Wall-climbing painting robot

Abstract

The application provides a wall-climbing coating robot, which comprises a chassis, a position adjusting component, a spraying assembly, a suction component and a steering component. The simple structure of the chassis can reduce the weight of the robot, thereby improving the safety and stability of the robot wall-climbing. The position adjusting component is arranged on the frame and drives the spraying assembly to move in a certain area, thereby improving the spraying precision. The suction component is arranged on the frame and ensures that the robot is safely and stably adsorbed on the ship wall. The steering component is arranged on the frame and controls the angle of the frame, thereby adjusting the angle of the driving wheel assembly and the driven wheel assembly. The steering flexibility of the robot is greatly improved, the robot has good self-adaptability to the curved surface with height difference, the spraying efficiency and the service life of the tire of the robot are greatly improved, and the problems of low control precision, difficult steering, high maintenance cost and poor curved surface self-adaptability in the prior art are effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of ship exterior surface painting technology, and specifically relates to a wall-climbing painting robot. Background Technology

[0002] With the continuous development of economic globalization, the shipbuilding industries of various countries are increasingly exchanging ideas. Hull painting, as a crucial production link in shipbuilding and maintenance, has a significant impact on the lifespan of the hull. However, traditional manual painting methods are not only inefficient but also pose significant safety hazards. The manual painting process is often affected by environmental factors, leading to unstable coating quality, which in turn affects the ship's corrosion resistance and service life. To better adapt to industry development, the application of robotic automation technology in shipbuilding is gradually increasing. Among them, hull painting robots, due to their high efficiency, precision, and repeatability, have become a trend in industry development. Using robots for ship hull painting can not only significantly improve work efficiency but also reduce labor costs and material waste, while improving coating quality, ensuring uniform coating and good adhesion on the hull surface.

[0003] Most existing painting robots use four-wheel drive for wall-climbing, which significantly increases the robot's weight and complicates its structure. This is especially true when turning, as the robot relies on controlling four motors to generate differential speeds. This method requires high control precision, causes significant tire wear, and results in high maintenance costs. Furthermore, since ships often have uneven surfaces, most existing robots, being rigid structures, cannot adapt well to surfaces with varying elevations, greatly impacting painting efficiency. Summary of the Invention

[0004] This invention provides a wall-climbing painting robot that reduces the robot's weight and control difficulty, greatly increases the robot's turning flexibility, improves painting efficiency, and extends its service life.

[0005] This invention provides a wall-climbing painting robot, comprising a chassis including a frame, a drive wheel assembly, and a driven wheel assembly, wherein the drive wheel assembly is disposed at one end of the frame and the driven wheel assembly is disposed at the other end of the frame; a position adjustment component is disposed on the frame; a spraying component is disposed on the position adjustment component, including a first bracket and a spraying element, wherein the first bracket is disposed on the position adjustment component and the spraying element is disposed on the first bracket; an adsorption component is disposed on the frame; a steering component is disposed on the frame; and a controller is electrically connected to the drive wheel assembly, the position adjustment component, the spraying component, and the steering component.

[0006] In some alternative embodiments, the frame includes a first support rod and a second support rod, the first support rod and the second support rod being arranged in parallel, the drive wheel assembly being disposed on the first support rod, the driven wheel assembly being disposed on the second support rod, and the steering component being connected to the first support rod and the second support rod respectively.

[0007] In some optional embodiments, the drive wheel assembly includes a first drive wheel assembly and a second drive wheel assembly, the first drive wheel assembly and the second drive wheel assembly being respectively disposed at opposite ends of the length direction of the first support rod.

[0008] In some optional embodiments, the first drive wheel assembly and the second drive wheel assembly have the same structure. The first drive wheel assembly includes a first drive component, a first reduction component, a first transformer component, a first connecting shaft, and a first drive wheel. The first drive component, the first reduction component, and the first transformer component are all disposed on the first support rod. The first drive component is connected to the first reduction component through the first transformer component, and the first reduction component is connected to the first drive wheel through the first connecting shaft.

[0009] In some optional embodiments, the driven wheel assembly includes a first driven wheel assembly and a second driven wheel assembly, the first driven wheel assembly and the second driven wheel assembly being respectively disposed at opposite ends in the length direction of the second support rod.

[0010] In some alternative embodiments, the first driven wheel assembly includes a first driven wheel and a first rotary bearing, the first rotary bearing being disposed at the end of the second support rod, and the first driven wheel being connected to the first rotary bearing.

[0011] In some optional embodiments, the steering component includes a first steering bearing, a second steering bearing, a third steering bearing, a rotating frame, and a tie rod. The first steering bearing is disposed on the second support rod, the second steering bearing is disposed on the first support rod, and the third steering bearing is disposed on the second steering bearing. The rotating frame is connected to the first steering bearing and the third steering bearing respectively. The tie rod is rotatably connected to the first support rod and the second support rod respectively. The central axes of the first steering bearing and the second steering bearing are parallel, and the central axis of the third steering bearing and the first steering bearing are perpendicular.

[0012] In some optional embodiments, a rotating component is also included, the rotating component comprising a first rotating element and a second rotating element, wherein the pull rod is connected to the first support rod via the first rotating element, and the pull rod is connected to the second support rod via the second rotating element.

[0013] In some optional embodiments, the adsorption component is a permanent magnet adsorption block, and multiple adsorption components are provided, which are evenly arranged on the vehicle frame.

[0014] In some optional embodiments, the position adjustment component includes a second bracket, a sliding rail, a first synchronous idler wheel, a second synchronous idler wheel, a third drive component, a third reduction component, and a track. The second bracket connects the sliding rail and the vehicle frame. The track is laid on the sliding rail. The first synchronous idler wheel and the second synchronous idler wheel are located at opposite ends of the sliding rail along its length. The third drive component and the third reduction component are located on the sliding rail. The third drive component is connected to the first synchronous idler wheel through the third reduction component. The slider is connected to the track and supports the first bracket.

[0015] The beneficial effects of this invention are as follows:

[0016] As can be seen from the above scheme, the embodiments of the present invention provide a wall-climbing painting robot. The wall-climbing painting robot includes a chassis, a position adjustment component, a spraying component, an adsorption component, a steering component, and a controller. The controller is electrically connected to the drive wheel assembly, the position adjustment component, the spraying component, and the steering component. The chassis includes a frame, a drive wheel assembly, and a driven wheel assembly. The drive wheel assembly is located at one end of the frame, and the driven wheel assembly is located at the other end of the frame. The frame supports the drive wheel assembly and the driven wheel assembly, which drive the frame to move. The structure is simple and can reduce the robot's weight, thereby improving the robot's safety and stability when adhering to the wall. The position adjustment component is located on the frame, and the spraying component includes a first bracket and... The spraying element has a first support mounted on the position adjustment component. The controller controls the position adjustment component to move the spraying assembly within a certain area, improving spraying accuracy. The adsorption component is mounted on the frame, ensuring the robot can safely and stably adhere to the ship's wall. The steering component is mounted on the frame, controlling the frame's angle to adjust the angles of the drive wheel assembly and driven wheel assembly, greatly increasing the robot's steering flexibility. This allows the robot to adapt well to curved surfaces with elevation differences, significantly improving spraying efficiency and tire lifespan. It effectively solves problems such as low control accuracy, difficult steering, high maintenance costs, and poor adaptability to curved surfaces in existing technologies. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of a wall-climbing painting robot from a first-person perspective, provided in an embodiment of the present invention.

[0018] Figure 2 for Figure 1A schematic diagram of the structure of a wall-climbing painting robot from a second-view perspective, according to the provided embodiment;

[0019] Figure 3 for Figure 1 A structural schematic diagram of a wall-climbing painting robot from a third-person perspective, provided in the embodiment;

[0020] Figure 4 for Figure 1 A structural schematic diagram of a wall-climbing painting robot from a fourth-person perspective, provided in the embodiment;

[0021] Figure 5 for Figure 1 A schematic diagram of the steering component in the provided embodiment.

[0022] In the diagram, 1-chassis; 11-first support rod; 12-second support rod; 13-first drive component; 14-first reduction component; 15-first transformer component; 16-first drive wheel; 17-first driven wheel; 2-position adjustment component; 21-second bracket; 22-sliding track; 23-first synchronous idler wheel; 24-third drive component; 25-third reduction component; 26-track; 27-slider; 3-painting assembly; 31-first bracket; 32-painting element; 4-adsorption component; 5-steering component; 51-first steering bearing; 52-second steering bearing; 53-third steering bearing; 54-rotating frame; 55-pull rod; 61-first rotating element; 62-second rotating element. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0024] With the continuous development of economic globalization, the shipbuilding industries of various countries are increasingly exchanging ideas. Hull painting, as a crucial production link in shipbuilding and maintenance, has a significant impact on the lifespan of the hull. However, traditional manual painting methods are not only inefficient but also pose significant safety hazards. The manual painting process is often affected by environmental factors, leading to unstable coating quality, which in turn affects the ship's corrosion resistance and service life. To better adapt to industry development, the application of robotic automation technology in shipbuilding is gradually increasing. Among them, hull painting robots, due to their high efficiency, precision, and repeatability, have become a trend in industry development. Using robots for ship hull painting can not only significantly improve work efficiency but also reduce labor costs and material waste, while improving coating quality, ensuring uniform coating and good adhesion on the hull surface.

[0025] Most existing painting robots use four-wheel drive for wall-climbing, which significantly increases the robot's weight and complicates its structure. This is especially true when turning, as the robot relies on controlling four motors to generate differential speeds. This method requires high control precision, causes significant tire wear, and results in high maintenance costs. Furthermore, since ships often have uneven surfaces, most existing robots, being rigid structures, cannot adapt well to surfaces with varying elevations, greatly impacting painting efficiency.

[0026] This invention provides a wall-climbing painting robot that reduces the robot's weight and control difficulty, greatly increases the robot's turning flexibility, improves painting efficiency, and extends its service life.

[0027] The following is in conjunction with the accompanying drawings in the instruction manual. Figures 1-5 A detailed explanation of the wall-climbing painting robot is provided.

[0028] This application provides a wall-climbing painting robot, which includes: a chassis 1, including a frame, a drive wheel assembly, and a driven wheel assembly, wherein the drive wheel assembly is disposed at one end of the frame and the driven wheel assembly is disposed at the other end of the frame; a position adjustment component 2, disposed on the frame; a spraying component 3, disposed on the position adjustment component 2, including a first support 31 and a spraying element 32, wherein the first support 31 is disposed on the position adjustment component 2 and the spraying element 32 is disposed on the first support 31; an adsorption component 4, disposed on the frame; and a steering component 5, disposed on the frame.

[0029] Specifically, the wall-climbing painting robot includes a chassis 1, a position adjustment component 2, a spraying assembly 3, an adsorption component 4, and a steering component 5. The chassis 1 includes a frame, a drive wheel assembly, and a driven wheel assembly. The drive wheel assembly is located at one end of the frame, and the driven wheel assembly is located at the other end of the frame. The frame supports the drive wheel assembly and the driven wheel assembly, which drive the frame to move. The structure is simple and can reduce the robot's weight, thereby improving the robot's safety and stability when adhering to the wall. The position adjustment component 2 is located on the frame. The spraying assembly 3 includes a first support 31 and a spraying element 32. The first support 31 is located on the position adjustment component 2, and the spraying element 32... The position adjustment component 2, mounted on the first support 31, drives the spraying component 3 to move within a certain area, improving spraying accuracy. The adsorption component 4, mounted on the frame, ensures the robot's safe and stable adsorption onto the ship's wall. The steering component 5, mounted on the frame, controls the frame's angle, thereby adjusting the angles of the drive wheel assembly and the driven wheel assembly, greatly increasing the robot's steering flexibility. This allows the robot to have better adaptability to curved surfaces with height differences, significantly improving the robot's spraying efficiency and tire lifespan. It effectively solves the problems of low control accuracy, difficult steering, high maintenance costs, and poor adaptability to curved surfaces in existing technologies.

[0030] In some alternative embodiments, the frame includes a first support rod 11 and a second support rod 12, the first support rod 11 and the second support rod 12 are arranged in parallel, the drive wheel assembly is disposed on the first support rod 11, and the driven wheel assembly is disposed on the second support rod 12.

[0031] Specifically, the active wheel assembly includes a first drive wheel assembly and a second drive wheel assembly, which are respectively located at opposite ends of the length of the first support rod 11. The driven wheel assembly includes a first driven wheel assembly and a second driven wheel assembly, which are respectively located at opposite ends of the length of the second support rod 12. The frame supports the active wheel assembly and the driven wheel assembly, which drive the frame to move. The structure is simple and can reduce the robot's weight, thereby improving the robot's safety and stability when attached to a wall. The steering component 5 is connected to the first support rod 11 and the second support rod 12. The steering component 5 controls the angle of the frame, thereby adjusting the angle of the active wheel assembly and the driven wheel assembly, greatly increasing the robot's steering flexibility. This allows the robot to have better adaptability to curved surfaces with height differences, significantly improving the robot's painting efficiency and tire lifespan, and effectively solving the problems of low control precision, difficult steering, high maintenance costs, and poor adaptability to curved surfaces in existing technologies.

[0032] In some optional embodiments, the first drive wheel assembly and the second drive wheel assembly have the same structure. The first drive wheel assembly includes a first drive component 13, a first reduction component 14, a first transformer component 15, a first connecting shaft, and a first drive wheel 16. The first drive component 13, the first reduction component 14, and the first transformer component 15 are all disposed on the first support rod 11. The first drive component 13 is connected to the first reduction component 14 through the first transformer component 15, and the first reduction component 14 is connected to the first drive wheel 16 through the first connecting shaft.

[0033] Specifically, the second drive wheel assembly includes a second drive component, a second reduction component, a second transformer component, a second connecting shaft, and a second drive wheel. The second drive component, the second reduction component, and the second transformer component are all mounted on the second support rod 12. The second drive component is connected to the second reduction component via the second transformer component, and the second reduction component is connected to the second drive wheel via the second connecting shaft. The controller is electrically connected to the first drive component 13. The controller is also electrically connected to the second drive component.

[0034] Furthermore, both the first support rod 11 and the second support rod 12 are channel steel, and they are arranged in parallel. Both the first drive component 13 and the second drive component are drive motors. Both the first reduction component 14 and the second reduction component are reducers. Both the first transformer component 15 and the second transformer component are transformers. The robot drives the transformers via two sets of drive motors, causing the reducers to rotate the first drive wheel 16 and the second drive wheel, thus enabling the robot to move forward. If turning is required while traveling to the target area, the two drive motors control the differential speed between the first drive wheel 16 and the second drive wheel, causing the two front wheels to turn due to their different turning radii. Simultaneously, the steering component 5 is used for steering. If a curved surface with a height difference is encountered, the robot body automatically adjusts the position of the first driven wheel 17 and the second driven wheel in real time via the steering component 5 until it reaches the target area.

[0035] In some optional embodiments, the first driven wheel assembly and the second driven wheel assembly have the same structure. The first driven wheel assembly includes a first driven wheel 17 and a first rotary bearing. The first rotary bearing is disposed at the end of the second support rod 12, and the first driven wheel 17 is connected to the first rotary bearing.

[0036] Specifically, the first driven wheel assembly and the second driven wheel assembly are respectively disposed at opposite ends of the second support rod 12 in the length direction. The second driven wheel assembly includes a second driven wheel and a second rotary bearing. The second rotary bearing is disposed at the end of the second support rod 12, and the second driven wheel is connected to the second rotary bearing.

[0037] In some optional embodiments, the steering component 5 includes a first steering bearing 51, a second steering bearing 52, a third steering bearing 53, a rotating frame 54, and a tie rod 55. The first steering bearing 51 is disposed on the second support rod 12, the second steering bearing 52 is disposed on the first support rod 11, and the third steering bearing 53 is disposed on the second steering bearing 52. The rotating frame 54 connects the first steering bearing 51 and the third steering bearing 53 respectively. The tie rod 55 is rotatably connected to the first support rod 11 and the second support rod 12 respectively. The central axes of the first steering bearing 51 and the second steering bearing 52 are parallel, and the central axis of the third steering bearing 53 is perpendicular to the central axis of the first steering bearing 51. The controller is electrically connected to the first steering bearing 51, the second steering bearing 52, and the third steering bearing 53 respectively.

[0038] Specifically, the central axes of the first steering bearing 51 and the second steering bearing 52 are perpendicular to the vehicle frame. The first steering bearing 51 and the second steering bearing 52 rotate around their own central axes, thereby driving the rotating frame 54 to perform planar motion parallel to the vehicle frame. The central axis of the third steering bearing 53 is perpendicular to the central axis of the first steering bearing 51, and the third steering bearing 53 drives the rotating frame 54 to rotate around its own axial direction.

[0039] In some optional embodiments, a rotating component is also included, comprising a first rotating element 61 and a second rotating element 62. The pull rod 55 is connected to the first support rod 11 via the first rotating element 61, and the pull rod 55 is connected to the second support rod 12 via the second rotating element 62.

[0040] Specifically, the first rotating element 61 includes a locking ring, a U-shaped clip, and a bolt. The locking ring is located at one end of the pull rod 55, the U-shaped clip is located on the first support rod 11, and the bolt connects the locking ring and the U-shaped clip, thereby connecting the pull ring to the first support rod 11. The second rotating element 62 includes a locking ring, a U-shaped clip, and a bolt. The locking ring is located at the other end of the pull rod 55, the U-shaped clip is located on the second support rod 12, and the bolt connects the locking ring and the U-shaped clip, thereby connecting the pull ring to the second support rod 12.

[0041] In some optional embodiments, the adsorption component 4 is a permanent magnet adsorption block, and multiple adsorption components 4 are provided, which are evenly arranged on the frame. Specifically, the adsorption components 4 are used to ensure that the robot can be safely and stably adsorbed onto the target wall without tipping over or sliding down.

[0042] In some optional embodiments, the position adjustment component 2 includes a second bracket 21, a sliding rail 22, a first synchronous idler wheel 23, a second synchronous idler wheel, a third drive component 24, a third reduction component 25, and a track 26. The second bracket 21 connects the sliding rail 22 and the vehicle frame. The track 26 is laid on the sliding rail 22. The first synchronous idler wheel 23 and the second synchronous idler wheel are located at opposite ends of the sliding rail 22 along its length. The third drive component 24 and the third reduction component 25 are located on the sliding rail 22. The third drive component 24 is connected to the first synchronous idler wheel 23 through the third reduction component 25. The slider 27 is connected to the track 26 and supports the first bracket 31.

[0043] Specifically, the control system controls the third drive component 24, which drives the track 26 to rotate clockwise and counterclockwise, thereby moving the spraying component left and right. After the target area is sprayed, the above operation is repeated until the area to be sprayed is fully covered.

[0044] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A wall-climbing painting robot, characterized in that, include: The chassis (1) includes a frame, a drive wheel assembly and a driven wheel assembly, wherein the drive wheel assembly is disposed at one end of the frame and the driven wheel assembly is disposed at the other end of the frame; A position adjustment component (2) is disposed on the vehicle frame, the vehicle frame including a first support rod (11) and a second support rod (12), the first support rod (11) and the second support rod (12) being arranged in parallel; The spraying assembly (3) is disposed on the position adjustment component (2) and includes a first bracket (31) and a spraying element (32). The first bracket (31) is disposed on the position adjustment component (2) and the spraying element (32) is disposed on the first bracket (31). Adsorption component (4) is disposed on the vehicle frame; A steering component (5) is disposed on the vehicle frame. The steering component (5) is connected to the first support rod (11) and the second support rod (12) respectively. The steering component (5) includes a first steering bearing (51), a second steering bearing (52), a third steering bearing (53), a rotating frame (54), and a tie rod (55). The first steering bearing (51) is disposed on the second support rod (12), the second steering bearing (52) is disposed on the first support rod (11), and the third steering bearing (53) is disposed on the second steering bearing (52). The rotating frame (54) is connected to the first steering bearing (51) and the third steering rod (55) respectively. The bearing (53) is rotatably connected to the first support rod (11) and the second support rod (12) respectively. The central axes of the first steering bearing (51) and the second steering bearing (52) are parallel, and the central axis of the third steering bearing (53) is perpendicular to the central axis of the first steering bearing (51). The bearing also includes a rotating component, which includes a first rotating element (61) and a second rotating element (62). The pull rod (55) is connected to the first support rod (11) through the first rotating element (61), and the pull rod (55) is connected to the second support rod (12) through the second rotating element (62). The controller is electrically connected to the drive wheel assembly, the position adjustment component (2), the spraying assembly (3), and the steering component (5), respectively.

2. The wall-climbing painting robot according to claim 1, characterized in that, The driving wheel assembly is disposed on the first support rod (11), and the driven wheel assembly is disposed on the second support rod (12).

3. The wall-climbing painting robot according to claim 2, characterized in that, The drive wheel assembly includes a first drive wheel assembly and a second drive wheel assembly, which are respectively disposed at opposite ends of the first support rod (11) in the length direction.

4. The wall-climbing painting robot according to claim 3, characterized in that, The first drive wheel assembly and the second drive wheel assembly have the same structure. The first drive wheel assembly includes a first drive component (13), a first deceleration component (14), a first transformer component (15), a first connecting shaft, and a first drive wheel (16). The first drive component (13), the first deceleration component (14), and the first transformer component (15) are all disposed on the first support rod (11). The first drive component (13) is connected to the first deceleration component (14) through the first transformer component (15). The first deceleration component (14) is connected to the first drive wheel (16) through the first connecting shaft.

5. The wall-climbing painting robot according to claim 2, characterized in that, The driven wheel assembly includes a first driven wheel assembly and a second driven wheel assembly, which are respectively disposed at opposite ends of the second support rod (12) in the length direction.

6. The wall-climbing painting robot according to claim 5, characterized in that, The first driven wheel assembly includes a first driven wheel (17) and a first rotary bearing. The first rotary bearing is disposed at the end of the second support rod (12), and the first driven wheel (17) is connected to the first rotary bearing.

7. The wall-climbing painting robot according to claim 1, characterized in that, The adsorption component (4) is a permanent magnet adsorption block. Multiple adsorption components (4) are provided, and multiple adsorption components (4) are evenly arranged on the vehicle frame.

8. The wall-climbing painting robot according to claim 1, characterized in that, The position adjustment component (2) includes a second bracket (21), a sliding rail (22), a first synchronous idler wheel (23), a second synchronous idler wheel, a third drive component (24), a third deceleration component (25), a track (26), and a slider (27). The second bracket (21) connects the sliding rail (22) and the vehicle frame. The track (26) is laid on the sliding rail (22). The first synchronous idler wheel (23) and the second synchronous idler wheel are located at opposite ends of the length direction of the sliding rail (22). The third drive component (24) and the third deceleration component (25) are located on the sliding rail (22). The third drive component (24) is connected to the first synchronous idler wheel (23) through the third deceleration component (25). The slider (27) is connected to the track (26) and supports the first bracket (31).

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