Adaptive curved roof space steel structure spraying variable wheelbase robot and its application

Abstract

This invention belongs to the field of robotics technology and discloses an adaptive curved roof space steel structure spraying variable wheelbase robot and its application. The robot's body is divided into two symmetrical parts along the track cross-section. Each part is equipped with passive wheel components, a power motor support platform, magnetically driven wheel components, a vibration-damping parallelogram mechanism, a lateral opening and closing mechanism, and a rotating hinge. A lateral opening and closing mechanism is provided between the two parts, allowing the robot body to open and close accordingly with changes in purlin spacing. This invention achieves adaptive suspension of multiple magnetically driven wheel components and passive wheel components. The invention facilitates stable movement of the adaptive curved roof space steel structure spraying variable wheelbase robot on the purlins, avoiding jamming or derailment, and facilitating subsequent purlin operations such as spraying, providing a good foundation for high-altitude roof purlin work.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and particularly relates to a variable wheelbase robot for spraying space steel structures with adaptive curved roofs and its applications. Background Technology

[0002] Because steel purlins are magnetically conductive, researchers have attempted to design magnetically attached robots to perform spraying operations using the purlins as guides. However, these robots encounter two main problems when moving along the purlins: First, the purlins are arranged along curved surfaces. Since the robot travels along two purlin tracks, the resulting track surface is single-curved, forcing the robot's wheels to follow this curved surface, leading to wheel-track adaptability issues. Second, the purlin spacing can vary due to design or construction errors, resulting in variable purlin spacing. These curved purlin arrangements and variable track spacing make robotic purlin spraying a challenging technical problem that remains to be solved.

[0003] Based on the above analysis, the problems and shortcomings of the existing technology are as follows: the robot in the existing technology has poor stability when adapting to changes in purlin track width and curvature. Moreover, it cannot adapt to changes in purlin track width and purlin surface arrangement. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the present invention discloses an embodiment of a space steel structure spraying robot with adaptive curved roof and its application.

[0005] The technical solution is as follows: A space steel structure spraying variable wheelbase robot with an adaptive curved roof, wherein the robot body is divided into two symmetrical parts along the track cross section, and each of the left and right parts is equipped with a passive wheel component, a power motor support platform, a magnetic power wheel component, a parallelogram mechanism with vibration reduction, a lateral opening and closing mechanism, and a rotating hinge.

[0006] A lateral opening and closing mechanism is provided between the left and right parts, so that the vehicle body opens and closes accordingly as the purlin spacing changes;

[0007] The passive wheel component is used to passively move magnetically on the guide rail;

[0008] The power motor support platform is used to suspend multiple passive wheel components with magnetic power wheel components according to the needs of the spraying operation.

[0009] The magnetically driven wheel component is used to actively provide power for magnetic movement on the guide rail;

[0010] The vibration-damping parallelogram mechanism is used to provide different angles for the passive wheel component to adapt to the curved surface of the guide rail.

[0011] The lateral opening and closing mechanism is used to perform lateral synchronous gear opening and closing through an integrated synchronous rotating crescent toothed gear;

[0012] The rotating hinge is used to match the curvature of the guide rail surface for adaptive adjustment.

[0013] In one embodiment, the passive wheel component includes: a passive magnetic wheel saddle frame; the passive magnetic wheel saddle frame is sequentially fitted with a passive magnetic wheel outer sealing plate, a passive magnetic wheel rubber wheel A, and a passive magnetic wheel yoke A via a wheel axle; a passive magnetic wheel magnetic ring and outer yoke, a passive magnetic wheel yoke B, a passive magnetic wheel rubber wheel B, a passive magnetic wheel sliding sealing plate along the wheel axle, and a passive magnetic wheel outer limiting plate.

[0014] In one embodiment, the passive wheel component is connected to the parallelogram mechanism via a passive magnetic wheel saddle frame;

[0015] A spring is pressed between the sliding sealing plate and the outer limiting plate of the passive magnetic wheel, which allows the sliding sealing plate to slide along the wheel axle when the track width changes.

[0016] In one embodiment, the power motor support platform includes: a power wheel support frame and a power wheel drive motor with vibration damping fixing frame; the power wheel drive motor with vibration damping fixing frame is fitted onto the power wheel support frame;

[0017] The driven wheel component is connected to the drive wheel support frame via a parallelogram mechanism with vibration damping; the drive wheel drive motor with vibration damping fixing frame is fitted with a magnetic drive wheel component through an opening.

[0018] In one embodiment, the magnetic drive wheel component includes: a yoke encased in a magnetic ring of the drive wheel, a servo motor, a harmonic reducer, a flange, an inner rubber wheel, an outer rubber wheel, a first yoke, a ring magnet, a second yoke, and a wheel core; the output end of the servo motor is connected to the harmonic reducer, and the harmonic reducer is connected to the drive wheel drive motor with vibration damping fixing frame of the drive motor support platform through the flange, and the output end of the harmonic reducer is fixedly connected to the wheel core;

[0019] The outer rubber wheel and the inner rubber wheel are connected in sequence by the first yoke, the ring magnet, and the second yoke.

[0020] In one embodiment, a passive magnetic wheel that slides along the wheel core and a sliding sealing plate that can slide along the wheel axle are provided on one side of the magnetically driven wheel component, so that the magnetically driven wheel component can change with the track width.

[0021] In one embodiment, the parallelogram mechanism with vibration damping includes: a platform-side connector of the parallelogram mechanism, a connecting rod of the parallelogram mechanism, a wheel-side connector of the parallelogram mechanism, and a vibration damping spring of the parallelogram mechanism.

[0022] The parallelogram mechanism platform side connector is connected to the power wheel support frame of the power motor support platform; the parallelogram mechanism wheel side connector is hinged to the parallelogram mechanism platform side connector through the parallelogram mechanism connecting rod;

[0023] One end of the parallelogram mechanism damping spring is connected to the platform side connector of the parallelogram mechanism, and the other end is connected to the wheel side connector of the parallelogram mechanism. The angle between the platform side connector and the wheel side connector of the parallelogram mechanism is adjusted by changing the extension length of the parallelogram mechanism damping spring. The wheel side connector of the parallelogram mechanism has an axle along the length of the track, which is connected to the passive magnetic wheel saddle frame in the passive wheel component.

[0024] In one embodiment, the lateral opening and closing mechanism includes: a lateral opening and closing mechanism connecting rod, a lateral horizontal rotating bushing, and a synchronously rotating crescent-shaped toothed wheel;

[0025] The horizontal opening and closing mechanism uses a horizontal rotating shaft and a synchronously rotating crescent-shaped toothed gear to open and close according to the track gauge.

[0026] The rotating hinge shaft along the length of the purlin includes: a platform rotating bushing along the length of the purlin, an opening and closing rotating bushing along the length of the purlin, and a horizontal rotating shaft for the opening and closing mechanism;

[0027] The opening and closing mechanism has two horizontal rotating shafts, which are respectively fixed on the platform rotating shaft sleeve along the purlin length direction and the opening and closing rotating shaft sleeve along the purlin length direction;

[0028] The horizontal rotating shaft of the lateral opening and closing mechanism is movably mounted on the horizontal rotating shaft of the opening and closing mechanism.

[0029] In one embodiment, the platform is fixedly connected to the platform connecting rod via a rotating bushing along the purlin length direction; the platform connecting rod is fixedly connected to the power wheel support frame of the power motor supporting the platform.

[0030] Another objective of this invention is to provide an application of the adaptive curved roof spatial steel structure spraying variable wheel track robot in the spraying of variable purlin roof spatial steel structures.

[0031] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows:

[0032] First, regarding the technical problems existing in the prior art and the difficulty in solving these problems, this invention, closely combining the technical solution to be protected by this invention with the results and data from the research and development process, provides a detailed and in-depth analysis of how the technical solution of this invention solves the technical problems and the creative technical effects brought about after solving the problems. Specifically, the following description is provided: The adaptive curved roof spatial steel structure spraying variable wheelbase robot provided by this invention can be applied to the field of high-altitude steel structure spraying. Existing technologies lack mature robotic equipment for spraying purlins of high-altitude corrugated roof steel structures. The magnetically driven wheels and magnetically driven passive wheels provided by this invention can adapt to changes in purlin track width and curvature, providing a reliable platform for stable robot operation.

[0033] Secondly, considering the technical solution as a whole or from a product perspective, the technical effects and advantages of the technical solution protected by this invention are specifically described as follows: The adaptive curved roof space steel structure spraying variable wheelbase robot provided in this embodiment of the invention, through a pair of lateral opening and closing mechanisms and two sets of rotating hinge mechanisms, can adapt to changes in purlin track width and purlin surface arrangement. Through the design of the drive motor with vibration damping fixing frame in the power motor support platform, adaptive suspension of multiple magnetic drive wheel components and passive wheel components is achieved. This invention facilitates the stable movement of the adaptive curved roof space steel structure spraying variable wheelbase robot on the purlins, avoiding jamming or derailment, and facilitating subsequent purlin operations such as spraying, providing a good foundation for high-altitude roof purlin operations.

[0034] Third, as supporting evidence of the inventiveness of the claims of this invention, it is also reflected in the following important aspects: this invention greatly improves work efficiency, quantifies spraying quality, and reduces work risks. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure;

[0036] Figure 1 This is a schematic diagram of a space steel structure spraying variable wheelbase robot for adaptive curved roof provided in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the half-side mechanism of the space steel structure spraying variable wheelbase robot for adaptive curved roof provided in an embodiment of the present invention;

[0038] Figure 3 This is a diagram of the lateral opening and closing and rail surface rotation mechanism provided in an embodiment of the present invention;

[0039] Figure 4 This is a diagram showing the connection between the drive wheel and the suspension according to an embodiment of the present invention;

[0040] Figure 5 This is a diagram of the drive wheel configuration provided in an embodiment of the present invention;

[0041] Figure 6 This is a diagram of the motor and harmonic reducer provided in an embodiment of the present invention;

[0042] Figure 7 This is a diagram illustrating the suspension mechanism provided in an embodiment of the present invention;

[0043] Figure 8 This is an exploded view of the suspension mechanism provided in an embodiment of the present invention;

[0044] Figure 9 This is a parallelogram mechanism diagram provided in an embodiment of the present invention;

[0045] Figure 10 This is an exploded view of the parallelogram mechanism provided in an embodiment of the present invention;

[0046] Figure 11 This is a parallelogram and suspension diagram provided in an embodiment of the present invention;

[0047] Figure 12 This is a diagram of the passive wheel configuration provided in an embodiment of the present invention;

[0048] Figure 13 This is a diagram of the purlin splice provided in an embodiment of the present invention;

[0049] Figure 14 These are two figures showing the purlin splicing joint provided in an embodiment of the present invention;

[0050] Figure 15 This is a front view of the working state provided in an embodiment of the present invention;

[0051] Figure 16 This is a diagram of the obstacle crossing process provided in an embodiment of the present invention;

[0052] Figure 17 These are the two images before obstacle crossing provided in the embodiments of the present invention;

[0053] Figure 18 This is a diagram of obstacle crossing provided in an embodiment of the present invention;

[0054] Figure 19 These are two diagrams illustrating obstacle crossing provided in this embodiment of the invention;

[0055] In the diagram: 1. Passive magnetic wheel saddle frame; 11. Passive magnetic wheel outer sealing plate; 12. Passive magnetic wheel rubber wheel A; 13. Passive magnetic wheel yoke A; 14. Passive magnetic wheel magnetic ring and outer yoke; 15. Passive magnetic wheel yoke B; 16. Passive magnetic wheel rubber wheel B; 17. Passive magnetic wheel sliding sealing plate along the axle; 18. Passive magnetic wheel outer limiting plate.

[0056] 2. Drive wheel support frame; 21. Drive wheel drive motor with vibration damping mounting bracket;

[0057] 3. Drive wheel magnetic ring encasing yoke; 31. Servo motor; 32. Harmonic reducer; 33. Flange; 34. Inner rubber wheel; 35. Outer rubber wheel; 36. First yoke; 37. Ring magnet; 38. Second yoke; 39. Wheel core;

[0058] 4. Platform side connector of parallelogram mechanism; 41. Linkage of parallelogram mechanism; 42. Wheel side connector of parallelogram mechanism; 43. Vibration damping spring of parallelogram mechanism;

[0059] 5. Platform connecting rod;

[0060] 6. Lateral opening and closing mechanism connecting rod; 61. Lateral horizontal rotating bushing; 62. Synchronously rotating crescent-shaped gear;

[0061] 7. Platform rotating bushing along the purlin length direction; 71. Opening and closing rotating bushing along the purlin length direction; 72. Opening and closing mechanism horizontal rotating shaft. Detailed Implementation

[0062] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0063] Explanation of the implementation example: Example

[0064] like Figure 1 As shown in the figure, the space steel structure spraying variable wheelbase robot for adaptive curved roof provided by the present invention consists of 2 magnetically driven wheel components, 4 passive wheel components, 1 set of lateral opening and closing mechanism, 4 sets of vibration-damping parallelogram mechanisms, and 2 sets of power motor support platforms.

[0065] The adaptive curved roof space steel structure spraying variable wheel track robot has a vehicle body divided into two symmetrical parts along the track cross section. Both the left and right parts are equipped with passive wheel components, power motor support platform, magnetic power wheel components, vibration damping parallelogram mechanism, lateral opening and closing mechanism, and rotating hinge.

[0066] A lateral opening and closing mechanism is provided between the left and right parts, so that the vehicle body opens and closes accordingly as the purlin spacing changes;

[0067] The passive wheel component is used to passively move on the guide rail by magnetic attraction;

[0068] The power motor support platform is used to suspend multiple passive wheel components with magnetic power wheel components according to the needs of the spraying operation.

[0069] The magnetically driven wheel component is used to actively provide power for magnetic movement on the guide rail;

[0070] A parallelogram mechanism with vibration damping is used to provide different angles for the passive wheel component to adapt to the curved surface of the guide rail.

[0071] The lateral opening and closing mechanism is used to perform lateral synchronous gear opening and closing through the integrated synchronous rotating crescent toothed gear 62, so that the vehicle body opens and closes accordingly with the change of purlin spacing.

[0072] The rotating hinge is used to match the curvature of the guide rail surface for adaptive adjustment.

[0073] like Figure 2 As shown, the adaptive curved roof space steel structure spraying variable wheel gauge robot is divided into two symmetrical parts along the track cross section. A lateral opening and closing mechanism is set between the two parts, which enables the robot to open and close autonomously as the track gauge changes.

[0074] like Figure 3 As shown, the lateral opening and closing mechanism includes: a lateral opening and closing mechanism connecting rod 6, a lateral horizontal rotating bushing 61, and a synchronously rotating crescent toothed gear 62;

[0075] The horizontal opening and closing mechanism and the space steel structure spraying variable wheelbase robot of the adaptive curved roof are provided with a rotating hinge axis along the length of the purlin between the left and right sides, which can ensure that the robot as a whole can adapt to the curved surface.

[0076] like Figure 3 As shown, the rotating hinge shaft along the length of the purlin includes: a platform rotating bushing 7 along the length of the purlin, an opening and closing rotating bushing 71 along the length of the purlin, and a horizontal rotating shaft 72 for the opening and closing mechanism;

[0077] In this embodiment of the invention, the horizontal rotating shaft 61 of the lateral opening and closing mechanism and the synchronously rotating crescent toothed wheel 62 realize the opening and closing according to the track gauge, and the synchronously rotating crescent toothed wheel 62 ensures the system stability of the robot body.

[0078] The opening and closing rotating bushing 71 along the purlin length direction is connected to the platform rotating bushing 7 along the purlin length direction via a pin; the horizontal rotating shaft 72 of the opening and closing mechanism is fixed on the opening and closing rotating bushing 71 along the purlin length direction; the horizontal rotating shaft 72 of the opening and closing mechanism is equipped with a synchronously rotating crescent toothed gear 62.

[0079] like Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown,

[0080] The power motor support platform includes: a power wheel support frame 2 and a power wheel drive motor with vibration damping fixing frame 21;

[0081] The magnetic drive wheel component includes: a yoke 3 encased in a magnetic ring of the drive wheel, a servo motor 31, a harmonic reducer 32, a flange 33, an inner rubber wheel 34, an outer rubber wheel 35, a first yoke 36, a ring magnet 37, a second yoke 38, and a wheel core 39; the output end of the servo motor 31 is connected to the harmonic reducer 32, and the harmonic reducer 32 is connected to the drive motor with vibration damping mounting bracket 21 of the drive wheel via the flange 33; the output end of the harmonic reducer 32 is fixedly connected to the wheel core 39.

[0082] In this embodiment of the invention, the platform rotating bushing 7 along the purlin length direction is fixed to the platform connecting rod 5; the platform connecting rod 5 is fixed to the power wheel support frame 2 of the power motor supporting the platform.

[0083] In this embodiment of the invention, the magnetic drive wheel component is mounted on the drive wheel support frame 2 via a drive wheel drive motor with a vibration damping fixing frame 21. The drive wheel drive motor with a vibration damping fixing frame 21 and the drive wheel support frame 2 can slide vertically passively to achieve vibration damping of the magnetic drive wheel component.

[0084] The magnetically driven wheel component is provided with a passive magnetic wheel that slides along the wheel core 39 and a sliding sealing plate 17 along the wheel axle, which is used for the magnetically driven wheel component to change with the track width.

[0085] The drive wheel support frame 2 is connected to the magnetic passive wheel component through a parallelogram mechanism with vibration damping.

[0086] like Figures 9-11 As shown, the parallelogram mechanism with vibration damping includes: a platform-side connector 4, a connecting rod 41, a wheel-side connector 42, and a vibration damping spring 43.

[0087] The parallelogram mechanism platform side connector 4 is connected to the power wheel support frame 2; the parallelogram mechanism wheel side connector 42 is hinged to the parallelogram mechanism platform side connector 4 through the parallelogram mechanism connecting rod 41;

[0088] One end of the parallelogram mechanism damping spring 43 is connected to the platform side connector 4 of the parallelogram mechanism, and the other end is connected to the wheel side connector 42 of the parallelogram mechanism. The angle between the platform side connector 4 and the wheel side connector 42 of the parallelogram mechanism can be adjusted by changing the extension length of the parallelogram mechanism damping spring 43. The wheel side connector 42 of the parallelogram mechanism is provided with an axle along the length of the track and is connected to the passive magnetic wheel saddle frame 1 in the passive wheel component. This mechanism ensures that each passive wheel component can be stably fitted with the track.

[0089] The vibration-damping parallelogram mechanism is arranged symmetrically and is located on different sides of the power wheel support frame 2.

[0090] In embodiments of the present invention, such as Figure 1 , Figure 12 As shown, the passive wheel component includes: a passive magnetic wheel saddle frame 1, a passive magnetic wheel outer sealing plate 11, a passive magnetic wheel rubber wheel A12, a passive magnetic wheel yoke A13; a passive magnetic wheel magnetic ring and outer yoke 14, a passive magnetic wheel yoke B15, a passive magnetic wheel rubber wheel B16, a passive magnetic wheel sliding sealing plate 17 along the wheel axle, and a passive magnetic wheel outer limiting plate 18;

[0091] There are four passive wheel components, and each passive wheel component is connected to the parallelogram mechanism wheel side connector 42 of the parallelogram mechanism through the passive magnetic wheel saddle frame 1.

[0092] In this embodiment of the invention, the passive magnetic wheel saddle frame 1 is sequentially fitted with a passive magnetic wheel outer sealing plate 11, a passive magnetic wheel rubber wheel A12, a passive magnetic wheel yoke A13, a passive magnetic wheel magnetic ring and outer yoke 14, a passive magnetic wheel yoke B15, a passive magnetic wheel rubber wheel B16, a passive magnetic wheel sliding sealing plate 17 along the wheel axle, and a passive magnetic wheel outer limiting plate 18.

[0093] A spring is pressed between the passive magnetic wheel sliding sealing plate 17 and the passive magnetic wheel outer limit plate 18, so that the passive magnetic wheel sliding sealing plate 17 can slide with the wheel axle when the track width changes. Example

[0094] The adaptive curved roof spatial steel structure spraying variable wheelbase robot control method provided in this embodiment of the invention includes:

[0095] The lateral synchronous gear opening and closing is achieved by the synchronously rotating crescent toothed wheel 62 in the symmetrical lateral opening and closing mechanism. When the roof purlin is being sprayed, the walking robot moves on the two purlin tracks. Two magnetically driven wheel components and four system-stabilizing driven and passive wheel components travel on the purlin tracks. The synchronous rotation of the crescent toothed wheel 62 ensures that the vehicle body opens and closes accordingly with the change of purlin spacing.

[0096] Furthermore, a rotating hinge shaft along the vehicle's travel direction is provided between the two lateral opening and closing mechanisms to match the curvature of the guide rail surface and make adaptive adjustments.

[0097] Furthermore, each magnetic wheel in the magnetic drive wheel component and the driven wheel component generates a strong magnetic attraction force on the purlin. The parallelogram mechanism with vibration damping is provided with an axis along the purlin direction and is assembled with the driven magnetic wheel saddle frame 1 in the driven wheel component. The driven magnetic wheel saddle frame 1 can rotate around the axis and adapt to the curved surface where the purlin is located. Example

[0098] The adaptive curved roof spatial steel structure spraying variable wheelbase robot provided in this embodiment of the invention is mainly used for high-altitude spraying operations on purlins of sloping roofs. It only requires placing the spraying device on a walking robot. The working process is as follows:

[0099] During purlin spraying, the adaptive curved roof space steel structure spraying variable wheelbase robot is first sent to the roof operation position by a lifting machine. The adaptive curved roof space steel structure spraying variable wheelbase robot walks on the two purlin tracks to carry out the spraying operation.

[0100] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0101] Application Examples:

[0102] The adaptive curved roof spatial steel structure spraying variable wheelbase robot provided in this embodiment of the invention is applied to high-altitude spraying operations on roof purlins, as shown in the following figure. Figure 13 A picture of the purlin joint. Figure 14 Two pictures showing the purlin joint. Figure 15 Front view of the working status. Figure 16 The image before overcoming the obstacle. Figure 17 The first two images before overcoming the obstacle. Figure 18 One of the obstacles is shown in the picture. Figure 19 The two figures illustrate obstacle crossing; the above application shows that the adaptive curved roof spatial steel structure spraying variable wheelbase robot provided by the embodiments of the present invention can perform spraying operations in real time while walking on two purlin tracks.

[0103] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A space steel structure spraying robot with adaptive curved roof and variable wheelbase, characterized in that, The adaptive curved roof space steel structure spraying variable wheel track robot has its body divided into two symmetrical parts along the track cross section. Both parts are equipped with passive wheel components, power motor support platforms, magnetic power wheel components, vibration damping parallelogram mechanisms, lateral opening and closing mechanisms, and rotating hinge shafts along the length of the purlins. A lateral opening and closing mechanism is provided between the left and right parts, so that the vehicle body opens and closes accordingly as the purlin spacing changes; The passive wheel component is used to passively move magnetically on the guide rail; The power motor support platform is used to suspend multiple passive wheel components and magnetic power wheel components according to the needs of the spraying operation. The magnetically driven wheel component is used to actively provide power for active magnetic movement on the guide rail; The vibration-damping parallelogram mechanism is used to provide different angles for the passive wheel component to adapt to the curved surface of the guide rail. The lateral opening and closing mechanism is used for lateral synchronous gear opening and closing via an integrated synchronous rotating crescent toothed gear (62); The rotation hinge along the length of the purlin is used to match the curvature of the guide rail surface for adaptive adjustment; The lateral opening and closing mechanism includes: a lateral opening and closing mechanism connecting rod (6), a lateral horizontal rotating bushing (61), and a synchronously rotating crescent toothed gear (62); The opening and closing mechanism is achieved by the horizontally rotating bushing (61) and the synchronously rotating crescent toothed gear (62) as the track gauge changes. The rotating hinge shaft along the length of the purlin includes: a platform rotating bushing (7) along the length of the purlin, an opening and closing rotating bushing (71) along the length of the purlin, and a horizontal rotating shaft (72) for the opening and closing mechanism; The opening and closing mechanism has two horizontal rotating shafts (72), which are respectively fixed on the opening and closing rotating shaft sleeves (71) on both sides along the length of the purlin; The horizontal rotating bushing (61) is movably mounted on the horizontal rotating shaft (72) of the opening and closing mechanism.

2. The adaptive curved roof space steel structure spraying variable wheelbase robot according to claim 1, characterized in that, The passive wheel component includes: a passive magnetic wheel saddle frame (1), which is fitted with a passive magnetic wheel outer sealing plate (11), a passive magnetic wheel rubber wheel A (12), and a passive magnetic wheel yoke A (13) in sequence via a wheel axle; a passive magnetic wheel magnetic ring and outer yoke (14), a passive magnetic wheel yoke B (15), a passive magnetic wheel rubber wheel B (16), a passive magnetic wheel sliding sealing plate (17) along the wheel axle, and a passive magnetic wheel outer limiting plate (18).

3. The adaptive curved roof spatial steel structure spraying variable wheelbase robot according to claim 2, characterized in that, The passive wheel component is connected to the parallelogram mechanism via a passive magnetic wheel saddle frame (1); A spring is pressed between the passive magnetic wheel sliding sealing plate (17) and the passive magnetic wheel outer limiting plate (18) to allow the passive magnetic wheel sliding sealing plate (17) to slide with the wheel axle when the track width changes.

4. The adaptive curved roof space steel structure spraying variable wheelbase robot according to claim 1, characterized in that, The power motor support platform includes: a power wheel support frame (2) and a power wheel drive motor with vibration damping fixing frame (21); the power wheel drive motor with vibration damping fixing frame (21) is mounted on the power wheel support frame (2); The passive wheel component is connected to the power wheel support frame (2) via a vibration-damping parallelogram mechanism; the power wheel drive motor with vibration-damping fixing frame (21) is fitted with a magnetic power wheel component through an opening.

5. The adaptive curved roof space steel structure spraying variable wheelbase robot according to claim 1, characterized in that, The magnetic drive wheel component includes: a yoke (3) encased in a magnetic ring of the drive wheel, a servo motor (31), a harmonic reducer (32), a flange (33), an inner rubber wheel (34), an outer rubber wheel (35), a first yoke (36), a ring magnet (37), a second yoke (38), and a wheel core (39); the output end of the servo motor (31) is connected to the harmonic reducer (32), and the harmonic reducer (32) is connected to the drive wheel drive motor with vibration damping fixing frame (21) of the drive motor support platform through the flange (33); the output end of the harmonic reducer (32) is fixedly connected to the wheel core (39); The outer rubber wheel (35) and the inner rubber wheel (34) are connected in sequence to the first yoke (36), the ring magnet (37), and the second yoke (38).

6. The adaptive curved roof space steel structure spraying variable wheelbase robot according to claim 5, characterized in that, The magnetic drive wheel component has a passive magnetic wheel that slides along the wheel core (39) and a sliding sealing plate (17) along the wheel axle.

7. The adaptive curved roof space steel structure spraying variable wheelbase robot according to claim 1, characterized in that, The parallelogram mechanism with vibration damping includes: a platform-side connector (4) of the parallelogram mechanism, a connecting rod (41) of the parallelogram mechanism, a wheel-side connector (42) of the parallelogram mechanism, and a vibration damping spring (43) of the parallelogram mechanism; The parallelogram mechanism platform side connector (4) is connected to the power wheel support frame (2) of the power motor support platform; the parallelogram mechanism wheel side connector (42) is hinged to the parallelogram mechanism platform side connector (4) through the parallelogram mechanism connecting rod (41); One end of the parallelogram mechanism damping spring (43) is connected to the platform side connector (4) of the parallelogram mechanism, and the other end is connected to the wheel side connector (42) of the parallelogram mechanism; the angle between the platform side connector (4) and the wheel side connector (42) of the parallelogram mechanism is adjusted by changing the length of the extension of the parallelogram mechanism damping spring (43); the wheel side connector (42) of the parallelogram mechanism is provided with a shaft along the track length direction and is connected to the passive magnetic wheel saddle frame (1) in the passive wheel component.

8. The adaptive curved roof space steel structure spraying variable wheelbase robot according to claim 1, characterized in that, The platform is fixedly connected to the platform connecting rod (5) by the rotating bushing (7) along the purlin length direction; the platform connecting rod (5) is fixedly connected to the power wheel support frame (2) of the power motor supporting the platform.

9. An application of a variable wheelbase robot for spraying space steel structures of adaptive curved roofs as described in any one of claims 1-8 in the spraying of space steel structures of variable purlin roofs.

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