CN112832490A

CN112832490A - High-rise spraying robot

Info

Publication number: CN112832490A
Application number: CN202110180970.4A
Authority: CN
Inventors: 胡永波; 陈江涛; 胡铭飞
Original assignee: Handan Yongnian Huayi Machinery Technology Co ltd
Current assignee: Handan Yongnian Huayi Machinery Technology Co ltd
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2021-05-25

Abstract

The embodiment of the invention discloses a high-rise spraying robot, which comprises a hanging basket support, a driving device, a spraying device, a tensioning device and a control system, wherein the hanging basket support is arranged on a roof, a rope which is arranged on the outer side of an outer wall from the roof downwards is fixed on the hanging basket support, the driving device comprises a cross beam, a rope climbing device and a moving platform, the spraying device comprises a material pump, a spray head and a scraper, a spraying gap is formed between the spray head and the outer wall, the spray head is installed on the moving platform through a first mechanical arm, the scraper is arranged above the spray head and is installed on the first mechanical arm, so that the scraper is in contact with the outer wall, the tensioning device is fixed on the ground, and the tensioning device is connected with the bottom end of. The automatic spraying device is based on the automatic control of the control system, the first mechanical arm drives the spray head to move and spray under the action of the moving platform, and the putty is smoothed by the scraper, so that the automatic spraying of the outer wall of the high-rise building is realized, the high-altitude operation of personnel is not needed, and no danger is ensured.

Description

High-rise spraying robot

Technical Field

The embodiment of the invention relates to the technical field of high-altitude spraying, in particular to a high-rise spraying robot.

Background

The urbanization process has accelerated since the 21 st century, accompanied by shrunken tall buildings; the spraying effect of the outer wall of the high-rise building, particularly the outer wall, is difficult to replace by other decorations; therefore, the spraying of the exterior wall of the high-rise building is more and more pursued by people. Although the outer wall painting has beautiful effect, the outer wall painting also has a plurality of defects; such as: traditionally, the spraying of the outer wall of the high-rise building mainly depends on manual operation, personnel hang on the outer side of the high-rise building and use seat plates, hanging baskets and other modes for construction, the operation efficiency is low, the safety of the personnel can not be guaranteed,

disclosure of Invention

Therefore, the embodiment of the invention provides a high-rise spraying robot, which aims to solve the problem that the spraying of the outer wall of a high-rise building is difficult in the prior art.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

according to a first aspect of embodiments of the present invention, a high-rise painting robot includes:

the hanging basket support is arranged on the roof, a rope is fixed on the hanging basket support, and the rope is arranged on the outer side of the outer wall in a downward mode from the roof;

the driving device comprises a cross beam, a rope climber and a moving platform, the cross beam is horizontally arranged on the outer side of the outer wall, the rope climber is fixed on the cross beam and connected with a rope, the cross beam moves upwards or downwards along the rope under the action of the rope climber, and the moving platform is arranged on the cross beam in a reciprocating sliding mode along the cross beam;

the spraying device comprises a material pump, a spray head and a scraper, wherein the material pump is arranged on the top or the bottom of a building, a spraying gap is formed between the spray head and the outer wall, the spray head is arranged on the moving platform through a first mechanical arm, the material pump is connected with the spray head through a material conveying pipe, the spraying direction of the spray head faces the outer wall, and the scraper is arranged above the spray head, is arranged on the first mechanical arm and is in contact with the outer wall;

the tensioning device is fixed on the ground and is connected with the bottom end of the rope;

and the control system is arranged on the cross beam, acquires the instruction signal and outputs an execution signal to the driving device and the spraying device according to the instruction signal so as to control the driving device and the spraying device to operate.

Further, the hanging flower basket support is equipped with two sets ofly side by side, and two sets of hanging flower basket supports are respectively in the descending rope in the both sides of crossbeam to at the both ends of crossbeam installation rope climbing ware respectively, with rope climbing ware is connected with the rope that corresponds the side, and spraying device sets up between two rope climbing ware.

Further, all along the embedded rack of the length direction of crossbeam on the roof of crossbeam and the diapire to respectively establish a motion platform in the roof of crossbeam and diapire department, motion platform's bottom is equipped with the gear, with gear and rack are the meshing setting to install first motor on motion platform, with the gear is connected through the gearbox to the output of first motor, the touching stopper is still installed at the both ends of crossbeam, touching stopper and first motor linkage, with the touching stopper gives signal to first motor, and controls first motor just, the reversal, wherein, the motion platform of top and the shower nozzle and the scraper blade of the motion platform installation of below are symmetrical arrangement.

Further, all along the embedded track that has of length direction of crossbeam on the both sides wall of crossbeam, the pulley is installed respectively to motion platform's both sides, with pulley sliding connection is in the track, and wherein, the motion platform of top and the motion platform of below correspond a set of track respectively.

Furthermore, the first mechanical arm is a multi-axis joint mechanical arm, the bottom end of the first mechanical arm is installed on the table top of the motion platform through a second motor, the spray head is installed at the front end of the first mechanical arm in a rotating mode through a rotary steering engine, a remote control switch is installed at the front end of the first mechanical arm and is electrically connected with the spray head, the remote control switch supplies manual remote control to spray materials, a visual sensor is further installed at the front end of the first mechanical arm and is electrically connected with the first mechanical arm, the visual sensor senses and acquires wall information, a control signal is output to the first mechanical arm according to the wall information, and the first mechanical arm controls the spray head and converts a spraying track.

Further, the scraper blade is including adjusting pole, frame and doctor-bar, adjust the pole level and set up in the top of shower nozzle, and the one end of adjusting the pole links firmly the elasticity fixed axle, and the other end has linked firmly the elasticity pivot, with the elasticity fixed axle is connected on the top outer wall of shower nozzle, and the back lateral wall of elasticity pivot in the front side connection frame of shower nozzle, doctor-bar longitudinal arrangement, and the doctor-bar is installed on the preceding lateral wall of frame, with doctor-bar contact outer wall and strickle putty flat, wherein, the top of frame is equipped with the pointing device, the pointing device is the electric putter structure, and its rear end links firmly on the roof of frame, and the flexible end of pointing device is equipped with elastic cylinder eave tile in the front side of doctor-bar.

Furthermore, be equipped with electric telescopic handle between frame and the doctor-bar, electric telescopic handle level sets up in the inside of frame, and electric telescopic handle's rear end links firmly on the rear side wall of frame, electric telescopic handle's flexible end links firmly the doctor-bar in the front side of frame, and wherein, electric telescopic handle is equipped with two along vertically to set up the passageway that supplies the doctor-bar to stretch out or roll back to in the frame on the preceding lateral wall of frame.

Further, triangle crawler wheels are respectively arranged at two ends of the cross beam and are installed on the rope climbing device through a second mechanical arm, the second mechanical arm is of a three-degree-of-freedom mechanical arm structure, the triangle crawler wheels contact with the outer wall to walk on the front side of the cross beam, and a torque sensor and a distance sensor are respectively installed at the front end of the second mechanical arm.

Further, the hanging flower basket support includes fore-stock, after-poppet, long roof beam and upper bracket, the after-poppet highly is less than the height of fore-stock, the roof beam wall rigid coupling of long roof beam is on the top of fore-stock to constitute the fulcrum, make the long roof beam be less than the length of fulcrum back end in the length of fulcrum anterior segment, and the back end of long roof beam is fixed in the top of after-poppet, the upper bracket is vertical to be fixed in the fulcrum department of long roof beam, installs the rope sheave on the top of upper bracket, and install the steel cable gallows at the front end of long roof beam, with the one end rigid coupling of rope is in the back end of long roof beam, and the other end bypasses the rope sheave, and follows the vertical descending of steel cable gallows, wherein, be provided with the counter weight.

Further, straining device includes from last to the flower basket bolt, extension spring device and the expansion bolts who sets gradually down, the top of flower basket bolt is connected with the bottom of rope, the expansion bolts is fixed in the stratum, the extension spring device includes upper junction plate, lower connecting plate and extension spring, the upper junction plate is connected with the bottom of flower basket bolt, the connecting plate is connected with the top of expansion bolts down to connect two extension springs that set up side by side between upper junction plate and the lower connecting plate, with the connecting plate is connected to the one end of extension spring, and the connecting plate is connected down to the other end, wherein, be equipped with force transducer between rope and the flower basket bolt.

The embodiment of the invention has the following advantages: the automatic spraying device is characterized in that a hanging basket support and a tensioning device are arranged to fix ropes at high floors and on the ground respectively, automatic control based on a control system is adopted, a cross beam is arranged, a rope climbing device is utilized to enable the cross beam to go up or down along the ropes, a first mechanical arm drives a spray head to move left and right under the action of a motion platform to start spraying, the spray head continuously rises along with the cross beam until the top of a building body, and when putty is sprayed, the cross beam descends after spraying for a section, a scraper blade is opened to scrape the putty smoothly, then spraying is continued, so that automatic spraying of the outer wall of the high-rise building is realized, high-altitude operation of personnel is not needed during operation, and no casual.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.

Fig. 1 is a schematic overall structure diagram of a high-rise painting robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a basket support of a high-rise painting robot according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a tensioning device of a high-rise painting robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a spraying device of a high-rise spraying robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a scraper of a high-rise painting robot according to an embodiment of the present invention.

In the figure: 1. a basket support; 11. a front bracket; 12. a rear bracket; 13. a long beam; 131. a steel rope hanger; 14. an upper bracket; 141. a sheave; 2. a drive device; 21. a cross beam; 211. a rack; 212. a track; 22. a rope climbing device; 23. a motion platform; 3. a spraying device; 31. a material pump; 32. a spray head; 33. a squeegee; 331. adjusting a rod; 332. a frame; 333. scraping a blade; 334. an elastic fixed shaft; 335. an elastic rotating shaft; 336. an electric telescopic rod; 34. a first robot arm; 35. a material conveying pipe; 36. a pointing device; 4. a tensioning device; 41. a turn buckle; 42. a tension spring device; 43. an expansion bolt; 44. a tension sensor; 5. a rope; 6. a control system; 7. a triangular crawler wheel; 8. a second mechanical arm.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1, an embodiment of the present invention provides a high-rise painting robot, which includes a basket support 1, a driving device 2, a painting device 3, a tensioning device 4, and a control system 6, and is specifically configured as follows:

referring to fig. 2 and 3, the basket support 1 is disposed on the roof, and a rope 5 is fixed to the basket support 1 such that the rope 5 descends from the roof to be disposed outside the outer wall. Specifically, the basket support 1 comprises a front support 11, a rear support 12, a long beam 13 and an upper support 14, wherein the front support 11 and the rear support 12 are both supported on the roof, and the height of the rear support 12 is lower than that of the front support 11. The beam wall of the long beam 13 is fixedly connected to the top end of the front bracket 11 to form a fulcrum, so that the length of the front section of the fulcrum of the long beam 13 is smaller than that of the rear section of the fulcrum, and the rear end of the long beam 13 is fixed to the top end of the rear bracket 12. The upper bracket 14 is vertically fixed at the pivot of the long beam 13, the top end of the upper bracket 14 is provided with a rope pulley 141, and the front end of the long beam 13 is provided with a steel rope hanger 131, so that one end of the rope 5 is fixedly connected to the rear end of the long beam 13, the other end of the rope bypasses the rope pulley 141, and vertically descends along the steel rope hanger 131, preferably, a counterweight is arranged on the rear bracket 12, so as to stabilize the rear bracket 12 through the counterweight, and further ensure that the long beam 13 forms a stable support at the top end of the rope 5. The tensioning device 4 is fixed to the ground and the tensioning device 4 is connected to the bottom end of the rope 5 to ensure that the rope 5 maintains a reliable tension for a stable operation of the spraying device 3. Specifically, the tensioning device 4 includes a turn buckle 41, a tension spring device 42 and an expansion bolt 43 (refer to fig. 4) which are sequentially arranged from top to bottom, the top end of the turn buckle 41 is connected with the bottom end of the rope 5, the expansion bolt 43 is fixed on the ground, the tension spring device 42 includes an upper connecting plate, a lower connecting plate and tension springs, the upper connecting plate is connected with the bottom end of the turn buckle 41, the lower connecting plate is connected with the top end of the expansion bolt 43, and two tension springs which are arranged side by side are connected between the upper connecting plate and the lower connecting plate, so that one end of each tension spring is connected with the upper connecting plate, and the other end of each tension spring is connected with the lower connecting plate, preferably, a tension sensor 44 is arranged between the rope 5 and the turn buckle 41, so as to facilitate real.

As shown in fig. 1 and 4, the driving device 2 includes a cross beam 21, a rope climber 22, and a moving platform 23. The crossbeam 21 is horizontally arranged on the outer side of the outer wall, the rope climber 22 is fixed on the crossbeam 21, and the rope climber 22 is connected with the rope 5, so that the crossbeam 21 moves upwards or downwards along the rope 5 under the action of the rope climber 22. Wherein, hanging flower basket support 1 is equipped with two sets ofly side by side, and two sets of hanging flower basket supports 1 are respectively in the descending rope 5 of the both sides of crossbeam 21 to install a rope climbing ware 22 respectively at the both ends of crossbeam 21, so that rope climbing ware 22 is connected with the rope 5 that corresponds the side, and motion platform 23 sets up between two rope climbing ware 22. Motion platform 23 is installed on crossbeam 21 through the mode along crossbeam 21 reciprocating sliding, include all along crossbeam 21's length direction embedded rack 211 on crossbeam 21's roof and diapire, and respectively establish a motion platform 23 in crossbeam 21's roof and diapire department, be equipped with the gear in motion platform 23's bottom, so that the gear is the meshing setting with rack 211, and install first motor on motion platform 23, so that the output of first motor passes through the gearbox and connects the gear, rotate through first motor drive gear, thereby drive motion platform 23 and remove on crossbeam 21. Wherein, touching limiters are further installed at the two ends of the cross beam 21 and are linked with the first motor, so that the touching limiters give signals to the first motor and control the first motor to rotate forwards and backwards, so that the first motor rotates to drive the motion platform 23 to move and stop when contacting with the touching limiters, and the first motor rotates backwards to move the motion platform 23 to the other side, so that the motion platform 23 moves left and right on the cross beam.

Preferably, the rails 212 are embedded in the two side walls of the cross beam 21 along the length direction of the cross beam 21, and the pulleys are respectively installed on the two sides of the moving platform 23, so that the pulleys are slidably connected in the rails 212, wherein the moving platform 23 above and the moving platform 23 below respectively correspond to one set of rails 212, and the sliding rails are arranged to ensure that the moving platform 23 moves on the cross beam 21 stably.

The spray device 3 includes a material pump 31, a spray head 32, and a scraper 33. The material pump 31 is arranged on the top or bottom of the building, a spraying gap exists between the spray head 32 and the outer wall, and the material pump 31 is installed on the moving platform 23 through the first mechanical arm 34, so that the material pump 31 is connected with the spray head 32 through the material conveying pipe 35, and the spraying direction of the spray head 32 faces the outer wall. The first mechanical arm 34 is a multi-axis joint mechanical arm, and each joint of the first mechanical arm 34 is driven to rotate by a steering engine. The bottom end of the first mechanical arm 34 is mounted on the table top of the motion platform 23 through a second motor, the spray head 32 is rotatably mounted at the front end of the first mechanical arm 34 through a rotary rudder, the first mechanical arm 34 is used for driving the spray head 32 to move left and right under the action of the motion platform 23 to start spraying, and preferably, a torque sensor is mounted at the bottom end of the first mechanical arm 34, so that when the first mechanical arm 34 meets an obstacle, the torque sensor sends out a signal, the first mechanical arm 34 stops working, and after the obstacle is removed, the first mechanical arm 34 resumes working; and a distance sensor is arranged at the front end of the first mechanical arm 34, the distance sensor senses the reasonable distance of the wall surface and sends a signal, the first mechanical arm 34 moves in a joint mode, the spray head 32 is adjusted to keep the reasonable distance with the wall surface, and accurate spraying is achieved. In addition, the spray head 32 can rotate adjustably under the action of the rotary steering engine, the preferred spray head 32 can be selected from a circle and a sector, and the circular spray head 32 is not required to be adjusted; when the spray head 32 is in a fan shape, the spray head 32 is in a vertical state when in horizontal spraying, and when in vertical spraying, the rotary steering engine is adjusted, the spray head 32 is rotated, and the spray head 32 is adjusted to be in a horizontal state so as to realize vertical spraying. Preferably, the material pump 31 can be a commercially available gasoline and diesel plunger type airless spraying pump, the material conveying pipe 35 is connected to the pump body, and the material pump 31 can be installed above or below a building body.

The control system 6 is installed on the cross beam 21, so that the control system 21 acquires a command signal and outputs an execution signal to the driving device 2 and the spraying device 3 according to the command signal to control the driving device 2 and the spraying device 3 to operate. Preferably, a remote switch is installed at the front end of the first mechanical arm 34, and the remote switch is electrically connected to the spray head 32, so that the remote switch can be used for manually and remotely controlling spraying. A vision sensor is further mounted at the front end of the first mechanical arm 34 and electrically connected with the first mechanical arm 34, so that the vision sensor can sense and acquire wall information (such as positions of a windowsill, a balcony and the like), and a control signal is output to the first mechanical arm 34 according to the wall information, so that the first mechanical arm 34 controls the spray head 32 to automatically convert a spraying track, and therefore the whole spraying process is more intelligent, and if the wall is an irregular wall, spraying can be performed manually and remotely.

As described above, the squeegee 33 is disposed above the head 32 and mounted on the first robot arm 34 so that the squeegee 33 is disposed in contact with the outer wall. The scraper 33 includes an adjusting rod 331, a frame 332 and a scraper 333 (refer to fig. 5), the adjusting rod 331 is horizontally disposed above the spray head 32, one end of the adjusting rod 331 is fixedly connected with an elastic fixed shaft 334, and the other end is fixedly connected with an elastic rotating shaft 335, so that the elastic fixed shaft 334 is connected to the top outer wall of the spray head 32, and the elastic rotating shaft 335 is connected to the rear side wall of the frame 332 at the front side of the spray head 32, so that the frame 332 can rotate in a small range under the action of an external force and can be automatically reset under the action of the elastic rotating shaft 335. The wiper 333 is disposed in a longitudinal direction, and the wiper 333 is installed on a front sidewall of the frame 332 such that the wiper 333 contacts an outer wall and smoothes putty. An electric telescopic rod 336 is arranged between the frame 332 and the scraping blades 333, the electric telescopic rod 336 is horizontally arranged inside the frame 332, the rear end of the electric telescopic rod 336 is fixedly connected to the rear side wall of the frame 332, and the telescopic end of the electric telescopic rod 336 is fixedly connected to the scraping blades 333 at the front side of the frame 332, wherein two electric telescopic rods 336 are longitudinally arranged, a channel for the scraping blades 333 to extend out or retract into the frame 332 is formed in the front side wall of the frame 332, and when the spraying device 3 sprays putty for a period of time, the scraping blades 333 can be pushed out to scrape the putty flat, and then the spraying is continued.

When putty is sprayed, the electric telescopic rod 336 on the scraper 33 is opened, the scraping blade 333 is in contact with the wall surface, the scraping blade 333 is inclined and forms an included angle of about 45 degrees with the wall surface, the first mechanical arm 34 is adjusted by utilizing the work of the torque sensor on the first mechanical arm 34, the scraping blade 333 and the wall surface always keep a certain torque, and a spring is preferably arranged at the telescopic end of the electric telescopic rod 336, so that the angle of the scraping blade 333 can be finely adjusted, the stress of the scraping blade 333 and the wall surface is uniform, and the effect of scraping the putty is achieved. When the adhesion of putty on the scraper blade is too much, the electric telescopic rod 336 in the frame 332 is recovered to drive the scraper blade 333 to retract, and due to the blocking of the frame 332, the redundant putty on the scraper blade 333 is scraped, and then the scraper blade 333 is pushed out to continue working, so that the putty can be scraped smoothly after being sprayed.

Preferably, the pointing device 36 is disposed above the frame 332, the pointing device 36 is of an electric push rod structure, the rear end of the pointing device 36 is fixedly connected to the top wall of the frame 332, and the telescopic end of the pointing device 36 is provided with an elastic cylindrical pointing head at the front side of the scraping blade 333. By using the pointing device 36, when the wall surface needs pointing, the electric push rod of the pointing device 36 pushes out the cylindrical pointing, the visual sensor at the front end of the first mechanical arm 34 senses pointing on the wall body, the first mechanical arm 34 is adjusted to move left and right, or the cross beam 21 is adjusted to move up and down, the cylindrical pointing contacts the pointing on the wall body, and redundant putty or paint in the pointing of the wall body is removed. Wherein, the spray heads 32 and the scrapers 33 mounted on the upper moving platform 23 and the lower moving platform 23 are symmetrically arranged.

Another preferred embodiment is: the two ends of the cross beam 21 are respectively provided with a triangular crawler wheel 7, the triangular crawler wheels 7 are mounted on the rope climbing device 22 through a second mechanical arm 8, and the second mechanical arm 8 is of a three-degree-of-freedom mechanical arm structure, so that the triangular crawler wheels 7 contact the outer wall to walk on the front side of the cross beam 21 and cross over obstacles. Wherein, a torque sensor and a distance sensor are respectively installed at the front end of the second mechanical arm 8. The triangular crawler wheels 7 are utilized to form a stabilizing mechanism on two sides of the cross beam 21, the sensors automatically sense a wall body according to the distance, signals are sent to the second mechanical arm 8, and the triangular crawler wheels 7 are adjusted to be tightly attached to the wall surface, so that certain tension is provided, and the whole device is stabilized.

Description of specific spraying operations: installing a roof hanging basket support 1 and a floor tensioning device 4, hanging ropes on the outer side of an outer wall, climbing the rope device 22, selecting manual remote control or automatic spraying, automatically sensing the wall by the distance between two sides, adjusting a second mechanical arm 8 to enable a triangular crawler wheel 7 to be tightly attached to the wall to provide certain tension, stabilizing the whole device, adjusting a first mechanical arm 34 to enable a spray head 32 to keep a proper distance from the wall, starting spraying by moving the first mechanical arm 34 to the left and right on a cross beam 21, continuously rising along with the cross beam 21 until the top of a building body, when spraying putty, descending the device after spraying a section, opening a scraper 33 to scrape the putty, and then continuously spraying, and simultaneously utilizing a visual sensor to automatically sense windowsills, balconies and the like, automatically converting a spraying track as required, enabling the whole spraying process to be more intelligent, if the wall is an irregular wall, the spraying can be carried out by manual remote control. Wherein, utilize two sets of spraying device of crossbeam 21 top and below, constitute two arm structures, can make spraying efficiency improve one time, still can carry out the spraying to wall side, for example the balcony side, a arm is in rope 5 inboard, and another arm is in rope 5 outside, has increaseed spraying robot spraying scope, has improved work efficiency.

The embodiment of the invention has the following advantages: the method is characterized in that a hanging basket support 1 and a tensioning device 4 are arranged to fix a rope 5 on a high-rise building and a ground respectively, a cross beam 21 is arranged based on automatic control of a control system 6, the rope climber 22 is utilized to enable the cross beam 21 to go up or down along the rope 5, a first mechanical arm 34 drives a spray head 32 to move left and right under the action of a motion platform 23 to start spraying, the spray head continuously rises along with the cross beam 21 until the top of the building body, and when putty is sprayed, after the putty is sprayed for a section, the cross beam 21 descends, a scraper 33 is opened to scrape the putty smoothly, and then spraying is continued, so that automatic spraying of the outer wall of the high-rise building is realized, high-altitude operation of people is not needed during operation. Besides the spraying function, the high-rise spraying robot of the embodiment can also be applied to various high-altitude operations such as grinding, repairing, welding and the like.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A high-rise painting robot, characterized by comprising:

2. A high-rise painting robot according to claim 1, characterized in that: the hanging flower basket support is equipped with two sets ofly side by side, and two sets of hanging flower basket supports are respectively in the descending rope in the both sides of crossbeam to at the both ends of crossbeam installation rope climbing ware respectively, with rope climbing ware is connected with the rope that corresponds the side, and spraying device sets up between two rope climbing ware.

3. A high-rise painting robot according to claim 1, characterized in that: all embedded along the length direction of crossbeam has the rack on the roof of crossbeam and the diapire to respectively establish a motion platform in the roof of crossbeam and diapire department, motion platform's bottom is equipped with the gear, with gear and rack are the meshing setting to install first motor on motion platform, with the gear is connected through the gearbox to the output of first motor, the touching stopper is still installed at the both ends of crossbeam, touching stopper and first motor linkage, with the touching stopper gives signal to first motor, and controls first motor just, reversal, wherein, the motion platform of top and the shower nozzle and the scraper blade of the motion platform installation of below are symmetrical arrangement.

4. A high-rise painting robot according to claim 3, characterized in that: all along the embedded track that has of length direction of crossbeam on the both sides wall of crossbeam, the pulley is installed respectively to motion platform's both sides, with pulley sliding connection is in the track, and wherein, the motion platform of top and the motion platform of below correspond a set of track respectively.

5. A high-rise painting robot according to claim 1, characterized in that: the first mechanical arm is a multi-axis joint mechanical arm, the bottom end of the first mechanical arm is installed on the table top of the motion platform through a second motor, the spray head is installed at the front end of the first mechanical arm in a rotating mode through a rotary steering engine, a remote control switch is installed at the front end of the first mechanical arm and electrically connected with the spray head, the remote control switch supplies manual remote control spraying to the spray head, a vision sensor is further installed at the front end of the first mechanical arm and electrically connected with the first mechanical arm, the vision sensor senses and acquires wall surface information, and outputs a control signal to the first mechanical arm according to the wall surface information so that the first mechanical arm controls the spray head and converts a spraying track.

6. A high-rise painting robot according to claim 1, characterized in that: the scraper blade is including adjusting pole, frame and doctor-bar, adjust the pole level setting in the top of shower nozzle, and the one end of adjusting the pole links firmly the elasticity fixed axle, and the other end has linked firmly the elasticity pivot, with the elasticity fixed axle is connected on the top outer wall of shower nozzle, and the back lateral wall of elasticity pivot in the front side connection frame of shower nozzle, doctor-bar longitudinal arrangement, and the doctor-bar is installed on the preceding lateral wall of frame, with doctor-bar contact outer wall and strickle putty, wherein, the top of frame is equipped with the pointing device, the pointing device is the electric putter structure, and its rear end links firmly on the roof of frame, and the flexible end of pointing device is equipped with elastic cylinder eave tile in the front side of doctor-bar.

7. A high-rise painting robot according to claim 6, characterized in that: the electric telescopic handle is horizontally arranged inside the frame, the rear end of the electric telescopic handle is fixedly connected to the rear side wall of the frame, the telescopic end of the electric telescopic handle is fixedly connected with the scraping blade on the front side of the frame, the electric telescopic handle is longitudinally provided with two scraping blades, and a channel for the scraping blades to extend out of or return back into the frame is formed in the front side wall of the frame.

8. A high-rise painting robot according to claim 1, characterized in that: the two ends of the cross beam are respectively provided with a triangular crawler wheel, the triangular crawler wheel is installed on the rope climbing device through a second mechanical arm, the second mechanical arm is of a three-degree-of-freedom mechanical arm structure, the triangular crawler wheel contacts with the outer wall to walk on the front side of the cross beam, and a torque sensor and a distance sensor are installed at the front end of the second mechanical arm respectively.

9. A high-rise painting robot according to claim 1, characterized in that: the hanging flower basket support includes fore-stock, after-poppet, long roof beam and upper bracket, the height that highly is less than the fore-stock of after-poppet, the roof beam wall rigid coupling of long roof beam is on the top of fore-stock to constitute the fulcrum, make the long roof beam be less than the length of fulcrum back end in the length of fulcrum anterior segment, and the rear end of long roof beam is fixed in the top of after-poppet, the vertical fulcrum department that is fixed in the long roof beam of upper bracket installs the rope sheave on the top of after-poppet, and install the steel cable gallows at the front end of long roof beam, with the one end rigid coupling of rope is in the rear end of long roof beam, and the rope sheave is walked around to the other end, and along the vertical descending of steel cable gallows, wherein.

10. A high-rise painting robot according to claim 1, characterized in that: tensioning device includes from last basket of flowers bolt, extension spring device and the expansion bolts who sets gradually down, basket of flowers bolt's top is connected with the bottom of rope, expansion bolts is fixed in the stratum, the extension spring device includes upper junction plate, lower connecting plate and extension spring, the upper junction plate is connected with basket of flowers bolt's bottom, the connecting plate is connected with expansion bolts's top down to connect two extension springs that set up side by side between upper junction plate and lower connecting plate, with the connecting plate is connected to the one end of extension spring, and the connecting plate is down connected to the other end, wherein, be equipped with force transducer between rope and the basket of flowers bolt.