An adaptive wall-climbing building painting robot device

Abstract

This invention provides an adaptive wall-crawling architectural spraying robot device, whose structure includes a main unit, a crawling adsorption structure, crawling wheels, a vision monitor, a paint tank, and a spraying structure. The improved crawling adsorption structure utilizes a scraping component on the assembly block to remove dust particles from the wall surface during the crawling wheel's movement, enhancing the negative pressure adsorption stability of the subsequent vacuum suction cups and preventing them from falling off. Combined with the electromagnetic suction cups, stable adsorption is achieved on steel structure surfaces, thus improving the robot's crawling spraying stability. Simultaneously, the rotation of the removal structure during displacement eliminates stubborn small bumps and particles on the wall surface, preventing uneven surfaces from affecting normal adsorption and further enhancing the robot's multi-functionality. Furthermore, the cross-distribution of the vacuum and electromagnetic suction cups allows for oblique adsorption, improving the stability of crawling operations on different wall materials.

Description

Technical Field

[0001] This invention relates to the field of spraying robot technology, and more specifically to an adaptive wall-crawling building spraying robot device. Background Technology

[0002] The adaptive wall-crawling building spraying robot is an intelligent building device that can autonomously adhere to, crawl, and complete wall spraying operations on vertical or inclined walls. It can replace manual labor in spraying high-altitude exterior walls, thus improving the safety factor of building wall operations. In summary, the inventors have found that existing building spraying robot devices have the following main defects: Since the crawling adsorption structure of current building spraying robot devices is usually only equipped with a single vacuum adsorption, vacuum adsorption can only perform crawling spraying operations on high-altitude ceramic tiles, thus making it difficult to operate on steel structure walls, resulting in a limitation on the operating range. Furthermore, simply relying on vacuum adsorption can easily lead to leakage of negative pressure due to dust or cracks on the wall surface. Therefore, the robot is prone to falling due to dust or cracks, which further reduces the actual safety and stability of the current spraying robot. Summary of the Invention

[0003] The technical solution adopted by the present invention to achieve the technical objective is: an adaptive wall-crawling building spraying robot device, the structure of which includes: a main unit, a crawling adsorption structure, crawling wheels, a vision monitor, a paint tank, and a spraying structure. The lower edge of the main unit adaptively crawls on the wall surface through the crawling adsorption structure and crawling wheels. The main unit drives the spraying structure to spray on the wall surface through the vision monitor. The spraying structure is connected to the paint tank.

[0004] As a further improvement of the present invention, the crawling adsorption structure is provided with an assembly block, a contact surface, a scraper, an energized control block, a vacuum suction cup, and an electromagnetic suction cup. The assembly block determines the position of the scraper and the energized control block by the edge and surface of the contact surface. The energized control block powers the electromagnetic suction cup to control the host. The electromagnetic suction cup and the vacuum suction cup are spaced together and distributed at the corners of the contact surface.

[0005] As a further improvement of the present invention, the edge of the contact position between the electromagnetic chuck and the vacuum chuck and the wall surface is also provided with a rejection structure, a contact plate, a support block, an assembly plate, and an energized locking bolt. The rejection structure is located at the edge of the contact plate and is energized and fixedly connected to the energized locking bolt on the assembly plate through the support block.

[0006] As a further improvement of the present invention, the central power control block of the crawling adsorption structure assembly block is electrically connected to the host, and then the rejection structure of the vacuum suction cup and the electromagnetic suction cup is controlled by the wireless program of the host. Both the vacuum suction cup and the electromagnetic suction cup are electrically connected to the host through the power-on locking bolt, thereby energizing the rejection structure.

[0007] As a further improvement of the present invention, the crawling adsorption structure of the host is matched with the crawling wheels at a certain distance, the visual monitor is set at the front end of the host and communicates with the wall, the paint tank is set in a vertical position and a guide tube is set inside the host and connected to the spraying structure.

[0008] As a further improvement of the present invention, the contact surface of the assembly block is finely polished, the scraping parts on the contact surface are set in a symmetrical orientation and are spaced to match the crawling wheels, and two sets of vacuum suction cups and electromagnetic suction cups are provided and arranged in a cross orientation at the corners of the contact surface.

[0009] As a further improvement of the present invention, the rejection structure is circular and is located at the same center point as the contact plate. The support block is perpendicular to the energized locking bolt through the assembly plate and the support block, and an energized line is provided inside the assembly plate and the support block to electrically connect with the rejection structure.

[0010] As a further improvement of the present invention, the rejection structure is provided with a scraping ring, which is located at the edge of the rotating wheel, the rotating wheel is located at the edge of the assembly ring, and a locking groove is provided inside the assembly ring.

[0011] As a further improvement of the present invention, the scraping ring is circular in shape and has a sharp edge, and is rotated at the edge of the assembly ring by a rotating wheel. The assembly ring is fixed to the support block by a locking groove and is electrically connected.

[0012] As a further improvement of the present invention, the scraping component is provided with an insert block, one end of which is connected to an adsorption block, the upper end of which is connected to an assembly block, the upper end of which is connected to a vertical block, and the upper end of which is connected to a brush.

[0013] As a further improvement of the present invention, the insert block and the adsorption block are perpendicular to each other and form a "T" shape. The upper end of the adsorption block is fixed to the lower position of one end of the assembly block. The assembly block and the vertical block form an "I" shape. The brush at the upper end of the vertical block is a regular brush.

[0014] As a further improvement of the present invention, the spraying structure is provided with a connecting pipe, the upper end of the connecting pipe is connected to a restraining disc, the center of the restraining disc is connected to a rotating pipe, the upper end of the rotating pipe is provided with a spraying pipe, and the edge of the spraying pipe is provided with an angle adjustment block.

[0015] As a further improvement of the present invention, the connecting tube passes through the center of the traction plate and connects to the bottom of the rotating tube. The spraying tube at the upper end of the rotating tube is angled by an angle adjustment block. A rotating module is provided in the traction plate to drive the rotating tube to rotate on the main unit. The traction plate is fixed parallel to the upper end of the main unit.

[0016] As a further improvement of the present invention, the angle adjustment block is also provided with an assembly groove, which is opened at the center of the overlapping layer. The overlapping layer and the balance block are integrated. The balance block is provided with an angle wheel on the overlapping layer through the assembly groove, and a restraining wheel is provided at the center of the angle wheel.

[0017] As a further improvement of the present invention, the balance block is connected to one end of the spray pipe through an overlapping layer and an assembly groove. The angle wheel inside the balance block, combined with the restraining wheel, drives the spray pipe to adjust its angle through the electronic control of the host machine.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention improves upon the crawling adsorption structure by using a scraping component on the assembly block to remove dust particles from the wall surface during the crawling wheel's displacement. This enhances the negative pressure adsorption stability of the subsequent vacuum suction cup, preventing it from falling off. Combined with the electromagnetic suction cup, it enables stable adsorption on steel structure surfaces, thus improving the robot's crawling spraying operation stability. Simultaneously, the rotation of the removal structure during displacement eliminates stubborn small bumps and particles on the wall surface, preventing uneven surfaces from affecting normal adsorption and further enhancing the robot's multi-functionality. Furthermore, the cross-distribution of the vacuum suction cup and electromagnetic suction cup allows for oblique adsorption, improving the stability of crawling operations on different wall materials.

[0019] 2. This invention, through improvements to the removal structure and scraping components, uses the assembly ring and locking groove to stably fix the rotating wheel and scraping ring to the contact plate and support block edge. Then, through electrical connection, the main unit can drive the rotating wheel to rotate on the assembly ring, allowing the scraping ring to eliminate stubborn particles and protrusions on the wall surface. This further improves the flatness of the wall surface and the robot's performance. At the same time, the rotational disassembly improves the convenience of assembly and disassembly. Subsequently, the scraping component can improve the connection convenience with the edge of the connecting block through the adsorption block and insertion block under the assembly block. The adsorption property prevents it from falling off during use.

[0020] 3. With the improved spraying structure, the parallel positioning of the control plate allows the connecting pipe to be arranged inside the main unit and connected to the guide pipe of the paint box, thus improving the accuracy of paint delivery. Subsequently, the top of the rotating pipe on the control plate can be adjusted by the angle adjustment block to drive the spraying pipe to adjust the angle. Therefore, with the help of a visual monitor, the building wall can be accurately sprayed, preventing omissions. Attached Figure Description

[0021] Figure 1 This is a structural diagram of a building spraying robot device that is adaptive to wall crawling.

[0022] Figure 2 This is a top-view schematic diagram of an improved crawling adsorption structure.

[0023] Figure 3 This is a three-dimensional structural diagram of an improved electromagnetic chuck.

[0024] Figure 4 This is a schematic diagram of a three-dimensional structure after structural improvement by eliminating structural features.

[0025] Figure 5 This is a three-dimensional structural diagram of an improved scraping component.

[0026] Figure 6 This is a three-dimensional structural diagram of an improved spray coating structure.

[0027] Figure 7 This is a top-view structural diagram of an improved angle adjustment block.

[0028] In the diagram: Main unit-1, crawling adsorption structure-2, crawling wheels-3, vision monitor-4, paint tank-5, spraying structure-6; Connecting block-21, contact surface-22, scraper-23, power control block-24, vacuum chuck-25, electromagnetic chuck-26; Remove structure-261, contact plate-262, support block-263, assembly plate-264, and energized locking bolt-265; Scraping ring-2611, rotating wheel-2612, assembly ring-2613, locking groove-2614; Insert block-231, Adsorption block-232, Assembly block-233, Vertical block-234, Brush-235; Connecting pipe-61, restraining disc-62, rotating pipe-63, spraying pipe-64, angle adjusting block-65; Assembly slot-651, overlapping layer-652, balance block-653, angle wheel-654, restraint wheel-655. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings: Example 1: Figures 1 to 5 As shown: This invention provides an adaptive wall-crawling building spraying robot device. Its structure includes: a main unit 1, a crawling adsorption structure 2, crawling wheels 3, a vision monitor 4, a paint tank 5, and a spraying structure 6. The lower edge of the main unit 1 adaptively crawls on the wall surface through the crawling adsorption structure 2 and the crawling wheels 3. The main unit 1 drives the spraying structure 6 to spray on the wall surface through the vision monitor 4. The spraying structure 6 is connected to the paint tank 5.

[0030] The crawling adsorption structure 2 includes a connecting block 21, a contact surface 22, a scraper 23, an energizing control block 24, a vacuum suction cup 25, and an electromagnetic suction cup 26. The connecting block 21 determines the position of the scraper 23 and the energizing control block 24 through the edge and surface of the contact surface 22. The energizing control block 24 powers the electromagnetic suction cup 26 to control the host 1. The electromagnetic suction cup 26 and the vacuum suction cup 25 are spaced together and distributed at the corners of the contact surface 22.

[0031] The electromagnetic chuck 26 and vacuum chuck 25 are provided with a removal structure 261, a contact plate 262, a support block 263, an assembly plate 264, and an energized locking bolt 265 at the edge of their contact positions with the wall. The removal structure 261 is located at the edge of the contact plate 262 and is energized and fixedly connected to the energized locking bolt 265 on the assembly plate 264 via the support block 263.

[0032] The crawling adsorption structure 2 is electrically connected to the host 1 via the center power control block 24 of the connecting block 21. Then, the host 1 controls the removal structure 261 of the vacuum suction cup 25 and the electromagnetic suction cup 26 via the wireless program control. Both the vacuum suction cup 25 and the electromagnetic suction cup 26 are electrically connected to the host 1 via the power locking bolt 265, thereby powering on the removal structure 261.

[0033] The crawling adsorption structure 2 of the host 1 is matched with the crawling wheel 3 at a certain distance. The visual monitor 4 is set at the front end of the host 1 and communicates with the wall. The paint tank 5 is set in a vertical position and a guide tube is set inside the host 1 and connected to the spraying structure 6.

[0034] The contact surface 22 of the connecting block 21 is finely polished. The scraping parts 23 on the contact surface 22 are set in a symmetrical position and are spaced together with the crawling wheel 3. Two sets of vacuum suction cups 25 and electromagnetic suction cups 26 are provided and are arranged in a cross position at the corner of the contact surface 22.

[0035] The rejection structure 261 is circular and is located at the same center point as the contact plate 262. The support block 263 is perpendicular to the energized locking bolt 265 through the assembly plate 264 and the support block 263. The assembly plate 264 and the support block 263 are equipped with power lines that are electrically connected to the rejection structure 261.

[0036] The rejection structure 261 is provided with a scraping ring 2611, which is located at the edge of the rotating wheel 2612. The rotating wheel 2612 is located at the edge of the assembly ring 2613, and the assembly ring 2613 is provided with a locking groove 2614 inside.

[0037] The scraping ring 2611 is circular with sharp edges and rotates at the edge of the assembly ring 2613 via a rotating wheel 2612. The assembly ring 2613 is fixed to the support block 263 via a locking groove 2614 and electrically connected.

[0038] The scraping component 23 is provided with an insertion block 231. One end of the insertion block 231 is connected to an adsorption block 232. The upper end of the adsorption block 232 is connected to an assembly block 233. The upper end of the assembly block 233 is connected to a vertical block 234. The upper end of the vertical block 234 is connected to a brush 235.

[0039] The insert block 231 and the adsorption block 232 are perpendicular to each other and form a "T" shape. The upper end of the adsorption block 232 is fixed to the lower position of one end of the assembly block 233. The assembly block 233 and the vertical block 234 form an "I" shape. The brush 235 at the upper end of the vertical block 234 is a regular brush.

[0040] The specific functions and operation procedures of this embodiment are as follows: In this invention, the adaptive wall-crawling building spraying robot can be remotely controlled by the host 1. The host 1 can then move on the high-altitude wall surface through the cooperation of the crawling wheels 3 and the crawling adsorption structure 2. At the same time, the image generated by the visual monitor 4 allows the spraying structure 6 to perform stable spraying operations on the high-altitude building wall surface in conjunction with the paint tank 5. Therefore, when the crawling adsorption structure 2 is in use, the scraper 23 can be positioned at the edge position through the contact surface 22 of the connecting block 21, so that when the crawling wheels 3 move, they can first brush off the dust on the wall surface, so that the power control block 24 can control the vacuum suction cup 25 and the electromagnetic suction cup 2. The adsorption stability of the 6-cell chuck prevents the risk of falling due to negative pressure leakage from the vacuum chuck 25 caused by dust. Simultaneously, the electromagnetic chuck 26 allows for use on steel structure surfaces, avoiding limitations on the robot's operating range and thus improving the overall robot's practical performance. Both the vacuum chuck 25 and the electromagnetic chuck 26 have removal structures 261 on their edges, which are electrically connected to the power control block 24 for control by the host 1. Furthermore, the contact surface 262 of the electromagnetic chuck 26 can be electrically connected to the power control block 24 via the mounting plate 264 on the support block 263 and the power locking bolt 265. The connection allows the electromagnetic chuck 26 to be started or stopped, achieving the effect of adsorption or release. Before adsorption, after the scraper 23 removes surface dust, the scraper ring 2611 of the removal structure 261 can rotate with the rotating wheel 2612 at the edge of the assembly ring 2613. This allows the scraper ring 2611 to eliminate stubborn particles and bumps on the wall surface through rotation and sharp edge effect, ensuring the parallelism of the wall surface and avoiding the influence of uneven surfaces that would reduce the overall adsorption stability of the robot on the wall. The assembly ring 2613 can be installed on the edge of the contact plate 262 and the support block 263 through the locking groove 2614. The rotating locking mechanism facilitates subsequent disassembly and maintenance, further enhancing the robot's practical usability. Subsequently, the brush 235 of the scraping component 23, mounted on the vertical block 234, directly removes dust from the wall surface, ensuring a clean wall. Furthermore, the "I" shape formed by the vertical block 234 and the assembly block 233 allows for secure assembly at the edge of the connecting block 21, preventing it from falling off during use. The adsorption block 232 and insertion block 231 at one end further enhance the connection's firmness, preventing loosening and ensuring the overall stability of the components' operation.

[0041] Example 2: Figures 6 to 7 As shown: This invention provides an adaptive wall-crawling building spraying robot device. Its structure includes a connecting pipe 61, a restraining disc 62 connected to the upper end of the connecting pipe 61, a rotating pipe 63 connected to the center of the restraining disc 62, a spraying pipe 64 provided at the upper end of the rotating pipe 63, and an angle adjustment block 65 provided at the edge of the spraying pipe 64.

[0042] The connecting pipe 61 passes through the center of the restraining plate 62 and connects to the bottom of the rotating pipe 63. The spraying pipe 64 at the upper end of the rotating pipe 63 is angled by the angle adjustment block 65. The restraining plate 62 is equipped with a rotating module to drive the rotating pipe 63 to rotate on the host 1. The restraining plate 62 is fixed parallel to the upper end of the host 1.

[0043] The angle adjustment block 65 is also provided with an assembly groove 651. The assembly groove 651 is opened at the center of the overlapping layer 652. The overlapping layer 652 and the balance block 653 are integrated. The balance block 653 is provided with an angle wheel 654 on the overlapping layer 652 through the assembly groove 651, and a restraining wheel 655 is provided at the center of the angle wheel 654.

[0044] The balance block 653 is connected to one end of the spray pipe 64 via the overlapping layer 652 and the assembly groove 651. The angle wheel 654 inside the balance block 653, combined with the restraint wheel 655, drives the spray pipe 64 to adjust its angle through the electronic control of the host 1.

[0045] The specific functions and operation procedures of this embodiment are as follows: In this invention, the restraining disc 62 of the spraying structure 6 can be installed parallel to the upper part of the main unit 1, and then a rotating wheel is set inside to drive the rotating tube 63 to rotate. At the same time, the connecting pipe 61 at the lower end of the rotating tube 63 can be connected to the guide pipe in the paint tank 5 to ensure the normal flow of paint. When the rotating tube 63 rotates, the top spraying pipe 64 can also be combined with the angle adjustment block 65 to adjust the spraying angle, thus improving the accuracy of wall spraying. Subsequently, the balance block 653 of the angle adjustment block 65 can be connected to one edge of the spraying pipe 64 through the assembly groove 651 and the overlapping layer 652, so that when the angle wheel 654 rotates in combination with the restraining wheel 655, it can directly drive the spraying pipe 64 to adjust the angle, realize the multi-directional spraying effect, and further improve the integrity of high-altitude wall spraying.

[0046] Any technical solution that achieves the above-mentioned technical effects by utilizing the technical solutions described in this invention, or by designing similar technical solutions by those skilled in the art under the inspiration of the technical solutions described in this invention, falls within the protection scope of this invention.

Claims

1. An adaptive wall-crawling architectural spraying robot device, the structure of which includes: The system comprises a main unit (1), a crawling adsorption structure (2), crawling wheels (3), a vision monitor (4), a paint tank (5), and a spraying structure (6). The lower edge of the main unit (1) adaptively crawls on the wall surface via the crawling adsorption structure (2) and the crawling wheels (3). The main unit (1) drives the spraying structure (6) to spray on the wall surface via the vision monitor (4). The spraying structure (6) is connected to the paint tank (5). The system is characterized by: The crawling adsorption structure (2) is provided with a connecting block (21), a contact surface (22), a scraper (23), a power control block (24), a vacuum suction cup (25), and an electromagnetic suction cup (26). The connecting block (21) determines the position of the scraper (23) and the power control block (24) through the edge and surface of the contact surface (22). The electromagnetic suction cup (26) is powered on by the power control block (24) so ​​that the host (1) can control it. The electromagnetic suction cup (26) and the vacuum suction cup (25) are spaced together and distributed at the corners of the contact surface (22). The electromagnetic chuck (26) and vacuum chuck (25) are also provided with a removal structure (261), a contact plate (262), a support block (263), an assembly plate (264), and an energized locking bolt (265) at the edge of the contact position with the wall. The removal structure (261) is located at the edge of the contact plate (262) and is energized and fixedly connected to the energized locking bolt (265) on the assembly plate (264) through the support block (263). The central power control block (24) of the connecting block (21) of the crawling adsorption structure (2) is electrically connected to the host (1). Then, the host (1) controls the removal structure (261) of the vacuum suction cup (25) and the electromagnetic suction cup (26) through the wireless program control. The vacuum suction cup (25) and the electromagnetic suction cup (26) are electrically connected to the host (1) through the power locking bolt (265), thereby powering on the removal structure (261).

2. The adaptive wall-crawling building spraying robot device according to claim 1, characterized in that: The crawling adsorption structure (2) of the host (1) is matched with the crawling wheel (3) at a distance. The visual monitor (4) is set at the front end of the host (1) and communicates with the wall. The paint box (5) is set in a vertical position and a guide tube is set inside the host (1) and connected to the spraying structure (6).

3. The adaptive wall-crawling building spraying robot device according to claim 1, characterized in that: The contact surface (22) of the connecting block (21) is finely polished. The scraping parts (23) on the contact surface (22) are set in a symmetrical position and are spaced together with the crawling wheel (3). Two sets of vacuum suction cups (25) and electromagnetic suction cups (26) are provided and are set in a cross position at the corner of the contact surface (22).

4. The adaptive wall-crawling building spraying robot device according to claim 1, characterized in that: The rejection structure (261) is circular and is located at the same center point as the contact plate (262). The support block (263) is perpendicular to the power locking bolt (265) through the assembly plate (264) and the support block (263). Power lines are provided inside the assembly plate (264) and the support block (263) to electrically connect with the rejection structure (261).

5. The adaptive wall-crawling building spraying robot device according to claim 1, characterized in that: The rejection structure (261) is provided with a scraping ring (2611), which is located at the edge of the rotating wheel (2612). The rotating wheel (2612) is located at the edge of the assembly ring (2613), and the assembly ring (2613) is provided with a locking groove (2614). The scraping ring (2611) is circular in shape with sharp edges and rotates at the edge of the assembly ring (2613) via a rotating wheel (2612). The assembly ring (2613) is fixed to the support block (263) via a locking groove (2614) and electrically connected.

6. The adaptive wall-crawling building spraying robot device according to claim 1, characterized in that: The scraper (23) is provided with an insert (231), one end of which is connected to an adsorption block (232), the upper end of which is connected to an assembly block (233), the upper end of which is connected to a vertical block (234), and the upper end of which is connected to a brush (235). The insert block (231) and the adsorption block (232) are perpendicular to each other and form a "T" shape. The upper end of the adsorption block (232) is fixed to the lower end of one end of the assembly block (233). The assembly block (233) and the vertical block (234) form an "I" shape. The brush (235) at the upper end of the vertical block (234) is a regular brush.

7. The adaptive wall-crawling building spraying robot device according to claim 1, characterized in that: The spraying structure (6) is provided with a connecting pipe (61), the upper end of the connecting pipe (61) is connected to a restraining plate (62), the center of the restraining plate (62) is connected to a rotating pipe (63), the upper end of the rotating pipe (63) is provided with a spraying pipe (64), and the edge of the spraying pipe (64) is provided with an angle adjustment block (65). The connecting tube (61) passes through the center of the restraining plate (62) and connects to the bottom of the rotating tube (63). The spraying tube (64) at the upper end of the rotating tube (63) is angled by the angle adjustment block (65). The restraining plate (62) is equipped with a rotating module to drive the rotating tube (63) to rotate on the host (1). The restraining plate (62) is fixed parallel to the upper end of the host (1).

8. The adaptive wall-crawling building spraying robot device according to claim 7, characterized in that: The angle adjustment block (65) is also provided with an assembly groove (651). The assembly groove (651) is opened at the center of the overlapping layer (652). The overlapping layer (652) and the balance block (653) are integrated. The balance block (653) is provided with an angle wheel (654) on the overlapping layer (652) through the assembly groove (651), and a restraining wheel (655) is provided at the center of the angle wheel (654). The balance block (653) is connected to one end of the spray pipe (64) through the overlapping layer (652) and the assembly groove (651). The angle wheel (654) inside the balance block (653) is combined with the restraint wheel (655) to drive the spray pipe (64) to adjust the angle through the electronic control of the host (1).

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