Steel tower inner surface spraying robot

Abstract

The utility model discloses a spraying robot for the inner surface of a steel tower. The six-axis spraying robot comprises two movable platform cars, a horizontal sliding rail platform and a six-axis spraying mechanical arm, lifting mechanisms are arranged on the two movable platform cars, and the two ends of the horizontal sliding rail platform are erected at the top of one lifting mechanism and can ascend and descend under the synchronous action of the two lifting mechanisms. The six-axis spraying mechanical arm is arranged on the horizontal sliding rail platform through a sliding seat and can move back and forth along the horizontal sliding rail platform, the six-axis spraying mechanical arm is provided with a spraying gun used for spraying paint, and the spraying gun is supplied with paint through a paint supplying device installed on one moving platform car. The device has the advantages that under the condition that the existing workshop space and the workpiece size structure are not changed, the lowest passing height of equipment is effectively reduced, particularly, tedious operation of workers is simplified, the utilization rate of the internal space of a workshop is increased, the lifting stroke requirement of a beam transporting vehicle and the safety risk of vertical piers are reduced, actual operation is facilitated, and the manual operation intensity is reduced.

Description

Technical Field

[0001] The utility model relates to a spraying robot, in particular to a steel tower inner surface spraying robot which can be moved between buttresses, can control a mechanical arm for cyclic spraying, and can move and lift inside the steel tower. Background Art

[0002] In the factory painting operation of large steel tower segments, automated spraying mainly proposes various solutions for the exterior facade of the workpiece. The interior of the steel tower is limited by the height of the piers, the lifting height of the beam transporter and the factory conditions. When the workpiece itself is more than 5m high, the conventional paint room cannot meet the installation of the overhead crane spray robot due to its height direction, and its lifting mechanism usually adopts a three-section telescopic arm structure, which cannot easily enter the interior of the steel tower to work. Even if the working range reaches the inner surface of the steel tower, there are still problems such as low overall painting efficiency and inability to fully cover the inner surface of the steel tower. There is also a risk of collision with the workpiece.

[0003] The various corner supports at the bottom of the cable tower steel shell workpiece are densely distributed, and the piers are compactly arranged. Ordinary spray robots riding on mobile platform vehicles cannot pass smoothly through the short and narrow pier intervals. Even if there are spray robots that can enter the interior of the steel tower, their working range cannot completely cover the inner surface of the steel tower at high places. If staff are arranged to drill into the steel tower to set up scaffolding for construction, it will not be possible to build quickly and conveniently between the piers, and it will easily affect the internal structural force of the workpiece. Moreover, working in this way not only poses a safety hazard to the construction workers when climbing, but also makes it difficult to improve the efficiency and quality of the spraying work. Summary of the invention

[0004] The technical problem to be solved by the utility model is to provide a steel tower inner surface spraying robot which can reduce the minimum passing height of the equipment while keeping the existing factory space and workpiece size structure unchanged, so as to facilitate movement and work at the pier intervals, and can fully cover the inner surface of the steel tower through its own lifting so that the working range can realize automated operation on the inner surface of the steel tower.

[0005] In order to solve the above technical problems, the utility model discloses a steel tower inner surface spraying robot, comprising two mobile platform vehicles, a horizontal slide rail platform mounted between the two mobile platform vehicles, and a six-axis spraying robot arm capable of reciprocating on the horizontal slide rail platform. Both mobile platform vehicles are provided with lifting mechanisms, and the two ends of the horizontal slide rail platform are respectively mounted on the top of one of the lifting mechanisms and can be lifted and lowered under the synchronous action of the two lifting mechanisms. The six-axis spraying robot arm is placed on the horizontal slide rail platform through a sliding seat and can reciprocate along the horizontal slide rail platform. The six-axis spraying robot arm is equipped with a spray gun for spraying paint, and the spray gun is supplied with paint by a paint supply device mounted on one of the mobile platform vehicles.

[0006] The paint supply device comprises a paint stirring barrel and a paint supply pump for extracting paint from the paint stirring barrel, and the paint supply pump is connected to the spray gun.

[0007] The paint supply device is fixedly mounted on one of the lifting mechanisms.

[0008] The horizontal slide rail platform comprises a platform seat, two guide rails installed on the platform seat and U-shaped frames installed at both ends of the platform seat, and each of the U-shaped frames is respectively erected on the top of one of the lifting mechanisms.

[0009] The slide seat is provided with a rotating seat for driving the six-axis spraying robot arm to rotate, and the bottom of the slide seat is provided with rollers matched with the guide rail and a travel driving device for driving the slide seat to move back and forth along the guide rail.

[0010] The mobile platform vehicle comprises a vehicle body and running wheels arranged at the bottom of the vehicle body, and the lifting mechanism is installed on the top of the vehicle body.

[0011] The lifting mechanism is composed of a scissor lift platform and a lifting drive device for driving the scissor lift platform to lift.

[0012] The advantages of the utility model are:

[0013] The mobile platform vehicle can be directly sent to the designated range under the steel tower, and then the nozzle of the spray gun can be moved to the designated position of the working surface for cyclic spraying, so as to realize fully automatic spraying of the inner surface of the steel tower. Its ingenious structural design effectively reduces the minimum passing height of the equipment while keeping the existing plant space and workpiece size structure unchanged. In particular, the height of the entire spray robot mechanism can be made lower than the pier by recovering the lifting mechanism, six-axis spraying robot arm and spray gun, ensuring that the spray robot can move in the pier interval. After reaching the working range that needs to be sprayed, it can work up and down through the lifting mechanism and the six-axis spraying robot arm, and work left and right through the horizontal slide rail platform. This simplifies the tedious operations of the staff, improves the utilization rate of the internal space of the plant, reduces the lifting stroke requirement of the beam transport vehicle and the safety risk of the pier, and is convenient for actual operation and reduces the intensity of manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the utility model of the steel tower inner surface spraying robot in use;

[0015] Figure 2 It is a three-dimensional structural schematic diagram of the utility model of the steel tower inner surface spraying robot;

[0016] Figure 3 This is a schematic diagram of the main structure of the utility model steel tower inner surface spraying robot;

[0017] Figure 4The utility model is a schematic diagram of the top view of the structure of the steel tower inner surface spraying robot. DETAILED DESCRIPTION

[0018] The steel tower inner surface spraying robot of the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0019] As shown in the figure, the steel tower inner surface spraying robot of the utility model comprises two mobile platform vehicles 1, a horizontal slide rail platform 2 mounted between the two mobile platform vehicles, and a six-axis spraying robot arm 3 capable of reciprocating on the horizontal slide rail platform. The two mobile platform vehicles 1 are both provided with a lifting mechanism 4, and the two ends of the horizontal slide rail platform 2 are respectively mounted on the top of one of the lifting mechanisms. Figure 1 It can be seen that the horizontal slide platform 2 includes a platform seat 10, two guide rails 11 installed on the platform seat, and U-shaped frames 13 installed at both ends of the platform seat. Each U-shaped frame 13 is respectively mounted on the top of one of the lifting mechanisms, so that it can be lifted and lowered under the synchronous action of the two lifting mechanisms. The six-axis spraying robot arm 3 is placed on the horizontal slide platform through the slide seat 5. Figure 1 It can be seen that the slide 5 is provided with a rotating seat 14 for driving the six-axis spraying robot arm to rotate, and the six-axis spraying robot arm is installed on the rotating seat. The bottom of the slide 5 is provided with rollers cooperating with the guide rail and a travel drive device (such as a drive motor) for driving the slide to reciprocate along the guide rail. Through this structural design, the rotating seat 14 can be reciprocated along the horizontal slide rail platform. The six-axis spraying robot arm 3 is installed with a spray gun 6 for spraying paint, and the spray gun 6 is supplied with paint by a paint supply device 7 installed on one of the mobile platform vehicles.

[0020] Furthermore, the paint supply device 7 includes a paint mixing bucket 8 and a paint supply pump 9 for extracting paint from the paint mixing bucket. The paint supply pump 9 is connected to the spray gun 6. The paint supply device 7 is fixedly mounted on one of the lifting mechanisms.

[0021] Furthermore, the mobile platform vehicle 1 includes a vehicle body 15 and running wheels 16 arranged at the bottom of the vehicle body, and a lifting mechanism 4 is installed on the top of the vehicle body. The lifting mechanism 4 is composed of a scissors-type lifting platform and a lifting drive device for driving the scissors-type lifting platform to lift and lower.

[0022] When using, Figure 4As shown, the mobile platform vehicle 1 is sent to the designated position below the inner cavity of the tower column. First, the horizontal slide platform 2 and the six-axis spraying robot arm 3 are started to reach the lowest point on the left side of the spraying surface. The control system controls the paint stirring bucket 8 to start stirring the paint and uses the paint supply pump 9 to send it to the spray gun 6. The spray gun 6 is turned on for spraying. The lifting mechanism 4 and the six-axis spraying robot arm 3 are controlled to rise and keep the spraying distance and speed unchanged. After working to the highest point of the workpiece, the horizontal slide platform 2 is started to move to the right for a spray width, and then the lifting mechanism 4 and the six-axis spraying robot arm 3 are controlled by the control system. The arm 3 descends and keeps the spraying distance and speed unchanged. When it reaches the lowest point of the workpiece, the horizontal slide platform 2 is started again to move right by a spray width, and the previous process is repeated until the spraying operation on the entire surface of the tower column is completed. The spray gun 6 is turned off, and the six-axis spraying robot arm 3 (J1 axis) is started to turn right to the other spraying surface and repeat the previous process. After all operations are completed, the paint supply pump 9 and the spray gun 6 are turned off, the lifting mechanism 4 and the six-axis spraying robot arm 3 are lowered, and the remote-controlled mobile platform vehicle 1 is driven out from under the workpiece and cleaned to prepare for the production of the next coating.

[0023] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A steel tower inner surface spraying robot, characterized in that: The invention comprises two mobile platform vehicles (1), a horizontal slide rail platform (2) mounted between the two mobile platform vehicles, and a six-axis spraying robot arm (3) capable of reciprocating on the horizontal slide rail platform. The two mobile platform vehicles (1) are both provided with a lifting mechanism (4). The two ends of the horizontal slide rail platform (2) are respectively mounted on the top of one of the lifting mechanisms and can be lifted and lowered under the synchronous action of the two lifting mechanisms. The six-axis spraying robot arm (3) is placed on the horizontal slide rail platform through a slide seat (5) and can reciprocate along the horizontal slide rail platform. The six-axis spraying robot arm (3) is equipped with a spray gun (6) for spraying paint. The spray gun (6) is supplied with paint by a paint supply device (7) mounted on one of the mobile platform vehicles.

2. The steel tower inner surface spraying robot according to claim 1, characterized in that: The paint supply device (7) comprises a paint stirring barrel (8) and a paint supply pump (9) for extracting paint from the paint stirring barrel, and the paint supply pump (9) is connected to the spray gun (6).

3. The steel tower inner surface spraying robot according to claim 2, characterized in that: The paint supply device (7) is fixedly mounted on one of the lifting mechanisms.

4. The steel tower inner surface spraying robot according to claim 1, 2 or 3, characterized in that: The horizontal slide rail platform (2) comprises a platform seat (10), two guide rails (11) mounted on the platform seat, and U-shaped frames (13) mounted at both ends of the platform seat, each of the U-shaped frames (13) being respectively mounted on the top of one of the lifting mechanisms.

5. The steel tower inner surface spraying robot according to claim 4, characterized in that: The slide seat (5) is provided with a rotating seat (14) for driving the six-axis spraying robot arm to rotate, and the bottom of the slide seat (5) is provided with a roller that cooperates with the guide rail and a travel drive device for driving the slide seat to move back and forth along the guide rail.

6. The steel tower inner surface spraying robot according to claim 1, 2, 3 or 5, characterized in that: The mobile platform vehicle (1) comprises a vehicle body (15) and running wheels (16) arranged at the bottom of the vehicle body, and the lifting mechanism (4) is installed on the top of the vehicle body.

7. The steel tower inner surface spraying robot according to claim 6, characterized in that: The lifting mechanism (4) is composed of a scissor lift platform and a lifting drive device for driving the scissor lift platform to lift.

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