Climbing type spraying robot

Abstract

The utility model provides a climbing type spraying robot which solves the problem that the applicability of the climbing type spraying robot is low due to the fact that the climbing type spraying robot can only be effectively operated by depending on a smooth and barrier-free outer surface and is inconvenient to spray an outer wall surface with a convex or concave part. The movable rod capable of rotating up and down is arranged, so that the robot body moves upwards, and when the moving device is hindered by a protruding part of an outer wall, the movable rod can rotate upwards to avoid the protruding part of the outer wall, so that the robot body can conduct spraying operation on the outer wall face provided with the protruding part; and the applicability of the climbing type spraying robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying robots, in particular to a climbing spraying robot. Background Art

[0002] In order to automatically spray paint during wall operations, people use climbing spraying robots to spray walls. The climbing spraying robot is an efficient automatic device widely used for wall spraying operations. Through advanced sensor technology and precise control systems, the climbing spraying robot can move on different types of walls to achieve uniform coating, ensuring the uniformity of the paint and the construction quality. For example, in the prior art, a building exterior wall spraying robot disclosed in the Chinese utility model patent with the publication number CN215167692U includes a bottom plate. Four corners of the upper surface of the bottom plate are respectively provided with support legs. The upper ends of the four support legs are fixedly installed with a first support plate. Four corners of the upper surface of the first support plate are respectively installed with support columns. The upper ends of the four support columns are fixedly installed with a second support plate. This device completely replaces traditional manual spraying, eliminates the safety hazards existing in the manual spraying process, and has a uniform running speed of the driving mechanism, good spraying effect, and high working efficiency. Another building exterior wall spraying robot disclosed in the Chinese utility model patent CN216406052U includes a roof hoisting mechanism and a spraying robot body. The spraying robot body is suspended on the roof hoisting mechanism through a flexible suspension rope, and the spraying robot body can move up and down along the flexible suspension rope. This utility model provides a building exterior wall spraying robot that can automatically clean the exterior wall of a building, realizes unmanned operation at the same time, and avoids high-altitude operation of personnel through ground remote control, greatly improving the safety of the exterior wall cleaning work of buildings.

[0003] When pursuing aesthetic design in existing building structures, raised or recessed parts are often set on the exterior wall, such as ornaments, building waistlines, wall panels or structural elements. These raised parts not only increase the visual appeal of the building but also provide more design details and three-dimensional senses. However, climbing spraying robots usually rely on a smooth and unobstructed surface to operate effectively. These raised parts will hinder the up and down movement of the robot, making the applicability of the climbing spraying robot relatively low. Summary of the Utility Model

[0004] In order to solve the problem in the background art that climbing spraying robots usually rely on a smooth and unobstructed surface to operate effectively, it is not convenient to spray the exterior wall with raised or recessed parts, resulting in relatively low applicability of climbing spraying robots, the utility model proposes a climbing spraying robot.

[0005] The technical solution of the present utility model is: a climbing spraying robot, including a robot body. A spraying device is provided at the upper end of the robot body, and the spraying device is used for spraying the outer wall surface. Support seats are fixedly provided at both the left and right ends of the robot body. Suspension cables extending upward are provided on the support seats. The suspension cables are inclined from top to bottom and from front to back. A suspension device is provided at the top of the suspension cable, and the suspension device is used to drive the robot body to lift and lower through the suspension cable;

[0006] A plurality of moving devices arranged at intervals up and down are provided in front of the robot body. The moving devices are used to guide the robot body to move up and down along the wall surface. The moving device includes a fixed rod provided on the front side of the robot body. The top end of the fixed rod is hinged with a movable rod extending forward. A wheel seat is fixedly provided at the front end of the movable rod. A roller is rotatably provided in the wheel seat, and the movable rod can rotate upward to avoid the protruding parts of the outer wall;

[0007] A tension spring inclined from top to bottom and from front to back is provided between the fixed rod and the movable rod. The upper end of the tension spring is fixedly provided at the front end of the movable rod, and the lower end of the tension spring is fixedly provided at the lower end of the fixed rod. A limit block is provided on the fixed rod, and the tension spring is used to pull the movable rod to closely abut against the limit block.

[0008] Preferably, two groups of first fixed columns arranged at intervals up and down are provided on the front side of the robot body. A first guide rod extending in the left-right direction is fixedly provided at the front end of each group of first fixed columns, and two moving devices are provided on the first guide rod;

[0009] Two groups of second fixed columns arranged at intervals up and down are provided on the front side of the robot body. A second guide rod extending in the left-right direction is fixedly provided at the front end of each group of second fixed columns, and two moving devices are provided on the second guide rod. The two first guide rods and the two second guide rods are arranged in a staggered manner up and down.

[0010] Preferably, a sliding sleeve is provided on the rear side of the fixed rod. The sliding sleeve is slidably sleeved on the first guide rod or the second guide rod. A locking mechanism is provided on the sliding sleeve, and the locking mechanism is used to lock and fix the sliding sleeve on the first guide rod or the second guide rod.

[0011] Preferably, a threaded hole penetrating up and down is opened at the upper end of the sliding sleeve. The locking mechanism includes a stud threadedly penetrating through the threaded hole. The lower end of the stud can penetrate out of the threaded hole to fix the sliding sleeve on the first guide rod or the second guide rod. The upper end of the stud penetrates out of the threaded hole and is fixedly provided with a turning handle.

[0012] Preferably, a rotating shaft and a bearing seat are provided between the fixed rod and the sliding sleeve. The rotating shaft is fixedly provided on the fixed rod, the bearing seat is fixedly provided on the sliding sleeve, the rotating shaft is fixedly penetrated through the bearing seat, and the fixed rod is rotatably connected to the sliding sleeve through the rotating shaft and the bearing seat.

[0013] Preferably, the left end of the first guide rod extends to the left of the robot body and is fixedly provided with a limit plate, and the right end of the second guide rod extends to the right of the robot body and is fixedly provided with a limit plate.

[0014] Preferably, two fans are provided on the robot body at intervals in the left-right direction.

[0015] Advantages of the present utility model: By providing a movable rod that can rotate up and down, when the robot body moves upward and the moving device is blocked by the protruding part of the outer wall, the movable rod can rotate upward to avoid the protruding part of the outer wall, enabling the robot body to perform spraying operations on the outer wall surface with protruding parts, improving the applicability of the climbing spraying robot; By providing a tension spring between the fixed rod and the movable rod, after the movable rod rotates upward to avoid the protruding part of the outer wall, the movable rod can be pulled to closely adhere to the limit block. At the same time, the tension spring can also make the movable rod always adhere to the limit block during the normal planar movement of the moving device, making the movable rod perpendicular to the wall surface, so that the rollers can always roll and adhere to the wall surface.

[0016] By providing a plurality of moving devices arranged at intervals up and down, when one set of moving devices in the horizontal left-right direction passes through the protruding or concave part of the outer wall, the other multiple sets of moving devices can guide the robot body to move up and down normally, enabling the robot body to perform spraying operations on the outer wall surface with protruding parts, improving the applicability of the climbing spraying robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0019] Figure 2 For the present utility model Figure 1 Another perspective structural schematic diagram;

[0020] Figure 3 It is a schematic diagram of the structure of the moving device of the present utility model;

[0021] Figure 4 For the present utility model Figure 3 Another perspective structural schematic diagram.

[0022] In the figure: 1. Robot body; 2. Support; 3. Suspension cable; 4. First fixed column; 5. First guide rod; 6. Second fixed column; 7. Second guide rod; 8. Moving device; 81. Fixed rod; 82. Movable rod; 83. Wheel seat; 84. Roller; 85. Limit block; 86. Tension spring; 9. Sliding sleeve; 10. Stud; 11. Rotating handle; 12. Limit plate; 13. Rotating shaft; 14. Bearing seat; 15. Fan. Detailed implementation mode

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Embodiment 1: A climbing spraying robot, as Figures 1-4 shown, includes a robot body 1. A spraying device (not shown in the figure) is provided at the upper end of the robot body 1. The spraying device is used for spraying the outer wall surface. For those skilled in the art, the spraying device belongs to well-known technology, so no more details will be given. Two fans 15 are provided on the robot body 1 at intervals left and right. The fans 15 can apply partial lateral pressure to the robot body 1 to help stabilize the posture of the robot body 1 and prevent unnecessary shaking or instability of the robot body 1 during climbing; Supports 2 are fixedly provided at both the left and right ends of the robot body 1. Suspension cables 3 extending upward are provided on the supports 2. The suspension cables 3 are inclined from top to bottom and from front to back, so that the robot body 1 can generate a force toward the wall side; A suspension device is provided at the top of the suspension cable 3. The suspension device is used to drive the robot body 1 to lift through the suspension cable 3. For those skilled in the art, the suspension device belongs to well-known technology, so no more details will be given.

[0025] A plurality of moving devices 8 are provided at intervals up and down in front of the robot body 1. The moving devices 8 are used to guide the robot body 1 to move up and down along the wall. Specifically, the moving device 8 includes a fixed rod 81 provided on the front side of the robot body 1. The top end of the fixed rod 81 is hinged with a movable rod 82 extending forward. A wheel seat 83 is fixedly provided at the front end of the movable rod 82. A roller 84 is rotatably provided in the wheel seat 83. When the robot body 1 moves upward and the moving device 8 is blocked by the protruding part of the outer wall, the movable rod 82 can rotate upward to avoid the protruding part of the outer wall.

[0026] A tension spring 86 is provided between the fixed rod 81 and the movable rod 82, which is inclined from top to bottom and from front to back. The upper end of the tension spring 86 is fixedly arranged at the front end of the movable rod 82, and the lower end of the tension spring 86 is fixedly arranged at the lower end of the fixed rod 81. A limiting block 85 is arranged on the fixed rod 81. The tension spring 86 is used to pull the movable rod 82 tightly against the limiting block 85 after the movable rod 82 rotates upward to avoid the protruding part of the outer wall. At the same time, the tension spring 86 can also make the movable rod 82 always lean against the limiting block 85 during the normal planar movement of the mobile device 8, so that the movable rod 82 is perpendicular to the wall surface, so that the roller 84 can always roll and lean against the wall surface.

[0027] Two groups of first fixing columns 4 arranged at intervals up and down are provided on the front side of the robot body 1. The front end of each group of first fixing columns 4 is fixedly provided with a first guide rod 5 extending in the left-right direction. Two mobile devices 8 are arranged on the first guide rod 5; two groups of second fixing columns 6 arranged at intervals up and down are provided on the front side of the robot body 1. The front end of each group of second fixing columns 6 is fixedly provided with a second guide rod 7 extending in the left-right direction. Two mobile devices 8 are arranged on the second guide rod 7. The two first guide rods 5 and the two second guide rods 7 are arranged vertically and staggeredly; so that a plurality of mobile devices 8 located on the staggeredly arranged first guide rod 5 and second guide rod 7 are arranged staggeredly at intervals left and right and up and down. When one group of mobile devices 8 in the horizontal left-right direction passes through the protruding or concave part of the outer wall, the other groups of mobile devices 8 can guide the robot body 1 to move up and down normally.

[0028] A sliding sleeve 9 is arranged on the rear side of the fixed rod 81. The sliding sleeve 9 is slidably sleeved on the first guide rod 5 or the second guide rod 7. A locking mechanism is arranged on the sliding sleeve 9. The locking mechanism is used to lock and fix the sliding sleeve 9 on the first guide rod 5 or the second guide rod 7. Specifically, a thread hole penetrating up and down is opened at the upper end of the sliding sleeve 9. The locking mechanism includes a stud 10 threadedly inserted into the thread hole. The lower end of the stud 10 can penetrate out of the thread hole to fix the sliding sleeve 9 on the first guide rod 5 or the second guide rod 7. The upper end of the stud 10 penetrates out of the thread hole and is fixedly provided with a turning handle 11. By screwing the turning handle 11, the stud 10 can be driven to disengage from the first guide rod 5 or the second guide rod 7. By holding the turning handle 11 and dragging the sliding sleeve 9 and the mobile device 8 to slide on the first guide rod 5 or the second guide rod 7, the position of the mobile device 8 can be changed; by screwing the turning handle 11, the stud 10 can be driven to tightly abut against the first guide rod 5 or the second guide rod 7, and then the sliding sleeve 9 and the mobile device 8 are fixed on the first guide rod 5 or the second guide rod 7.

[0029] A rotating shaft 13 and a bearing block 14 are provided between the fixed rod 81 and the sliding sleeve 9. The rotating shaft 13 is fixedly arranged on the fixed rod 81, the bearing block 14 is fixedly arranged on the sliding sleeve 9, the rotating shaft 13 is fixedly inserted into the bearing block 14, and the fixed rod 81 is rotationally connected to the sliding sleeve 9 through the rotating shaft 13 and the bearing block 14. When the robot body 1 moves downward, the roller 84 moves downward along the wall surface and is subjected to a certain resistance, and the fixed rod 81 rotates by a certain angle, rotating the movable rod 82, the wheel seat 83 and the roller 84 to the upper end of the fixed rod 81, so that the movable rod 82 can rotate upward to avoid the protruding part of the outer wall during the downward movement of the robot body 1. When the robot body 1 moves upward, the roller 84 moves upward along the wall surface and is subjected to a certain resistance, and the fixed rod 81 rotates by a certain angle, rotating the movable rod 82, the wheel seat 83 and the roller 84 to the lower end of the fixed rod 81, so that the movable rod 82 can rotate downward to avoid the protruding part of the outer wall during the downward movement of the robot body 1.

[0030] The left end of the first guide rod 5 extends to the left of the robot body 1 and is fixedly provided with a limit plate 12. The right end of the second guide rod 7 extends to the right of the robot body 1 and is fixedly provided with a limit plate 12. The limit plate 12 can prevent the moving device 8 located on the first guide rod 5 or the second guide rod 7 from coming off. At the same time, the first guide rod 5 extending to the left of the robot body 1 and the second guide rod 7 extending to the right of the robot body 1 can move the moving device 8 to both sides of the robot body 1 without affecting the sprayed wall surface, so that the robot body 1 can perform spraying operations during the upward reset movement. At the same time, the moving devices 8 located on both sides of the robot body 1 can not affect the spraying operations of the spraying device, further improving the work efficiency.

[0031] Working principle: When the suspension device drives the robot body 1 to lift through the sling 3 and sprays the wall surface through the spraying device, when moving downward, the roller 84 moves downward along the wall surface and is subjected to a certain resistance, and the fixed rod 81 rotates by a certain angle, rotating the movable rod 82, the wheel seat 83 and the roller 84 to the upper end of the fixed rod 81, so that the movable rod 82 can be blocked and rotate upward to avoid the protruding part of the outer wall during the downward movement of the robot body 1. When passing through the protruding part of the outer wall, the tension spring 86 can pull the movable rod 82 to be close to the limit block 85 for reset. When moving upward, the roller 84 moves upward along the wall surface and is subjected to a certain resistance, and the fixed rod 81 rotates by a certain angle, rotating the movable rod 82, the wheel seat 83 and the roller 84 to the lower end of the fixed rod 81, so that the movable rod 82 can rotate downward to avoid the protruding part of the outer wall during the downward movement of the robot body 1.

[0032] Turning the handle 11 can drive the stud 10 away from the first guide rod 5 or the second guide rod 7. Holding the handle 11 and dragging the sliding sleeve 9 and the moving device 8 to slide on the first guide rod 5 or the second guide rod 7 can change the position of the moving device 8. By turning the handle 11, the stud 10 can be driven to tightly abut against the first guide rod 5 or the second guide rod 7, thereby fixing the sliding sleeve 9 and the moving device 8 on the first guide rod 5 or the second guide rod 7.

[0033] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A climbing spraying robot, characterized in that: The robot body (1) comprises a spraying device at the upper end of the robot body (1), the spraying device being used for spraying the surface of the external wall, the left and right ends of the robot body (1) being fixed with supports (2), the supports (2) being provided with slings (3) extending upward, the slings (3) being arranged tilted from top to bottom and from front to back, the top of the slings (3) being provided with a suspension device, the suspension device being used for driving the robot body (1) to rise and fall through the slings (3); A plurality of moving devices (8) are arranged in an upper and lower interval in front of the robot body (1), and the moving devices (8) are used to guide the robot body (1) to move up and down along the wall. The moving devices (8) include a fixed rod (81) arranged on the front side of the robot body (1), and a movable rod (82) extending forward is hingedly connected to the top end of the fixed rod (81), and a wheel seat (83) is fixedly provided at the front end of the movable rod (82), and a roller (84) is rotatably provided in the wheel seat (83), and the movable rod (82) can be rotated upward to avoid a protruding part of the outer wall; A tension spring (86) is provided between the fixed rod (81) and the movable rod (82) and is arranged obliquely from top to bottom and from front to back. The upper end of the tension spring (86) is fixedly arranged at the front end of the movable rod (82), and the lower end of the tension spring (86) is fixedly arranged at the lower end of the fixed rod (81). A limit block (85) is provided on the fixed rod (81), and the tension spring (86) is used to pull the movable rod (82) tightly against the limit block (85).

2. A climbing spraying robot according to claim 1, characterized in that: Two groups of first fixing columns (4) are arranged at intervals in the upper and lower directions on the front side of the robot body (1); a first guide rod (5) extending in the left-right direction is fixedly provided at the front end of each group of first fixing columns (4); and two moving devices (8) are provided on the first guide rod (5); Two groups of second fixing columns (6) are arranged at intervals in the upper and lower directions on the front side of the robot body (1); a second guide rod (7) extending in the left-right direction is fixedly provided at the front end of each group of second fixing columns (6); two moving devices (8) are provided on the second guide rod (7); and the two first guide rods (5) and the two second guide rods (7) are arranged in an alternating manner in the upper and lower directions.

3. A climbing spraying robot according to claim 2, characterized in that: A sliding sleeve (9) is provided on the rear side of the fixed rod (81), and the sliding sleeve (9) is slidably sleeved on the first guide rod (5) or the second guide rod (7). A locking mechanism is provided on the sliding sleeve (9), and the locking mechanism is used to lock and fix the sliding sleeve (9) on the first guide rod (5) or the second guide rod (7).

4. A climbing spraying robot according to claim 3, characterized in that: The upper end of the sliding sleeve (9) is provided with a threaded hole which is transparent from top to bottom. The locking mechanism comprises a stud (10) which is threadedly inserted into the threaded hole. The lower end of the stud (10) can pass through the threaded hole to fix the sliding sleeve (9) on the first guide rod (5) or the second guide rod (7). The upper end of the stud (10) passes through the threaded hole and is fixed with a rotating handle (11).

5. The climbing spraying robot according to claim 3, characterized in that: A rotating shaft (13) and a bearing seat (14) are provided between the fixed rod (81) and the sliding sleeve (9); the rotating shaft (13) is fixedly provided on the fixed rod (81), the bearing seat (14) is fixedly provided on the sliding sleeve (9), the rotating shaft (13) is fixedly provided in the bearing seat (14), and the fixed rod (81) is rotatably connected to the sliding sleeve (9) via the rotating shaft (13) and the bearing seat (14).

6. The climbing spraying robot according to claim 2, characterized in that: The left end of the first guide rod (5) extends to the left of the robot body (1) and is fixedly provided with a limit plate (12), and the right end of the second guide rod (7) extends to the right of the robot body (1) and is fixedly provided with a limit plate (12).

7. The climbing spraying robot according to claim 1, characterized in that: The robot body (1) is provided with two fans (15) spaced apart from each other on the left and right.

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