CN221168553U - Steel construction building spraying robot - Google Patents

Abstract

The utility model discloses a steel structure building spraying robot which comprises a chassis mechanism, a spraying mechanism and an electric control mechanism, wherein the electric control mechanism is arranged at the top of the left end of the chassis mechanism, the spraying mechanism is arranged at the right front of the electric control mechanism and consists of a mechanical arm component and a spray gun component, the chassis mechanism consists of a handle, a driving wheel, a battery component, a frame, a pipe coiling device, universal wheels and a radar range finder, the driving wheels are respectively and symmetrically arranged at the left end of the bottom of the frame in front-back mode, the universal wheels are respectively and symmetrically arranged at the right end of the bottom of the frame in front-back mode.

Description

Steel construction building spraying robot

Technical Field

The utility model relates to the technical field of spraying machinery, in particular to a steel structure building spraying robot.

Background

The steel structure building is a novel building system, in the building industry, spraying of the steel structure building is an important work, a traditional spraying mode is that a person is required to stand on an overhead working truck or a scaffold, a hand-held spray gun is used for spraying, due to the fact that the overhead working truck or the scaffold is large in size and inconvenient to move, places are limited, efficiency is low, a certain danger exists, and therefore the steel structure building spraying robot is provided, spraying of the upright posts and the cross beams of the steel structure building is carried by the robot, and the existing hand-held spray gun spraying mode for carrying the overhead working truck or installing the scaffold is replaced.

Disclosure of utility model

In view of the problems existing in the prior art, the utility model discloses a steel structure building spraying robot, which adopts the technical scheme that the steel structure building spraying robot comprises a chassis mechanism, a spraying mechanism and an electric control mechanism, wherein the electric control mechanism is arranged at the top of the left end of the chassis mechanism, the spraying mechanism is arranged at the right front of the electric control mechanism and consists of a mechanical arm component and a spray gun component, the chassis mechanism consists of a handle, a driving wheel, a battery component, a frame, a pipe coiling device, universal wheels and a radar range finder, the driving wheels are respectively and symmetrically arranged at the left end of the bottom of the frame, the universal wheels are respectively and symmetrically arranged at the right end of the bottom of the frame, the radar range finder is fixedly arranged at the right side of the frame, the handle is arranged at the left side of a stand arranged at the left end of the top of the frame, and a controller electrically connected with the driving wheels is arranged on the handle, the middle part of the inner side of the stand is provided with a pipe coiling device, the lower part of the pipe coiling device is provided with a battery assembly, the battery assembly is fixedly connected with the top surface of the frame, the top of the stand is fixedly connected with the bottom of the electric control mechanism, the right side of the stand is provided with a lifting mechanism I, the lifting mechanism I consists of a screw nut power assembly, a fixing frame, a primary lifting frame, a secondary lifting chain, a secondary lifting frame, a tertiary lifting chain and a tertiary lifting frame, the fixing frame is fixedly arranged on the right side of the stand, the fixing frame is provided with a screw nut power assembly, the screw nut power assembly consists of a fixed end, a movable end screw nut, a screw and a servo motor, the fixed end is fixedly arranged at the left side top of the fixing frame, the top of the fixed end is fixedly provided with the servo motor, the output shaft of servo motor passes through drive arrangement and the lead screw top drive connection that the inboard bottom of mount set up, threaded mounting has the expansion end screw on the lead screw, the one-level crane fixed connection in the mount outside of expansion end screw and slidable mounting, the outside slidable mounting of one-level crane has the second grade crane, the outside slidable mounting of second grade crane has the tertiary crane, the movable pulley is installed in the inboard top of one-level crane and second grade crane rotation respectively, the movable pulley outside at one-level crane top is around being equipped with the second grade lift chain, the one end and the mount fixed connection of second grade lift chain, the other end and the inboard bottom fixed connection of second grade lift chain, the movable pulley outside at second grade crane top is around being equipped with tertiary lift chain, the one end and the one-level crane fixed connection of tertiary lift chain, the other end and the inboard bottom fixed connection of tertiary crane of tertiary lift chain are provided with elevating system two on the tertiary crane, elevating system two right-hand member and spraying system fixed connection, the top of tertiary crane is provided with radar mechanism.

As a preferable technical scheme of the utility model, the lifting mechanism II is composed of a motor speed reducer assembly, two synchronous wheels, a synchronous belt, a tension wheel, lifting plates and guide rails, wherein the synchronous wheels are respectively rotatably arranged at the upper end and the lower end of the inside of the three-stage lifting frame, the synchronous wheels positioned at the bottom of the three-stage lifting frame are fixedly connected with an output shaft of the motor speed reducer assembly fixedly arranged at the bottom of the three-stage lifting frame, the tension wheel is arranged in the middle between the synchronous wheels and fixedly arranged in the middle of the inner side of the three-stage lifting frame, the synchronous wheels are in transmission connection with the tension wheel through the synchronous belt, the lifting plates are fixedly arranged on the right side of the synchronous belt, and the lifting plates are slidably arranged on the guide rails arranged on the right side of the three-stage lifting frame. The motor speed reducer assembly drives the synchronous belt through the synchronous wheel, so that the synchronous belt can drive the lifting plate to move up and down along the guide rail, and the flexibility of spraying operation is further improved.

As a preferred embodiment of the present utility model, the driving device is a pulley transmission device.

As a preferable technical scheme of the utility model, the mechanical arm assembly is of a multi-shaft mechanical arm structure, the mechanical arm assembly is fixedly arranged on the right side of the lifting plate, and the right end of the mechanical arm assembly is provided with the spray gun assembly. The mechanical arm assembly of the multi-axis mechanical arm structure can move the spray gun assembly to a designated position through the folding of the joints, the spray gun assembly consists of a spray gun frame, a spray gun and a switch valve, and spraying at all angles is realized through the movement of the mechanical arm assembly.

As a preferable technical scheme of the utility model, the electric control mechanism comprises an electric control cabinet, a touch screen, an emergency stop switch and a remote controller, wherein the electric control cabinet is fixedly arranged on a vertical frame at the left end of the top of a frame, the touch screen is arranged at the left side of the electric control cabinet, and the emergency stop switch and the remote controller are arranged at the top of the electric control cabinet. Through the setting of automatically controlled cabinet, can be used to install the inside components and parts of electric control mechanism, the touch-sensitive screen can be used to the input spraying parameter, and emergency stop switch can be under the emergency and stop this steel construction building spraying robot action fast, and the remote controller can be used to remote control robot carries out the spraying action, if relate to cross operation, to some cables or other obstacles that do not allow the spraying, but the action such as manual control oscilaltion, arm removal, spray gun swing are dodged, also can control and carry out the spraying in the removal in-process to accurate control removes and spraying.

As a preferable technical scheme of the utility model, the radar mechanism comprises a radar and a mounting frame, wherein the mounting frame is fixedly arranged at the top of the three-stage lifting frame, and the radar is fixedly arranged at one end of the mounting frame. The radar can detect the size and distance of the object at the high position, can detect the relative position between the radar and the object at the high position, can detect the outline size of the object at the high position, and is fed back to the electric control mechanism on the spraying robot of the steel structure building to finish the point cloud modeling, auxiliary positioning and obstacle avoidance actions.

As a preferable technical scheme of the utility model, a fan is arranged at one end of the inside of the mounting frame, the exhaust end of the fan is communicated with an air channel arranged at the outer side of the mounting frame, and the air channel is sleeved at the outer side of the radar. The fan blows air to the radar through the air duct to form air wall protection, so that foreign matters on the construction site are prevented from falling on the radar.

The utility model has the beneficial effects that: under the action of the chassis mechanism, the utility model walks to the appointed area of the movable cross beam of the stand column to be sprayed, the spraying parameters are input on the touch screen of the electric control mechanism, then the lifting mechanism carries out lifting action, in the lifting process, the spraying mechanism simultaneously acts to carry out spraying operation on a plurality of surfaces of the stand column or the cross beam until the parameters set by the electric control mechanism are met, the radar mechanism can be used for detecting the section size of the stand column and feeding back the position in the moving process, and for some cables or other obstacles which are not allowed to be sprayed, the remote controller can manually control the actions such as lifting up and down, the movement of the mechanical arm, the swinging of the spray gun and the like to avoid, and can also control whether the spraying is carried out in the moving process, thereby accurately controlling the movement and the spraying;

In addition, the steel structure building spraying robot only needs to be pushed to a designated position and output parameters, so that the beam or the upright post can be automatically sprayed, and the steel structure building spraying robot has the characteristics of high efficiency and low labor intensity.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of the chassis mechanism structure of the present utility model;

FIG. 3 is a schematic view of a lifting mechanism according to the present utility model;

FIG. 4 is a schematic view of the structure of the spraying mechanism of the present utility model;

FIG. 5 is a schematic diagram of the electric control mechanism of the present utility model;

FIG. 6 is a schematic diagram of a radar mechanism according to the present utility model;

fig. 7 is a schematic diagram of a lifting mechanism according to the present utility model.

In the figure: the device comprises a chassis mechanism, a handle 11, a driving wheel 12, a battery assembly 13, a frame 14, a vertical frame 141, a pipe coiling device 15, a universal wheel 16, a radar range finder 17, a lifting mechanism 1, a screw power assembly 21, a fixed end 211, a movable end screw 212, a screw 213, a servo motor 214, a fixed frame 22, a primary lifting frame 23, a secondary lifting chain 24, a secondary lifting frame 25, a tertiary lifting chain 26, a tertiary lifting frame 27, a lifting mechanism 28, a motor speed reducer assembly 281, a synchronous wheel 282, a synchronous belt 283, a tensioning wheel 284, a lifting plate 285, a guide rail 286, a driving device 29, a spraying mechanism 3, a mechanical arm assembly 31, a spray gun assembly 32, a 4 electric control mechanism 41, a touch screen 42, a scram switch 43, a remote controller 44, a radar mechanism 5, a radar 51, an air duct 52, a fan 53 and a 54 mounting frame.

Detailed Description

Example 1

As shown in fig. 1 to 7, the utility model discloses a steel structure building spraying robot, which adopts the technical scheme that the steel structure building spraying robot comprises a chassis mechanism 1, a spraying mechanism 3 and an electric control mechanism 4, wherein the electric control mechanism 4 is arranged at the top of the left end of the chassis mechanism 1, the spraying mechanism 3 is arranged at the right front part of the electric control mechanism 4, the spraying mechanism 3 consists of a mechanical arm component 31 and a spray gun component 32, the chassis mechanism 1 consists of a handle 11, a driving wheel 12, a battery component 13, a frame 14, a pipe coiling device 15, a universal wheel 16 and a radar range finder 17, the frame 14 is an aluminum alloy frame, the driving wheel 12 is respectively and symmetrically arranged at the left end of the bottom of the frame 14 in front and back, the driving wheel 12 is formed by connecting a motor reducer with an off-road wheel in an embedded way, universal wheels 16 are symmetrically arranged at the right end of the bottom of the frame 14, the universal wheels 16 are polyurethane wheel embedded bearings, the auxiliary driving wheel 12 walks, a radar range finder 17 is fixedly arranged at the right side of the frame 14, the radar range finder 17 is used for feeding back the distance between a spraying robot of a building with a steel structure and a stand column to be sprayed and the width information of the stand column, the accuracy of the spraying distance is ensured, the spraying efficiency is improved, meanwhile, when the chassis mechanism 1 walks, the radar range finder 17 can also detect the condition of ground obstacles, the walking safety is ensured, a handle 11 is arranged at the left side of a stand frame 141 arranged at the left end of the top of the frame 14, the handle 11 is provided with a controller electrically connected with the driving wheel 12, the driving wheel 12 can be controlled by the controller on the handle 11 respectively, the advancing, retreating and turning of the chassis mechanism 1 can be controlled, the middle part of the inner side of the stand 141 is provided with a pipe coiling device 15, the pipe coiling device 15 is used for accommodating an external pipe, the lower part of the pipe coiling device 15 is provided with a battery component 13, the battery component 13 can be used for supplying power to all power systems on the spraying robot of the steel structure building, the battery component 13 is a lithium battery, the battery component 13 is fixedly connected with the top surface of the frame 14, the top of the stand 141 is fixedly connected with the bottom of the electric control mechanism 4, the electric control mechanism 4 comprises an electric control cabinet 41, a touch screen 42, an emergency stop switch 43 and a remote controller 44, wherein the electric control cabinet 41 is fixedly arranged on a vertical frame at the left end of the top of the frame 14, the touch screen 42 is arranged at the left side of the electric control cabinet 41, the emergency stop switch 43 and the remote controller 44 are arranged at the top of the electric control cabinet 41, the lifting mechanism I2 is arranged at the right side of the vertical frame 141, the lifting mechanism I2 consists of a screw power assembly 21, a fixed frame 22, a primary lifting frame 23, a secondary lifting chain 24, a secondary lifting frame 25, a tertiary lifting chain 26 and a tertiary lifting frame 27, the fixed frame 22 is fixedly arranged at the right side of the vertical frame 141, the screw power assembly 21 is arranged on the fixed frame 22, the screw rod screw power assembly 21 consists of a fixed end 211, a movable end screw 212, a screw rod 213 and a servo motor 214, wherein the fixed end 211 is fixedly arranged at the left side top of the fixed frame 22, the servo motor 214 is fixedly arranged at the top of the fixed end 211, an output shaft of the servo motor 214 is in driving connection with the top of the screw rod 213 arranged at the bottom of the inner side of the fixed frame 22 through a driving device 29, the driving device 29 is a belt pulley transmission device, the movable end screw 212 is arranged on the screw rod 213 in a threaded manner, the movable end screw 212 is fixedly connected with a first-stage lifting frame 23 which is slidably arranged at the outer side of the fixed frame 22, a second-stage lifting frame 25 is slidably arranged at the outer side of the first-stage lifting frame 23, the outer side of the secondary lifting frame 25 is slidably provided with a tertiary lifting frame 27, the outer sides of the fixed frame 22, the primary lifting frame 23 and the secondary lifting frame 25 are provided with guide grooves, guide bearings arranged on the outer sides of the primary lifting frame 23, the secondary lifting frame 25 and the tertiary lifting frame 26 respectively move stably along the guide grooves, the inner tops of the primary lifting frame 23 and the secondary lifting frame 25 are respectively rotatably provided with a movable pulley, the outer side of the movable pulley at the top of the primary lifting frame 23 is wound with a secondary lifting chain 24, one end of the secondary lifting chain 24 is fixedly connected with the fixed frame 22, the other end of the secondary lifting chain 24 is fixedly connected with the inner bottom of the secondary lifting frame 25, the movable pulley at the top of the secondary lifting frame 25 is wound with a tertiary lifting chain 26, one end of the tertiary lifting chain 26 is fixedly connected with the primary lifting frame 23, the other end of the tertiary lifting chain 26 is fixedly connected with the bottom of the inner side of the tertiary lifting frame 27, the movable pulley is driven by a servo motor 214 to rotate by a driving device, a movable end screw 212 on the screw 213 is connected with the primary lifting frame 23, so that a guide bearing at the outer side of the primary lifting frame 23 moves along a guide groove at the outer side of the fixed frame 22, and as the movable pulleys are respectively arranged at the top ends of the primary lifting frame 23 and the secondary lifting frame 25, the movable pulleys are respectively wound with a secondary lifting chain 24 and a tertiary lifting chain 26, so that the secondary lifting chain 24 and the tertiary lifting chain 26 drive the secondary lifting frame 25 and the tertiary lifting frame 27 to sequentially lift, the tertiary lifting frame 27 is provided with a lifting mechanism II 28, the right end of the lifting mechanism II 28 is fixedly connected with the spraying mechanism 3, the lifting mechanism II 28 is composed of a motor reducer assembly 281, a synchronous wheel 282, a synchronous belt 283, a tensioning wheel 284, a lifting plate 285 and a guide rail 286, the synchronous wheel 282 is provided with two, the synchronous wheel 282 is respectively rotatably arranged at the upper end and the lower end of the interior of the tertiary lifting frame 27, and the synchronizing wheel 282 positioned at the bottom of the three-stage lifting frame 27 is fixedly connected with an output shaft of a motor reducer assembly 281 fixedly arranged at the bottom of the three-stage lifting frame 27, a tensioning wheel 284 is arranged in the middle between the synchronizing wheels 282, the tensioning wheel 284 is fixedly arranged in the middle of the inner side of the three-stage lifting frame 27, the synchronizing wheel 282 is in transmission connection with the tensioning wheel 284 through a synchronous belt 283, a lifting plate 285 is fixedly arranged on the right side of the synchronous belt 283, the lifting plate 285 is slidably arranged on a guide rail 286 arranged on the right side of the three-stage lifting frame 27, the synchronous belt 283 is driven to transmit by the motor reducer assembly 281, the synchronous belt 283 drives the lifting plate 285 to move up and down along the guide rail 286, the spraying mechanism 3 can be driven to move when the lifting plate 285 moves, the mechanical arm assembly 31 is of a multi-shaft mechanical arm structure, the mechanical arm assembly 31 is fixedly arranged on the right side of the lifting plate 285, the right end of the mechanical arm assembly 31 is provided with the spray gun assembly 32, the spray gun assembly 32 consists of a spray gun rack, a spray gun and a switch valve, the spray gun assembly 32 can realize the spraying of all angles through the joint folding movement of the mechanical arm assembly 31, the top of the three-stage lifting rack 27 is provided with the radar mechanism 5, the radar mechanism 5 comprises a radar 51 and a mounting bracket 54, the mounting frame 54 is fixedly arranged at the top of the three-stage lifting frame 27, a radar 51 is fixedly arranged at one end of the mounting frame 54, the radar 51 can detect the size and distance of an object at a high position and detect the relative position between the radar 51 and the object at the high position, meanwhile, the outline size of the object at the high position can be detected and fed back to the electric control mechanism 4 for completing auxiliary positioning and obstacle avoidance actions, a fan 53 is arranged at one end of the inside of the mounting frame 54, the exhaust end of the fan 53 is communicated with an air duct 52 arranged at the outer side of the mounting frame 54, the air duct 52 is sleeved on the outer side of the radar 51, the fan 53 blows air to the radar 51 through the air duct 52, and the formed air wall can protect the radar 51, foreign objects on the construction site are prevented from falling on the radar 51.

The working principle of the utility model is as follows: firstly, the controller on the handle 11 is used for controlling the driving wheel 12 to move the steel structure building spraying robot to a designated area needing to spray the upright post or the cross beam, in the moving process, the radar range finder 17 on the frame 14 can detect the condition of the ground obstacle in real time to ensure the walking safety, after reaching the designated area, the radar range finder 17 can feed back the distance between the steel structure building spraying robot and the upright post needing to spray and the width information of the upright post, the driving device is used for driving the lead screw 213 to rotate by starting the servo motor 214, the movable end screw 212 on the lead screw 213 is connected with the primary lifting frame 23, so that the guide bearing on the outer side of the primary lifting frame 23 moves along the guide groove on the outer side of the fixed frame 22, and the top ends of the primary lifting frame 23 and the secondary lifting frame 25 are respectively provided with the movable pulleys in the lifting moving process, the movable pulleys are respectively wound with a secondary lifting chain 24 and a tertiary lifting chain 26, two ends of the secondary lifting chain 24 are respectively connected with a fixed frame 22 and a secondary lifting frame 25, two ends of the tertiary lifting chain 26 are respectively connected with a primary lifting frame 24 and a tertiary lifting frame 27, the primary lifting frame 23 does not have retractility in the lifting process, so that the secondary lifting chain 24 and the tertiary lifting chain 26 drive the secondary lifting frame 25 and the tertiary lifting frame 27 to sequentially lift and move, the tertiary lifting frame 27 detects the size and the distance of an object at a high position and detects the relative position between the radar 51 and the object at the high position, meanwhile, the outline size of the object at the high position can be detected and fed back to the electric control mechanism 4 for completing auxiliary positioning and obstacle avoidance actions, the spraying parameters are input through the touch screen 42, then, the motor reducer assembly 281 is started to drive the synchronous wheel 282 to drive the synchronous belt 283 to drive the lifting plate 285 to move up and down along the guide rail 286, the spraying mechanism 3 can be driven to move when the lifting plate 285 moves, and meanwhile, the mechanical arm assembly 31 of the multi-axis mechanical arm structure can be folded through joints to move the spray gun assembly 32 to perform spraying operation; in some cases, the cross operation is possibly involved, and when cables or other obstacles which do not allow spraying are used, the remote controller 44 can be used for manually controlling the spraying mechanism 3 to move and swing to avoid, and meanwhile, whether the spraying operation is performed in the moving process can be controlled, so that the moving and spraying can be accurately controlled; during spraying operation, the fan 53 blows air to the radar 51 through the air duct 52, and the formed air wall can protect the radar 51 and prevent foreign matters on a construction site from falling on the radar 51.

The circuit connection related to the utility model is a conventional means adopted by the person skilled in the art, can obtain technical teaching through limited tests, and belongs to the widely used prior art.

The components not described in detail herein are prior art.

Although the specific embodiments of the present utility model have been described in detail, the present utility model is not limited to the above embodiments, and various changes and modifications without inventive labor may be made within the scope of the present utility model without departing from the spirit of the present utility model, which is within the scope of the present utility model.

Claims (7)

1. The utility model provides a steel construction building spraying robot, includes chassis mechanism (1), spraying mechanism (3) and electric control mechanism (4), the left end top of chassis mechanism (1) is provided with electric control mechanism (4), the right front of electric control mechanism (4) is provided with spraying mechanism (3), spraying mechanism (3) comprise arm module (31) and spray gun subassembly (32), its characterized in that, chassis mechanism (1) comprises handle (11), drive wheel (12), battery pack (13), frame (14), reelpipe ware (15), universal wheel (16) and radar range finder (17), the bottom left end of frame (14) is provided with drive wheel (12) front and back symmetry respectively, universal wheels (16) are symmetrically arranged at the right end of the bottom of the frame (14) in front and back respectively, a radar range finder (17) is fixedly arranged on the right side of the frame (14), a handle (11) is arranged on the left side of a stand (141) arranged at the left end of the top of the frame (14), a controller electrically connected with a driving wheel (12) is arranged on the handle (11), a pipe coiling device (15) is arranged in the middle of the inner side of the stand (141), a battery assembly (13) is arranged below the pipe coiling device (15), the battery assembly (13) is fixedly connected with the top surface of the frame (14), the top of the stand (141) is fixedly connected with the bottom of an electric control mechanism (4), the right side of the stand (141) is provided with a lifting mechanism I (2), the lifting mechanism I (2) consists of a screw nut power component (21), a fixing frame (22), a primary lifting frame (23), a secondary lifting chain (24), a secondary lifting frame (25), a tertiary lifting chain (26) and a tertiary lifting frame (27), the fixing frame (22) is fixedly arranged on the right side of the stand (141), the fixing frame (22) is provided with the screw nut power component (21), the screw nut power component (21) consists of a fixed end (211), a movable end screw nut (212), a screw (213) and a servo motor (214), the fixed end (211) is fixedly arranged at the left side top of the fixed frame (22), the top of the fixed end (211) is fixedly provided with a servo motor (214), an output shaft of the servo motor (214) is in driving connection with the top of a screw rod (213) arranged at the bottom of the inner side of the fixed frame (22) through a driving device (29), a movable end screw nut (212) is arranged on the screw rod (213) in a threaded manner, the movable end screw nut (212) is fixedly connected with a first-stage lifting frame (23) which is slidably arranged at the outer side of the fixed frame (22), a second-stage lifting frame (25) is slidably arranged at the outer side of the first-stage lifting frame (23), the outer side of the secondary lifting frame (25) is provided with a three-stage lifting frame (27), the inner side top parts of the primary lifting frame (23) and the secondary lifting frame (25) are respectively and rotatably provided with a movable pulley, the outer side of the movable pulley at the top part of the primary lifting frame (23) is wound with a secondary lifting chain (24), one end of the secondary lifting chain (24) is fixedly connected with a fixed frame (22), the other end of the secondary lifting chain (24) is fixedly connected with the inner side bottom part of the secondary lifting frame (25), the outer side of the movable pulley at the top part of the secondary lifting frame (25) is wound with a three-stage lifting chain (26), one end of the three-stage lifting chain (26) is fixedly connected with the primary lifting frame (23), the other end of the three-stage lifting chain (26) is fixedly connected with the inner bottom of the three-stage lifting frame (27), a lifting mechanism II (28) is arranged on the three-stage lifting frame (27), the right end of the lifting mechanism II (28) is fixedly connected with the spraying mechanism (3), and a radar mechanism (5) is arranged at the top of the three-stage lifting frame (27).

2. The steel structure building spraying robot of claim 1, wherein: elevating system two (28) are by motor reducer subassembly (281), synchronizing wheel (282), hold-in range (283), take-up pulley (284), lifter plate (285) and guide rail (286), synchronizing wheel (282) are provided with two, synchronizing wheel (282) rotate respectively and install both ends about the inside of tertiary crane (27), and be located the output shaft fixed connection of synchronizing wheel (282) and fixed mounting motor reducer subassembly (281) in tertiary crane (27) bottom of tertiary crane (27), the middle part between synchronizing wheel (282) is provided with take-up pulley (284), and take-up pulley (284) fixed mounting is in the inboard middle part of tertiary crane (27), pass through hold-in range (283) transmission connection between synchronizing wheel (282) and take-up pulley (284), right side fixed mounting of hold-in range (283) has lifter plate (285), and lifter plate (285) slidable mounting is on guide rail (286) that tertiary crane (27) right side set up.

3. The steel structure building spraying robot of claim 1, wherein: the driving device (29) is a belt pulley transmission device.

4. The steel structure building spraying robot according to claim 2, wherein: the mechanical arm assembly (31) is of a multi-shaft mechanical arm structure, the mechanical arm assembly (31) is fixedly arranged on the right side of the lifting plate (285), and the spray gun assembly (32) is arranged at the right end of the mechanical arm assembly (31).

5. The steel structure building spraying robot of claim 1, wherein: the electric control mechanism (4) comprises an electric control cabinet (41), a touch screen (42), an emergency stop switch (43) and a remote controller (44), wherein the electric control cabinet (41) is fixedly installed on a stand at the left end of the top of the frame (14), the touch screen (42) is arranged on the left side of the electric control cabinet (41), and the emergency stop switch (43) and the remote controller (44) are arranged on the top of the electric control cabinet (41).

6. The steel structure building spraying robot of claim 1, wherein: the radar mechanism (5) comprises a radar (51) and a mounting frame (54), wherein the mounting frame (54) is fixedly arranged at the top of the three-stage lifting frame (27), and the radar (51) is fixedly arranged at one end of the mounting frame (54).

7. The steel structure building spraying robot of claim 6, wherein: the inside one end of mounting bracket (54) is provided with fan (53), the exhaust end of fan (53) communicates with wind channel (52) that mounting bracket (54) outside set up, and wind channel (52) suit sets up in the outside of radar (51).