Spraying robot for outer vertical face of vertical cylindrical tank and construction method

Abstract

The invention discloses a vertical type cylindrical tank outer vertical face spraying robot and a construction method, and belongs to the field of spraying devices.The vertical type cylindrical tank outer vertical face spraying robot comprises a shell, a spraying head is arranged at the front end of the exterior of the shell, limiting covers are arranged on the two sides of the shell, and the spraying position can be adjusted in the transverse sliding process of the spraying head; and the outer vertical surface of the oil tank of the grain depot can be comprehensively sprayed. When the outer facade spraying robot longitudinally slides outside the lifting rope and is adjusted in the horizontal position, the outer facade spraying robot can efficiently and uniformly finish coating construction such as corrosion prevention and rust prevention of the outer facade of the oil tank, is suitable for oil tanks with different shapes and sizes, ensures the consistency of spraying quality, can stably work in a complex environment, and is high in practicability. The risk and the labor intensity of manual operation are reduced, and the construction efficiency and the safety are improved.

Description

Technical Field

[0001] The present invention belongs to the field of spraying devices, and specifically relates to a vertical cylindrical tank exterior facade spraying robot and a construction method. Background Art

[0002] Vertical cylindrical tanks include grain storage, oil tanks, etc. Chinese patent publication number CN215167692U discloses a building exterior wall spraying robot, including a base plate, and support legs are respectively provided at the four corners of the upper surface of the base plate. The upper ends of the four support legs are fixedly installed with a first support plate, and the four corners of the upper surface of the first support plate are respectively installed with support columns.

[0003] During the spraying process of the building exterior wall spraying robot in the above-mentioned patent, the equipment needs to be suspended at a corresponding height. However, when the spraying robot is suspended at the corresponding height, there is no structure to limit the rope wrapped around the outside of the wheel, which is prone to falling off and cannot stably spray at the corresponding horizontal height.

[0004] The purpose of the present invention is to develop a spraying robot for the outer facade of a vertical cylindrical tank, which is specially used for spraying operations on the surface of grain depots and oil tanks. It can also use the onboard spraying system and intelligent control system to efficiently and evenly complete the construction of anti-corrosion, anti-rust and other coatings on the outer facade of the oil tank. It is adaptable to oil tanks of different shapes and sizes, ensures the consistency of spraying quality, and can operate stably in complex environments, reduce the risks and labor intensity of manual operations, and improve construction efficiency and safety. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a vertical cylindrical tank body facade spraying robot and a construction method to solve the problems mentioned in the background technology or achieve better technical effects.

[0006] In order to solve the above technical problems, the inventors have arrived at the technical solution of the present invention through practice and summary. The present invention discloses a vertical cylindrical tank facade spraying robot, comprising a shell, a nozzle is provided at the front end of the outside of the shell, and limiting covers are provided on both sides of the shell. An upper roller is provided at the upper end of the interior of the limiting cover, and a lower roller is provided at the lower end of the interior of the limiting cover. A second clamping plate is provided on one side between the upper roller and the lower roller, and a first clamping plate is provided on the other side between the upper roller and the lower roller. Three second clamping blocks are evenly distributed laterally on the side of the first clamping plate facing the second clamping plate, and a groove for adapting a lifting rope is provided on the side of the second clamping block facing the second clamping plate.

[0007] Preferably, one end of the upper roller is provided with one of the guide wheels, and the other end of the lower roller is provided with another of the guide wheels.

[0008] Preferably, the transmission track of the suspension rope inside the limiting cover is S-shaped.

[0009] Preferably, the second clamping block is triangular in shape, the second clamping plate is provided with a first clamping block outside the second clamping block, and the first clamping block is connected to an external slot of the second clamping block.

[0010] Preferably, bidirectional threaded rods are provided on both sides between the first clamping plate and the second clamping plate, and the outer portions of the bidirectional threaded rods are threadedly engaged with the positions through which the first clamping plate and the second clamping plate pass.

[0011] Preferably, wheels are provided at the four corners of the outer shell facing the outer facade of the grain depot oil tank, a cleaning cavity is provided inside the outer shell in a depression facing the wheel position, and a cleaning brush is provided on one side of the cleaning cavity.

[0012] The present invention also discloses: a construction method of a vertical cylindrical tank exterior facade spraying robot, comprising the following steps:

[0013] S1: First, hang the lifting rope outside the spraying position of the oil tank in the grain depot. The lifting rope extends from the upper end of the limiting cover into the interior and is wrapped around the outside of the lower roller. The lifting rope wrapped around the outside of the lower roller is wrapped around the outside of the upper roller. The lifting rope wrapped around the outside of the upper roller extends from the lower end of the limiting cover. The rotation of the upper and lower rollers drives the facade spraying robot to move longitudinally along the lifting rope.

[0014] S2: When moving and needing to be suspended at the corresponding position, the bidirectional threaded rod is rotated. The rotation of the bidirectional threaded rod drives the first clamping plate and the second clamping plate to move relative to each other laterally. The first clamping plate drives the second clamping block to move toward the second clamping plate, and the second clamping plate drives the first clamping block to move toward the first clamping plate. The first clamping block and the second clamping block can clamp the hanging rope during the transmission process to complete the suspension and fixation of the facade spraying robot;

[0015] S3: The spraying robot adjusts the spraying position by sliding the nozzle horizontally, thereby spraying the exterior surface of the grain depot and oil tank comprehensively.

[0016] Compared with the prior art, the present invention can achieve the following technical effects:

[0017] When the facade spraying robot of the present invention slides longitudinally outside the suspension rope and adjusts its horizontal position, due to the diversion of the guide wheel, the upper roller and the lower roller, an S-shaped transmission trajectory can be generated when the suspension rope passes through the interior of the limiting cover, which are respectively the suspension rope from the upper end of the limiting cover to the lower roller position, the suspension rope from the lower roller to the upper roller position and the suspension rope between the upper roller and the lower end of the limiting cover. The three sections of the suspension rope can be clamped and fixed by the first clamping plate and the second clamping plate. Multiple sections of the suspension rope are clamped at the same time, which increases the area of the clamping position. By increasing the clamping area, the stability of the corresponding height of the suspension of the facade spraying robot can be improved. At the same time, when the first clamping block and the second clamping block are not clamping the suspension rope, the suspension rope continues to be located between the first clamping block and the second clamping block. The stability of the suspension rope during transmission can be improved by the first clamping block and the second clamping block. The present invention can efficiently and evenly complete the construction of anti-corrosion, anti-rust and other coatings on the facade of the oil tank, adapt to oil tanks of different shapes and sizes, ensure the consistency of spraying quality, and can operate stably in complex environments, reduce the risks and labor intensity of manual operations, and improve construction efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 It is a schematic diagram of the overall external structure of the present invention;

[0020] Figure 2 Schematic diagram of the position relationship of the air outlets of the present invention;

[0021] Figure 3 A cross-sectional view of the internal structure of the cleaning chamber of the present invention;

[0022] Figure 4 A cross-sectional view of the internal structure of the restriction cover of the present invention;

[0023] Figure 5 A top view of the external structure of the first clamping block and the second clamping block of the present invention;

[0024] Figure 6 For the present invention Figure 5 A partial enlarged view of area A in the middle.

[0025] In the figure: 1. Housing; 2. Nozzle; 3. Wheel; 4. Limiting cover; 5. Air outlet; 6. Fan; 7. Cleaning brush; 8. Cleaning chamber; 9. Lower roller; 10. Guide wheel; 11. First clamping plate; 12. Second clamping plate; 13. Bidirectional threaded rod; 14. First clamping block; 15. Second clamping block; 16. Upper roller. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] The application principle of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] Example 1

[0029] like Figure 1 and Figure 2 As shown, a vertical cylindrical tank facade spraying robot of this embodiment includes a shell 1, a nozzle 2 is provided at the front end of the shell 1, and the nozzle 2 is embedded in the shell 1 and slidably connected to the inside of the shell 1. The spraying position can be adjusted during the horizontal sliding process of the nozzle 2, and the facade of the grain depot oil tank can be sprayed comprehensively;

[0030] Among them, such as Figure 4 As shown, in order to adjust the horizontal position of the facade painting robot, a limiting cover 4 is provided on both sides of the housing 1, an upper roller 16 is provided at the upper end of the limiting cover 4, and a lower roller 9 is provided at the lower end of the limiting cover 4. When the sling used for transmission passes through the limiting cover 4, the flow guide of the lower roller 9 and the upper roller 16 can increase the contact area, thereby increasing the contact area between the lower roller 9 and the upper roller 16 used for transmission and the sling;

[0031] In addition, in order to avoid collision and friction of the rope during transmission, one end of the upper roller 16 is provided with one of the guide wheels 10, and the other end of the lower roller 9 is provided with another of the guide wheels 10. When the rope is transmitted to the inside of the limiting cover 4 and contacts the lower roller 9, it will contact the guide wheel 10. When the rope is transmitted from the position of the upper roller 16 to the lower end outside the limiting cover 4, the rope is restricted by the other guide wheel 10 to avoid contacting the lower roller 9, thereby reducing friction during the transmission of the rope and avoiding damage and breakage of the rope caused by high-frequency friction.

[0032] Specifically, a second clamping plate 12 is provided on one side between the upper roller 16 and the lower roller 9, and a first clamping plate 11 is provided on the other side between the upper roller 16 and the lower roller 9. The relative movement of the first clamping plate 11 and the second clamping plate 12 can achieve the clamping of the lifting rope, and the clamping of the lifting rope can achieve the fixation of the grain depot oil tank facade spraying robot;

[0033] Among them, Figure 5 and Figure 6 As shown, the transmission track of the sling inside the limiting cover 4 is S-shaped. Three second clamping blocks 15 are evenly distributed laterally on the side of the first clamping plate 11 facing the second clamping plate 12. The second clamping blocks 15 are triangular in shape. A groove for adapting to the sling is provided on the side of the second clamping block 15 facing the second clamping plate 12. When clamping, the lateral movement of the first clamping plate 11 can complete the contact with the sling through the lateral movement of the second clamping block 15.

[0034] In addition, the second clamping plate 12 is provided with a first clamping block 14 on the outside facing the second clamping block 15, and the first clamping block 14 is connected to the external slot of the second clamping block 15. When the first clamping plate 11 and the second clamping plate 12 move relative to each other and clamp the lifting rope, the lifting rope will be located between the second clamping block 15 and the first clamping block 14, thereby improving the stability of the lifting rope when it is fixed. In addition, the stability of the S-shaped lifting rope transmission can be combined with the area where the lifting rope is fixed, thereby improving the stability of the granary oil tank facade spraying robot when it is suspended:

[0035] In order to stably transmit the first clamping plate 11 and the second clamping plate 12, a bidirectional threaded rod 13 is provided on both sides between the first clamping plate 11 and the second clamping plate 12, and the outer portion of the bidirectional threaded rod 13 is threadedly engaged with the position where the first clamping plate 11 and the second clamping plate 12 pass through. By threaded engagement and the relative restriction of the first clamping plate 11 and the second clamping plate 12, the first clamping plate 11 and the second clamping plate 12 can be converted from rotational motion to lateral relative movement.

[0036] In order to support the equipment that contacts the outer facade of the grain depot oil tank, wheels 3 are provided at the four corners of the outer shell 1 facing the outer facade of the grain depot oil tank. The wheels 3 are rotatably connected to the inner part of the outer shell 1. When the grain depot oil tank outer facade spraying robot slides longitudinally outside the lifting rope and adjusts its horizontal position, the grain depot oil tank outer facade spraying robot can contact the grain depot oil tank outer facade through the wheels 3. The rotation of the wheels 3 can assist the movement of the grain depot oil tank outer facade spraying robot.

[0037] like Figure 3As shown, in order to prevent the wheel 3 from slipping due to foreign matter adhering to the surface after long-term use, a cleaning chamber 8 is provided in the interior of the shell 1 towards the position of the wheel 3, and a cleaning brush 7 is provided on one side inside the cleaning chamber 8. The rotation of the cleaning brush 7 can contact and clean the surface of the wheel 3, and a fan 6 is provided on the side outside the cleaning brush 7. The gas flow generated by the start-up of the fan 6 can flow into the interior of the shell 1 from the position of the wheel 3. In order to facilitate the discharge of the gas and the debris generated by the cleaning brush 7, an air outlet 5 is provided on the side outside the fan 6, and the air outlet 5 passes through the shell 1. The debris and gas extracted by the fan 6 will be directly discharged from the position of the air outlet 5.

[0038] To further better explain the above embodiment, the present invention also provides a construction method of a vertical cylindrical tank facade spraying robot. When using the device and spraying the facade of a grain depot oil tank, the specific steps are as follows:

[0039] S1: During the spraying process, the lifting rope is first hung outside the spraying position, and the lifting rope extends from the upper end of the limiting cover 4 into the interior and is wrapped around the outside of the lower roller 9. The lifting rope wrapped around the outside of the lower roller 9 is wrapped around the outside of the upper roller 16, and the lifting rope wrapped around the outside of the upper roller 16 extends from the lower end of the limiting cover 4. The rotation of the upper roller 16 and the lower roller 9 can drive the facade spraying robot to move longitudinally along the lifting rope;

[0040] S2: When moving and needing to be suspended at the corresponding position, the bidirectional threaded rod 13 is rotated. The rotation of the bidirectional threaded rod 13 can drive the first clamping plate 11 and the second clamping plate 12 to move relative to each other laterally. The first clamping plate 11 drives the second clamping block 15 to move toward the second clamping plate 12. The second clamping plate 12 drives the first clamping block 14 to move toward the first clamping plate 11. The first clamping block 14 and the second clamping block 15 can clamp the hanging rope during the transmission process to complete the suspension and fixation of the facade spraying robot.

[0041] S3: The spraying robot adjusts the spraying position by sliding the nozzle 2 horizontally, thereby spraying the exterior surface of the grain depot oil tank comprehensively.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

[0043] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A vertical cylindrical tank facade spraying robot, characterized by: It includes a shell, a nozzle is provided at the front end of the outside of the shell, limiting covers are provided on both sides of the shell, an upper roller is provided at the upper end of the inside of the limiting cover, a lower roller is provided at the lower end of the inside of the limiting cover, a second clamping plate is provided on one side between the upper roller and the lower roller, a first clamping plate is provided on the other side between the upper roller and the lower roller, three second clamping blocks are evenly distributed laterally on the side of the first clamping plate facing the second clamping plate, and a groove for adapting to the lifting rope is provided on the side of the second clamping block facing the second clamping plate.

2. A vertical cylindrical tank exterior facade spraying robot according to claim 1, characterized in that: One end of the upper roller is provided with one of the guide wheels, and the other end of the lower roller is provided with the other of the guide wheels.

3. The vertical cylindrical tank exterior facade spraying robot according to claim 1, characterized in that: The transmission track of the suspension rope inside the limiting cover is S-shaped.

4. The vertical cylindrical tank exterior facade spraying robot according to claim 1, characterized in that: The second clamping block is triangular in shape, the second clamping plate is provided with a first clamping block outside the second clamping block, and the first clamping block is connected to an external slot of the second clamping block.

5. The vertical cylindrical tank exterior facade spraying robot according to claim 1, characterized in that: Bidirectional threaded rods are provided on both sides between the first clamping plate and the second clamping plate, and the outer portions of the bidirectional threaded rods are threadedly engaged with the positions where the first clamping plate and the second clamping plate penetrate.

6. The vertical cylindrical tank exterior facade spraying robot according to claim 1, characterized in that: The shell is provided with wheels at the four corners between the facades of the grain depot and the oil tank, the shell is provided with a cleaning cavity recessed toward the wheel position, and a cleaning brush is provided on one side of the cleaning cavity.

7. A method for applying a robot to spray paint the exterior facade of a vertical cylindrical tank, comprising the robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1: First, hang the lifting rope outside the spraying position of the oil tank in the grain depot. The lifting rope extends from the upper end of the limiting cover into the interior and is wrapped around the outside of the lower roller. The lifting rope wrapped around the outside of the lower roller is wrapped around the outside of the upper roller. The lifting rope wrapped around the outside of the upper roller extends from the lower end of the limiting cover. The rotation of the upper and lower rollers drives the facade spraying robot to move longitudinally along the lifting rope. S2: When moving and needing to be suspended at the corresponding position, the bidirectional threaded rod is rotated. The rotation of the bidirectional threaded rod drives the first clamping plate and the second clamping plate to move relative to each other laterally. The first clamping plate drives the second clamping block to move toward the second clamping plate, and the second clamping plate drives the first clamping block to move toward the first clamping plate. The first clamping block and the second clamping block can clamp the hanging rope during the transmission process to complete the suspension and fixation of the facade spraying robot; S3: The spraying robot adjusts the spraying position by sliding the nozzle horizontally, thereby spraying the exterior surface of the grain depot and oil tank comprehensively.

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