Safe and stable multifunctional wall climbing paint spraying robot

Abstract

The invention relates to a safe and stable multifunctional wall climbing paint spraying robot, which comprises a paint spraying device and an elastic wheel, wherein the paint spraying device comprises a main rotating cylinder, a mechanical arm, a sub rotating cylinder, a main paint spraying spray head, a telescopic cylinder and a sub paint spraying spray head; the elastic wheel comprises a wheel body, a connecting plate, a spring connecting rod and a support seat; the wheel body comprises a wheel case, a wheel end cover, an anti-explosion plug and an insert gas pipe connector; the wall climbing paint spraying robot enables all driving wheels to be effectively attached onto the irregular operation surface; the driving force and the attachment force are prevented from being influenced in the operation process; the paint spraying operation can be effectively completed in the large area work condition or complicated work condition environment; the manual paint repair is not needed; meanwhile, the wall climbing paint spraying robot can safely, effectively and flexibly perform paint spraying operation in the inflammable and explosive environment in the limited space on the premise of no need of installing an anti-explosion box.

Description

[0001] 【Technical field】 [0002] The invention relates to the field of wall-climbing painting robots, in particular to a multifunctional wall-climbing painting robot suitable for stable operation in inflammable and explosive environments. [0003] 【Background technique】 [0004] As is well known, a wall-climbing robot is also called a wall mobile robot, which is an automated robot that can climb on a vertical wall and complete related tasks, including the vertical wall for large storage tanks or ships. The wall-climbing painting robot for spraying operation, because the vertical wall operation belongs to the category of extreme operation, so the wall-climbing painting robot is also called the extreme operation robot; It is fixedly installed at the front end of the mechanical arm of the wall-climbing painting robot, and then the corresponding painting operation is carried out by controlling the walking of the wall-climbing painting robot; however, in long-term practical applica...

AI Technical Summary

Problems solved by technology

[0005]1. In the case of large-scale painting operation, not only the painting efficiency is relatively low, but also the thickness and uniformity of the painting cannot be effectively guaranteed. Manual painting is required to meet the job requirements; at the same time, when performing wall-climbing painting operations in complex working conditions, the existing wall-climbing painting robots cannot effectively paint some unconventional curved surface parts, and have to be manually painted. Only by touching up these parts can the painting work be fully completed;

[0006]2. The car body structure adopted by the existing wall-climbing painting robot is a rigid car body structure driven by four wheels, that is, four driving wheels connected with the car body They are all rigidly fixed and connected, so there is no problem in the stable walking operation of the wall-climbing painting robot on the flat work surface, but once it is spraying on the surface of oil storage tanks and large ships, it will be affected by the storage tanks, ships, etc. Due to the influence of the irregular outer surface and the rigid body of the wall-climbing painting robot, the four driving wheels of the wall-climbing painting robot will have different adhesion forces, so it is very easy for a certain driving wheel of the wall-climbing painting robot to fail to attach stably to the work. The phenomenon on the surface will not only affect the driving force of the wall-climbing painting robot and its overall adhesion on the working surface, but also cause deviations between the route of the wall-climbing painting robot and the planned route in severe cases. , and ultimately cause the application party to suffer corresponding economic losses;

[0007]3. Since some operating environments are inflammable and explosive environments, such as working in tanks where corresponding chemical substances have been stored, or in limited internal space and insufficient air When the painting operation is carried out in the circulating cavity, when the existing wall-climbing robot is working, once the drive system of its wheels is ignited, it may cause combustion or flash explosion, which will bring harm to the application side; in order to prevent wall-climbing robots from When painting robots work in flammable and explosive environments, there is a possibility of combustion or flash explosion. Usually, the wheel motors and drivers must be treated with explosion-proof treatment, that is, the wheel drive system is isolated from the paint mist by installing a corresponding explosion-proof box, so that Avoid burning or flash explosions. However, such an explosion-proof box structure makes the wall-climbing painting robot complex in shape, large in size and weight, which limits its flexible operation in a limited space, resulting in its inflammable and explosive environment. When working in the environment, the mobility advantages of the wheels cannot be fully utilized;

[0008] In summary, due to the single function of the existing wall-climbing painting robot in application, manual repainting is required, and the traveling route is prone to deviation, resulting in costly Labor and materials, high cost, and dangerous factors when working in flammable and explosive environments, so it is very unfavorable for promotion and application

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