Anticorrosion construction method for robot storage tank

Abstract

The invention relates to the technical field of storage tank anti-corrosion construction, in particular to a robot storage tank anti-corrosion construction method which is used for solving the problems that manual spraying operation is tedious, and the body health of constructors is easily harmed. The construction method comprises the steps that a robot obtains a paint spraying execution request, and the paint spraying execution request is sent out by a control end; the receiving frequency of the paint spraying request is judged and obtained, and spraying operation is executed; wherein when a paint spraying execution request is obtained for the first time, one paint spraying nozzle is controlled to execute primer spraying; when the paint spraying execution request is obtained for the second time, one of the other two paint spraying nozzles is controlled to execute intermediate paint spraying; when the paint spraying execution request is obtained for the third time, the last paint spraying nozzle is controlled to execute finish paint spraying; according to the robot storage tank anti-corrosion construction method, the storage tank anti-corrosion work can be efficiently and accurately carried out, and the problems that manual spraying work is tedious, and the body health of constructors is easily harmed are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-corrosion construction of storage tanks, and particularly to a method for anti-corrosion construction of storage tanks by a robot. Background Art

[0002] For anti-corrosion of storage tanks, the rust on the surface of the storage tank body or the old anti-corrosion layer is usually removed by manual angle grinders for rust removal or open sandblasting, and then the anti-corrosion coating is sprayed with a manually held spray gun.

[0003] The traditional anti-corrosion construction process of storage tanks mainly includes: the erection of scaffolding and hanging baskets, manual grinding or manual open sandblasting (water sandblasting), manual primer spraying, manual sandpaper surface roughening, manual spraying of intermediate paint and topcoat, and the removal of scaffolding and hanging baskets. Manual painting requires three sprays on the paint surface, namely primer, intermediate paint and topcoat, which is not only cumbersome but also prone to endanger the physical health of construction workers. Summary of the Invention

[0004] The present invention provides a method for anti-corrosion construction of storage tanks by a robot to solve the problems of cumbersome manual spraying operation and easy endangerment of the physical health of construction workers.

[0005] In order to alleviate the above technical problems, the technical solution provided by the present invention lies in:

[0006] A method for anti-corrosion construction of storage tanks by a robot, the construction method is applied to a movable robot, the robot has three paint spray nozzles, and the three paint spray nozzles are respectively used for spraying primer, intermediate paint and topcoat; the robot obtains an execution paint spraying request sent by a control terminal; determines the number of times of receiving the execution paint spraying request and performs a spraying operation, the spraying operation includes primer spraying, intermediate paint spraying and topcoat spraying, and the robot moves during the execution of the spraying operation, and the number of spraying passes can be increased according to the thickness requirements of the primer, intermediate paint and topcoat in the technical specification; wherein, when the execution paint spraying request is obtained for the first time, one of the paint spray nozzles is controlled to perform the primer spraying; when the execution paint spraying request is obtained for the second time, one of the other two paint spray nozzles is controlled to perform the intermediate paint spraying; when the execution paint spraying request is obtained for the third time, the last paint spray nozzle is controlled to perform the topcoat spraying.

[0007] Furthermore, when the robot performs the spraying operation, it further includes: the robot obtains the required spray gun flow rate, the spraying width of the paint nozzle, the walking speed of the robot, and the solid content of the paint during the spraying operation; the spray gun flow rate, the spraying width value of the paint nozzle, and the walking speed of the robot are preset before the spraying operation; the spray gun flow rate, the spraying width of the paint nozzle, the walking speed of the robot, and the solid content of the paint are input into the robot spraying motion parameter model to obtain the coating thickness, so as to determine the number of spraying passes of the primer, intermediate paint, and topcoat; the robot spraying motion parameter model is:

[0008]

[0009] where h represents the coating thickness (μm); q represents the spray gun flow rate (L / min); v represents the walking speed of the robot (m / min); w represents the effective spraying width (mm); S represents the solid content of the paint (%).

[0010] Furthermore, the robot also has a high-pressure water grinding disc and a water storage and circulation filtration device. The high-pressure water grinding disc is connected to the water storage and circulation filtration device. The water storage and circulation filtration device stores pure water, and a plurality of water level sensors, a circulation water pump, and multi-stage filter cotton are installed vertically in the water storage and circulation filtration device; before performing the spraying operation, it further includes: the robot obtains a rust removal command, and the rust removal request is sent by the control terminal; judges the water storage volume in the water storage and circulation filtration device; executes the rust removal command and makes a rust removal action when the water level in the water storage and circulation filtration device reaches the position of the highest water level sensor; does not execute the rust removal command when the water level in the water storage and circulation filtration device does not reach the position of the lowest water level sensor; wherein, the rust removal action is that the robot sprays high-pressure water through the high-pressure water grinding disc while moving, recovers the treated water in the grinding disc through the circulation water pump, and returns it to the water tank for repeated operation after being treated by the multi-stage filter cotton.

[0011] Furthermore, the robot also has a paint film detector, a purging rack, and a rotatable roughening disc. Sandpaper is installed on the surface of the roughening disc, and bristles and air guns are installed on the purging rack. The paint film detector is used to obtain the curing degree of the paint surface; between every two executions of the spraying operation, it further includes: the robot obtains the curing degree of the paint surface detected by the paint film detector; directly continues to execute the spraying operation when the paint surface is not completely cured; first performs a roughening and cleaning action and then executes the spraying operation when the paint surface is completely cured.

[0012] Further, the scribing and cleaning operation includes: the robot obtains the curing degree of the paint surface through the paint film detector; when the paint surface is completely cured, the robot moves and controls the scribing disc to rotate so that the sandpaper polishes the target object, the purging rack moves with the robot so that the bristles clean the target object, and the air gun starts to blow towards the target object; when the paint surface is not cured, the scribing and cleaning operation is not performed.

[0013] The beneficial effects of the present invention are analyzed as follows:

[0014] A robot tank anti-corrosion construction method, the construction method is applied to a movable robot, the robot has three paint spray nozzles, and the three paint spray nozzles are respectively used for spraying primer, intermediate paint and topcoat; the robot obtains an execution paint spraying request, and the execution paint spraying request is sent by a control terminal; judge the number of received times of the execution paint spraying request and execute the spraying operation, the spraying operation includes primer spraying, intermediate paint spraying and topcoat spraying, and the robot moves when executing the spraying operation; wherein, when the execution paint spraying request is obtained for the first time, control one of the paint spray nozzles to execute the primer spraying; when the execution paint spraying request is obtained for the second time, control one of the other two paint spray nozzles to execute the intermediate paint spraying; when the execution paint spraying request is obtained for the third time, control the last paint spray nozzle to execute the topcoat spraying.

[0015] Workflow: When the control terminal issues an execution paint spraying request, the robot receives and responds to this request. The control terminal can be manual operation or an automated system. The robot will judge the spraying operation to be performed according to the number of received execution paint spraying requests. For example, if the robot receives the execution paint spraying request for the first time, it will start to execute the primer spraying operation; if it receives the execution paint spraying request for the second time, it will start to execute the intermediate paint spraying operation; if it receives the execution paint spraying request for the third time, it will start to execute the topcoat spraying operation. When executing the spraying operation, the robot will use three paint spray nozzles to spray primer, intermediate paint and topcoat respectively. Each paint spray nozzle is equipped with a corresponding paint supply system to ensure that the paint can be accurately sprayed onto the surface of the tank. When executing the spraying operation, the robot will move according to a preset path or instruction to ensure that the paint can evenly cover each surface of the tank. The spraying operation actions of the robot, that is, the three steps of primer spraying, intermediate paint spraying and topcoat spraying, are a complete spraying process. After completing the current spraying operation, the robot will perform the next spraying operation according to the next received execution paint spraying request.

[0016] This robot tank anti-corrosion construction method can achieve efficient and accurate tank anti-corrosion work, and solves the problems of cumbersome manual spraying operations and easy harm to the physical health of construction workers. Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the related art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a flowchart for the present invention to perform spray painting;

[0019] Figure 2 It is a logic diagram for the present invention to perform spray painting;

[0020] Figure 3 It is a flowchart for the present invention to calculate the spray painting flow rate;

[0021] Figure 4 It is a flowchart for the present invention to perform rust removal;

[0022] Figure 5 It is a judgment step diagram before the present invention performs scribbling cleaning;

[0023] Figure 6 It is the overall flowchart of the present invention. Specific Embodiments

[0024] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0027] Embodiment

[0028] As Figures 1-6 shown, a method for anti-corrosion construction of a robot storage tank, the construction method is applied to a movable robot, and the robot has three paint spray nozzles, and the three paint spray nozzles are respectively used for spraying primer, intermediate paint and topcoat;

[0029] S1. The robot obtains a paint spraying request for execution, and the paint spraying request for execution is sent by the control terminal;

[0030] S2. Judge the number of received times of obtaining the paint spraying request for execution and perform a spraying operation. The spraying operation includes primer spraying, intermediate paint spraying and topcoat spraying, and the robot moves during the spraying operation;

[0031] S21. When obtaining the paint spraying request for execution for the first time, control one of the paint spray nozzles to perform primer spraying;

[0032] S22. When obtaining the paint spraying request for execution for the second time, control one of the other two paint spray nozzles to perform intermediate paint spraying;

[0033] S23. When obtaining the paint spraying request for execution for the third time, control the last paint spray nozzle to perform topcoat spraying.

[0034] When the control terminal issues a request to execute spray painting, the robot receives and responds to this request. The control terminal can be manual operation or an automated system. The robot will judge the spraying operation to be performed according to the number of received requests to execute spray painting. For example, if the robot receives the request to execute spray painting for the first time, it will start to perform the primer spraying operation; if it receives the request to execute spray painting for the second time, it will start to perform the intermediate paint spraying operation; if it receives the request to execute spray painting for the third time, it will start to perform the topcoat spraying operation. When performing the spraying operation, the robot will use three spray nozzles to spray the primer, intermediate paint, and topcoat respectively. Each spray nozzle is equipped with a corresponding paint supply system to ensure that the paint can be accurately sprayed onto the surface of the storage tank. When performing the spraying operation, the robot will move according to a preset path or instruction to ensure that the paint can evenly cover all surfaces of the storage tank. The spraying operation actions of the robot, namely the three steps of primer spraying, intermediate paint spraying, and topcoat spraying, are a complete spraying process. After completing the current spraying operation, the robot will perform the next spraying operation according to the next received request to execute spray painting. This method for the robot to construct the anti-corrosion of the storage tank can achieve efficient and accurate anti-corrosion work for the storage tank, and solves the problems of cumbersome manual spraying operations and easy harm to the physical health of construction workers.

[0035] In an alternative embodiment of the present invention, preferably:

[0036] When the robot performs the spraying operation, it further includes:

[0037] S110. The robot obtains the required spray gun flow rate, spraying width of the spray nozzle, walking speed of the robot, and solid content of the paint during the spraying operation; the spray gun flow rate value, spraying width value of the spray nozzle, and walking speed value of the robot are preset before the spraying operation;

[0038] S120. Input the spray gun flow rate, spraying width of the spray nozzle, walking speed of the robot, and solid content of the paint into the robot spraying motion parameter model to obtain the coating thickness;

[0039] The robot spraying motion parameter model is:

[0040]

[0041] Wherein, h represents the coating thickness (μm); q represents the spray gun flow rate (L / min); v represents the walking speed of the robot (m / min); w represents the effective spraying width (mm); S represents the solid content of the paint (%).

[0042] The flow rate of the spray gun, the spraying width of the spray nozzle, the speed of the robot's movement, and the solid content of the coating are important factors affecting the spraying effect. By inputting these parameters into the robot spraying motion parameter model, the corresponding spraying thickness can be obtained, thereby guiding the robot to perform accurate spraying operations.

[0043] In an alternative embodiment of the present invention, a more preferred method is as follows:

[0044] The robot further includes a high-pressure water grinding disc and a water storage and circulation filtration device. The high-pressure water grinding disc is connected to the water storage and circulation filtration device. The water storage and circulation filtration device stores pure water, and a plurality of water level sensors, a circulation water pump, and multi-stage filter cotton are installed vertically in the water storage and circulation filtration device. The treated water in the grinding disc is recycled by the circulation water pump, and after being treated by the multi-stage filter cotton, it returns to the water tank for repeated operation;

[0045] Before performing the spraying operation, the following steps are further included:

[0046] S210. The robot obtains a rust removal command, and the rust removal request is issued by the control terminal;

[0047] S220. Determine the water storage volume in the water storage and circulation filtration device;

[0048] S211. When the water level in the water storage and circulation filtration device reaches the position of the highest water level sensor, execute the rust removal command and perform a rust removal action;

[0049] S212. When the water level in the water storage and circulation filtration device does not reach the position of the lowest water level sensor, do not execute the rust removal command;

[0050] Among them, the rust removal action is that the robot sprays high-pressure water through the high-pressure water grinding disc while moving.

[0051] The robot can perform rust removal operations before spraying. When the water level in the water storage and circulation filtration device reaches the position of the highest water level sensor, the robot will execute the rust removal command and perform a rust removal action. At this time, the high-pressure water grinding disc will spray high-pressure water to clean and polish the surface of the storage tank, removing rust and impurities on the surface. This rust removal method can effectively improve the efficiency and effect of the spraying operation. The high-pressure water grinding disc is provided with a spray angle adjuster to adjust the spray angle of the high-pressure water;

[0052] In this embodiment, no abrasive is added to the high-pressure water, and the anti-corrosion layer on the surface of the storage tank is removed by relying on the impact force of the water. No charge accumulation will occur during the water spraying process, thus avoiding the phenomenon of spark generation in the sandblasting or grinding method, effectively ensuring the safety during the anti-corrosion construction of the storage tank.

[0053] In an alternative embodiment of the present invention, a more preferred method is as follows:

[0054] The robot also has a paint film detector, a purging rack and a rotatable roughening disc. Sandpaper is installed on the surface of the roughening disc, and bristles and air guns are installed on the purging rack. The paint film detector is used to obtain the curing degree of the paint surface;

[0055] Further included between every two executions of the spraying operation are:

[0056] S310. The robot obtains the curing degree of the paint surface detected by the paint film detector;

[0057] S311. When the paint surface is not fully cured, directly continue to execute the spraying operation;

[0058] S312. When the paint surface is fully cured, first execute the roughening and cleaning action and then execute the spraying operation.

[0059] The robot can obtain the curing degree of the paint surface between each execution of the spraying operation. If the paint surface is not fully cured, the robot can directly continue to execute the spraying operation. If the paint surface has been fully cured, the robot will first execute the roughening and cleaning action to remove impurities and raised parts on the surface, and then execute the spraying operation. This processing method can ensure the uniformity and quality of the spraying operation.

[0060] In an optional manner of this embodiment, preferably:

[0061] The roughening and cleaning action includes:

[0062] The robot obtains the curing degree of the paint surface through the paint film detector;

[0063] When the paint surface is curing, the robot moves and controls the roughening disc to rotate so that the sandpaper polishes the target object, the purging rack moves with the robot so that the bristles clean the target object, and the air gun starts to blow towards the target object;

[0064] When the paint surface is not cured, the roughening and cleaning action is not executed.

[0065] The robot obtains the curing degree of the paint surface through a paint film detector. The paint film detector can detect the temperature of the paint surface or other curing-related parameters in real time, so as to judge whether the paint surface has been cured. When the paint surface is cured, the robot moves and controls the rotation of the roughening disc to make the sandpaper polish the target object. The sandpaper on the roughening disc can polish the cured paint surface, removing surface impurities and protrusions to make the surface smoother. The purging rack moves with the robot to make the bristles clean the target object. The bristles on the purging rack can clean the polished paint surface, removing residual sand grains and dust. The air gun starts to blow towards the target object. The air gun can blow out a strong air flow to further blow clean the paint surface after being cleaned by the bristles, ensuring that the surface is clean without impurities. When the paint surface is not cured, the roughening and cleaning action is not performed. If the paint surface is not cured, the roughening and cleaning action may damage the paint surface or affect the spraying effect, so this action is not performed. Through the above steps, the roughening and cleaning action can effectively clean the cured paint surface, preparing for the next spraying operation. At the same time, through the real-time monitoring of the paint film detector, it can be ensured that the roughening and cleaning action is only performed when the paint surface is completely cured, avoiding damage to the uncured paint surface.

[0066] A robot storage tank anti-corrosion construction device, which is applied to a movable robot. The robot has three paint spray nozzles, and the three paint spray nozzles are respectively used for spraying primer, intermediate paint and topcoat.

[0067] The robot storage tank anti-corrosion construction device includes:

[0068] The first signal receiving device is used to enable the robot to obtain a spray paint request, and the spray paint request is sent by the control terminal.

[0069] The first signal processing device is used to judge the number of received times of obtaining the spray paint request and perform the spraying operation. The spraying operation includes primer spraying, intermediate paint spraying and topcoat spraying. When performing the spraying operation, the robot moves.

[0070] Among them, when obtaining the spray paint request for the first time, control one of the paint spray nozzles to perform primer spraying.

[0071] When obtaining the spray paint request for the second time, control one of the other two paint spray nozzles to perform intermediate paint spraying.

[0072] When obtaining the spray paint request for the third time, control the last paint spray nozzle to perform topcoat spraying.

[0073] In an optional manner of this embodiment, preferably:

[0074] The robot storage tank anti-corrosion construction device further includes:

[0075] The second signal receiving device is used to enable the robot to obtain the rust removal command, and the rust removal request is sent by the control terminal;

[0076] The second signal processing device is used to judge the water storage volume in the water storage and circulation filtration device;

[0077] When the water level in the water storage and circulation filtration device reaches the position of the water level sensor at the highest point, execute the rust removal command and perform the rust removal action;

[0078] When the water level in the water storage and circulation filtration device does not reach the position of the water level sensor at the lowest position, do not execute the rust removal command;

[0079] Among them, the rust removal action is that the robot sprays high-pressure water through a high-pressure water grinding disc while moving.

[0080] In an optional manner of this embodiment, a more preferred one is:

[0081] The robot storage tank anti-corrosion construction device further includes:

[0082] The paint surface curing degree detection device is used to enable the robot to obtain the curing degree of the paint surface;

[0083] When the paint surface is not completely cured, directly continue to perform the spraying operation;

[0084] When the paint surface is completely cured, first perform the roughening and cleaning action and then perform the spraying operation.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for anti-corrosion construction of a robot storage tank, the construction method is applied to a movable robot, the robot has three paint spray nozzles, and the three paint spray nozzles are respectively used for spraying primer, intermediate paint and topcoat, and is characterized in that: The robot obtains an execution paint spraying request, and the execution paint spraying request is sent by a control terminal; Judge the number of received times of obtaining the execution paint spraying request and execute the spraying operation, the spraying operation includes primer spraying, intermediate paint spraying and topcoat spraying, and the robot moves when executing the spraying operation, and the anti-corrosion work of the storage tank is completed after the three-layer paint spraying is completed; Among them, when obtaining the execution paint spraying request for the first time, control one of the paint spray nozzles to execute the primer spraying; When obtaining the execution paint spraying request for the second time, control one of the other two paint spray nozzles to execute the intermediate paint spraying; When obtaining the execution paint spraying request for the third time, control the last paint spray nozzle to execute the topcoat spraying.

2. The method for anti-corrosion construction of a robot storage tank according to claim 1, characterized in that: When the robot executes the spraying operation, it further includes: The robot obtains the required spray gun flow rate, the spraying width of the paint spray nozzle, the walking speed of the robot, and the solid content of the paint when executing the spraying operation; The spray gun flow rate, the spraying width value of the paint spray nozzle, and the walking speed of the robot are preset before executing the spraying operation; Input the spraying width of the paint spray nozzle, the walking speed of the robot, and the solid content of the paint into the robot spraying motion parameter model to obtain the coating thickness, so as to determine the spraying times of the primer, intermediate paint, and topcoat; The robot spraying motion parameter model is: Among them, h represents the coating thickness (μm); q represents the spray gun flow rate (L / min); v represents the walking speed of the robot (m / min); w represents the effective spraying width (mm); S represents the solid content of the paint (%).

3. The method for anti-corrosion construction of a robot storage tank according to claim 1, characterized in that: The robot also has a high-pressure water grinding disc and a water storage and circulation filtration device, the high-pressure water grinding disc is connected to the water storage and circulation filtration device, the water storage and circulation filtration device stores pure water, and a plurality of water level sensors, a circulation water pump, and multi-stage filter cotton are installed vertically in the water storage and circulation filtration device; Before executing the spraying operation, it further includes: The robot obtains an execution rust removal command, and the execution rust removal request is sent by a control terminal; Judge the water storage volume in the water storage and circulation filtration device; When the water level in the water storage and circulation filtration device reaches the position of the highest water level sensor, execute the rust removal command and make a rust removal action; When the water level in the water storage and circulation filtration device does not reach the position of the lowest water level sensor, do not execute the rust removal command; Among them, the rust removal action is that the robot sprays high-pressure water while moving through the high-pressure water grinding disc.

4. The method for anti-corrosion construction of a robot storage tank according to claim 1, characterized in that: The robot also has a paint film detector, a purging rack, and a rotatable roughening disc. Sandpaper is installed on the surface of the roughening disc. Brush bristles and a blow gun are installed on the purging rack. The paint film detector is used to obtain the curing degree of the paint surface; Further included between every two executions of the spraying operation is: The robot obtains the curing degree of the paint surface detected by the paint film detector; When the paint surface is not fully cured, directly continue to execute the spraying operation; When the paint surface is fully cured, first perform a roughening and cleaning action and then execute the spraying operation.

5. The method for anti-corrosion construction of a robot storage tank according to claim 4, wherein: The roughening and cleaning action includes: The robot obtains the curing degree of the paint surface through the paint film detector; When the paint surface is fully cured, the robot moves and controls the roughening disc to rotate so that the sandpaper polishes the target object. The purging rack moves with the robot so that the brush bristles clean the target object, and the blow gun is activated to blow towards the target object; When the paint surface is not cured, the roughening and cleaning action is not performed.

6. A robot storage tank anti-corrosion construction device, the construction device is applied to a movable robot. The robot has three paint spraying nozzles, and the three paint spraying nozzles are respectively used for spraying primer, intermediate paint, and topcoat. It is characterized in that: It includes a first signal receiving device for enabling the robot to obtain a paint spraying request issued by a control terminal; A first signal processing device for judging the number of times of receiving the paint spraying request and executing the spraying operation. The spraying operation includes primer spraying, intermediate paint spraying, and topcoat spraying. When executing the spraying operation, the robot moves; Among them, when the paint spraying request is obtained for the first time, control one of the paint spraying nozzles to execute the primer spraying; When the paint spraying request is obtained for the second time, control one of the other two paint spraying nozzles to execute the intermediate paint spraying; When the paint spraying request is obtained for the third time, control the last paint spraying nozzle to execute the topcoat spraying.

7. The robot storage tank anti-corrosion construction device according to claim 6, wherein: It further includes a second signal receiving device for enabling the robot to obtain a rust removal command issued by a control terminal; A second signal processing device for judging the water storage amount in the water storage and circulation filtration device; When the water level in the water storage and circulation filtration device reaches the position of the highest water level sensor, execute the rust removal command and perform a rust removal action; When the water level in the water storage and circulation filtration device does not reach the position of the lowest water level sensor, do not execute the rust removal command; Among them, the rust removal action is that the robot sprays high-pressure water through a high-pressure water grinding disc while moving.

8. The robot storage tank anti-corrosion construction device according to claim 7, wherein: It further includes: A paint surface curing degree detection device for enabling the robot to obtain the curing degree of the paint surface detected by the paint film detector; When the paint surface is not fully cured, directly continue to execute the spraying operation; When the paint surface is fully cured, first perform a roughening and cleaning action and then execute the spraying operation.

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