Wind-load-resistant anti-swing stabilizing device for aerial work robot

Abstract

The invention discloses a wind-load-resistant anti-swing stabilizing device for a high-altitude operation robot, and relates to the technical field of wind-load-resistant anti-swing stabilization, the wind-load-resistant anti-swing stabilizing device comprises a device main body and two supporting plates, the two supporting plates are both fixedly provided with limiting pieces, the two supporting plates are both provided with positioning assemblies, and the two supporting plates are both provided with rotating assemblies; the two positioning assemblies each comprise a sliding groove, the sliding grooves are formed in the corresponding supporting plates, the two sliding grooves are each provided with two supporting rods in a sliding mode, and the supporting rods are each fixedly provided with a sliding rail used for being matched with the stability of the lifting device body during operation. The device has the beneficial effects that in the process that the device conducts spraying operation on the outer wall of a building, continuous rigid limiting of movement of the device body can be achieved by continuously replacing the sliding rails which are located up and down and intermittently fixed to the wall body, and therefore the wind resistance and the anti-swing performance of the device during high-altitude operation can be improved; the moving stability of the device main body is improved.

Description

Technical Field

[0001] This invention relates to the field of wind load anti-sway stabilization technology, and in particular to a wind load anti-sway stabilization device for a high-altitude work robot. Background Technology

[0002] To protect the structural integrity of building exteriors (especially those of high-rise buildings), extend their lifespan, and enhance their overall aesthetics, building exteriors are typically painted during construction. However, the traditional manual painting method has significant drawbacks, as it is greatly affected by human factors and poses safety concerns. Therefore, "exterior wall painting robots," which are suitable for high-altitude operations, have emerged.

[0003] Most existing "exterior wall spraying robots" are connected to existing hoisting devices via steel cables. When the "exterior wall spraying robot" performs spraying operations on the exterior wall of a building in the air, relying solely on the steel cables for limiting and supporting the robot makes it susceptible to swaying due to environmental factors (such as wind) and its own factors (spraying reaction force, vibration from equipment movement during spraying, etc.). This reduces the spraying effect on the building wall and the stability and safety of the device's movement. To address these issues, we propose a wind-resistant and anti-sway stabilizing device for high-altitude operation robots. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art by proposing a wind-resistant and anti-sway stabilizing device for high-altitude operation robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A wind-resistant and anti-sway stabilizing device for a high-altitude work robot includes a main body and two support plates. Limiting components are fixedly installed on both support plates, positioning components are provided on both support plates, and rotating components are provided on both support plates.

[0007] Both positioning components include a slide groove, which is formed on a corresponding support plate. Two support rods are slidably installed on each of the two slide grooves. A slide rail is fixedly installed on each of the support rods to improve the stability of the lifting device during operation. A suction cup with a linear and uniform distribution is fixedly connected to each slide rail. Multiple slots are formed on each of the two support plates. Two elastic locking parts are fixedly installed on each of the support rods. An adjustment component is provided on each slide rail to improve the wind resistance and anti-sway performance of the lifting device during operation.

[0008] Both of the rotating components include a reciprocating lead screw, which is rotatably mounted on a corresponding support plate. Both of the reciprocating lead screws are equipped with sliders via ball nuts. Both of the sliders are rotatably mounted with rotating cylinders, and both rotating cylinders are equipped with a drive mechanism.

[0009] Compared with existing technologies, the advantages of this invention are:

[0010] 1. In the process of spraying the exterior wall of a building, the present invention uses an air regulating component and a rotating component to rigidly limit the movement of the main body of the device through a slide rail. This helps to improve the wind resistance and anti-sway performance of the device during spraying operations. At the same time, the intermittent replacement of the upper and lower positions of the two slide rails on the support plate by the rotating component ensures the effect of continuous rigid limitation of the movement of the main body of the device through the cooperation of multiple slide rails, ensuring the stability of the position of the main body of the device during continuous operation.

[0011] 2: When the ambient wind force increases during the spraying operation of the device on the exterior wall of a building, the present invention can increase or stabilize the strength of the adsorption and fixation between the slide rail and the building wall by adjusting the components. This ensures the rigid limiting effect of the slide rail on the movement of the main body of the device and further improves the stability of the device when operating at height. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a wind-resistant and anti-sway stabilizing device for a high-altitude work robot proposed in this invention;

[0013] Figure 2 for Figure 1 A schematic diagram of the structure after rotation at a certain angle;

[0014] Figure 3 for Figure 2 A schematic diagram of the internal components of the main body of the device;

[0015] Figure 4 for Figure 3 Top view of the center-adjustable distance assembly;

[0016] Figure 5 for Figure 3 A schematic diagram of the components on the middle support plate;

[0017] Figure 6 for Figure 4 Schematic diagram of the structure of the middle support plate and the limiting component;

[0018] Figure 7 for Figure 4 A three-dimensional structural diagram of the central support plate, limiting components, and slide rail;

[0019] Figure 8 for Figure 7Cross-sectional view of the central support plate;

[0020] Figure 9 for Figure 8 A schematic diagram of the structure of part A;

[0021] Figure 10 for Figure 5 A frontal view diagram;

[0022] Figure 11 for Figure 10 A three-dimensional structural diagram of the two sliding rails;

[0023] Figure 12 for Figure 11 A structural diagram of section B;

[0024] Figure 13 for Figure 11 A structural diagram of section C;

[0025] Figure 14 for Figure 5 A schematic diagram of the structure after rotation at a certain angle;

[0026] Figure 15 for Figure 14 A side view diagram;

[0027] Figure 16 for Figure 15 Schematic diagram of the middle pushing component;

[0028] Figure 17 for Figure 11 A schematic diagram of the structure after the middle slide rail has been rotated by a certain angle;

[0029] Figure 18 for Figure 17 A schematic diagram of the structure of the adjustment component;

[0030] Figure 19 for Figure 18 Schematic diagram of the central air extraction component;

[0031] Figure 20 for Figure 17 A cross-sectional view of the middle slide rail after it has been rotated at a certain angle.

[0032] In the diagram: 1. Main body of the device;

[0033] 2. Adjustable distance assembly; 21. Electric telescopic rod; 22. Push plate; 23. Limiting rod;

[0034] 3. Support plate; 4. Limiting component; 5. Slide rail; 6. Suction cup;

[0035] 7. Positioning component; 71. Slide groove; 72. Support rod; 73. Slot; 74. Elastic locking component;

[0036] 8. Gas regulating assembly; 81. Gas pump; 82. Vacuum pump; 83. Gas pipe; 84. Conduit; 85. Sealing component; 86. Rotating gear; 87. Connecting pipe; 88. Rack and pinion;

[0037] 9. Rotating assembly; 91. Reciprocating lead screw; 92. Rotating cylinder; 93. Gear block one; 94. Rack one; 95. Gear block two; 96. Ring; 97. Push plate; 98. Parallel shaft gear one; 99. Parallel shaft gear two;

[0038] 10. Adjustment assembly; 101. Round rod; 102. Return spring; 103. Drive plate; 104. Rack II; 105. Threaded rod; 106. Spur gear; 107. Sealing plate; 108. Placement slot; 109. One-way exhaust pipe. Detailed Implementation

[0039] 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.

[0040] Reference Figures 1-20 A wind-resistant and anti-sway stabilizing device for a high-altitude work robot includes a main body 1 and two support plates 3. Limiting components 4 are fixedly installed on both support plates 3. Positioning components 7 are provided on both support plates 3. Rotation components 9 are provided on both support plates 3.

[0041] To protect the exterior walls of buildings, especially the structural walls of high-rise buildings, extend the building's lifespan, and enhance its overall aesthetics, appropriate paints are typically selected and sprayed onto the exterior walls during construction. However, the traditional manual spraying method has significant drawbacks. On the one hand, manual spraying is prone to uneven coating thickness and missed areas due to human factors, reducing the effectiveness of the coating. On the other hand, workers face greater risks when working at heights, including the risk of falls. Therefore, "exterior wall spraying robots" that can automatically spray exterior walls have emerged to address this need.

[0042] Existing exterior wall painting robots typically use existing LiDAR and SLAM navigation to scan and model the building's exterior wall before painting it, planning the optimal painting path. Then, using existing hoisting equipment, the robot is hoisted to the top floor of the building using steel cables. After that, the steel cables are released by the hoisting equipment to gradually lower the robot. During the gradual descent of the robot, the existing drive equipment and the painting manipulator work together to achieve automatic painting of the building's exterior.

[0043] Reference Figures 1-4 The device body 1 is provided with an adjustment assembly 2. The adjustment assembly 2 includes an electric telescopic rod 21 fixedly installed on the device body 1. A push plate 22 is fixedly installed at the telescopic end of the electric telescopic rod 21, and the push plate 22 is fixedly connected to two support plates 3. Multiple limit rods 23 are fixedly installed on the device body 1, and each limit rod 23 is fixedly connected to the corresponding support plate 3 (the multiple limit rods 23 have the function of stretching and contracting under force. When the two support plates 3 are moved under force, the cooperation of the two limit rods 23 can help improve the stability of the movement of the two support plates 3 and other structures on them).

[0044] When the device is needed to spray paint the exterior wall of a building, and the main body 1 of the device is hoisted to the top floor of the building using existing hoisting equipment, the distance between the main body 1 of the device and the exterior wall can be adjusted using the existing hoisting equipment according to the spraying requirements of the exterior wall. After the distance between the main body 1 of the device and the exterior wall is adjusted as required, if the suction cups 6 on the slide rails 5 do not contact or do not contact the exterior wall tightly, the electric telescopic rod 21 is activated. At this time, the operation of the electric telescopic rod 21 will push the two support plates 3 and the multiple slide rails 5 and multiple suction cups 6 on them to move closer to the exterior wall of the building through the push plate 22 until the multiple suction cups 6 are in close contact with the exterior wall of the building.

[0045] Reference Figures 5-13 Both positioning components 7 include a slide groove 71, and the slide groove 71 is opened on the corresponding support plate 3. Two support rods 72 are slidably installed on each of the two slide grooves 71. A slide rail 5 is fixedly installed on each of the support rods 72 to help improve the stability of the lifting device body 1 during operation. Suction cups 6 that are evenly distributed in a linear pattern are fixedly connected to each slide rail 5. Multiple slots 73 are opened on each of the two support plates 3. Two elastic locking parts 74 are fixedly installed on each of the support rods 72. An adjustment component 10 is provided on each slide rail 5 to help improve the wind resistance and anti-sway performance of the lifting device body 1 during operation.

[0046] Each slide rail 5 is equipped with an air regulating component 8. Each air regulating component 8 includes an air supply pipe 83, and the air supply pipe 83 is fixedly connected to the corresponding slide rail 5. Each air supply pipe 83 is fixedly connected to a conduit 84. Each of the two limiting members 4 is fixedly installed with an air supply pump 81 and a vacuum pump 82. Each of the two air supply pumps 81 and the two vacuum pumps 82 is fixedly connected with a connecting pipe 87. Each conduit 84 is equipped with a sealing component.

[0047] Multiple sealing components each include a sealing element 85, and the sealing element 85 is sealed through and rotatably mounted on the corresponding conduit 84. A rotating gear 86 is fixedly mounted on each sealing element 85, and two rack rods 88 are fixedly mounted on each of the two limiting elements 4.

[0048] Most existing exterior wall spraying robots are connected to existing hoisting devices via steel wire ropes. When the exterior wall spraying robot is working at height, factors such as the inertia of the equipment and the reaction force of the spraying can easily cause the robot to sway or swing during the downward spraying operation, reducing the stability of the equipment during descent and the spraying effect on the wall. In addition, the lateral thrust and torque loads generated by wind (especially strong wind) in the high-altitude working environment can easily increase the risk of displacement, tilting or even falling of the spraying robot during high-altitude operations, reducing the effectiveness of the spraying robot on the building exterior wall.

[0049] Although some exterior wall painting robots currently incorporate adsorption devices (such as vacuum suction cups used in conjunction with crawling tracks) to improve stability during high-altitude operations, these robots are prone to stopping or slipping on uneven surfaces or containing foreign objects (such as protruding small cement blocks) while crawling on building walls. Furthermore, while the adsorption force between the device and the wall must exceed the robot's weight for it to crawl, strong winds can create significant lateral forces. If these lateral forces, combined with the robot's weight, exceed the adsorption force between the device and the wall, the robot may slip or lose its grip.

[0050] In the initial state, the corresponding two slots 73 and the corresponding two elastic engaging parts 74 cooperate to fix the positions of the corresponding support rod 72 and the slide rail 5, thus achieving the effect of fixing the slide rail 5 to the support plate 3 in the initial state. Figure 7 As shown in the figure, the slide rail 5 and the corresponding support plate 3 are in a relatively static state.

[0051] At the same time, combined Figure 4 and Figure 6 It can be seen that both limiting components 4 are composed of support frames and limiting rollers. The support frames are fixedly installed on the corresponding support plates 3, and the limiting rollers are fixedly installed on the corresponding support frames. In the initial state, the limiting rollers on both limiting components 4 are located at the upper end of the lower slide rail 5 (e.g., Figure 5 direction shown).

[0052] At the same time, the conduits 84 located on the two lower slide rails 5 are set in the initial state (e.g. Figure 11 (As shown in the direction), it is in the open state, that is, at this time the corresponding two sealing parts 85 do not block the ventilation opening of the corresponding conduit 84, and at this time the connecting pipes 87 on the two suction pumps 82 are directly opposite the conduit 84 on the lower slide rail 5 (as shown in the direction). Figure 13 (as shown in the diagram), and the two sealing members 85 located on the two upper slide rails 5, in the initial state, both seal the ventilation openings of the corresponding conduits 84 (e.g., Figure 12 (The state shown).

[0053] When the main body 1 of the device needs to perform spraying operations on the exterior wall of a building, the two vacuum pumps 82 are first started. Since the connecting pipes 87 on the two vacuum pumps 82 are directly opposite the conduits 84 on the corresponding lower slide rails 5, the two vacuum pumps 82, through the cooperation of the connecting pipes 87, conduits 84, and air supply pipes 83, can perform vacuum treatment on the internal cavities of the two lower slide rails 5 and the multiple suction cups 6 thereon (e.g., Figure 11 As shown, multiple suction cups 6 on the slide rail 5 are connected to the cavities opened on them, until the multiple suction cups 6 on the two lower slide rails 5 are tightly adhered to the exterior wall of the building. At the same time, when the air pump 82 is running and evacuating the air from the corresponding suction cups 6, the operating power of the air pump 82 can be adaptively adjusted according to factors such as the weight of the main body 1 of the device, the height of the building to be sprayed, and the ambient wind strength. That is, the adhesion strength between the slide rail 5 and the building wall through the multiple suction cups 6 can be adaptively adjusted, which can help improve the applicability of the device.

[0054] After the slide rails 5 at the lower ends of the two support plates 3 are fixed to the exterior wall of the building by multiple suction cups 6, the main body of the device 1 is lowered by the existing hoisting device. Therefore, the slide rails 5 below the support plates 3 are fixed to the exterior wall of the building. As the main body of the device 1 moves down, the two support plates 3 and the two limiting members 4 move down together. During this process, the limiting rollers on the two limiting members 4 will roll down along the inner wall of the fixed slide rail 5 (i.e., the slide rail 5 below the support plates 3 at this time). At this time, the rigid limiting of the movement of the corresponding limiting members 4, support plates 3 and main body of the device by the slide rail 5 can help improve the stability of the main body of the device 1 during the downward movement, and improve the wind resistance, anti-sway and anti-shaking performance of the device when working at height.

[0055] Simultaneously, when the slide rail 5 below the support plate 3 is fixed to the exterior wall of the building, the main body 1 of the device drives the two support plates 3 to move downward relative to the two fixed slide rails 5 (e.g. Figure 8 (As shown in the direction), at this time, the two slots 73 below the support plate 3 exert a squeezing force on the corresponding two elastic engaging parts 74, which will cause the two elastic engaging parts 74 on the support rod 72 below the support plate 3 (i.e., the support rod 72 fixedly connected to the slide rail 5 below the support plate 3) to move closer to each other until the two elastic engaging parts 74 on the support rod 72 are compressed into the corresponding slide groove 71. In this way, the device body 1 can drive the support plate 3 and the limiting part 4 to move down relative to the fixed slide rail 5, and the fixed slide rail 5 can rigidly limit the movement of the device body 1.

[0056] And when the slide rail 5 below the support plate 3 is fixedly installed on the exterior wall of the building, the main body 1 of the device drives the two support plates 3 to move downward relative to the two fixed slide rails 5 (e.g. Figure 7 (as shown in the direction), at this time, the movement of the corresponding upper slide rail 5 is limited by the lower fixed slide rail 5, so that at this stage, the two upper slide rails 5 are also in a stationary state and will not move down with the main body 1 and the two support plates 3. At this time, the squeezing force generated by the two slots 73 opened on the upper part of the support plate 3 on the corresponding elastic engaging parts 74 will squeeze the two upper elastic engaging parts 74 closer to each other until the two upper support rods 72 can move relative to the corresponding support plate 3 (such as...). Figure 8 direction shown).

[0057] Simultaneously, when the two air pumps 82 are running, fixing the slide rail 5 below the support plate 3 to the building wall, the main body 1 of the device drives the two support plates 3, the two limiting pieces 4, and the multiple rack rods 88 to move downward relative to the fixed slide rail 5 (e.g. Figure 10 (As shown in the direction), at this time, the driving force applied by the two rack rods 88 below the limiting member 4 to the corresponding rotating gear 86 can drive the corresponding sealing member 85 to rotate until the sealing member 85 rotates and closes, completing the sealing of the ventilation port of the corresponding conduit 84, that is, the conduit 84 on the fixed slide rail 5. This can effectively ensure that when the main body 1 drives the two connecting pipes 87 below the limiting member 4 to move down, and the lower connecting pipes 87 separate from the conduit 84 on the fixed slide rail 5, external gas is prevented from entering the interior of the slide rail 5 along the ventilation port of the conduit 84 on the fixed slide rail 5, thus disrupting the vacuum adsorption effect between the multiple suction cups 6 on the fixed slide rail 5 and the wall. In other words, it ensures the stability of the adsorption and fixation between the two fixed slide rails 5 and the wall at this stage.

[0058] Reference Figures 5-16Both of the rotating components 9 include a reciprocating lead screw 91, and the reciprocating lead screw 91 is rotatably mounted on the corresponding support plate 3. Both of the reciprocating lead screws 91 are equipped with sliders by ball nuts. Both of the sliders are rotatably mounted with rotating cylinders 92, and both rotating cylinders 92 are equipped with driving mechanisms.

[0059] Both drive mechanisms include a parallel shaft gear 98, which is fixedly mounted on the corresponding reciprocating lead screw 91. Parallel shaft gears 99 are fixedly mounted on both rotating cylinders 92. Tooth blocks 93 are fixedly mounted on both slide rails 5 in a linear and uniform distribution. Tooth blocks 95 are fixedly mounted on both slide rails 5 in a linear and uniform distribution. A rack 94 that meshes with the corresponding parallel shaft gear 99 is fixedly mounted on both slide rails 5. Pushing components are mounted on both rotating cylinders 92.

[0060] Both of the pushing components include a ring 96, and the ring 96 is fixedly mounted on the corresponding rotating cylinder 92. Multiple push plates 97 are fixedly mounted on both rings 96.

[0061] When the main body 1 of the device drives the support plate 3, and the reciprocating screw 91 and the rotating cylinder 92 on the support plate 3 move downward relative to the slide rail 5 (e.g. Figure 15 (As shown in the direction), when the parallel shaft gear 98 on the reciprocating screw 91 meshes with the corresponding tooth block 93, the main body 1 drives the reciprocating screw 91 and the rotating cylinder 92 to continuously move downwards. Through the cooperation of the corresponding multiple tooth blocks 93 and the parallel shaft gear 98, the reciprocating screw 91 is driven to rotate during the downward movement. When the reciprocating screw 91 is rotated under force, the ball nut on it, in cooperation with the slider, drives the corresponding rotating cylinder 92 to move to the left (e.g., in the direction shown). Figure 15 (as shown in the direction) until the parallel shaft gear 2 99 on the rotating cylinder 92 and the corresponding rack 1 94 are on the same vertical horizontal line.

[0062] When the main body 1 of the device drives the support plate 3 and the corresponding reciprocating screw 91 and rotating cylinder 92 to move downwards, the parallel shaft gear 99 on the rotating cylinder 92 meshes with the corresponding rack 94. When the rotating cylinder 92 starts to rotate under force, the upper end of the sliding groove 71 on the support plate 3 just moves to contact the corresponding upper support rod 72. At this time, the rotating cylinder 92 rotates, driving the corresponding ring 96 and multiple push plates 97 to rotate clockwise around the corresponding rotating cylinder 92 as the axis, and contacting the upper support rod 72 (e.g., Figure 16The two push plates 97 in contact (in the direction shown) exert a thrust on the support rod 72, causing the support rod 72 to drive the corresponding upper slide rail 5 (as can be seen from the above description, the two upper slide rails 5 are not fixedly installed on the wall of the building exterior) to rotate clockwise along the corresponding slide groove 71 until the parallel shaft gear 2 99 separates from the corresponding rack 1 94, the rotating cylinder 92 stops rotating, and at this time the upper support rod 72 is just rotated to the lowest end of the corresponding slide groove 71, and the corresponding slide rail 5 is rotated and moved to the lower end of the fixed slide rail 5.

[0063] Once the parallel shaft gear 99 separates from the corresponding rack 94, the main body 1 of the device drives the support plate 3 and its reciprocating screw 91 and rotating cylinder 92 to move downwards continuously. The parallel shaft gear 98 meshes with the gear block 95 on the fixed slide rail 5 (e.g., Figure 15 (As shown in the direction), and while the main body 1 continues to drive the support plate 3, reciprocating screw 91, and parallel shaft gear 98 downwards, the driving force applied by the corresponding multiple tooth blocks 95 to the corresponding parallel shaft gear 98 can drive the corresponding reciprocating screw 91 to rotate. The rotation of the reciprocating screw 91 can then drive the corresponding rotating cylinder 92 to move to the right (e.g., in the direction shown). Figure 15 (in the direction shown) until the rotating cylinder 92 drives the corresponding ring 96 and multiple push plates 97 to move to the initial position.

[0064] Simultaneously, the rotating cylinder 92 is connected to a corresponding ring 96 and multiple push plates 97, driving the corresponding unfixed slide rail 5 to rotate clockwise (e.g., ...). Figure 10 When the direction shown is fast, when the original upper slide rail 5 moves to the lower position, the two limiting members 4 still slide inside the two fixed slide rails 5 (that is, they are located inside the two upper slide rails 5 at this time). This ensures that when the device changes the upper and lower positions of the corresponding two slide rails 5 through the rotating component 9, the limiting members 4 always slide inside the fixed slide rails 5, ensuring that the two fixed slide rails 5 cooperate to rigidly limit the movement of the main body 1 of the device during this stage.

[0065] The rotating cylinder 92 is moved to the right and reset under force (e.g.) Figure 15(In the direction shown), the main body 1 of the device drives two support plates 3, two limiting parts 4, two air pumps 81, two air pumps 82, and multiple rack rods 88 to move continuously downward. When the two rack rods 88 below contact the rotating gears 86 on the slide rail 5 below the support plate 3 and continue to move downward under force, the sealing parts 85 can be driven to gradually unfold through the cooperation of the rack rods 88 and the corresponding rotating gears 86. When the connecting pipes 87 on the two air pumps 82 move and are directly opposite the conduits 84 on the slide rail 5 below, the operation of the air pumps 82 can perform vacuum treatment on the slide rail 5 below the two support plates 3, thereby achieving the effect of fixing the slide rail 5 below the support plate 3 to the exterior wall of the building.

[0066] After the slide rails 5 below the two support plates 3 are fixedly connected to the cavity of the building exterior wall through the corresponding multiple suction cups 6, the two support plates 3 and the two limiting members 4 are continuously moved downward by the main body of the device 1. This allows the two limiting members 4 to move into the interior of the slide rails 5 below, thereby achieving the effect of the two slide rails 5 cooperating and continuously limiting the movement of the main body of the device 1 through the limiting members 4.

[0067] Simultaneously, the main body 1 of the device drives the two support plates 3, the two limiting components 4, the two air pumps 81, and the multiple rack rods 88 to continuously move downwards (e.g., Figure 11 (As shown in the direction), when the rack rod 88 above the limiting member 4 contacts the rotating gear 86 located on the upper slide rail 5, the driving force applied to the corresponding rotating gear 86 by the continuous downward movement of the rack rod 88 causes the sealing member 85 located on the upper slide rail 5 to gradually unfold. When the connecting pipe 87 on the two air pumps 81 is directly opposite to the conduit 84 on the corresponding upper slide rail 5, the two air pumps 81 are started. The air pumps 81 are running, and through the cooperation of the corresponding connecting pipe 87, conduit 84 and air supply pipe 83, external gas can be delivered to the internal cavity of the corresponding slide rail 5, thereby releasing the pressure of the multiple suction cups 6 on the corresponding slide rail 5. This facilitates the subsequent replacement of the position of the two slide rails 5 of the support plate 3 by the above-mentioned rotating component 9 when the main body 1 of the device continues to move downward.

[0068] By following the above operating principle, the effect of intermittently changing the upper and lower positions of the two slide rails 5 on the support plate 3 and intermittently fixing the slide rail 5 located below the support plate 3 to the building exterior wall can be achieved. This ensures that the multiple slide rails 5 cooperate to rigidly limit the continuous downward movement of the main body 1 of the device.

[0069] Reference Figures 1-20Each of the multiple adjustment components 10 includes two grooves, and the two grooves are formed on the corresponding slide rails 5. A round rod 101 is fixedly installed on each groove. A drive plate 103 is slidably installed on each round rod 101. Two return springs 102 are fixedly installed between the drive plate 103 and the corresponding groove. A rack 104 is fixedly installed on each drive plate 103. An air extraction component is installed on each slide rail 5.

[0070] Multiple air extraction components each include two placement slots 108, and the two placement slots 108 are opened on corresponding slide rails 5. Each slide rail 5 has a cavity, and the cavity is connected to the corresponding placement slot 108. Each placement slot 108 is rotatably mounted with a threaded rod 105. Each threaded rod 105 is fixedly mounted with a spur gear 106 that cooperates with the corresponding rack 104. Each threaded rod 105 is threadedly mounted with a sealing plate 107, and the sealing plate 107 is slidably mounted on the corresponding placement slot 108. Each slide rail 5 is sealed and fixedly connected to multiple one-way exhaust pipes 109.

[0071] When the device is spraying paint on the exterior wall of a building, if the wind force on one side of the main body 1 increases, it will generate a lateral thrust on the main body 1 of the device (e.g. Figure 2 The indicated direction (specifically, the left-right direction of the main body 1) means that if the wind force on the left side of the main body 1 increases, and this wind force passes through the drive plate 103, it will exert a pushing force on the return spring 102 on the right side of the drive plate 103 (e.g., Figure 18 When the wind force is greater than the initial deformation resistance of the return spring 102 on the side (as shown in the direction), the wind force will push the drive plate 103 to move to the right. The drive plate 103 will be driven by the force to move the corresponding rack 104 to the right. The driving force applied to the corresponding spur gear 106 can drive the corresponding threaded rod 105 to rotate.

[0072] The threads of the two threaded rods 105 inside each slide rail 5 are opposite in direction. In the initial state, the sealing plates 107 are all located in the middle position of the corresponding threaded rods 105. When the wind force on the left side of the device body 1 increases, indirectly driving multiple threaded rods 105 to rotate, the corresponding two threaded rods 105 will be driven by force to drive the sealing plates 107 on them to move away from each other. During the process of the two sealing plates 107 moving away from each other, the cavity opened on the corresponding slide rail 5 can be further evacuated through the corresponding placement groove 108. This can help improve the adhesion strength between the fixed slide rail 5 and the building exterior wall when the external wind force increases and the lateral pushing force on the device body 1 increases. It can also improve the rigid limiting strength of the fixed slide rail 5 on the device body 1. This can help further improve the wind resistance and anti-sway performance of the device and improve the spraying effect of the device on the building exterior wall.

[0073] At the same time, if the wind force on the right side of the device increases (e.g.) Figure 17When the wind force is greater than the initial deformation resistance of the return spring 102 on the left side of the drive plate 103 (as shown in the direction), the wind force drives the drive plate 103 to move the corresponding rack 104 to the left. The driving force applied by the rack 104 to the corresponding spur gear 106 drives the corresponding threaded rod 105 to move in the opposite direction, which will drive the two sealing plates 107 to move closer to each other and compress the gas inside the corresponding slide rail 5. This can effectively prevent the gas from being squeezed into the suction cup 6 from the gap between the suction cup 6 and the wall when the external wind force increases and the gas impact force increases, thus destroying the adsorption effect between the suction cup 6 and the wall. In other words, it ensures that the fixed slide rail 5 maintains its adsorption and fixation effect with the wall when the external wind force increases.

[0074] When the lateral wind force of the main body 1 of the device decreases, the corresponding drive plate 103 will be driven by the reset spring 102 to move and reset the corresponding rack 104. During this process, the reaction force applied by the rack 104 to the corresponding spur gear 106 can drive the corresponding threaded rod 105 to rotate in the opposite direction and reset. At this time, the rotation of the threaded rod 105 can drive the corresponding sealing plate 107 to move and reset. This makes it easier to increase or ensure the strength of the adhesion and fixation between the slide rail 5 and the building wall by adjusting the component 10 when the wind force increases.

[0075] To further clarify, the aforementioned fixed connection should be interpreted broadly unless otherwise explicitly specified and limited. For example, it may be welding, gluing, or integral molding, or other conventional methods well known to those skilled in the art.

[0076] In this invention, when the device is used to spray paint the exterior wall of a building, the slide rails 5 located below the two support plates 3 are first fixed to the wall of the building by the air pump 82. Then, when the main body 1 of the device and the limiting member 4 move down relative to the fixed slide rails 5 below the support plate 3, the two fixed slide rails 5 rigidly limit the movement of the corresponding limiting member 4, which helps to improve the stability of the main body 1 during the downward movement of the device under force, and helps to improve the wind resistance and anti-sway performance of the main body 1 when working at height.

[0077] Meanwhile, as the main body 1 of the device continues to move downward, the two slide rails 5 on the support plate 3 can be changed up and down intermittently through the rotating component 9, and the slide rail 5 located below the support plate 3 can be fixed to the wall of the building exterior through the air regulating component 8. This ensures that the multiple slide rails 5 work together to rigidly limit the continuous downward movement of the main body 1 of the device.

[0078] Meanwhile, when the wind force on the side of the main body 1 increases, the adjustment component 10 can effectively enhance or ensure the adsorption force between the slide rail 5 and the building wall, further improving the wind resistance and anti-sway performance of the device.

[0079] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A wind-resistant and anti-sway stabilizing device for a high-altitude work robot, comprising a main body (1) and two support plates (3), wherein limiting components (4) are fixedly installed on both support plates (3), characterized in that, Both of the support plates (3) are provided with positioning components (7) and both of the support plates (3) are provided with rotating components (9); Both positioning components (7) include a slide groove (71), and the slide groove (71) is opened on the corresponding support plate (3). Two support rods (72) are slidably installed on both slide grooves (71). Slide rails (5) are fixedly installed on the support rods (72) to help the stability of the lifting device body (1) during operation. Suction cups (6) are fixedly connected to the slide rails (5) in a linear and uniform distribution. Multiple slots (73) are opened on both support plates (3). Two elastic locking parts (74) are fixedly installed on the support rods (72). An adjustment component (10) is provided on each slide rail (5) to help the lifting device body (1) resist wind and sway during operation. Both of the rotating components (9) include a reciprocating screw (91), and the reciprocating screw (91) is rotatably mounted on the corresponding support plate (3). Both of the reciprocating screws (91) are equipped with sliders by ball nuts. Both of the sliders are rotatably mounted with rotating cylinders (92), and both rotating cylinders (92) are equipped with driving mechanisms.

2. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 1, characterized in that, Both of the driving mechanisms include a parallel shaft gear one (98), and the parallel shaft gear one (98) is fixedly mounted on the corresponding reciprocating lead screw (91). Both of the rotating cylinders (92) are fixedly mounted with a parallel shaft gear two (99). Each slide rail (5) is fixedly equipped with a toothed block (93) that is evenly distributed in a linear shape, and each slide rail (5) is fixedly equipped with a toothed block (95) that is evenly distributed in a linear shape. Each slide rail (5) is fixedly equipped with a rack (94) that cooperates with the corresponding parallel shaft gear (99). Each of the two rotating cylinders (92) is equipped with a pushing component.

3. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 2, characterized in that, Both of the pushing components include a ring (96), and the ring (96) is fixedly mounted on the corresponding rotating cylinder (92). Multiple push plates (97) are fixedly mounted on both rings (96).

4. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 1, characterized in that, Each of the multiple adjustment components (10) includes two grooves, and the two grooves are opened on the corresponding slide rails (5). A round rod (101) is fixedly installed on each groove. A drive plate (103) is slidably installed on each round rod (101). Two return springs (102) are fixedly installed between the drive plate (103) and the corresponding groove. A rack (104) is fixedly installed on each drive plate (103). An air extraction component is installed on each slide rail (5).

5. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 4, characterized in that, Each of the aforementioned air extraction components includes two placement slots (108), and the two placement slots (108) are opened on corresponding slide rails (5). Each slide rail (5) has a cavity, and the cavity is connected to the corresponding placement slot (108). Each placement slot (108) is rotatably mounted with a threaded rod (105), and each threaded rod (105) is fixedly mounted with a spur gear (106) that cooperates with the corresponding rack (104). Each threaded rod (105) is threaded with a sealing plate (107), and the sealing plate (107) is slidably installed on the corresponding placement groove (108). Each slide rail (5) is sealed and connected to multiple one-way exhaust pipes (109).

6. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 1, characterized in that, Each of the slide rails (5) is provided with an air regulating component (8), and each of the multiple air regulating components (8) includes an air supply pipe (83), and the air supply pipe (83) is fixedly connected to the corresponding slide rail (5), and each of the air supply pipes (83) is fixedly connected to a conduit (84). An air pump (81) is fixedly installed on each of the two limiting members (4), and an air pump (82) is fixedly installed on each of the two limiting members (4). A connecting pipe (87) is fixedly connected to each of the two air pumps (81) and the two air pumps (82). A sealing component is installed on each of the conduits (84).

7. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 6, characterized in that, Each of the multiple sealing components includes a sealing element (85), and the sealing element (85) is sealed through and rotatably mounted on the corresponding conduit (84). A rotating gear (86) is fixedly mounted on each of the sealing elements (85), and two rack rods (88) are fixedly mounted on each of the two limiting elements (4).

8. The wind-resistant and anti-sway stabilizing device for a high-altitude work robot according to claim 1, characterized in that, The device body (1) is provided with a distance adjustment component (2). The distance adjustment component (2) includes an electric telescopic rod (21) fixedly installed on the device body (1). The telescopic end of the electric telescopic rod (21) is fixedly installed with a push plate (22), and the push plate (22) is fixedly connected to two support plates (3). The device body (1) is fixedly installed with multiple limit rods (23), and the limit rods (23) are all fixedly connected to the corresponding support plates (3).

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