Autonomous variable-rail full-working-condition operation robot for spraying of spatial steel structure

Abstract

The present application belongs to the field of mechanical engineering robot technology, and particularly relates to a self-change-track full-working-condition operation robot for space steel structure spraying, comprising a machine body, a supporting and translating mechanism and a spraying mechanism. The machine body comprises a machine box, a frame structure and a walking mechanism; the supporting and translating mechanism comprises a supporting mechanism for controlling the up-down vertical translation of the machine body relative to a purlin and a translating mechanism for controlling the horizontal translation of the machine body relative to the purlin, and the supporting mechanism and the translating mechanism are symmetrically arranged about the machine body; the spraying mechanism is arranged on the frame structure and comprises a spraying head and a spraying moving structure for controlling the movement of the spraying head. The present application can be applied to the space steel structure spraying operation, has the functions of self-change-track, obstacle crossing and spraying, can autonomously move to the next spraying object after the long-direction operation along the space steel structure is completed, does not need personnel to carry in the middle, is simple to operate, reduces the labor intensity of the operator, and has good spraying effect and high spraying efficiency.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering robot technology, and more particularly to the field of high-altitude steel structure spraying robot technology, specifically relating to an autonomous orbit-changing full-condition operation robot for space steel structure spraying. Background Technology

[0002] When robots operate on steel roof structures, they typically use purlins as their travel tracks. Since steel purlins are magnetically conductive, using magnetically attached robots with purlins as guides is becoming a new option. However, the following issues need to be addressed when robots move and perform tasks on the roof:

[0003] (1) It must have the ability to perceive the environment in order to meet its usage requirements of crawling, path planning, navigation and positioning in the spatial environment;

[0004] (2) The robot must be able to continuously traverse lateral obstacles at the joints of components;

[0005] (3) The robot track spacing varies to some extent, and should be adapted to variable track spacing;

[0006] (4) After the robot finishes its work along the length of the component, it should be able to move autonomously to the next object to be sprayed.

[0007] Based on the above problems, designing a full-condition operation robot that can be applied to space steel structure spraying operations and has autonomous track changing, obstacle crossing, and spraying functions is of great practical significance. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an autonomous, track-changing, all-condition operation robot for spraying space steel structures.

[0009] The technical solution adopted by the present invention to solve this problem is as follows:

[0010] An autonomous orbit-changing, all-condition operation robot for spraying steel structures in space includes:

[0011] The fuselage includes the chassis, frame structure, and running gear;

[0012] The support translation mechanism includes a support mechanism for controlling the vertical translation of the fuselage relative to the purlin and a translation mechanism for controlling the lateral translation of the fuselage relative to the purlin. Both the support mechanism and the translation mechanism are arranged symmetrically about the front and rear of the fuselage.

[0013] A spraying mechanism, mounted on a frame structure, includes a spray head and a spraying movement structure for controlling the movement of the spray head.

[0014] In one embodiment, the frame structure includes a first frame and a second frame arranged in parallel. The chassis is fixedly connected to the first frame and the second frame by bolts. A third frame, which is arranged perpendicularly to the first frame, is also fixed on the first frame.

[0015] In one embodiment, the walking mechanism includes a walking magnetic wheel and a walking motor that drives the walking magnetic wheel to rotate, and the axle of the walking magnetic wheel is rotatably connected to frame one and frame two.

[0016] In one embodiment, the support mechanism includes:

[0017] Two gear shafts are arranged symmetrically about the front and rear of the fuselage. The gear shafts are parallel to the frame three. A rack is fixedly installed on the gear shafts along their axial direction.

[0018] The crank arm structure consists of two crank arms arranged symmetrically about the front and rear of the fuselage. The crank arm structure includes a crank arm 1 hinged to a frame 1 and a crank arm 2 hinged to a frame 2. One end of the crank arm 1 and the crank arm 2 is hinged to a long connecting rod. The other end of the crank arm 1 is fixedly connected to a motor base 1, and the other end of the crank arm 2 is fixedly connected to a sleeve shaft. A gear shaft passes through the motor base 1, the crank arm 1, the crank arm 2, and the sleeve shaft. The rack of the gear shaft corresponds to the groove of the motor base 1.

[0019] Motor 1 is fixedly installed inside the housing, and a rotating shaft 1 is fixedly connected to the motor shaft of Motor 1;

[0020] The connecting structure consists of two components arranged symmetrically about the front and rear of the fuselage. Each connecting structure includes a short connecting rod with two connectors hinged at both ends. One connector is hinged to a long connecting rod on the same side, and the other is hinged to a rotating shaft.

[0021] The translation mechanism includes a second motor fixedly connected to a first motor base. A second rotating shaft is fixedly connected to the motor shaft of the second motor. The second rotating shaft is rotatably connected to the groove cavity of the first motor base. The second rotating shaft is provided with a gear that meshes with a rack and pinion.

[0022] In one embodiment, one end of the gear shaft is fixedly connected to an L-shaped limiting support rod, the free end of the limiting support rod is fixedly connected to a sleeve, and the other end is fixedly connected to an L-shaped vertical support rod.

[0023] In one embodiment, the support translation mechanism further includes a limiting structure for hooking onto the purlin to prevent the robot from slipping when the robot translates, the limiting structure comprising:

[0024] The limiting rod is hinged to the sleeve;

[0025] The hydraulic rod has its front end hinged to the lug of the limit rod and its rear end hinged to the pin on the limit support rod. When the robot moves horizontally, the limit rod hooks onto the purlin to prevent the robot from slipping.

[0026] In one embodiment, the spraying moving structure includes:

[0027] Chain grooves are provided in pairs, and a chain track for placing a chain is provided on the front side of the chain groove. Sprockets are rotatably provided at both ends of the front side of the chain groove.

[0028] The toothed rack is sprayed and welded into the keyway on the rear side of the chain groove;

[0029] Motor 4 is fixedly installed at one end of the rear side of the chain groove. The motor shaft of motor 4 is fixedly connected to one of the sprockets through a spline and a keyway.

[0030] Motor base three is welded to a link of the chain, motor three is fixedly connected to motor base three, and motor three is fixedly connected to spray head.

[0031] In one embodiment, both the chain groove and the chain track are arc-shaped, and the chain runs around the chain track and the sprocket in an arc-shaped trajectory.

[0032] In one embodiment, the spraying moving structure further includes two motors five for driving the chain groove to move vertically up and down relative to the frame three. The motors five are fixedly connected to the frame three. The motor shaft of the motor five is fixedly connected to a gear shaft. The gear shaft extends into the keyway on the rear side of the chain groove and engages with the spraying rack.

[0033] The advantages and positive effects of this invention are as follows: The robot in this invention can be applied to the spraying operation of space steel structure. It has autonomous track changing, obstacle crossing and spraying functions. After completing the operation along the long direction of the space steel structure, it can move autonomously to the next spraying object without the need for personnel to carry it in the middle. The operation is simple, the labor intensity of the operators is reduced, and the spraying effect is good and the spraying efficiency is high. Attached Figure Description

[0034] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, unless specifically indicated, these drawings are intended only to conceptually illustrate the structural construction described herein and are not necessarily drawn to scale.

[0035] Figure 1 The three-dimensional representation of the purlin spraying robot described in this invention Figure 1 ;

[0036] Figure 2 for Figure 1The front view;

[0037] Figure 3 for Figure 1 Top view;

[0038] Figure 4 This is a perspective view of the spraying mechanism in the purlin spraying robot of the present invention in an upward translational state;

[0039] Figure 5 for Figure 4 The front view;

[0040] Figure 6 This is a perspective view of the spraying mechanism in the purlin spraying robot of the present invention in a downward translational state;

[0041] Figure 7 for Figure 6 The front view;

[0042] Figure 8 This is a perspective view of the limiting structure in the purlin spraying robot of the present invention in the unlocked state;

[0043] Figure 9 This is a perspective view of the purlin spraying robot described in this invention in an upward translational state;

[0044] Figure 10 for Figure 9 The front view;

[0045] Figure 11 for Figure 10 A front view of the purlin spraying robot described above in a lateral translation state;

[0046] Figure 12 for Figure 11 A 3D view of the purlin spraying robot described above in a downward translational state;

[0047] Figure 13 for Figure 11 A perspective view of the purlin spraying robot described above, showing the spraying mechanism in a downward translational state;

[0048] Figure 14 The three-dimensional representation of the purlin spraying robot described in this invention Figure 2 ;

[0049] Figure 15 for Figure 14 Exploded view;

[0050] Figure 16 for Figure 15 Exploded view of section A in the middle;

[0051] Figure 17This is a cross-sectional view of the translation mechanism in the purlin spraying robot described in this invention;

[0052] Figure 18 This is an exploded view of the translation mechanism in the purlin spraying robot described in this invention;

[0053] Figure 19 The three-dimensional structure of the spraying mechanism in the purlin spraying robot of the present invention. Figure 1 ;

[0054] Figure 20 The three-dimensional structure of the spraying mechanism in the purlin spraying robot of the present invention. Figure 2 ;

[0055] Figure 21 This is an exploded view of the spraying mechanism in the purlin spraying robot described in this invention.

[0056] In the diagram: 1. Axle, 2. Chassis, 21. Frame 1, 22. Frame 2, 23. Frame 3, 3. Gear shaft, 31. Sleeve, 32. Limiting rod, 33. Hydraulic rod, 34. Motor base 1, 35. Crank arm 1, 36. Crank arm 2, 37. Sleeve shaft, 38. Limiting support rod, 39. Vertical support rod, 4. Long connecting rod, 41. Connector, 42. Short connecting rod, 43. Shaft 1, 44. Motor 1, 5. Motor 2, 51. Shaft 2, 52. Bearing, 6. Motor 3, 61. Spray head, 62. Motor base 3, 63. Chain, 64. Sprocket, 65. Chain groove, 66. Motor 4, 67. Spraying rack, 7. Motor 5, 71. Gear shaft. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0058] In the description of the invention, it should be understood that the terms "front," "rear," "upper," "lower," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention. The invention will be further described below with reference to the accompanying drawings and embodiments.

[0059] Example:

[0060] An autonomous, orbit-changing, all-condition operation robot for spraying space steel structures includes a body, a support and translation mechanism, and a spraying mechanism, wherein:

[0061] The fuselage includes the chassis 2, the frame structure, and the walking mechanism;

[0062] The supporting translation mechanism has lateral movement and obstacle crossing functions. It includes a supporting mechanism for controlling the vertical translation of the fuselage relative to the purlin and a translation mechanism for controlling the lateral translation of the fuselage relative to the purlin. Both the supporting mechanism and the translation mechanism are arranged symmetrically about the front and rear of the fuselage.

[0063] A spraying mechanism, which has a spraying function, is mounted on a frame structure and includes a spraying head and a spraying moving structure for controlling the movement of the spraying head.

[0064] The purlin spraying robot of this invention mainly utilizes climbing robots for locking, translation, and spraying. The working process of the purlin spraying robot of this invention is as follows:

[0065] When the purlin painting robot is working, it combines lateral movement, obstacle crossing, and painting functions. Figure 1-14 As shown, specifically: during the spraying operation, the bottom of the spraying mechanism is lower than the crossbeam (e.g., Figure 1-7 As shown), after the purlin painting robot completes the painting of one purlin, it needs to move to the next purlin (as shown). Figure 8-14 As shown), when the robot reaches this point, the painting mechanism needs to be raised so that its bottom is higher than the crossbeam. The specific operation is as follows: First, the painting mechanism is controlled to move vertically upwards via the painting moving structure; then, the support mechanism rotates, controlling the robot body to move vertically upwards, causing the magnetic wheel to disengage from the purlin, the gear shaft 3 to be perpendicular to the plane of the purlin, and the hydraulic rod 33 pulls out the limit rod 32, hooking it onto the purlin to prevent the robot from falling off during translation (e.g., ...). Figure 10 (as shown); then, the translation mechanism controls the robot to move laterally, allowing the robot to cross the crossbeam (as shown). Figure 11 As shown), after the robot moves to the working position of the next purlin, the hydraulic rod 33 retracts the limit rod 32, the support mechanism rotates, and the support mechanism controls the robot body to move downwards, so that the magnetic wheel is attracted to the purlin (as shown). Figure 12 (As shown), and retract the gear shaft 3 to the initial position; finally, after the robot passes the crossbeam, the spraying mechanism descends to the working height and begins the spraying operation.

[0066] Furthermore, in this embodiment, the frame structure may include a first frame 21 and a second frame 22 arranged in parallel. The chassis 2 is fixedly connected to the first frame 21 and the second frame 22 by bolts. A third frame 23 arranged perpendicularly to the first frame 21 is also fixed on the first frame 21.

[0067] Furthermore, in this embodiment, the walking mechanism may include a walking magnetic wheel and a walking motor that drives the walking magnetic wheel to rotate. The axle 1 of the walking magnetic wheel is rotatably connected to frame 1 21 and frame 2 22. The walking motor can drive the walking magnetic wheel to rotate, thereby realizing the robot's movement. The walking magnetic wheel has magnetic attraction and can magnetically attract the steel purlins.

[0068] like Figure 14-16 As shown, the translation mechanism and the support mechanism are arranged symmetrically front and back. The chassis 2 is fixedly connected to frame 1 21 and frame 2 22 by bolts, and frame 3 23 is fixedly connected to frame 1 21 by bolts. The two wheel axles 1 of the traveling mechanism are hinged to frame 1 21 and frame 2 22.

[0069] Furthermore, in this embodiment, the support mechanism may include:

[0070] There are two gear shafts 3, which are arranged symmetrically about the front and rear of the fuselage. The gear shafts 3 are parallel to each other and the frame 23. A rack is fixedly installed on the gear shafts 3 along its axial direction.

[0071] The crank arm structure consists of two crank arms arranged symmetrically about the front and rear of the fuselage. The crank arm structure includes a crank arm 35 hinged to a frame 21 and a crank arm 36 hinged to a frame 22. One end of the crank arm 35 and the crank arm 36 is hinged to a long connecting rod 4. The other end of the crank arm 35 is fixedly connected to a motor base 34. The other end of the crank arm 36 is fixedly connected to a sleeve shaft 37. A gear shaft 3 passes through the motor base 34, the crank arm 35, the crank arm 36, and the sleeve shaft 37. The rack of the gear shaft 3 corresponds to the groove of the motor base 34.

[0072] Motor 44 is fixedly installed inside the housing 2, and a rotating shaft 43 is fixedly connected to the motor shaft of motor 44;

[0073] The connecting structure consists of two components arranged symmetrically about the front and rear of the fuselage. The connecting structure includes a short connecting rod 42, with two connecting heads 41 hinged at both ends of the short connecting rod 42. One connecting head 41 is hinged to a long connecting rod 4 on the same side, and the other is hinged to a rotating shaft 43.

[0074] like Figure 15-16As shown, motor base 34 and crank arm 35 are fixedly connected by bolts, and sleeve shaft 37 and crank arm 36 are fixedly connected by bolts. Crank arm 35 is hinged to frame 21, and crank arm 36 is hinged to frame 22. Long connecting rod 4 is hinged to crank arm 35 and crank arm 36. Gear shaft 3 passes through motor base 34, crank arm 35, crank arm 36, and sleeve shaft 37. The rack of gear shaft 3 corresponds to the groove of motor base 34. The two ends of short connecting rod 42 are hinged to two connectors 41. One of the two connectors 41 is connected to... The long connecting rod 4 is hinged, and the other is hinged to the rotating shaft 43. The rotating shaft 43 is fixedly connected to the motor 44 by bolts, and the motor 44 is fixedly connected to the housing 2 by bolts. This forms the support mechanism in the support translation mechanism. With this design, the rotation of the motor 44 causes the rotating shaft 43 to push the short connecting rod 42, and the short connecting rod 42 pushes the long connecting rod 4, which drives the crank arm 35 and the second crank arm 36 to rotate around the hinge point in the middle, so that the ends of the crank arm 35 and the second crank arm 36 change from being parallel to the purlin to being perpendicular to the purlin.

[0075] It should be noted that: when the ends of crank arm 1 (35) and crank arm 2 (36) are parallel to the purlin, the gear shaft 3, the L-shaped limiting support rod 38, and the L-shaped vertical support rod 39 are all parallel to the plane of the purlin, and the traveling magnetic wheel is attracted to the purlin; when the ends of crank arm 1 (35) and crank arm 2 (36) are perpendicular to the purlin, the gear shaft 3, the L-shaped limiting support rod 38, and the L-shaped vertical support rod 39 are all perpendicular to the plane of the purlin, the machine body moves vertically upward relative to the purlin, and the traveling magnetic wheel detaches from the purlin. This operation can also cross lateral obstacles at the component splicing point; when the ends of crank arm 1 (35) and crank arm 2 (36) are parallel to the purlin again, the machine body moves vertically downward relative to the purlin, and the traveling magnetic wheel is attracted to the purlin again. The traveling magnetic wheel is a traveling wheel that has magnetic attraction to the steel structure.

[0076] Furthermore, in this embodiment, the translation mechanism may include a second motor 5 fixedly connected to a motor base 34, a second rotating shaft 51 fixedly connected to the motor shaft of the second motor 5, the second rotating shaft 51 being rotatably connected to the groove cavity of the motor base 34, and the second rotating shaft 51 being provided with a gear that meshes with the rack of the gear shaft 3.

[0077] like Figure 17 , 18 As shown, motor 2 5 is fixedly connected to motor base 1 34 by bolts, and rotating shaft 2 51 is fixedly connected to motor 2 5 by bolts. There is a groove in motor base 1 34 for placing bearing 52. The bearing 52 is placed in the groove. Rotating shaft 2 51 is hinged to bearing 52. The gear of rotating shaft 2 51 is engaged with the rack of gear shaft 3. With this design, motor base 1 34 can slide on gear shaft 3 when motor 2 5 rotates. When motor 2 5 on both sides of the machine body rotates synchronously, the machine body can move laterally. When the track spacing changes, it can adapt to the problem of variable track gauge.

[0078] Furthermore, in this embodiment, one end of the gear shaft 3 is fixedly connected to an L-shaped limiting support rod 38, the free end of the limiting support rod is fixedly connected to a sleeve 31, and the other end is fixedly connected to an L-shaped vertical support rod 39.

[0079] Furthermore, in this embodiment, the supporting translation mechanism may also include a limiting structure for hooking onto the purlin to prevent the robot from slipping when it translates, the limiting structure comprising:

[0080] The limiting rod 32 is hinged to the sleeve 31;

[0081] The hydraulic rod 33 is hinged at its front end to the ear plate of the limiting rod 32 and at its rear end to the pin on the limiting support rod. When the robot moves horizontally, the limiting rod 32 hooks onto the purlin to prevent the robot from slipping.

[0082] like Figure 8-9 As shown, the limiting rod 32 is hinged to the sleeve 31, the front end of the hydraulic rod 33 is hinged to the ear plate of the limiting rod 32, and the rear end is hinged to the pin on the limiting support rod 38 of the gear shaft 3. When the robot moves horizontally, the limiting rod 32 hooks onto the purlin to prevent the robot from slipping.

[0083] Furthermore, in this embodiment, the spraying moving structure may include:

[0084] Chain grooves 65 are arranged in pairs. A chain track for placing a chain 63 is provided on the front side of the chain groove 65. Sprockets 64 are rotatably provided at both ends of the front side of the chain groove 65.

[0085] Spray-coated toothed rack 67, which is welded into the keyway behind chain groove 65;

[0086] Motor 4 66 is fixedly installed at one end of the rear side of chain groove 65. The motor shaft of motor 4 66 is fixedly connected to one of the sprockets 64 through splines and keyways.

[0087] Motor base 62 is welded to a link of chain 63. Motor 6 is fixedly connected to motor base 62 and motor 6 is fixedly connected to spray head 61.

[0088] like Figure 19-21As shown, the spraying rack 67 is welded into the keyway after the chain groove 65. The motor 66 is fixedly connected to the chain groove 65 by bolts. The sprocket 64 is fixedly connected to the motor 66 by splines and the keyway. The other end of the chain groove 65 is hinged to the sprocket 64. The chain 63 is placed in the chain track of the chain groove 65. The motor base 62 is welded to a certain chain link. The motor 6 is fixedly connected to the motor base 62 by bolts. The spraying head 61 is fixedly connected to the motor 6 by bolts. With this design, the chain 63 can run along the running trajectory formed by the chain track and the sprocket through the rotation of the motor 66, and then drive the spraying head 61 to run along the running trajectory formed by the chain track and the sprocket to spray different parts of the purlin.

[0089] Furthermore, in this embodiment, one could also consider, such as Figure 19-21 As shown, the chain groove 65 and the chain track are both arc-shaped. The chain 63 runs around the chain track and the sprocket 64 in an arc-shaped trajectory. The chain grooves 65 arranged in pairs in the spraying moving structure form a "()" shape so that the two spraying heads 61 can perform a circumferential spraying on the purlin.

[0090] Furthermore, in this embodiment, the spraying moving structure may also include two motors 7 for driving the chain groove 65 to move vertically up and down relative to the frame 23. Each motor 7 has a fixed connection to the frame 23, and its motor shaft is fixedly connected to a gear shaft 71. The gear shaft 71 extends into a keyway on the rear side of the chain groove 65 and engages with the spraying rack 67. Figure 19 As shown, motor 7 and frame 23 are fixedly connected by bolts, and gear shaft 71 and motor 7 are fixedly connected by splines and keyways. With this design, gear shaft 71 cooperates with spray rack 67, and the spraying mechanism moves up and down by rotating motor 7. It should be noted that in order to ensure that chain groove 65 can move vertically relative to frame 23, in addition to the cooperation between gear shaft and spray rack, there is also a guide structure between motor 7 and chain groove 65, such as mutually cooperating guide grooves and guide wheels. Since the guide structure is a conventional structure, the specific structure will not be described in detail here.

[0091] The working process of the purlin spraying robot of this invention is as follows:

[0092] like Figure 1-7 As shown, when the purlin painting robot is working, the bottom of the painting mechanism is lower than the crossbeam. When it reaches this point, the painting mechanism is raised so that the bottom is higher than the crossbeam. After the robot passes the crossbeam, the painting mechanism is lowered to the working height and continues painting.

[0093] like Figure 8-14As shown, after the purlin painting robot completes the painting of one purlin, it needs to move to the next one. First, the painting mechanism is raised so that its bottom is higher than the crossbeam; then the supporting translation mechanism rotates, causing the magnetic wheel to detach from the purlin, the gear shaft 3 to be perpendicular to the purlin, and the hydraulic rod 33 pulls out the limit rod 32 to hook the purlin, preventing it from falling off during translation; then the robot moves to the working position of the next purlin, the hydraulic rod 33 retracts the limit rod 32, the supporting translation mechanism rotates, causing the magnetic wheel to adhere to the purlin, and the gear shaft 3 is retracted to the initial position. At the same time, the painting mechanism descends to the working height and begins the painting operation.

[0094] Furthermore, in this embodiment, it is also possible to equip the robot with positioning and navigation devices to meet the robot's requirements for crawling, path planning, navigation, and positioning in a spatial environment.

[0095] The above embodiments have provided a detailed description of the present invention, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. An autonomous, track-changing, all-condition operation robot for spraying steel structures in space, characterized in that: include: The fuselage includes a chassis (2), a frame structure and a walking mechanism. The frame structure includes a first frame (21) and a second frame (22) arranged in parallel. The chassis (2) is fixedly connected to the first frame (21) and the second frame (22) by bolts. A third frame (23) is also fixed on the first frame (21) and arranged perpendicularly thereto. The support translation mechanism includes a support mechanism for controlling the vertical translation of the fuselage relative to the purlin and a translation mechanism for controlling the lateral translation of the fuselage relative to the purlin. Both the support mechanism and the translation mechanism are arranged symmetrically about the front and rear of the fuselage. A spraying mechanism, which is mounted on a frame structure, includes a spray head and a spraying movement structure for controlling the movement of the spray head; The supporting structure includes: There are two gear shafts (3) arranged symmetrically about the front and rear of the fuselage. The gear shafts (3) are parallel to the frame three (23). A rack is fixedly installed on the gear shafts (3) along its axial direction. One end of the gear shaft (3) is fixedly connected to an L-shaped limiting support rod. The free end of the limiting support rod is fixedly connected to a sleeve (31). The other end of the gear shaft (3) is fixedly connected to an L-shaped vertical support rod. The crank arm structure consists of two crank arms arranged symmetrically about the front and rear of the fuselage. The crank arm structure includes a crank arm 1 (35) hinged to frame 1 (21) and a crank arm 2 (36) hinged to frame 2 (22). One end of the crank arm 1 (35) and the crank arm 2 (36) is hinged to a long connecting rod (4). The other end of the crank arm 1 (35) is fixedly connected to a motor base 1 (34). The other end of the crank arm 2 (36) is fixedly connected to a sleeve shaft (37). The gear shaft (3) passes through the motor base 1 (34), the crank arm 1 (35), the crank arm 2 (36), and the sleeve shaft (37). The rack of the gear shaft (3) corresponds to the groove of the motor base 1 (34). Motor 1 (44) is fixedly installed inside the housing (2), and a rotating shaft 1 (43) is fixedly connected to the motor shaft of Motor 1 (44). The connecting structure consists of two parts arranged symmetrically about the front and rear of the fuselage. The connecting structure includes a short connecting rod (42), with two connecting heads (41) hinged at both ends of the short connecting rod (42). One connecting head (41) is hinged to the long connecting rod (4) on the same side, and the other connecting head (41) is hinged to the rotating shaft (43).

2. The autonomous trajectory-changing, full-condition operation robot for spraying space steel structures according to claim 1, characterized in that: The walking mechanism includes a walking magnetic wheel and a walking motor that drives the walking magnetic wheel to rotate. The axle (1) of the walking magnetic wheel is rotatably connected to frame one (21) and frame two (22).

3. The autonomous trajectory-changing, full-condition operation robot for spraying space steel structures according to claim 1, characterized in that: The translation mechanism includes a second motor (5) fixedly connected to a motor base (34). A second rotating shaft (51) is fixedly connected to the motor shaft of the second motor (5). The second rotating shaft (51) is rotatably connected to the groove cavity of the motor base (34). A gear that meshes with the rack of the gear shaft (3) is provided on the second rotating shaft (51).

4. The autonomous trajectory-changing, full-condition operation robot for spraying space steel structures according to claim 1, characterized in that: The supporting translation mechanism also includes a limiting structure for hooking onto the purlin to prevent the robot from slipping when it translates.

5. The autonomous trajectory-changing, full-condition operation robot for spraying space steel structures according to claim 1, characterized in that: The spraying moving structure includes: Chain grooves (65) are arranged in pairs. A chain track for placing a chain (63) is provided on the front side of the chain groove (65). Sprockets (64) are rotatably provided at both ends of the front side of the chain groove (65). Spray-coated toothed rack (67), which is welded into the keyway behind the chain groove (65); Motor 4 (66) is fixedly installed at one end of the rear side of the chain groove (65). The motor shaft of motor 4 (66) is fixedly connected to one of the sprockets (64) through splines and keyways. Motor base three (62) is welded to a link of chain (63), and motor three (6) is fixedly connected to motor base three (62), and motor three (6) is fixedly connected to spray head (61).

6. The autonomous trajectory-changing, full-condition operation robot for spraying space steel structures according to claim 5, characterized in that: The chain groove (65) and the chain track are both arc-shaped, and the chain (63) runs around the chain track and the sprocket (64) in an arc-shaped trajectory.

7. The autonomous trajectory-changing, full-condition operation robot for spraying space steel structures according to claim 5, characterized in that: The spraying moving structure also includes a motor five (7) for driving the chain groove (65) to move vertically up and down relative to the frame three (23).

Images