Four-pile positioning-based suction cup type wall-climbing paint spraying robot and working method thereof

Abstract

The invention provides a four-pile positioning-based suction cup type wall-climbing paint spraying robot. The four-pile positioning-based suction cup type wall-climbing paint spraying robot comprises a body, pile legs, suction cups, a traction mechanism, a paint spraying device and a positioning system, and the body is provided with parallel sliding grooves; the pile legs are slidably arranged in the sliding grooves; the suction cups are mounted at the same side ends of the pile legs; the traction mechanism comprises a motor and a steel wire rope, one end of the steel wire rope is connected with the rotating end of the motor, and the other end of the steel wire rope bypasses the far ends of the sliding grooves, is connected with the pile legs in series and then is connected to the rotating end of the motor; the paint spraying device comprises a workbench, a working arm and a paint spraying head, the working arm is mounted on the workbench, and the paint spraying head is mounted on the working arm; and the positioning system comprises a prism, a single-chip microcomputer, a total station and a PC terminal, the prism and the single-chip microcomputer are mounted on the body, and the single-chip microcomputer interacts with the total station and the PC terminal through a signal device. The invention further provides a working method of the four-pile positioning-based suction cup type wall-climbing paint spraying robot. According to the four-pile positioning-based suction cup type wall-climbing paint spraying robot, paint spraying work does not need to be completed manually any more, automation is achieved, and meanwhile, the efficiency and quality of automatic spraying are improved.

Description

technical field [0001] The invention relates to the technical field of construction robots, in particular to a wall-climbing painting robot based on four pile positioning suction cups and a working method thereof. Background technique [0002] With the continuous improvement of modern life and production quality, many high-rise buildings and buildings with special purpose and high vertical height are built according to the needs. Faced with the wall painting work of such a large building, the use of traditional and simple artificial painting methods has been unable to do what it wants, and the workers on the outer wall will have a high risk of life. , Collective and individual bring significant economic losses. At this time, we need to find other spraying methods to solve these problems. [0003] At present, the automatic painting robot is an industrial robot that can automatically spray paint or spray other coatings. As an irreplaceable and important equipment in advance...

AI Technical Summary

Problems solved by technology

[0004] The existing wall-climbing robots are mainly divided into the following categories according to the wall-climbing methods: one is to use guide rails, that is, to install several guide rails on the vertical surface, so that the robot can move on the guide rails through crawlers or other walking mechanisms. The requirements for the material and shape of the plane are not high, but the installation of guide rails will change the appearance of the plane; the second is to use other auxiliary devices such as pole frames to make the robot move on the wall through the connection of the pole frame. The disadvantage of this wall-climbing method is that the robot The range of movement is limited, and it is not suitable for the walls of high-rise buildings; the third is through vacuum adsorption, that is, using the suction cup to suck out the air between the robot and the wall to form negative pressure and fix it on the vertical surface. The disadvantage of this climbing method is that There are certain requirements on the flatness of the plane; the fourth is the method of electromagnetic adsorption, such as electromagnets, etc. This wall climbing method is limited to special planes such as metal, and is not suitable for ordinary walls; the fifth is pneumatic, that is, through the reverse rotation of the rotor The generated reverse pressure increases the frictional force, making the robot stay on the wall. This wall-climbing method has high manufacturing costs, high power consumption, and relatively strict requirements on the surrounding environment.

[0005] However, most of the spraying robots in the domestic robot market are general-purpose joint robots, the price is generally high, and they are generally used in industry, and few are used in the construction industry.

Images