Steel structure paint make-up robot and using method

Abstract

The invention discloses a steel structure paint repairing robot and a using method, and relates to the technical field of building robotics.The steel structure paint repairing robot comprises a robot body device, a thin steel cable, a winch connecting device and a trolley device.One end of the thin steel cable is fixed to a hanging ring on the paint repairing robot body device, and the other end of the thin steel cable is fixed to the winch connecting device; the winch connecting device is fixed on the trolley device; the trolley device horizontally moves to drive the whole robot body device to horizontally move on a steel structure, the winch connecting device is started to drive the thin steel cable to vertically move, and the thin steel cable vertically moves to drive the same horizontal position on the steel structure to vertically move. According to the steel structure paint make-up robot device, movement in the horizontal direction is achieved through movement of the trolley in the horizontal direction, and it can be guaranteed that the robot can reach any position in the horizontal direction through the device.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to a steel structure paint touch-up robot and a use method thereof. Background Art

[0002] At present, the use of steel structures in buildings can provide higher safety and reliability because steel structures have very high strength and durability and can withstand a lot of weight and pressure. Steel structures are recyclable and reusable. Compared with traditional concrete structures, the manufacturing and installation process of steel structures requires less energy and resources, which reduces the impact on the environment. The maintenance and replacement costs of steel structures are low, which can save money in the long run. However, due to long-term exposure to wind and sun, the paint layer on the surface of the steel structure is easily corroded. If manual spraying is used, not only is it difficult to ensure construction efficiency, but there is also a relatively large risk of high-altitude operations and the paint will cause later damage to the human body. Therefore, a steel structure touch-up paint robot is urgently needed to achieve this effect. Summary of the invention

[0003] The purpose of the present invention is to provide a steel structure touch-up paint robot and a method of use. In view of the shortcomings of the prior art, the present invention provides a steel structure touch-up paint robot device, which solves the danger and efficiency problems of high-altitude operations. The scene is reconstructed by three-dimensional reconstruction scanning, and the area points that need to be touched up are marked in the reconstructed three-dimensional scene, so that the later operation robot can move to the operation point by itself.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A steel structure touch-up paint robot comprises a robot body device, a thin steel cable, a winch connection device and a trolley device, wherein one end of the thin steel cable is fixed to a lifting ring on the touch-up paint robot body device, and the other end is fixed to the winch connection device, and the winch connection device is fixed to the trolley device; the horizontal movement of the trolley device drives the horizontal movement of the entire robot body device on the steel structure, the vertical movement of the thin steel cable is driven by starting the winch connection device, and the vertical movement of the thin steel cable at the same horizontal position on the steel structure is driven by the vertical movement of the thin steel cable.

[0006] As a further solution of the present invention: the robot body device includes a precise vertical moving device, and a first flipping device and a second flipping device with the same structure are symmetrically arranged on both sides of the precise vertical moving device, and an upper electromagnetic adsorption device and a lower electromagnetic adsorption device with the same structure are symmetrically arranged on both sides of the precise vertical moving device, and a painting device and a visual detection device are arranged on the precise vertical moving device.

[0007] As a further solution of the present invention: the precise vertical movement device includes a robot upper shell, a robot middle shell, a robot lower shell, and a symmetrically arranged first drive mechanism and a second drive mechanism, the first drive mechanism and the second drive mechanism have the same structure, the first drive mechanism includes a first stepper motor, a first coupling, a first motor transmission seat, a first nut seat, a first trapezoidal screw, a first screw support seat and a lifting ring, the first stepper motor, the first coupling, and the first motor transmission seat are fixed to the outside of the robot lower shell; the first nut seat is arranged on the outside of the robot middle shell, the first screw support seat is fixed to the outside of the robot upper shell, and the lifting ring is fixedly installed in the middle of the top of the robot upper shell.

[0008] As a further solution of the present invention: the upper electromagnetic adsorption device is fixed on the inner side of the upper shell of the robot, and the lower electromagnetic adsorption device is fixed on the inner side of the lower shell of the robot.

[0009] As a further solution of the present invention: the upper electromagnetic adsorption device and the lower electromagnetic adsorption device both include a telescopic hydraulic cylinder and a first electromagnetic suction cup; the telescopic hydraulic cylinder is respectively fixed to the inner side of the upper shell of the robot and the inner side of the lower shell of the robot, and the first electromagnetic suction cup is fixed to the front side of the telescopic hydraulic cylinder.

[0010] As a further solution of the present invention: the first flipping device and the second flipping device both include a first support frame, a first hydraulic cylinder, a first bogie, a second support frame, a second bogie, a second electromagnetic suction cup, a third support frame, a second hydraulic cylinder, a fourth support frame and a support platform; the support platform is fixed to the outer wall of the robot's middle shell, the front side of the first bogie is fixed to the support platform by bolts, and the front side of the second support frame is fixed to the rear side of the first bogie by bolts; the second electromagnetic suction cup is fixed to the rear side of the second support frame by bolts; the front side of the first hydraulic cylinder is fixed to the outer side of the robot's middle shell, and the rear side of the first hydraulic cylinder is fixed to the rear side of the first bogie by bolts; the front side of the second hydraulic cylinder is fixed to the front side of the first bogie by bolts, and the rear side of the second hydraulic cylinder is fixed to the rear side of the second bogie by bolts.

[0011] As a further solution of the present invention: the paint spraying device includes a first paint spraying pipe, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a second paint spraying pipe, a third electromagnetic reversing valve, a third paint spraying pipe, an air pump and an air storage tank fixed on the bottom outer side of the robot middle shell; the rear end of the first paint spraying pipe is fixed above the air storage tank, and the front end of the first paint spraying pipe passes through the outer side of the robot middle shell, extends to the inner side of the robot middle shell and is connected to the nozzle; the rear end of the second paint spraying pipe is fixed on the left side of the air storage tank, and the front end of the second paint spraying pipe passes through the left side of the robot middle shell and is connected to the nozzle; the rear end of the third paint spraying pipe is fixed on the right side of the air storage tank, and the front end of the third paint spraying pipe passes through the right side of the robot middle shell and is connected to the nozzle; the air pump is fixed above the air storage tank, and the air storage tank is divided into two spaces, one part stores air, and the other part stores paint liquid separated by a partition.

[0012] A method for using a steel structure touch-up paint robot comprises the following steps: controlling a main body device of the touch-up paint robot to approach a working surface of a steel structure to be touch-up paint by moving a winch connection device and a trolley device, accurately measuring the relative position of a nozzle from the working surface by a visual detection device, and accurately controlling the main body device of the robot to align with a concave surface of the steel structure by a control module; at this time, the hydraulic cylinders on an upper shell and a lower shell of the robot extend to ensure that an upper electromagnetic adsorption device and a lower electromagnetic adsorption device on the hydraulic cylinder can be adsorbed to the concave surface of the steel structure; controlling a middle shell of the robot to be accurately positioned in a vertical direction by a ball screw module; at this time, spraying paint through a second paint spraying pipe can cover the position to be touch-up paint on the concave surface of the steel structure; and controlling the first paint spraying pipe and the third paint spraying pipe to spray paint to cover the touch-up paint positions on the left and right sides of the concave surface of the steel structure by extending and retracting the hydraulic cylinders of the upper shell and the lower shell.

[0013] As a further solution of the present invention: the following steps are also included: when the painting robot needs to be flipped to the reverse back side for operation, the upper electromagnetic adsorption device and the lower electromagnetic adsorption device on the upper shell and the lower shell of the robot are released; a thin steel cable is fixed at the lifting ring to ensure that it will not fall in the vertical direction; the second electromagnetic suction cup on the second flipping device is controlled to be adsorbed to the left outer side of the steel structure, and the movement of the first bogie and the second bogie is controlled by controlling the extension of the first hydraulic cylinder and the second hydraulic cylinder on the first flipping device, and the first flipping device is brought close to the right outer side of the steel structure, and the second electromagnetic suction cup on the first flipping device is opened, and the second electromagnetic suction cup on the second flipping device is closed; since the second electromagnetic suction cup on the first flipping device is in an adsorption state at this moment, the first hydraulic cylinder and the second hydraulic cylinder on the second flipping device are retracted, and since the first flipping device is fixed, which is equivalent to a fixed point, the second flipping device can be driven to move to the right outer side of the steel structure, and the purpose of flipping can be achieved by slowly moving to the right outer side of the steel structure for multiple times; when flipping to the reverse back side of the steel structure, it is positioned at the point to be painted, and the nozzle is controlled to perform the painting operation.

[0014] Beneficial effects of the present invention:

[0015] (1) The horizontal movement of the steel structure paint repair robot device is achieved by the horizontal movement of the trolley. This device can ensure that the robot can reach any position in the horizontal direction.

[0016] (2) The steel structure touch-up paint robot device can move vertically over a large range by driving a thin steel cable with a winch to achieve vertical movement of the robot body at the same horizontal position. In this way, all operating points on the entire steel frame plane can be covered.

[0017] (3) The steel structure paint touch-up robot device can realize precise positioning of the robot paint touch-up device in the vertical direction by driving the robot middle shell to move in the vertical direction through the nut seat, thereby realizing precise movement of the spray head to the position where paint touch-up is required.

[0018] (4) The steel structure repainting robot device reconstructs the on-site scene through three-dimensional scanning, marks the area points that need to be repainted in the reconstructed three-dimensional scene, and can enable the repainting robot to move to the work point by itself later. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 A three-dimensional diagram of the paint touch-up robot structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the paint touch-up robot body device of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the precise vertical moving device of the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the electromagnetic adsorption device of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the turning device of the present invention;

[0025] Figure 6 It is a schematic structural diagram of the paint spraying device of the present invention.

[0026] In the figure: 1. robot body device; 2. thin steel cable; 3. winch connection device; 4. trolley device; 5. upper electromagnetic adsorption device; 6. precise vertical movement device; 7. first flipping device; 8. lower electromagnetic adsorption device; 9. painting device; 10. second flipping device; 11. visual inspection device; 12. robot upper shell; 13. first screw support seat; 14. first trapezoidal screw; 15. robot middle shell; 16. first nut seat; 17. first motor transmission seat; 18. first coupling; 19. first stepper motor; 20. robot lower shell; 21. second stepper motor; 22. second coupling; 23. second electric Machine transmission seat; 24, two nut seats; 25, two trapezoidal screws; 26, two screw support seats; 27, telescopic hydraulic cylinder; 28, first electromagnetic suction cup; 29, first support frame; 30, first hydraulic cylinder; 31, first bogie; 32, second support frame; 33, second bogie; 34, second electromagnetic suction cup; 35, third support frame; 36, second hydraulic cylinder; 37, fourth support frame; 38, support platform; 39, first paint spraying pipeline; 40, first electromagnetic reversing valve; 41, second electromagnetic reversing valve; 42, second paint spraying pipeline; 43, third electromagnetic reversing valve; 44, third paint spraying pipeline; 45, air pump; 46, air storage tank. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Example 1

[0029] See also Figure 1 As shown, the present invention is a steel structure touch-up paint robot, comprising a robot body device 1, a thin steel cable 2, a winch connection device 3 and a trolley device 4, wherein one end of the thin steel cable 2 is fixed to a lifting ring on the touch-up paint robot body device 1, and the other end is fixed to the winch connection device 3, and the winch connection device 3 is fixed to the trolley device 4; the horizontal movement of the trolley device 4 drives the horizontal movement of the entire robot body device 1 on the steel structure, and the up and down movement of the thin steel cable 2 is driven by starting the winch connection device 3, and the vertical movement of the thin steel cable 2 can drive the vertical movement of the same horizontal position on the steel structure within a large range. Figure 1 Install in the order of the structures.

[0030] refer to Figure 2As shown, the robot body device includes a precise vertical moving device 6, and a first flipping device 7 and a second flipping device 10 with the same structure are symmetrically arranged on both sides of the precise vertical moving device 6. An upper electromagnetic adsorption device 5 and a lower electromagnetic adsorption device 8 with the same structure are symmetrically arranged on both sides of the precise vertical moving device 6. A paint spraying device 9 and a visual detection device 11 are arranged on the precise vertical moving device 6. The visual detection device 11 includes a visual camera and a camera bracket. The bottom of the camera bracket is fixed to the top of the robot's middle shell, and the visual camera is fixed to the top of the camera bracket. By fixing it to the top of the robot's middle shell, the nozzle can be positioned to the position where paint needs to be touched up according to the scene reconstructed by the previous three-dimensional scanning; according to Figure 2 Install in the order of the structures.

[0031] refer to Figure 3 As shown, the precise vertical moving device 6 includes a robot upper shell 12, a robot middle shell 15, a robot lower shell 20, and a first drive mechanism and a second drive mechanism that are symmetrically arranged. The first drive mechanism and the second drive mechanism have the same structure. The first drive mechanism includes a first stepper motor 19, a first coupling 18, a first motor transmission seat 17, a first nut seat 16, a first trapezoidal lead screw 14, a first lead screw support seat 13, and a lifting ring 21. The first stepper motor 19, the first coupling 18, and the first motor transmission seat 17 are fixed to the outside of the robot lower shell 20; the first nut seat 16 is arranged on the outside of the robot middle shell 15, and the first lead screw support seat 13 is fixed to the outside of the robot upper shell 12. The lifting ring 21 is fixedly installed at the top middle of the robot upper shell 12. The second drive mechanism includes a second stepper motor 21, a second coupling 22, a second motor transmission seat 23, a second nut seat 23, a second trapezoidal lead screw 25, and a second lead screw support seat 26. The connection relationship is the same as that of the first drive mechanism, and both are rotated by the stepper motor lead screw. Since the trapezoidal lead screw is self-locking, it can be ensured that the positions of the robot upper shell 12, the robot lower shell 20 and the robot middle shell 15 will not change in the vertical direction. The thin steel cable 2 is fixed to the ring 21 to ensure that the robot body will not fall. Since the movement of the thin steel cable in the vertical direction cannot guarantee accuracy, and since the paint spraying device is fixed to the robot middle shell, when the upper and lower electromagnetic adsorption devices are adsorbed, the electromagnetic adsorption devices on the first flipping device and the second flipping device are loosened. The nut seat fixed to the robot middle shell can drive the robot middle shell and the paint spraying device to achieve precise movement in the vertical direction.

[0032] The upper electromagnetic adsorption device 5 is fixed to the inner side of the upper shell 12 of the robot, and the lower electromagnetic adsorption device 8 is fixed to the inner side of the lower shell 20 of the robot.

[0033] refer to Figure 4As shown, the upper electromagnetic adsorption device 5 and the lower electromagnetic adsorption device 8 both include a telescopic hydraulic cylinder 27 and a first electromagnetic suction cup 28; the telescopic hydraulic cylinder 27 is respectively fixed to the inner side of the upper shell 12 of the robot and the inner side of the lower shell 20 of the robot, and the first electromagnetic suction cup 28 is fixed to the front side of the telescopic hydraulic cylinder 27. Since the steel structure is mainly H-shaped steel, I-shaped steel and channel steel, the electromagnetic suction cup can be adsorbed to the inner side of the channel steel when it is extended and retracted by the hydraulic cylinder. When the robot body device needs to be flipped to the back side of the steel structure, when the electromagnetic adsorption devices on the upper shell and the lower shell of the robot are released, the electromagnetic suction cup can be extended and retracted, which can ensure that during the flipping process, the electromagnetic suction cup structure will not touch the side of the channel steel due to its excessive length, thereby affecting the flipping effect.

[0034] refer to Figure 5 As shown, the first flipping device 7 and the second flipping device 10 both include a first support frame 29, a first hydraulic cylinder 30, a first bogie 31, a second support frame 32, a second bogie 33, a second electromagnetic suction cup 34, a third support frame 35, a second hydraulic cylinder 36, a fourth support frame 37 and a support platform 38; the support platform 38 is fixed to the outer wall of the robot middle shell 15, the front side of the first bogie 31 is fixed to the support platform 38 by bolt connection, and the front side of the second support frame 32 is fixed to the rear side of the first bogie 31 by bolts; the second electromagnetic suction cup 34 is fixed to the rear side of the second support frame 32 by bolt connection; the front side of the first hydraulic cylinder 30 is fixed to the outer side of the robot middle shell 15, and the rear side of the first hydraulic cylinder 30 is fixed to the rear side of the first bogie 31 by bolts; the front side of the second hydraulic cylinder 36 is fixed to the front side of the first bogie 31 by bolts, and the rear side of the second hydraulic cylinder 36 is fixed to the rear side of the second bogie 33 by bolts.

[0035] refer to Figure 6 As shown, the paint spraying device 9 includes a first paint spraying pipe 39, a first electromagnetic reversing valve 40, a second electromagnetic reversing valve 41, a second paint spraying pipe 42, a third electromagnetic reversing valve 43, a third paint spraying pipe 44, an air pump 45 and an air tank 46 fixed to the outer bottom of the robot middle shell 15; the rear end of the first paint spraying pipe 39 is fixed above the air tank 46, and the front end of the first paint spraying pipe 39 passes through the outer side of the robot middle shell 15, extends to the inner side of the robot middle shell 15 and is connected to the nozzle; the rear end of the second paint spraying pipe 42 is fixed to the left side of the air tank 46, and the front end of the second paint spraying pipe 42 passes through the left side of the robot middle shell 15 and is connected to the nozzle; the rear end of the third paint spraying pipe 44 is fixed to the right side of the air tank 46, and the front end of the third paint spraying pipe 44 passes through the right side of the robot middle shell 15 and is connected to the nozzle; the nozzle is fixed to the top of the paint spraying pipe by a threaded connection. When the upper shell and the lower shell of the robot are adsorbed on the concave surface of the channel steel, the first paint spraying pipe is mainly responsible for painting the concave surface, the second paint spraying pipe is mainly responsible for painting the concave surface on the left side of the channel steel, and the third paint spraying pipe is mainly responsible for painting the concave surface on the right side of the channel steel.

[0036] The air pump 45 is fixed above the air tank 46. The air tank 46 is divided into two spaces, one for storing air and the other for storing paint liquid separated by a partition. The air pump is used to control the partition to advance and thus control the painting. The first paint spraying pipeline, the second paint spraying pipeline and the third paint spraying pipeline can independently control the three paint spraying pipelines by controlling the electromagnetic reversing valve through the air pump. The electromagnetic reversing valve and the air pump are connected by a hose.

[0037] Example 2

[0038] Based on Example 1, the steel structure paint repair robot Figure 1 and Figure 2 The structure is installed: the main body device 1 of the touch-up paint robot is controlled to approach the working surface of the steel structure to be touch-up paint by moving the winch connection device 3 and the trolley device 4, the relative position of the nozzle to the working surface is accurately measured by the visual detection device 11, and the robot main body device 1 is accurately controlled to align with the concave surface of the steel structure by the control module; at this time, the hydraulic cylinders on the upper shell 12 of the robot and the lower shell 20 of the robot are extended to ensure that the upper electromagnetic adsorption device 5 and the lower electromagnetic adsorption device 8 on the hydraulic cylinder can be adsorbed to the concave surface of the steel structure; the middle shell 15 of the robot is controlled by the ball screw module to be accurately positioned in the vertical direction; at this time, the second paint spraying pipe 42 is used to spray paint to cover the position to be touch-up paint on the concave surface of the steel structure; the first paint spraying pipe 39 and the third paint spraying pipe 44 can be controlled to spray paint to cover the touch-up paint positions on the left and right sides of the concave surface of the steel structure by extending and retracting the hydraulic cylinders of the upper shell and the lower shell.

[0039] Example 3

[0040] On the basis of Example 2, when the painting robot needs to be flipped over to the back side for operation, the upper electromagnetic adsorption device 5 and the lower electromagnetic adsorption device 8 on the upper shell 12 and the lower shell 20 of the robot are loosened; a thin steel cable 2 is fixed at the lifting ring to ensure that it will not fall in the vertical direction; the second electromagnetic suction cup 34 on the second flipping device 10 is controlled to be adsorbed to the left outer side of the steel structure, and the movement of the first bogie 31 and the second bogie 33 is controlled by controlling the extension of the first hydraulic cylinder 30 and the second hydraulic cylinder 36 on the first flipping device 7, and the first flipping device 7 is brought close to the right outer side of the steel structure, and the second hydraulic cylinder 30 and the second hydraulic cylinder 36 are controlled to extend. The second electromagnetic suction cup 34 on the first flipping device 7 is opened, and the second electromagnetic suction cup 34 on the second flipping device 10 is closed; since the second electromagnetic suction cup 34 on the first flipping device 7 is in the adsorption state at this moment, the first hydraulic cylinder 30 and the second hydraulic cylinder 36 on the second flipping device 10 are retracted. Since the first flipping device 7 is fixed, it is equivalent to a fixed point, which can drive the second flipping device 10 to move to the right outer side of the steel structure. The purpose of flipping can be achieved by slowly moving to the right outer side of the steel structure for many times; when flipped to the back side of the steel structure, it is positioned at the point to be painted, and the nozzle is controlled to perform the painting operation. The gas storage tank is separated into two spaces by a partition, one part is paint liquid, and the other part is air. The partition is controlled by an air pump to move compressed air to control the painting. Each paint spraying pipeline is independently controlled by the electromagnetic reversing valve through the air pump.

[0041] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A steel structure touch-up paint robot, characterized in that: The invention comprises a robot body device (1), a thin steel cable (2), a winch connecting device (3) and a trolley device (4), wherein one end of the thin steel cable (2) is fixed to a lifting ring on the paint touch-up robot body device (1), and the other end is fixed to the winch connecting device (3), and the winch connecting device (3) is fixed to the trolley device (4); the horizontal movement of the trolley device (4) drives the horizontal movement of the entire robot body device (1) on the steel structure, the vertical movement of the thin steel cable (2) is driven by starting the winch connecting device (3), and the vertical movement of the thin steel cable (2) at the same horizontal position on the steel structure is driven by the vertical movement of the thin steel cable (2).

2. A steel structure touch-up paint robot according to claim 1, characterized in that: The robot body device comprises a precise vertical moving device (6), a first flipping device (7) and a second flipping device (10) having the same structure are symmetrically arranged on both sides of the precise vertical moving device (6), an upper electromagnetic adsorption device (5) and a lower electromagnetic adsorption device (8) having the same structure are symmetrically arranged on both sides of the precise vertical moving device (6), and a painting device (9) and a visual detection device (11) are arranged on the precise vertical moving device (6).

3. A steel structure touch-up paint robot according to claim 2, characterized in that: The precise vertical movement device (6) comprises a robot upper shell (12), a robot middle shell (15), a robot lower shell (20) and a first drive mechanism and a second drive mechanism which are symmetrically arranged. The first drive mechanism and the second drive mechanism have the same structure. The first drive mechanism comprises a first stepper motor (19), a first coupling (18), a first motor transmission seat (17), a first nut seat (16), a first trapezoidal screw (14), a first screw support seat (13) and a lifting ring (21). The first stepper motor (19), the first coupling (18) and the first motor transmission seat (17) are fixed to the outside of the robot lower shell (20); the first nut seat (16) is arranged on the outside of the robot middle shell (15), the first screw support seat (13) is fixed to the outside of the robot upper shell (12), and the lifting ring (21) is fixedly installed at the top middle of the robot upper shell (12).

4. A steel structure touch-up paint robot according to claim 3, characterized in that: The upper electromagnetic adsorption device (5) is fixed to the inner side of the upper shell (12) of the robot, and the lower electromagnetic adsorption device (8) is fixed to the inner side of the lower shell (20) of the robot.

5. A steel structure touch-up paint robot according to claim 4, characterized in that: The upper electromagnetic adsorption device (5) and the lower electromagnetic adsorption device (8) both comprise a telescopic hydraulic cylinder (27) and a first electromagnetic suction cup (28); the telescopic hydraulic cylinder (27) is respectively fixed to the inner side of the robot upper shell (12) and the inner side of the robot lower shell (20), and the first electromagnetic suction cup (28) is fixed to the front side of the telescopic hydraulic cylinder (27).

6. A steel structure touch-up paint robot according to claim 2, characterized in that: The first flipping device (7) and the second flipping device (10) both comprise a first support frame (29), a first hydraulic cylinder (30), a first bogie (31), a second support frame (32), a second bogie (33), a second electromagnetic suction cup (34), a third support frame (35), a second hydraulic cylinder (36), a fourth support frame (37) and a support platform (38); the support platform (38) is fixed to the outer wall of the robot middle shell (15), and the front side of the first bogie (31) is fixed to the support platform (38) by bolt connection. The front side of the second support frame (32) is fixed to the rear side of the first bogie (31) by bolts; the second electromagnetic suction cup (34) is fixed to the rear side of the second support frame (32) by bolt connection; the front side of the first hydraulic cylinder (30) is fixed to the outside of the robot middle shell (15), and the rear side of the first hydraulic cylinder (30) is fixed to the rear side of the first bogie (31) by bolts; the front side of the second hydraulic cylinder (36) is fixed to the front side of the first bogie (31) by bolts, and the rear side of the second hydraulic cylinder (36) is fixed to the rear side of the second bogie (33) by bolts.

7. A steel structure touch-up paint robot according to claim 2, characterized in that: The paint spraying device (9) comprises a first paint spraying pipeline (39), a first electromagnetic reversing valve (40), a second electromagnetic reversing valve (41), a second paint spraying pipeline (42), a third electromagnetic reversing valve (43), a third paint spraying pipeline (44), an air pump (45) and an air storage tank (46) fixed to the bottom of the outer side of the robot middle shell (15); the rear end of the first paint spraying pipeline (39) is fixed above the air storage tank (46), and the front end of the first paint spraying pipeline (39) passes through the outer side of the robot middle shell (15) and extends to the robot middle shell (15). The inner side is connected to the spray head; the rear end of the second paint spray pipe (42) is fixed to the left side of the gas storage tank (46), and the front end of the second paint spray pipe (42) passes through the left side of the robot middle shell (15) and is connected to the spray head; the rear end of the third paint spray pipe (44) is fixed to the right side of the gas storage tank (46), and the front end of the third paint spray pipe (44) passes through the right side of the robot middle shell (15) and is connected to the spray head; the air pump (45) is fixed above the gas storage tank (46), and the gas storage tank (46) is divided into two spaces, one part stores air, and the other part stores paint liquid separated by a partition.

8. A method for using a steel structure touch-up paint robot, characterized in that: A steel structure touch-up paint robot according to any one of claims 1 to 7 is used, comprising the following steps: controlling the touch-up paint robot body device (1) to approach the working surface of the steel structure to be touch-up paint by moving a winch connection device (3) and a trolley device (4), accurately measuring the relative position of the spray head from the working surface by a visual detection device (11), and accurately controlling the robot body device (1) to align with the concave surface of the steel structure by a control module; at this time, the hydraulic cylinders on the robot upper shell (12) and the robot lower shell (20) are extended to ensure that the upper electromagnetic adsorption device (5) and the lower electromagnetic adsorption device (8) on the hydraulic cylinder can be adsorbed to the concave surface of the steel structure; the robot middle shell (15) can be accurately positioned in the vertical direction by controlling the ball screw module; at this time, spraying paint through the second paint spraying pipe (42) can cover the position to be touch-up paint on the concave surface of the steel structure; the first paint spraying pipe (39) and the third paint spraying pipe (44) can be controlled to spray paint to cover the touch-up paint positions on the left and right sides of the concave surface of the steel structure by extending and retracting the upper shell and the lower shell hydraulic cylinders.

9. The method for using a steel structure touch-up paint robot according to claim 8, characterized in that: The following steps are also included: When the painting robot needs to be flipped over to the back side for operation, the upper electromagnetic adsorption device (5) and the lower electromagnetic adsorption device (8) on the upper shell (12) and the lower shell (20) of the robot are released; a thin steel cable (2) is fixed to the lifting ring to ensure that it will not fall in the vertical direction; the second electromagnetic suction cup (34) on the second flipping device (10) is controlled to be adsorbed to the left outer side of the steel structure, and the movement of the first bogie (31) and the second bogie (33) is controlled by controlling the extension of the first hydraulic cylinder (30) and the second hydraulic cylinder (36) on the first flipping device (7), so as to bring the first flipping device (7) close to the right outer side of the steel structure and move the first flipping device (7) to the right outer side of the steel structure. The second electromagnetic suction cup (34) on the device (7) is opened, and the second electromagnetic suction cup (34) on the second flipping device (10) is closed; since the second electromagnetic suction cup (34) on the first flipping device (7) is in an adsorption state at this moment, the first hydraulic cylinder (30) and the second hydraulic cylinder (36) on the second flipping device (10) are retracted, and since the first flipping device (7) is fixed, equivalent to a fixed point, the second flipping device (10) can be driven to move toward the right outer side of the steel structure, and the purpose of flipping can be achieved by slowly moving toward the right outer side of the steel structure multiple times; when flipping to the back side of the steel structure, it is positioned at the point to be painted, and the spray head is controlled to perform the painting operation.

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