A magnetic wall-climbing spraying robot and a spraying method thereof

Abstract

The invention relates to the technical field of wall-climbing robots, and discloses a magnetic wall-climbing spraying robot and a spraying method thereof. The robot comprises: a carrier frame, on which a controller, a power supply assembly and an electromagnet assembly are fixedly mounted, and the robot is adsorbed on a hull through the electromagnet assembly. The invention enables an abutment plate to abut against a straight rod through a spring, and pushes the straight rod to allow an auxiliary wheel to always abut against the hull. The auxiliary wheel rolls as the entire device moves, and the auxiliary wheel reaches a curved surface section of the hull before the electromagnet assembly. The sliding of the straight rod on the carrier frame allows the auxiliary wheel to always abut against the hull, and a displacement sensor is used to monitor the displacement of the straight rod. When the displacement of the straight rod exceeds a threshold value, it indicates that the carrier frame is about to enter the curved surface section on the hull. The controller increases the output current of the electromagnet assembly through the power supply assembly, thereby increasing the suction force between the electromagnet assembly and the hull, and avoiding the risk of unstable adsorption caused by an increase in the distance between the electromagnet assembly and the hull in the curved surface section.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a magnetic wall-climbing spraying robot and a spraying method thereof. Background Art

[0002] Magnetic wall-climbing robots play a vital role in the outer wall spraying of hulls. They are firmly attached to the surface of the hull through strong magnetic force and can move freely on vertical or inclined walls to complete painting tasks. This type of robot not only improves the spraying efficiency and reduces labor intensity, but also improves the spraying quality.

[0003] At this stage, the ship outer wall painting robot can meet the painting operations on the flat surface of the hull outer plate, but it cannot complete the painting operations on the complex curved surface of the hull, and workers are still required to spray manually. The main reason is to ensure that the robot can be adsorbed on the hull for spraying operations. The volume of the electromagnet must be large enough, usually larger than the walking wheel, so that sufficient suction can be generated to allow the walking wheel to abut against the hull, and this will cause the electromagnet to enter the curved surface section of the hull before the walking wheel. This will increase the distance between the electromagnet and the curved surface section, which will cause the suction force to decrease, thereby affecting the stability of the robot walking on the curved surface section. The robot is located on the flat surface of the hull, and the distance between the electromagnet and the hull is constant, and the adsorption force is constant. Based on this, the present invention purposely provides a magnetic wall-climbing spraying robot and a spraying method thereof, which can ensure that the electromagnet generates sufficient suction to maintain stable walking when the robot passes through the curved surface section of the hull. Summary of the invention

[0004] The purpose of the present invention is to provide a magnetic wall-climbing spraying robot and a spraying method thereof in view of the deficiencies in the prior art, so as to solve the technical problems in the prior art.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A magnetic wall-climbing spraying robot, comprising:

[0007] A carrier frame, on which a controller, a power supply assembly and an electromagnet assembly are fixedly mounted, and the carrier frame is adsorbed on the hull through the electromagnet assembly, the carrier frame is provided with two symmetrically arranged main connecting frames, each of which is provided with a connecting block connected to the carrier frame at both ends, and each of the main connecting frames is rotatably provided with a working wheel, the working wheel abuts against the hull, and is driven to rotate by a first driving source built into the main connecting frame, and there is a gap between the electromagnet assembly and the hull, the power supply assembly and the electromagnet assembly are both connected to the controller, and when the first driving source drives the working wheel to rotate, the working wheel drives the carrier frame to move on the hull;

[0008] A straight rod is slidably mounted on a carrier, and an auxiliary wheel is rotatably mounted on one end of the straight rod that passes through the carrier, the auxiliary wheel is located below the electromagnet assembly, and the auxiliary wheel is always in contact with the hull, a side of the carrier facing the hull is connected to an abutment plate through a spring, the abutment plate is coaxially arranged with the straight rod, and the abutment plate abuts on a convex block of the straight rod, a displacement sensor is arranged on the straight rod, and the displacement sensor is connected to a controller;

[0009] The spraying assembly is arranged on the carrier and is used for spraying the hull. The spraying assembly is connected with the controller.

[0010] Preferably, the main connecting frame is slidably mounted on the connecting block, and is driven to move by a first output source built into the connecting block. A secondary connecting frame is slidably mounted on each connecting block, and a steering wheel is rotatably mounted on the secondary connecting frame, and is driven to move by a second output source built into the connecting block. The steering wheel is rotated by a second driving source built into the secondary connecting frame, and the moving directions of the main connecting frame and the secondary connecting frame are both perpendicular to the hull.

[0011] Preferably, the connecting block is rotatably mounted on the supporting frame, and is driven to rotate by a third driving source built into the supporting frame.

[0012] Preferably, the spraying assembly includes a rotating table, a robotic arm, a spraying frame, a spray head and a liquid storage tank. The rotating table is rotatably mounted on a supporting frame, the robotic arm is fixedly mounted on the rotating table, the spraying frame is arranged at the movable end of the robotic arm, and a plurality of spray heads are fixedly mounted on the spraying frame at equal intervals, and the spray head nozzles face the hull. The liquid storage tank is fixedly mounted on the supporting frame, and is connected to the spray head through an infusion assembly.

[0013] Preferably, the spraying assembly also includes an image recognition assembly. The spraying frame is rotatably mounted on the movable end of the robotic arm, and is driven to rotate by a fourth driving source. The image recognition assembly is fixedly mounted on the spraying frame, and is used to capture images of the spray head and the hull, and is connected to the fourth driving source and the robotic arm.

[0014] Preferably, a sliding groove is provided on the straight rod, and a hollow gear and a transmission gear are rotatably installed on the carrier frame, the hollow gear is meshed with the transmission gear, the straight rod is coaxially arranged with the hollow gear, and it passes through the hollow gear, a fixing plate is fixedly installed in the hollow gear, the fixing plate is slidably connected to the sliding groove, and the transmission gear is driven to rotate by a fifth driving source, and the fifth driving source is connected to the second output source.

[0015] Preferably, a plurality of circumferentially arranged steel balls are rotatably mounted on the abutting surface between the abutting plate and the straight rod, and the steel balls abut against the straight rod.

[0016] A spraying method for a magnetic wall-climbing spraying robot, the method is applied to a magnetic wall-climbing spraying robot as described above, the method comprising the following steps:

[0017] Step S1: Place the carrier frame above the hull, ensure that the working wheel abuts against the hull, and then energize the electromagnet assembly through the power supply assembly. At this time, the suction force generated between the electromagnet assembly and the hull will make the working wheel tightly abut against the hull, and there will be a gap between the electromagnet assembly and the hull;

[0018] Step S2: starting the first driving source to drive the working wheels to rotate, so that the whole device moves from top to bottom on the hull, and during this period, the spraying component sprays the area on the hull that it passes through;

[0019] Step S3: Because the abutment plate pushes the straight rod to move toward the hull under the elastic force of the spring, the auxiliary wheel is always in abutment against the hull. When the whole device moves, the auxiliary wheel rolls on the hull;

[0020] Step S4: When the working wheel is about to move to the upper curved surface of the hull, since the auxiliary wheel is located below the electromagnet assembly, the auxiliary wheel will first move to the upper curved surface of the hull. At this time, the straight rod will move on the carrier to ensure that the auxiliary wheel is always in contact with the hull. When the displacement of the straight rod exceeds the threshold of the displacement sensor, the controller increases the current output to the electromagnet assembly through the power supply assembly to improve the adsorption force of the electromagnet assembly, so that the entire device can pass through the upper curved surface section of the hull;

[0021] Step S5: When the working wheel safely passes the curved surface position on the hull, the support frame and the hull are in parallel state, and the displacement of the straight rod is restored to within the displacement sensor threshold, thereby restoring the current output of the power supply component and restoring the adsorption force of the electromagnet component.

[0022] Beneficial effects of the present invention:

[0023] 1. In the present invention, the abutment plate abuts against the straight rod through the elastic force of the spring, and the straight rod is pushed to make the auxiliary wheel always abut against the hull. The auxiliary wheel will roll as the entire device moves. At this time, the auxiliary wheel can be used as an auxiliary support point to help the entire device remain stable on the hull, and the auxiliary wheel reaches the curved section of the hull before the electromagnet assembly. The auxiliary wheel is always abutted against the hull through the sliding of the straight rod on the carrier, and the displacement sensor is used to monitor the displacement of the straight rod. When the displacement of the straight rod exceeds the threshold, it indicates that the carrier is about to enter the curved section on the hull, so that the controller increases the output current of the electromagnet assembly through the power supply assembly, strengthens the magnetic field generated by the electromagnet assembly, thereby increasing the suction force between the electromagnet assembly and the hull, and avoiding the risk of unstable adsorption caused by the increase in the distance between the electromagnet assembly and the hull in the curved section;

[0024] 2. In the present invention, the setting of the threshold of the displacement sensor is determined by the specific curvature of the curved surface section of the hull, ensuring that the current output of the power supply component is increased only when the curved surface section is sufficient to affect the suction of the electromagnet component, thereby ensuring the accuracy of the control of the suction of the electromagnet component;

[0025] 3. In the present invention, the auxiliary connecting frame is driven to move toward the hull by the second output source, so that the steering wheel abuts against the hull, and then the main connecting frame is driven away from the hull by the first output source, so that the working wheel is away from the hull, and then the second driving source drives the steering wheel to rotate, thereby driving the supporting frame to move laterally on the hull, thereby moving the entire device to the unsprayed area, and then returning to the state where the working wheel abuts against the hull and the steering wheel is away from the hull, so that the new area can be sprayed from top to bottom, and such a cycle can make the spraying assembly cover the entire surface of the hull, thereby improving the efficiency of automatic spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the whole device of the present invention being adsorbed on the hull;

[0029] Figure 3 It is a structural schematic diagram of the bottom of the carrier frame in the present invention;

[0030] Figure 4 It is a schematic diagram of the connection structure between the carrier frame and the connection block in the present invention;

[0031] Figure 5 It is a structural schematic diagram of the carrier frame in the present invention;

[0032] Figure 6 It is a schematic diagram of the connection structure between the carrier frame and the straight rod in the present invention;

[0033] Figure 7 It is a schematic diagram of the overall device of the present invention at the flat part of the hull;

[0034] Figure 8 It is a schematic diagram of the overall device of the present invention at the curved surface of the hull;

[0035] Fig. 9 This is a schematic diagram of the abutment between the steering wheel and the hull in the present invention;

[0036] Fig.10 It is a schematic diagram of the overall device of the present invention at the curved surface of the hull.

[0037] In the figure: 1, carrier frame; 101, power supply assembly; 2, electromagnet assembly; 3, main connecting frame; 4, working wheel; 5, rotating table; 6, mechanical arm; 7, spray frame; 8, spray head; 9, liquid storage tank; 10, image recognition assembly; 11, auxiliary wheel; 12, straight rod; 13, abutment plate; 14, spring; 15, hull; 16, connecting block; 17, auxiliary connecting frame; 18, steering wheel; 19, slideway; 20, hollow gear; 21, fixing plate; 22, transmission gear. DETAILED DESCRIPTION

[0038] 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.

[0039] See also Figure 1-Figure 10 As shown, the present invention is a magnetic wall-climbing spraying robot, comprising:

[0040] A carrier frame 1 is fixedly mounted with a controller, a power supply assembly 101 and an electromagnet assembly 2, and is adsorbed on the hull 15 through the electromagnet assembly 2. Two symmetrically arranged main connecting frames 3 are provided on the carrier frame 1. A connecting block 16 connected to the carrier frame 1 is provided at both ends of each main connecting frame 3, and a working wheel 4 is rotatably mounted on each main connecting frame 3. The working wheel 4 abuts against the hull 15 and is driven to rotate by a first driving source built into the main connecting frame 3. There is a gap between the electromagnet assembly 2 and the hull 15. The power supply assembly 101 and the electromagnet assembly 2 are both connected to the controller. When the first driving source drives the working wheel 4 to rotate, the working wheel 4 drives the carrier frame 1 to move on the hull 15.

[0041] The straight rod 12 is slidably mounted on the carrier frame 1, and an auxiliary wheel 11 is rotatably mounted on one end of the straight rod 1 that passes through the carrier frame 1. The auxiliary wheel 11 is located below the working wheel 4, and the auxiliary wheel 11 is always in contact with the hull 15. The side of the carrier frame 1 facing the hull 15 is connected to an abutment plate 13 through a spring 14. The abutment plate 13 is coaxially arranged with the straight rod 12, and the abutment plate 13 abuts on the protrusion of the straight rod 12. A displacement sensor is provided on the straight rod 12, and the displacement sensor is connected to the controller.

[0042] The spraying assembly is arranged on the carrier 1 and is used for spraying the hull 15 . The spraying assembly is connected to the controller.

[0043] In one case of this embodiment, the first driving source may be a servo motor, a servo motor or other components, or other mechanisms capable of realizing rotational motion, which are not specifically limited in this embodiment; it should be noted that the controller, power supply assembly 101, electromagnet assembly 2, displacement sensor, etc. described in the present invention are prior arts, and the present invention does not improve them. Therefore, there is no need to disclose their specific mechanical structure and circuit structure, which does not affect the integrity of the present invention.

[0044] The working principle of the present invention is as follows: first, ensure that the spraying component sprays the hull 15 from top to bottom. During operation, the carrier 1 outputs current to the electromagnet component 2 through the power supply component 101, so that the electromagnet component 2 generates a magnetic field, and then generates suction with the hull 15, so that the carrier 1 can be adsorbed on the hull 15. At this time, the working wheel 4 will be tightly in contact with the hull 15. When the first driving source drives the working wheel 4 to rotate, the working wheel 4 will roll on the hull 15, thereby driving the carrier 1 to move up and down, during which the spraying operation can be completed by the spraying component.

[0045] like Figure 2 As shown in the figure, the hull 15 is special in that there is a distinct curved surface section between its upper and lower parts. Figure 7 As shown in the figure, when the carrier 1 is located at the upper and lower parts of the hull 15, the carrier 1 is parallel to the hull 15 itself. At this time, the distance between the electromagnet assembly 2 and the hull 15 is constant, and the suction force between the two is stable. Figure 8 Taking the example shown, when the carrier 1 passes through the curved section, when the working wheels 4 have not yet reached the curved section of the hull 15, the distance between part of the electromagnet assembly 2 and the hull 15 has increased, which will inevitably lead to a weakening of the suction force. Only when the working wheels 4 reach the curved section of the hull 15 will the angle of the entire carrier 1 change. At this time, the distance between the electromagnet assembly 2 and the curved section of the hull 15 will be close to the original constant distance again, thereby restoring the original suction force.

[0046] A straight rod 12 and an auxiliary wheel 11 are added to the carrier 1. The elastic force of the spring 14 makes the abutment plate 13 abut against the straight rod 12, and the straight rod 12 is pushed to make the auxiliary wheel 11 always abut against the hull 15. The auxiliary wheel 11 will roll with the movement of the entire device. At this time, the auxiliary wheel 11 can be used as an auxiliary support point to help the entire device remain stable on the hull 15. The auxiliary wheel 11 is located below the electromagnet assembly 2, which means that during the spraying operation from top to bottom, the auxiliary wheel 11 always reaches the curved surface section of the hull 15 before the electromagnet assembly 2. Figure 7 and Figure 8Taking the example shown, the auxiliary wheel 11 is always in contact with the hull 15 by sliding the straight rod 12 on the carrier 1, and the displacement sensor is used to monitor the displacement of the straight rod 12. When the displacement of the straight rod 12 exceeds the threshold, it indicates that the electromagnet assembly 2 is about to enter the curved surface section of the hull 15, so that the controller increases the output current of the electromagnet assembly 2 through the power supply assembly 101, strengthens the magnetic field generated by the electromagnet assembly 2, thereby improving the suction force between the electromagnet assembly 2 and the hull 15, and avoiding the risk of unstable adsorption caused by the increase in the distance between the electromagnet assembly 2 and the hull 15 in the curved surface section.

[0047] The setting of the threshold of the displacement sensor is determined by the specific curvature of the curved surface section of the hull 15. In this way, when the working wheels 4 move on the upper and lower parts of the hull 15 and encounter a curved surface with a smaller amplitude, as long as the threshold is not exceeded, it means that the distance between the electromagnet assembly 2 and the hull 15 will not be too large when passing through the curved surface section, and the influence on the suction force is small. Therefore, there is no need to increase the current output through the power supply assembly 101, which ensures that the current output of the power supply assembly 101 will be increased only when passing through a curved surface section that is sufficient to affect the suction force of the electromagnet assembly 2, thereby ensuring the accuracy of the suction control of the electromagnet assembly 2.

[0048] like Figure 1-Figure 9 As shown, as a preferred embodiment of the present invention, the main connecting frame 3 is slidably mounted on the connecting block 16, and is driven to move by the first output source built into the connecting block 16, and a sub-connecting frame 17 is slidably mounted on each connecting block 16, and a steering wheel 18 is rotatably mounted on the sub-connecting frame 17, and is driven to move by the second output source built into the connecting block 16, and the steering wheel 18 is driven to rotate by the second driving source built into the sub-connecting frame 17, and the moving directions of the main connecting frame 3 and the sub-connecting frame 17 are perpendicular to the hull 15.

[0049] In one case of this embodiment, the second driving source can be a servo motor, a servo motor and other components, and other mechanisms that can achieve rotational motion can also be selected. The first output source and the second output source can both be electric telescopic rods, reciprocating screw rod assemblies driven by motors and other components, and other mechanisms that can achieve linear reciprocating motion can also be selected. This embodiment does not make specific limitations here.

[0050] In actual application of this embodiment, when the working wheel 4 abuts against the hull 15, the carrier frame 1 can be driven to move from top to bottom. At this time, the spraying assembly follows the principle of spraying from top to bottom on the hull 15. After the spraying of the area is completed, the auxiliary connecting frame 17 is first driven by the second output source to move toward the hull 15, so that the steering wheel 18 abuts against the hull 15, and then the main connecting frame 3 is driven by the first output source to move away from the hull 15, so that the working wheel 4 is away from the hull 15. At this time, Fig. 9As shown in the example, the second driving source then drives the steering wheel 18 to rotate, thereby driving the carrier 1 to move laterally on the hull 15, thereby moving the entire device to the unsprayed area, and then returns to the state where the working wheel 4 abuts against the hull 15 and the steering wheel 18 is away from the hull 15, so that the new area can be sprayed from top to bottom, and such a cycle can enable the spraying assembly to cover the entire surface of the hull 15, thereby improving the efficiency of automatic spraying.

[0051] like Figure 1-Figure 10 As shown, as a preferred embodiment of the present invention, the connecting block 16 is rotatably mounted on the supporting frame 1, and is driven to rotate by a third driving source built into the supporting frame 1.

[0052] In one case of this embodiment, the third driving source may be a servo motor, a servo motor or other components, or other mechanisms capable of achieving rotational motion, which is not specifically limited in this embodiment.

[0053] In actual application of this embodiment, in the actual spraying process, the working wheel 4 needs to move on the surface of the entire hull 15, and the entire surface of the hull 15 not only has a curved surface segment from the upper part to the lower part, but also a curved surface segment at the transition connection between the bow, hull and stern, such as Fig.10 As shown in the figure, the connecting block 16 is driven to rotate by the third driving source, so that when the working wheel 4 abuts against the hull 15, the two can make the angle closest to vertical, thereby ensuring that the contact area between the two is maximized, ensuring the friction during walking, and avoiding the curved surface segment causing the side of the working wheel 4 to tilt up, thereby reducing the contact area with the hull 15.

[0054] like Figure 1-Figure 3 As shown, as a preferred embodiment of the present invention, the spraying assembly includes a rotating table 5, a mechanical arm 6, a spraying frame 7, a spray head 8 and a liquid storage tank 9. The rotating table 5 is rotatably mounted on the supporting frame 1, the mechanical arm 6 is fixedly mounted on the rotating table 5, the spraying frame 7 is arranged at the movable end of the mechanical arm 6, and a plurality of spray heads 8 are fixedly mounted on the spraying frame 7 at equal intervals, and the nozzles of the spray heads 8 face the hull 15. The liquid storage tank 9 is fixedly mounted on the supporting frame 1, and is connected to the spray head 8 through the infusion assembly.

[0055] In one case of this embodiment, the infusion assembly includes a power pump, a connecting hose, etc., and the rotating table 5 is fixedly connected to the output shaft of the servo motor built into the supporting frame 1.

[0056] In actual application of this embodiment, the paint is transported to the spray head 8 through the liquid storage tank 9, and then the paint can be sprayed onto the hull 15 through the spray head 8. Then, by rotating the rotating table 5 and controlling the position of the spray frame 7 with the mechanical arm 6, the spray head 8 can be controlled to spray the entire area where the working wheel 4 passes, thereby ensuring the coverage rate of the spray.

[0057] like Figure 1-Figure 8 As shown, as a preferred embodiment of the present invention, the spraying assembly also includes an image recognition assembly 10, the spraying frame 7 is rotatably mounted on the movable end of the robotic arm 6, and it is driven to rotate by a fourth driving source, the image recognition assembly 10 is fixedly mounted on the spraying frame 7, and is used to capture the image of the nozzle of the spray head 8 and the hull 15, and it is connected to the fourth driving source and the robotic arm 6.

[0058] In one case of this embodiment, the fourth driving source can be a servo motor, a servo motor or other components, and can also be other mechanisms that can achieve rotational motion, which is not specifically limited in this embodiment; the image recognition component 10 includes a camera, an image processing module, a signal transmission module, etc.; the above components are prior art, and the present invention does not improve them. Therefore, there is no need to disclose their specific mechanical structure and circuit structure, which does not affect the integrity of the present invention.

[0059] In actual application of this embodiment, when the carrier 1 and the hull 15 are parallel, the angle of the spray rack 7 remains unchanged. At this time, the image captured by the image recognition component 10 shows that the distance between the nozzle of the spray head 8 and the hull 15 is constant, and the spraying effect is also consistent. When the working wheel 4 moves to the curved section, the angle of the carrier 1 will change. At this time, the spray rack 7 will become slightly tilted. In the image captured by the image recognition component 10, it can be observed that the distance between the nozzle of the spray head 8 and the hull 15 increases, which will cause inconsistent spraying effect. At this time, the image recognition component 10 drives the spray rack 7 to rotate through the fourth driving source and controls the position of the spray rack 7 through the mechanical arm 6 to ensure that the nozzle of the spray head 8 always maintains a constant distance from the hull 15.

[0060] like Figure 3-Figure 6 As shown, as a preferred embodiment of the present invention, a slide groove 19 is opened on the straight rod 12, and a hollow gear 20 and a transmission gear 22 are rotatably installed on the carrier frame 1, the hollow gear 20 is meshed with the transmission gear 22, the straight rod 12 is coaxially arranged with the hollow gear 20, and it passes through the hollow gear 20, a fixing plate 21 is fixedly installed in the hollow gear 20, the fixing plate 21 is slidably connected with the slide groove 19, and the transmission gear 22 is driven to rotate by the fifth driving source, and the fifth driving source is connected to the second output source.

[0061] In one case of this embodiment, the fifth driving source may be a servo motor, a servo motor or other components, or other mechanisms capable of achieving rotational motion, which is not specifically limited in this embodiment.

[0062] In actual application of this embodiment, since the abutment plate 13 and the straight rod 12 are in abutment relationship, the straight rod 12 can rotate on the carrier 1. When the carrier 1 moves from top to bottom, the rolling direction of the auxiliary wheel 11 remains the same as that of the working wheel 4. When the carrier 1 needs to move laterally to change the spraying area, the second output source will control the sub-connecting frame 17 to move toward the hull 15, so that the steering wheel 18 abuts against the hull 15. At the same time, the fifth driving source will also be controlled to drive the transmission gear 22 to rotate. Since the transmission gear 22 is meshed with the hollow gear 20, the hollow gear 20 will rotate, and the hollow gear 20 will drive the slide groove 19 to rotate, thereby driving the straight rod 12 to rotate, so as to change the rolling direction of the auxiliary wheel 11 to be consistent with the steering wheel 18, so as to play a role of auxiliary support for the carrier 1 when it moves laterally.

[0063] like Figure 1-Figure 10 As shown, as a preferred embodiment of the present invention, a plurality of circumferentially arranged steel balls are rotatably mounted on the abutting surface of the abutting plate 13 and the straight rod 12 , and the steel balls abut against the straight rod 12 .

[0064] In actual application of this embodiment, the friction between the straight rod 12 and the abutment plate 13 can be reduced by adding the steel balls, so that the resistance encountered by the straight rod 12 when it rotates and changes direction is reduced.

[0065] See also Figure 1-Figure 10 As shown, the present invention is a spraying method of a magnetic wall-climbing spraying robot, the method is applied to a magnetic wall-climbing spraying robot as in the above embodiment, and the method comprises the following steps:

[0066] Step S1: Place the carrier 1 above the hull 15, ensure that the working wheel 4 abuts against the hull 15, and then energize the electromagnet assembly 2 through the power supply assembly 101. At this time, the suction force generated between the electromagnet assembly 2 and the hull 15 will make the working wheel 4 tightly abut against the hull 15, and there will be a gap between the electromagnet assembly 2 and the hull 15;

[0067] Step S2: Start the first driving source to drive the working wheel 4 to rotate, so that the whole device moves from top to bottom on the hull 15, and during this period, the spraying component sprays the area on the hull 15 that it passes through;

[0068] Step S3: Since the abutment plate 13 pushes the straight rod 12 to move toward the hull 15 under the elastic force of the spring 14, the auxiliary wheel 11 always abuts against the hull 15. When the whole device moves, the auxiliary wheel 11 rolls on the hull 15;

[0069] Step S4: When the working wheel 4 is about to move to the upper curved surface position of the hull 15, since the auxiliary wheel 11 is located below the electromagnet assembly 2, the auxiliary wheel 11 will first move to the upper curved surface position of the hull 15. At this time, the straight rod 12 will move on the carrier 1 to ensure that the auxiliary wheel 11 is always in contact with the hull 15. When the displacement of the straight rod 12 exceeds the displacement sensor threshold, the controller increases the current output to the electromagnet assembly 2 through the power supply assembly 101 to improve the adsorption force of the electromagnet assembly 2, so that the entire device can pass through the upper curved surface position of the hull 15;

[0070] Step S5: When the working wheel 4 safely passes the curved surface position on the hull 15, the carrier frame 1 and the hull 15 form a parallel state, and the displacement of the straight rod 12 is restored to within the displacement sensor threshold, thereby restoring the current output of the power supply component 101 and restoring the adsorption force of the electromagnet component 2.

[0071] 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 magnetic wall-climbing spraying robot, characterized in that: include: A carrier (1) on which a controller, a power supply assembly (101) and an electromagnet assembly (2) are fixedly mounted, and the carrier (15) is adsorbed on the hull (15) through the electromagnet assembly (2); the carrier (1) is provided with two symmetrically arranged main connecting frames (3); each of the two ends of the main connecting frame (3) is provided with a connecting block (16) connected to the carrier (1); each of the main connecting frames (3) is rotatably mounted with a working wheel (4); the working wheel (4) abuts against the hull (15) and is driven to rotate by a first driving source built into the main connecting frame (3); a gap is provided between the electromagnet assembly (2) and the hull (15); the power supply assembly (101) and the electromagnet assembly (2) are both connected to the controller; when the first driving source drives the working wheel (4) to rotate, the working wheel (4) drives the carrier (1) to move on the hull (15); A straight rod (12) is slidably mounted on the carrier (1), and an auxiliary wheel (11) is rotatably mounted on one end of the straight rod (1) that passes through the carrier (1), the auxiliary wheel (11) being located below the electromagnet assembly (2), and the auxiliary wheel (11) is always in contact with the hull (15), a side of the carrier (1) facing the hull (15) is connected to an abutment plate (13) via a spring (14), the abutment plate (13) is coaxially arranged with the straight rod (12), and the abutment plate (13) abuts against a protrusion of the straight rod (12), and a displacement sensor is provided on the straight rod (12), and the displacement sensor is connected to a controller; A spraying assembly, which is arranged on the carrier (1) and is used to spray the hull (15), and the spraying assembly is connected to a controller; The spraying assembly comprises a rotating table (5), a mechanical arm (6), a spraying frame (7), a spraying head (8) and a liquid storage tank (9); the rotating table (5) is rotatably mounted on the supporting frame (1); the mechanical arm (6) is fixedly mounted on the rotating table (5); the spraying frame (7) is arranged at the movable end of the mechanical arm (6); a plurality of spraying heads (8) are fixedly mounted on the spraying frame (7) at equal intervals, and the nozzles of the spraying heads (8) face the hull (15); the liquid storage tank (9) is fixedly mounted on the supporting frame (1), and is connected to the spraying head (8) via the infusion assembly; The auxiliary wheel (11) is always in contact with the hull (15) by sliding the straight rod (12) on the carrier (1), and the displacement sensor is used to monitor the displacement of the straight rod (12). When the displacement of the straight rod (12) exceeds a threshold value, it indicates that the electromagnet assembly (2) is about to enter the upper curved surface section of the hull (15), so that the controller increases the output current of the electromagnet assembly (2) through the power supply assembly (101), strengthens the magnetic field generated by the electromagnet assembly (2), and thus improves the suction force between the electromagnet assembly (2) and the hull (15).

2. The magnetic wall-climbing spraying robot according to claim 1, characterized in that: The main connecting frame (3) is slidably mounted on the connecting block (16) and is driven to move by a first output source built into the connecting block (16). A secondary connecting frame (17) is slidably mounted on each connecting block (16). A steering wheel (18) is rotatably mounted on the secondary connecting frame (17) and is driven to move by a second output source built into the connecting block (16). The steering wheel (18) is driven to rotate by a second driving source built into the secondary connecting frame (17). The moving directions of the main connecting frame (3) and the secondary connecting frame (17) are both perpendicular to the hull (15).

3. The magnetic wall-climbing spraying robot according to claim 1, characterized in that: The connecting block (16) is rotatably mounted on the carrier frame (1), and is driven to rotate by a third driving source built into the carrier frame (1).

4. The magnetic wall-climbing spraying robot according to claim 1, characterized in that: The spraying assembly further comprises an image recognition assembly (10); the spraying frame (7) is rotatably mounted on the movable end of the mechanical arm (6), and is driven to rotate by a fourth driving source; the image recognition assembly (10) is fixedly mounted on the spraying frame (7), and is used to capture an image of a spray head (8) and a hull (15), and is connected to the fourth driving source and the mechanical arm (6).

5. The magnetic wall-climbing spraying robot according to claim 2, characterized in that: The straight rod (12) is provided with a slide groove (19); a hollow gear (20) and a transmission gear (22) are rotatably mounted on the carrier frame (1); the hollow gear (20) is meshed with the transmission gear (22); the straight rod (12) and the hollow gear (20) are coaxially arranged and pass through the hollow gear (20); a fixing plate (21) is fixedly mounted inside the hollow gear (20); the fixing plate (21) is slidably connected to the slide groove (19); the transmission gear (22) is driven to rotate by a fifth driving source; and the fifth driving source is connected to the second output source.

6. The magnetic wall-climbing spraying robot according to claim 5, characterized in that: A plurality of circumferentially arranged steel balls are rotatably mounted on the abutting surface between the abutting plate (13) and the straight rod (12), and the steel balls abut against the straight rod (12).

7. A spraying method for a magnetic wall-climbing spraying robot, characterized in that: The method is applied to a magnetic wall-climbing spraying robot as described in any one of claims 1 to 6, and the method comprises the following steps: Step S1: placing the carrier (1) above the hull (15), ensuring that the working wheel (4) abuts against the hull (15), and then energizing the electromagnet assembly (2) through the power supply assembly (101). At this time, the suction force generated between the electromagnet assembly (2) and the hull (15) causes the working wheel (4) to abut tightly against the hull (15), and a gap exists between the electromagnet assembly (2) and the hull (15); Step S2: starting the first driving source to drive the working wheel (4) to rotate, so that the entire device moves from top to bottom on the hull (15), and during this time, the spraying component sprays the area on the hull (15) that it passes through; Step S3: Because the abutment plate (13) pushes the straight rod (12) to move toward the hull (15) under the elastic force of the spring (14), the auxiliary wheel (11) always abuts against the hull (15). When the entire device is moving, the auxiliary wheel (11) rolls on the hull (15); Step S4: When the working wheel (4) is about to move to the upper curved surface position of the hull (15), since the auxiliary wheel (11) is located below the electromagnet assembly (2), the auxiliary wheel (11) will first move to the upper curved surface position of the hull (15). At this time, the straight rod (12) will move on the carrier (1) to ensure that the auxiliary wheel (11) always abuts against the hull (15). When the displacement of the straight rod (12) exceeds the threshold value of the displacement sensor, the controller increases the current output to the electromagnet assembly (2) through the power supply assembly (101), thereby increasing the adsorption force of the electromagnet assembly (2), so that the entire device can pass through the upper curved surface position of the hull (15); Step S5: When the working wheel (4) safely passes the upper curved surface of the hull (15), the support frame (1) and the hull (15) are in a parallel state, and the displacement of the straight rod (12) is restored to within the displacement sensor threshold, thereby restoring the current output of the power supply component (101) and restoring the adsorption force of the electromagnet component (2).

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