Suspension type pole-climbing spraying robot and using method

Abstract

The invention discloses a suspension type pole-climbing spraying robot which comprises a C-shaped bottom frame, a rod piece cavity formed in the C-shaped bottom frame, a pole-climbing device installed on the lower side of the C-shaped bottom frame and extending into the rod piece cavity, a suspension assembly installed on the C-shaped bottom frame, a steering mechanism installed on the suspension assembly and a spraying mechanism installed on the steering mechanism. The suspension assembly comprises a plurality of inner side guide wheels, a plurality of outer side guide wheels and a C-shaped suspension guide rail, wherein the inner side guide wheels and the outer side guide wheels are installed on the C-shaped bottom frame, and the C-shaped suspension guide rail adapts to the inner side guide wheels and the outer side guide wheels. The steering mechanism rotates to drive the C-shaped suspension guide rail to slide on the inner side guide wheels and the outer side guide wheels in a suspension mode. The C-shaped suspension guide rail is driven by the steering mechanism to rotate in a suspension mode under the action of the inner side guide wheel and the outer side guide wheel, the spraying mechanism is driven to conduct rotary spraying, the suspension rotating mode is simple in structure and flexible in steering, the weight of the device is reduced, and flexible operation on the surface of a rod piece is facilitated.

Description

Technical Field

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

[0002] In the field of modern industrial production and building maintenance, the demand for maintenance and renovation of infrastructure is growing, among which painting operation is a crucial link, which is directly related to the aesthetics, corrosion resistance and structural protection performance of facilities and products. In the existing spraying technology, spraying robots have gradually become an important way to solve the above problems. Currently, most of the existing spraying robots are robots with preset tracks or spraying at fixed positions. They are not only expensive, but also limited by the terrain and environment. They cannot flexibly spray efficiently on vertical or inclined working surfaces. In addition, the existing spraying robots mostly use the form of established tracks for rotary spraying. This structure is expensive and the steering is not flexible. In addition, the setting of the track increases the overall weight of the device, which is not conducive to the flexible movement of the device on the working surface. Summary of the invention

[0003] In view of the problems in the prior art that the spraying robots have complex structures and high costs, are not flexible in steering and are not conducive to flexible and efficient spraying on vertical or inclined working surfaces, the present invention hopes to provide a suspended pole climbing spraying robot that can perform efficient operations on inclined or vertical rod surfaces and can perform suspended rotating spraying.

[0004] The present invention provides a suspended pole climbing spraying robot, comprising a C-shaped chassis, a rod cavity formed inside the C-shaped chassis, a pole climbing device installed on the lower side of the C-shaped chassis and extending into the rod cavity, a suspension component installed on the C-shaped chassis, a steering mechanism installed on the suspension component, and a spraying mechanism installed on the steering mechanism;

[0005] The suspension assembly includes: a plurality of inner guide wheels and outer guide wheels installed on the C-shaped chassis and a C-shaped suspension guide rail adapted to the plurality of inner guide wheels and outer guide wheels; the rotation of the steering mechanism drives the C-shaped suspension guide rail to suspend and slide on the plurality of inner guide wheels and outer guide wheels.

[0006] Furthermore, the inner guide wheel and the outer guide wheel both include: a first conical column with two small ends arranged opposite to each other and a first arc-shaped cavity formed between the two first conical columns; and conical surfaces for fitting the first arc-shaped cavity are provided on both side surfaces of the C-shaped suspension guide rail.

[0007] Further, the steering mechanism comprises a C-shaped inner gear ring mounted on the C-shaped suspension guide rail, a first gear and a second gear meshing with the C-shaped inner gear ring, and a driving assembly for driving the first gear and the second gear to rotate;

[0008] The driving assembly drives the first gear and the second gear to rotate synchronously, driving the C-shaped inner gear ring meshing with the first gear and the second gear to rotate, so that the C-shaped suspension guide rail floats and slides on the inner guide wheel and the outer guide wheel, and the spraying mechanism can rotate and spray.

[0009] Further, the driving assembly includes: a second motor mounted on the lower part of the C-shaped chassis through a motor mounting frame, a second driving pulley mounted coaxially with the output shaft of the second motor, and a symmetrical second driven pulley rotating coaxially with the second driving pulley through a second conveyor belt, and the second driven pulleys are fixedly mounted on the first gear and the second gear respectively;

[0010] The second motor drives the second driving pulley to rotate, thereby driving the second driven pulley to rotate, and the first gear and the second gear rotate accordingly.

[0011] Further, the pole climbing device includes a symmetrically arranged pole climbing mechanism, the pole climbing mechanism includes a pole climbing assembly arranged in the pole cavity and an adjustment assembly for adjusting the distance between the pole climbing assembly and the pole, and the adjustment assembly is installed with the C-shaped chassis through a connecting piece;

[0012] The adjustment assembly is adjusted so that the symmetrically arranged pole climbing mechanisms move inward or outward to adapt to poles of different diameters.

[0013] Further, the pole climbing assembly includes: a pole climbing frame arranged in the pole member cavity, a first motor installed on the side of the pole climbing frame, a first driving pulley installed coaxially with the output shaft of the first motor, a first driven pulley rotating coaxially with the first driving pulley through a first conveyor belt, a first pole climbing wheel installed coaxially with the first driving pulley, and a second pole climbing wheel installed coaxially with the first driven pulley;

[0014] The first motor drives the first active pulley to rotate, thereby driving the first driven pulley to rotate, and the first pole climbing wheel and the second pole climbing wheel rotate accordingly. At this time, the pole climbing mechanism starts to climb up and down on the surface of the pole.

[0015] Furthermore, the first pole climbing wheel and the second pole climbing wheel both include: a second conical column with two small ends arranged opposite to each other and a second arc-shaped cavity formed between the two second conical columns for fitting the surface of the pole.

[0016] Further, the adjustment assembly includes: a conduit mounting seat mounted on the climbing pole frame, a conduit slidably inserted in the connecting piece and fixedly mounted on the conduit mounting seat at one end, and a gas spring mounted on the conduit mounting seat, wherein the telescopic end of the gas spring is fixedly mounted on the C-shaped base frame;

[0017] The gas spring is controlled to extend so that the conduit mounting seats on both sides move inward, thereby driving the symmetrical climbing pole frames to move inward to be adjusted to a position suitable for the width of the pole.

[0018] Furthermore, the C-shaped chassis is provided with a rod entrance and exit, and rings for tying safety ropes are installed on both sides of the rod entrance and exit.

[0019] The present invention also provides a method for using a suspended pole climbing spraying robot, comprising the following steps:

[0020] S1. Place the rod into the rod cavity through the rod entrance;

[0021] S2. Control the climbing mechanism to drive the device to climb up and down;

[0022] S3. Control the steering mechanism to make the C-shaped suspension rail suspend and move on the inner guide wheel and the outer guide wheel;

[0023] S4. Control the spraying mechanism to spray the rod.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. The present invention sets a suspension component on the C-shaped bottom plate to realize more flexible and convenient rotary spraying of the spraying mechanism. The C-shaped suspension guide rail is driven by the steering mechanism to suspend and rotate under the action of the inner guide wheel and the outer guide wheel, and drives the spraying mechanism to perform rotary spraying. The suspension rotation method has a simple structure and flexible steering, which reduces the cost and the weight of the device itself, which is conducive to better flexible operation on the surface of the rod.

[0026] 2. The present invention sets a climbing rod device extending into the inner side of the C-type chassis on the lower side of the C-type chassis, and cooperates with the rotation of the suspension assembly and the steering mechanism installed on the C-type chassis to realize the free climbing up and down movement of the device and the flexible rotation spraying of the spraying mechanism. This structure allows the device to stop at the planned position for fixed-point spraying, and can also spray along the motion trajectory. The spraying mechanism can perform 360° no-dead-angle spraying on the rod under the action of the steering mechanism, ensuring the uniformity and integrity of the spraying effect, and avoiding the waste of resources caused by multiple spraying at the same position, enhancing the overall flexibility and practicality.

[0027] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 This is the overall structure diagram of the suspended pole climbing spraying robot;

[0030] Figure 2 This is the overall structural diagram of the climbing rod mechanism;

[0031] Figure 3 This is the structural diagram of the climbing pole assembly;

[0032] Figure 4 This is a structural diagram of some parts of the suspended pole climbing spraying robot;

[0033] Figure 5 This is the structural diagram of the drive component;

[0034] Figure 6 The overall structure diagram of the spraying mechanism;

[0035] Figure 7 It is a structural diagram of the first climbing wheel or the second climbing wheel;

[0036] Figure 8 It is a structural diagram of the inner guide wheel or the outer guide wheel;

[0037] Numbers in the figure: 1, C-type chassis; 3, climbing mechanism; 31, climbing assembly; 311, climbing frame; 312, first motor; 313, first driving pulley; 314, first conveyor belt; 315, first driven pulley; 316, first climbing wheel; 3161, second conical column; 3162, second arc-shaped cavity; 317, second climbing wheel; 32, adjustment assembly; 321, catheter mounting seat; 322, catheter; 323, gas spring; 33, connector;

[0038] 4. Suspension assembly; 41. Inner guide wheel; 411. First conical column; 412. First arc-shaped cavity; 42. Outer guide wheel; 43. C-shaped suspension guide rail; 431. Conical surface;

[0039] 5. Steering mechanism; 51. C-shaped internal gear ring; 52. First gear; 53. Driving assembly; 531. Motor mounting bracket; 532. Second motor; 533. Second driving pulley; 534. Second conveyor belt; 535. Second driven pulley; 536. Limiting pulley; 54. Second gear;

[0040] 6. Spraying mechanism; 61. Spray gun mounting bracket; 62. Spray gun; 63. Third motor; 8. Rod inlet and outlet; 9. Lifting ring. DETAILED DESCRIPTION

[0041] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0042] It should be noted that when an element is referred to as being "fixed on" or "set on" another component, it can be directly on the other component or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0043] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] Please refer to Figures 1 to 8 The present invention provides a suspended pole climbing spraying robot, comprising a C-shaped base frame 1, a rod cavity formed inside the C-shaped base frame 1, a pole climbing device installed on the lower side of the C-shaped base frame 1 and extending into the rod cavity, a suspension component 4 installed on the C-shaped base frame 1, a steering mechanism 5 installed on the suspension component 4, and a spraying mechanism 6 installed on the steering mechanism 5.

[0045] The suspension assembly 4 includes: a plurality of inner guide wheels 41 and outer guide wheels 42 installed on the C-shaped chassis 1 and a C-shaped suspension rail 43 adapted to the plurality of inner guide wheels 41 and the outer guide wheels 42; the steering mechanism 5 rotates to drive the C-shaped suspension rail 43 to suspend and slide on the plurality of inner guide wheels 41 and the outer guide wheels 42.

[0046] In this embodiment, the rod enters the rod cavity, controls the climbing movement of the climbing device, controls the steering mechanism 5 to rotate, and enables the C-shaped floating guide rail 43 to slide flexibly on the inner guide wheel 41 and the outer guide wheel 42. The spraying mechanism 6 can follow the rotation of the steering mechanism 5 to spray the surface of the rod completely and evenly.

[0047] It is further explained that the C-shaped suspension guide rail 43 is erected by the inner guide wheel 41 and the outer guide wheel 42, so that the C-shaped suspension guide rail 43 can be suspended and slid. This structure has a smaller friction force and can make the sliding more flexible. The sliding of the C-shaped suspension guide rail 43 is controlled by the steering mechanism 5, so that the spraying mechanism 6 can be flexibly turned to spray.

[0048] like Figure 8 As shown, the inner guide wheel 41 and the outer guide wheel 42 both include: a first conical column 411 with two small ends arranged opposite to each other and a first arc-shaped cavity 412 formed between the two first conical columns 411; and conical surfaces 431 for fitting the first arc-shaped cavity 412 are provided on both side surfaces of the C-shaped suspension guide rail 43.

[0049] In this embodiment, the conical surfaces 431 on both sides of the C-shaped suspension guide rail 43 are installed correspondingly to the first arc-shaped concave cavity 412, so that the C-shaped suspension guide rail 43 can be suspended and slid under the action of the inner guide wheel 41 and the outer guide wheel 42. The corresponding arrangement of the conical surface 431 and the first arc-shaped concave cavity 412 has a small friction force, thereby making the suspension rotation smoother.

[0050] like Figure 1 and Figure 4 As shown, the steering mechanism 5 includes: a C-shaped inner gear ring 51 installed on the C-shaped suspension guide rail 43, a first gear 52 and a second gear 54 meshing with the C-shaped inner gear ring 51, and a driving assembly 53 for driving the first gear 52 and the second gear 54 to rotate; the driving assembly 53 drives the first gear 52 and the second gear 54 to rotate synchronously, driving the C-shaped inner gear ring 51 meshing with the first gear 52 and the second gear 54 to rotate, so that the C-shaped suspension guide rail 43 floats and slides on the inner guide wheel 41 and the outer guide wheel 42, and the spraying mechanism 6 can rotate and spray at this time.

[0051] like Figure 5 As shown, the driving assembly 53 includes: a second motor 532 installed on the lower part of the C-shaped chassis 1 through a motor mounting frame 531, a second driving pulley 533 installed coaxially with the output shaft of the second motor 532, and a symmetrical second driven pulley 535 coaxially rotating with the second driving pulley 533 through a second conveyor belt 534, and the two second driven pulleys 535 are respectively fixedly installed with the first gear 52 and the second gear 54; the second motor 532 drives the second driving pulley 533 to rotate, driving the two second driven pulleys 535 to rotate, and the first gear 52 and the second gear 54 rotate accordingly.

[0052] In this embodiment, the second motor 532 is controlled to drive the second driving pulley 533 to rotate, driving the second conveyor belt 534 and the two second driven pulleys 535 to rotate, and causing the first gear 52 and the second gear 54 respectively fixedly mounted on the two second driven pulleys 535 to rotate, and then the C-shaped inner gear ring 51 meshing with the first gear 52 and the second gear 54 starts meshing movement, driving the C-shaped suspension guide rail 43 fixedly mounted on the C-shaped inner gear ring 51 to suspend and slide on the inner guide wheel 41 and the outer guide wheel 42, and realizing the rotation spraying of the spraying mechanism 6 fixedly mounted on the C-shaped inner gear ring 51. This structure enables the spraying mechanism 6 to perform flexible rotation spraying through the meshing movement of the first gear 52, the second gear 54 and the C-shaped inner gear ring 51, and the suspension sliding of the suspension component 4, and has a simple structure, is easy to operate, and is efficient, convenient, and flexible.

[0053] It is further explained that the first gear 52 and the second gear 54 are driven to rotate synchronously by the second motor 532 at the same time, and because the first gear 52 and the second gear 54 are symmetrically arranged, not only can the driving force be stable, but also the overall balance and stability can be maintained to prevent the occurrence of tooth jamming.

[0054] It is further explained that a rod entrance and exit 8 is provided on the C-shaped base frame 1 for facilitating the entry and exit of rods. In order to ensure the 360-degree rotation of the C-shaped inner gear ring 51 and realize the 360-degree rotational spraying of the spraying mechanism 6, the width of the rod entrance and exit 8 should be smaller than the spacing between the first gear 52 and the second gear 54.

[0055] It is further explained that the second conveyor belt 534 is provided with a symmetrical limiting pulley 536 for limiting the position and direction of the second conveyor belt 534. The setting of the limiting pulley 536 makes the setting of the second conveyor belt 534 adapt to the shape of the motor mounting bracket 531, thereby protecting the second conveyor belt 534 from damage.

[0056] like Figure 2 and Figure 3 As shown, the pole climbing device includes a symmetrically arranged pole climbing mechanism 3, which includes a pole climbing assembly 31 arranged in the pole cavity and an adjustment assembly 32 for adjusting the distance between the pole climbing assembly 31 and the pole; the adjustment assembly 32 is adjusted so that the symmetrically arranged pole climbing mechanism 3 moves inward or outward to adapt to poles of different diameters.

[0057] In this embodiment, the setting of the adjustment component 32 facilitates the pole climbing mechanism 3 to adapt to poles of different diameters. The pole climbing mechanism 3 can be clamped on the pole by controlling the adjustment component 32, which facilitates the up and down climbing operation of the pole climbing mechanism 3.

[0058] like Figure 3As shown, the climbing pole assembly 31 includes: a climbing pole frame 311 symmetrically arranged in the pole cavity, a first motor 312 installed on the side of the climbing pole frame 311, a first driving pulley 313 coaxially installed with the output shaft of the first motor 312, a first driven pulley 315 coaxially rotating with the first driving pulley 313 through a first conveyor belt 314, a first climbing pole wheel 316 coaxially installed with the first driving pulley 313, and a second climbing pole wheel 317 coaxially installed with the first driven pulley 315; the first motor 312 drives the first driving pulley 313 to rotate, driving the first driven pulley 315 to rotate, and the first climbing pole wheel 316 and the second climbing pole wheel 317 rotate accordingly, and at this time the climbing pole mechanism 3 begins to climb up and down on the surface of the pole.

[0059] In this embodiment, when it is necessary to climb upward, the first motor 312 on both sides is controlled to drive the first active pulley 313 to rotate forward, driving the first conveyor belt 314 and the first driven pulley 315 to rotate forward, so that the symmetrical first climbing wheel 316 and the second climbing wheel 317 rotate forward accordingly, and then under the action of the climbing mechanism 3, the device can climb upward on the surface of the pole.

[0060] When it is necessary to climb downward, the first motor 312 is controlled to drive the first active pulley 313 to rotate in the opposite direction, thereby driving the first conveyor belt 314 and the first driven pulley 315 to rotate in the opposite direction, so that the symmetrical first climbing wheel 316 and the second climbing wheel 317 rotate in the opposite direction. Then, under the action of the climbing mechanism 3, the device can climb downward on the surface of the rod. When it climbs to a predetermined position, the first motor 312 can be stopped and the device can stay on the surface of the rod.

[0061] It is further explained that the climbing mechanism 3 can be moved up and down by changing the direction of the first motor 312. Controlling the current of the first motor 312 can control the rotation speed of the first climbing wheel 316 and the second climbing wheel 317, thereby controlling the climbing mechanism 3's speed of moving up and down.

[0062] like Figure 7 As shown, the first pole climbing wheel 316 and the second pole climbing wheel 317 both include: a second conical column 3161 with two small ends arranged opposite to each other and a second arc-shaped cavity 3162 formed between the two second conical columns 3161 for fitting the surface of the pole.

[0063] In this embodiment, the second conical column 3161 is adaptively fitted to the surface of the rod, so that the first rod climbing wheel 316 and the second rod climbing wheel 317 can slide smoothly on the surface of the rod.

[0064] It is further explained that the first climbing wheel 316 and the second climbing wheel 317 can be adaptively replaced and adjusted to accommodate rods of different diameters. The larger the diameter of the rod, the longer the length of the second arc-shaped cavity 3162 should be. At this time, the larger the area that the second conical column 3161 can fit with the surface of the rod, the more conducive it is to the climbing movement of the first climbing wheel 316 and the second climbing wheel 317.

[0065] like Figure 3 As shown, the adjustment component 32 includes: a catheter mounting seat 321 installed on the climbing pole frame 311, a catheter 322 slidably inserted in the connecting piece 33 and fixedly mounted on the catheter mounting seat 321 at one end, and a gas spring 323 installed on the catheter mounting seat 321, and the telescopic end of the gas spring 323 is fixedly mounted on the C-shaped base frame 1; the gas spring 323 is controlled to extend so that the catheter mounting seats 321 on both sides move inward, driving the symmetrical climbing pole frame 311 to move inward to adjust to a position suitable for the width of the pole.

[0066] In this embodiment, when it is necessary to install spraying with the rod, the gas spring 323 is controlled to extend, so that the catheter mounting seat 321 fixedly installed on the fixed end of the gas spring 323 moves inward, and drives the climbing pole frame 311 fixedly installed on the catheter mounting seat 321 to move inward synchronously, and the climbing pole assemblies 31 on both sides move inward at the same time, so that the climbing pole mechanism 3 can be clamped on the rod, which facilitates the up and down climbing of the climbing pole mechanism 3.

[0067] When the device needs to be removed from the rod, the gas spring 323 is controlled to retract, so that the catheter mounting seat 321 fixedly installed on the fixed end of the gas spring 323 moves outward, and drives the climbing pole frame 311 fixedly installed on the catheter mounting seat 321 to move outward synchronously. At this time, the climbing pole assemblies 31 on both sides move outward at the same time, so that the climbing pole mechanism 3 is separated from the surface of the rod, and the disassembly is completed.

[0068] It is further explained that the gas springs 323 on both sides can be controlled to expand and contract simultaneously, and the gas spring 323 on one side can also be appropriately controlled to be adjusted according to the diameter size of the rod.

[0069] It is further explained that the arrangement of the gas spring 323 not only provides a constant supporting force for the pole climbing mechanism 3, but also can be flexibly extended and retracted to adapt to poles of different diameters.

[0070] It is further explained that when the gas spring 323 is extended or retracted, the conduit 322 slides in the connector 33 accordingly. The arrangement of the conduit 322 allows the conduit mounting seat 321 to be tightly fixed to the C-shaped chassis 1, thereby enhancing stability.

[0071] like Figure 6As shown, the spraying mechanism 6 includes: a symmetrical spray gun mounting bracket 61 fixedly mounted on the C-shaped inner gear ring 51, spray guns 62 respectively mounted on the symmetrical spray gun mounting bracket 61 for spraying the rod members, and a third motor 63 fixedly mounted on the spray gun 62 for driving the spray gun 62 to operate, and the third motor 63 drives the spray gun 62 to spray the rod members.

[0072] In this embodiment, the third motor 63 is controlled to drive the spray gun 62 to spray the rod, and the steering mechanism 5 and the suspension assembly 4 are used to achieve uniform and efficient spraying of the entire rod.

[0073] It is further explained that the structure of the spray gun 62 is any spray gun 62 structure that can be easily thought of by a person skilled in the art and can be applied here, and the spray gun 62 is not limited in detail here.

[0074] like Figure 1 As shown, the C-shaped chassis 1 is provided with a rod entrance and exit 8, and lifting rings 9 for tying safety ropes are installed on both sides of the rod entrance and exit 8.

[0075] In this embodiment, a safety rope is tied to the lifting ring 9. When the device is crawling on the surface of the pole, the safety rope can be tied to a high place to prevent the device from falling from a high altitude and being damaged when the motor fails or the device components fail, and to prevent the device from falling and hitting pedestrians, thereby improving the safety of the device.

[0076] like Figures 1 to 8 As shown, the present invention also provides a method for using a suspended pole climbing spraying robot, comprising the following steps:

[0077] S1. Place the rod into the rod cavity through the rod entrance 8;

[0078] S2 controls the climbing mechanism 3 to drive the device to climb up and down;

[0079] S3 controls the steering mechanism 5 to make the C-shaped suspension rail 43 suspend on the inner guide wheel 41 and the outer guide wheel 42;

[0080] S4. Control the spraying mechanism 6 to spray the rod.

[0081] The method of using the above-mentioned suspended pole climbing spraying robot is as follows:

[0082] Place the rod into the rod cavity through the rod entrance and exit 8, control the telescopic adjustment of the gas springs 323 on both sides to adjust the distance between the climbing mechanism 3 and the rod, so that the climbing mechanisms 3 on both sides are clamped on the rod, and then control the first motor 312 of the climbing assembly 31 to drive the first active pulley 313 to rotate, so that the first driven pulley 315 installed with the first active pulley 313 through the first conveyor belt 314 rotates, driving the first climbing wheel 316 and the second climbing wheel 317 to rotate, thereby controlling the device to climb up and down on the surface of the rod.

[0083] The second motor 532 in the control driving assembly 53 drives the second driving pulley 533 to rotate, so that the symmetrical second driven pulley 535 installed with the second driving pulley 533 through the second conveyor belt 534 rotates, so that the first gear 52 and the second gear 54 start to rotate synchronously, driving the C-shaped inner gear ring 51 meshing with the first gear 52 and the second gear 54 to rotate. At this time, the C-shaped suspension guide rail 43 suspends and slides on the inner guide wheel 41 and the outer guide wheel 42.

[0084] The third motor 63 is controlled to drive the spray gun 62 to perform the spraying operation, and under the action of the steering mechanism 5 and the suspension assembly 4, the spray gun 62 performs a complete rotational spraying on the surface of the rod.

[0085] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A suspended pole climbing spraying robot, characterized in that: The invention comprises a C-shaped chassis (1), a rod cavity formed inside the C-shaped chassis (1), a pole climbing device installed on the lower side of the C-shaped chassis (1) and extending into the rod cavity, a suspension component (4) installed on the C-shaped chassis (1), a steering mechanism (5) installed on the suspension component (4), and a spraying mechanism (6) installed on the steering mechanism (5); The suspension assembly (4) comprises: a plurality of inner guide wheels (41) and outer guide wheels (42) mounted on the C-shaped chassis (1) and a C-shaped suspension guide rail (43) adapted to the plurality of inner guide wheels (41) and the outer guide wheels (42); the steering mechanism rotates to drive the C-shaped suspension guide rail (43) to suspend and slide on the plurality of inner guide wheels (41) and the outer guide wheels (42).

2. The suspended pole climbing spraying robot according to claim 1, characterized in that: The inner guide wheel (41) and the outer guide wheel (42) both comprise: a first conical column (411) with two small ends arranged opposite to each other and a first arc-shaped concave cavity (412) formed between the two first conical columns (411); and conical surfaces (431) for fitting into the first arc-shaped concave cavity (412) are provided on both side surfaces of the C-shaped suspension guide rail (43).

3. The suspended pole climbing spraying robot according to claim 1, characterized in that: The steering mechanism (5) comprises a C-shaped inner gear ring (51) mounted on the C-shaped suspension guide rail (43), a first gear (52) and a second gear (54) meshing with the C-shaped inner gear ring (51), and a driving assembly (53) for driving the first gear (52) and the second gear (54) to rotate; The driving assembly (53) drives the first gear (52) and the second gear (54) to rotate synchronously, thereby driving the C-shaped inner gear ring (51) meshing with the first gear (52) and the second gear (54) to rotate, so that the C-shaped suspension guide rail (43) is suspended and slides on the inner guide wheel (41) and the outer guide wheel (42), and the spraying mechanism (6) can rotate to spray.

4. The suspended pole climbing spraying robot according to claim 3 is characterized in that: The driving assembly (53) comprises: a second motor (532) mounted on the lower part of the C-shaped chassis (1) via a motor mounting frame (531), a second driving pulley (533) mounted coaxially with the output shaft of the second motor (532), and a symmetrical second driven pulley (535) coaxially rotating with the second driving pulley (533) via a second conveyor belt (534), wherein the two second driven pulleys (535) are fixedly mounted on the first gear (52) and the second gear (54), respectively; The second motor (532) drives the second driving pulley (533) to rotate, thereby driving the symmetrical second driven pulley (535) to rotate, and the first gear (52) and the second gear (54) rotate accordingly.

5. The suspended pole climbing spraying robot according to claim 1, characterized in that: The pole climbing device comprises a symmetrically arranged pole climbing mechanism (3), wherein the pole climbing mechanism (3) comprises a pole climbing assembly (31) arranged in the pole cavity and an adjustment assembly (32) for adjusting the distance between the pole climbing assembly (31) and the pole, and the adjustment assembly (32) is mounted on the C-shaped chassis (1) via a connecting member (33); The adjustment assembly (32) is adjusted so that the symmetrically arranged pole climbing mechanism (3) moves inward or outward to adapt to poles of different diameters.

6. The suspended pole climbing spraying robot according to claim 5, characterized in that: The pole climbing assembly (31) comprises: a pole climbing frame (311) arranged in the pole member cavity, a first motor (312) installed on the side of the pole climbing frame (311), a first driving pulley (313) installed coaxially with the output shaft of the first motor (312), a first driven pulley (315) rotating coaxially with the first driving pulley (313) through a first conveyor belt (314), a first pole climbing wheel (316) installed coaxially with the first driving pulley (313), and a second pole climbing wheel (317) installed coaxially with the first driven pulley (315); The first motor (312) drives the first active pulley (313) to rotate, thereby driving the first driven pulley (315) to rotate, and the first climbing wheel (316) and the second climbing wheel (317) rotate accordingly, and at this time the climbing mechanism (3) begins to climb up and down on the surface of the rod.

7. The suspended pole climbing spraying robot according to claim 6, characterized in that: The first pole climbing wheel (316) and the second pole climbing wheel (317) both include: a second conical column (3161) with two small ends arranged opposite to each other and a second arc-shaped cavity (3162) formed between the two second conical columns (3161) for fitting the surface of the pole.

8. The suspended pole climbing spraying robot according to claim 5, characterized in that: The adjustment assembly (32) comprises: a conduit mounting seat (321) mounted on the climbing pole frame (311), a conduit (322) slidably inserted into the connecting piece (33) and having one end fixedly mounted on the conduit mounting seat (321), and a gas spring (323) mounted on the conduit mounting seat (321), wherein the telescopic end of the gas spring (323) is fixedly mounted on the C-shaped base frame (1); The gas spring (323) is controlled to extend, and the conduit mounting seats (321) on both sides move inward, driving the symmetrical climbing pole frames (311) to move inward to adjust to a position suitable for the width of the pole.

9. The suspended pole climbing spraying robot according to claim 1, characterized in that: The C-shaped base frame (1) is provided with a rod member entrance and exit (8), and lifting rings (9) for tying safety ropes are installed on both sides of the rod member entrance and exit (8).

10. The method for using the suspended pole climbing spraying robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Place the rod through the rod entrance (8) into the rod cavity; S2. Control the climbing rod mechanism (3) to drive the device to climb up and down; S3. Controlling the steering mechanism (5) to make the C-shaped suspension rail (43) suspend and move on the inner guide wheel (41) and the outer guide wheel (42); S4. Control the spraying mechanism (6) to spray the rod.

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