Wall-climbing paint spraying robot with elastic anti-explosion wheels

Abstract

The invention discloses a wall-climbing paint spraying robot with elastic anti-explosion wheels. The wall-climbing paint spraying robot comprises the anti-explosion wheels and an elastic connection structure, wherein the anti-explosion wheels comprise wheel shells, wheel end covers, wheel driving systems, anti-explosion plugs and inert gas pipe connection openings; the elastic connection structure comprises connection blocks, spring connection rods and supporting seats. The wall-climbing paint spraying robot can work safely and flexibly in a combustible and explosive environment on the premise of not installing an anti-explosion box, and further ensure that the four driving wheels can be effectively attached to the irregular working surface, so as to prevent the driving force and the attaching force from being affected.

Description

[0001] 【Technical field】 [0002] The invention relates to the field of wall-climbing painting robots, in particular to a wall-climbing painting robot with elastic explosion-proof wheels. [0003] 【Background technique】 [0004] As known, the wall-climbing painting robot is also called the wall mobile robot, which is an automatic robot that can climb on the vertical wall and complete related operations. Cleaning or spraying the walls of objects or hulls, as well as inspection and thickness measurement operations in the nuclear industry, etc. Since vertical wall operations belong to the category of extreme operations, wall-climbing painting robots are also called extreme operation robots; at present, in the long-term In practical application, it is found that because the car body structure adopted by the traditional wall-climbing painting robot is a rigid car body structure with four-wheel drive, that is, the four driving wheels connected to the car body are all rigidly fixedly ...

AI Technical Summary

Problems solved by technology

[0004] As known, the wall-climbing painting robot is also known as the wall mobile robot, which is an automated robot that can climb on a vertical wall and complete related operations. It is used for flaw detection inspection or painting treatment of cylindrical large tanks, cleaning or spraying operations on the walls of buildings or hulls, and inspection and thickness measurement operations in the nuclear industry. Since vertical wall operations belong to the category of extreme operations, climbing Wall painting robots are also called extreme operation robots; at present, in long-term practical applications, it has been found that the car body structure adopted by traditional wall-climbing painting robots is a rigid car body structure with four-wheel drive, that is, it is connected with the car body The four connected driving wheels are all rigidly fixed, so there is no problem with the stable walking operation of the wall-climbing painting robot on a flat work surface, but once it is spraying on the surface of oil storage tanks, large ships, etc. , affected by the storage tank, the irregular outer surface of the ship and the rigid car body of the wall-climbing painting robot, the four driving wheels of the wall-climbing painting robot will have different adhesion forces, so it is very easy for a certain driving wheel of the wall-climbing painting robot to appear The phenomenon that it cannot be attached to the working surface stably will not only affect the driving force of the wall-climbing painting robot and its overall adhesion on the working surface, but also cause the route of the wall-climbing painting robot to travel during the operation. Deviation from the planned route will eventually cause the application party to suffer corresponding economic losses;

[0005]In addition, the traditional wall-climbing painting robot adopts a wheel structure in which the drive motor and the wheel are separated, that is, the magnetic force generated by the magnetic wheel shell on the corresponding wall The adsorption force makes the wall-climbing painting robot adsorb to the wall, and then transmits the torque of the motor located outside the wheel to the wheel through the torque transmission system, so as to achieve the purpose of replacing manual work on the wall; however, due to some working environments are flammable and Explosive environment, such as when working in a tank that has stored corresponding chemical substances, or when spraying paint in a cavity with limited internal space and no air circulation, due to the gas of some corresponding chemical substances remaining in the tank or wall climbing The paint mist sprayed by the painting robot is flammable, and the driving system of the wall-climbing painting robot objectively has irregular sparks, so once the gas in the environment encounters sparks, it will burn or flash. , thus bringing harm to the application side; at present, in order to prevent the burning or flash explosion of the wall-climbing painting robot when it is working in an inflammable and explosive environment, the traditional measure is to drive the wheels that may spark in the wall-climbing painting robot The motor and motor driver are subjected to explosion-proof treatment, that is, the motor and driver are isolated from the external environment by installing the corresponding explosion-proof box, so as to avoid the phenomenon of burning or flash explosion. However, such an explosion-proof box structure makes the overall appearance of the wall-climbing painting robot Complexity, large volume and weight, which accordingly limit its flexible operation in a limited space, resulting in the inability to give full play to the mobility advantages of wheels when operating in flammable and explosive environments

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