High-rise painting robot capable of being expanded in array mode

Abstract

The invention provides a high-rise painting robot capable of being expanded in an array mode, and belongs to the field of crawling robots. The robot comprises at least two robot units, each robot unit comprises a vacuum suction cup, a multifunctional painting mechanism and an expansion connecting mechanism, each expansion connecting mechanism comprises a telescopic air cylinder, every two adjacent robot units are connected through the corresponding telescopic air cylinder, and an annular supporting frame is arranged on each vacuum suction cup; the multifunctional painting mechanism is arranged on an annular supporting frame, a steering mechanism is arranged above the annular supporting frame and comprises a gear and an annular toothed rail which are horizontally arranged, the gear is rotatably arranged on the annular supporting frame and meshed with the annular toothed rail, and a supporting plate is fixedly arranged above the annular toothed rail. The expansion connecting mechanism is fixedly arranged on the supporting plate. By means of the high-rise painting robot capable of being expanded in the array mode, the problem that in the prior art, the crawling efficiency and the working efficiency are low can be solved.

Description

Technical Field

[0001] This invention relates to the field of crawling robots, and in particular to an array-expandable high-rise painting robot. Background Technology

[0002] With the rapid development of urban construction and the increasing number of high-rise buildings, exterior wall painting, as an important component of building aesthetics and protective performance, is facing challenges such as large workload, high labor costs, and significant safety hazards. Currently, high-rise exterior wall painting mainly relies on manual labor, often using suspended platforms, scaffolding, or high-altitude ropes. This method suffers from low efficiency and high risks associated with working at heights. Furthermore, manual painting results in inconsistent quality, significantly affected by weather, the experience and skill level of the workers, leading to defects such as missed spots, uneven application, cracks, and bubbles, increasing subsequent maintenance costs.

[0003] Some existing technologies have begun to incorporate automation or robotic devices, such as negative pressure suction wall-crawling robots, track-based spraying equipment, and drone spraying. However, some devices require pre-set tracks, such as guide rail spraying devices, which are limited by the complex structures of building exteriors. Other existing technologies use multiple units assembled to form a crawling robot for wall operations; however, when turning, it needs to move while turning, resulting in an excessively large turning radius for the overall structure. This can easily lead to motion interference between the robot and the wall, or between multiple units, when the crawling robot is turning.

[0004] In existing technologies, multi-unit robots often have excessively large turning radii due to the structural form of the splicing mechanism. This can easily lead to motion interference between the multiple units, making it difficult to adapt to complex working conditions and reducing crawling and work efficiency. Summary of the Invention

[0005] This invention provides an arrayable, expandable high-rise building painting robot that solves the problems of low crawling and working efficiency in existing technologies. The technical solution is as follows: An array-expandable high-rise painting robot includes: at least two robot units. The robot unit includes a vacuum suction cup, a multi-functional painting mechanism, and an extension connection mechanism. The extension connection mechanism includes a telescopic cylinder, and two adjacent robot units are connected through the telescopic cylinder. A ring support frame is provided on the vacuum suction cup, and the multi-functional painting mechanism is provided on the ring support frame. A steering mechanism is provided above the ring support frame, and a support plate is provided above the steering mechanism. The support plate and the ring support frame rotate relative to each other through the steering mechanism, and the extension connection mechanism is fixedly provided on the support plate.

[0006] Optionally, the steering mechanism includes a horizontally arranged gear and an annular toothed rail. The gear is rotatably mounted on the annular support frame and meshes with the annular toothed rail. The support plate is fixedly mounted on the annular toothed rail. An annular base plate is fixedly mounted at the bottom of the annular toothed rail. Multiple guide plates are fixedly mounted on the top of the annular support frame. The guide plates are located at the bottom of the base plate and are spaced apart circumferentially along the annular base plate. The gear is rotatably mounted on the guide plate. Multiple guide wheels are mounted on the guide plate. The multiple guide wheels are respectively mounted on the inner and outer sides of the annular base plate and abut against the edge of the annular base plate.

[0007] Optionally, the extended connection mechanism further includes a cylinder support, a cylinder liner, a connecting rod, and a self-locking connector. The cylinder support is fixed on the edge of the support plate. The connecting rod and the telescopic cylinder are arranged facing the center of the support plate. One end of the connecting rod is hinged to the cylinder support and the other end is hinged to the cylinder liner. One end of the telescopic cylinder is connected to the cylinder liner and the other end is provided with the self-locking connector. Two adjacent robot units are connected through the self-locking connector.

[0008] Optionally, four extension connection mechanisms are provided, and the four extension connection mechanisms are arranged at equal angular intervals around the center of the support plate.

[0009] Optionally, the multifunctional painting mechanism includes a painting component, a waterproof coating spraying component, and a drying component. The painting component includes a drive unit, a spraying unit, and a roller. The roller is disposed on one side of the annular support frame via the drive unit, which drives the roller to move closer to or away from the wall. The outlet of the spraying unit is located between the roller and the annular support frame. The waterproof coating spraying component and the drying component are located on the other side of the annular support frame. The waterproof coating spraying component is used to spray waterproof coating onto the wall, and the drying component is used to dry the waterproof coating sprayed onto the wall.

[0010] Optionally, the waterproof coating spraying assembly includes a crank-rocker structure, a cam drive structure, and a spray head. The crank-rocker structure is used to control the spray head to swing up and down, and the cam drive structure is used to control the spray head to swing left and right.

[0011] Optionally, the drying assembly is disposed on both sides of the paint spraying assembly. The drying assembly includes an outer flexible tube, a flexible skeleton, and a drying cylinder. The flexible skeleton is composed of multiple flexible skeleton units, which are connected by a connecting shaft. The drying cylinder is located at the end of the drying assembly.

[0012] Optionally, the spraying unit includes a guide pipe, a storage bin, and a stirring structure. The storage bin is fixedly mounted on the annular support frame. The input end of the guide pipe is connected to the storage bin, and the output end is positioned towards the front end of the roller moving in the direction of travel. The stirring structure is located inside the storage bin and is used to stir the paint in the storage bin.

[0013] Optionally, a spring is provided between the annular support frame and the vacuum suction cup.

[0014] Optionally, the support plate is provided with a housing.

[0015] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: This invention provides an arrayable, expandable high-rise painting robot. During its movement, the robot employs a multi-functional painting mechanism to paint the wall. This mechanism can spray paint onto the wall surface and use a roller to smooth the paint evenly. Therefore, as long as the robot can move along the wall, it can paint the wall. By setting at least two robot units and alternately drawing and breaking the vacuum using their vacuum suction cups, combined with the extension and retraction of a telescopic cylinder, the robot can move in a straight line along the wall. Through the meshing of gears and a ring-shaped toothed rail, when the vacuum suction cups adhere to the wall, rotating the gears causes the ring-shaped toothed rail to rotate, thereby driving the rotation of the support plate and the expansion connection mechanism. When one robot unit detaches from the wall, the rotation at this time can also cause the other robot unit to rotate around the first robot unit, thus controlling the direction of the robot's linear movement and enabling the robot to cover the entire wall surface. During the turning process, since each robot unit can rotate 360° around the adjacent robot unit, and there is no motion interference due to its own structure during the rotation, the robot in this embodiment can turn more quickly and accurately, reducing the time for adjusting the motion posture during the turning process, thereby effectively solving the problem of low crawling efficiency and work efficiency in the prior art. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the robot unit provided in an embodiment of the present invention; Figure 2This is a schematic diagram of the robot unit without its outer shell provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the expansion connection mechanism structure and the support plate provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the general state of the extended connection structure provided in the embodiments of the present invention; Figure 5 This is a schematic diagram of the extended connection structure in the wall-crossing state provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the male connector structure provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the female connector structure provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the multifunctional painting mechanism and the ring support frame provided in the embodiment of the present invention. Figure 9 This is a schematic diagram of the steering mechanism and the ring support frame provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the steering mechanism structure provided in an embodiment of the present invention; Figure 11 This is a side view schematic diagram of the steering mechanism provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the multifunctional painting mechanism provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the waterproof coating spraying component structure provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the crank-rocker structure provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of the cam drive structure provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the flexible bone structure provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the internal structure of the storage silo provided in an embodiment of the present invention; Figure 18 This is a schematic diagram of the overall assembly of the robot provided in an embodiment of the present invention; Figure 19 This is a logic diagram of the control system provided in an embodiment of the present invention.

[0018] In the diagram: 101-Robot unit; 1-Vacuum suction cup; 2-Multi-functional painting mechanism; 21-Painting assembly; 211-Drive unit; 2111-Piston cylinder; 2112-Connecting rod structure; 212-Spraying unit; 2121-Guide pipe; 2122-Storage bin; 2123-Stirring structure; 2124-Fifth motor; 2125-Fan blade; 213-Roller; 22-Waterproof coating spraying assembly; 221-Crank rocker structure; 222-Cam transmission structure; 2221-Active cam; 2222-Passive cam; 2223-Connecting rod; 223-Sprayer head; 224-Third motor; 225-Fourth motor; 23-Drying unit Components; 231-Outer flexible tube; 232-Flexible skeleton; 2321-Flexible skeleton unit; 2322-Connecting shaft; 233-Drying cylinder; 3-Extension connection mechanism; 31-Telescopic cylinder; 32-Cylinder support seat; 33-Cylinder liner; 34-Connecting rod; 35-Self-locking connector; 351-Male connector; 352-Female connector; 36-Second motor; 37-Fifth motor; 4-Annular support frame; 5-Steering mechanism; 51-Gear; 52-Annular gear rail; 53-Annular base plate; 54-Guide plate; 55-Guide wheel; 56-First motor; 57-First bevel gear; 58-Second bevel gear; 6-Support plate; 7-Spring; 8-Outer shell. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the overall structure of the robot unit provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the robot unit without its outer shell provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the expansion connection mechanism structure and the support plate provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the general state of the extended connection structure provided in the embodiments of the present invention; Figure 5 This is a schematic diagram of the extended connection structure in the wall-crossing state provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the male connector structure provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the female connector structure provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the multifunctional painting mechanism and the ring support frame provided in the embodiment of the present invention. Figure 9 This is a schematic diagram of the steering mechanism and the ring support frame provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the steering mechanism structure provided in an embodiment of the present invention; Figure 11 This is a side view schematic diagram of the steering mechanism provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the multifunctional painting mechanism provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the waterproof coating spraying component structure provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the crank-rocker structure provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of the cam drive structure provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the flexible bone structure provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the internal structure of the storage silo provided in an embodiment of the present invention; Figure 18 This is a schematic diagram of the overall assembly of the robot provided in an embodiment of the present invention; Figure 19 This is a logic diagram of the control system provided in an embodiment of the present invention. For example... Figures 1 to 19 The illustrated array-expandable high-rise painting robot includes at least two robot units 101. Each robot unit 101 includes a vacuum suction cup 1, a multi-functional painting mechanism 2, and an expansion connection mechanism 3. The expansion connection mechanism 3 includes a telescopic cylinder 31. Adjacent robot units 101 are connected by the telescopic cylinder 31. A ring support frame 4 is provided on the vacuum suction cup 1. The multi-functional painting mechanism 2 is provided on the ring support frame 4. A steering mechanism 5 is provided above the ring support frame 4. The expansion connection mechanism 3 is fixedly provided on a support plate 6.

[0021] Exemplarily, in this embodiment of the invention, a vacuum pump and a control valve are provided on the vacuum suction cup 1. The vacuum pump is used to evacuate the inside of the vacuum suction cup 1, thereby allowing the vacuum suction cup 1 to adhere to the wall. The control valve is used to control the breaking of the vacuum inside the vacuum suction cup 1, thereby allowing the vacuum suction cup 1 to separate from the wall. Figure 19 As shown, a pressure sensor can be installed at the contact point between the vacuum suction cup 1 and the wall to detect the suction pressure between the vacuum suction cup 1 and the wall. Based on the detected pressure value, the vacuum pump or control valve can be controlled to adjust the suction force between the vacuum suction cup 1 and the wall, allowing the robot to move more stably on the wall. A vision detection module can also be installed at the bottom of the support plate 6 to detect the condition of the wall and whether painting is required. When the vision detection module detects that the current wall needs painting, the robot enters the painting mode. When the vision detection module detects that the wall does not need painting, the robot continues to move to other positions on the wall for painting. The vision detection module can also detect the quality of the painting; if the painting quality is insufficient, a touch-up path can be planned for localized repairs of the wall.

[0022] This structure enables the robot to automatically inspect walls, entering working mode upon detecting walls requiring repair, thus improving its automation level. Initially, the two robot units 101 are joined together via telescopic cylinders, with both units vacuumed and adhered to the wall. When the robot needs to move, the vacuum suction cup 1 of the second robot unit 101 breaks the vacuum and extends the telescopic cylinder 31, increasing the distance between the two robot units 101. Then, the second robot unit 101 is vacuumed again and adhered to the wall. The vacuum suction cup 1 of the first robot unit 101 breaks the vacuum and retracts the telescopic cylinder 31, causing the two robot units 101 to re-join, thus enabling movement towards the second robot unit 101. When the second robot unit 101 needs to rotate around the first robot unit 101, the vacuum of the vacuum suction cup 1 of the first robot unit 101 is first broken, and the gear 51 of the first robot unit 101 is rotated, so that the gear 51, the ring support frame 4 and the vacuum suction cup 1 rotate together along the ring gear track 52. Then, the first robot unit 101 is vacuumed and adsorbed onto the wall. The vacuum of the second robot unit 101 is broken, and the gear of the first robot unit 101 is rotated again, so that the ring gear track 52 of the first robot unit 101 rotates together with the support plate. Due to the connection of the extension connection mechanism 3, the second robot unit 101 rotates around the first robot unit 101, thereby realizing the turning of the overall movement direction of the robot. During the turning motion of this robot, one robot unit 101 can rotate around another robot unit 101, thereby reducing the overall turning radius of the robot. Furthermore, the robot unit 101 can rotate 360° without interference from its own structure, enabling the robot to adapt to more different working conditions and to adjust its direction more quickly, thus improving the robot's crawling efficiency and work efficiency.

[0023] This invention provides an arrayable, expandable high-rise painting robot. During its movement, the robot employs a multi-functional painting mechanism 2 to paint the wall. This mechanism sprays paint onto the wall and uses a roller to smooth the paint onto the surface. Therefore, as long as the robot can move along the wall, it can paint the wall. By setting at least two robot units 101 and alternately drawing and breaking the vacuum of their vacuum suction cups 1, combined with the extension and retraction of the telescopic cylinder 31, the robot can move in a straight line along the wall. Through the meshing of gear 51 and annular toothed rail 52, when the vacuum suction cup 1 adheres to the wall, rotating gear 51 causes the annular toothed rail 52 to rotate, thereby driving the rotation of the support plate and the extension connection mechanism 3. When another robot unit 101 detaches from the wall, this rotation can also cause the other robot unit 101 to rotate around the first robot unit 101, thus controlling the direction of the robot's linear movement and enabling it to cover the entire wall surface. During the turning process, since each robot unit can rotate 360° around the adjacent robot unit, and there is no motion interference due to its own structure during the rotation, the robot in this embodiment can turn more quickly and accurately, reducing the time for adjusting the motion posture during the turning process, thereby effectively solving the problem of low crawling efficiency and work efficiency in the prior art.

[0024] Optionally, the steering mechanism 5 includes a horizontally arranged gear 51 and an annular toothed rail 52. The gear 51 is rotatably mounted on the annular support frame 4 and meshes with the annular toothed rail 52. The support plate 6 is fixedly mounted on the annular toothed rail 52. An annular base plate 53 is fixedly mounted at the bottom of the annular toothed rail 52. Multiple guide plates 54 are fixedly mounted at the top of the annular support frame 4. The guide plates 54 are located at the bottom of the base plate 53. The multiple guide plates 54 are arranged at intervals around the annular base plate 53. The gear 51 is rotatably mounted on the guide plate 54. Multiple guide wheels 55 are mounted on the guide plate 54. The multiple guide wheels 55 are respectively mounted on the inner and outer sides of the annular base plate 53 and abut against the edge of the annular base plate 53.

[0025] Exemplary, in embodiments of the present invention, such as Figure 9 and Figure 10As shown, three guide plates 54 are provided, and the three guide plates 54 are evenly spaced around the annular base plate 53. The center of the annular base plate 53 and the center of the annular toothed track 52 are located on the same vertical line. At the bottom of the guide plates 54, a first motor 56, a first bevel gear 57, and a second bevel gear 58 are provided. The first motor 56 is horizontally fixed to the bottom of the guide plate 54, and the first bevel gear 57 is fixed to the output shaft of the first motor 56. The first bevel gear 57 and the second bevel gear 58 mesh, and the second bevel gear 58 rotates coaxially with the gear 51. By setting this structure, the rotation of the gear 51 can be controlled by the first motor 56, and the first motor 56 can be decelerated by the first bevel gear 57 and the second bevel gear 58. The guide plate 54 provides bottom support for the gear 51 and guide wheel 55. Both the gear 51 and guide wheel 55 are rotatably mounted on the guide plate 54. Guide wheels 55 are provided on the inner or outer edge of the annular base plate 53. This not only allows the guide wheels 55 to provide guiding force for the movement of the guide plate 54 along the annular toothed track 52, but also prevents the annular toothed track 52 and the annular support frame 4 from separating vertically through the clamping force provided by the guide wheels 55 on both sides. By setting this structure, the upper and lower parts of the robot become a whole, and only relative rotation within the horizontal plane can occur between the upper and lower parts, without completely separating into two separate individuals, thus ensuring the stability of the robot structure.

[0026] Optionally, the extended connection mechanism 3 also includes a cylinder support 32, a cylinder liner 33, a connecting rod 34, and a self-locking connector 35. The cylinder support 32 is fixed on the edge of the support plate 6. The connecting rod 34 and the telescopic cylinder 31 are arranged facing the center of the support plate 6. One end of the connecting rod 34 is hinged to the cylinder support 32, and the other end is hinged to the cylinder liner 33. One end of the telescopic cylinder 31 is connected to the cylinder liner 33, and the other end is provided with a self-locking connector 35. Two adjacent robot units 101 are connected through the self-locking connector 35.

[0027] Exemplary, in embodiments of the present invention, such as Figure 3 , Figure 4 and Figure 5As shown, a second motor 36 is installed at the hinge joint between the connecting rod 34 and the cylinder support 32, and a fifth motor 37 is installed at the hinge joint between the cylinder liner 33 and the connecting rod 34. During the painting process, wall transitions are often encountered. When moving between two adjacent first and second walls that form an angle, this can be achieved through the extended connecting mechanism 3. Initially, the robot is positioned on the first wall. First, the first robot unit 101 is moved to the edge of the wall partition. Then, the aforementioned turning operation is initiated, causing the second robot unit 101 to be completely suspended in the air. At this point, the second robot unit 101 is still inside the first wall. The second motor 36 is activated, causing the connecting rod to drive the cylinder liner 33 and the telescopic cylinder to rotate. The rotation angle is related to the angle between the two walls. The second robot unit 101 then rotates into the second wall and attaches its vacuum suction cup 1 to the second wall. The vacuum of the first robot unit 101 is then broken, and the second motor 36 of the first robot unit 101 is rotated in the opposite direction, allowing the first robot unit 101 to also rotate into the second wall. During the wall crossing process, the length of the telescopic cylinder 31 can be adjusted according to different situations such as the angle between the walls, allowing the two robot units 101 to achieve smoother wall-crossing movement. Alternatively, the fifth motor 37 can be activated, causing the angle between the connecting rod 34 and the cylinder liner 33 to change, making it easier for the machine to climb over walls at different angles. Link 34 can be made into an arc-shaped structure to prevent it from colliding with the wall at an angle when rotating, thereby further improving the stability of the robot.

[0028] Optionally, four extension connection mechanisms 3 are provided, and the four extension connection mechanisms 3 are arranged at equal angular intervals around the center of the support plate 6.

[0029] Exemplary, in embodiments of the present invention, such as Figure 6 , Figure 7 and Figure 18As shown, by setting four extended connection mechanisms 3, each robot unit 101 can be simultaneously connected to four other robot units 101. Different numbers of robot units 101 can be selected for splicing according to the size of the wall surface to be painted, thereby improving the modularity of the robot. Through the above connection method, any two-dimensional array can be formed in the horizontal or vertical direction to meet the requirements of large-area and special-shaped wall construction. The self-locking connector 35 includes a male connector 351 and a female connector 352, and the male connector 351 and the female connector 352 can be connected in a matching manner. The male connector 351 is in a "convex" shape, with a spring and a locking shaft arranged inside it. The female connector 352 is in a "concave" shape, with a spring and a lever arranged inside it. When the male connector 351 is inserted into the female connector 352, it is locked by the locking shaft. When it is necessary to separate the male connector 351 and the female connector 352, the lever is toggled for release. Among the four extended connection mechanisms 3 on the same robot unit 101, two adjacent self-locking connectors 35 are male connectors 351, and the other two adjacent self-locking connectors 35 are female connectors 352. Through this structural arrangement, during the splicing process of multiple robot units 101, the distribution of the male connectors 351 and the female connectors 352 on each robot unit 101 is consistent, and any robot unit 101 can be docked with each other without rotating the gear 51. When multiple robot units 101 are combined or divided into different numbers of small arrays, convenient docking can be achieved, thereby improving the operation convenience of the robot.

[0030] Optionally, the multifunctional painting mechanism 2 includes a painting component 21, a waterproof coating spraying component 22, and a drying component 23. The painting component 21 includes a driving part 211, a spraying part 212, and a roller 213. The roller 213 is arranged on one side of the annular support frame 4 through the driving part 211. The driving part 211 is used to drive the roller 213 to approach or move away from the wall surface. The outlet of the spraying part 212 is located between the roller 213 and the annular support frame 4. The waterproof coating spraying component 22 and the drying component 23 are located on the other side of the annular support frame 4. The waterproof coating spraying component 22 is used to spray waterproof coating on the wall surface, and the drying component 23 is used to dry the waterproof coating sprayed on the wall surface.

[0031] Exemplarily, in the embodiment of the present invention, as Figure 8 and Figure 12As shown, the drive unit 211 includes a piston cylinder 2111 and a connecting rod structure 2112. The roller 213 is fixed to the bottom of the connecting rod structure 2112. The connecting rod structure 2112 is mounted on the annular support frame 4. An arc-shaped support frame is mounted on the support plate 6, and a support block is mounted on the support frame. The piston cylinder 2111 is fixed to the bottom of the support block. The output end of the piston cylinder 2111 is positioned downwards and connected to the connecting rod structure 2112. When the output end of the piston cylinder 2111 extends downwards, it pushes the connecting rod structure 2112 downwards, causing the roller 213 to move close to the wall. When the output end of the piston cylinder 2111 shortens upwards, it pushes the connecting rod structure 2112 upwards, causing the roller 213 to move away from the wall. By setting this structure, the working state of the roller 213 can be switched by the piston cylinder 2111, and the contact pressure between the roller 213 and the wall can be adjusted. Different contact pressures can be selected according to the requirements of different painting processes. The painting component 21 is positioned on one side of the annular support frame 4, while the waterproof coating spraying component 22 and the drying component 23 are positioned on the other side of the annular support frame 4. One side of the painting component 21 is the rear end of the robot's travel direction, and the other side of the waterproof coating spraying component 22 and the drying component 23 is the front end of the robot's travel direction. Before the painting process, the waterproof coating is sprayed onto the cement wall using the waterproof coating spraying component 22, and then dried using the drying component 23. Afterward, the painting component 21 is used to apply the painting coating onto the waterproof coating. This setup not only protects the original cement wall but also ensures that the painting coating is laid on top of the waterproof coating. Compared to directly laying the painting coating on the original uneven wall surface, the laying sequence in this embodiment makes the painting coating more stable and aesthetically pleasing.

[0032] Optionally, the waterproof coating spraying assembly 22 includes a crank rocker structure 221, a cam drive structure 222, and a nozzle 223. The crank rocker structure 221 is used to control the nozzle 223 to swing up and down, and the cam drive structure 222 is used to control the nozzle 223 to swing left and right.

[0033] Exemplary, in embodiments of the present invention, such as Figure 13 , Figure 14 and Figure 15As shown, a third motor 224 is provided at the input end of the crank-rocker structure 221, and a fourth motor 225 is provided at the input end of the cam transmission structure 222. The output end of the third motor 224 is horizontally positioned, serving as the power source for the crank of the crank-rocker structure 221. The nozzle 223 is mounted on the rocker arm of the crank-rocker structure 221, so the third motor 224 can drive the nozzle 223 to swing up and down. The cam drive structure 222 includes a driving cam 2221 and two driven cams 2222. A connecting rod 2223 is provided between the two driven cams 2222. The nozzle 223 is located in the middle of the connecting rod 2223. An inclined bushing is provided on the driving cam 2221. The output end of the fourth motor 225 is horizontally positioned and connected to the bushing on the driving cam 2221. The edge of the driving cam 2221 abuts against the edges of the two driven cams 2222. When the fourth motor 225 is started, it drives the driving cam 2221 to rotate, thereby pushing the driven cams 2222 to swing left and right, thus driving the nozzle 223 to swing left and right. By setting this structure, the nozzle 223 can swing at any angle, allowing the nozzle 223 to spray waterproof coating on various parts of the wall, thereby improving the coverage of the nozzle 223.

[0034] Optionally, the drying assembly 23 is disposed on both sides of the paint spraying assembly 22. The drying assembly 23 includes an outer flexible tube 231, a flexible skeleton 232 and a drying cylinder 233. The flexible skeleton 232 is composed of multiple flexible skeleton units 2321, which are connected by a connecting shaft 2322. The drying cylinder 233 is located at the end of the drying assembly 23.

[0035] Exemplary, in embodiments of the present invention, such as Figure 8 , Figure 12 and Figure 16 As shown, one end of the connecting shaft 2322 is hinged to a flexible skeleton unit 2321, and the other end is rotatably connected to another flexible skeleton unit 2321. These are sequentially assembled to form a flexible skeleton 232. The relative position and angle of each flexible skeleton unit 2321 can be adjusted, thereby increasing the degree of freedom of the drying cylinder 233 located at the ends of the multiple flexible skeleton units 2321. This allows the drying cylinder 233 to dry various locations on the wall surface, coordinating with the drying positions sprayed by the waterproof coating spraying component 22. By installing an outer flexible tube 231 around the multiple flexible skeleton units 2321, physical protection can be provided for the flexible skeleton units 2321.

[0036] Optionally, the spraying unit 212 includes a guide pipe 2121, a storage bin 2122, and a stirring structure 2123. The storage bin 2122 is fixedly mounted on the annular support frame 4. The input end of the guide pipe 2121 is connected to the storage bin 2122, and the output end is positioned towards the front end of the roller 213 moving in the direction of travel. The stirring structure 2123 is located inside the storage bin and is used to stir the paint in the storage bin 2122.

[0037] Exemplary, in embodiments of the present invention, such as Figure 8 and Figure 17 As shown, the stirring structure 2123 includes a fifth motor 2124 and a fan blade 2125. The fifth motor 2124 is vertically installed inside the storage bin 2122, and the fan blade 2125 is installed on the output end of the fifth motor 2124. Starting the fifth motor 2124 can stir the paint in the storage bin 2122. One end of the guide pipe 2121 is inserted into the storage bin 2122 and is equipped with a water pump to draw paint from the storage bin 2122 and spray it out through the other end of the guide pipe 2121. The output end of the guide pipe 2121 is located at the front end of the roller 213 moving in the direction of travel, so that the roller 213 can apply the paint sprayed out by the guide pipe 2121 in a timely and even manner during the robot's movement. By setting this structure, the paint in the storage bin 2122 can be stirred, thereby making the paint sprayed from the guide pipe 2121 more uniform, preventing color differences in the wall painted by the robot, and thus ensuring the painting process quality of this robot.

[0038] Optionally, a spring 7 is provided between the annular support frame 4 and the vacuum suction cup 1.

[0039] Exemplary, in embodiments of the present invention, such as Figure 9 As shown, when the vacuum suction cup 1 switches between vacuuming and vacuum breaking states, the spring 7 can provide shock absorption for other structures located on the annular support frame 4. Furthermore, the spring 7 changes the connection between the annular support frame 4 and the vacuum suction cup 1 from a rigid connection to a flexible connection. When the wall surface is uneven, it can provide some deformation between the annular support frame 4 and the vacuum suction cup 1, preventing the robot from having difficulty moving as a whole due to a rigid connection, thereby improving the operational stability of the robot.

[0040] Optionally, a housing 8 is provided on the support plate 6.

[0041] Exemplary, in embodiments of the present invention, such as Figure 1 As shown, the outer shell 8 covers the support plate 6, and a clearance groove is provided on the outer shell 8. The extended connection mechanism 3 is connected to the outside through the clearance groove. By setting the outer shell 8, physical protection can be provided from the top of the robot, which further improves the operational stability of the robot.

[0042] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] The above description is merely an optional embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An array-expandable high-rise building painting robot, characterized in that, include: At least two robot units (101). The robot unit (101) includes a vacuum suction cup (1), a multi-functional painting mechanism (2), and an extension connection mechanism (3). The extension connection mechanism (3) includes a telescopic cylinder (31). Two adjacent robot units (101) are connected by the telescopic cylinder (31). A ring support frame (4) is provided on the vacuum suction cup (1). The multi-functional painting mechanism (2) is provided on the ring support frame (4). A steering mechanism (5) is provided above the ring support frame (4). A support plate (6) is provided above the steering mechanism (5). The support plate (6) and the ring support frame (4) rotate relative to each other through the steering mechanism (5). The extension connection mechanism (3) is fixedly provided on the support plate (6).

2. The arrayable expandable high-rise painting robot according to claim 1, characterized in that, The steering mechanism (5) includes a horizontally arranged gear (51) and an annular toothed rail (52). The gear (51) is rotatably mounted on the annular support frame (4). The gear (51) meshes with the annular toothed rail (52). The support plate (6) is fixedly mounted on the annular toothed rail (52). An annular base plate (53) is fixedly mounted at the bottom of the annular toothed rail (52). A plurality of guide plates (54) are fixedly mounted at the top of the annular support frame (4). The guide plates (54) are located at the bottom of the base plate (53). The plurality of guide plates (54) are arranged circumferentially around the annular base plate (53). The gear (51) is rotatably mounted on the guide plate (54). A plurality of guide wheels (55) are mounted on the guide plate (54). The plurality of guide wheels (55) are respectively mounted on the inner and outer sides of the annular base plate (53) and abut against the edge of the annular base plate (53).

3. The arrayable expandable high-rise painting robot according to claim 1, characterized in that, The extended connection mechanism (3) also includes a cylinder support (32), a cylinder liner (33), a connecting rod (34), and a self-locking connector (35). The cylinder support (32) is fixed on the edge of the support plate (6). The connecting rod (34) and the telescopic cylinder (31) are arranged toward the center of the support plate (6). One end of the connecting rod (34) is hinged to the cylinder support (32), and the other end is hinged to the cylinder liner (33). One end of the telescopic cylinder (31) is connected to the cylinder liner (33), and the other end is provided with the self-locking connector (35). Two adjacent robot units (101) are connected through the self-locking connector (35).

4. The arrayable expandable high-rise painting robot according to claim 3, characterized in that, Four extension connection mechanisms (3) are provided, and the four extension connection mechanisms (3) are arranged at equal angular intervals around the center of the support plate (6).

5. The arrayable expandable high-rise painting robot according to claim 1, characterized in that, The multifunctional painting mechanism (2) includes a painting component (21), a waterproof coating spraying component (22), and a drying component (23). The painting component (21) includes a drive unit (211), a spraying unit (212), and a roller (213). The roller (213) is disposed on one side of the annular support frame (4) via the drive unit (211). The drive unit (211) is used to drive the roller (213) to move closer to or away from the wall. The outlet of the spraying unit (212) is located between the roller (213) and the annular support frame (4). The waterproof coating spraying component (22) and the drying component (23) are located on the other side of the annular support frame (4). The waterproof coating spraying component (22) is used to spray waterproof coating onto the wall. The drying component (23) is used to dry the waterproof coating sprayed onto the wall.

6. The arrayable expandable high-rise painting robot according to claim 5, characterized in that, The waterproof coating spraying assembly (22) includes a crank rocker structure (221), a cam transmission structure (222), and a nozzle (223). The crank rocker structure (221) is used to control the nozzle (223) to swing up and down, and the cam transmission structure (222) is used to control the nozzle (223) to swing left and right.

7. The arrayable expandable high-rise painting robot according to claim 5, characterized in that, The drying assembly (23) is disposed on both sides of the paint spraying assembly (22). The drying assembly (23) includes an outer flexible tube (231), a flexible skeleton (232) and a drying cylinder (233). The flexible skeleton (232) is composed of multiple flexible skeleton units (2321). The multiple flexible skeleton units (2321) are connected to each other by a connecting shaft (2322). The drying cylinder (233) is located at the end of the multiple drying assemblies (23).

8. The arrayable expandable high-rise painting robot according to claim 5, characterized in that, The spraying unit (212) includes a guide pipe (2121), a storage bin (2122), and a stirring structure (2123). The storage bin (2122) is fixedly mounted on the annular support frame (4). The input end of the guide pipe (2121) is connected to the storage bin (2122), and the output end is set towards the front end of the roller (213) moving in the direction of travel. The stirring structure (2123) is set inside the storage bin (2122) and is used to stir the paint in the storage bin (2122).

9. The arrayable expandable high-rise painting robot according to claim 1, characterized in that, A spring (7) is provided between the annular support frame (4) and the vacuum suction cup (1).

10. The arrayable expandable high-rise painting robot according to claim 1, characterized in that, The support plate (6) is provided with an outer shell (8).

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