Wall-climbing welding and coating robot

Abstract

The invention discloses a wall-climbing welding and coating robot. The wall-climbing welding and coating robot comprises a moving module, an adsorption module and a welding and coating module, the adsorption module comprises a water ring vacuum pump, a negative pressure chamber, a driving mechanism and a pressure regulating part, the negative pressure chamber is arranged on the moving module, the negative pressure chamber is provided with a port facing the water ring vacuum pump and an adsorption port far away from the water ring vacuum pump, the water ring vacuum pump communicates with the port and is used for extracting air in the negative pressure chamber, the driving mechanism is arranged in the negative pressure chamber, and the pressure regulating part is arranged on the driving mechanism. The driving part is used for driving the pressure regulating part to open or close the through hole; the welding and coating module comprises a connecting mechanism, a steering mechanism and a welding gun, the connecting mechanism is connected to the moving module, the steering mechanism is connected to the connecting mechanism, the welding gun is connected to the steering mechanism, the steering mechanism is used for rotating the welding gun, and the welding gun is used for spraying and welding. The pressure adjusting piece is driven by the driving mechanism to open or close the through opening, the outer wall adsorption force of the wall-climbing welding and coating robot is rapidly adjusted, and the spraying and welding angle of the welding gun is adjusted by rotating the welding gun through the steering mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of welding technology, in particular to a wall-climbing welding and coating robot. BACKGROUND

[0002] In the field of building maintenance, high-rise building outer walls are prone to cracks due to long-term environmental factors. If not repaired in time, it will affect the safety of the building structure and the service life. Therefore, the repair of outer wall cracks is very important. At present, this work has long relied on the traditional basket mode. Under this mode, workers need to work in the air for a long time, not only the labor intensity is great, but also there are serious personal safety risks such as falling, and the safety and efficiency of the work are difficult to guarantee.

[0003] At the same time, in related welding operations, although the existing welding and coating robots have been applied, there are obvious technical defects. The adsorption force of the existing welding and coating robots cannot be quickly adjusted, which results in a lack of efficient obstacle crossing and surface changing capability. When facing complex terrain or structure, it cannot move flexibly, which limits the applicable scenarios. When using a mechanical arm for welding, it is easy to cause discontinuity of the welding seam, resulting in poor welding effect. At the same time, it is difficult to adjust the angle, which makes it difficult to guarantee the welding quality and cannot meet the demand of high-precision operation. In summary, the current technical status of high-rise building outer wall crack repair and welding and coating needs to be improved, and there is an urgent need and practical significance to develop a better technical solution. SUMMARY

[0004] The purpose of the present application is to provide a wall-climbing welding and coating robot, which aims to solve the problem of the existing welding and coating robot that the adsorption force of the outer wall cannot be quickly adjusted and the welding effect is poor.

[0005] To solve the above technical problems, the present application is realized by the following technical scheme: a wall-climbing welding and coating robot is provided, which comprises a moving module, an adsorption module and a welding and coating module. The adsorption module comprises a water ring vacuum pump, a negative pressure chamber, a driving mechanism and a pressure regulating piece. The negative pressure chamber is arranged on the moving module. The negative pressure chamber is provided with a through port facing the water ring vacuum pump and an adsorption port away from the water ring vacuum pump. The water ring vacuum pump communicates with the through port and is used to extract air in the negative pressure chamber. The driving mechanism is arranged in the negative pressure chamber and is used to drive the pressure regulating piece to open or close the through port. The welding and coating module comprises a connecting mechanism, a steering mechanism and a welding gun. The connecting mechanism is connected to the moving module. The steering mechanism is connected to the connecting mechanism. The welding gun is connected to the steering mechanism. The steering mechanism is used to rotate the welding gun. The welding gun is used for spraying and welding.

[0006] Further, the pressure regulating member comprises a first sponge column, and the driving mechanism comprises a first motor, a first rotating shaft and a first driving assembly; the first motor is connected with the first rotating shaft and is configured to drive the first rotating shaft to rotate; the first driving assembly comprises a first sliding block, a first sliding rail and first and second connecting rods connected in sequence; the first sliding rail is arranged in the negative pressure chamber; the first sliding block is arranged on the first sliding rail and connected with the second connecting rod; the first connecting rod is connected with the first rotating shaft; and the first sponge column is arranged on the first sliding block; when the first motor drives the first rotating shaft to rotate, the first sliding block slides along the first sliding rail and drives the first sponge column to open or close the through hole.

[0007] Further, the pressure regulating member comprises a first sponge column, and the driving mechanism comprises a first motor, a first rotating shaft and a first driving assembly; the first motor is connected with the first rotating shaft and is configured to drive the first rotating shaft to rotate; the first driving assembly comprises a first sliding block, a first sliding rail and first and second connecting rods connected in sequence; the first sliding rail is arranged in the negative pressure chamber; the first sliding block is arranged on the first sliding rail and connected with the second connecting rod; the first connecting rod is connected with the first rotating shaft; and the first sponge column is arranged on the first sliding block; when the first motor drives the first rotating shaft to rotate, the first sliding block slides along the first sliding rail and drives the first sponge column to open or close the through hole.

[0008] Further, the driving mechanism further comprises a pneumatic cylinder, a piston of the pneumatic cylinder is connected with the first sliding block, and the pneumatic cylinder is arranged on a side of the first sliding block close to the first motor; when the first motor drives the first rotating shaft to rotate, the piston of the pneumatic cylinder retracts; and when the first motor is turned off, the piston of the pneumatic cylinder extends.

[0009] Further, the negative pressure chamber comprises an upper chamber and a lower chamber in communication with each other; the first motor, the first rotating shaft, the first driving assembly and the first sponge column are arranged in the upper chamber; the through hole is arranged at an end of the upper chamber away from the lower chamber; and the suction port is arranged at an end of the lower chamber away from the upper chamber.

[0010] Further, the pressure regulating member comprises a first sponge column, and the driving mechanism comprises a first motor, a first rotating shaft and a first driving assembly; the first motor is connected with the first rotating shaft and is configured to drive the first rotating shaft to rotate; the first driving assembly comprises a first sliding block, a first sliding rail and first and second connecting rods connected in sequence; the first sliding rail is arranged in the negative pressure chamber; the first sliding block is arranged on the first sliding rail and connected with the second connecting rod; the first connecting rod is connected with the first rotating shaft; and the first sponge column is arranged on the first sliding block; when the first motor drives the first rotating shaft to rotate, the first sliding block slides along the first sliding rail and drives the first sponge column to open or close the through hole.

[0011] Further, the second driving assembly and the second sponge column are both provided with two, and are located at two sides of the second rotating shaft respectively, two third connecting rods are connected to two ends of the second rotating shaft respectively.

[0012] Further, the second driving assembly and the second sponge column are both provided with two, and are located at two sides of the second rotating shaft respectively, the driving mechanism further comprises two belt pulleys and a belt, one of the belt pulleys is connected to the second rotating shaft, the other belt pulley is connected with one of the belt pulleys through the belt, and two third connecting rods are connected to the two belt pulleys respectively.

[0013] Further, the connecting mechanism comprises a third motor, a third rotating shaft, a screw rod and a third sliding block, the third motor is connected to the third rotating shaft and is used to drive the third rotating shaft to rotate, the screw rod is connected to the third rotating shaft, the third sliding block is movably connected to the screw rod, and the steering mechanism is connected to the third sliding block.

[0014] Further, the steering mechanism comprises a fixing seat and a third driving assembly, the fixing seat is connected to the connecting mechanism, the third driving assembly comprises a fourth motor, a fifth motor, a first worm, a second worm, a first worm wheel, a second worm wheel, a fourth rotating shaft, a first bevel gear, a second bevel gear and a fifth rotating shaft, the fourth rotating shaft is rotatably connected to the fixing seat, the first worm wheel and the second worm wheel are both sleeved on one end of the fourth rotating shaft close to the connecting mechanism, the fourth motor and the fifth motor are installed on the fixing seat and are located at one side of the first worm wheel and the second worm wheel respectively, the fourth motor and the fifth motor are connected to the first worm and the second worm respectively and are used to drive the first worm and the second worm to rotate respectively, the first worm is connected in meshing mode with the first worm wheel, the second worm is connected in meshing mode with the second worm wheel, the first bevel gear is sleeved on one end of the fourth rotating shaft away from the connecting mechanism, the fifth rotating shaft is rotatably connected to the fixing seat, the second bevel gear is sleeved on the fifth rotating shaft, and the second bevel gear is connected in meshing mode with the first bevel gear, and the welding gun is connected to the fifth rotating shaft.

[0015] The embodiment of the present application provides a wall-climbing welding and coating robot, which comprises a moving module, a suction module and a welding and coating module; the suction module comprises a water ring vacuum pump, a negative pressure chamber, a driving mechanism and a pressure regulating piece, the negative pressure chamber is arranged on the moving module, the negative pressure chamber is provided with a through port facing the water ring vacuum pump and a suction port away from the water ring vacuum pump, the water ring vacuum pump is communicated with the through port and is used for extracting air in the negative pressure chamber, and the driving mechanism is arranged in the negative pressure chamber and is used for driving the pressure regulating piece to open or close the through port; the welding and coating module comprises a connecting mechanism, a steering mechanism and a welding gun, the connecting mechanism is connected to the moving module, the steering mechanism is connected to the connecting mechanism, and the welding gun is connected to the steering mechanism; the steering mechanism is used for rotating the welding gun, and the welding gun is used for spraying and welding. The driving mechanism is used for driving the pressure regulating piece to open or close the through port, so that the pressure in the negative pressure chamber is increased or decreased, the suction force of the wall-climbing welding and coating robot on the outer wall is quickly adjusted, the wall-climbing welding and coating robot can be efficiently and flexibly moved when obstacles are crossed and surfaces are changed, the steering mechanism is used for rotating the welding gun to adjust the spraying and welding angle of the welding gun, and the wall-climbing welding and coating robot is suitable for various outer wall repair environments, so that the welding is continuous, the welding quality is improved, and the high-precision operation requirement is met. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 A structure schematic diagram of the wall-climbing welding and coating robot in the first view is provided for the embodiment of the present application. Figure 2 A section view A-A is provided for the embodiment of the present application. Figure 3 A section view B-B is provided for the embodiment of the present application. Figure 4 A partial view C is provided for the embodiment of the present application. Figure 5 A structure schematic diagram of the wall-climbing welding and coating robot in the second view is provided for the embodiment of the present application. Figure 6 A structure schematic diagram of the wall-climbing welding and coating robot in the third view is provided for the embodiment of the present application. Figure 7 A partial view D is provided for the embodiment of the present application. Figure 8 A structure schematic diagram of the driving mechanism in the upper chamber is provided for the embodiment of the present application. Figure 9The structural schematic diagram of the driving mechanism in the lower chamber is provided for the embodiment of the present application.

[0018] The figure identification is explained: 1, mobile module; 11, trolley; 2, adsorption module; 21, water ring vacuum pump; 22, negative pressure chamber; 221, through port; 222, adsorption port; 223, upper chamber; 224, lower chamber; 23, driving mechanism; 231, first motor; 232, first rotating shaft; 233, first sliding block; 234, first sliding rail; 235, first connecting rod; 236, second connecting rod; 237, air cylinder; 238, second motor; 239, second rotating shaft; 2310, second sliding block; 2311, second sliding rail; 2312, third connecting rod; 2313, fourth connecting rod; 24, pressure regulating piece; 241, first sponge column; 242, second sponge column; 3, welding coating module; 31, connecting mechanism; 311, third motor; 312, third rotating shaft; 313, screw rod; 314, third sliding block; 32, steering mechanism; 321, fixed seat; 322, fourth motor; 323, fifth motor; 324, first worm; 325, second worm; 326, first worm wheel; 327, second worm wheel; 328, fourth rotating shaft; 329, first bevel gear; 3210, second bevel gear; 3211, fifth rotating shaft; 33, welding gun. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0020] It should be understood that when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0021] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0022] It should also be further understood that the term "and / or" used in the description and the appended claims of the application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0023] In combination Figures 1-9 As shown in the drawings, the present application provides a wall climbing welding coating robot, comprising a moving module 1, a suction module 2 and a welding coating module 3; the suction module 2 comprises a water ring vacuum pump 21, a negative pressure chamber 22, a driving mechanism 23 and a pressure regulating piece 24, the negative pressure chamber 22 is arranged on the moving module 1, the negative pressure chamber 22 is provided with a through port 221 facing the water ring vacuum pump 21 and a suction port 222 away from the water ring vacuum pump 21, the water ring vacuum pump 21 is communicated with the through port 221 and is used for extracting air in the negative pressure chamber 22, the driving mechanism 23 is arranged in the negative pressure chamber 22 and is used for driving the pressure regulating piece 24 to open or close the through port 221; the welding coating module 3 comprises a connecting mechanism 31, a steering mechanism 32 and a welding gun 33, the connecting mechanism 31 is connected to the moving module 1, the steering mechanism 32 is connected to the connecting mechanism 31, and the welding gun 33 is connected to the steering mechanism 32, the steering mechanism 32 is used for rotating the welding gun 33, and the welding gun 33 is used for spraying welding.

[0024] In the embodiment of the present application, the water ring vacuum pump 21 is communicated with the through port 221 of the negative pressure chamber 22, which is used for extracting air in the negative pressure chamber 22, so that the internal pressure of the negative pressure chamber 22 is lower than the external pressure, the wall climbing welding coating robot is adsorbed on the outer wall through the suction port 222 of the negative pressure chamber 22, and the driving mechanism 23 is used for driving the pressure regulating piece 24 to open or close the through port 221, so as to adjust the internal pressure of the negative pressure chamber 22 to increase or decrease, so as to quickly adjust the adsorption strength of the wall climbing welding coating robot on the outer wall, so that the wall climbing welding coating robot can move efficiently and flexibly when crossing obstacles and changing surfaces; the steering mechanism 32 is used for rotating the welding gun 33 to adjust the spraying welding angle of the welding gun 33, which is suitable for various different outer wall repair environments, so as to ensure continuous welding and avoid weld discontinuity, improve the welding quality, and further meet the high-precision operation requirements. Specifically, the moving module 1 comprises two connected trolleys 11, and the two trolleys 11 are both provided with the suction module 2, so that the adsorption strength can be controlled respectively when crossing obstacles and changing surfaces, thereby moving efficiently and flexibly.

[0025] In some embodiments, the pressure regulating piece 24 comprises a first sponge column 241, and the driving mechanism 23 comprises a first motor 231, a first rotating shaft 232 and a first driving assembly. The first motor 231 is connected to the first rotating shaft 232 and configured to drive the first rotating shaft 232 to rotate. The first driving assembly comprises a first sliding block 233, a first sliding rail 234, and a first connecting rod 235 and a second connecting rod 236 connected in sequence. The first sliding rail 234 is arranged in the negative pressure chamber 22, the first sliding block 233 is arranged on the first sliding rail 234 and connected to the second connecting rod 236, the first connecting rod 235 is connected to the first rotating shaft 232, and the first sponge column 241 is arranged on the first sliding block 233. When the first motor 231 drives the first rotating shaft 232 to rotate, the first sliding block 233 slides along the first sliding rail 234 and drives the first sponge column 241 to open or close the through hole 221.

[0026] In this embodiment, when the wall-climbing welding and coating robot climbs on the wall, the first motor 231 drives the first rotating shaft 232 to rotate, the first rotating shaft 232 drives the first connecting rod 235 to rotate, the first connecting rod 235 drives the second connecting rod 236 to move, the second connecting rod 236 drives the first sliding block 233 to move on the first sliding rail 234, thereby driving the first sponge column 241 on the first sliding rail 234 to open or close the through hole 221, and the pressure inside the negative pressure chamber 22 is adjusted to increase or decrease, so as to quickly adjust the force of the wall-climbing welding and coating robot adsorbing the outer wall. It can be understood that the rotation of the first rotating shaft 232 is converted into the movement of the first sliding block 233 through the first driving assembly, so as to quickly move the position of the first sponge column 241. Specifically, the first motor 231 drives the first rotating shaft 232 to rotate in two directions, i.e. forward or reverse, to realize the sliding of the first sliding block 233 along the first sliding rail 234 and drive the first sponge column 241 to open or close the through hole 221. More specifically, the first sliding rail 234 is provided with two first sliding rails 234 connected to the two ends of the first sliding block 233, which helps to keep the first sliding block 233 stable.

[0027] In some embodiments, the through hole 221 is provided with two opposite through holes, and the first sliding block 233, the first sliding rail 234, the second connecting rod 236 and the first sponge column 241 are each provided with two, which are located on both sides of the first rotating shaft 232. The two second connecting rods 236 are connected to the two ends of the first connecting rod 235, respectively.

[0028] In this embodiment, the two first sliders 233, the first sliding rails 234, the second connecting rod 236 and the first sponge columns 241 can balance the internal structure of the entire adsorption module 2. The first motor 231 drives the first rotating shaft 232 to rotate, the first rotating shaft 232 drives the first connecting rod 235 to rotate, thereby driving the second connecting rod 236 and the first slider 233 to move towards each other, and further driving the two first sponge columns 241 on the two first sliding rails 234 to open or close the through opening 221.

[0029] In some embodiments, the driving mechanism 23 further comprises a cylinder 237, the piston of the cylinder 237 is connected to the first slider 233, and the cylinder 237 is located on the side of the first slider 233 close to the first motor 231. When the first motor 231 drives the first rotating shaft 232 to rotate, the piston of the cylinder 237 retracts, and when the first motor 231 is turned off, the piston of the cylinder 237 extends.

[0030] In this embodiment, the piston of the cylinder 237 extends in the normal state, the first motor 231 drives the first slider 233 to move to compress the piston of the cylinder 237 to retract, and when the first motor 231 is turned off, the piston of the cylinder 237 extends under the pressure inside the cylinder 237. The cylinder 237 can reset the first sponge column 241, so that the first sponge column 241 can open or close the through opening 221 back and forth to adjust the pressure increase or decrease in the negative pressure chamber 22, thereby quickly adjusting the force of the wall-climbing welding and coating robot to adsorb the outer wall, so that the wall-climbing welding and coating robot can move efficiently and flexibly when crossing obstacles and changing surfaces.

[0031] In some embodiments, the negative pressure chamber 22 comprises an upper chamber 223 and a lower chamber 224 in communication with each other, the first motor 231, the first rotating shaft 232, the first driving assembly and the first sponge column 241 are located in the upper chamber 223, the through opening 221 is arranged at one end of the upper chamber 223 away from the lower chamber 224, and the adsorption opening 222 is arranged at one end of the lower chamber 224 away from the upper chamber 223.

[0032] In this embodiment, the negative pressure chamber 22 is divided into the upper chamber 223 and the lower chamber 224 in communication with each other, which can avoid the movement of the first motor 231, the first rotating shaft 232, the first driving assembly and the first sponge column 241 interfering with the outer wall close to the adsorption opening 222 of the lower chamber 224.

[0033] In some embodiments, the pressure regulating component 24 further comprises a second sponge column 242, and the driving mechanism 23 further comprises a second motor 238, a second rotating shaft 239, and a second driving assembly. The second motor 238 is connected to the second rotating shaft 239 and is configured to drive the second rotating shaft 239 to rotate. The second driving assembly comprises a second sliding block 2310, a second sliding rail 2311, and a third connecting rod 2312 and a fourth connecting rod 2313 connected in sequence. The second sliding rail 2311 is arranged in the negative pressure chamber 22. The second sliding block 2310 is arranged on the second sliding rail 2311 and connected to the fourth connecting rod 2313. The third connecting rod 2312 is connected to the second rotating shaft 239. The second sponge column 242 is arranged on the second sliding block 2310. The second motor 238, the second rotating shaft 239, the second driving assembly, and the second sponge column 242 are all located in the lower chamber 224. The second sponge column 242 is in transition fit with the inner wall of the lower chamber 224.

[0034] In this embodiment, when the wall-climbing welding and coating robot climbs on the wall, the second motor 238 drives the second rotating shaft 239 to rotate, the second rotating shaft 239 drives the third connecting rod 2312 and the fourth connecting rod 2313 to move, the fourth connecting rod 2313 drives the second sliding block 2310 to move on the second sliding rail 2311, thereby driving the second sponge column 242 on the second sliding rail 2311 to move in the lower chamber 224. Since the second sponge column 242 is in transition fit with the inner wall of the lower chamber 224, the movement of the second sponge column 242 affects the volume of the lower chamber 224, so as to adjust the increase or decrease of the internal pressure of the negative pressure chamber 22, thereby quickly adjusting the force with which the wall-climbing welding and coating robot adsorbs the outer wall. It can be understood that the rotation of the second rotating shaft 239 is converted into the movement of the second sliding block 2310 through the second driving assembly, so as to quickly move the position of the second sponge column 242. Specifically, the second motor 238 drives the second rotating shaft 239 to rotate in two directions, i.e., forward rotation and reverse rotation, to realize the sliding of the second sliding block 2310 along the second sliding rail 2311 and drive the second sponge column 242 to move, thereby changing the volume of the lower chamber 224.

[0035] In some embodiments, the second driving assembly and the second sponge column 242 are both provided with two, and are located on both sides of the second rotating shaft 239. The two third connecting rods 2312 are connected to the two ends of the second rotating shaft 239, respectively.

[0036] In this embodiment, the two second driving assemblies and the second sponge column 242 can balance the internal structure of the entire adsorption module 2. The second motor 238 drives the second rotating shaft 239 to rotate, the second rotating shaft 239 drives the two third connecting rods 2312 at the two ends to move towards each other, thereby driving the fourth connecting rod 2313 and the second sliding block 2310 to move towards each other in sequence, and further driving the two second sponge columns 242 on the two second sliding rails 2311 to open or close the through hole 221, respectively.

[0037] In some embodiments, two second driving assemblies and two sponge columns 242 are arranged on both sides of the second rotating shaft 239 respectively, the driving mechanism 23 further comprises two belt pulleys (not shown) and a belt (not shown), one of the belt pulleys is connected to the second rotating shaft 239, the other belt pulley is connected to the one of the belt pulleys through the belt, and the two third connecting rods 2312 are connected to the two belt pulleys respectively.

[0038] In this embodiment, the two second driving assemblies form a crank slider structure with the two belt pulleys and the belt, the second motor 238 drives the second rotating shaft 239 to rotate, the second rotating shaft 239 drives the two belt pulleys to rotate, the two belt pulleys drive the two third connecting rods 2312 to rotate, and the third connecting rods 2312 drive the fourth connecting rods 2313 and the second sliders 2310 to move along the second sliding rails 2311 in turn.

[0039] In some embodiments, the connecting mechanism 31 comprises a third motor 311, a third rotating shaft 312, a screw rod 313 and a third slider 314, the third motor 311 is connected to the third rotating shaft 312 and is used to drive the third rotating shaft 312 to rotate, the screw rod 313 is connected to the third rotating shaft 312, the third slider 314 is movably connected to the screw rod 313, and the steering mechanism 32 is connected to the third slider 314.

[0040] In this embodiment, when the wall climbing welding and spraying robot needs to weld and spray the outer wall, the third motor 311 drives the third rotating shaft 312 to rotate, the third rotating shaft 312 drives the screw rod 313 to rotate, thereby driving the third slider 314 to move on the screw rod 313, and further driving the steering mechanism 32 to move to adjust the position of the welding gun 33, and the steering mechanism 32 can rotate the angle of the welding gun 33, so that the welding gun 33 can flexibly and efficiently complete the spraying and welding of the outer wall.

[0041] In some embodiments, the turning mechanism 32 comprises a fixed seat 321 connected to the connecting mechanism 31, and a third driving assembly comprising a fourth motor 322, a fifth motor 323, a first worm 324, a second worm 325, a first worm gear 326, a second worm gear 327, a fourth rotating shaft 328, a first bevel gear 329, a second bevel gear 3210, and a fifth rotating shaft 3211. The fourth rotating shaft 328 is rotatably connected to the fixed seat 321. The first worm gear 326 and the second worm gear 327 are both sleeved on one end of the fourth rotating shaft 328 close to the connecting mechanism 31. The fourth motor 322 and the fifth motor 323 are installed on the fixed seat 321 and located on one side of the first worm gear 326 and the second worm gear 327 respectively. The fourth motor 322 and the fifth motor 323 are connected to the first worm 324 and the second worm 325 respectively and are used to drive the first worm 324 and the second worm 325 to rotate respectively. The first worm 324 is in meshing connection with the first worm gear 326, and the second worm 325 is in meshing connection with the second worm gear 327. The first bevel gear 329 is sleeved on one end of the fourth rotating shaft 328 away from the connecting mechanism 31. The fifth rotating shaft 3211 is rotatably connected to the fixed seat 321. The second bevel gear 3210 is sleeved on the fifth rotating shaft 3211 and is in meshing connection with the first bevel gear 329. The welding gun 33 is connected to the fifth rotating shaft 3211.

[0042] In this embodiment, when the wall-climbing welding and coating robot needs to weld and spray the outer wall, the fourth motor 322 drives the first worm 324 to rotate, the first worm 324 drives the first worm gear 326 to rotate, thereby driving the fourth rotating shaft 328 to rotate, the fourth rotating shaft 328 drives the first bevel gear 329 to rotate, the first bevel gear 329 drives the second bevel gear 3210 to rotate, the second bevel gear 3210 drives the fifth rotating shaft 3211 to rotate, thereby driving the welding gun 33 on the fifth rotating shaft 3211 to rotate, and the angle of the welding gun 33 is adjusted. Similarly, the fifth motor 323 drives the second worm 325 to rotate, the second worm 325 drives the second worm gear 327 to rotate, thereby driving the fourth rotating shaft 328 to rotate, the fourth rotating shaft 328 drives the first bevel gear 329 to rotate, the first bevel gear 329 drives the second bevel gear 3210 to rotate, the second bevel gear 3210 drives the fifth rotating shaft 3211 to rotate, thereby driving the welding gun 33 on the fifth rotating shaft 3211 to rotate, and the angle of the welding gun 33 is adjusted. Using two groups of motors to drive the fourth rotating shaft 328 can realize the clockwise or counterclockwise rotation of the welding gun 33, so that the turning mechanism 32 can adjust the angle of the welding gun 33 flexibly and efficiently.

[0043] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A wall-climbing welding and coating robot, characterized in that, include: Mobile module; An adsorption module is provided, comprising a water ring vacuum pump, a negative pressure chamber, a drive mechanism, and a pressure regulating component. The negative pressure chamber is disposed on the moving module and has an inlet facing the water ring vacuum pump and an adsorption port away from the water ring vacuum pump. The water ring vacuum pump is connected to the inlet and is used to extract air from the negative pressure chamber. The drive mechanism is disposed in the negative pressure chamber and is used to drive the pressure regulating component to open or close the inlet. The welding and coating module includes a connecting mechanism, a steering mechanism, and a welding torch. The connecting mechanism is connected to the moving module, the steering mechanism is connected to the connecting mechanism, and the welding torch is connected to the steering mechanism. The steering mechanism is used to rotate the welding torch, and the welding torch is used for spray welding.

2. The wall-climbing welding and coating robot according to claim 1, characterized in that, The pressure regulating component includes a first sponge column, and the driving mechanism includes: A first motor and a first rotating shaft, wherein the first motor is connected to the first rotating shaft and is used to drive the first rotating shaft to rotate; The first driving assembly includes a first slider, a first slide rail, and a first connecting rod and a second connecting rod connected in sequence. The first slide rail is disposed in the negative pressure chamber. The first slider is disposed on the first slide rail and connected to the second connecting rod. The first connecting rod is connected to the first rotating shaft. The first sponge column is disposed on the first slider. When the first motor drives the first rotating shaft to rotate, the first slider slides along the first slide rail and is used to drive the first sponge column to open or close the opening.

3. The wall-climbing welding and coating robot according to claim 2, characterized in that, The passage is provided in two opposite directions. There are two of each of the first slider, the first slide rail, the second connecting rod, and the first sponge column, which are respectively located on both sides of the first rotating shaft. The two second connecting rods are respectively connected to the two ends of the first connecting rod.

4. The wall-climbing welding and coating robot according to claim 2, characterized in that, The drive mechanism also includes: A cylinder, wherein the piston of the cylinder is connected to the first slider, and the cylinder is located on the side of the first slider closer to the first motor. When the first motor drives the first rotating shaft to rotate, the piston of the cylinder retracts, and when the first motor is turned off, the piston of the cylinder extends.

5. The wall-climbing welding and coating robot according to claim 2, characterized in that, The negative pressure chamber includes an upper chamber and a lower chamber that are connected vertically. The first motor, the first rotating shaft, the first drive assembly, and the first sponge column are all located in the upper chamber. The opening is located at the end of the upper chamber away from the lower chamber, and the suction port is located at the end of the lower chamber away from the upper chamber.

6. The wall-climbing welding and coating robot according to claim 5, characterized in that, The pressure regulating component further includes a second sponge column, and the driving mechanism further includes: A second motor and a second rotating shaft, wherein the second motor is connected to the second rotating shaft and is used to drive the second rotating shaft to rotate; The second drive assembly includes a second slider, a second slide rail, and a third link and a fourth link connected in sequence. The second slide rail is disposed in the negative pressure chamber. The second slider is disposed on the second slide rail and connected to the fourth link. The third link is connected to the second rotating shaft. The second sponge column is disposed on the second slider. The second motor, the second rotating shaft, the second drive assembly, and the second sponge column are all located in the lower cavity, and the second sponge column is in transition fit with the inner wall of the lower cavity.

7. The wall-climbing welding and coating robot according to claim 6, characterized in that, Two of the second drive assembly and two of the second sponge columns are provided, and are respectively located on both sides of the second rotating shaft. The two third connecting rods are respectively connected to the two ends of the second rotating shaft.

8. The wall-climbing welding and coating robot according to claim 6, characterized in that, The second drive assembly and the second sponge column are provided in twos, respectively located on both sides of the second rotating shaft. The drive mechanism also includes two pulleys and a belt, one of the pulleys is connected to the second rotating shaft, and the other pulley is connected to the pulley via the belt. The two third links are respectively connected to the two pulleys.

9. The wall-climbing welding and coating robot according to claim 1, characterized in that, The connecting mechanism includes a third motor, a third rotating shaft, a lead screw, and a third slider. The third motor is connected to the third rotating shaft and is used to drive the third rotating shaft to rotate. The lead screw is connected to the third rotating shaft. The third slider is movably connected to the lead screw. The steering mechanism is connected to the third slider.

10. The wall-climbing welding and coating robot according to claim 1, characterized in that, The steering mechanism includes: A fixed base is connected to the connecting mechanism; The third drive assembly includes a fourth motor, a fifth motor, a first worm, a second worm, a first worm wheel, a second worm wheel, a fourth shaft, a first bevel gear, a second bevel gear, and a fifth shaft. The fourth shaft is rotatably connected to the fixed base. The first worm wheel and the second worm wheel are both sleeved on the end of the fourth shaft near the connecting mechanism. The fourth motor and the fifth motor are mounted on the fixed base and located on one side of the first worm wheel and the second worm wheel, respectively. The fourth motor and the fifth motor are respectively connected to the first worm and the second worm and are used to drive the first worm and the second worm to rotate. The first worm meshes with the first worm wheel, and the second worm meshes with the second worm wheel. The first bevel gear is sleeved on the end of the fourth shaft away from the connecting mechanism. The fifth shaft is rotatably connected to the fixed base. The second bevel gear is sleeved on the fifth shaft and meshes with the first bevel gear. The welding torch is connected to the fifth shaft.

Images