CN106824612B - Multi-functional wall-climbing paint spraying robot of safety and stability - Google Patents
Multi-functional wall-climbing paint spraying robot of safety and stability Download PDFInfo
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- CN106824612B CN106824612B CN201710181012.2A CN201710181012A CN106824612B CN 106824612 B CN106824612 B CN 106824612B CN 201710181012 A CN201710181012 A CN 201710181012A CN 106824612 B CN106824612 B CN 106824612B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
- B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
- B05B3/10—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member, i.e. the spraying being effected by centrifugal forces
- B05B3/1007—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member, i.e. the spraying being effected by centrifugal forces characterised by the rotating member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
- B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
A safe and stable multifunctional wall-climbing paint spraying robot comprises a paint spraying device and elastic wheels; the paint spraying device comprises a main rotary cylinder, a mechanical arm, an auxiliary rotary cylinder, a main paint spraying nozzle, a telescopic cylinder and an auxiliary paint spraying nozzle; the elastic wheel comprises a wheel body, a connecting plate, a spring connecting rod and a supporting seat; the wheel body comprises a wheel shell, a wheel end cover, an explosion-proof plug and an inert gas pipe interface; wall-climbing paint spraying machine people can ensure that all its drive wheels are effectual to be attached to on anomalous working face, avoid its drive power and adhesive force to receive the influence in the operation, it can also be in the effectual completion operation of spraying paint of large tracts of land operating mode or complicated operating mode environment, and need not carry out artifical touch-up again, simultaneously, wall-climbing paint spraying machine people can also be under the prerequisite that need not to install explosion-proof box, safe effectual in the limited flammable and explosive environment in space nimble operation of spraying paint.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of wall-climbing paint spraying robots, in particular to a multifunctional wall-climbing paint spraying robot suitable for stable operation in flammable and explosive environments.
[ background of the invention ]
As is known, a wall climbing robot is also called a wall moving robot, which is an automatic robot capable of climbing on a vertical wall and performing related operations, and includes a wall climbing and painting robot for performing painting operations on a vertical wall of an object such as a large-sized storage tank or a ship, and the wall climbing and painting robot is also called a limit operation robot because the vertical wall operations belong to the category of limit operations; at present, the conventional wall-climbing paint spraying robot adopts a paint spraying nozzle which is structurally characterized in that the nozzle is fixedly arranged at the front end of a mechanical arm of the wall-climbing paint spraying robot, and then the corresponding paint spraying operation is carried out by controlling the walking of the wall-climbing paint spraying robot; however, in long-term practical application, the existing wall-climbing paint spraying robot has the following defects:
1. under the working condition of large-area paint spraying operation, the paint spraying efficiency is relatively low, the thickness and the uniformity of the paint spraying cannot be effectively guaranteed, and the operation requirement can be met only by manual paint repair; meanwhile, when wall-climbing paint spraying operation is carried out under a complex working condition environment, the existing wall-climbing paint spraying robot cannot effectively spray paint on some unconventional curved surface parts, and the parts can be repaired manually to comprehensively finish the paint spraying operation;
2. the existing wall-climbing paint spraying robot adopts a rigid vehicle body structure driven by four wheels, namely four driving wheels connected with the vehicle body are all rigidly and fixedly connected, so that the stable walking operation of the wall-climbing paint spraying robot on a flat operation surface is not problematic, but once the wall-climbing paint spraying robot performs paint spraying operation on the surfaces of an oil storage tank, a large ship and the like, the wall-climbing paint spraying robot is influenced by the storage tank, the irregular outer surface of a ship and the rigid vehicle body of the wall-climbing paint spraying robot, the four driving wheels of the wall-climbing paint spraying robot can generate different adhesive forces, so that the phenomenon that a certain driving wheel of the wall-climbing paint spraying robot cannot be stably attached to the operation surface is easily generated, the driving force of the wall-climbing paint spraying robot and the integral adhesive force of the wall-climbing paint spraying robot on the operation surface are influenced, the deviation between the traveling route of the wall-climbing paint spraying robot and the planned route can be caused in serious cases, and finally the application side suffers from corresponding economic loss;
3. because some working environments belong to flammable and explosive environments, for example, when the working is performed in a tank body for storing corresponding chemical substances or when the paint spraying operation is performed in a cavity with limited internal space and non-circulating air, the driving system of the wheels of the existing wall-climbing robot can cause combustion or flash explosion once the existing wall-climbing robot is ignited during the working, thereby bringing harm to application parties; in order to prevent the wall-climbing paint spraying robot from burning or exploding when operating in an inflammable and explosive environment, the wheel motor and the driver of the wall-climbing paint spraying robot are usually subjected to explosion-proof treatment, namely, a wheel driving system is isolated from paint mist by installing a corresponding explosion-proof box, so that the phenomenon of burning or exploding is avoided, however, the shape of the wall-climbing paint spraying robot is complicated, the size and the weight are large, the flexible operation of the wall-climbing paint spraying robot in a limited space is limited, and the mobility advantage of wheels cannot be fully exerted when the wall-climbing paint spraying robot operates in the inflammable and explosive environment;
in conclusion, the existing wall-climbing paint spraying robot has the defects of single function, need of manual paint repair and relief, easy deviation of a traveling route, labor and material waste, high cost, dangerous factors in operation in a flammable and explosive environment and the like in application, so that the wall-climbing paint spraying robot is very unfavorable for popularization and application.
[ summary of the invention ]
In order to overcome the defects in the background art, the invention discloses a safe and stable multifunctional wall-climbing paint spraying robot which not only can effectively finish paint spraying operation in large-area working conditions or complex working condition environments, but also does not need manual paint repair, and can also ensure flexible operation in flammable and explosive environments with limited space.
In order to realize the purpose of the invention, the invention adopts the following technical scheme:
a safe and stable multifunctional wall-climbing paint spraying robot comprises a paint spraying device and elastic wheels; the paint spraying device comprises a main rotary cylinder, a mechanical arm, an auxiliary rotary cylinder, a main paint spraying nozzle, a telescopic cylinder and a transverse paint spraying device; the main rotating cylinder comprises a fixed disk positioned at the lower part and a rotating disk hinged at the upper part of the fixed disk, the fixed disk is correspondingly fixed on the upper surface of the vehicle body of the wall-climbing paint spraying robot, and the upper surface of the rotating disk is correspondingly hinged with the bottom end of the mechanical arm; the top end of the mechanical arm is fixedly connected with an auxiliary rotary cylinder, and the end head of a rotary shaft of the auxiliary rotary cylinder is fixedly connected with a main paint spraying nozzle; one end of the telescopic cylinder is correspondingly hinged with the side wall of the rotating disc of the main rotating cylinder, and the other end of the telescopic cylinder is correspondingly hinged with the middle part of the lower side of the arm body of the mechanical arm; the transverse paint spraying device is arranged on the upper surface of the vehicle body of the wall-climbing paint spraying robot and is correspondingly positioned on one side of the main rotating cylinder fixing disc, and the transverse paint spraying device is used for driving the auxiliary paint spraying nozzle to correspondingly move back and forth along the transverse direction of the vehicle body for operation;
the elastic wheel comprises a wheel body, a connecting plate, a spring connecting rod and a supporting seat; the middle part of the outer side surface of the wheel end cover of the wheel body is fixedly connected with one end of a connecting plate, and the other end of the connecting plate is correspondingly hinged with the vehicle body through a pin shaft; the middle part of the connecting plate is hinged with the end part of one side of the spring connecting rod through a shaft, the rod body of the other side of the spring connecting rod is provided with an annular groove, a spring A, the bottom end of the supporting seat and a spring B are sequentially and movably sleeved in the annular groove, and the diameters of the spring A and the spring B are larger than the aperture of a through hole at the bottom end of the supporting seat; the top end of the supporting seat is correspondingly and fixedly connected with the vehicle body; the wheel body comprises a wheel shell, a wheel end cover, an explosion-proof plug and an inert gas pipe interface; the wheel shell and the wheel end cover are correspondingly butted to form a cavity, and a driving device for driving the wheel to rotate is fixedly arranged in the cavity; the driving device is provided with an explosion-proof plug which penetrates through the wheel end cover and is fixedly positioned on the outer side surface of the wheel end cover; the wheel end cover is provided with an inert gas pipe interface communicated into the wheel cavity.
Furthermore, the transverse paint spraying device comprises a sliding seat, a sliding rod, a protective cover and an auxiliary paint spraying nozzle; the slide be fixed in the upper portion face of climbing wall paint spraying robot automobile body, sliding connection has the slide bar in the slide, the one end tip of this slide bar with install vice spray nozzle fixed connection that sprays paint of protection casing.
Further, the transverse paint spraying device comprises a telescopic arm, a protective cover and an auxiliary paint spraying nozzle; the base of the telescopic arm is fixed on the upper surface of the vehicle body of the wall-climbing paint spraying robot, and the end of the telescopic arm is fixedly connected with an auxiliary paint spraying nozzle provided with a protective cover.
Furthermore, the auxiliary rotary cylinder is fixed at the top end of the mechanical arm in a transverse or longitudinal mode, and the end of the rotary shaft of the auxiliary rotary cylinder is correspondingly and fixedly connected with the main paint spraying nozzle.
Furthermore, the mechanical arm is of a telescopic structure.
Furthermore, the main rotary cylinder, the auxiliary rotary cylinder, the telescopic cylinder, the main paint spraying nozzle, the auxiliary paint spraying nozzle and the transverse paint spraying device are provided with an automatic operation mode or a remote control operation mode.
Furthermore, the connecting plate is of a drop-shaped or gourd-shaped structure with one large end and one small end.
Furthermore, the joint surface between the wheel shell and the wheel end cover is in butt joint in a sliding joint surface or an explosion-proof joint surface mode to form a cavity.
Further, the inert gas pipe interface is provided with a pressure monitoring device.
Further, the position of the inert gas pipe interface corresponds to the position of the driving device in the cavity.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the safe and stable multifunctional wall-climbing paint spraying robot is easy to manufacture and convenient to use; firstly, the wall-climbing paint spraying robot is provided with a main paint spraying nozzle capable of rotating 360 degrees and an auxiliary paint spraying nozzle capable of moving transversely, namely a structure that the main paint spraying nozzle and the auxiliary paint spraying nozzle are combined together is adopted, so that the wall-climbing paint spraying robot can not only perform multi-degree-of-freedom paint spraying operation through the main paint spraying nozzle, but also perform single-degree-of-freedom paint spraying operation through the auxiliary paint spraying nozzle, and simultaneously, the main paint spraying nozzle and the auxiliary paint spraying nozzle can simultaneously operate according to requirements, so that the wall-climbing paint spraying robot is ensured to effectively meet the operation requirements in large-area working conditions or complex working condition environments, and the paint repairing operation is not required to be performed by people;
secondly, the wall-climbing paint spraying robot also connects the wheels with the vehicle body in a flexible connection mode, and the connection mode enables each driving wheel to have respective elastic floating intervals, so that when the wall-climbing paint spraying robot performs paint spraying operation on an irregular outer surface, each driving wheel can effectively ensure that the adhesive force is not influenced by the respective elastic floating intervals, further, the whole driving force of the wall-climbing paint spraying robot is effectively prevented from being influenced, and finally, the purpose that four driving wheels of the wall-climbing paint spraying robot can be effectively attached to the irregular operation surface is achieved;
in addition, the wall-climbing paint spraying robot also adopts a structure that a wheel driving system is arranged in a cavity inside the wheel and is matched with a design that inert gas is filled into the wheel, so that the pressure inside the wheel can be always greater than the pressure outside the wheel, and the gas in the flammable and explosive environment can be ensured not to enter the wheel completely on the premise that an explosion-proof box is not arranged, thereby thoroughly avoiding the contact between a driving device positioned inside the wheel and the gas in the external environment, and fundamentally avoiding the possibility of combustion or flash explosion of the wall-climbing robot in the flammable and explosive environment; meanwhile, the wall-climbing robot does not need to be provided with a traditional explosion-proof box, and an explosion-proof plug used by the wall-climbing robot can also prevent electrical elements which are easy to strike fire from contacting flammable and explosive gas, so that the wall-climbing robot has a small overall volume, can meet the requirement of flexible operation in a limited space, and can achieve the purpose of safe operation in a flammable and explosive environment;
in conclusion, the wall-climbing paint spraying robot can effectively overcome the defects of the existing wall-climbing paint spraying robot in actual work, so that the wall-climbing paint spraying robot is very suitable for popularization and application.
[ description of the drawings ]
FIG. 1 is a schematic of the present invention;
FIG. 2 is a schematic view of the resilient wheel;
fig. 3 is a schematic view of the wheel body.
In the figure: 1. a main rotating cylinder; 2. a vehicle body; 3. a mechanical arm; 4. an auxiliary rotary cylinder; 5. a main paint spray nozzle; 6. a telescopic cylinder; 7. an auxiliary spray nozzle; 8. a slide base; 9. a slide bar; 10. a protective cover; 11. a wheel body; 12. a wheel end cover; 13. a connecting plate; 14. a pin shaft; 15. a shaft; 16. a spring connecting rod; 17. a spring A; 18. a supporting seat; 19. a spring B; 20. a wheel housing; 21. an explosion-proof plug; 22. an inert gas tube interface.
[ detailed description ] embodiments
The present invention will be explained in more detail by the following examples, which are intended to disclose all changes and modifications within the scope of the present invention, and which are not limited to the following examples:
the safe and stable multifunctional wall-climbing paint spraying robot which is described by combining the attached figure 1 comprises a paint spraying device and elastic wheels; the paint spraying device comprises a main rotary cylinder 1, a mechanical arm 3, an auxiliary rotary cylinder 4, a main paint spraying nozzle 5, a telescopic cylinder 6 and a transverse paint spraying device; the main rotating cylinder 1 comprises a fixed disc positioned at the lower part and a rotating disc hinged at the upper part of the fixed disc, the fixed disc is correspondingly fixed on the upper surface of the wall-climbing paint spraying robot body 2, the upper surface of the rotating disc is correspondingly hinged with the bottom end of the mechanical arm 3, namely, when the main rotating cylinder 1 acts, the rotating disc can drive the mechanical arm 3 to rotate by 360 degrees left and right; the top end of the mechanical arm 3 is fixedly connected with an auxiliary rotary cylinder 4, the end of a rotary shaft of the auxiliary rotary cylinder 4 is fixedly connected with a main paint spraying nozzle 5, namely, the auxiliary rotary cylinder 4 is fixed at the top end of the mechanical arm 3, and the main paint spraying nozzle 5 is fixedly connected with the end of the rotary shaft of the auxiliary rotary cylinder 4, so that when the mechanical arm 3 drives the auxiliary rotary cylinder 4 to move, the main paint spraying nozzle 5 can rotate for 360 degrees under the driving of the rotation of the rotary shaft of the auxiliary rotary cylinder 4;
an angle support at one end of the telescopic cylinder 6 is correspondingly hinged with the side wall of the rotating disc of the main rotating cylinder 1, and an angle support at the other end of the telescopic cylinder 6 is correspondingly hinged with the middle part of the lower side of the arm body of the mechanical arm 3, namely the mechanical arm 3 can be driven by the telescopic cylinder 6 to move up and down by 90 degrees, so that the mechanical arm 3 can simultaneously drive the auxiliary rotating cylinder 4 and the main paint spraying nozzle 5 to move left and right and up and down correspondingly under the drive of the main rotating cylinder 1 and the telescopic cylinder 6, and the main paint spraying nozzle 5 can be driven by the auxiliary rotating cylinder 4 to rotate by 360 degrees, so that the main paint spraying nozzle 5 can effectively ensure that the paint spraying action with multiple degrees of freedom can be realized by controlling the actions of the mechanical arm 3, the telescopic cylinder 6 and the auxiliary rotating cylinder 4, namely the main paint spraying nozzle 5 can comprehensively finish the paint spraying operation on a complex operation surface in a complex working condition; according to the requirement, the cylinder body of the auxiliary rotary cylinder 4 can be fixed at the top end of the mechanical arm 3 in a transverse or longitudinal mode, and the end of the rotary shaft of the auxiliary rotary cylinder 4 is correspondingly and fixedly connected with the main paint spraying nozzle 5, namely, the main paint spraying nozzle 5 can rotate 360 degrees in the transverse or longitudinal direction under the driving of the rotary shaft of the auxiliary rotary cylinder 4, so that the aim of all-dimensional paint spraying operation is fulfilled;
the transverse paint spraying device is arranged on the upper surface of the wall-climbing paint spraying robot body 2 and is correspondingly positioned on one side of the fixed disc of the main rotary cylinder 1, namely, the transverse paint spraying device cannot influence the mechanical arm 3 driving the main paint spraying nozzle 5 to act when driving the auxiliary paint spraying nozzle 7 to act, so that the main paint spraying nozzle 5 and the auxiliary paint spraying nozzle 7 can respectively operate independently or simultaneously; the transverse paint spraying device can drive the auxiliary paint spraying nozzle 7 to move back and forth correspondingly along the transverse direction of the vehicle body 2, so that the auxiliary paint spraying nozzle 7 can realize the paint spraying action with single degree of freedom of transverse movement, and the operation requirement under the large-area working condition can be effectively met no matter the auxiliary paint spraying nozzle 7 works independently or works in cooperation with the main paint spraying nozzle 5; according to the requirement, the transverse paint spraying device comprises a sliding seat 8, a sliding rod 9, a protective cover 10 and an auxiliary paint spraying nozzle 7, wherein the sliding seat 8 is fixed on the upper surface of the wall-climbing paint spraying robot body 2, the sliding rod 9 is connected in the sliding seat 8 in a sliding way, one end part of the sliding rod 9 is fixedly connected with the auxiliary paint spraying nozzle 7 provided with the protective cover 10, and the sliding rod 9 which can slide along the sliding seat 8 stably drives the auxiliary paint spraying nozzle 7 to perform uniform paint spraying operation; or, a transverse paint spraying device comprising a telescopic arm, a protective cover 10 and an auxiliary paint spraying nozzle 7 is adopted, a base of the telescopic arm is fixed on the upper surface of the wall-climbing paint spraying robot body 2, the end head of the telescopic arm is fixedly connected with the auxiliary paint spraying nozzle 7 provided with the protective cover 10, namely, the auxiliary paint spraying nozzle 7 can be driven by the stable telescopic action of the telescopic arm to perform uniform paint spraying operation;
in order to facilitate the operation, the main rotary cylinder 1, the auxiliary rotary cylinder 4, the telescopic cylinder 6, the main paint spraying nozzle 5, the auxiliary paint spraying nozzle 7 and the transverse paint spraying device are all provided with an automatic operation mode or a remote control operation mode, namely according to different working conditions and operation requirements, the wall climbing paint spraying robot can complete automatic paint spraying operation through programming in advance or complete paint spraying operation through manual remote control, so that the operability and flexibility of the wall climbing paint spraying robot during operation are greatly improved; in addition, in order to meet the requirements of operation in different spaces, the mechanical arm 3 with a telescopic structure can be adopted, so that the purpose of adjusting the distance is achieved; in order to facilitate paint pumping and spraying, the main paint spraying nozzle and the auxiliary paint spraying nozzle can be communicated with the corresponding paint boxes through corresponding pipelines, and the paint boxes can be fixed on the vehicle body 2 of the wall-climbing paint spraying robot and can also be placed in corresponding operation sites according to actual requirements;
the elastic wheel comprises a wheel body 11, a connecting plate 13, a spring connecting rod 16 and a supporting seat 18; the middle part of the outer side surface of a wheel end cover 12 in the wheel body 11 is fixedly connected with one end of a connecting plate 13, and the wheel end cover 12 and the connecting plate 13 can be fixedly connected together through a plurality of screws which are correspondingly arranged around the center of the wheel end cover 12 in a circle according to needs; the other end of the connecting plate 13 is correspondingly hinged with the vehicle body 2 through a pin shaft 14, namely, the connecting plate 13 can rotate by taking the pin shaft 14 as a circle center; according to requirements, the connecting plate 13 can be set to be of a water drop or gourd-shaped structure with a large end and a small end, the large end is correspondingly connected with the wheel end cover 12, and the small end is correspondingly connected with the vehicle body 2; the middle part of the connecting plate 13 is hinged with one side end part of the spring connecting rod 16 through a shaft 15, namely, the connecting plate 13 can synchronously drive the spring connecting rod 16 to correspondingly move when moving;
the other side rod body of the spring connecting rod 16 is provided with an annular groove, a spring A17, the bottom end of a supporting seat 18 and a spring B19 are sequentially movably sleeved in the annular groove, the diameters of the spring A17 and the spring B19 are larger than the aperture of a through hole at the bottom end of the supporting seat 18, and the top end of the supporting seat 18 is correspondingly and fixedly connected with the vehicle body 2, so that the spring connecting rod 16 driven by a connecting plate 13 can be ensured to stably move left and right under the limiting action of the supporting seat 18; in practical application, each driving wheel of the wall-climbing paint spraying robot can effectively ensure that the whole driving force and the adhesive force of the driving wheel are not influenced by the elastic floating interval of the driving wheel, so that the driving wheel can be effectively attached to an irregular working surface;
the wheel body comprises a wheel shell 20, a wheel end cover 12, an explosion-proof plug 21 and an inert gas pipe interface 22; the wheel shell 20 and the wheel end cover 12 are correspondingly butted to form a cavity, and a driving device for driving the wheel body to rotate is fixedly arranged in the cavity, namely the wheel body is driven to rotate by the driving device arranged in the cavity; according to the requirement, the joint surfaces between the wheel shell 20 and the wheel end cover 12 are butted in the form of a sliding joint surface or an explosion-proof joint surface to form a cavity, namely, the corresponding joint surfaces between the wheel shell 20 and the wheel end cover 12 can be arranged according to the clearance of the sliding joint surfaces or can be arranged according to the sealing of the explosion-proof joint surfaces; in order to be convenient for safely connecting an external power supply, the driving device is provided with an explosion-proof plug 21 which penetrates through the wheel end cover 12 and is fixedly arranged on the outer side surface of the wheel end cover 12, namely, the driving device is connected with the external power supply through the explosion-proof plug 21 of which the internal electrical elements are subjected to explosion-proof treatment, so that the aim of safely and stably providing power for the driving device in the cavity of the wheel body by using the explosion-proof plug 21 is fulfilled;
in order to ensure that the driving device cannot be contacted with gas in a flammable and explosive environment, the outer side surface of the wheel end cover 12 can be provided with the inert gas pipe interface 22 communicated with the cavity of the wheel body, namely, clean inert gas can be input into the cavity of the wheel body by utilizing the inert gas pipe interface 22 when the wall-climbing paint spraying robot is electrified and works, so that the aim that the external gas cannot enter the interior of the wheel body in the flammable and explosive environment is fulfilled, an element which is easy to ignite in the driving device is fundamentally prevented from being contacted with the external gas, and the possibility of combustion or flash explosion is thoroughly avoided; according to the requirement, a corresponding pressure monitoring device can be arranged at the inert gas pipe interface 22, for example, when the corresponding contact joint surface between the wheel shell 20 and the wheel end cover 12 is arranged in a sliding joint surface clearance, the pressure of the inert gas in the cavity of the wheel body can be monitored in real time through the pressure monitoring device, so that the internal pressure of the wheel body is prevented from being too low, and when the corresponding joint surface between the wheel shell 20 and the wheel end cover 12 is arranged in an explosion-proof joint surface sealing manner, the pressure of the inert gas in the cavity of the wheel body can be monitored in real time through the pressure monitoring device, so that the internal pressure of the wheel body is prevented from being too high, and the purpose of effectively improving the operation safety can be achieved; in addition, the inert gas pipe port 22 can be disposed at a position corresponding to the driving device in the cavity, so that the driving device can be completely covered by the inert gas more quickly.
The present invention is not described in detail in the prior art, and therefore, the present invention is not described in detail.
Claims (8)
1. The utility model provides a multi-functional wall climbing paint spraying robot of safety and stability which characterized by: the wall-climbing paint spraying robot comprises a paint spraying device and an elastic wheel; the paint spraying device comprises a main rotary cylinder (1), a mechanical arm (3), an auxiliary rotary cylinder (4), a main paint spraying nozzle (5), a telescopic cylinder (6) and a transverse paint spraying device; the main rotating cylinder (1) comprises a fixed disc positioned at the lower part and a rotating disc hinged at the upper part of the fixed disc, the fixed disc is correspondingly fixed on the upper surface of the wall-climbing paint spraying robot body (2), and the upper surface of the rotating disc is correspondingly hinged with the bottom end of the mechanical arm (3); the top end of the mechanical arm (3) is fixedly connected with an auxiliary rotary cylinder (4), and the end of a rotary shaft of the auxiliary rotary cylinder (4) is fixedly connected with a main paint spraying nozzle (5); one end of the telescopic cylinder (6) is correspondingly hinged with the side wall of the rotating disc of the main rotating cylinder (1), and the other end of the telescopic cylinder is correspondingly hinged with the middle part of the lower side of the arm body of the mechanical arm (3); the transverse paint spraying device is arranged on the upper surface of the wall-climbing paint spraying robot body (2) and is correspondingly positioned on one side of the main rotating cylinder (1), and the transverse paint spraying device is used for driving the auxiliary paint spraying nozzle (7) to move along the transverse direction of the body (2) for operation;
the elastic wheel comprises a wheel body (11), a connecting plate (13), a spring connecting rod (16) and a supporting seat (18); the middle part of the outer side surface of a wheel end cover (12) of the wheel body (11) is fixedly connected with one end of a connecting plate (13), and the other end of the connecting plate (13) is correspondingly hinged with the vehicle body (2) through a pin shaft (14); the middle part of the connecting plate (13) is hinged with the end part of one side of the spring connecting rod (16) through a shaft (15), the rod body of the other side of the spring connecting rod (16) is provided with an annular groove, a spring A (17), a bottom through hole of the supporting seat (18) and a spring B (19) are sequentially and movably sleeved in the annular groove, and the diameters of the spring A (17) and the spring B (19) are larger than the aperture of the bottom through hole of the supporting seat (18); the top end of the supporting seat (18) is correspondingly and fixedly connected with the vehicle body (2);
the wheel body comprises a wheel shell (20), a wheel end cover (12), an explosion-proof plug (21) and an inert gas pipe interface (22); the wheel shell (20) and the wheel end cover (12) are correspondingly butted to form a cavity, and a driving device for driving the wheel body to rotate is fixedly arranged in the cavity; the driving device is provided with an explosion-proof plug (21) which penetrates through the wheel end cover (12) and is fixedly positioned on the outer side surface of the wheel end cover (12); the wheel end cover (12) is provided with an inert gas pipe interface (22) communicated into the wheel cavity;
the mechanical arm (3) is of a telescopic structure; the inert gas pipe interface (22) is provided with a pressure monitoring device.
2. The safe and stable multifunctional wall-climbing paint spraying robot of claim 1, which is characterized in that: the transverse paint spraying device comprises a sliding seat (8), a sliding rod (9), a protective cover (10) and an auxiliary paint spraying nozzle (7); slide (8) be fixed in the upper portion face of climbing wall painting robot automobile body (2), sliding connection has slide bar (9) in slide (8), the one end tip of this slide bar (9) and vice shower nozzle (7) fixed connection that spray paint of installing protection casing (10).
3. The safe and stable multifunctional wall-climbing paint spraying robot of claim 1, which is characterized in that: the transverse paint spraying device comprises a telescopic arm, a protective cover (10) and an auxiliary paint spraying nozzle (7); the base of the telescopic arm is fixed on the upper surface of the wall-climbing paint spraying robot body (2), and the end of the telescopic arm is fixedly connected with an auxiliary paint spraying nozzle (7) provided with a protective cover (10).
4. The safe and stable multifunctional wall-climbing paint spraying robot as claimed in claim 1, which is characterized in that: the auxiliary rotating cylinder (4) is fixed at the top end of the mechanical arm (3) in a transverse or longitudinal mode, and the end of a rotating shaft of the auxiliary rotating cylinder (4) is correspondingly and fixedly connected with the main paint spraying nozzle (5).
5. The safe and stable multifunctional wall-climbing paint spraying robot of claim 1, which is characterized in that: the main rotary cylinder (1), the auxiliary rotary cylinder (4), the telescopic cylinder (6), the main paint spraying nozzle (5), the auxiliary paint spraying nozzle (7) and the transverse paint spraying device are provided with automatic operation modes or remote control operation modes.
6. The safe and stable multifunctional wall-climbing paint spraying robot of claim 1, which is characterized in that: the connecting plate (13) is of a drop-shaped or gourd-shaped structure with one large end and one small end.
7. The safe and stable multifunctional wall-climbing paint spraying robot as claimed in claim 1, which is characterized in that: the joint surface between the wheel shell (20) and the wheel end cover (12) is in butt joint in a sliding joint surface or an explosion-proof joint surface mode to form a cavity.
8. The safe and stable multifunctional wall-climbing paint spraying robot of claim 1, which is characterized in that: the position of the inert gas pipe interface (22) corresponds to the position of the driving device in the cavity.
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| CN201710181012.2A CN106824612B (en) | 2017-03-24 | 2017-03-24 | Multi-functional wall-climbing paint spraying robot of safety and stability |
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| CN201710181012.2A CN106824612B (en) | 2017-03-24 | 2017-03-24 | Multi-functional wall-climbing paint spraying robot of safety and stability |
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| CN106824612B true CN106824612B (en) | 2023-03-17 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107486356B (en) * | 2017-06-29 | 2020-01-21 | 深圳市招科华域科技有限公司 | Environment-friendly coating operation system for marine equipment and control method thereof |
| CN109092590B (en) * | 2018-10-18 | 2023-09-08 | 广东冠能电力科技发展有限公司 | Spray head for insulating paint spraying robot |
| CN109806997B (en) * | 2019-02-27 | 2024-02-20 | 厦门理工学院 | Paint spraying device |
| CN110180706B (en) * | 2019-06-02 | 2021-09-14 | 南通理工学院 | A spraying dolly for hiding position |
| CN112604858A (en) * | 2020-12-02 | 2021-04-06 | 南通大学技术转移中心 | Telescopic manipulator of coating robot for ship |
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