A high-altitude paint spraying robot and a mounting structure thereof

Abstract

The application discloses a high-altitude paint spraying robot and a mounting structure thereof, and belongs to the technical field of intelligent construction equipment, which comprises a spraying mechanism and a robot body, wherein the spraying mechanism is mounted on the robot body; the robot body comprises a rack, a controller, a fan, two groups of walking wheels and four rope grabbing machines; each of the rope grabbing machines is provided with a rope body; the two groups of walking wheels are mounted on the two sides of the rack; the controller is mounted in the rack; the fan is mounted in the middle part of the rack, and the gravity center of the fan is coincident with the gravity center of the rack; the four rope grabbing machines are mounted on the two sides of the rack; and the controller is connected with the rope grabbing machines and the fan. The high-altitude paint spraying robot can realize free walking in the air and automatic high-altitude spraying operation through the cooperation and assembly of the spraying mechanism and the robot body.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology for building construction, and in particular to a high-altitude paint spraying robot and its installation structure. Background Technology

[0002] Currently, the painting and maintenance of building facades are mainly carried out manually. For colored building facades, regular painting is required to maintain the building's new appearance. Existing painting methods require either scaffolding for construction or manual suspension for operation. The former has high construction costs and can significantly impact normal life inside the building, while the latter makes it difficult to guarantee the personal safety of construction workers.

[0003] The current method uses a rooftop crane to suspend a work basket, which is then mounted on a slide rail. The spray gun moves back and forth along the slide rail to spray the wall. This method has the following problems: 1. The crane work basket is heavy and the operation is cumbersome; 2. The working surface of the work basket is limited; 3. The work basket is prone to swaying when working at height, and this swaying is aggravated when the spray gun is working, which greatly affects the uniformity of spraying; 4. Spot spraying or spot coating is difficult. Summary of the Invention

[0004] The present invention provides a high-altitude paint spraying robot and its installation structure, which is lightweight, easy to install, and stable without shaking.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A high-altitude paint spraying robot includes a spraying mechanism and a robot body. The spraying mechanism is mounted on the robot body. The robot body includes a frame, a controller, a fan, two sets of wheels, and four rope grippers. Each rope gripper is equipped with a rope. The two sets of wheels are mounted on both sides of the frame. The controller is mounted inside the frame. The fan is mounted in the middle of the frame. The four rope grippers are mounted on both sides of the frame. The controller is connected to the rope grippers and the fan.

[0007] A preferred embodiment of the present invention is that each set of walking wheels includes two omnidirectional wheels, which are respectively installed above and below the left and right sides of the frame.

[0008] A preferred embodiment of the present invention further includes a sensor and wheels. The sensor is installed inside the frame and connected to the controller. The wheels are installed at the four bottom corners of the frame.

[0009] A preferred embodiment of the present invention includes four sets of positioning wheel sets. Each set of positioning wheel sets has two parallel positioning wheels fixed on both sides of the top and bottom of the frame. The four sets of positioning wheel sets are symmetrical in all directions and located on the vertical plane of the frame center. They are respectively positioned above the first and second rope grippers and below the third and fourth rope grippers. The first top rope and the second top rope pass between the two positioning wheels and are fixed at the top left and top right corners of the working surface. The third and fourth bottom ropes pass between the positioning wheels and are fixed on the bottom left and bottom right corner anchors or counterweights.

[0010] A preferred embodiment of the present invention is that the four rope-grabbing machines are respectively configured as a first rope-grabbing machine, a second rope-grabbing machine, a third rope-grabbing machine, and a fourth rope-grabbing machine. The four rope-grabbing machines are respectively located at the upper left, upper right, lower left, and lower right of the frame, and are located on the same vertical line, which passes through the center of gravity of the frame. The center of gravity of the fan's position coincides with the center of gravity of the frame. The first rope-grabbing machine and the third rope-grabbing machine are installed in opposite directions, and the rope outlet positions of the first rope-grabbing machine and the second rope-grabbing machine are on the same horizontal line. The second rope-grabbing machine and the fourth rope-grabbing machine are installed in opposite directions, and the rope outlet positions of the second rope-grabbing machine and the fourth rope-grabbing machine are on the same horizontal line.

[0011] A preferred embodiment of the present invention is that the spraying mechanism includes a spray gun assembly and a movable assembly, the spray gun assembly being mounted on the movable assembly; the movable assembly includes a front-rear structure for controlling the longitudinal movement of the spray gun assembly on the top surface of the frame and a left-right structure for controlling the lateral movement of the spray gun assembly on the top surface of the frame; the front-rear structure includes a base plate, a longitudinal lead screw, a longitudinal slide rail, and a longitudinal cable chain, the base plate being mounted on the frame and extending beyond the frame, the end of the base plate being embedded with a flexible silicone strip, and the end of the base plate being flush with the traveling wheel, the longitudinal lead screw and the longitudinal slide rail being respectively mounted on both sides of the base plate, the longitudinal cable chain being mounted on one side of the longitudinal lead screw, and the longitudinal slide rail being covered with a bellows cover; the left-right structure includes a connecting plate, a transverse lead screw, and a transverse cable chain, the connecting plate being located above the front-rear structure, the transverse lead screw being mounted on the connecting plate, and the transverse cable chain being mounted on one side of the transverse lead screw, the spray gun assembly being mounted on the transverse lead screw.

[0012] A preferred embodiment of the present invention is that the spray gun assembly includes a fixing plate, a spray bottle, a spray gun, and a control switch for controlling the spray gun's spraying. The spray gun is fixed to the fixing plate, and the fixing plate is fixed to the left and right structures. The spray gun can move left and right with the lateral moving structure, and can also move back and forth with the longitudinal structure. After moving forward for its entire length, the nozzle of the spray gun is always within the outer edge of the traveling wheel. The spray bottle is equipped with a sensor for sensing the internal liquid level.

[0013] A preferred embodiment of the present invention is that the control switch includes a fixed side plate, a crossbar, and an electric slide. The electric slide is mounted on the fixed side plate, one side of the crossbar is mounted on the electric slide, and the other side of the crossbar is located on the switch trigger of the spray gun. It also includes a rod fixing plate and a photoelectric sensor for controlling the electric slide. The photoelectric sensor is mounted on the fixed side plate, the rod fixing plate is connected to the electric slide, and the crossbar is installed inside the rod fixing plate. A sensing plate is disposed on the side of the rod fixing plate that contacts the photoelectric sensor, and the control switch controls the electric slide through the sensing plate and the photoelectric sensor.

[0014] This invention also discloses an installation structure for a high-altitude paint spraying robot. Four rope-grabbing machines are respectively installed on the upper left, upper right, lower left, and lower right of the frame: a first rope-grabbing machine, a second rope-grabbing machine, a third rope-grabbing machine, and a fourth rope-grabbing machine. The first rope-grabbing machine is equipped with a first ground rope, the second rope-grabbing machine with a second ground rope, the third rope-grabbing machine with a first ground rope, and the fourth rope-grabbing machine with a second ground rope. One end of each rope is fixed to the upper left and upper right corners of the work surface to be sprayed, and the lower left corner... The bottom and lower right corner ends of the robot body pass through their respective positioning wheel sets and then enter their respective rope grippers before hanging freely. During operation, the controller controls the rope grippers to retract and extend the ropes, causing the robot body to move on the work surface. The rope segment from the rope gripper to the fixed end is the tension segment. The first top rope is the first tension segment, the second top rope is the second tension segment, the first bottom rope is the third tension segment, and the second bottom rope is the fourth tension segment. The controller controls the movement of the robot body on the work surface by controlling the length of all the tension segments.

[0015] A preferred technical solution of the present invention is that a ground anchor or counterweight is set on the ground, and the fixed ends of the first ground cable and the second ground cable are fixed to the ground anchor or counterweight; the fixed end of the first ground cable and the fixed end of the first ground cable are located on the same vertical plane, and the fixed end of the second ground cable and the fixed end of the second ground cable are located on the same vertical plane.

[0016] The beneficial effects of this invention are as follows:

[0017] (1) The high-altitude paint spraying robot of the present invention is assembled by the spraying mechanism and the robot body in cooperation. The spray gun can move freely in the horizontal, vertical and diagonal directions at high altitudes. It can move longitudinally or laterally in dynamic conditions, and can also move longitudinally or laterally in static conditions. The spray gun can perform large-area spraying, small-area spraying, and touch-up spraying and spot spraying. The spraying robot can realize automatic and flexible high-altitude spraying operations.

[0018] (2) By combining the fan and the wheels, the robot can fit in close to the working surface during operation, so that the painting robot does not shake in the air; by setting the left and right structure and the front and back structure on the painting mechanism, the uniformity and flexibility of the painting components are ensured.

[0019] (3) The installation structure of the high-altitude paint spraying robot of the present invention fixes the rope to the four corners of the spraying working surface. The robot body is controlled by the controller to change between the fixed end of the rope and the tension section of the rope gripper. This ensures that the spraying robot is easy to install and can move freely on the working surface for easy spraying, while leaving no seams. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In these drawings, similar reference numerals are used to denote similar elements. The drawings described below are some embodiments of the invention, but not all embodiments. Other drawings will be readily available to those skilled in the art based on these drawings without any inventive effort.

[0021] Figure 1 This is a schematic diagram of the high-altitude paint spraying robot and its installation structure provided in a specific embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the high-altitude paint spraying robot and its installation structure provided in a specific embodiment of the present invention;

[0023] Figure 3 This is a front view of the high-altitude paint spraying robot and its installation structure provided in a specific embodiment of the present invention;

[0024] Figure 4 This is a top view of the high-altitude paint spraying robot and its installation structure provided in a specific embodiment of the present invention;

[0025] Figure 5 This is a side view of the high-altitude paint spraying robot and its installation structure provided in a specific embodiment of the present invention;

[0026] Figure 6This is a bottom view of the high-altitude paint spraying robot and its installation structure provided in a specific embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the overall structure of the high-altitude paint spraying robot and its installation structure spray gun provided in a specific embodiment of the present invention.

[0028] Figure 8 This invention provides a high-altitude paint spraying robot and its installation structure in a specific embodiment. Figure 7 A schematic diagram of the enlarged structure of A in the middle;

[0029] Figure 9 This is a schematic diagram of the overall structure of the high-altitude paint spraying robot and its installation structure spray gun provided in a specific embodiment of the present invention.

[0030] Figure 10 This is a schematic diagram of the overall structure of the high-altitude paint spraying robot and its installation structure spray gun provided in a specific embodiment of the present invention.

[0031] Figure 11 This is a schematic diagram of the overall structure of the high-altitude paint spraying robot and its installation structure spray gun provided in a specific embodiment of the present invention.

[0032] Figure 12 This is a schematic diagram of the overall structure of the high-altitude paint spraying robot and its installation structure body with rope configuration provided in a specific embodiment of the present invention;

[0033] Figure 13 This is a front view of the overall structure of the high-altitude paint spraying robot and its installation structure with rope configuration provided in a specific embodiment of the present invention.

[0034] Figure 14 This is a diagram showing the overall structure of the high-altitude paint spraying robot and its installation structure, including the rope, in use, according to a specific embodiment of the present invention.

[0035] In the picture:

[0036] 1. Spraying mechanism; 11. Spray gun assembly; 111. Fixing plate; 112. Spray gun; 1121. Switch trigger; 1122. Spray bottle; 1123. Sensor; 113. Control switch; 1131. Fixed side plate; 1132. Crossbar; 1133. Electric slide table; 1134. Rod fixing plate; 1135. Photoelectric sensor; 1136. Sensing plate; 12. Movable assembly; 121. Front and rear structure; 1211. Base plate; 1212, Longitudinal lead screw; 1213, Longitudinal slide rail; 1214, Longitudinal cable chain; 1215, Bellows cover; 122, Left and right structure; 1221, Connecting plate; 1222, Transverse lead screw; 1223, Transverse cable chain; 2, Robot body; 21, Frame; 22, Fan; 23, Walking wheel; 231, Omnidirectional wheel; 24, Rope gripper; 241, First rope gripper; 242, Second rope gripper; 243, Third rope gripper; 244, Fourth rope gripper; 25, Rope body; 251, First day rope; 252, Second day rope; 253, First ground rope; 254, Second ground rope; 3, First tension section; 4, Second tension section; 5, Third tension section; 6, Fourth tension section; 7, Positioning wheel assembly; 71, Positioning wheel; 8, Moving wheel. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0038] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] Example 1

[0040] like Figure 1-12 As shown, the present invention discloses a high-altitude paint spraying robot, including a frame 21, a controller, sensors, a fan 22, and four sets of rope grippers 24 mounted on the frame 21.

[0041] The controller and sensors are not shown in the figure. The sensors include a distance sensor and an angle sensor. The distance sensor can be an existing infrared distance sensor, photoelectric distance sensor, laser displacement distance sensor, etc., used to measure the position of the frame. The angle sensor can be an existing tilt sensor (Jian Da Ren Ke RS485), gyroscope attitude angle sensor BWT61CL, etc., used to measure the offset angle of the frame. The controller is used to control the four sets of rope grippers and several sets of fans 22, controlling the rope grippers 24 to tighten or loosen the rope 25, and controlling the fans 22 to start, decelerate, or shut down at a certain speed.

[0042] like Figure 5 As shown, the center of gravity of the frame 21 is point A, the center of the frame 21. The four rope grabbing machines 24 are located at the upper left, upper right, lower left, and lower right of the frame 21, respectively, and the four rope grabbing machines 24 and the center of gravity point A are located on the same vertical plane P. Each rope grabbing machine 24 is equipped with one rope 25.

[0043] The rope gripper 24 can adopt the structure disclosed in CN114105052A and CN111675164A, or the existing rope gripper 24 available in the market.

[0044] The fan 22 is installed in the middle of the frame 21, and the positions of the fan 22 are symmetrically arranged on both sides of the center of gravity of the frame 21. The fan 22 is used to apply a horizontal thrust along the working surface to the frame 21. By starting the fan 22, a horizontal thrust is applied to the frame 21, so that the traveling wheels of the frame 21 are in contact with the working surface.

[0045] The spraying mechanism 1 includes a spray gun 112, which moves on the frame 21 driven by the left and right structures 122 and the front and rear structures 121. The distance between the spray gun nozzle and the spraying surface can be varied as needed. The front and rear structures 121 are fixedly mounted on the top surface of the frame 21 via a base plate 1211. The base plate 1211 protrudes from the frame 21, and its end is embedded with a flexible silicone strip flush with the walking wheels 23. When the fan 22 is working, it pushes the robot's walking wheels 23 against the wall, and the silicone strip of the base plate 1211 also adheres to the wall, blocking the vertical airflow from the nozzle of the spray gun 112, ensuring that the liquid sprayed by the spray gun 112 is not affected, and also reducing contamination of the robot. The base plate 1211 is equipped with longitudinal lead screws 1212 and longitudinal slide rails 1213 on both sides. A longitudinal drag chain 1214 is also installed on one side of the longitudinal lead screw 1212 to facilitate its rotation. The longitudinal lead screw 1212 drives the front and rear structures 121 to move longitudinally on the top surface of the frame 21, while the other side is driven synchronously by the longitudinal slide rail 1213. A bellows cover 1215 is installed on the longitudinal slide rail 1213, which is compressed when the longitudinal slide rail 1213 moves. The bellows cover 1215 can reduce vibration, prevent dust, and increase service life. The front and rear structures 121 are also equipped with left and right structures 122, which are connected by a connecting plate 1221. The left and right structures 122 include a transverse lead screw 1222 and a transverse drag chain 1223. The length of the transverse lead screw 1222 is less than the length of the top surface of the frame 21. The transverse lead screw 1222 drives the left and right structures 122 to move laterally on the top surface of the frame 21.

[0046] The system also includes a spray gun assembly 11, which includes a mounting plate 111 for fixing the spray gun 122. The spray gun 122 also includes a switch trigger 1121 and a spray bottle 1122, on which a sensor 1123 is mounted. The sensor 1123 is configured as a photoelectric sensor to sense the liquid level in the spray bottle 1122 and add paint in a timely manner. The switch trigger 1121 is equipped with a control switch 113, which is fixed to the spray gun assembly 11 via a mounting side plate 1131. The control switch 113 also includes a crossbar 1132, which moves on the mounting side plate 1131 via an electric slide 1133. The crossbar 1132 is positioned horizontally in front of the switch trigger 1121, and the movement of the crossbar 1132 by the electric slide 1133 controls the spraying of the spray gun 122. The crossbar 1132 is fixed on the rod fixing plate 1134, and the rod fixing plate 1134 is connected to the electric slide table 1133.

[0047] The crossbar 1132 is controlled by a photoelectric sensor 1135, which is mounted on a fixed side plate 1131. A sensor plate 1136 is mounted on the rod fixing plate 1134. The sensor plate 1136 controls the electric slide table 1133 via the photoelectric sensor 1135. The electric slide table 1133 drives the crossbar 1132 to control the spray gun 112 for spraying.

[0048] Example 2

[0049] This embodiment discloses the installation structure of the high-altitude paint spraying robot of Embodiment 1. The high-altitude paint spraying robot is installed on the working surface of the building that needs to be sprayed, so as to realize the free movement of the high-altitude spraying robot on the working surface.

[0050] like Figure 13 As shown, the four sets of ropes of the high-altitude spraying robot are installed at the four corners of the work surface. Details are as follows.

[0051] The four rope grabbing machines 24 are respectively installed on the upper left, upper right, lower left, and lower right of the frame: a first rope grabbing machine 241, a second rope grabbing machine 242, a third rope grabbing machine 243, and a fourth rope grabbing machine 244. The first rope grabbing machine 241 is equipped with a first ground rope 251, the second rope grabbing machine 242 is equipped with a second ground rope 252, the third rope grabbing machine 243 is equipped with a first ground rope 253, and the fourth rope grabbing machine 244 is equipped with a second ground rope 254.

[0052] One end of the rope 25 is a fixed end, which is fixed to the top left corner, top right corner, bottom left corner, and bottom right corner of the work surface to be sprayed. The other end of the rope 25 is a free end, which passes through the positioning wheel assembly 71 and enters the rope gripper before hanging freely, as shown in the details. Figure 13 As shown:

[0053] On the first day, the fixed end D1 of the rope 251 is tightened to the upper left side of the fixed working surface, and the other end (i.e. the free end F1) passes through the positioning wheel group and enters the first rope grabber and hangs down freely. The rope section from the fixed end D1 to the first rope grabber 241 is the first tensioning section 3.

[0054] On the second day, the fixed end D2 of the rope 252 is tightened and fixed to the upper right side of the working surface, and the other end (i.e. the free end F2) passes through the positioning wheel group and enters the second rope grabbing machine 242 and hangs freely. The rope section from the fixed end D2 to the second rope grabbing machine 242 is the second tensioning section 4.

[0055] The fixed end D3 of the first ground cable 251 is tightened and fixed to the lower left side of the working face. An anchor can be driven into the ground first, or a counterweight or fixing nail can be installed on the working face to fix the fixed end of the first ground cable 251 to the anchor or counterweight. The other end of the first ground cable 251 (i.e., the free end F3) passes through the positioning wheel assembly and enters the third rope gripper 243, hanging freely. The section of rope from the fixed end D3 to the third rope gripper 243 is the third tensioning section 5.

[0056] The fixed end D4 of the second ground cable 252 is tightened and fixed to the lower right side of the working face. An anchor can be driven into the ground first, or a counterweight or fixing nail can be installed on the working face to fix the fixed end of the second ground cable 252 to the anchor or counterweight. The other end of the second ground cable 252 (i.e., the free end F4) passes through the positioning wheel assembly and enters the fourth rope gripper 244, hanging freely. The section of rope from the fixed end D4 to the fourth rope gripper 244 is the fourth tensioning section 6.

[0057] For ease of calculation, the fixed end of the first ground cable 253 is located on the same vertical plane as the fixed end of the first day cable 251, and the fixed end of the second ground cable 254 is located on the same vertical plane as the fixed end of the second day cable 252. This ensures that the fixed ends D1, D2, D3, and D4 together form a rectangle.

[0058] After the overhead cable is tightened, the robot leaves the ground and suspends in the air. Tightening the ground cable stabilizes the robot body 2. The robot's posture is adjusted, and the controller controls the rope gripper 24 to loosen and tighten the rope 25, thus controlling the length of the tensioned section and enabling the robot to move in space. A fan 22 generates horizontal thrust, pushing the robot against the wall (work surface), where its wheels move along the wall. Once the robot reaches the predetermined target position, the spray gun mechanism is activated to begin spraying.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes that element.

[0060] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. The present invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A high-altitude paint spraying robot, characterized in that: It includes a spraying mechanism and a robot body, wherein the spraying mechanism is mounted on the robot body; The robot body includes a frame, a controller, a fan, two sets of wheels, and four rope grippers. Each rope gripper is equipped with a rope. The two sets of wheels are installed on both sides of the frame. The controller is installed inside the frame. The fan is installed in the middle of the frame. The four rope grippers are installed on both sides of the frame. The controller is connected to the rope grippers and the fan. The center of gravity of the fan is aligned with the center of gravity of the frame. Each set of traveling wheels includes two omnidirectional wheels, which are respectively installed on the upper and lower sides of the left and right sides of the frame; It also includes sensors and casters. The sensors are installed inside the frame and connected to the controller. The casters are installed at the four bottom corners of the frame. The four rope-grabbing machines are respectively configured as a first rope-grabbing machine, a second rope-grabbing machine, a third rope-grabbing machine, and a fourth rope-grabbing machine. The four rope-grabbing machines are located at the upper left, upper right, lower left, and lower right of the frame, respectively, and are located on the same vertical plane, which passes through the center of gravity of the frame. The first rope-grabbing machine is equipped with a first ground rope, the second rope-grabbing machine is equipped with a second ground rope, the third rope-grabbing machine is equipped with a first ground rope, and the fourth rope-grabbing machine is equipped with a second ground rope. It also includes four sets of positioning wheel sets, each set of which is equipped with two parallel positioning wheels, fixed on both sides of the top and bottom of the frame, and respectively positioned above the first rope grabber and the second rope grabber and below the first ground cable and the second ground cable; The first day rope and the second day rope pass between the two positioning wheels and then enter their respective rope grabbing machines; the first ground rope and the second ground rope pass between the two positioning wheels and then enter their respective rope grabbing machines. The first rope grabber and the third rope grabber are installed in opposite directions; the second rope grabber and the fourth rope grabber are installed in opposite directions. The spraying mechanism includes a spray gun assembly and a movable assembly, wherein the spray gun assembly is mounted on the movable assembly; The movable components include a front-rear structure for controlling the longitudinal movement of the spray gun assembly on the top surface of the frame, and a left-right structure for controlling the lateral movement of the spray gun assembly on the top surface of the frame. The front and rear structure includes a base plate, a longitudinal lead screw, a longitudinal slide rail, and a longitudinal cable chain. The base plate is mounted on the frame and extends beyond the frame. A flexible silicone strip is embedded at the end of the base plate, and the end of the base plate is flush with the traveling wheel. The longitudinal lead screw and the longitudinal slide rail are respectively mounted on both sides of the base plate. The longitudinal cable chain is mounted on one side of the longitudinal lead screw. The longitudinal slide rail is covered with a bellows cover. The left and right structures include a connecting plate, a transverse lead screw, and a transverse cable chain. The connecting plate is located above the front and rear structures. The transverse lead screw is mounted on the connecting plate, and the transverse cable chain is mounted on one side of the transverse lead screw. The spray gun assembly is mounted on the transverse lead screw.

2. The high-altitude paint spraying robot according to claim 1, characterized in that: The spray gun assembly includes a fixing plate, a spray bottle, a spray gun, and a control switch for controlling the spray gun to spray. The spray gun is fixed on the fixing plate, and the fixing plate is fixed on the left and right structures. After the spray gun has moved forward the entire distance, the nozzle of the spray gun is inside the outer edge of the walking wheel; The spray bottle is equipped with a sensor for sensing the internal liquid level.

3. The high-altitude paint spraying robot according to claim 2, characterized in that: The control switch includes a fixed side plate, a crossbar, and an electric slide. The electric slide is mounted on the fixed side plate, one side of the crossbar is mounted on the electric slide, and the other side of the crossbar is located on the switch trigger of the spray gun. It also includes a rod fixing plate and a photoelectric sensor for controlling the electric slide table. The photoelectric sensor is mounted on the fixed side plate, the rod fixing plate is connected to the electric slide table, and the crossbar is installed inside the rod fixing plate. A sensing plate is provided on the side of the rod fixing plate that contacts the photoelectric sensor, and the control switch controls the electric slide table through the sensing plate and the photoelectric sensor.

4. The installation structure of the high-altitude paint spraying robot according to any one of claims 1-3, characterized in that: One end of the rope body configured by the rope grabbing machine is set as a fixed end. The fixed end passes through the four rope grabbing machines and is fixed to the top left corner, top right corner, bottom left corner, and bottom right corner of the work surface to be sprayed. The other end of the rope body is set as a free end, which hangs freely. The rope section from the rope gripper to the fixed end is set as a tension section. The first day rope is the first tension section, the second day rope is the second tension section, the first ground rope is the third tension section, and the second ground rope is the fourth tension section. The controller controls the movement of the robot body on the working surface by controlling the length of all the tension sections.

5. The installation structure of the high-altitude paint spraying robot according to claim 4, characterized in that: An anchor or counterweight is set on the ground, and the fixed ends of the first and second ground cables are fixed to the anchor or counterweight. The fixed end of the first ground cable and the fixed end of the first ground cable are located on the same vertical plane, and the fixed end of the second ground cable and the fixed end of the second ground cable are located on the same vertical plane.

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