CN105437239B - A kind of harbor crane maintaining robot - Google Patents
A kind of harbor crane maintaining robot Download PDFInfo
- Publication number
- CN105437239B CN105437239B CN201510841484.7A CN201510841484A CN105437239B CN 105437239 B CN105437239 B CN 105437239B CN 201510841484 A CN201510841484 A CN 201510841484A CN 105437239 B CN105437239 B CN 105437239B
- Authority
- CN
- China
- Prior art keywords
- spray assembly
- magnetic
- shell
- spray
- coating liquor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005291 magnetic effect Effects 0.000 claims abstract description 121
- 238000005507 spraying Methods 0.000 claims abstract description 97
- 239000007921 spray Substances 0.000 claims abstract description 86
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 63
- 239000010959 steel Substances 0.000 claims abstract description 63
- 238000010521 absorption reaction Methods 0.000 claims abstract description 18
- 239000000839 emulsion Substances 0.000 claims description 41
- 229920001971 elastomer Polymers 0.000 claims description 40
- 229920000126 latex Polymers 0.000 claims description 22
- 239000004816 latex Substances 0.000 claims description 21
- 238000005498 polishing Methods 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 13
- 229910001369 Brass Inorganic materials 0.000 claims description 11
- 239000010951 brass Substances 0.000 claims description 11
- 239000000696 magnetic material Substances 0.000 claims description 11
- 238000002955 isolation Methods 0.000 claims description 10
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 4
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 230000008961 swelling Effects 0.000 claims description 3
- 239000011230 binding agent Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 239000006247 magnetic powder Substances 0.000 claims 1
- 230000003628 erosive effect Effects 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 10
- 239000011248 coating agent Substances 0.000 description 6
- 238000000576 coating method Methods 0.000 description 6
- 230000001965 increasing effect Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 210000000481 breast Anatomy 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 230000000873 masking effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Coating Apparatus (AREA)
Abstract
The invention discloses a kind of harbor crane maintaining robot, including vehicle frame and be arranged at bottom of frame for and the roller that coordinates of steel structure surface, the vehicle frame corner is provided with the magnetic suck part that steel structure surface is pressed on for vehicle frame to be adsorbed；The vehicle frame middle part is rotatably connected to spray assembly and sanding component, the spray assembly and rotary electric machine drive connection by bearing respectively；The sanding component is connected with spray assembly by drive；The magnetic suck part is magnet base.Can be with driven machine people climbing to steel structure surface by using robot described herein, the surface to there is a problem carries out spraying operation, prevents steel structure surface deep erosions.By using magnet base for magnetic suck part can improve absorption affinity.
Description
Technical field
The present invention relates to a kind of harbor crane maintaining robot.
Background technology
It is well known that harbor crane is the plant equipment of the goods vertical-lift and the level carrying that are frequently used in harbour, its
Middle arm is indispensable part, and arm is the important composition for bearing goods weight, and major part is fabricated by by steel,
The arm of outdoor study, outside is steel structure surface, and surface spraying has the coating of antirust.In rainy environment or accidental damage shape
Under state, the anticorrosive coating of the steel structure surface of arm is easily separated from, and depth corruption is easily caused if do not safeguarded timely
Erosion, the endurance to arm threatens.Because arm is more long, operate with certain difficulty.Prior art is badly in need of one
Plant the harbor crane maintaining robot that can facilitate and be safeguarded to steel structure surface.
The content of the invention
It is an object of the invention to overcome defect present in prior art, there is provided one kind can facilitate to enter steel structure surface
The harbor crane maintaining robot that row is safeguarded.
To achieve the above object, the technical scheme is that providing a kind of harbor crane maintaining robot, including car
Frame and be arranged at bottom of frame for and steel structure surface cooperation roller, the vehicle frame corner is provided with for by vehicle frame adsorption pressure
The tight magnetic suck part in steel structure surface；The vehicle frame middle part is rotatably connected to spray assembly and polishing group by bearing respectively
Part, the spray assembly and rotary electric machine drive connection；The sanding component is connected with spray assembly by drive；Institute
Magnetic suck part is stated for magnet base, the magnet base includes outside soft magnetic materials shell and rotatable connection in soft magnetic materials shell
Interior permanent magnetic magnet, the permanent magnetic magnet rotation outer rim is provided with a pair of brass magnetic isolation plates.By using machine described herein
People can be with driven machine people climbing to steel structure surface, and the surface to there is a problem carries out spraying operation, prevents steel knot
Structure case depth corrodes.By using magnet base for magnetic suck part can improve absorption affinity, while the magnetic force of magnet base can be with
Change absorption of the magnet base to steel structure surface by adjusting permanent magnetic magnet, absorption beneficial to vehicle frame and steel structure surface and tear open
Remove.
Preferably, the roller includes wheel hub and the rubber tyre being arranged on outside wheel hub；The rubber tyre and wheel
Embedded multi-disc magnetic sheet between hub, the magnetic sheet is uniform around wheel hub.Such design can strengthen roller with steel structure surface
Absorption affinity, because magnet base is fixed on vehicle frame, has a certain distance with steel structure surface, if in order to increase magnetic attraction
Increasing the gravity of magnet base can increase the weight of whole vehicle body, form conflict；Magnetic sheet is embedded in magnetic is caused in rubber tyre
Piece shortens and the increase of magnetic suck effect with steel structure surface operating distance, can alleviate above-mentioned contradiction, plays the work for strengthening absorption
With.This is the first implementation method of roller.
Preferably, the roller includes wheel hub and the rubber tyre being arranged on outside wheel hub；The rubber tyre internal reference
Miscellaneous to have magnetic, the magnetic doping concentration is outwards stepped up along wheel hub heart.Such design can strengthen roller and steel knot
The absorption affinity on structure surface, because magnet base is fixed on vehicle frame, has a certain distance with steel structure surface, if in order to increase
Magnetic attraction and the gravity that increases magnet base can increase the weight of whole vehicle body, form conflict；Magnetic is entrained in rubber wheel
Magnetic and steel structure surface operating distance can be shortened in tire, magnetic suck effect is improved；Magnetic doping concentration along wheel hub heart to
The outer raising for being stepped up being more favorable for magnetic effect, the doping of magnetic will be premised on the elasticity for ensureing rubber tyre, preferably
The magnetic that percentage by weight is 5% ~ 15% is participated in be advisable.Above-mentioned contradiction can be alleviated, play a part of to strengthen absorption.This is rolling
Second implementation method of wheel.
Preferably, the roller includes wheel hub and the rubber inner layer being arranged on outside wheel hub, the rubber inner layer peripheral hardware
Flexible latex outer layer, is provided with magnetosphere between the rubber inner layer and elastic emulsion outer layer, the elastic emulsion outer layer is by magnetic
Circle is packed tightly on rubber inner layer.Such design can strengthen the absorption affinity of roller and steel structure surface, because magnet base is fixed
On vehicle frame, there is a certain distance with steel structure surface, if the gravity for increasing magnet base in order to increase magnetic attraction can increase
Plus the weight of whole vehicle body, form conflict；Magnetosphere is socketed on rubber inner layer, then elastic emulsion is socketed again in magnetosphere
Outer layer, can so be shortened and steel structure surface operating distance by magnetosphere, improve magnetic suck effect, and can rely on elastic emulsion
Outer layer keeps roller outside elasticity.This is the third implementation method of roller.
Preferably, the sanding component includes sanding component shell and is arranged at the opening of sanding component shell
Abrasive brush, the abrasive brush includes brush roll and the bristle being fixed on brush roll, and the bristle is distributed in the arc near brush roll one end
On shape surface；The brush roll is rotated with sanding component shell by brush roll rotating shaft and is connected；The brush roll rotating shaft and polishing servo electricity
Machine drive connection；Can be by brush roll rotating shaft by such design（Brush roll is fixed with brush roll rotating shaft）To control that bristle is distributed with
Position rotate, need polishing when be turned sanding component shell aperture and stretch out, with steel structure surface coordinate, not
Need to be stowed in sanding component enclosure during polishing；Hair point is distributed so on the portion end surface of brush roll can utilize hair
The length of brush is poor to make up the distance between brush roll and steel structure surface, at the same not the used time received, when preventing vehicle frame from running
With steel structure surface continuous frictional, resistance is caused.The brush roll rotating shaft is arranged on the opening portion of sanding component shell, the polishing
Servomotor drives brush roll rotating shaft to drive bristle to rotate, and when bristle is run to opening portion, bristle matches somebody with somebody splice grafting with steel structure surface
Touch.Such design is contacted beneficial to bristle with steel structure surface cooperation.
Preferably, the spray assembly includes spray assembly shell and the spraying being enclosed in spray assembly shell
Liquid, the spraying hydraulic coupling is stored in spray coating liquor reservoir bag, and the spray assembly outer casing bottom is provided with shower nozzle, and the shower nozzle leads to
Cross catheter to be connected with spray coating liquor reservoir bag inside, the catheter is provided with application valve body；Stored by by spraying hydraulic coupling
In spray assembly being transported to steel structure surface by vehicle frame in spray coating liquor reservoir bag, opening controlling valve body, spray coating liquor from
It is forced out in spray coating liquor reservoir bag, is sprayed on steel structure surface.The spray coating liquor reservoir bag is elastic emulsion bag, the spray coating liquor
Poured into elastic emulsion bag by external pressure and force spray coating liquor reservoir bag in spray assembly enclosure in swelling state, work as control
Valve body is under opening, and spray coating liquor is squeezed out shower nozzle by spray coating liquor by spray coating liquor reservoir bag convergent force.Such design
It is the spraying that spray coating liquor is realized by the convergent force of elastic emulsion bag, enriches design；Shower nozzle can be arranged on spraying
The marginal position of package shell bottom.Such design causes that shower nozzle, when being rotated with spray assembly shell, can be sprayed to
Bigger area, improves the efficiency of spraying.
Preferably, the spray assembly enclosure is additionally provided with the magnetic patch slided up and down along spray assembly shell, institute
Magnetic patch is stated to be arranged between spray coating liquor reservoir bag and spray assembly cover top portion, the magnetic patch be used for and steel structure surface absorption with
Strengthen the extruding to spray coating liquor reservoir bag；The spray assembly shell is non-ironware.It is such design allow spray coating liquor according to
The collective effect of the pressure of convergent force and magnetic patch by spray coating liquor reservoir bag and realize spraying；Simultaneously masking liquid reservoir bag and magnetic patch
It is combined with and tends to a relatively stable state beneficial to spray pressure, under beginning state, magnetic patch farther out, is pressed apart from steel structure surface
Power is smaller, and the elastic module of spray coating liquor reservoir bag is larger, and convergent force is stronger, with the Stepwize Shrink of spray coating liquor reservoir bag, bullet
Property variable reduce, and magnetic patch is progressively close to apart from steel structure surface, and attraction is strengthened, and pressure is increased, so entirely to spraying
Liquid extrude during, can mutually be made up between the convergent force and magnetic patch pressure of spray coating liquor reservoir bag, summation tend to one compared with
It is the state of stabilization, is conducive to the realization of spraying effect.Eliminate simultaneously outside for by the compression pump of strong spray pressure, simplifying
Structure has reached same technique effect.
Preferably, the bristle coordinates the contact surface for contacting to be a flat surface with steel structure surface.It is such to set
Meter improves grinding efficiency beneficial to larger contact area is formed.
Preferably, in cylinder, the spray assembly shell is by drive disk assembly and turns for the spray assembly shell
Dynamic motor drive connection；The sanding component shell is in cylinder；Set between the sanding component shell and spray assembly shell
Have the drive of both power connectors.Such design can control two rotations of component by a rotary electric machine,
Can be driven by rotary electric machine when needing spraying or needing polishing.Such design is the receipts by elastic emulsion bag
Contracting power realizes the spraying of spray coating liquor, and enriching design shower nozzle can be arranged on the margin location of spray assembly outer casing bottom
Put.Such design causes that shower nozzle, when being rotated with spray assembly shell, can spray to bigger area, improves spraying
Efficiency.
Preferably, air-vent is offered on the spray assembly shell.Such design is beneficial to magnetic patch in spraying group
Slide in part shell and spray coating liquor reservoir bag expanded in spray assembly shell or during contraction distortion gas suction and discharge.
Preferably, the elastic emulsion bag is internal is additionally provided with a latex balloon, the latex balloon and elasticity breast
The connection of poly-bag top；The elastic emulsion bag thickness is 0.5 ~ 3mm;The latex balloon thickness is 0.1 ~ 1mm.Such design
When soon having been sprayed beneficial to the spray coating liquor in elastic emulsion bag, it is to avoid magnetic patch is to elastic emulsion bag excessive compression；In elastic breast
After poly-bag restores to the original state, if extruded it, folding and folding line are easily formed at extruding, reduce the elasticity of latex
Can, latex balloon is arranged in elastic emulsion bag, support can be realized to elastic emulsion bag by latex balloon, prevent its shape
Into folding and folding line.Latex balloon in elastic emulsion bag can the progressively volume increasing with the reduction of internal spray liquid usage amount
Greatly, support is advantageously implemented, after pouring into spray coating liquor again, due to the pressure increase in elastic emulsion bag, latex balloon volume
Can reduce, such design can realize protection of the latex balloon to elastic emulsion bag, again will not be because of latex balloon volume mistake
Cause greatly to take space in elastic emulsion bag, cause spray coating liquor storage area not enough.
Preferably, the roller and motor drive connection, and roller is connected with steering mechanism.By above-mentioned knot
Structure realizes the operation and steering of car body, and spray assembly is transported to the steel structure surface for needing to safeguard；The roller control of the application
Mode is remote control, and power drive structure and steering structure are general mechanism in existing remote-control car, are not repeated herein.
Preferably, brass magnetic isolation unit part is additionally provided between the magnetic patch and spray assembly cover top portion.It is such to set
Meter can completely cut off the attraction of the outer bound pair magnetic patch of spray assembly cover top portion, it is to avoid the unnecessary interference of other iron components.
Preferably, magnetic patch side wall is provided with PTFE anti-wear with spray assembly outer casing inner wall contact position
Layer.Such design is beneficial to reduce the frictional force between magnetic patch and spray assembly outer casing inner wall, while enhancing magnetic patch outer wall volume
Wearability.
Preferably, it is coated with lubricating oil on the spray assembly outer casing inner wall.Such design is beneficial to smaller spraying
The frictional force of package shell inwall, slides, beneficial to spray coating liquor reservoir bag in spray assembly beneficial to magnetic patch in spray assembly shell
Expansion or rub and be damaged less with spray assembly shell during contraction distortion in shell.
Preferably, the shower nozzle is sealed with catheter junction and set, and the catheter connects with spray coating liquor reservoir bag
Place's sealing is connect to set.Such design causes that shower nozzle can be connected with catheter, is connected by forming high pressure sealing in junction, keeps away
Exempt to be should be during spraying pressure is excessive and leakage；Such design causes that catheter can be connected with spray coating liquor reservoir bag, by even
The place of connecing forms high pressure sealing connection, it is to avoid should be that pressure is excessive during spraying and leakage.The spraying etch-proof spray coating liquor of liquid level,
For example paint, the liquid coating such as epoxy resin coating.
The advantages of the present invention are：Vehicle frame can be driven to climb by using robot described herein
To steel structure surface, the surface to there is a problem carries out spraying operation, prevents steel structure surface deep erosions.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the first implementation method structural representation of roller；
Fig. 3 is second implementation method structural representation of roller；
Fig. 4 is the third implementation method structural representation of roller
Fig. 5 is spray assembly internal structure schematic diagram；
Fig. 6 is sanding component structural representation；
Fig. 7 is another visual angle sanding component internal structure schematic diagram.
In figure：1st, spray assembly shell；2nd, spray coating liquor；3rd, shower nozzle；4th, catheter；5th, application valve body；6th, elastic emulsion
Bag；7th, magnetic patch；8th, steel structure surface；9th, brass magnetic isolation unit part；10th, PTFE anti-wear layer；11st, air-vent；12nd, latex gas
Capsule；13rd, roller；15th, rotary electric machine；16th, soft magnetic materials shell；17th, permanent magnetic magnet；18th, brass magnetic isolation plate；19th, vehicle frame；20、
Sanding component shell；21st, brush roll；22nd, bristle；23rd, brush roll rotating shaft；24th, polishing servomotor；25th, drive；26th, wheel hub；
27th, rubber tyre；28th, magnetic sheet；29th, magnetic；30th, rubber inner layer；31st, elastic emulsion outer layer；32nd, magnetosphere.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the invention is further described.Following examples are only
For clearly illustrating technical scheme, and can not be limited the scope of the invention with this.
As shown in Fig. 1-Fig. 7, as Figure 1-Figure 4, a kind of harbor crane maintaining robot, including vehicle frame 19 and be arranged at
The roller 13 that the bottom of vehicle frame 19 is used for and steel structure surface 8 coordinates, 19 4 jiaos of the vehicle frame is provided with for by the adsorption pressure of vehicle frame 19
The tight magnetic suck part in steel structure surface 8；The middle part of the vehicle frame 19 is rotatably connected to spray assembly and beats by bearing respectively
Mill component, the spray assembly and the drive connection of rotary electric machine 15；The sanding component is passed with spray assembly by drive 25
Dynamic connection；The magnetic suck part is magnet base, and the magnet base includes that outside soft magnetic materials shell 16 exists with rotatable connection
Permanent magnetic magnet 17 in soft magnetic materials shell 16, the permanent rotation of magnetic magnet 17 outer rim is provided with a pair of brass magnetic isolation plates 18.
The roller 13 includes wheel hub 26 and the rubber tyre 27 being arranged on outside wheel hub 26；The rubber tyre 27 and wheel hub
Embedded multi-disc magnetic sheet 28 between 26, the magnetic sheet 28 is uniform around wheel hub 26.
The roller 13 includes wheel hub 26 and the rubber tyre 27 being arranged on outside wheel hub 26；Mixed in the rubber tyre 27
There is magnetic 29, the doping concentration of the magnetic 29 is outwards stepped up along the heart of wheel hub 26.
The roller 13 includes wheel hub 26 and the rubber inner layer 30 being arranged on outside wheel hub 26, and the rubber inner layer 30 is externally provided with
Elastic emulsion outer layer 31, is provided with magnetosphere 32, outside the elastic emulsion between the rubber inner layer 30 and elastic emulsion outer layer 31
Layer 31 packs tightly on rubber inner layer 30 magnetosphere 32.
The sanding component includes sanding component shell 20 and the abrasive brush being arranged at the opening of sanding component shell 20,
The abrasive brush includes brush roll 21 and the bristle 22 being fixed on brush roll 21, and the bristle 22 is distributed near the one end of brush roll 21
On curved surfaces；The brush roll 21 is rotated with sanding component shell 20 by brush roll rotating shaft 23 and is connected；The brush roll rotating shaft 23 with
The polishing drive connection of servomotor 24；The brush roll rotating shaft 23 is arranged on the opening portion of sanding component shell 20, and the polishing is watched
Taking motor 24 drives brush roll rotating shaft 23 to drive bristle 22 to rotate, bristle 22 and steel structure surface when bristle 22 is run to opening portion
8 coordinate contact.
The spray assembly includes spray assembly shell 1 and the spray coating liquor 2 being enclosed in spray assembly shell 1, the spray
The pressure of masking liquid 2 is stored in the reservoir bag of spray coating liquor 2, and the bottom of spray assembly shell 1 is provided with shower nozzle 3, and the shower nozzle 3 is by leading
Liquid pipe 4 is connected with the reservoir bag of spray coating liquor 2 inside, and the catheter 4 is provided with application valve body 5；The reservoir bag of the spray coating liquor 2 is bullet
Property latex rubber bag 6, the spray coating liquor 2 poured into elastic emulsion bag 6 by external pressure and forces the reservoir bag of spray coating liquor 2 outside spray assembly
The inside of shell 1 is in swelling state, and when application valve body 5 is under opening, spray coating liquor 2 will by the reservoir bag convergent force of spray coating liquor 2
Spray coating liquor 2 squeezes out shower nozzle 3.
The magnetic patch 7 slided about 1 along spray assembly shell is additionally provided with inside the spray assembly shell 1, the magnetic patch 7 sets
Put between the reservoir bag of spray coating liquor 2 and the top of spray assembly shell 1, the magnetic patch 7 is used for and steel structure surface 8 adsorbs to strengthen
Extruding to the reservoir bag of spray coating liquor 2；The spray assembly shell 1 is non-ironware.The preferred permanent magnet of magnetic patch 7.
The bristle 22 coordinates the contact surface for contacting to be a flat surface with steel structure surface 8.The bristle 22 be with
The chemical fibre bristle 22 of elasticity.
The spray assembly shell 1 is driven by drive disk assembly in cylinder, the spray assembly shell 1 with rotary electric machine 15
Dynamic connection；The sanding component shell 20 is in cylinder；Be provided between the sanding component shell 20 and spray assembly shell 1 by
The drive 25 of both power connectors.
Air-vent 11 is offered on the spray assembly shell 1.
A latex balloon 12 is additionally provided with inside the elastic emulsion bag 6, the latex balloon 12 is pushed up with elastic emulsion bag 6
Portion connects；6 thickness of the elastic emulsion bag are 0.5 ~ 3mm;The thickness of the latex balloon 12 is 0.1 ~ 1mm
The shower nozzle 3 is arranged on the marginal position of the bottom of spray assembly shell 1.
The roller 13 and motor drive connection, and roller 13 is connected with steering mechanism.
The magnetic suck part is magnet base, and the magnet base includes that outside soft magnetic materials shell 16 exists with rotatable connection
Permanent magnetic magnet 17 in soft magnetic materials shell 16, the permanent rotation of magnetic magnet 17 outer rim is provided with a pair of brass magnetic isolation plates 18.
Spray assembly shell 1 and vehicle frame 19 can be the working of plastics or Al-alloy parts of hard, to mitigate robot
Weight.
The magnetic patch 7 is Nian Jie by binding agent with the reservoir bag contact position of spray coating liquor 2.
Brass magnetic isolation unit part 9 is additionally provided between the magnetic patch 7 and the top of spray assembly shell 1.It can be brass magnetic isolation plate
18 have the sprayed coating of brass material, and can be arranged on magnetic patch 7 can also be in the top inner wall of spray assembly shell 1.
The side wall of the magnetic patch 7 is provided with PTFE anti-wear layer 10 with the inwall contact position of spray assembly shell 1.
Lubricating oil is coated with the inwall of spray assembly shell 1.
The shower nozzle 3 is sealed with the junction of catheter 4 and set, and the catheter 4 is sealed with the reservoir bag junction of spray coating liquor 2
Set.
When manipulation safeguard, permanent magnetic magnet 17 is rotated first, soft magnetic materials and steel structure surface 8 are formed into magnetic suck
Relation, is so pressed on steel structure surface 8 by magnetic suck part by the absorption of vehicle frame 19, and either the bottom surface of vehicle frame 19 is towards any
Direction can realize absorption connection；Control roller 13 is rotated, and vehicle frame 19 is moved into steel structure surface 8 position damaged occurs；
There is into the position damaged in the opening alignment of sanding component shell 20, control polishing servomotor 24 runs, and drives brush roll rotating shaft
23 drive bristles 22 are rotated, and when bristle 22 is run to opening portion, bristle 22 coordinates with steel structure surface 8 and contacts；Stop polishing watching
Motor 24 is taken to run；Control rotary electric machine 15 runs, and drives spray assembly shell 1 to rotate, and then is beaten by the drive of drive 25
Mill package shell 20 is rotated, and then drives the bristle 22 being fixed on brush roll 21 to be rubbed with steel structure surface 8, and its top is departed from
Corrosion-inhibiting coating polishing it is clean, the motor 15 that stops operating runs；The control polishing inverted running of servomotor 24, drives brush roll rotating shaft
23 drive bristles 22 are rotated and are accommodated in inside sanding component shell 20；Vehicle frame 19 is driven to move by motor, by the court of shower nozzle 3
To the position just polished；
Opening rotary electric machine 15 drives spray assembly shell 1 to rotate, while opening controlling valve body 5, spray coating liquor 2 is by spraying
The reservoir bag convergent force of liquid 2, and magnetic patch 7 adsorbs with steel structure surface 8 and the extruding force of the reservoir bag of spray coating liquor 2 is squeezed spray coating liquor 2
Shower nozzle 3 is extruded, so as to realize spraying operation.The marginal position of the bottom of spray assembly shell 1, institute are arranged on due to the shower nozzle 3
It is circle with the path for spraying, can so improves the scope of spraying；Spraying closes application valve body 5 after finishing, and stops operating
Motor 15 runs；The spraying operation for carrying out next position if desired can circulate aforesaid operations；If spraying is finished, by car
Body remote control soft magnetic materials and the magnetic suck relation of steel structure surface 8 is eliminated, the permanent magnetic magnet 17 of rotation by car to lower position
Frame 19 is removed；
As one kind preferably, by the cooperation of the reservoir bag of spray coating liquor 2 and magnetic patch 7, spray coating liquor 2 can be stored up by spray coating liquor 2
Deposit the collective effect of the convergent force of bag and the pressure of magnetic patch 7 and realize spraying；The cooperation of masking liquid reservoir bag and magnetic patch 7 is favourable simultaneously
Tend to a relatively stable state in spray pressure, under beginning state, magnetic patch 7 apart from steel structure surface 8 farther out, pressure compared with
It is small, and the elastic module of the reservoir bag of spray coating liquor 2 is larger, convergent force is stronger, with the Stepwize Shrink of the reservoir bag of spray coating liquor 2, elasticity
Variable reduces, and magnetic patch 7 is progressively close to apart from steel structure surface 8, and attraction is strengthened, and pressure is increased, so entirely to spraying
During liquid 2 is extruded, can mutually be made up between the convergent force and the pressure of magnetic patch 7 of the reservoir bag of spray coating liquor 2, summation tends to one
Relatively stable state, is conducive to the realization of spraying effect.Outside being used for the compression pump of strong spray pressure, letter is eliminated simultaneously
Change structure and reach same technique effect；
After elastic emulsion bag 6 restores to the original state, latex balloon 12 is arranged in elastic emulsion bag 6, can be by latex gas
Capsule 12 realizes support to elastic emulsion bag 6, prevents the excessive extrusion of magnetic patch 7 and forms folding and folding line；Now pass through external equipment
To spray coating liquor 2 is filled with again in elastic emulsion bag 6, due to the pressure increase in elastic emulsion bag 6, the volume of latex balloon 12 can be by
It is tapered small.
Because magnet base is fixed on vehicle frame 19, there is a certain distance with steel structure surface 8, if in order to increase magnetic
Power and the gravity that increases magnet base can increase the weight of whole vehicle body, form conflict；Can be improved with pair roller 13, reached
To the effect for increasing magnetic absorption：
The first implementation method：Rubber tyre 27 is set outside wheel hub 26；Between the rubber tyre 27 and wheel hub 26
Embedded multi-disc magnetic sheet 28, the magnetic sheet 28 is uniform around wheel hub 26；The rubber tyre 27 is solid tyre, and wheel hub 26 is working of plastics
Or aluminum component；The cell body for accommodating magnetic sheet 28 is opened up in wheel hub 26 or rubber tyre 27 so that the fixing-stable of magnetic sheet 28.
Magnetic sheet 28 shortens and the increase of magnetic suck effect with the operating distance of steel structure surface 8, can alleviate above-mentioned contradiction, plays reinforcement absorption
Effect.
Second implementation method：Rubber tyre 27 is set outside wheel hub 26, and the rubber tyre 27 is solid tyre, in rubber
In the manufacturing process of rubber tire tire 27, a little magnetics 29 can be mixed in rubber raw materials, the doping concentration of the magnetic 29 is along wheel hub 26
Heart is outwards stepped up.Magnetic 29 is entrained in rubber tyre 27 can shorten magnetic 29 and steel structure surface 8 act on away from
From raising magnetic suck effect；The doping concentration of magnetic 29 outwards is stepped up being more favorable for the raising of magnetic effect along the heart of wheel hub 26,
The doping of magnetic 29 will preferably participate in the magnetic that percentage by weight is 5% ~ 15% premised on the elasticity for ensureing rubber tyre 27
Powder 29 is advisable.Above-mentioned contradiction can be alleviated, play a part of to strengthen absorption.
The third implementation method：Rubber inner layer 30, the flexible breast of the peripheral hardware of the rubber inner layer 30 are set outside wheel hub 26
Glue outer layer 31, is provided with magnetosphere 32 between the rubber inner layer 30 and elastic emulsion outer layer 31, the elastic emulsion outer layer 31 will
Magnetosphere 32 is packed tightly on rubber inner layer 30.Such design can strengthen the absorption affinity of roller 13 and steel structure surface 8；By magnetosphere
32 are socketed on rubber inner layer 30, are then socketed elastic emulsion outer layer 31 again in magnetosphere 32, can so be shortened by magnetosphere 32
With the operating distance of steel structure surface 8, magnetic suck effect is improved, and the outside bullet of roller 13 can be kept by elastic emulsion outer layer 31
Property.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of the technology of the present invention principle is not departed from, some improvements and modifications can also be made, these improvements and modifications
Also should be regarded as the protection domain of invention.
Claims (1)
1. a kind of harbor crane maintaining robot, it is characterised in that：It is used for and steel construction with bottom of frame is arranged at including vehicle frame
The roller of surface engagement, the vehicle frame corner is provided with the magnetic suck part for vehicle frame absorption to be pressed on steel structure surface；Institute
State vehicle frame middle part and spray assembly and sanding component are rotatably connected to by bearing respectively, the spray assembly drives with rotary electric machine
Connection；The sanding component is connected with spray assembly by drive；The magnetic suck part is magnet base, the magnetic force
Seat includes permanent magnetic magnet of the outside soft magnetic materials shell and rotatable connection in soft magnetic materials shell, the permanent magnetic magnet rotation
Outer rim is provided with a pair of brass magnetic isolation plates；
The roller includes wheel hub and the rubber tyre being arranged on outside wheel hub；Being mixed in the rubber tyre has magnetic, the magnetic
Powder doping concentration is outwards stepped up along wheel hub heart；
The sanding component includes sanding component shell and the abrasive brush being arranged at the opening of sanding component shell, the polishing
Brush includes brush roll and the bristle being fixed on brush roll, and the bristle is distributed on the curved surfaces of brush roll one end；The brush
Roller is rotated with sanding component shell by brush roll rotating shaft and is connected；The brush roll rotating shaft and polishing servomotor drive connection；It is described
Brush roll rotating shaft is arranged on the opening portion of sanding component shell, and the polishing servomotor drives brush roll rotating shaft to drive bristle to rotate,
When bristle is run to opening portion, bristle coordinates with steel structure surface and contacts；
The spray assembly includes spray assembly shell and the spray coating liquor being enclosed in spray assembly shell, the spraying hydraulic coupling
It is stored in spray coating liquor reservoir bag, the spray assembly outer casing bottom is provided with shower nozzle, the shower nozzle passes through catheter and spray coating liquor
Reservoir bag inside connection, the catheter is provided with application valve body；The spray coating liquor reservoir bag is elastic emulsion bag, the spraying
Liquid is poured into elastic emulsion bag by external pressure and forces spray coating liquor reservoir bag in spray assembly enclosure in swelling state, works as control
Valve body processed is under opening, and spray coating liquor is squeezed out shower nozzle by spray coating liquor by spray coating liquor reservoir bag convergent force；
The spray assembly enclosure is additionally provided with the magnetic patch slided up and down along spray assembly shell, and the magnetic patch is arranged on spraying
Between liquid reservoir bag and spray assembly cover top portion, the magnetic patch is used for and steel structure surface absorption is to strengthen storing spray coating liquor
The extruding of bag；The spray assembly shell is non-ironware；
The bristle coordinates the contact surface for contacting to be a flat surface with steel structure surface；
, in cylinder, the spray assembly shell is by drive disk assembly and rotary electric machine drive connection for the spray assembly shell；
It is provided with the drive of both power connectors between the sanding component shell and spray assembly shell；
Air-vent is offered on the spray assembly shell；
The elastic emulsion bag is internal to be additionally provided with a latex balloon, and the latex balloon is connected with elastic emulsion bag top；Institute
It is 0.5 ~ 3mm to state elastic emulsion bag thickness;The latex balloon thickness is 0.1 ~ 1mm；
The magnetic patch is Nian Jie by binding agent with spray coating liquor reservoir bag contact position；
Brass magnetic isolation unit part is additionally provided between the magnetic patch and spray assembly cover top portion；
Magnetic patch side wall is provided with PTFE anti-wear layer with spray assembly outer casing inner wall contact position；
Lubricating oil is coated with the spray assembly outer casing inner wall；
The shower nozzle is sealed with catheter junction and set, and the catheter is sealed with spray coating liquor reservoir bag junction and set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841484.7A CN105437239B (en) | 2015-11-28 | 2015-11-28 | A kind of harbor crane maintaining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841484.7A CN105437239B (en) | 2015-11-28 | 2015-11-28 | A kind of harbor crane maintaining robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105437239A CN105437239A (en) | 2016-03-30 |
| CN105437239B true CN105437239B (en) | 2017-07-07 |
Family
ID=55548108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510841484.7A Active CN105437239B (en) | 2015-11-28 | 2015-11-28 | A kind of harbor crane maintaining robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105437239B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115415909A (en) * | 2022-09-15 | 2022-12-02 | 上海第二工业大学 | Crane maintenance robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3014739B2 (en) * | 1990-10-29 | 2000-02-28 | 茂男 広瀬 | How to remove the vehicle |
| JP3372434B2 (en) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | Wall adsorption type moving device |
| CN201776672U (en) * | 2010-07-09 | 2011-03-30 | 上海宝研机械液压技术发展有限公司 | Flat plate polishing device |
| CN103100508A (en) * | 2011-11-15 | 2013-05-15 | 上海图博可特石油管道涂层有限公司 | Device for spraying powder in oil extraction steel pipe |
| CN203266627U (en) * | 2013-05-02 | 2013-11-06 | 青岛欧晟达海装实验有限公司 | Surface maintaining robot |
| CN203618480U (en) * | 2013-11-06 | 2014-06-04 | 孙宏志 | Machine for spraying white liquid for tree trunk |
| CN104152039A (en) * | 2014-07-22 | 2014-11-19 | 中国热带农业科学院农产品加工研究所 | Fruit and vegetable spraying agent and method for bagging fruits and vegetables by using spraying agent |
| CN204477709U (en) * | 2015-01-14 | 2015-07-15 | 浙江海洋学院 | A kind of detecting robot of pipe |
-
2015
- 2015-11-28 CN CN201510841484.7A patent/CN105437239B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105437239A (en) | 2016-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105478287B (en) | A kind of loop wheel machine steel structure surface maintaining robot system | |
| CN105438301B (en) | A kind of magnetic adsorption type shipbuilding steel plate case surface detects robot | |
| CN105467005B (en) | A kind of weld seam detection robot | |
| CN105435994B (en) | A kind of harbour arm surface maintenance system | |
| CN105437239B (en) | A kind of harbor crane maintaining robot | |
| CN105478280B (en) | A kind of wind tower seating face maintaining robot | |
| CN105499028B (en) | A kind of cylinder of steel surface maintenance device with automatic charging function | |
| CN105435987B (en) | A kind of large-size stainless steel storage tank surface spraying machine people | |
| CN105499027B (en) | A kind of open steel body surface maintaining robot | |
| CN105478312A (en) | Ship steel plate housing surface detection robot | |
| CN105437237B (en) | A kind of large-scale storing top tank structure detection machine device people | |
| CN214534767U (en) | Novel waterproof electric fitting valve worm gear reduction box | |
| CN105435995B (en) | A kind of magnetic adsorption type wind-powered electricity generation leg surface maintaining robot | |
| CN105527343A (en) | Robot for detecting welds on outer wall of large-scale water storage tank | |
| CN105437240B (en) | A kind of large-sized steel container inner wall detects robot | |
| CN107061761A (en) | A kind of modified butterfly valve | |
| CN105437238B (en) | Portal crane maintaining robot | |
| CN205904065U (en) | Prevent construction equipment in simple and easy pipeline | |
| CN107803290A (en) | One kind inflates fixed spray-painting plant | |
| CN105460098B (en) | A kind of wind-powered electricity generation leg surface maintaining robot | |
| CN105438302B (en) | A kind of open steel body surface maintaining robot with charge function | |
| CN105437241B (en) | A kind of huge tanks outer wall maintaining robot | |
| CN105521890B (en) | A kind of large-scale water storage box outer wall spray robot | |
| CN105499007B (en) | A kind of crane surface maintenance spray assembly | |
| CN217812159U (en) | Whitewash wall device that construction used |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Fei Inventor after: Wang Hongbo Inventor after: Bai Xianglin Inventor before: Mei Wei |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170602 Address after: Harbin City, Heilongjiang province 150006 Pingfang District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 214400 Jiangsu city of Wuxi province Jiangyin City East Ring Road No. 9 E501 Applicant before: Jiangsu Fenglei Culture Media Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180209 Address after: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of "three five" project building D building first floor Patentee after: Hazakhstan Robotics (Zhongshan) Co., Ltd. Address before: Harbin City, Heilongjiang province 150006 Pingfang District Dalian road and Xingkai road junction Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190307 Address after: 150006 Intersection of Dalian North Road and Xingkai Road, Pingfang District, Harbin City, Heilongjiang Province Patentee after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 528400 First Floor of Building D of the "Three Five-Year Plan" Workshop at Ma'an Village Intersection, Cuiheng New District, Zhongshan City, Guangdong Province Patentee before: Hazakhstan Robotics (Zhongshan) Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210519 Address after: 330200 no.1328, Fushan 1st Road, west of Jinsha 3rd road, Xiaolan economic and Technological Development Zone, Nanchang County, Nanchang City, Jiangxi Province (in incubation center of Xiaolan economic and Technological Development Zone) Patentee after: Harbin Institute of technology robot (Nanchang) Co.,Ltd. Address before: 150006 Intersection of Dalian North Road and Xingkai Road, Pingfang District, Harbin City, Heilongjiang Province Patentee before: Hagongda robot group (Harbin) Asset Management Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 330200 No. 1328, Fushan 1st Road, west of Jinsha 3rd road, Xiaolan economic and Technological Development Zone, Nanchang County, Nanchang City, Jiangxi Province (in the incubation center of Xiaolan economic and Technological Development Zone) Patentee after: Harbin Institute of technology robot group (Nanchang) Co.,Ltd. Address before: 330200 no.1328, Fushan 1st Road, west of Jinsha 3rd road, Xiaolan economic and Technological Development Zone, Nanchang County, Nanchang City, Jiangxi Province (in incubation center of Xiaolan economic and Technological Development Zone) Patentee before: Harbin Institute of technology robot (Nanchang) Co.,Ltd. |