Bridge tower spraying robot

Abstract

The utility model relates to the technical field of building robots, in particular to a bridge tower spraying robot which comprises a machine body, walking rollers are installed on the two sides of the machine body, and a spraying manipulator is installed on the machine body; the sealing skirt is arranged at the bottom of the machine body, an adsorption cavity is defined by the sealing skirt at the bottom of the machine body, and an opening is formed in the adsorption cavity; and the negative pressure device is mounted on the machine body, and the negative pressure device is communicated with the adsorption cavity. In the working process, the walking roller walks to a specific position, the negative pressure device serves as a vacuum generating device, the sealing skirt encloses to form an adsorption cavity to form negative pressure, an opening of the sealing skirt is attached to the surface of a bridge tower, the robot can be stably attached to the surface of the bridge tower under the negative pressure, and then the mechanical arm conducts spraying operation on the bridge tower. The robot is adsorbed on the bridge tower through negative pressure generated by the negative pressure device, so that the robot is better in windproof performance and smaller in shaking in the working process.

Description

Technical Field

[0001] This application relates to the field of construction robot technology, and in particular to a bridge tower spraying robot. Background Technology

[0002] The use of construction robots to replace manual construction has become an inevitable trend. In recent years, the research and manufacturing of construction robots has flourished worldwide, and various types of construction robots for masonry, plastering, wall and floor construction, etc., have emerged. These construction robots have already been applied in the construction industry.

[0003] Although some robots for high-rise building exterior painting have emerged in recent years, they have significant shortcomings. Most of these robots use a suspended platform connected to the building roof for high-altitude operations. When the robot's spray gun is perpendicular to the wall, the reaction force generated by the paint spraying causes the platform to experience a thrust away from the wall, leading to swaying. This connection method exposes serious problems with poor wind resistance in complex and changing outdoor environments. In bridge tower painting operations, bridge towers are usually located in open areas at high altitudes with strong and complex wind directions. This swaying can lead to uneven paint thickness, resulting in quality problems such as missed areas or excessive paint thickness. Furthermore, the swaying also threatens the robot's structural stability, increasing the risk of equipment failure and potentially causing safety accidents. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, the purpose of this utility model is to provide a bridge tower spraying robot with better wind resistance, less shaking during operation, and better overall stability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a bridge tower spraying robot, including a body, an adsorption device, walking rollers, a spraying manipulator and a controller;

[0007] The adsorption device includes a negative pressure device installed inside the machine body and a sealing skirt installed at the bottom of the base. The sealing skirt surrounds the bottom of the machine body to form an adsorption chamber, and the negative pressure device is connected to the adsorption chamber. The walking rollers are installed on both sides of the machine body, and the spraying robot is connected to the top shell of the machine body. The spraying robot is equipped with a spray gun. The controller is electrically connected and controls the movement of the walking rollers, the spraying operation of the spraying robot, and the air extraction and release of the negative pressure device according to the electrical signal.

[0008] During the process of the walking roller driving the machine body to move and roll, the sealing skirt slides and fits against the wall of the bridge tower; during the spraying operation of the spraying robot, the adsorption chamber is in a negative pressure state.

[0009] Preferably, the machine body is equipped with a lidar and a depth camera, and the controller is connected to the lidar and the depth camera.

[0010] Preferably, the body is a hollow frame structure, including a top plate, a bottom plate, and a support column. The top plate and the bottom plate are arranged parallel to each other, and the support column connects the top plate and the bottom plate.

[0011] More preferably, two walking rollers are provided on each of the left and right sides of the machine body, and the drive shaft of the walking rollers is installed between the top plate and the bottom plate.

[0012] More preferably, the traveling rollers are Mecanum wheels.

[0013] Specifically, the negative pressure device includes a negative pressure fan and a housing. The housing is located inside the machine body, and the negative pressure fan is installed inside the housing. The negative pressure fan is connected to the adsorption chamber through the air outlet of the housing.

[0014] More specifically, the negative pressure fan is a centrifugal fan or a vacuum negative pressure pump.

[0015] More specifically, the negative pressure device has at least two sets, and the at least two sets of negative pressure devices are symmetrically arranged inside the machine body.

[0016] Preferably, the spraying robot is a six-axis robotic arm.

[0017] More preferably, the spray gun is connected to a pipe, and the spray material communicates with the spray gun through the pipe.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The bridge tower painting robot proposed in this utility model can stably adhere to the work area by using an adsorption device during the working process. Compared with the suspended basket device, this method of directly adsorbing onto the bridge tower surface can effectively reduce the impact of complex working conditions at high altitudes and the reaction force of spraying on the robot's working stability. Because the robot is adsorbed onto the bridge tower by generating negative pressure through a negative pressure device, it has better wind resistance, less shaking during operation, and better overall stability.

[0020] This utility model's bridge tower painting robot can also be equipped with a depth camera and LiDAR to acquire information about the real-world environment. This information is then fed back to the controller, which determines the optimal path. This method addresses safety and maneuverability issues during autonomous navigation in complex environments. It not only improves robot safety but also reduces turning angles, optimizes the work path, and shortens operation time.

[0021] This invention further utilizes Mecanum wheels as walking wheels, enabling the robot to move in any direction within a two-dimensional plane, including rotating in place and lateral translation. Unlike traditional wheeled vehicles, it does not require a large space for turning, and its advantages are obvious in narrow, crowded, or obstacle-filled environments, especially in bridge tower conditions.

[0022] This invention can also be equipped with multiple negative pressure devices, allowing the adsorption force to be adjusted according to actual working conditions, thus adapting to more complex bridge tower spraying operations. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the bridge tower painting robot provided in the embodiments of this application;

[0024] Figure 2 yes Figure 1 The front view of the embodiment shown.

[0025] The components include: 100 body, 120 top plate, 130 bottom plate, 140 support column, 200 sealing skirt, 210 adsorption chamber, 300 negative pressure device, 400 traveling rollers, 500 painting robot, 600 lidar, and 700 depth camera. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0027] It should be noted that in the description of this utility model, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; in addition, unless otherwise expressly specified and limited, the terms "installed," "connected," and "connected" should be interpreted broadly, for example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings:

[0029] Reference Figure 1 , Figure 2 This utility model provides a bridge tower spraying robot, including a body 100, a sealing skirt 200 and a negative pressure device 300.

[0030] Walking rollers 400 are installed on both sides of the machine body 100. A spraying robot 500 is installed on the machine body 100. A sealing skirt 200 is set at the bottom of the machine body 100. The sealing skirt 200 surrounds the bottom of the machine body 100 to form an adsorption cavity 210. An opening is provided on the adsorption cavity 210. A negative pressure device 300 is installed on the machine body 100 and is connected to the adsorption cavity 210.

[0031] The bridge tower painting robot also includes a controller, which is mounted on the body 100 and connected to the painting robot arm 500 and the walking rollers 400. The controller controls the walking rollers 400 to move on the bridge tower.

[0032] In some embodiments, a lidar 600 and a depth camera 700 are mounted on the body 100, and both the lidar 600 and the depth camera 700 are connected to a controller.

[0033] A depth camera 700 and a lidar 600 acquire information about the real-world environment, which is then fed back to the controller. The controller uses this information to determine the optimal path, addressing safety and maneuverability issues during autonomous robot navigation in complex environments. This method not only improves robot safety but also reduces turning angles, optimizes the work path, and shortens runtime.

[0034] In some embodiments, the body 100 includes a top plate 120, a bottom plate 130, and a support column 140. The top plate 120 and the bottom plate 130 are arranged parallel to each other and spaced apart. The support column 140 is connected between the top plate 120 and the bottom plate 130.

[0035] Four traveling rollers 400 are provided, and all four traveling rollers 400 are installed between the top plate 120 and the bottom plate 130.

[0036] In some embodiments, the negative pressure device 300 is installed between the top plate 120 and the bottom plate 130. In this way, the entire negative pressure device 300 is hidden inside the body 100, reducing the overall size.

[0037] In some embodiments, the negative pressure device 300 includes a housing and a negative pressure fan, the housing being fixed to the base plate 130 and the negative pressure fan being installed inside the housing.

[0038] Negative pressure fans can be centrifugal fans or vacuum negative pressure pumps, etc.

[0039] In some embodiments, the walking roller 400 is a Mecanum wheel. Mecanum wheels can move in all directions, enabling forward, lateral, diagonal, and rotational movements, as well as combinations thereof, thereby improving the efficiency of the robot's movement on the bridge tower surface.

[0040] In some embodiments, the spraying robot 500 is a six-axis robot. The six-axis robot is used to meet the needs of various bridge tower spraying and grinding scenarios, and its fully hollow joints enable flexible multi-angle operation.

[0041] The 500 spraying robot is equipped with a spray gun, which can be connected to a pipeline. The spray material is pumped into the pipeline by a pump and then sent to the spray gun.

[0042] The working principle of this bridge tower robot is briefly described as follows:

[0043] During operation, the walking roller 400 drives the robot body to the specific position on the bridge tower to be sprayed. The negative pressure device 300 acts as a vacuum generating device, which creates a negative pressure inside the adsorption cavity 210 formed by the sealing skirt 200. The opening of the sealing skirt 200 adheres to the surface of the bridge tower. Under the negative pressure, the robot can stably adhere to the surface of the bridge tower, and then the robotic arm performs the spraying operation on the bridge tower.

[0044] After completing the painting work in one area, the bridge tower robot moves to another painting area under the control of the controller. During this process, the LiDAR 600 and depth camera 700 collect environmental information and transmit it to the controller to control the robot's direction of movement. As the walking wheels move the robot, the adsorption device continuously works to create a negative pressure in the adsorption chamber, thereby keeping the robot and its components adsorbed to the surface of the bridge tower.

[0045] The above content is only for illustrating the technical concept of this utility model and should not be construed as limiting the scope of protection of this utility model. Any modifications made to the technical solution based on the technical concept proposed in this utility model shall fall within the scope of protection of the claims of this utility model.

Claims

1. A pylon painting robot, characterized by, The machine body (100), the adsorption device, the walking roller (400), the spraying manipulator (500) and the controller are included. The adsorption device includes a negative pressure device (300) arranged inside the machine body (100) and a sealing skirt (200) arranged at the bottom of the machine body (100), the sealing skirt (200) is enclosed to form an adsorption cavity (210) at the bottom of the machine body (100), and the negative pressure device (300) is in communication with the adsorption cavity (210); the walking roller (400) is arranged on both sides of the machine body (100), the spraying manipulator (500) is connected with the machine body (100), and a spray gun is arranged on the spraying manipulator (500); the controller is electrically connected with the walking roller (400), the spraying manipulator (500) and the negative pressure device (300) respectively, controls the walking of the walking roller (400), the spraying operation of the spraying manipulator (500) and the air extraction of the negative pressure device (300). In the process that the walking roller (400) drives the machine body (100) to walk and roll, the sealing skirt (200) is slidably attached to the wall surface of the bridge tower; in the process of the spraying operation of the spraying manipulator (500), the adsorption cavity (210) is in a negative pressure state.

2. The bridge tower painting robot of claim 1, wherein, The laser radar (600) and the depth camera (700) are installed on the machine body (100), and the controller is connected with the laser radar (600) and the depth camera (700).

3. The bridge tower painting robot of claim 1, wherein, The machine body (100) is a hollow frame structure, including a top plate (120), a bottom plate (130) and a support column (140), the top plate (120) and the bottom plate (130) are arranged in parallel with each other, and the support column (140) connects the top plate (120) and the bottom plate (130).

4. The bridge tower painting robot of claim 3, wherein, Two walking rollers are arranged on the left and right sides of the machine body (100) respectively, and the driving shaft of the walking roller is installed between the top plate (120) and the bottom plate (130).

5. The bridge tower painting robot of claim 4, wherein, The walking roller is a Mecanum wheel.

6. The bridge tower painting robot of claim 1, wherein, The negative pressure device (300) includes a negative pressure fan and a shell, the shell is arranged inside the machine body (100), the negative pressure fan is installed inside the shell, and the negative pressure fan is in communication with the adsorption cavity (210) through the air extraction port of the shell.

7. The bridge tower painting robot of claim 6, wherein, The negative pressure fan is a centrifugal fan or a vacuum negative pressure pump.

8. The bridge tower painting robot of claim 1, claim 6 or claim 7, wherein, The negative pressure device (300) has at least two groups, and the at least two groups of negative pressure devices (300) are symmetrically arranged inside the machine body (100).

9. The bridge tower painting robot of claim 1, wherein, The spraying manipulator (500) is a six-axis mechanical arm.

10. The bridge tower painting robot of claim 1 or claim 9, wherein, The spray gun is connected with a pipeline, and the spraying material is communicated with the spray gun through the pipeline.

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