CN113318891A - Variable-curvature flexible cable traction spraying robot for large curved wall - Google Patents

Abstract

The invention discloses a variable curvature flexible cable traction spraying robot for a large curved wall, which comprises a spraying robot body, wherein a transverse moving platform is arranged at the front end part in the spraying robot body, a movable rotatable variable curvature spraying platform is arranged on the transverse moving platform, a deformable connecting rod assembly for installing a spraying gun group is arranged on the rotatable variable curvature spraying platform, a ducted machine is arranged at the rear end part in the spraying robot body, a lead screw sliding table group is arranged in the middle part in the spraying robot body, telescopic support legs are respectively arranged at the end parts of the sliding platforms in the lead screw sliding table group, a flexible cable buckle for connecting a driving device is also arranged on the spraying robot body, and the rotary variable curvature spraying platform in the spraying robot body is driven by the driving device to move along the curved wall. The invention can be used for spraying different complex large-scale curved walls, combines the advantages of the flexible cable, and well solves the problems of stability during high-altitude spraying and efficiency of large-area spraying.

Description

Variable-curvature flexible cable traction spraying robot for large curved wall

The technical field is as follows:

the invention relates to the field of spraying robots, in particular to a variable-curvature flexible cable traction spraying robot for a large-scale curved wall.

Background art:

compared with a flat plane, the curved surface reduces the spraying efficiency due to the changeful surface shape, and the problem of uneven coating is easily caused. In addition, because the large curved wall has a high height and a wide width, if a manual spraying mode is adopted, the safety is difficult to ensure, and equipment such as a scaffold or a hanging basket to be erected during spraying is greatly limited by the environment, so that an automatic spraying device with strong adaptability is needed.

Chinese patent No. CN209078735U proposes a parallel spraying robot with rope traction on the outer surface of the ship, which can be used for spraying the arc surface of the ship by controlling the pitch angle and the overall up-and-down movement of the spray gun through the rope, but this method cannot ensure the stability of the spray gun in the spraying process, and the spray gun is easily shaken by the reverse thrust of the spraying and the shaking of the rope.

Chinese patent No. CN111287417A proposes an intelligent robot for spraying the outer wall of a high-rise building, which realizes vertical walking of the robot on the wall through a winch and a suction foot, thereby improving the spraying efficiency and quality, but this method needs to lay a longer guide rail on the top floor, and this spraying method can only be applied to a flat outer wall, and cannot be used for spraying a large curved surface.

Chinese patent No. CN109898811A proposes a robot for painting an outer wall of a high-rise building, which uses a reverse thrust provided by fans on four feet to make the robot adhere to the wall surface and paint the wall surface. The spraying robot cannot carry excessive paint due to the limitation of body types, cannot work for a long time, and lacks corresponding protective measures to deal with the condition that a fan is suddenly stopped.

Therefore, a spraying device for the wall surface, particularly a large curved surface, which has the advantages of stable work, strong adaptability and high efficiency is needed. The variable-curvature flexible cable traction spraying robot for the large-scale curved wall, disclosed by the invention, realizes the reciprocating spraying movement of the platform in a flexible cable traction mode, and tightly presses the platform on the wall surface by the reverse thrust generated by the dragging ducted machine, and realizes the spraying of different curved surfaces by the rotatable variable-curvature spraying platform and the telescopic support legs in the platform, so that the spraying tasks of different curved surfaces can be well completed.

The invention content is as follows:

the invention aims to make up the defects of the prior art, provides a variable-curvature flexible cable traction spraying robot for large-scale curved walls, can be used for spraying different complex large-scale curved walls, combines the advantages of flexible cables, and well solves the problems of stability and efficiency of large-scale spraying during high-altitude spraying.

The invention is realized by the following technical scheme:

a variable curvature flexible cable traction spraying robot for large curved walls comprises a spraying robot body, wherein the spraying robot body is of a hollow frame structure, a transverse moving platform is installed at the front end in the spraying robot body, a movable rotatable variable curvature spraying platform is installed on the transverse moving platform, a deformable connecting rod assembly used for installing a spraying gun group is installed on the rotatable variable curvature spraying platform, a duct machine is installed at the rear end in the spraying robot body, a synchronously telescopic lead screw sliding table group which is located above and below the transverse moving platform is installed in the middle in the spraying robot body, telescopic support legs are installed at the end parts of the sliding platforms in the lead screw sliding table group respectively, the telescopic support legs are located at the two sides of the spraying robot body, and flexible cable buckles used for connecting with a driving device are installed at the outer surface space corner positions of the spraying robot body respectively, drive this internal rotatory variable camber spraying platform of spraying robot through drive arrangement and remove along the curved surface wall, rotatory variable camber spraying platform can rotate and horizontal translation motion, and the gesture laminating that can both let spray gun group in different spraying positions treats the spraying curved surface, the thrust that the ducted machine operation produced firmly presses rotatory variable camber spraying platform and can both accomplish effective spraying to convex surface and concave surface on treating the spraying wall, but the cooperation of scalable stabilizer blade and lead screw sliding platform group is used and can help rotatory variable camber spraying platform to cross pit or barrier and do not change original motion trail.

The spraying robot body be the hanging flower basket structure, the top and the both sides of hanging flower basket are installed respectively and are prevented that debris from getting into the inside protection network that influences its work of spraying device, the apron that is used for fixed other part is installed respectively to the bottom and the rear end of hanging flower basket.

The rotatable variable-curvature spraying platform comprises a bottom plate, a cross slide rail is mounted on the bottom plate, a deformable connecting rod assembly is mounted on the cross slide rail, the middle part and two end parts of the connecting rod assembly respectively pass through sliding guide pillars, the sliding guide pillars in the middle part of the connecting rod assembly are guided to longitudinally move in longitudinal guide grooves of the cross slide rail and are driven by a lead screw assembly, the sliding guide pillars at two end parts of the connecting rod assembly are guided to be mounted on horizontal grooves of the cross slide rail, the sliding guide pillars are guided to move in the horizontal grooves and are driven by a plurality of groups of rope winding mechanisms, the rope winding mechanisms on one side of each horizontal groove are mounted on the upper end face of the bottom plate, the rope winding mechanisms on the other side of each horizontal groove are mounted on the lower end face of the bottom plate, and a rotating mechanism is mounted at the bottom end of the bottom plate.

The connecting rod assembly comprises four connecting rods which are mutually connected, sliding guide columns are respectively arranged at the two end parts and the hinged part of the middle part of each connecting rod, the bottom end part of each sliding guide column at the hinged part of the middle part is screwed on the screw rod, the screw rod is rotatably arranged above the longitudinal guide groove and is driven by a driving motor at the end part to rotate, the sliding guide columns at the two end parts are respectively and elastically connected with the upright columns at the two end parts of the horizontal groove of the cross slide rail through springs, and spray guns are respectively arranged on the four connecting rods; the utility model discloses a spraying device, including the winding drum, the winding drum support is installed on the bottom plate, the rope is convoluteed respectively to the winding drum, the one end of rope is fixed on the winding drum, the other end of rope passes guide pulley on the bottom plate respectively and is connected with the articulated department both sides of the adjacent connecting rod at both ends, four connecting rods position change under the drive of middle part lead screw and both ends rope, and the spring at both ends is further tensioned simultaneously, and the pulling force that produces keeps the shape of buckling that four connecting rods produced jointly with lead screw and rope, makes the spray gun keep stable at the in-process of spraying.

The rotary mechanism comprises a rotating shaft, the bottom end part of the rotating shaft is rotatably installed on a transverse moving sliding table below the rotating shaft through a lower support, the upper end part of the rotating shaft is rotatably connected with a bottom plate through an upper support, a sector gear is fixedly installed in the middle of the rotating shaft, the sector gear is driven by a driving gear on one side of the sector gear, the driving gear is fixedly installed at the output shaft end of a driving motor, and the driving motor is fixedly installed on the bottom end face of the bottom plate.

Lateral shifting slip table including the unable adjustment base that the level set up, unable adjustment base's both ends are respectively through strengthening rib fixed mounting at this internal preceding tip of spraying robot, the last guide slot that is equipped with of unable adjustment base, be equipped with the guide rail on the both sides terminal surface of guide slot, install the hold-in range in the guide slot, the bottom face and the hold-in range fixed connection of lower carriage just drive the guide rail of lower carriage on unable adjustment base and lead to the removal to drive the motion of rotatable variable camber spraying platform.

Duct machine including the casing, the rotation axis is installed to the casing internal rotation, install the flabellum on the rotation axis, the rotation of rotation axis is through the driving motor drive in its rear end portion installation end inner shell, be equipped with the mounting hole on the apron of tip behind the hanging flower basket, casing fixed mounting is on the apron.

The lead screw sliding table group respectively comprises two fixed brackets which are correspondingly arranged at intervals, the fixed brackets are fixedly arranged at the bottom and the top of the spraying robot body, the fixed brackets are respectively and rotatably provided with a ball screw, the ball screws are respectively provided with a sliding platform which is matched with the ball screws in a guiding way, horizontal guide rails for guiding are arranged at two sides of the ball screws, the ends of the ball screw rods corresponding to the upper and lower parts are respectively connected through a connecting shaft, the connecting shafts are respectively provided with synchronous pulleys, the synchronous belt wheels are connected through a synchronous belt in a transmission way, the synchronous belt wheels are driven through driven gears on a connecting shaft below the synchronous belt wheels, the driven gears are driven through driving gears on a rotating shaft on one side of the driven gears, and the rotating shaft is provided with a driven fixed belt wheel which is arranged at an interval with the driving gear, and the driven synchronous belt wheel is in transmission connection with a driving synchronous belt wheel at the output end of the driving motor.

Scalable stabilizer blade including the guide rail that the interval set up from top to bottom, the sliding platform tip fixed connection of the one end of guide rail all with the lead screw sliding table group that corresponds, the other end of guide rail is installed respectively rather than the flexible rail of direction complex, the direction removal of flexible rail passes through lead screw subassembly drive, the lead screw subassembly is including the two-way screw lead screw of installing the vertical setting between the guide rail installation end, install the screw thread slider that two intervals set up on the two-way screw lead screw and close soon with corresponding screw thread section, the screw thread slider is connected with flexible rail through the connecting rod that the slope set up respectively, the bull's eye wheel that is used for realizing the removal of spraying platform along the all directions of spraying wall is installed to the front end tip of flexible rail.

The variable curvature flexible cable traction spraying robot for the large-scale curved wall comprises the following specific using method steps:

(1) the flexible cables arranged at the four corners of the large-scale curved wall drag the spraying robot to an initial spraying position through the dragging of a winch;

(2) the ducted machine starts to operate, and the generated reverse thrust presses the spraying robot on the curved wall to be sprayed;

(3) the sensor arranged on the spraying robot identifies the shape and curvature information of the current curved surface to be sprayed and feeds the information back to the control center, and correspondingly, the spray gun group on the rotatable variable-curvature spraying platform is adjusted into a posture which can be well attached to the curved surface;

(4) the spray gun starts spraying, and the whole spraying robot vertically moves at a constant speed from top to bottom under the traction of the flexible cable;

(5) after the spraying of the current row of curved surfaces is finished, the flexible cable drags the spraying robot to horizontally move a spraying unit, at the moment, the sensor arranged on the spraying robot re-identifies the shape and curvature information of the current curved surface to be sprayed, and if the shape or curvature of the curved surface to be sprayed is changed, the spraying gun group on the rotatable variable-curvature spraying platform is controlled to make corresponding adjustment;

(6) the spray gun starts spraying, and the whole spraying robot vertically moves at a constant speed from bottom to top under the traction of the flexible cable;

(7) and (5) repeating the steps in the steps (3), (4), (5) and (6) until the spraying is finished.

The application of the variable-curvature spraying platform can be used for spraying the surface of a large curved wall, can adapt to different curved shapes and curved surfaces with different curvatures, and keeps the spraying quality and the spraying efficiency. The whole device is composed of different modules, and the whole size is 1.2 meters long, 1 meter wide and 1 meter high. The working space is not limited, the device is pulled by the flexible cable, and the flexible cable pulling device is arranged at the top and two sides of the bottom of the wall surface at four corners.

The device of the invention has the following characteristics:

1. the invention designs a rotatable variable-curvature spraying platform, the spraying platform is dragged by a lead screw nut to ensure that a plurality of spraying guns on the platform can be adjusted to the most suitable spraying posture according to the difference of the curvature of the curved surface, the spraying platform can adapt to the curved surfaces with different curvatures, the spraying platform can carry out rotation and horizontal translation movement, the postures of the spraying gun groups can be attached to the curved surfaces to be sprayed at different spraying positions, and the effective spraying can be carried out on the convex surfaces and the concave surfaces.

2. The invention designs a traction mode combining a flexible cable and wind pressure, the spraying robot is dragged by the flexible cable to move, and the spraying platform is firmly pressed on the wall surface to be sprayed by utilizing the reverse thrust generated by the operation of the ducted machine, so that the problem of the shaking of the spraying device in high altitude is solved, the spraying quality and the working efficiency are improved, and the safety of the spraying device is also improved.

3. The telescopic support legs adopt a bidirectional lead screw transmission mode, so that the arrangement of a motor is reduced, and the stability is improved structurally. Four sliding tables of the screw rod sliding table group for installing the telescopic supporting legs realize the effect of being driven by one motor through synchronous belts and gears, the redundancy of a plurality of motors is avoided, and the control is simplified. The telescopic supporting feet and the lead screw sliding table group are matched for use, so that the spraying platform can be helped to cross the pits or barriers without changing the original motion track.

4. The hanging basket has the advantages that the whole body is light, meanwhile, the durability and the reliability are improved structurally, later maintenance and maintenance are convenient, the hanging basket can be well adapted to complex working environments of the construction industry, and compared with manual hanging basket spraying, the safety and the efficiency are also greatly improved.

5. The invention adopts a spraying mode of multi-spray gun cooperated spraying, ensures the spraying quality, improves the efficiency and gives full play to the advantages of a flexible cable traction working mode.

Description of the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a top view of a rotatable variable curvature spray platform configuration;

FIG. 3 is a bottom view of the rotatable variable curvature spray platform configuration;

figure 4 is an exploded view of the rotary mechanism;

fig. 5 is a structural sectional view of the rotating mechanism;

FIG. 6 is a schematic structural view of the cord winding mechanism;

FIG. 7 is a schematic structural view of a cross slide rail;

FIG. 8 is a schematic structural view of a lateral shift slide;

FIG. 9 is a schematic view of the structure of the retractable leg;

FIG. 10 is a schematic view of a screw slide unit;

FIG. 11 is a partial structural view of a screw sliding table set structure;

figure 12 is a schematic structural view of the ducter;

FIG. 13 is a schematic view of the overall spray operation of the spray platform;

FIG. 14 is a schematic view of a rotatable variable curvature spray platform for spraying concave curves;

FIG. 15 is a top plan view of the spray platform in its entirety during operation when spraying concave curves;

FIG. 16 is a schematic view of a rotatable variable curvature spray platform for spraying a convex curve;

FIG. 17 is a top plan view of the overall operation of the spray platform when spraying a convex curve;

fig. 18 is an overall flowchart of the operation of the painting robot.

Reference numerals:

in fig. 1: the device comprises a rotatable variable-curvature spraying platform-1, a transverse moving sliding table-2, reinforcing ribs-3, telescopic support legs (right) -4, a hanging basket-5, a cover plate-6, a screw rod sliding table group-7, telescopic support legs (left) -8, flexible cable buckles-9, a protective net-10 and a ducted machine-11;

in fig. 2: bottom plate-1001, sliding guide post-1002, cross slide rail-1003, spring-1004, connecting rod-1005, pulley-1006, rope-1007, connecting rod-1008, sliding guide post-1009, connecting rod-1010, pulley-1011, rope-1012, sliding guide post-1013, spring-1014, connecting rod-1015, rope-winding mechanism-1016, rope-1017, threaded screw-1018, coupling-1019, driving motor-1020, rope-1021, rope-1022 and spray gun-1023;

in fig. 3: a rope winding mechanism-1024, a rotating mechanism-1025 and a rope winding mechanism-1026;

in fig. 4: a round nut-1101, a ball bearing-1102, an upper bracket-1103, a shaft-1104, a round nut-1105, a sector gear-1106, a lower bracket-1107, a driving gear-1108 and a driving motor-1109;

in fig. 6: a driving motor-1201, a motor bracket-1202, a coupling-1203, a reel-1206, a reel bracket-1204 and a 1207;

in fig. 7: a slide rail body-1301, a ball screw support-1302 and a vertical column-1303;

in fig. 8: a driving motor-2003, a motor bracket-2002, a coupler-2001, a fixed base-2004 and a synchronous belt driving mechanism-2005;

in fig. 9: a driving motor-4001, a coupler-4002, a motor bracket-4003, a bidirectional threaded screw-4004, a left-handed threaded slider-4005, a right-handed threaded slider-4006, a bull eye wheel-4007, a telescopic rod-4008, a guide rail-4009 and a guide rod-4010;

in fig. 10: a sliding platform-7001, a fixed bracket-7002, a horizontal guide rail (rear) -7003, a driving motor-7004, a coupling-7005 and a synchronous belt-7006;

in fig. 11: a horizontal guide rail (front) -7007, a ball screw-7008, a driving synchronous pulley-7009, a driven synchronous pulley-7010, a driving gear-7011, a connecting shaft-7012, a connecting shaft-7013, a driven gear-7014, a driving synchronous pulley-7015, a synchronous belt-7016 and a nut-7017;

in fig. 12: a shell-14, a rotating shaft-15, an inner shell-16 and fan blades-17;

in fig. 13: 12-spraying the robot body, 13-large curved wall and C-spraying track.

The specific implementation mode is as follows:

see the drawings.

With reference to fig. 1, a variable curvature flexible cable traction spraying robot for large curved walls is composed of a rotatable variable curvature spraying platform 1, a transverse moving sliding table 2, reinforcing ribs 3, telescopic support legs (right) 4, a hanging basket 5, a cover plate 6, a screw rod sliding table group 7, telescopic support legs (left) 8, flexible cable buckles 9, a protective net 10 and a ducter 11.

Further, the hanging basket 5 is a frame of the whole spraying platform, all parts are directly or indirectly arranged on the hanging basket in different modes, and protective nets 10 are arranged on the top and two sides of the hanging basket 5 to prevent sundries from entering the spraying device to influence the work of the spraying device. Cover plates 6 are installed at the bottom and rear of the basket 5 for fixing other parts. The telescopic supporting leg (left) 8 and the telescopic supporting leg (right) 4 have the same structure, and two guide rails on the telescopic supporting leg can be synchronously telescopic to adapt to different spraying wall surfaces. The spraying platform is pressed on the curved wall to be sprayed by the reverse thrust generated by the forward rotation of the ducted machine 11, so that the spraying platform is prevented from shaking, and in addition, the spraying platform can be blown away from the curved wall to be sprayed by the reverse thrust generated by the reverse rotation of the ducted machine 11, and the platform can be freely moved by the traction of the flexible cable. The transverse moving sliding table 2 is arranged on the hanging basket through a reinforcing rib 3, and the rotatable variable-curvature spraying platform 1 arranged on the transverse moving sliding table can transversely slide. Four sliding platforms of lead screw sliding table group 7 can stretch out and draw back in step, and scalable stabilizer blade (left) 8 and scalable stabilizer blade (right) 4 on it are installed in the cooperation, when meetting pit or bellied barrier, need not change original motion trajectory and can cross, have improved spraying efficiency. Rotatable variable camber spraying platform 1 installs on lateral shifting slip table 2, and rotatable variable camber spraying platform 1 can be on lateral shifting slip table 2 lateral sliding, and the rotary motion of rotatable variable camber spraying platform 1 itself in the cooperation can realize the effect to the spraying of different camber curved surfaces. Eight flexible cable buckles 10 on the spraying platform device are used for connecting flexible cables, four flexible cables are respectively used for dragging up and down, and the spraying platform is dragged to move along the curved wall through the coordinated motion of the extension and the tightening of the eight flexible cables.

Referring to fig. 2, 3, 4, 5, 6, 7, the rotatable variable curvature spraying platform 1 is composed of a base plate 1001, a sliding guide column 1002, a cross slide 1003, a spring 1004, a connecting rod 1005, a pulley 1006, a rope 1007, a connecting rod 1008, a sliding guide column 1009, a connecting rod 1010, a pulley 1011, a rope 1012, a sliding guide column 1013, a spring 1014, a connecting rod 1015, a rope winding mechanism 1016, a rope 1017, a threaded screw 1018, a coupling 1019, a driving motor 1020, a rope winding mechanism 1021, a rope 1022, a spray gun 1023, a rope winding mechanism 1024, a rotating mechanism 1025 and a rope winding mechanism 1026.

Furthermore, four spray guns 1023 are fixed on four connecting rods 1005, 1008, 1010 and 1015, the spraying direction of the spray guns is determined by the positions of the four connecting rods 1005, 1008, 1010 and 1015, sliding guide columns 1002, 1009 and 1013 are installed in the cross slide 1003, and different positions of the sliding guide columns in the cross slide 1003 determine different postures of the four connecting rods 1005, 1008, 1010 and 1015, besides, the hinged part of the connecting rods 1015 and 1010 and the hinged part of the connecting rods 1008 and 1005 are connected with ropes, so that the broken line formed by the four connecting rods 1005, 1008, 1010 and 1015 can be more approximate to a section of circular arc. The sliding guide post 1009 is threaded and mounted on the threaded lead screw 1018, and when the driving motor 1020 drives the threaded lead screw 1018 to rotate, the sliding guide post 1009 is driven to slide longitudinally in the cross slide rail. The spring 1004,1014 is used to maintain the shape of the four links 1005, 1008, 1010, 1015 and achieve a quick return. When the four connecting rods 1005, 1008, 1010 and 1015 are in the same straight line, the spring 1004,1014 is in a certain tensioning state, and when the positions of the four connecting rods 1005, 1008, 1010 and 1015 are changed by the threaded lead screw 1018 and the rope 1012,1017,1007,1022, the spring 1004,1014 is further tensioned, and the generated tension, the threaded lead screw 1018 and the rope 1012,1017,1007,1022 jointly maintain the folded shape generated by the four connecting rods 1005, 1008, 1010 and 1015, so that the spray gun is kept stable in the spraying process.

In further detail, rotation mechanism 1025 enables bottom plate 1001 and components thereon to rotate about rotation axis 1104 within rotation mechanism. The lower bracket 1107 is connected to the lateral sliding table 2, and by tightening the round nuts 1101 and 1105, the lower bracket 1107, the sector gear 1106 and the inner race of the ball bearing 1102 are fixed together, and accordingly, the upper bracket 1103, the base plate 1001 and the outer race of the ball bearing 1102 are fixed together. When the drive motor is operated, the pinion gear 1108 is in rolling engagement with the sector gear 1106, and because the sector gear is stationary, the base plate is caused to rotate about the pivot axis 1104.

Referring to fig. 8, the lateral movement slide table 2 is composed of a drive motor 2003, a motor holder 2002, a coupling 2001, a fixed base 2004, and a timing belt drive mechanism 2005. The rotation of the driving motor 2003 can drive the movement of the rotatable variable curvature spraying platform 1 mounted on the synchronous belt driving mechanism 2005.

Referring to fig. 9, the telescopic leg (left) 8 and the telescopic leg (right) 4 have the same structure and are composed of a driving motor 4001, a shaft coupling 4002, a motor bracket 4003, a bidirectional threaded screw 4004, a left-handed threaded slider 4005, a right-handed threaded slider 4006, a bull's eye wheel 4008, a telescopic rail 4009, a guide rail 4010 and a connecting rod 4007.

Furthermore, two sections of threads with opposite rotation directions are arranged on the bidirectional threaded screw 4004, thread sliding blocks are arranged on the two sections of threads, the left-handed threaded screw 4005 is arranged on the left-handed thread section, the right-handed threaded screw 4006 is arranged on the right-handed thread, when the driving motor 4001 drives the bidirectional threaded screw 4004 to rotate, the bidirectional threaded screw 4004 is fixed and only rotates but does not move, the left-handed threaded screw 4005 and the right-handed threaded screw 4006 slide on the bidirectional threaded screw 4004, the two screw sliding blocks move at the same speed and in opposite directions, the two screw sliding blocks drive the connecting rod 4007 to move, so that the upper telescopic rail 4009 and the lower telescopic rail 4009 synchronously move, and the bull's eye wheel 4008 is arranged at the tail end of the telescopic rail 4009, so that the spraying platform can move along all directions of the spraying wall surface.

Referring to fig. 10 and 11, the lead screw sliding table set comprises a sliding platform 7001, a fixed support 7002, a horizontal guide rail (rear) 7003, a driving motor 7004, a synchronous belt 7006, a coupler 7005, a horizontal guide rail (front) 7007, a ball screw 7008, a driving synchronous pulley 7009, a driven synchronous pulley 7010, a driving gear 7011, a connecting shaft 7012, a connecting shaft 7013, a driven gear 7014, a driving synchronous pulley 7015, a synchronous belt 7016 and a nut 7017.

Further, power generated by the driving motor 7004 is uniformly transmitted to the four ball screws 7008 through synchronous belt transmission and gear transmission to drive the ball screws 7008 to rotate, and nuts on the ball screws 7008 are fixed with the sliding platforms 7001, so that synchronous extending and retracting movement of the four sliding platforms 7001 is realized.

Referring to fig. 12, the hanging basket comprises a housing 14, a rotating shaft 15 is rotatably mounted in the housing 14, fan blades 17 are mounted on the rotating shaft 15, the rotating shaft 15 is driven by a driving motor in an inner housing 16 at a mounting end at the rear end of the rotating shaft, a mounting hole is formed in a cover plate at the rear end of the hanging basket, and the housing 14 is fixedly mounted on the cover plate.

Fig. 13 shows a painting robot main body 12, a large curved wall 13, and a painting trajectory C in fig. 13. The spraying platform device has the overall spraying mode that the spraying platform device vertically moves up and down along the curved wall and synchronously sprays in the moving process, and after the spraying of a vertical column of the curved wall is finished, the spraying platform horizontally and transversely moves by being pulled by the flexible cable to enter the next vertical spraying path. If the curvature of the curved wall to be sprayed is too large, the ducted machine 11 is stopped, the traction flexible cable is loosened or the ducted machine 11 is rotated reversely, the platform is pushed away from the curved wall by utilizing the thrust of the traction flexible cable, the extension amounts of the telescopic support legs (left) 8 and the telescopic support legs (right) 4 are adjusted to adapt to the shape of the curved wall, the platform is kept parallel relative to the curved wall, when the vertical path to be sprayed is adjusted, the ducted machine rotates forwards, and spraying is started after the platform is close to the curved wall. The spraying to one large curved surface wall can be completed by the circulation.

Referring to fig. 14 and 15, in fig. 15, 13 is a large curved wall, 1 is a rotatable variable curvature spraying platform, and 12 is a spraying robot body. When the spraying platform meets a concave curved surface wall, the specific structure of the rotatable variable-curvature spraying platform 1 is changed, the driving motor 1020 and the driving motors of the rope winding mechanisms 1024 and 1026 on the spraying platform start to work, the approximate curve of the broken line formed by the four connecting rods 1005, 1008, 1010 and 1015 is the same as the curvature of the curved surface to be sprayed by changing the positions of the sliding guide columns 1002, 1009 and 1013, spraying can be started after the positions of the four connecting rods 1005, 1008, 1010 and 1015 are adjusted, and the rotatable variable-curvature spraying platform 1 is enabled to generate proper rotation and transverse displacement through the driving motor 1020 and the driving motor 2003 on the transverse moving sliding table 2 at different positions of the curved surface, so that the approximate curve of the broken line formed by the four connecting rods 1005, 1008, 1010 and 1015 is better matched with the curved surface to be sprayed.

Referring to fig. 16 and 17, similarly, in fig. 17, 13 is a large curved wall, 1 is a rotatable variable curvature spraying platform, and 12 is a spraying robot body. When the spraying platform meets a convex curved surface wall, the specific structure of the rotatable variable curvature spraying platform 1 is changed, the driving motor 1020 and the driving motor of the rope winding mechanism 1016,1021 on the spraying platform start to work, the approximate curve of the broken line formed by the four connecting rods 1005, 1008, 1010 and 1015 is the same as the curvature of the curved surface to be sprayed by changing the positions of the sliding guide columns 1002, 1009 and 1013, spraying can be started after the positions of the four connecting rods 1005, 1008, 1010 and 1015 are adjusted, and the rotatable variable curvature spraying platform 1 is enabled to generate proper rotation and transverse displacement through the driving motor 1020 and the driving motor 2003 on the transverse moving sliding table 2 at different positions of the curved surface, so that the approximate curve of the broken line formed by the four connecting rods 1005, 1008, 1010 and 1015 is better matched with the curved surface to be sprayed.

The method for spraying the large-scale curved wall by using the flexible cable traction variable-curvature spraying robot comprises the following steps:

(1) the flexible cables arranged at the four corners of the large-scale curved wall drag the spraying robot to an initial spraying position through the dragging of a winch;

(2) the ducted machine starts to operate, and the generated reverse thrust presses the spraying robot on the curved wall to be sprayed;

(3) the sensor arranged on the spraying robot identifies the shape and curvature information of the current curved surface to be sprayed and feeds the information back to the control center, and correspondingly, the spray gun group on the rotatable variable-curvature spraying platform is adjusted into a posture which can be well attached to the curved surface;

(4) the spray gun starts spraying, and the whole spraying robot vertically moves at a constant speed from top to bottom under the traction of the flexible cable;

(5) after the spraying of the current row of curved surfaces is finished, the flexible cable drags the spraying robot to horizontally move a spraying unit, at the moment, the sensor arranged on the spraying robot re-identifies the shape and curvature information of the current curved surface to be sprayed, and if the shape or curvature of the curved surface to be sprayed is changed, the spraying gun group on the rotatable variable-curvature spraying platform is controlled to make corresponding adjustment;

(6) the spray gun starts spraying, and the whole spraying robot vertically moves at a constant speed from bottom to top under the traction of the flexible cable;

(7) and (5) repeating the steps in the steps (3), (4), (5) and (6) until the spraying is finished.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a variable camber flexible cable traction spraying machine people for large-scale curved surface wall which characterized in that: the spraying robot comprises a spraying robot body, wherein the spraying robot body is of a hollow frame structure, a transverse moving platform is installed at the front end in the spraying robot body, a movable type rotatable variable-curvature spraying platform is installed on the transverse moving platform, a deformable connecting rod assembly for installing a spraying gun group is installed on the rotatable variable-curvature spraying platform, a ducted machine is installed at the rear end in the spraying robot body, a synchronously telescopic lead screw sliding table group which is positioned above and below the transverse moving platform is installed in the middle in the spraying robot body, telescopic support legs are respectively installed at the end parts of the sliding platforms in the lead screw sliding table group and are positioned at two sides of the spraying robot body, and flexible cable buckles for connecting a driving device are respectively installed at the corner positions of the outer surface space of the spraying robot body, drive this internal rotatory variable camber spraying platform of spraying robot through drive arrangement and remove along the curved surface wall, rotatory variable camber spraying platform can rotate and horizontal translation motion, and the gesture laminating that can both let spray gun group in different spraying positions treats the spraying curved surface, the thrust that the ducted machine operation produced firmly presses rotatory variable camber spraying platform and can both accomplish effective spraying to convex surface and concave surface on treating the spraying wall, but the cooperation of scalable stabilizer blade and lead screw sliding platform group is used and can help rotatory variable camber spraying platform to cross pit or barrier and do not change original motion trail.

2. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: the spraying robot body be the hanging flower basket structure, the top and the both sides of hanging flower basket are installed respectively and are prevented that debris from getting into the inside protection network that influences its work of spraying device, the apron that is used for fixed other part is installed respectively to the bottom and the rear end of hanging flower basket.

3. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: the rotatable variable-curvature spraying platform comprises a bottom plate, a cross slide rail is mounted on the bottom plate, a deformable connecting rod assembly is mounted on the cross slide rail, the middle part and two end parts of the connecting rod assembly respectively pass through sliding guide pillars, the sliding guide pillars in the middle part of the connecting rod assembly are guided to longitudinally move in longitudinal guide grooves of the cross slide rail and are driven by a lead screw assembly, the sliding guide pillars at two end parts of the connecting rod assembly are guided to be mounted on horizontal grooves of the cross slide rail, the sliding guide pillars are guided to move in the horizontal grooves and are driven by a plurality of groups of rope winding mechanisms, the rope winding mechanisms on one side of each horizontal groove are mounted on the upper end face of the bottom plate, the rope winding mechanisms on the other side of each horizontal groove are mounted on the lower end face of the bottom plate, and a rotating mechanism is mounted at the bottom end of the bottom plate.

4. The variable curvature wire-drawn painting robot for large curved walls according to claim 3, wherein: the connecting rod assembly comprises four connecting rods which are mutually connected, sliding guide columns are respectively arranged at the two end parts and the hinged part of the middle part of each connecting rod, the bottom end part of each sliding guide column at the hinged part of the middle part is screwed on the screw rod, the screw rod is rotatably arranged above the longitudinal guide groove and is driven by a driving motor at the end part to rotate, the sliding guide columns at the two end parts are respectively and elastically connected with the upright columns at the two end parts of the horizontal groove of the cross slide rail through springs, and spray guns are respectively arranged on the four connecting rods; the utility model discloses a spraying device, including the winding drum, the winding drum support is installed on the bottom plate, the rope is convoluteed respectively to the winding drum, the one end of rope is fixed on the winding drum, the other end of rope passes guide pulley on the bottom plate respectively and is connected with the articulated department both sides of the adjacent connecting rod at both ends, four connecting rods position change under the drive of middle part lead screw and both ends rope, and the spring at both ends is further tensioned simultaneously, and the pulling force that produces keeps the shape of buckling that four connecting rods produced jointly with lead screw and rope, makes the spray gun keep stable at the in-process of spraying.

5. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: the rotary mechanism comprises a rotating shaft, the bottom end part of the rotating shaft is rotatably installed on a transverse moving sliding table below the rotating shaft through a lower support, the upper end part of the rotating shaft is rotatably connected with a bottom plate through an upper support, a sector gear is fixedly installed in the middle of the rotating shaft, the sector gear is driven by a driving gear on one side of the sector gear, the driving gear is fixedly installed at the output shaft end of a driving motor, and the driving motor is fixedly installed on the bottom end face of the bottom plate.

6. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: lateral shifting slip table including the unable adjustment base that the level set up, unable adjustment base's both ends are respectively through strengthening rib fixed mounting at this internal preceding tip of spraying robot, the last guide slot that is equipped with of unable adjustment base, be equipped with the guide rail on the both sides terminal surface of guide slot, install the hold-in range in the guide slot, the bottom face and the hold-in range fixed connection of lower carriage just drive the guide rail of lower carriage on unable adjustment base and lead to the removal to drive the motion of rotatable variable camber spraying platform.

7. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: duct machine including the casing, the rotation axis is installed to the casing internal rotation, install the flabellum on the rotation axis, the rotation of rotation axis is through the driving motor drive in its rear end portion installation end inner shell, be equipped with the mounting hole on the apron of tip behind the hanging flower basket, casing fixed mounting is on the apron.

8. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: the lead screw sliding table group respectively comprises two fixed brackets which are correspondingly arranged at intervals, the fixed brackets are fixedly arranged at the bottom and the top of the spraying robot body, the fixed brackets are respectively and rotatably provided with a ball screw, the ball screws are respectively provided with a sliding platform which is matched with the ball screws in a guiding way, horizontal guide rails for guiding are arranged at two sides of the ball screws, the ends of the ball screw rods corresponding to the upper and lower parts are respectively connected through a connecting shaft, the connecting shafts are respectively provided with synchronous pulleys, the synchronous belt wheels are connected through a synchronous belt in a transmission way, the synchronous belt wheels are driven through driven gears on a connecting shaft below the synchronous belt wheels, the driven gears are driven through driving gears on a rotating shaft on one side of the driven gears, and the rotating shaft is provided with a driven fixed belt wheel which is arranged at an interval with the driving gear, and the driven synchronous belt wheel is in transmission connection with a driving synchronous belt wheel at the output end of the driving motor.

9. The variable curvature wire-drawn painting robot for large curved walls according to claim 1, wherein: scalable stabilizer blade including the guide rail that the interval set up from top to bottom, the sliding platform tip fixed connection of the one end of guide rail all with the lead screw sliding table group that corresponds, the other end of guide rail is installed respectively rather than the flexible rail of direction complex, the direction removal of flexible rail passes through lead screw subassembly drive, the lead screw subassembly is including the two-way screw lead screw of installing the vertical setting between the guide rail installation end, install the screw thread slider that two intervals set up on the two-way screw lead screw and close soon with corresponding screw thread section, the screw thread slider is connected with flexible rail through the connecting rod that the slope set up respectively, the bull's eye wheel that is used for realizing the removal of spraying platform along the all directions of spraying wall is installed to the front end tip of flexible rail.

10. The variable curvature wire-traction spraying robot for large curved walls according to claim 1, wherein the specific using method comprises the following steps:

(1) the flexible cables arranged at the four corners of the large-scale curved wall drag the spraying robot to an initial spraying position through the dragging of a winch;

(2) the ducted machine starts to operate, and the generated reverse thrust presses the spraying robot on the curved wall to be sprayed;

(3) the sensor arranged on the spraying robot identifies the shape and curvature information of the current curved surface to be sprayed and feeds the information back to the control center, and correspondingly, the spray gun group on the rotatable variable-curvature spraying platform is adjusted into a posture which can be well attached to the curved surface;

(4) the spray gun starts spraying, and the whole spraying robot vertically moves at a constant speed from top to bottom under the traction of the flexible cable;

(5) after the spraying of the current row of curved surfaces is finished, the flexible cable drags the spraying robot to horizontally move a spraying unit, at the moment, the sensor arranged on the spraying robot re-identifies the shape and curvature information of the current curved surface to be sprayed, and if the shape or curvature of the curved surface to be sprayed is changed, the spraying gun group on the rotatable variable-curvature spraying platform is controlled to make corresponding adjustment;

(6) the spray gun starts spraying, and the whole spraying robot vertically moves at a constant speed from bottom to top under the traction of the flexible cable;

(7) and (5) repeating the steps in the steps (3), (4), (5) and (6) until the spraying is finished.

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