Vacuum adsorption paint spraying operation wall-climbing robot

Abstract

The invention discloses a wall-climbing robot for vacuum adsorption paint spraying operation, and relates to the technical field of wall-climbing robots, the wall-climbing robot for vacuum adsorption paint spraying operation comprises a wall-climbing robot body, and vacuum adsorption assemblies are symmetrically mounted on the wall-climbing robot body front and back; the paint spraying assembly is installed at the rear end of the wall-climbing robot body. When a wall surface is adsorbed, the vacuum pump and the vacuum adsorption disc form a main adsorption system, the negative-pressure fan and the negative-pressure adsorption cavity form auxiliary adsorption, the dual negative pressure ensures that the robot is firmly attached to the wall surface, and the falling risk is avoided; the telescopic air cylinder can dynamically adjust the distance between the vacuum adsorption disc and the wall face to adapt to the uneven situation of the wall face, and the application scene is expanded.

Description

Technical Field

[0001] This invention relates specifically to the field of wall-climbing robot technology, and more specifically to a vacuum adsorption spray painting wall-climbing robot. Background Technology

[0002] In fields such as industrial coating and building exterior wall maintenance, high-altitude and wall painting operations have long relied on manual labor. Manual operation is inefficient and carries high safety risks, including falls from heights, injuries from harmful paint mist, and inconsistent spray quality, often resulting in missed areas and uneven thickness. Traditional wall-climbing equipment often focuses on single functions, such as inspection and cleaning, lacking integrated designs adapted to different painting scenarios. Furthermore, its poor adsorption stability makes it difficult to handle complex wall surfaces, and its insufficient mobility prevents precise application to curved surfaces, resulting in coarse paint control and failing to meet the demands of modern engineering for efficient, precise, and safe operations. Summary of the Invention

[0003] The purpose of this invention is to provide a wall-climbing robot for vacuum adsorption painting operations. The robot body is installed with symmetrically arranged vacuum adsorption components and painting components. The wall-climbing robot has dual-stage adsorption to prevent falls, while improving flexibility and adaptability; thus solving the technical problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A vacuum adsorption spray painting wall-climbing robot, including The wall-climbing robot body has vacuum adsorption components installed symmetrically at the front and back; a painting component is installed at the rear end of the wall-climbing robot body. The wall-climbing robot body includes a robot base, on which mounting seats are symmetrically installed front and back. A vacuum pump is fixedly installed on each mounting seat. The vacuum pump is connected to a lower vacuum tube, and the other end of the vacuum tube is connected to the lower end of a vacuum adsorption plate. The upper end of the vacuum adsorption plate is fixedly connected to a telescopic cylinder, which is symmetrically fixedly installed on the upper surface of the robot base.

[0005] As a further technical solution of the present invention, permanent magnet synchronous motors are fixedly installed at the four corners of the inner side of the robot base, and rubber track wheels are rotatably connected to the ends of the permanent magnet synchronous motors.

[0006] As a further technical solution of the present invention, a negative pressure motor seat is fixedly provided at the center of the upper surface of the robot body, a drive motor is fixedly installed on the upper surface of the negative pressure motor seat, and a negative pressure adsorption cavity is provided at the lower end of the negative pressure motor seat.

[0007] As a further technical solution of the present invention, the lower end of the drive motor is rotatably connected to the negative pressure fan, and the negative pressure fan is located inside the negative pressure adsorption chamber, and a negative pressure suction cup is provided at the bottom of the negative pressure adsorption chamber.

[0008] As a further technical solution of the present invention, the robot body is provided with a binocular vision camera at the front end and a connecting seat at the rear end; a gear motor seat is fixedly installed on the upper surface of the rear end of the robot body, and a gear motor is fixedly installed inside the gear motor seat.

[0009] As a further technical solution of the present invention, the end of the gear motor is connected to a bevel gear, the lower end of the bevel gear is meshed with a driven bevel gear, the lower end of the driven bevel gear is rotatably connected to a bearing in the connecting seat, and a paint spraying arm is fixedly installed on the upper end of the driven bevel gear, and a spray nozzle is installed on the other end of the paint spraying arm.

[0010] As a further technical solution of the present invention, the nozzle includes a connector for connecting the top to a pipe, and the bottom end of the connector is bolted to a flange connector, and the bottom end of the flange connector is fitted with a nozzle.

[0011] As a further technical solution of the present invention, a pressure boosting bucket is fixedly installed at the inner center of the flange joint, and multiple sets of reinforcing ribs are installed in an array on the outer side of the pressure boosting bucket. The pressure boosting bucket is fixedly connected to the inner wall of the flange joint through the reinforcing ribs. Multiple snap-fit ​​blocks are evenly installed on the outer surface of the flange joint, and multiple hinges are movably installed below the snap-fit ​​blocks. A guide block is provided on the outer side of the hinge. The guide block is a combination structure of a bottom rod and a top ball.

[0012] As a further technical solution of the present invention, an adjustment ring is snapped onto the outer side of the snap-fit ​​block, and multiple guide grooves are opened through the interior of the adjustment ring. The guide grooves have a spiral arc structure, and the guide grooves are matched and installed with the guide block.

[0013] As a further technical solution of the present invention, the nozzle is composed of multiple blades, adjacent blades are stacked and combined in one direction to form a circle, and one end of the blade is connected to a hinge.

[0014] Compared with the prior art, the beneficial effects of the present invention are: In this invention, when adsorbing onto a wall surface, a vacuum pump and a vacuum adsorption plate constitute the main adsorption system, while a negative pressure fan and a negative pressure adsorption chamber form an auxiliary adsorption system. The dual negative pressure ensures that the robot is firmly attached to the wall surface, avoiding the risk of falling. The telescopic cylinder can dynamically adjust the distance between the vacuum adsorption plate and the wall surface to adapt to uneven wall surfaces and expand the applicable scenarios. This invention features permanent magnet synchronous motors distributed at four corners, paired with rubber track wheels, providing ample traction to enable the robot to move stably in complex conditions such as vertical walls and inclined surfaces. The track structure also reduces damage to the wall surface. A front-end binocular vision camera captures real-time images of the wall surface to assist in locating the painting area, ensuring uniformity and precision in spraying. This invention is suitable for fine-tasting operations such as painting and corrosion protection. In this invention, the gear motor drives the paint spraying arm to rotate through the transmission of bevel gears and driven bevel gears, and the spray nozzle can cover a large area of ​​spraying, reducing the frequency of robot movement and improving work efficiency. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural schematic diagram of the present invention.

[0016] Figure 2 In this invention Figure 1 Top view.

[0017] Figure 3 In this invention Figure 2 A bottom view.

[0018] Figure 4 In this invention Figure 3 A schematic diagram of the split structure.

[0019] Figure 5 In this invention Figure 4 A bottom view.

[0020] Figure 6 In this invention Figure 2 A magnified view of a portion of the image.

[0021] Figure 7 This is the present invention. Figure 3 A schematic diagram of the structure of the central nozzle.

[0022] Figure 8 In this invention Figure 7 Partial structural diagram.

[0023] Figure 9 In this invention Figure 8 Another perspective view.

[0024] Figure 10 In this invention Figure 8 Partial structural diagram.

[0025] Figure 11 In this invention Figure 10 Another perspective view.

[0026] In the image: 1-Climbing robot body, 2-Vacuum adsorption assembly, 3-Painting assembly; 11-Robot base, 12-Permanent magnet synchronous motor, 13-Rubber track wheel, 14-Negative pressure motor base, 15-Drive motor, 16-Negative pressure adsorption chamber, 17-Negative pressure fan, 18-Negative pressure suction cup, 19-Binocular vision camera, 110-Connecting base; 21-Mounting base, 22-Vacuum pump, 23-Vacuum tube, 24-Vacuum adsorption plate, 25-Telescopic cylinder; 31-Gear motor base, 32-Gear motor, 33-Bevel gear, 34-Driven bevel gear, 35-Spray painting arm, 36-Spray nozzle; 361-Connector, 362-Nozzle, 363-Flange connector; 3631-Pressure booster bucket, 3632-Reinforcing rib, 3633-Snap-fit ​​block, 3634-Hinge, 3635-Guide block, 3636-Adjusting ring, 3637-Guide groove. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1-11 In this embodiment of the invention, a wall-climbing robot for vacuum adsorption painting includes a wall-climbing robot body 1, on which vacuum adsorption components 2 are symmetrically installed front and back; a painting component 3 is installed at the rear end of the wall-climbing robot body 1. The wall-climbing robot body 1 includes a robot base 11. The upper surface of the robot base 11 is symmetrically equipped with mounting seats 21. A vacuum pump 22 is fixedly installed on each mounting seat 21. The vacuum pump 22 is connected to the lower vacuum tube 23. The other end of the vacuum tube 23 is connected to the lower end of the vacuum adsorption plate 24. The upper end of the vacuum adsorption plate 24 is fixedly connected to the telescopic cylinder 25. The telescopic cylinder 25 is symmetrically fixedly installed on the upper surface of the robot base 11. A negative pressure motor seat 14 is fixedly provided at the center of the upper surface of the robot base 11. A drive motor 15 is fixedly installed on the upper surface of the negative pressure motor seat 14, and a negative pressure adsorption cavity 16 is provided at the lower end of the negative pressure motor seat 14. The lower end of the drive motor 15 is rotatably connected to the negative pressure fan 17, and the negative pressure fan 17 is located inside the negative pressure adsorption chamber 16. The bottom of the negative pressure adsorption chamber 16 is provided with a negative pressure suction cup 18.

[0029] By adopting the above technical solution, when adsorbing onto the wall surface, the vacuum pump 22 and the vacuum adsorption plate 24 constitute the main adsorption system, and the negative pressure fan 17 and the negative pressure adsorption chamber 16 form auxiliary adsorption. The double negative pressure ensures that the robot is firmly attached to the wall surface and avoids the risk of falling. The telescopic cylinder 25 can dynamically adjust the distance between the vacuum adsorption plate 24 and the wall surface to adapt to uneven wall surfaces and expand the applicable scenarios.

[0030] In this embodiment, permanent magnet synchronous motors 12 are fixedly installed at the four corners of the inner side of the robot base 11, and rubber track wheels 13 are rotatably connected to the ends of the permanent magnet synchronous motors 12. The robot base 11 is equipped with a binocular vision camera 19 at the front end and a connecting seat 110 at the rear end; a gear motor seat 31 is fixedly installed on the upper surface of the rear end of the robot base 11, and a gear motor 32 is fixedly installed inside the gear motor seat 31.

[0031] By adopting the above technical solution, the permanent magnet synchronous motors 12 distributed at the four corners are paired with rubber track wheels 13 to provide sufficient traction, enabling the robot to move stably under complex working conditions such as vertical walls and inclined surfaces, and the track structure can reduce damage to the wall surface; the front-end binocular vision camera 19 collects wall images in real time to assist in locating the painting area, ensuring the uniformity and accuracy of the spraying, and is suitable for fine operation scenarios such as painting and anti-corrosion.

[0032] In this embodiment, the end of the gear motor 32 is connected to the bevel gear 33, the lower end of the bevel gear 33 is meshed with the driven bevel gear 34, the lower end of the driven bevel gear 34 is rotatably connected to the bearing in the connecting seat 110, and a paint spraying arm 35 is fixedly installed on the upper end of the driven bevel gear 34, and a spray nozzle 36 is installed on the other end of the paint spraying arm 35.

[0033] By adopting the above technical solution, the gear motor 32 drives the paint spraying arm 35 to rotate through the transmission of the bevel gear 33 and the driven bevel gear 34, and the spray nozzle 36 can cover a large area of ​​spraying, reducing the frequency of robot movement and improving work efficiency.

[0034] In this embodiment, the nozzle 36 includes a connector 361 for connecting the top to a pipe, and the bottom end of the connector 361 is bolted to a flange connector 363, and a nozzle 362 is installed at the bottom end of the flange connector 361.

[0035] Furthermore, a pressure boosting bucket 3631 is fixedly installed at the center of the flange joint 363, and multiple sets of reinforcing ribs 3632 are arranged in an array on the outer side of the pressure boosting bucket 3631. The pressure boosting bucket 3631 is fixedly connected to the inner wall of the flange joint 363 through the reinforcing ribs 3632. Multiple snap-fit ​​blocks 3633 are evenly installed on the outer surface of the flange joint 363, and multiple hinges 3634 are movably installed below the snap-fit ​​blocks 3633. A guide block 3635 is provided on the outer side of the hinge 3634. The guide block 3635 is a combination structure with a bottom bar and a top spherical shape.

[0036] In this embodiment, an adjustment ring 3636 is snapped onto the outer side of the snap-fit ​​block 3633, and multiple guide grooves 3637 are provided through the interior of the adjustment ring 3636. The guide grooves 3637 have a spiral arc structure, and the guide grooves 3637 are matched and installed with the guide block 3635.

[0037] In this embodiment, the nozzle 362 is composed of multiple blades, with adjacent blades stacked and combined in one direction to form a circle, and one end of the blade is connected to the hinge 3634.

[0038] By adopting the above technical solution, when in use, the guide block 3635 can be moved along the direction of the guide groove 3637 by rotating the adjustment ring 3636. At this time, the guide block 363 will synchronously drive the hinge 3634 connected to it to rotate synchronously. Furthermore, the blades of the nozzle 362 connected to the hinge 3634 will open and close when the hinge 3634 is open or closed, thereby adjusting the size of the nozzle 362 opening during the painting process and adjusting the amount of spray.

[0039] The working principle of this invention is as follows: the vacuum pump 22 on the symmetrical mounting base 21 is connected to the vacuum adsorption plate 24 through the vacuum tube 23. After starting, the pump 22 draws out the air and forms a negative pressure between the vacuum adsorption plate 24 and the wall, so that the robot can adhere to the wall through the vacuum adsorption plate 24; the drive motor 15 drives the negative pressure fan 17 to rotate in the negative pressure adsorption chamber 16, and further draws out the air between the wall and the robot through the negative pressure suction cup 18, forming a double adsorption force and enhancing the adsorption stability. The gear motor 32 inside the gear motor base 31 drives the bevel gear 33 to rotate, and transmits power to the spray arm 35 through meshing with the driven bevel gear 34, allowing it to rotate 180° to adjust the spraying angle; the nozzle 36 is connected to the external spraying pipeline, and when the spray arm 35 is adjusted to the designated position, the spraying operation is carried out on the wall through the nozzle 36; the binocular vision camera 19 can monitor the spraying area in real time to ensure the accuracy of the operation. When adsorbing onto the wall, the vacuum pump 22 and the vacuum adsorption plate 24 constitute the main adsorption system, while the negative pressure fan 17 and the negative pressure adsorption chamber 16 form auxiliary adsorption. The double negative pressure ensures that the robot is firmly attached to the wall and avoids the risk of falling. The telescopic cylinder 25 can dynamically adjust the distance between the vacuum adsorption plate 24 and the wall to adapt to uneven wall surfaces and expand the applicable scenarios. The four corners of the permanent magnet synchronous motor 12 are equipped with rubber track wheels 13 to provide sufficient traction, enabling the robot to move stably in complex working conditions such as vertical walls and inclined surfaces, and the track structure can reduce damage to the wall surface; the front-end binocular vision camera 19 collects wall images in real time to assist in locating the painting area, ensuring the uniformity and accuracy of the spraying, and is suitable for fine operation scenarios such as painting and anti-corrosion. The gear motor 32 drives the paint spraying arm 35 to rotate through the transmission of the bevel gear 33 and the driven bevel gear 34. The spray nozzle 36 can cover a large area of ​​spraying, reducing the frequency of robot movement and improving work efficiency. When adjusting the spray volume of nozzle 36, the guide block 3635 can be moved along the direction of guide groove 3637 by rotating the adjustment ring 3636. At this time, the guide block 363 will synchronously drive the hinge 3634 connected to it to rotate synchronously. Furthermore, the blades of the nozzle 362 connected to the hinge 3634 will open and close when the hinge 3634 is open or closed, thereby adjusting the size of the nozzle 362 opening during the painting process and adjusting the amount of spray.

[0040] 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 implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0041] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A wall-climbing robot for vacuum adsorption spray painting, characterized in that: include The wall-climbing robot body (1) has vacuum adsorption components (2) symmetrically installed on its front and rear sides; a painting component (3) is installed at the rear end of the wall-climbing robot body (1). The wall-climbing robot body (1) includes a robot base (11). The upper surface of the robot base (11) is symmetrically equipped with mounting seats (21). Vacuum pumps (22) are fixedly installed on the mounting seats (21). The vacuum pumps (22) are connected to the lower vacuum tube (23). The other end of the vacuum tube (23) is connected to the lower end of the vacuum adsorption plate (24). The upper end of the vacuum adsorption plate (24) is fixedly connected to the telescopic cylinder (25). The telescopic cylinder (25) is symmetrically fixedly installed on the upper surface of the robot base (11).

2. The vacuum adsorption spray painting wall-climbing robot according to claim 1, characterized in that: Permanent magnet synchronous motors (12) are fixedly installed at the four corners of the inner side of the robot base (11), and rubber track wheels (13) are rotatably connected to the ends of the permanent magnet synchronous motors (12).

3. The vacuum adsorption spray painting wall-climbing robot according to claim 2, characterized in that: The robot base (11) is fixedly provided with a negative pressure motor base (14) at the center of the upper surface. A drive motor (15) is fixedly installed on the upper surface of the negative pressure motor base (14), and a negative pressure adsorption chamber (16) is provided at the lower end of the negative pressure motor base (14).

4. The vacuum adsorption spray painting wall-climbing robot according to claim 3, characterized in that: The lower end of the drive motor (15) is rotatably connected to the negative pressure fan (17), and the negative pressure fan (17) is located inside the negative pressure adsorption chamber (16). The bottom of the negative pressure adsorption chamber (16) is provided with a negative pressure suction cup (18).

5. The vacuum adsorption spray painting wall-climbing robot according to claim 3, characterized in that: The robot base (11) is equipped with a binocular vision camera (19) at the front end and a connecting seat (110) at the rear end; a gear motor seat (31) is fixedly installed on the upper surface of the rear end of the robot base (11), and a gear motor (32) is fixedly installed inside the gear motor seat (31).

6. The vacuum adsorption spray painting wall-climbing robot according to claim 4, characterized in that: The gear motor (32) is connected to a bevel gear (33) at one end. The lower end of the bevel gear (33) is meshed with a driven bevel gear (34). The lower end of the driven bevel gear (34) is rotatably connected to a bearing in the connecting seat (110). A paint spraying arm (35) is fixedly installed on the upper end of the driven bevel gear (34). A spray nozzle (36) is installed on the other end of the paint spraying arm (35).

7. The vacuum adsorption spray painting wall-climbing robot according to claim 6, characterized in that: The nozzle (36) includes a connector (361) for connecting to a pipe at the top, and a flange connector (363) is bolted to the bottom end of the connector (361), and a nozzle (362) is mounted on the bottom end of the flange connector (361).

8. The vacuum adsorption spray painting wall-climbing robot according to claim 7, characterized in that: A pressure boosting bucket (3631) is fixedly installed at the center of the flange joint (363), and multiple sets of reinforcing ribs (3632) are installed in an array on the outer side of the pressure boosting bucket (3631). The pressure boosting bucket (3631) is fixedly connected to the inner wall of the flange joint (363) through the reinforcing ribs (3632). Multiple snap-fit ​​blocks (3633) are evenly installed on the outer surface of the flange joint (363), and multiple hinges (3634) are movably installed below the snap-fit ​​blocks (3633). A guide block (3635) is provided on the outer side of the hinge (3634). The guide block (3635) is a combination structure with a bottom bar and a top spherical shape.

9. The vacuum adsorption spray painting wall-climbing robot according to claim 8, characterized in that: An adjusting ring (3636) is snapped onto the outer side of the snap-fit ​​block (3633), and multiple guide grooves (3637) are opened through the interior of the adjusting ring (3636). The guide grooves (3637) have a spiral arc structure, and the guide grooves (3637) are matched and installed with the guide block (3635).

10. The vacuum adsorption spray painting wall-climbing robot according to claim 9, characterized in that: The nozzle (362) is composed of multiple blades, with adjacent blades stacked in one direction to form a circle, and one end of the blades is connected to a hinge (3634).

Images