A multi-faceted painting industrial robot of steel construction

Abstract

The application belongs to the technical field of robots, and particularly relates to a multi-surface spraying industrial robot for steel structures, which comprises a walking robot, a lifting column is transmissionally connected to the top of the walking robot, a hollow sliding cavity is formed in the outer wall of the lifting column, a cylinder for driving a driving ring is installed in the hollow sliding cavity, a linkage arm is installed on the outer wall of the driving ring, two groups of first lead screws are rotationally connected to the linkage arm, two groups of spraying assemblies are sleeved on the outside of a steel structure body, and after the two groups of spraying assemblies are rollingly and tightly connected to the outer wall of the steel structure body, the moving direction of the walking robot is matched, the two groups of spraying assemblies perform multi-surface spraying on the steel structure body, and under the action of a feeding assembly, the steel structure body after spraying can be dried and purified along the moving direction of the walking robot, which is beneficial to batch operation of spraying construction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a multi-surface spraying industrial robot for steel structures. BACKGROUND

[0002] Some steel structure workshops need to use a large number of I-beams during construction. In order to improve the fireproofing capacity of these steel components, fireproofing paint needs to be sprayed on the surfaces of the I-beams. Since the I-beams are in the shape of an I, when spraying, the surfaces of the two sides of the groove also need to be sprayed in addition to the groove. However, the existing robot spraying can only be partially sprayed.

[0003] After searching, it is found that in the prior art, a steel structure fireproofing paint spraying robot is disclosed in Chinese Patent Publication No. CN218190504U, authorized on January 3, 2023. Two drive wheel sets are arranged on the two sides of each of the two moving bodies, and an adsorption mechanism is arranged on the inner side of each of the two moving bodies. The adsorption mechanism is used to adsorb the moving body on the surface of the object to be sprayed. A plurality of push rods are slidably installed on the outer side of the first moving body in parallel. A spraying module is fixedly installed between the ends of the push rods away from the second moving body. A drive module is arranged on the second moving body. The other ends of the push rods are connected to the drive module. The robot can move in the groove of the I-beam by means of the two moving bodies with adsorption mechanisms and drive wheel sets, so that the spraying module on the robot can spray the surface of the I-beam. It is more convenient to spray some I-beams at high places.

[0004] However, the device still has the following defects: although it is more convenient to spray some I-beams at high places, it cannot perform synchronous spraying of multiple surfaces during long-distance spraying of horizontally placed steel structures to be sprayed, which can easily affect the health of construction personnel in an open spraying environment and is not conducive to long-time spraying operation. SUMMARY

[0005] In view of the above problems, the present application provides a multi-surface spraying industrial robot for steel structure, which comprises a walking robot; a lifting column is transmissionally connected to the top of the walking robot, a hollow sliding cavity is formed in the outer wall of the lifting column, and a cylinder for driving a transmission ring is installed in the hollow sliding cavity; a linkage arm is installed on the outer wall of the driving ring, two groups of first lead screws are rotationally connected to the linkage arm, the output end of a double-shaft motor is transmissionally connected between the two groups of first lead screws, a feeding assembly is fixedly connected to the bottom of the double-shaft motor, a linkage ring is further arranged at the bottom of the feeding assembly, and the linkage ring is slidingly connected to the outer wall of the lifting column; two groups of spraying assemblies are threadedly connected to the first lead screws, and a steel structure body is rollingly and tightly connected in the two groups of spraying assemblies, so that the two groups of spraying assemblies are rollingly and tightly connected to different positions on the outer wall of the steel structure body for multi-surface spraying.

[0006] Further, the spraying assembly comprises a linkage mechanism; the linkage mechanism is of an open structure, a first cover plate mechanism is rotationally connected to the top of the linkage mechanism, and a second cover plate mechanism is rotationally connected to the bottom of the linkage mechanism; a receiving box body is installed on one side of the outer wall of the second cover plate mechanism; a linkage handle is fixedly connected to the top of the linkage mechanism; an internal thread hole is formed in the outer wall of the linkage handle, and the internal thread hole is threadedly connected with the first lead screw.

[0007] Further, the linkage mechanism comprises a spraying ring; two groups of cross beams are fixedly connected to one side wall of the spraying ring, and the two groups of cross beams are symmetrically arranged with the central axis of the spraying ring as the center; a first positioning hole and a second positioning hole are formed in one side wall of the spraying ring.

[0008] Further, the first positioning hole and the second positioning hole are located on both sides of one group of cross beams, an embedded groove is formed in one side wall of each of the two groups of cross beams, a first air pipe is transversely and throughly connected to the outer wall of each of the two groups of cross beams, and a plurality of groups of first atomizing nozzles are installed on the first air pipe and are tightly connected to the inner wall of the embedded groove.

[0009] Further, a linkage plate is installed at the other end of the first air pipe, a second lead screw is threadedly connected to the linkage plate, a first motor is transmissionally connected to one end of the second lead screw, and the first motor is embeddedly installed on the outer wall of the cross beam away from the output end; a reinforcing block is fixedly connected to the top of the spraying ring; a first cylinder is embeddedly installed on the top and the bottom of the spraying ring, one group of first cylinders is embeddedly installed on the reinforcing block; and a second motor is embeddedly installed on both sides of the outer wall of the spraying ring.

[0010] Further, a third screw rod is in transmission connection with the output end of the second motor, and a first linkage plate is in threaded connection with the third screw rod, one side wall of the first linkage plate is fixedly connected with a rack, a fourth screw rod is in transmission connection with the output end of the second motor, and a second linkage plate is in threaded connection with the fourth screw rod, one side wall of the second linkage plate is fixedly connected with a linkage arm, two groups of storage grooves are formed in the inner wall of the spraying ring and close to the first air cylinder, and the output end of the first air cylinder, the rack and one end of the linkage arm are all provided with pressing wheels.

[0011] Further, the first cover plate mechanism comprises an upper cover plate, a first linkage shaft is embeddedly installed at one end of the upper cover plate, a gear is fixedly connected at the end of the first linkage shaft, the first linkage shaft is rotationally connected to the inner wall of a first positioning hole, the gear is in meshing connection with the rack, a first magnetic block is arranged at the end of the upper cover plate and away from the first linkage shaft, the first magnetic block is in magnetic adsorption connection with a group of cross beams, two groups of second air pipes are embeddedly installed in the inner wall of the upper cover plate, a plurality of groups of second atomizing nozzles are installed on the two groups of second air pipes, a first filling pipe is installed on the other side of each of the two groups of second air pipes, one end of the first filling pipe is in closed structure, and the other end of the first filling pipe is in open structure.

[0012] Further, the second cover plate mechanism comprises a lower cover plate, a second linkage shaft is embeddedly installed at one end of the lower cover plate, the second linkage shaft is rotationally connected in a second positioning hole, a servo motor is fixedly connected to the inner wall of the second positioning hole, the output end of the servo motor is in transmission connection with the second linkage shaft, a recovery cavity is formed in the inner wall of the lower cover plate, the recovery cavity coincides with the central axis of the lower cover plate, a recovery pipe is embeddedly installed in the inner wall of the recovery cavity, one end of the recovery pipe is in communication with the recovery cavity, and the other end of the recovery pipe is in communication with a storage box body, two groups of third air pipes are embeddedly installed in the inner wall of the lower cover plate, the two groups of third air pipes are symmetrically arranged with the central axis of the recovery cavity as the center, a plurality of groups of third atomizing nozzles are installed on the two groups of third air pipes, a second filling pipe is installed on the other side of each of the two groups of third air pipes, one end of the second filling pipe is in closed structure, and the other end of the second filling pipe is in open structure.

[0013] Further, the feeding assembly comprises a liquid storage shell, a plurality of groups of electromagnetic valves are installed on the two side walls of the liquid storage shell, the other end of each of the plurality of groups of electromagnetic valves is in communication with the first filling pipe and the second filling pipe respectively, a hose is further arranged on the outer wall of the liquid storage shell, the other end of the hose is in communication with the first air pipe, a pneumatic valve is installed on the outer wall of the liquid storage shell, and the pneumatic valve is in communication with a paint supply pipeline.

[0014] Further, the inner wall of the liquid storage shell is fixedly connected with an inner ring, an isolation cavity is formed in the outer wall of the inner ring, a plurality of groups of through holes are formed in the inner wall of the inner ring and are in communication with the isolation cavity, an isolation ring for separating the isolation cavity is fixedly connected to the outer wall of the inner ring, an air suction pump in communication with the isolation cavity is embeddedly installed on one side wall of the inner ring, and an air outlet pump in communication with the isolation cavity is embeddedly installed on the other side wall of the inner ring.

[0015] The beneficial effects of the present application are:

[0016] 1. The walking robot is used to drive two groups of spraying assemblies to move to one side of the steel structure body in need of spraying, and then the cooperation of the lifting column and the double-shaft motor is used to move the two groups of spraying assemblies to a position horizontal to the steel structure body, then the two groups of spraying assemblies are sleeved on the outside of the steel structure body, and after the two groups of spraying assemblies are rollingly connected to the outer wall of the steel structure body, the moving direction of the walking robot is cooperated to enable the two groups of spraying assemblies to perform multi-surface spraying on the steel structure body, and under the action of the feeding assembly, the steel structure body after spraying can be dried and purified along the moving direction of the walking robot, which is beneficial to batch operation of spraying construction.

[0017] 2. The output end of the first motor drives the second lead screw to rotate, so that the first air pipe drives a plurality of groups of first atomizing nozzles to move horizontally along the radial direction of the second lead screw, so as to adjust the spraying position at different positions of the two side walls of the steel structure body, and avoid the occurrence of a spraying blind area.

[0018] 3. The second atomizing nozzles of the two groups of second air pipes on the upper cover plate and the third atomizing nozzles of the two groups of third air pipes on the lower cover plate can spray the prepared paint to different positions on the upper and lower surfaces of the steel structure body, so as to avoid the occurrence of a spraying blind area.

[0019] 4. The recovery cavity in the inner wall of the lower cover plate can store the paint dripped from the steel structure body after spraying by cooperation of the recovery pipe and the storage box body, and the spraying ring, the upper cover plate and the lower cover plate are connected to the top of the spraying ring and the bottom of the spraying ring by rotation around the first linkage shaft and the second linkage shaft respectively, so that the cylindrical structure formed by the spraying ring, the upper cover plate and the lower cover plate can concentrate the excess paint into the recovery cavity, thereby improving the recovery efficiency.

[0020] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structures indicated in the specification, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 Structure diagram of the multi-surface spraying industrial robot in the embodiment of the present application is shown Figure 1 ;

[0023] Figure 2 Structure front view of the multi-surface spraying industrial robot in the embodiment of the present application is shown

[0024] Figure 3 Structure diagram of the multi-surface spraying industrial robot in the embodiment of the present application is shown Figure 2 ;

[0025] Figure 4 Structure diagram of the spraying assembly in the embodiment of the present application is shown

[0026] Figure 5 Structure diagram of the linkage mechanism in the embodiment of the present application is shown Figure 1 ;

[0027] Figure 6 Structure diagram of the linkage mechanism in the embodiment of the present application is shown Figure 2 ;

[0028] Figure 7 Structure diagram of the first cover plate mechanism in the embodiment of the present application is shown

[0029] Figure 8 Structure diagram of the second cover plate mechanism in the embodiment of the present application is shown

[0030] Figure 9 Structure diagram of the feeding assembly in the embodiment of the present application is shown.

[0031] In the figure: 1, walking robot; 2, lifting column; 3, spraying assembly; 31, linkage mechanism; 311, spraying ring; 312, crossbeam; 313, first positioning hole; 314, second positioning hole; 315, embedded groove; 316, first air pipe; 317, first atomizing nozzle; 318, linkage plate; 319, second screw rod; 3110, first motor; 3111, reinforcing block; 3112, first air cylinder; 3113, second motor; 3114, third screw rod; 3115, first linkage plate; 3116, rack; 3117, fourth screw rod; 3118, second linkage plate; 3119, linkage arm; 31120, storage groove; 32, first cover plate mechanism; 321, upper cover plate; 322, first linkage shaft; 323, gear; 324, first magnetic block; 325, second air pipe; 326, second atomizing nozzle; 327, first filling pipe; 33, second cover plate mechanism; 331, lower cover plate; 332, second linkage shaft; 333, recovery cavity; 334, recovery pipe; 335, third air pipe; 336, third atomizing nozzle; 337, second filling pipe; 338, second magnetic block; 34, storage box body; 35, linkage handle; 36, internal thread hole; 4, steel structure body; 5, hollow sliding cavity; 6, driving ring; 7, linkage arm; 8, double-shaft motor; 9, first screw rod; 10, linkage ring; 11, feeding assembly; 111, liquid storage shell; 112, electromagnetic valve; 113, pneumatic valve; 114, inner ring; 115, isolation cavity; 116, through hole; 117, isolation ring; 118, air suction pump; 119, air outlet pump. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0033] The embodiments of the present application provide a multi-surface spraying industrial robot for steel structure, which comprises a walking robot 1. Figure 1 , Figure 2 and Figure 3 as shown in the figures.

[0034] The top of the walking robot 1 is connected with a lifting column 2, a hollow sliding cavity 5 is formed in the outer wall of the lifting column 2, and a cylinder for driving a driving ring 6 is installed in the hollow sliding cavity 5, a linkage arm 7 is installed on the outer wall of the driving ring 6, two groups of first lead screws 9 are rotatably connected on the linkage arm 7, the output end of a double-shaft motor 8 is drivingly connected between the two groups of first lead screws 9, a feeding assembly 11 is fixedly connected to the bottom of the double-shaft motor 8, a linkage ring 10 is further arranged on the bottom of the feeding assembly 11, and the linkage ring 10 is slidingly connected to the outer wall of the lifting column 2, two groups of spraying assemblies 3 are threadedly connected on the first lead screws 9, and a steel structure body 4 is rollingly and tightly connected in the two groups of spraying assemblies 3, so that the two groups of spraying assemblies 3 are rollingly and tightly connected at different positions on the outer wall of the steel structure body 4 and then multi-surface spraying is performed.

[0035] Specifically, the walking robot 1 is used to drive the two groups of spraying assemblies 3 to move to one side of the steel structure body 4 that needs to be sprayed, and then the lifting column 2 and the double-shaft motor 8 are used in cooperation to move the two groups of spraying assemblies 3 to a position horizontally to the steel structure body 4, and then the two groups of spraying assemblies 3 are sleeved on the outside of the steel structure body 4, and after the two groups of spraying assemblies 3 are rollingly and tightly connected on the outer wall of the steel structure body 4, the moving direction of the walking robot 1 is matched to enable the two groups of spraying assemblies 3 to perform multi-surface spraying on the steel structure body 4, and under the action of the feeding assembly 11, the moving direction of the walking robot 1 can be followed to dry and purify the sprayed steel structure body 4.

[0036] The spraying assembly 3 comprises a linkage mechanism 31; as shown in the examples, Figure 4 .

[0037] The linkage mechanism 31 is of an open structure, a first cover plate mechanism 32 is rotatably connected to the top of the linkage mechanism 31, a second cover plate mechanism 33 is rotatably connected to the bottom of the linkage mechanism 31, a receiving box body 34 is installed on one side of the outer wall of the second cover plate mechanism 33, a linkage handle 35 is fixedly connected to the top of the linkage mechanism 31, an internal thread hole 36 is formed in the outer wall of the linkage handle 35, and the internal thread hole 36 is threadedly connected with the first lead screw 9.

[0038] The linkage mechanism 31 comprises a spraying ring 311; as shown in the examples, Figure 5 and Figure 6 .

[0039] The side wall of the spraying ring 311 is fixedly connected with two groups of cross beams 312, and the two groups of cross beams 312 are symmetrically arranged with the central axis of the spraying ring 311 as the center. The side wall of the spraying ring 311 is provided with a first positioning hole 313 and a second positioning hole 314. The first positioning hole 313 and the second positioning hole 314 are located on the two sides of a group of cross beams 312. The side wall of the two groups of cross beams 312 is provided with an embedded groove 315. The outer side wall of the two groups of cross beams 312 is transversely connected with a first air pipe 316, and a plurality of groups of first atomizing nozzles 317 are installed on the first air pipe 316. The first atomizing nozzles 317 are connected to the inner wall of the embedded groove 315. The other end of the first air pipe 316 is provided with a linkage plate 318. The second screw rod 319 is threadedly connected to the linkage plate 318. One end of the second screw rod 319 is drivingly connected with a first motor 3110. The first motor 3110 is embedded and installed on the outer wall of the cross beam 312 away from the output end. The top of the spraying ring 311 is fixedly connected with a reinforcing block 3111. The top and the bottom of the spraying ring 311 are embeddedly installed with a first air cylinder 3112. One group of first air cylinders 3112 is embeddedly installed on the reinforcing block 3111. The outer wall of the spraying ring 311 is embeddedly installed with a second motor 3113. The output end of one group of second motors 3113 is drivingly connected with a third screw rod 3114. The first linkage plate 3115 is threadedly connected to the third screw rod 3114. The side wall of the first linkage plate 3115 is fixedly connected with a rack 3116. The output end of one group of second motors 3113 is drivingly connected with a fourth screw rod 3117. The second linkage plate 3118 is threadedly connected to the fourth screw rod 3117. The side wall of the second linkage plate 3118 is fixedly connected with a linkage arm 3119. Two groups of receiving grooves 31120 are formed in the inner wall of the spraying ring 311 and close to the first air cylinder 3112. The output end of the two groups of first air cylinders 3112, the rack 3116 and one end of the linkage arm 3119 are provided with pressing wheels.

[0040] The first cover plate mechanism 32 includes an upper cover plate 321. As shown in the drawings, Figure 7

[0041] ​One end of the upper cover plate 321 is embeddedly installed with a first linkage shaft 322, the end of the first linkage shaft 322 is fixedly connected with a gear 323, the first linkage shaft 322 is rotatably connected to the inner wall of the first positioning hole 313, the gear 323 is meshingly connected with the rack 3116, the end of the upper cover plate 321 and away from the first linkage shaft 322 is provided with a first magnetic block 324, and the first magnetic block 324 is magnetically adsorbedly connected with a group of cross beams 312, the inner wall of the upper cover plate 321 is embeddedly installed with two groups of second air pipes 325, a plurality of groups of second atomizing nozzles 326 are installed on the two groups of second air pipes 325, a first filling pipe 327 is installed on the other side of each of the two groups of second air pipes 325, one end of the first filling pipe 327 is of a closed structure, and the other end of the first filling pipe 327 is of an open structure.

[0042] The second cover plate mechanism 33 comprises a lower cover plate 331; as shown in the example, Figure 8

[0043] One end of the lower cover plate 331 is embeddedly installed with a second linkage shaft 332, and the second linkage shaft 332 is rotatably connected in the second positioning hole 314, the inner wall of the second positioning hole 314 is fixedly connected with a servo motor, and the output end of the servo motor is in transmission connection with the second linkage shaft 332, the inner wall of the lower cover plate 331 is provided with a recovery cavity 333, and the recovery cavity 333 coincides with the central axis of the lower cover plate 331, the inner wall of the recovery cavity 333 is embeddedly installed with a recovery pipe 334, one end of the recovery pipe 334 is in communication with the recovery cavity 333, and the other end of the recovery pipe 334 is in communication with the storage box 34, the inner wall of the lower cover plate 331 is further embeddedly installed with two groups of third air pipes 335, and the two groups of third air pipes 335 are symmetrically arranged with the central axis of the recovery cavity 333 as the center, a plurality of groups of third atomizing nozzles 336 are installed on each of the two groups of third air pipes 335, a second filling pipe 337 is installed on the other side of each of the two groups of third air pipes 335, one end of the second filling pipe 337 is of a closed structure, and the other end of the second filling pipe 337 is of an open structure.

[0044] The feeding assembly 11 comprises a liquid storage shell 111; as shown in the example, Figure 9

[0045] ​​The two side walls of the liquid storage shell 111 are provided with a plurality of groups of electromagnetic valves 112, and the other ends of the plurality of groups of electromagnetic valves 112 are respectively communicated with the first filling pipe 327 and the second filling pipe 337. The outer wall of the liquid storage shell 111 is further provided with a hose, and the other end of the hose is communicated with the first air pipe 316. The outer wall of the liquid storage shell 111 is provided with a pneumatic valve 113, and the pneumatic valve 113 is communicated with the paint supply pipeline. The inner wall of the liquid storage shell 111 is fixedly connected with an inner ring 114, and the outer wall of the inner ring 114 is provided with a separation cavity 115. The inner wall of the inner ring 114 is provided with a plurality of groups of through holes 116, and the plurality of groups of through holes 116 are communicated with the separation cavity 115. The outer wall of the inner ring 114 is fixedly connected with a separation ring 117 for separating the separation cavity 115. One side wall of the inner ring 114 is embeddedly provided with an air suction pump 118 communicated with the separation cavity 115. The other side wall of the inner ring 114 is embeddedly provided with an air outlet pump 119 communicated with the separation cavity 115.

[0046] Specifically, a group of the spraying ring 311 is first sleeved around the steel structure body 4, and the synchronous work of the two groups of first air cylinders 3112 and the two groups of second motors 3113 on the group of spraying rings 311 makes the pressing wheels located on the four faces of the steel structure body 4 clamp the steel structure body 4 in different directions, so as to position the steel structure body 4 before spraying.

[0047] The pneumatic valve 113 is communicated with the prepared paint supply pipe. Under the action of the pneumatic valve 113, the compressed air enters the liquid storage shell 111, so as to increase the flow rate of the paint. When the plurality of groups of electromagnetic valves 112 are opened, the prepared paint enters the first atomizing nozzle 317, the second atomizing nozzle 326 and the third atomizing nozzle 336 in sequence.

[0048] The output end of the first motor 3110 drives the second lead screw 319 to rotate, so that the first air pipe 316 drives a plurality of groups of first atomizing nozzles 317 to move horizontally along the radial direction of the second lead screw 319, so as to adjust the spraying position of different positions on the two side walls of the steel structure body 4, so as to avoid the occurrence of the spraying blind area.

[0049] The second atomizing nozzles 326 of the two groups of second air pipes 325 on the upper cover plate 321 and the third atomizing nozzles 336 of the two groups of third air pipes 335 on the lower cover plate 331 can spray the prepared paint to different positions on the upper and lower two faces of the steel structure body 4, so as to avoid the occurrence of the spraying blind area.

[0050] The recovery cavity 333 in the inner wall of the lower cover plate 331 can store the paint dropped from the steel structure body 4 after spraying by using the recovery pipe 334 in cooperation with the storage box body 34, and the spraying ring 311, the upper cover plate 321 and the lower cover plate 331 are connected to the top of the spraying ring 311 and the bottom of the spraying ring 311 by rotating around the first linkage shaft 322 and the second linkage shaft 332 respectively, so that the spraying ring 311, the upper cover plate 321 and the lower cover plate 331 are spliced to form a cylindrical structure, and the excess paint is concentrated into the recovery cavity 333.

[0051] The walking robot 1 can move horizontally along the radial direction of the steel structure body 4 after adjusting the walking track, so that the first atomizing nozzle 317, the second atomizing nozzle 326 and the third atomizing nozzle 336 can move horizontally to spray different positions of the steel structure body 4, and the air pump 118 and the air pump 119 can be used in cooperation to accelerate the air drying speed of the steel structure body after spraying by spraying gas into the several groups of through holes 116 on one side under the action of the air pump 119, and the adsorption force generated by the air pump 118 is used to adsorb the gas after spraying the steel structure body on the other side of the several groups of through holes 116, so as to purify the environment after spraying the steel structure body 4.

[0052] The working principle of the multi-surface spraying industrial robot for steel structure according to the embodiment of the application is as follows:

[0053] A group of spraying rings 311 are first sleeved around the steel structure body 4, and the synchronous work of the two groups of first air cylinders 3112 and the two groups of second motors 3113 on the spraying rings 311 makes the pressing wheels located on the four faces of the steel structure body 4 clamp in different directions of the steel structure body 4, so as to position the steel structure body 4 before spraying;

[0054] The pneumatic valve 113 is communicated with the prepared paint supply pipe, and the compressed air enters the liquid storage shell 111 under the action of the pneumatic valve 113, so as to increase the flow rate of the paint, and when the several groups of electromagnetic valves 112 are opened, the prepared paint enters the first atomizing nozzle 317, the second atomizing nozzle 326 and the third atomizing nozzle 336 in sequence;

[0055] The output end of the first motor 3110 drives the second screw rod 319 to rotate, so that the first air pipe 316 drives the several groups of first atomizing nozzles 317 to move horizontally along the radial direction of the second screw rod 319, so as to adjust the spraying position of different positions of the two side walls of the steel structure body 4, and avoid the occurrence of the blind area of spraying;

[0056] The second atomizing nozzles 326 of the two groups of second air pipes 325 on the upper cover plate 321 and the third atomizing nozzles 336 of the two groups of third air pipes 335 on the lower cover plate 331 can spray the prepared paint to different positions on the upper and lower surfaces of the steel structure body 4, so as to avoid the occurrence of a spraying blind area.

[0057] The paint dropped from the steel structure body 4 after spraying can be stored by using the recovery pipe 334 in cooperation with the storage box 34 through the recovery cavity 333 in the inner wall of the lower cover plate 331, and the spraying ring 311, the upper cover plate 321 and the lower cover plate 331 are rotatably connected to the top of the spraying ring 311 with the first linkage shaft 322 as the center and to the bottom of the spraying ring 311 with the second linkage shaft 332 as the center, so that the cylindrical structure formed by the spraying ring 311, the upper cover plate 321 and the lower cover plate 331 can concentrate the excess paint into the recovery cavity 333.

[0058] During the horizontal movement of the first atomizing nozzles 317, the second atomizing nozzles 326 and the third atomizing nozzles 336 to different positions on the steel structure body 4 after adjusting the walking track, the air suction pump 118 and the air outlet pump 119 can be used in cooperation to accelerate the air-drying speed of the paint on the steel structure body after spraying by spraying the gas in the several groups of through holes 116 on one side under the action of the air outlet pump 119, and then using the adsorption force generated by the air suction pump 118 to adsorb the gas in the several groups of through holes 116 on the other side after spraying the paint on the steel structure body, so as to purify the environment after spraying the paint on the steel structure body 4.

[0059] Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-faceted spraying industrial robot with a steel structure, characterized in that: The system includes a walking robot; the top of the walking robot is connected to a lifting column, and a hollow sliding cavity is opened on the outer wall of the lifting column. A cylinder for driving a drive ring is installed in the hollow sliding cavity. A linkage arm is installed on the outer wall of the drive ring, and two sets of first lead screws are rotatably connected to the linkage arm. The output end of a dual-axis motor is connected between the two sets of first lead screws. A feeding assembly is fixedly connected to the bottom of the dual-axis motor. A linkage ring is also provided at the bottom of the feeding assembly, and the linkage ring is slidably connected to the outer wall of the lifting column. Two sets of spraying assemblies are threadedly connected to the first lead screws. A steel structure body is rolled and fitted inside the two sets of spraying assemblies, so that the two sets of spraying assemblies are rolled and fitted to different positions on the outer wall of the steel structure body for multi-sided spraying. The spraying assembly includes a linkage mechanism; the linkage mechanism is an open structure, the top of the linkage mechanism is rotatably connected to a first cover plate mechanism, and the bottom of the linkage mechanism is rotatably connected to a second cover plate mechanism. A storage box is installed on one side of the outer wall of the second cover plate mechanism, and a linkage handle is fixedly connected to the top of the linkage mechanism. An internal threaded hole is opened on the outer wall of the linkage handle, and the internal threaded hole is threadedly connected to a first lead screw. The linkage mechanism includes a spraying ring; two sets of crossbeams are fixedly connected to one side wall of the spraying ring, and the two sets of crossbeams are symmetrically arranged with the central axis of the spraying ring as the center; a first positioning hole and a second positioning hole are opened on one side wall of the spraying ring. The first positioning hole and the second positioning hole are located on both sides of a set of crossbeams. An embedded groove is provided on one side wall of both sets of crossbeams. A first air pipe is horizontally connected to the outer side wall of both sets of crossbeams. Several sets of first atomizing nozzles are installed on the first air pipes. Several sets of first atomizing nozzles are attached to the inner wall of the embedded groove. The other end of the first air pipe is equipped with a linkage plate, and a second lead screw is threadedly connected to the linkage plate. One end of the second lead screw is drivenly connected to a first motor, and the side of the first motor away from the output end is embedded in the outer wall of the crossbeam. A reinforcing block is fixedly connected to the top of the spraying ring. A first cylinder is embedded in the top and bottom of the spraying ring. A set of first cylinders is embedded in the reinforcing block. A second motor is embedded in both sides of the outer wall of the spraying ring. A third lead screw is driven to the output end of a set of second motors, and a first linkage plate is threaded to the third lead screw. A rack is fixedly connected to one side wall of the first linkage plate. A fourth lead screw is driven to the output end of a set of second motors, and a second linkage plate is threaded to the fourth lead screw. A linkage arm is fixedly connected to one side wall of the second linkage plate. Pressure rollers are installed at the output ends, racks, and one end of linkage arms of both sets of first cylinders. The first cover plate mechanism includes an upper cover plate; a first linkage shaft is embedded in one end of the upper cover plate, a gear is fixedly connected to the end of the first linkage shaft, the first linkage shaft is rotatably connected to the inner wall of the first positioning hole, the gear is meshed with a rack, two sets of second air pipes are embedded in the inner wall of the upper cover plate, several sets of second atomizing nozzles are installed on each of the two sets of second air pipes, and a first filling pipe is installed on the other side of each of the two sets of second air pipes. The second cover plate mechanism includes a lower cover plate; a second linkage shaft is embedded in one end of the lower cover plate and is rotatably connected in a second positioning hole. A servo motor is fixedly connected to the inner wall of the second positioning hole, and the output end of the servo motor is drivenly connected to the second linkage shaft. Two sets of third air pipes are also embedded in the inner wall of the lower cover plate. Several sets of third atomizing nozzles are installed on each of the two sets of third air pipes. A second filling tube is installed on the other side of each of the two sets of third air pipes.

2. The multi-faceted spraying industrial robot with steel structure according to claim 1, characterized in that: Two sets of storage slots are provided on the inner wall of the spray ring near the first cylinder.

3. The multi-faceted spraying industrial robot with steel structure according to claim 1, characterized in that: A first magnetic block is provided at the end of the upper cover plate and on the side away from the first linkage shaft. The first magnetic block is magnetically attracted to a set of crossbeams. One end of the first filling tube is a closed structure, and the other end of the first filling tube is an open structure.

4. The multi-faceted spraying industrial robot with steel structure according to claim 1, characterized in that: The inner wall of the lower cover plate has a recycling chamber, and the recycling chamber coincides with the central axis of the lower cover plate. A recycling tube is embedded in the inner wall of the recycling chamber. One end of the recycling tube is connected to the recycling chamber, and the other end of the recycling tube is connected to the storage box. One end of the second filling tube is a closed structure, and the other end of the second filling tube is an open structure. The two sets of the third air tubes are symmetrically arranged with the central axis of the recycling chamber as the center.

5. The multi-faceted spraying industrial robot with steel structure according to claim 1, characterized in that: The feeding assembly includes a liquid storage shell; several sets of solenoid valves are installed on both sides of the liquid storage shell, and the other ends of the several sets of solenoid valves are respectively connected to the first filling tube and the second filling tube. A hose is also provided on the outer wall of the liquid storage shell, and the other end of the hose is connected to the first air tube. A pneumatic valve is installed on the outer wall of the liquid storage shell, and the pneumatic valve is connected to the paint supply pipeline.

6. The multi-faceted spraying industrial robot with steel structure according to claim 5, characterized in that: The inner wall of the liquid storage shell is fixedly connected to an inner ring, and the outer wall of the inner ring is provided with an isolation cavity. The inner wall of the inner ring is provided with several sets of through holes, and the several sets of through holes are all connected to the isolation cavity. The outer wall of the inner ring is fixedly connected to an isolation ring for separating the isolation cavity. An air intake pump connected to the isolation cavity is embedded in one side wall of the inner ring, and an air outlet pump connected to the isolation cavity is embedded in the other side wall of the inner ring.

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