Intelligent high-altitude operation anti-corrosion spraying robot

Abstract

The utility model discloses an intelligent high-altitude operation anti-corrosion spraying robot which comprises a robot body and a spraying assembly, and the robot body comprises a rack, a crawler belt and a permanent magnet; the spraying assembly comprises a paint box, a spraying pump, a mounting rod and a plurality of nozzles; the coating box and the spraying pump are both located on the robot body, the mounting rod is mounted in front of or behind the robot body, and the multiple nozzles are arranged on the mounting rod at intervals and communicate with the spraying pump through pipelines; the crawler belt is installed on wheels on the two sides of the machine frame, a plurality of permanent magnets are installed on the crawler belt at intervals, and an elastic piece is arranged between each permanent magnet and the crawler belt. The spraying device has the advantages of being high in spraying efficiency, good in spraying effect and the like.

Description

Technical Field

[0001] The utility model mainly relates to the technical field of spraying robots, and in particular to an intelligent anti-corrosion spraying robot for high-altitude operations. Background Art

[0002] In recent years, with the continuous advancement of science and technology, the application of robots has become more and more extensive. In order to meet people's yearning for a better life and the growing demand for environmental beautification, the outer surfaces of high-rise buildings and the circular dome coal sheds of large thermal power plants need to be treated with anti-corrosion and beautification. Usually, surface painting is used for beautification and anti-corrosion treatment; this requires high-altitude workers to spray. In the field of high-altitude operations, roof spraying is a dangerous and challenging task. Especially for the dome of the coal shed of this large power plant, which is high, large, and has a spherical curved surface, there are many problems and challenges if it is handled manually. First, high-altitude spraying poses extremely high risks to workers, including the risk of accidental falls and damage to physical health. Secondly, due to the complexity and high labor intensity of high-altitude operations, manual processing often requires a lot of manpower and time, and is inefficient. In addition, manual processing may also be limited by environmental conditions (such as wind, temperature, etc.), resulting in uncontrollable operation quality and stability.

[0003] In recent years, both at home and abroad, robot technology has been introduced into the industry to solve related problems. Although robots can provide higher safety and stability and have considerable advantages, there are still some challenges in practical applications, and the problems cannot be completely solved. For example, the spraying accuracy and coating uniformity in the painting process are also one of the challenges that robots can handle. Utility Model Content

[0004] The technical problem to be solved by the utility model is: in view of the technical problems existing in the prior art, the utility model provides an intelligent high-altitude anti-corrosion spraying robot with high spraying efficiency and good spraying effect.

[0005] In order to solve the above technical problems, the technical solution proposed by the utility model is:

[0006] An intelligent anti-corrosion spraying robot for high-altitude operation, comprising a robot body and a spraying assembly, wherein the robot body comprises a frame, a crawler and a permanent magnet;

[0007] The spraying assembly includes a paint box, a spraying pump, a mounting rod and a plurality of spray heads; the paint box and the spraying pump are both located on the robot body, the mounting rod is installed in front of or behind the frame, and the plurality of spray heads are arranged on the mounting rod at intervals and are connected to the spraying pump through pipelines;

[0008] The crawler belt is installed on the wheels on both sides of the frame. A plurality of permanent magnets are installed on the crawler belt at intervals. An elastic member is arranged between each of the permanent magnets and the crawler belt.

[0009] As a further improvement of the above technical solution:

[0010] The permanent magnet is installed in a mounting groove of a rubber seat, and the depth of the mounting groove is greater than the thickness of the permanent magnet.

[0011] The permanent magnet and the rubber seat are both provided with mounting holes, and fixing screws are arranged in the mounting holes; the fixing screws pass through the permanent magnet, the rubber seat and the elastic member in sequence and are connected to the crawler track.

[0012] Each of the nozzles is provided with a trumpet-shaped wind shield.

[0013] The spray pump is electrically connected to the battery of the robot body.

[0014] The crawler track is a rubber crawler track.

[0015] A liquid level sensor is arranged in the paint box.

[0016] A visual camera is arranged on the robot body.

[0017] The visual camera is installed in front of and / or behind the robot body.

[0018] The elastic member is a compression spring.

[0019] Compared with the prior art, the advantages of the utility model are:

[0020] The utility model adopts a robot to avoid the traditional cumbersome process of personnel climbing up to set up scaffolding, and uses a permanent magnet wall-climbing spray robot to walk on steel structures or iron surfaces and perform spraying operations, which not only greatly improves efficiency, but more importantly ensures the safety of people and buildings themselves; the utility model starts from the work scene, optimizes and designs the mechanical structure of the robot, solves the limitations of the current robot's problem-solving methods, thereby improving the safety and efficiency of high-altitude spray painting work, improving productivity, and helping to promote high-quality development of the industry, and is suitable for architectural spraying of various steel structures, large coal sheds in power plants, and other iron surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view structural diagram of the spraying robot in an embodiment of the utility model.

[0022] Figure 2 This is a side structural diagram of the spraying robot in an embodiment of the utility model.

[0023] Figure 3 This is one of the three-dimensional structural diagrams of the spraying robot in an embodiment of the utility model.

[0024] Figure 4 This is the second three-dimensional structural diagram of the spraying robot in the embodiment of the present utility model.

[0025] Figure 5 It is a three-dimensional structural diagram of the robot body of the utility model in an embodiment.

[0026] Figure 6 This is the third three-dimensional structural diagram of the spraying robot in the embodiment of the present utility model.

[0027] Figure 7 This is a three-dimensional structural diagram of the spraying robot of the utility model in an embodiment (with a windshield).

[0028] Figure 8 This is a front structural diagram of the spraying robot of the utility model in an embodiment (with a windshield).

[0029] Fig. 9 It is a schematic diagram of the installation of the permanent magnet of the utility model during specific installation.

[0030] Fig.10 This is a front view structural diagram of the permanent magnet of the utility model during specific installation.

[0031] Fig.11 This is a structural diagram of the permanent magnet of the utility model after specific installation.

[0032] Legend: 1. Robot body; 101. Frame; 102. Track; 103. Permanent magnet; 1031. Rubber seat; 1032. Mounting slot; 1033. Fixing screw; 104. Elastic member; 105. Driving wheel; 106. Follower wheel; 107. Battery; 108. Visual camera; 2. Spraying assembly; 201. Paint box; 202. Spraying pump; 203. Mounting rod; 204. Spray head; 205. Wind shield. DETAILED DESCRIPTION

[0033] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] like Figure 1-4 As shown, the intelligent anti-corrosion spraying robot for high-altitude operation of the embodiment of the utility model is suitable for the paint spraying operation of the color steel tile dome of the coal shed to achieve anti-corrosion, and the specific structure includes a robot body 1 and a spraying component 2;

[0035] The robot body 1 includes a frame 101, a rubber track 102, an elastic member 104 and a permanent magnet 103; the track 102 is mounted on wheels (including a driving wheel 105 and a driven wheel 106) on both sides of the frame 101, a plurality of permanent magnets 103 are installed on the track 102 at intervals, and an elastic member 104 is provided between each permanent magnet 103 and the track 102;

[0036] The spray assembly 2 includes a paint box 201, a spray pump 202, a mounting rod 203 and a plurality of spray heads 204; the paint box 201 and the spray pump 202 are both located on the frame 101, the mounting rod 203 is installed in front of or behind the frame 101, and the plurality of spray heads 204 are arranged at intervals on the mounting rod 203 and are connected to the spray pump 202 through pipelines.

[0037] By installing a bar permanent magnet 103 with extremely strong magnetism on the rubber track 102, the bar permanent magnet 103 is used to absorb the magnetism of the bar permanent magnet 103 on the iron surface for spraying. Specifically, the permanent magnet 103 is fixed on the rubber track 102, and when the robot crosses the color steel tile, it can adapt to the uneven surface and also play a buffering role to keep the robot walking steadily, so that it will not fluctuate when spraying paint, and ensure the spraying effect.

[0038] The utility model adopts a robot to avoid the traditional cumbersome process of personnel climbing up to set up scaffolding, and uses a permanent magnet wall-climbing spray robot to walk on steel structures or iron surfaces and perform spraying operations, which not only greatly improves efficiency, but more importantly ensures the safety of people and buildings themselves; the utility model starts from the work scene, optimizes and designs the mechanical structure of the robot, solves the limitations of the current robot's problem-solving methods, thereby improving the safety and efficiency of high-altitude spray painting work, improving productivity, and helping to promote high-quality development of the industry, and is suitable for architectural spraying of various steel structures, large coal sheds in power plants, and other iron surfaces.

[0039] In a specific embodiment, if Figure 5 , 9As shown in Figure 11, the permanent magnet 103 is installed in a mounting groove 1032 of a chloroprene rubber seat 1031. The mounting groove 1032 only has an opening for installing the permanent magnet 103. The depth of the mounting groove 1032 is greater than the thickness of the permanent magnet 103, so that the surroundings and the inner side of the permanent magnet 103 can be protected. The permanent magnet 103 and the rubber seat 1031 are both provided with mounting holes, and the mounting holes are provided with fixing screws 1033; the fixing screws 1033 pass through the permanent magnet 103, the rubber seat 1031 and the elastic member 104 in sequence and are connected to the track 102. Specifically, a groove is provided on the neoprene seat 1031 to form a mounting groove 1032, which is used to fix and wrap the bar permanent magnet 103, and the depth is deeper than the thickness of the bar permanent magnet 103 by d, and d is preferably 0.5mm (can be selected between 0.3-0.7mm). A large number of experiments have verified that this distance can not only ensure that the bar permanent magnet 103 has a very strong suction force on the iron wall, but also will not directly contact the wall, that is, will not have friction contact with the steel surface, effectively protect the permanent magnet 103, and can also maintain the movement stability of the robot; the above-mentioned entire magnetic line of force is evenly distributed and is in a relatively strong state.

[0040] The permanent magnet 103 is wrapped and protected by the above-mentioned neoprene rubber seat 1031, so that the permanent magnet 103 will not have hard contact with the wall, thereby ensuring the safety of the permanent magnet 103; at the same time, the neoprene rubber seat 1031 forms a sealed contact between the peripheral side of the installation groove 1032 and the wall, so that a closed cavity is formed between the permanent magnet 103 in the installation groove 1032 and the wall, ensuring that there is a stable distance between the permanent magnet 103 and the wall, thereby ensuring the stability of the magnetic force and thus ensuring the reliability of the robot's adsorption.

[0041] Specifically, the power drive part of the robot body 1 is composed of two sets of brushless motors. Through real-time monitoring of the load part, accurate output of the power part power is achieved to complete smooth operation of crossing obstacles and walking on curved surfaces; and the power part is equipped with redundancy to cope with safe operation in severe weather and high-load conditions.

[0042] Specifically, the paint box 201 has a large capacity (such as 30 kg), is convenient for adding paint, has a large capacity, and meets the requirements of long-term spraying operations; a liquid level sensor is configured in the paint box 201 to detect the remaining amount of paint to ensure early warning before the paint is exhausted.

[0043] Specifically, the spray pump 202 is also a high-power spray pump, which can pump out paint quickly and continuously to ensure the efficiency of the spraying operation. The spray pump 202 and the robot share a power supply system, that is, the robot's battery 107 can power the spray pump 202, avoiding the spray pump 202 also needing an independent battery 107 to power it, increasing the battery 107 and additional loads. In addition, the above-mentioned spray pump 202 can be controlled to run and stop through a wireless remote control, which is convenient for remote control during the spraying operation. In specific applications, by monitoring and controlling the spraying process, real-time monitoring of spraying parameters (liquid flow, spraying speed) and adjustment of the spraying operation are achieved.

[0044] In addition, the robot body 1 is provided with visual cameras 108 (such as Figure 6 and Figure 8 By transmitting video images to the ground control station in real time, the spraying effect and surrounding working environment can be viewed online.

[0045] The robot body 1 can achieve uniformity and consistency in spraying through reasonable path planning and spraying parameter control, so as to realize autonomous operation and target positioning to complete autonomous spraying tasks; through data sharing, networking and multi-machine coordination, multiple paint spraying robots can operate simultaneously to improve the effective operation rate.

[0046] Specifically, the mounting rod 203 is controlled to rise and fall by a servo motor, which feeds back images to the processing center in real time, gives electrical signals to the servo motor, and controls the distance between the nozzle 204 of the mounting rod 203 and the spraying surface by forward and reverse rotation, thereby controlling the thickness of the spray layer and ensuring uniformity and adhesion quality.

[0047] In addition, since the spraying operation environment is generally located in a high-altitude dome, the wind in the operation area is strong, generally with a wind force of 3-6. Therefore, a wind shield 205 (such as Figure 7-8 As shown), it can not only prevent wind and dust, but also effectively control the spraying of paint in a certain area, making the spraying more precise and uniform.

[0048] The utility model adopts the structure of permanent magnet 103 and elastic part 104, which can cross obstacles with a height of 60mm, walk freely on general steel structures and colored steel tiles of different styles, and has excellent crossing ability; the robot is small and light as a whole, has strong driving and crawling ability, and strong wall adsorption ability; the robot is maneuverable and flexible, can travel 7-8 meters per minute, and has high operating efficiency.

[0049] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The above are only preferred implementations of the utility model. The protection scope of the utility model is not limited to the above embodiments. All technical solutions under the idea of ​​the utility model belong to the protection scope of the utility model. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the utility model should be regarded as the protection scope of the utility model.

Claims

1. An intelligent anti-corrosion spraying robot for high-altitude operations, characterized in that: It comprises a robot body (1) and a spraying assembly (2), wherein the robot body (1) comprises a frame (101), a crawler (102) and a permanent magnet (103); The spray assembly (2) comprises a paint box (201), a spray pump (202), a mounting rod (203) and a plurality of spray heads (204); the paint box (201) and the spray pump (202) are both located on the robot body (1), the mounting rod (203) is installed in front of or behind the frame (101), and the plurality of spray heads (204) are arranged on the mounting rod (203) at intervals and are connected to the spray pump (202) through pipelines; The crawler (102) is installed on wheels on both sides of the frame (101), a plurality of permanent magnets (103) are installed on the crawler (102) at intervals, and an elastic member (104) is provided between each of the permanent magnets (103) and the crawler (102).

2. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1 is characterized in that: The permanent magnet (103) is installed in a mounting groove (1032) of a rubber seat (1031), and the depth of the mounting groove (1032) is greater than the thickness of the permanent magnet (103).

3. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 2 is characterized in that: The permanent magnet (103) and the rubber seat (1031) are both provided with mounting holes, and fixing screws (1033) are provided in the mounting holes; the fixing screws (1033) pass through the permanent magnet (103), the rubber seat (1031) and the elastic member (104) in sequence and are connected to the crawler (102).

4. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1, 2 or 3, characterized in that: Each of the spray heads (204) is provided with a trumpet-shaped wind shield (205).

5. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1, 2 or 3, characterized in that: The spray pump (202) is electrically connected to the battery (107) of the robot body (1).

6. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1, 2 or 3, characterized in that: The crawler track (102) is a rubber crawler track.

7. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1, 2 or 3, characterized in that: A liquid level sensor is provided in the paint box (201).

8. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1, 2 or 3, characterized in that: The robot body (1) is provided with a visual camera (108).

9. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 8 is characterized in that: The visual camera (108) is installed in front of and / or behind the robot body (1).

10. The intelligent anti-corrosion spraying robot for high-altitude operation according to claim 1, 2 or 3, characterized in that: The elastic member (104) is a compression spring.

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