevented to lead to turning on one's side because of the focus is unbalanced to cause the damage, also can stretch into narrow space through tubule 71 simultaneously and spray, and tubule 71 length can also prevent that the wind that unmanned aerial vehicle 4 wing produced from causing the influence when to the spraying.

During operation, the control unit controls the power unit 5 to start, driving motor (not shown in the figure) rotates and drives the wheel 52 to rotate, thereby drive whole device to remove, move one side to the work piece, control unit control transports the unit and starts, make big arm 61, well arm 62 and forearm 63 three arm mutually perpendicular, and forearm 63 moves to base 1 top surface round hole 15 top, then the control unit control unmanned aerial vehicle 4 starts, electro-magnet 32 circular telegram on the forearm 63 produces the magnetism the same with permanent magnet 31 simultaneously, in the in-process that unmanned aerial vehicle 4 starts slowly rising, electro-magnet 32 can give unmanned aerial vehicle 4 a thrust through magnetic force, make unmanned aerial vehicle 4 can rise fast, meanwhile, the inside rotating motor 11 of base 1 rotates, drive pivot 13 drive carousel 14 rotates, carousel 14 drives flexible hose 2 and rotates, flexible hose 2 slowly stretches out from base 1 top surface, drive slowly rising through unmanned aerial vehicle 4, at unmanned aerial vehicle 4 ascending in-process, visual sensor and ultrasonic sensor on unmanned aerial vehicle 4 begin to detect, through visual sensor detects the shape sensor and detects the work piece surface, send the visual sensor and send the visual signal to the control unit to the unmanned aerial vehicle 4 to the high-speed control unit, and send the control signal to the position of the unmanned aerial vehicle, and the high-speed control unit, the control device is high-speed control the position of the unmanned aerial vehicle, and the control unit is sent to the unmanned aerial vehicle 4 to the control device, and the height.

When reaching the initial position back, the control unit control coating device provides the coating to in the flexible hose 2, the coating flows to tubule 71 through flexible hose 2, then spout the coating through shower nozzle 72, thereby realize the spraying to the work piece, in the spraying process, control unit control unmanned aerial vehicle 4 is along work piece surface slow moving, through visual sensor and ultrasonic transducer real-time detection work piece's spraying position and unmanned aerial vehicle 4's position, simultaneously when the structure to spraying position is different, control unit also can control tubule 71 free rotation certain angle on unmanned aerial vehicle 4, realize the all-round no dead angle spraying, in the in-process of unmanned aerial vehicle 4 side-to-side motion, control unit control base 1 bottom frame 51's driving motor (not shown in the picture) rotates, drive whole device follow unmanned aerial vehicle 4 and remove together, simultaneously, the ultrasonic transducer real-time detection in-process place ahead all around of base 1 has the barrier and the distance of removal, unmanned aerial vehicle 4 is carrying out the upper and lower spraying time, control unit control base 1 inside rotation motor 11 rotates, control flexible 2's flexible, when accomplishing the back, control unit control spraying device stops working device, stop the shower nozzle 63, when the small-down carrier arm 63 is rotated to the small-down carrier 14, when the small-size carrier 14 is rotated to the small-size carrier 14, when the small-size carrier is rotated, and the small-size is cooled down carrier 14, and the small-size is rotated in the small-size is 14, and the small-size is rotated, and the inside the small-size is 14, when the small-size, and when the small carrier is cooled, and when the small carrier, and the aerial carrier, and the small carrier, the top is rotated, and the top, and 14, and when the control.

Specific embodiment II: compared with the first embodiment, the first embodiment can also be used for spraying workpieces with the size not exceeding twice of that of the first embodiment, when spraying small-sized workpieces, the unmanned aerial vehicle 4 cannot fly, is always fixed on the transferring unit, and moves the spray head 72 on the unmanned aerial vehicle 4 onto the workpieces to spray the workpieces through the common operation of the large arm 61, the middle arm 62 and the small arm 63 on the transferring unit, and meanwhile, the power unit 5 drives the whole device to move, so that the omnidirectional spraying of the small-sized workpieces is realized.

During operation, the control unit controls the power unit 5 to start, the driving motor (not shown in the figure) rotates to drive the wheels 52 to rotate, thereby drive the whole device to move, move to one side of the workpiece, the control unit controls the transfer unit to start, the large arm 61 rotates to rotate the middle arm 62 and the small arm 63 to the workpiece direction, the middle arm 62 moves together with the small arm 63, the spray head 72 on the unmanned aerial vehicle 4 is aligned to the workpiece, the rotation motor 11 inside the base 1 rotates through the movement of the large arm 61, the middle arm 62 and the small arm 63, the first rotating shaft 13 is driven to rotate, the first rotating shaft 13 drives the turntable 14 to rotate, the turntable 14 drives the flexible hose 2 to rotate, the flexible hose 2 slowly stretches out from the top surface of the base 1, the visual sensor and the ultrasonic sensor start to detect the shape of the surface of the workpiece in real time, the visual sensor sends detected signals to the control unit, the control unit controls the movement of the mechanical arm, meanwhile, the ultrasonic sensor detects the distance between the spray head 72 and the workpiece, and sends the detected signals to the control unit, the control unit analyzes the signals, adjusts the initial position of the small arm 63, and after reaching the initial position of the control unit, the control unit slowly sprays the coating material into the thin tube 71 through the flexible hose 2, and the spray coating material to the thin tube 71 after reaching the control unit, the position of the coating material 2, the coating material is sprayed into the thin tube 2, and the coating material through the thin tube 71, and the coating layer.

In the spraying process, the control unit controls the large arm 61, the middle arm 62 and the small arm 63 to slowly move along the outer surface of the workpiece, the spraying position of the workpiece is detected in real time through the visual sensor and the ultrasonic sensor, meanwhile, when the structures aiming at the spraying positions are different, the control unit also controls the tubule 71 on the unmanned aerial vehicle 4 to freely rotate for a certain angle, so that the omnibearing dead-angle-free spraying is realized, in the spraying process, the control unit controls the driving motor (not shown in the drawing) on the frame 51 at the bottom of the base 1 to rotate, the whole device is driven to move together, the ultrasonic sensor around the base 1 detects whether the front part has an obstacle and the moving distance in the moving process in real time, meanwhile, the control unit controls the rotating motor 11 inside the base 1 to rotate, the flexible hose 2 is controlled to stretch out at any time, after the spraying is finished, the control unit controls the coating device to stop working the spray nozzle 72, and the large arm 61, the middle arm 62 and the small arm 63 above the base 1 to return to the initial position and stop moving.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A six-degree-of-freedom spraying robot comprises a base (1), a flexible hose (2), a connecting block (3), an unmanned aerial vehicle (4), a power unit (5), a rotating unit (6), a spraying unit (7) and a control unit; the method is characterized in that: a flexible hose (2) is fixedly arranged in the base (1); a power unit (5) is fixedly arranged at the bottom of the base (1); the power unit (5) is used for driving the whole device to walk; a rotating unit (6) is fixedly arranged at the top of the base (1); the rotating unit (6) is used for adjusting the direction; the top of the rotating unit (6) is fixedly arranged at the bottom of the connecting block (3); the top of the connecting block (3) is fixedly arranged with the bottom of the unmanned aerial vehicle (4); the unmanned aerial vehicle (4) is used for carrying a spraying unit (7); a spraying unit (7) is fixedly arranged on the unmanned aerial vehicle (4); the spraying unit (7) is used for spraying the workpiece; the connecting block (3) comprises a permanent magnet (31) and an electromagnet (32); the permanent magnet (31) and the electromagnet (32) are of a cuboid structure, and through holes (33) are formed in the same end and the same position of the permanent magnet (31) and the electromagnet (32); the top of the permanent magnet (31) is fixedly arranged with the bottom of the unmanned aerial vehicle (4); the bottom of the electromagnet (32) is fixedly arranged on the top of the rotating unit (6); the flexible hose (2) passes through a through hole (33) at the center of the permanent magnet (31) and the electromagnet (32) to be fixedly connected with the spraying unit (7); unmanned aerial vehicle (4), power unit (5), rotation unit (6), spraying unit (7) are connected with the control unit electricity.

2. A six degree of freedom painting robot according to claim 1, characterized in that: the base (1) comprises a rotating motor (11), a chassis (12), a first rotating shaft (13) and a rotary table (14); the base (1) is of a hollow long hair structure, and a round hole (15) is formed in one end of the top surface of the base (1); a rotating motor (11) is fixedly arranged at the central position inside the base (1); a chassis (12) is fixedly arranged above the rotating motor (11); a circular groove (16) is formed in the chassis (12), and the chassis (12) is radially penetrated and provided with a groove; a first rotating shaft (13) is fixedly arranged on the rotating motor (11), and the first rotating shaft (13) penetrates through the center of the turntable (14); a turntable (14) is fixedly arranged at the top of the first rotating shaft (13); the turntable (14) is located inside the chassis (12).

3. A six degree of freedom painting robot according to claim 2, characterized in that: the power unit (5) comprises a frame (51) and wheels (52); a frame (51) is fixedly arranged at the bottom of the base (1); wheels (52) are fixedly arranged around the frame (51).

4. A six degree of freedom spray robot according to claim 3, wherein: the rotating unit (6) comprises a big arm (61), a middle arm (62) and a small arm (63); the bottom end of the large arm (61) is rotatably arranged on the base (1); one side of the top end of the big arm (61) is rotatably arranged with one end of the middle arm (62); the other end of the middle arm (62) is rotatably arranged with one end of the small arm (63); the other end of the small arm (63) is fixedly arranged with the electromagnet (32).

5. The six degree of freedom spray robot of claim 4 wherein: the spraying unit (7) comprises a thin pipe (71), a spray head (72) and a conical cover (73); one end of the tubule (71) is fixedly arranged at the front end of the unmanned aerial vehicle (4); a spray head (72) is fixedly arranged at the other end of the thin tube (71); a conical cover (73) is fixedly arranged at the joint of the thin tube (71) and the spray head (72).

6. The six degree of freedom spray robot of claim 5 wherein: the visual sensor is fixedly arranged at the front end of the top of the unmanned aerial vehicle (4).

7. The six degree of freedom spray robot of claim 6 wherein: ultrasonic sensors are fixedly installed on the side surfaces around the top of the base (1) and the side surfaces around the unmanned aerial vehicle (4) respectively on the bottom of the unmanned aerial vehicle (4).

8. The six degree of freedom spray robot of claim 7 wherein: the included angle between the thin tube (71) and the spray head (72) is 150 degrees; the tubule (71) may be rotated 360 ° about its own axis.

9. The six degree of freedom spray robot of claim 8 wherein: the central axis of the conical cover (73) coincides with the central axis of the spray head (72).

10. The six degree of freedom spray robot of claim 9 wherein: the length of the tubule (71) ranges from 1 to 3 m.

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