Self-walking type wall surface spraying and recycling robot

Abstract

The self-walking type wall surface spraying and recycling robot comprises a moving seat, an air exhaust mechanism is arranged above the moving seat, a paint spraying cover is fixedly arranged behind the moving seat, a spraying mechanism is arranged in the paint spraying cover, an air cavity is formed in an interlayer of the outer wall of the paint spraying cover, the air cavity is of a thin and narrow annular structure, and the air exhaust mechanism communicates with the front portion of the air cavity; a plurality of air inlets are formed in the rear side of the bottom face of the air cavity, the width of each air inlet is shrunk and then expanded from bottom to top, through openings are formed in the two transverse sides of the bottom face of the paint spraying cover, a paint mist collecting box is slidably inserted into the lower portion of the rear wall of the paint spraying cover, and two connecting grooves are symmetrically formed in the bottom face of the air inlet located in the rear portion. The outer side end of the connecting groove communicates with the interior of the paint mist collecting box. A cleaning mechanism is arranged on the front portion of the bottom face of the paint spraying cover and used for removing dirt on the to-be-sprayed face. According to the spraying device, diffusion of paint mist can be reduced in the spraying work, and the paint mist is synchronously recycled, so that the spraying efficiency and quality can be improved, and environmental pollution and manual risks are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent spraying equipment and environmental protection processing technology, and particularly relates to a self-walking wall surface spraying and recycling robot. BACKGROUND

[0002] In the spraying process of shipbuilding, heavy equipment and large steel structure, the traditional manual paint spraying operation has the following main problems: first, the labor intensity is large, the safety risk is high, the operator needs to work in high altitude, closed or complex space, and there are safety hazards such as falling, poisoning and dust hazards; second, the spraying quality is unstable, the manual spraying is greatly affected by human factors, the paint layer thickness, uniformity and paint mist diffusion are difficult to control, which affects the coating performance and appearance; third, the current industrial spraying equipment is mostly applied to planar or fixed production line environment, and for large ship bodies or curved surface structures, there is a lack of intelligent equipment that can move flexibly, adsorb and realize synchronous spraying and recycling, and the applicability is weak. In summary, it is necessary to use a spraying robot to overcome the problems of safety risk and unstable spraying quality, and to realize the spraying operation on irregular outer walls.

[0003] Although the existing spraying robot can adapt to the requirements of spraying work, but in the current spraying process, about 30% to 50% of the paint mist cannot be attached to the surface of the workpiece, this part of the paint mist will directly diffuse into the air, forming organic waste gas (VOCs) and particulate pollution, which not only affects the operating environment, but also increases the environmental protection processing cost, and in the existing spraying operation, the paint mist overflowed will be directly included in the fixed loss, which is difficult to reduce or reuse, which will cause great resource waste, and is not conducive to the reduction of spraying cost, therefore, we propose a self-walking wall surface spraying and recycling robot. SUMMARY

[0004] The purpose of the present application is to solve the problems of serious pollution, difficult recycling, low safety and insufficient automation in the spraying process of large structures in the prior art, and to propose a self-walking wall surface spraying and recycling robot.

[0005] In order to achieve the above object, the application adopts the following technical solution: a self-walking wall spraying and recycling robot comprises a moving seat, an air extraction mechanism is arranged above the moving seat, a paint spraying cover is fixed at the rear of the moving seat, a spraying mechanism is arranged in the paint spraying cover, a gas cavity is arranged in the sandwiched layer of the outer wall of the paint spraying cover, the gas cavity is arranged in a thin and narrow annular structure, the air extraction mechanism is connected with the front part of the gas cavity; a plurality of air inlets are arranged on the rear side of the bottom surface of the gas cavity in a U-shaped arrangement, the width of the air inlets is first contracted and then expanded from bottom to top, through holes are arranged on the lateral sides of the bottom surface of the paint spraying cover, a paint mist collecting box is slidably arranged at the lower part of the rear wall of the paint spraying cover, two connecting grooves are symmetrically arranged on the bottom surface of the rear air inlet, and the outer side end of the connecting groove is connected with the inside of the paint mist collecting box; a cleaning mechanism is arranged on the front part of the bottom surface of the paint spraying cover, and the cleaning mechanism is used for removing dirt on the surface to be sprayed.

[0006] As a further description of the above technical solution: the rear wall of the gas cavity is arranged in a convex structure with a middle protrusion, the bottom surface of the gas cavity is arranged in an inclined structure with a higher front part and a lower rear part, and a sponge is fixedly arranged in the gas cavity, and the sponge is arranged in a U-shaped structure.

[0007] As a further description of the above technical solution: a plurality of air-permeable foam blocks are symmetrically fixed near the side of the moving seat, the air-permeable foam blocks are hydrophobic treated open-cell silica gel foams, and the pore diameters of the air-permeable foam blocks are sequentially reduced from the outside to the inside.

[0008] As a further description of the above technical solution: the cleaning mechanism comprises a shovel plate fixedly arranged at the lower end of the front wall of the paint spraying cover, the front wall of the shovel plate is arranged in a V-shaped structure, an inner cavity is arranged at the front end of the bottom surface of the paint spraying cover, a rubber strip is fixedly arranged on the rear side of the inner cavity of the bottom surface of the paint spraying cover, the rubber strip is arranged in an arc-shaped structure with a front protrusion in the middle, and a fixed shaft is coaxially and rotationally connected in the inner cavity.

[0009] As a further description of the above technical solution: a roller is rotationally connected to the outer wall of the fixed shaft, a polyester cloth is fixedly arranged on the outer wall of the roller, a plurality of wool clusters are fixedly arranged on the outer wall of the roller in an annular and equidistant structure, the outer side end of the wool cluster extends to the outside through the polyester cloth, and the fixed shaft is coaxially and fixedly connected with a roller at both ends, and the roller extends to the outside through the inner wall of the inner cavity.

[0010] As a further description of the above technical solution: a spandex cloth is embedded in the front wall of the inner cavity, the spandex cloth is in frictional contact with the polyester cloth and the wool cluster, a fixing groove is arranged on the inner side of the paint spraying cover, the front lower part of the fixing groove is connected with the inner cavity, a scraper is fixedly arranged on the top surface of the inner cavity at a position opposite to the front side of the opening end of the fixing groove, the scraper is in extrusion contact with the outer wall of the polyester cloth and the wool cluster, a storage box is fixedly arranged in the fixing groove through screws, a triangular protrusion is arranged at the lower opening end of the storage box, a dust filtering box is embedded above the storage box, and the upper and lower opening ends of the dust filtering box are connected with the inside of the gas cavity and the inside of the fixing groove, respectively.

[0011] As a further description of the above technical solution: the spraying mechanism includes a box body fixed on the inner top surface of the paint spraying cover, the bottom surface of the box body is connected with a plurality of paint spraying heads in an arc-shaped equidistant structure, the output ends of the paint spraying heads are arranged in a fan shape, a feeding pipe is arranged through the top surface of the box body, the upper end of the pipe slot of the feeding pipe extends to the upper side of the inner wall of the paint spraying cover, and a pipe cover is fixed on the open end of the feeding pipe through a flange.

[0012] As a further description of the above technical solution: the air extraction mechanism includes a filter box fixed on the top surface of the moving seat, two box covers are symmetrically fixed on the two sides of the filter box through screws, a plurality of activated carbon filter plates are slidably connected in a linear equidistant structure inside the filter box, the activated carbon pore size of the plurality of activated carbon filter plates gradually decreases from back to front, and a plate slot that slidably cooperates with the activated carbon filter plates is formed in the inside of the filter box.

[0013] As a further description of the above technical solution: two fans are symmetrically connected on the front and back of the filter box, the front and back fans are staggered, the input ends of the two fans on the back side are connected with the inside of the air cavity, the two fans on the front side are connected with the three-way catalyst, a heating controller is fixed on one side of the front wall of the filter box, an electric heating wire is embedded in the interlayer of the back wall of the filter box in a continuous S-shaped structure, and the front end of the electric heating wire is connected with the output end of the heating controller.

[0014] As a further description of the above technical solution: four permanent magnet wall climbing wheels are symmetrically and rotatably connected on the two sides of the moving seat, one of the permanent magnet wall climbing wheels is coaxially and fixedly connected with an outer rotor motor, the stator of the outer rotor motor is fixedly connected with the moving seat, the rotor of the outer rotor motor is coaxially and fixedly connected with the inner wall of the corresponding permanent magnet wall climbing wheel, the lower part of the paint spraying cover is in an isosceles trapezoidal column structure with a large upper part and a small lower part, and the paint mist collecting box is fixedly connected with the paint spraying cover through screws.

[0015] As described above, since the above-mentioned technical self-walking wall spraying and recycling robot is adopted, the beneficial effects of the present application are as follows: by arranging the paint spraying cover outside the spraying mechanism, the present application reduces the diffusion range of paint mist in the spraying operation, then a plurality of air suction openings are arranged on the bottom surface of the paint spraying cover to recycle the paint mist, the structure design of the air suction openings is similar to that of a "venturi tube", and the through openings on the two sides of the bottom surface of the paint spraying cover can maximize the absorption of the diffused paint mist, realizing the effect of "spraying while sucking", greatly reducing the diffusion of paint mist, reducing environmental pollution, and at the same time, the air cavity in the ring shape is designed with micro-slits, combined with the sponge filled therein, further improving the micro-vacuum effect between the inner and outer walls, improving the paint mist recycling efficiency, in addition, under the arrangement of the inclined structure on the bottom surface of the air cavity and the convex structure on the back wall thereof, the paint mist absorbed in the sponge can be guided into the paint mist collecting box at the back, not only avoiding the paint mist in the sponge from dripping too much to reduce the recycling efficiency, but also preventing the collected paint mist from dripping from the air inlet to pollute the surface to be sprayed, and finally the collected paint mist can be reused under the operation of the worker, avoiding pollution and effectively reducing waste. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 shows the overall schematic diagram according to the present application; Figure 2 shows the exploded schematic diagram according to the present application; Figure 3 shows the front sectional schematic diagram of the paint spray booth according to the present application; Figure 4 shows the side sectional schematic diagram of the paint spray booth according to the present application Figure 5 shows the internal schematic diagram of the air cavity according to the present application; Figure 6 shows the enlarged schematic diagram at A in the present application; Figure 5 Figure 7 shows the schematic diagram of the rear wall of the air cavity according to the present application; Figure 8 shows the internal schematic diagram of the paint spray booth according to the present application; Figure 9 shows the side view schematic diagram of the roller according to the present application; Figure 10 shows the schematic diagram of the storage box according to the present application; Figure 11 shows the schematic diagram of the dust filter box according to the present application; Figure 12 shows the schematic diagram of the spraying mechanism according to the present application; Figure 13 shows the exploded schematic diagram of the filter box according to the present application; Figure 14 shows the sectional schematic diagram of the filter box according to the present application; Figure 15 shows the exploded schematic diagram of the moving seat according to the present application.

[0017] LEGEND: 10, moving seat; 11, permanent magnetic wall-climbing wheel; 12, external rotor motor; 20, air extraction mechanism; 21, filter box; 22, box cover; 23, activated carbon filter plate; 24, plate groove; 25, fan; 26, three-way catalyst; 30, paint spray booth; 301, internal cavity; 302, fixing groove; 303, dust filter box; 31, air cavity; 311, sponge; 312, air-permeable foam block; 32, air inlet; 321, connecting groove; 33, through hole; 34, paint mist collection box; 35, rubber strip; 40, spraying mechanism; 41, box body; 42, paint spraying head; 43, feeding pipe; 44, pipe cover; ​50. Cleaning mechanism; 51. Scraper; 52. Fixed shaft; 521. Roller; 522. Polyester cloth; 523. Wool tuft; 524. Roller; 53. Spandex cloth; 54. Scraper; 55. Storage box; 60. Heating controller; 61. Heating wire. Detailed Implementation

[0018] The following will describe in detail, with reference to the accompanying drawings of the embodiments of the present invention, a self-propelled wall spraying and recycling robot of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.

[0019] like Figures 1-15 As shown, the present invention provides a self-propelled wall-mounted spraying and recycling robot, comprising a mobile base 10, with four permanent magnet wall-climbing wheels 11 symmetrically rotatably connected to both sides of the mobile base 10. Through the permanent magnet wall-climbing wheels 11, the device can stably walk on vertical or curved steel structure surfaces, making it suitable for surfaces with various curvatures, thereby completing spraying operations on vertically upward paths. An external rotor motor 12 is coaxially fixedly connected inside one of the permanent magnet wall-climbing wheels 11. The stator of the external rotor motor 12 is fixedly connected to the mobile base 10, and the rotor of the external rotor motor 12 is coaxially fixedly connected to the inner wall of its corresponding permanent magnet wall-climbing wheel 11. The external rotor motor 12 is similar to a conventional motor. (Inner rotor) In contrast, the rotating part of the outer rotor motor 12 is the outer shell (rotor), while the inner coil and iron core (stator) are fixed. The permanent magnet climbing wheel 11 in this device is coaxially fixedly connected to the rotor, making it directly become the rotor part of the outer rotor motor 12. Since the outer shell of the outer rotor motor 12 itself needs to use magnets, the magnetic force of the permanent magnet climbing wheel 11 is no longer a problem affecting its rotation, but has become the core element of the operation of the outer rotor motor 12. When this device sprays along the surface to be sprayed, the moving seat 10 needs to be located in front of the travel path to avoid it crushing the sprayed area and causing damage to the sprayed surface.

[0020] The mobile seat 10 is provided with an air extraction mechanism 20, and the outer wall interlayer of the paint spraying cover 30 is provided with an air cavity 31, which is arranged in a thin and narrow annular structure. The air extraction mechanism 20 is connected with the front part of the air cavity 31, and micro-vacuum can be formed between the inner wall of the annular air cavity 31 by air extraction through the air extraction mechanism 20, so as to achieve the purpose of recovering paint mist. The air extraction mechanism 20 comprises a filter box 21 fixed on the top surface of the mobile seat 10, two box covers 22 are symmetrically fixed on the two sides of the filter box 21 through screws, a plurality of activated carbon filter plates 23 are linearly and equidistantly connected in the filter box 21, the activated carbon aperture of the activated carbon filter plates 23 gradually decreases from back to front, and the activated carbon aperture from large to small is 8mm, 5mm, 3mm and 1.5mm. The paint mist waste gas entering the filter box 21 is filtered and purified by stages, which can significantly improve the paint mist waste gas treatment efficiency. Under such design, each activated carbon filter plate 23 only filters the inhalable particulate matter of the corresponding particle size, compared with a single filter plate, the filter burden can be greatly shared, and the filter structure is prevented from being blocked too early to affect the filtering effect. A plate groove 24 is arranged in the filter box 21 and is in sliding cooperation with the activated carbon filter plate 23. The plate groove 24 is used for limiting the activated carbon filter plate 23 to prevent it from toppling over. The interval of the plate groove 24 also forms a chamber between the adjacent two activated carbon filter plates 23. Each chamber can independently contain the filtered impurities, so that the impurities are uniformly stacked in a relatively loose state, the inside of the filter box 21 is not easy to be blocked, the single operation time of the device is improved, and the maintenance cost is reduced. After each use, the staff can maintain or replace the activated carbon filter plate 23 by removing the box cover 22. An electric heating wire 61 is embedded in the filter box 21 in a coherent S-shaped structure. The front end of the electric heating wire 61 is connected with the output end of a heating controller 60. The heating controller 60 can control the heating of the electric heating wire 61, so that the environment at the rear part of the filter box 21 is warmed, and the paint mist tail gas is heated, so that the paint mist tail gas is dried to form a solid, and the activated carbon filter plate 23 in the device is conveniently intercepted.

[0021] Two fans 25 are symmetrically connected to the front and rear sides of the filter box 21. The front and rear fans 25 are staggered. The input ends of the two rear fans 25 are connected with the inside of the air cavity 31, and the two fans 25 extract air from the air cavity 31 to the front. The output end of the front two fans 25 is away from the filter box 21 and is connected with a three-way catalyst 26. The three-way catalyst 26 is the last treatment process of the paint mist waste gas, and the gas treated by the three-way catalyst 26 can reach the emission standard, thereby greatly reducing the pollution to the environment.

[0022] The paint spraying cover 30 is arranged at the rear of the mobile base 10, and the lower part of the paint spraying cover 30 is in the shape of an isosceles trapezoidal column with a large upper part and a small lower part. The paint spraying cover 30 can reduce the diffusion range of paint mist and reduce the difficulty of recovery. The front part of the bottom surface of the paint spraying cover 30 is provided with a cleaning mechanism 50. The cleaning mechanism 50 is used for removing dirt on the surface to be sprayed. The cleaning mechanism 50 comprises a shovel plate 51 fixedly arranged at the lower end of the front wall of the paint spraying cover 30. The front wall of the shovel plate 51 is in the shape of a V structure. The front end of the shovel plate 51 will be in frictional contact with the surface to be sprayed during the movement of the device. The V-shaped structure and the hard structure of the front wall of the shovel plate 51 can scrape off stubborn stains adhered to the surface to be sprayed, so that the surface to be sprayed can be kept clean to receive the spraying operation. An inner cavity 301 is arranged at the front end of the bottom surface of the paint spraying cover 30. A rubber strip 35 is fixedly arranged at the rear side of the inner cavity 301. The bottom surface of the rubber strip 35 will be in extrusion contact with the surface to be sprayed during the movement of the device, so as to reduce the diffusion of paint mist from the front side and reduce the contact between the paint mist and the cleaning mechanism 50. The rubber strip 35 is arranged in the shape of an arc with a convex front part. If there are large impurities falling or remaining during the cleaning process of the cleaning mechanism 50, the special shape of the rubber strip 35 can also guide the impurities to the two sides, so as to avoid the impurities remaining on the surface to be sprayed and affecting the spraying effect.

[0023] A fixed shaft 52 is coaxially arranged in the inner cavity 301. A roller 521 is rotatably connected to the outer wall of the fixed shaft 52. A polyester cloth 522 is fixedly arranged on the outer wall of the roller 521. A plurality of wool clusters 523 are fixedly arranged on the outer wall of the roller 521 in the shape of an annular equidistant structure. The outer side ends of the wool clusters 523 extend to the outside through the polyester cloth 522. The polyester cloth 522 and the wool clusters 523 are both materials that are easy to carry static electricity. The two can adsorb floating dust on the surface to be sprayed, further improve the cleanliness of the surface to be sprayed, and enhance the spraying effect. On the other hand, the wool clusters 523 have good water absorption effect. If part of the paint mist overflows from the front gap, the wool clusters 523 can absorb the paint mist, further improve the recovery effect of the paint mist, prevent pollution, and at the same time, the water absorption of the polyester cloth 522 is poor, and the wool clusters 523 are located on the outside, so the effect of the polyester cloth 522 will not be affected. The two ends of the fixed shaft 52 extend to the outside through the inner walls of the two sides of the inner cavity 301 and are coaxially fixedly connected with the rollers 524. The rollers 524 will also roll along the surface to be sprayed during the movement of the device, so as to drive the fixed shaft 52 and other structures in the middle to rotate synchronously. The spandex cloth 53 is embedded in the front wall of the inner cavity 301. The spandex cloth 53 is in frictional contact with the polyester cloth 522 and the wool clusters 523. The water absorption of the polyester cloth 522 is poor, and the electric charge will be difficult to release in the fiber. After the polyester cloth 522 is in frictional contact with the spandex cloth 53, the static electricity effect will be amplified, the adsorption force on the floating dust will be further improved, and the cleaning mechanism 50 will not be disabled after the static electricity is released.

[0024] The inside front wall of the paint spraying cover 30 is provided with a fixing groove 302, the lower front side of the fixing groove 302 is connected with the inner cavity 301, the top surface of the inner cavity 301 is fixedly provided with a scraper 54 in front of the opening end of the fixing groove 302, the scraper 54 is in extrusion contact with the outer wall of the polyester cloth 522 and the wool cluster 523, the scraper 54 can scrape off the dust and the tiny amount of paint mist absorbed by the wool cluster 523, the dust and the tiny amount of paint mist are sucked into the inside of the fixing groove 302, the inside of the fixing groove 302 is fixedly provided with a storage box 55 through screws, the lower opening end of the storage box 55 is provided with a triangular prism-shaped protrusion, because the position where the fixing groove 302 is connected with the inner cavity 301 is located at the rear of the two, the end of the protrusion is beyond the front wall of the connecting position of the two, therefore, the dirt sucked in falls on the top surface of the protrusion of the storage box 55, in addition, the end point of the protrusion in the storage box 55 is arranged in a curved structure that is curved upward, so that the dirt cannot directly fall back into the inner cavity 301, which is convenient for the staff to uniformly recycle the collected dirt, the structure and the paint mist recycling structure are separately arranged to avoid the mixture of the dust and the paint mist being recycled to the paint mist collection box 34, which is convenient for the staff to reuse the paint mist in the paint mist collection box 34 and improves the reuse rate, it should be noted that because there is always airflow entering the air inlet 32, and under the structure of the "venturi tube", the airflow intensity entering the air inlet 32 is very large, even if the concentrated paint mist is liquefied into water droplets, it cannot overcome the suction force and flow out of the air inlet 32, so as to ensure that the paint mist can smoothly flow in the rear part of the air cavity 31 and finally be collected into the paint mist collection box 34.

[0025] The inside of the paint spraying cover 30 is provided with a spraying mechanism 40, the spraying mechanism 40 includes a box body 41 fixedly arranged on the top surface of the inside of the paint spraying cover 30, the bottom surface of the box body 41 is connected with a plurality of paint spraying heads 42 in an arc-shaped and equidistant structure, the output ends of the paint spraying heads 42 are arranged in a fan shape, which can improve the spraying surface and the spraying efficiency, the top surface of the box body 41 is provided with an inlet pipe 43, the upper end of the pipe groove of the inlet pipe 43 extends to the upper part of the inner wall of the paint spraying cover 30, the opening end of the inlet pipe 43 is fixedly provided with a pipe cover 44 through a flange, the staff can remove the pipe cover 44 from this place and add spraying materials into the box body 41 for the spraying of the paint spraying heads 42.

[0026] The bottom surface of the air cavity 31 is arranged with a plurality of air inlets 32 in a U-shaped manner at the rear side. The front side of the device is not provided with air inlets 32 in order to avoid the great suction force from sucking the future and cleaned impurities into the air cavity 31, to ensure the cleanliness of the paint mist in the air cavity 31, and to improve the reuse rate of the paint mist. The width of the air inlets 32 is first contracted and then expanded from bottom to top. Through such a structural design, each air inlet 32 under the air cavity 31 forms an approximate "Venturi tube" shape. When the external air carrying the paint mist flows through the contraction section, according to Bernoulli's principle, the flow rate reaches the highest at the narrowest point, and the static pressure drops to the lowest. This low pressure area will generate a "suction force" to actively "suck" the mist in a larger range and at a greater distance into the air inlet 32, rather than relying solely on the active suction of the fan 25. This not only reduces the power consumption of the fan 25, but also expands the effective working range. In addition, the device is provided with multiple fans 25, which have a great suction force. Therefore, the overflowed paint mist can be fully recycled into the air cavity 31. Similarly, the dust filter box 303 is located between the air cavity 31 and the fixed groove 302, and its open end is relatively limited, which can also improve the suction force in the fixed groove 302.

[0027] The bottom surface of the paint spraying cover 30 is provided with through holes 33 at the transverse sides. The provision of the through holes 33 can not only enable the air inlets 32 to act within a range not limited by the surface to be sprayed, but also enable the air in the paint spraying cover 30 to flow out more easily through the through holes 33, because the gap between the top surface of the through holes 33 and the surface to be sprayed is larger. According to the basic principles of fluid mechanics, fluid usually flows from an area with high total mechanical energy to an area with low total mechanical energy, which includes pressure energy, gravitational potential energy, and kinetic energy. Therefore, fluid tends to flow to the side with less resistance. In addition, the pressure outside is smaller than that inside the paint spraying cover 30. Therefore, the paint mist will mainly overflow from the transverse sides of the paint spraying cover 30, avoiding the influence of the overflowed paint mist on the already sprayed position.

[0028] The inside of the air cavity 31 is fixed with a sponge 311, which is in a U-shaped structure. The paint mist entering the inside of the air cavity 31 can be adsorbed by the sponge 311. The air cavity 31 is symmetrically fixed with a plurality of air-permeable foam blocks 312 on the side close to the moving seat 10. The air-permeable foam blocks 312 are hydrophobic treated open-cell silica gel foam. The pore size of the air-permeable foam blocks 312 gradually decreases from outside to inside. The holes on the air-permeable foam blocks 312 are dense and have extremely small diameters. This can ensure that the large droplets of paint mist are reduced without affecting the air exhaust, but the inhalable particulate matter with extremely small particle sizes is not limited, which has the same effect as the filter plate, ensures the recycling rate, and separates the recyclable and non-recyclable parts of the paint mist. In addition, the change in the pore size can further disperse the small droplets of paint mist that cannot be adsorbed, so that the diameter of the paint mist droplets entering the filter box 21 is small enough, which facilitates the heating and drying of the paint mist by the electric heating wire 61 in a limited time, helps the activated carbon filter plate 23 to more fully intercept the solid matter in the paint mist tail gas, and also reduces the burden of the three-way catalyst 26.

[0029] The lower part of the rear wall of the paint spraying cover 30 is slidingly inserted with a paint mist collecting box 34. The paint mist collecting box 34 is connected and fixed with the paint spraying cover 30 by screws. Two connecting grooves 321 are symmetrically arranged on the bottom surface of the air inlet 32 at the rear. The outer side ends of the connecting grooves 321 are connected with the inside of the paint mist collecting box 34. The rear wall of the air cavity 31 is in a convex structure with a middle protrusion. The bottom surface of the air cavity 31 is in an inclined structure with a higher front and a lower rear. In this way, the paint mist collected in the air cavity 31 will be concentrated to the rear, then flow to both sides along the convex structure, and finally flow into the paint mist collecting box 34 through the connecting grooves 321. This can prevent the paint mist from being adsorbed on the sponge 311 and overflowing to fall on the surface to be sprayed, and also facilitates the concentration and final recycling of the paint mist.

[0030] Working principle: The staff can adsorb the device to the ship, heavy equipment or large steel structure equipment to be sprayed by the permanent magnetic wall climbing wheel 11, and then drive the corresponding permanent magnetic wall climbing wheel 11 to rotate by the outer rotor motor 12, so as to control the movement of the device.

[0031] During movement, the staff can perform multi-stage air exhaust operation by controlling the multiple fans 25 in the air exhaust mechanism 20. The air will be drawn into the air cavity 31 through the multiple air inlets 32. At this time, the spraying mechanism 40 will also perform synchronous spraying operation. The paint mist generated during the spraying process will overflow to the surrounding, but will not overflow from the top surface due to the limitation of the paint spraying cover 30. The paint mist can only diffuse to the surrounding along the gap between the paint spraying cover 30 and the surface to be sprayed, and will tend to overflow from the through hole 33.

[0032] When the paint mist passes below the air inlet 32, it will be sucked into the inside of the air cavity 31 under the suction force of the air exhaust mechanism 20. The special structure of the air inlet 32 can also enhance the suction force of the opening end and expand the absorption range.

[0033] The inhaled paint mist is collected inside the air cavity 31 under the adsorption of the sponge 311, and then is guided to the connecting grooves 321 on both sides under the guidance of the inner wall of the air cavity 31. As the paint mist accumulates, it flows into the connecting grooves 321 and is gathered in the paint mist collection box 34, which is convenient for the staff to reuse.

[0034] On the other hand, the paint mist that is not captured by the sponge 311 passes through the fine holes on the air-permeable foam block 312. The paint mist droplets with reduced diameter enter the filter box 21 and the three-way catalyst 26 for multi-stage filtration, and the finally purified position is discharged into the atmosphere, reducing the pollution caused by paint spraying.

[0035] At the same time, the cleaning mechanism 50 on the front side rotates under the rolling contact of the roller 524 and the surface to be sprayed. The polyester fabric 522 and the wool tufts 523 on it can adsorb the debris and dust on the surface to be sprayed, improve the cleanliness of the surface to be sprayed, and thus improve the spraying quality. The shovel plate 51 can clean larger solid dirt, further ensuring the cleanliness of the surface to be sprayed. In addition, the wool tufts 523 can also absorb a small amount of paint mist overflowing from the front side, further enhancing the paint mist recovery rate.

[0036] The dust and other impurities collected by the cleaning mechanism 50 are concentrated into the fixed groove 302 under the suction of the air suction mechanism 20. The staff only needs to remove the storage box 55 to clean this part of impurities.

[0037] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the self-walking wall spraying recovery robot and the invention concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A self-propelled wall coating recycling robot, comprising a mobile base (10), characterized in that, An air extraction mechanism (20) is provided above the movable seat (10), and a paint spraying hood (30) is fixedly provided behind the movable seat (10). A spraying mechanism (40) is provided inside the paint spraying hood (30), and an air cavity (31) is provided in the interlayer of the outer wall of the paint spraying hood (30). The air cavity (31) is arranged in a narrow ring structure, and the air extraction mechanism (20) is connected to the front of the air cavity (31). The air chamber (31) is fixed with a sponge (311). The air chamber (31) has multiple air inlets (32) arranged in a U-shape on the rear side of the bottom surface. The width of the air inlets (32) first narrows and then expands from bottom to top. The bottom surface of the paint sprayer (30) has through openings (33) on both sides. The paint sprayer (30) has a paint mist collection box (34) slidably inserted into the lower part of the rear wall. The air inlets (32) at the rear have two connecting grooves (321) symmetrically opened on the bottom surface. The outer end of the connecting grooves (321) is connected to the inside of the paint mist collection box (34). The front of the bottom of the paint sprayer (30) is provided with a cleaning mechanism (50), which is used to remove dirt from the surface to be sprayed.

2. The self-propelled wall-mounted coating recycling robot according to claim 1, characterized in that, The rear wall of the air cavity (31) is a convex structure with a raised center, the bottom surface of the air cavity (31) is an inclined structure with a higher front and lower back, and the sponge (311) has a U-shaped structure.

3. The self-propelled wall coating recycling robot according to claim 2, characterized in that, The air cavity (31) is symmetrically fixed with multiple breathable foam blocks (312) on the side near the movable seat (10). The breathable foam blocks (312) are open-cell silicone foams that have been hydrophobically treated. The pore diameter of the breathable foam blocks (312) decreases from the outside to the inside.

4. The self-propelled wall coating recycling robot according to claim 3, characterized in that, The cleaning mechanism (50) includes a scraper (51) fixedly mounted on the lower end of the front wall of the spray paint hood (30). The front wall of the scraper (51) has a V-shaped structure. An inner cavity (301) is opened at the front end of the bottom of the spray paint hood (30). A rubber strip (35) is fixedly mounted on the rear side of the bottom surface of the spray paint hood (30) relative to the inner cavity (301). The rubber strip (35) has an arc-shaped structure with a forward convex center. A fixed shaft (52) is coaxially rotatably connected inside the inner cavity (301).

5. A self-propelled wall-mounted coating recycling robot according to claim 4, characterized in that, The outer wall of the fixed shaft (52) is rotatably connected to a roller (521). The outer wall of the roller (521) is fixed with polyester cloth (522). Multiple wool clusters (523) are uniformly fixed on the outer wall of the roller (521). The outer ends of the wool clusters (523) extend through the polyester cloth (522) to the outside. Both ends of the fixed shaft (52) extend through the inner walls on both sides of the inner cavity (301) to the outside and are coaxially fixedly connected with rollers (524).

6. A self-propelled wall coating recycling robot according to claim 5, characterized in that, The front wall of the inner cavity (301) is fitted with spandex fabric (53), which is in frictional contact with polyester fabric (522) and wool tuft (523). The inner front wall of the paint sprayer (30) is provided with a fixing groove (302), the lower front part of the fixing groove (302) is connected to the inner cavity (301), and a scraper (54) is fixed on the top surface of the inner cavity (301) at the position opposite to the front side of the opening end of the fixing groove (302). The plate (54) is pressed against the outer wall of the polyester fabric (522) and the wool tuft (523). The storage box (55) is fixed inside the fixing groove (302) by screws. The storage box (55) has a triangular prism protrusion at the lower opening end. The dust filter box (303) is embedded above the storage box (55). The upper and lower opening ends of the dust filter box (303) are connected to the inside of the air chamber (31) and the inside of the fixing groove (302) respectively.

7. A self-propelled wall coating recycling robot according to claim 6, characterized in that, The spraying mechanism (40) includes a box (41) fixed on the top surface of the inner side of the spray gun (30). Multiple spray guns (42) are evenly connected to the bottom surface of the box (41). The output ends of the spray guns (42) are arranged in a fan shape. A feed pipe (43) is provided through the top surface of the box (41). The upper end of the feed pipe (43) extends from the inner wall of the spray gun (30) to the top. A pipe cap (44) is fixed to the open end of the feed pipe (43) through a flange.

8. A self-propelled wall-mounted coating recycling robot according to claim 7, characterized in that, The air extraction mechanism (20) includes a filter box (21) fixed on the top surface of the movable seat (10). Two box covers (22) are symmetrically fixed on both sides of the filter box (21) by screws. Multiple activated carbon filter plates (23) are slidably connected inside the filter box (21). The activated carbon pore size in the multiple activated carbon filter plates (23) decreases from back to front. The filter box (21) has a plate groove (24) that slides with the activated carbon filter plates (23).

9. A self-propelled wall-mounted coating recycling robot according to claim 8, characterized in that, The filter box (21) is symmetrically connected to two fans (25) on both the front and rear sides. The fans (25) on the front and rear sides are staggered. The input ends of the two fans (25) on the rear side are connected to the inside of the air chamber (31). The two fans (25) on the front side have their output ends away from the filter box (21) and are connected to a three-way catalytic converter (26). A heating controller (60) is fixed on one side of the front wall of the filter box (21). A heating wire (61) arranged in a continuous S-shaped structure is embedded in the interlayer of the rear wall of the filter box (21). The front end of the heating wire (61) is connected to the output end of the heating controller (60).

10. A self-propelled wall-mounted coating recycling robot according to claim 9, characterized in that, The movable seat (10) is symmetrically rotated on both sides with four permanent magnet climbing wheels (11). One of the permanent magnet climbing wheels (11) is coaxially fixedly connected to an external rotor motor (12). The stator of the external rotor motor (12) is connected and fixedly connected to the movable seat (10). The rotor of the external rotor motor (12) is coaxially fixedly connected to the inner wall of the corresponding permanent magnet climbing wheel (11). The lower part of the paint spraying hood (30) is an isosceles trapezoidal column structure with a larger upper part and a smaller lower part. The paint mist collection box (34) is connected and fixedly connected to the paint spraying hood (30) by screws.

Images