CN110125809A - One kind climbing wall type derusting device - Google Patents
One kind climbing wall type derusting device Download PDFInfo
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- CN110125809A CN110125809A CN201910568482.3A CN201910568482A CN110125809A CN 110125809 A CN110125809 A CN 110125809A CN 201910568482 A CN201910568482 A CN 201910568482A CN 110125809 A CN110125809 A CN 110125809A
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- 230000009194 climbing Effects 0.000 title description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000003381 stabilizer Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 241001455273 Tetrapoda Species 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000007885 magnetic separation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C11/00—Selection of abrasive materials or additives for abrasive blasts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
- B24C7/0007—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a liquid carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23G—CLEANING OR DE-GREASING OF METALLIC MATERIAL BY CHEMICAL METHODS OTHER THAN ELECTROLYSIS
- C23G3/00—Apparatus for cleaning or pickling metallic material
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to wall surfaces of ships derusting technical fields, and in particular to one kind climbs wall type derusting device；The present invention provides one kind to climb wall type derusting device, drives stand bar structure mobile using servo motor, simulates the walking states of tetrapod, and realization device carries out actively creeping on wall surface；Using the cooperation of changeover module and adjustment component, is switched by the cooperation of different components, realize derusting and the realization of device commutation function；It is wherein also moved back and forth using rack gear and realizes oscillating for bracket, realize the derusting work of large area, complete safe and efficient derusting.
Description
Technical field
The present invention relates to wall surfaces of ships derusting technical fields, and in particular to one kind climbs wall type derusting device.
Background technique
Shipping industry plays the important and pivotal role to the development of national economy, and the derusting of large ship is even more ship
The most important thing of industry.The mode but existing ship derusts, 90% or more is to carry out derusting work by man-hour manually hand-held spray gun,
Using Copper Slag impact wall surfaces of ships carry out rusty stain cleaning, but this mode there is a problem that it is many, derust it is costly
It is high, environmental pollution is serious, inefficiency, above-mentioned reason seriously restricts the development of China's shipping industry, consequently, it is desirable to improve existing
Some ship derusting technologies.
In view of the above problems, this paper presents replace the artificial high pressure water cleaning module that carries to carry out ship with climbing robot
Wall surface derusting work, so as to safely and efficiently derust.
Summary of the invention
(1) the technical issues of solving
Present invention aims to overcome that the shortcomings of the prior art, and one kind is provided and climbs wall type derusting device.
(2) technical solution
One kind climbing wall type derusting device, including top rack unit, preceding walking component, component of walking afterwards, derusting component, adjustment group
Part and changeover module；
Preceding walking component is identical with rear walking modular construction, is separately positioned on the front and back end of top rack unit；Derust component, tune
Whole group part and changeover module are successively set on top rack unit along its length；Changeover module is by adjusting component and derusting component
Cooperation.
Preferably, top rack unit includes top plate, shaft case, motor cabinet, shell and inserted link；
Top plate rear and front end is respectively arranged with a shaft case；It is provided with motor cabinet at the top of top plate, bottom is provided with shell；
Shell bottom end is provided with inserted link.
Preferably, walking component includes No.1 servo motor, small pulley, transmission belt, big belt wheel, No.1 shaft, No. two afterwards
Shaft and stand bar structure；
No.1 servo motor is arranged in shaft box top；Time interval is provided with No.1 shaft in shaft case and No. two turn
Axis；No.1 shaft and No. two both ends of the shaft stretch out shaft case, and same side is also connected by stand bar structure.
Preferably, stand bar structure includes rocking bar, No.1 connecting rod, No. two connecting rods, No. three connecting rods, No. four connecting rods, No. five connecting rods
And magnetic bottom plate；
No.1 shaft outer end connects rocking bar one end, the hinged No. five connecting rod tops of the rocking bar other end；It is also hinged in No.1 shaft
No.1 connecting rod top, No.1 connecting rod are located on the inside of rocking bar；The hinged No. three connecting rod tops in No. two shaft outer ends, No.1 connecting rod bottom end hinge
No. two connecting rod one end are connect, No. two connecting rod other ends and No. three connecting rod bottom ends are hinged；The also hinged No. four connecting rod tops in No.1 connecting rod bottom end
End, the hinged magnetic bottom plate back segment in No. four connecting rod bottom ends, No. five connecting rod middle sections and No. three connecting rod bottom ends are hinged；No. five connecting rod bottom end hinges
Connect magnetic bottom plate leading portion.
Preferably, two stand bar structure initial positions of preceding walking component are different, two stand bar structure of rear component of walking
Initial position is also different；Two stand bar structure motion states positioned at left side are identical, and two stand bar structure positioned at right side move
State is identical；Two stand bar structure positioned at left side are lifted, and two stand bar structure positioned at right side are fallen；Positioned at two of left side
Stand bar structure is fallen, and two stand bar structure positioned at right side are lifted.
Preferably, changeover module includes No. two servo motors, shaft coupling, No. two screw rods, travelling nut, connecting rod, claw, six
Number shaft, driver plate, No. four gears, disk, axle sleeve, No. five gears, No. six gears, No. seven gears and No. three servo motors；
Motor cabinet leading portion is provided with No. two servo motors, and the output end of No. two servo motors extends downwardly and passes through shaft coupling
Connect No. two screw rods, No. two screw rod bottom ends rotation case bottom；It is bolted with travelling nut on No. two screw rods, travelling nut leads to backward
It crosses connecting rod and is connected with claw；No. six shafts are provided on rear side of No. two screw rods；No. six shaft tops are connected with top panel turns, bottom end and
Outer casing bottom rotation connection；No. four gears are provided at the top of No. six shafts；Axle sleeve, axle sleeve inside and six are sheathed in No. six shafts
Spline is provided between number shaft；Axle sleeve is disposed with disk, driver plate, No. five gears and No. six gears from top to bottom；Claw
It extend into below driver plate and encases axle sleeve；Motor cabinet back segment is provided with No. three servo motors, the output ends of No. three servo motors to
Under across top plate and be connected with No. seven gears, No. seven gears and No. four gears cooperations.
Preferably, adjustment component includes mounting rack, No. four shafts, beam barrel, sheave, No. two gears, turntable, pin rod, movements
Plate, one word hole of No.1, a No. two word holes, rack gear, stop screw, No. five shafts, No. three gears, magnetic support plate, No.1 screw rod,
Movable block and jack；
Mounting rack is U-shaped, and two sides are fixed on outer casing inner wall；Movable plate, movable plate are provided with above mounting rack bottom edge
Bottom surface and mounting rack sliding contact；Movable plate left and right part is symmetrically arranged with a No. two word holes, and a No. two word holes are provided with limit spiral shell
Nail, stop screw bottom end are fixed on mounting rack, fixture nut are provided on stop screw, fixture nut is close to movable plate；It moves
One word hole of No.1 is provided in the middle part of movable plate；Rack gear is provided on rear side of movable plate；No. four shafts are provided with above movable plate, No. four turn
Axis top is connected with top panel turns；No. four shaft bottom ends are provided with No. two gears and turntable, and No. two gears are arranged above turntable；
No. four shaft upper sections are linked in beam barrel, and beam barrel top and top plate are affixed, and beam barrel bottom end is provided with sheave；Turntable bottom surface eccentric part
It is provided with pin rod, pin rod and the cooperation of one word hole of No.1；
It is provided with No.1 screw rod below mounting rack, No.1 screw tip and mounting rack are affixed, are provided with three on No.1 screw rod
Number gear；No.1 screw rod lower section is spirally connected movable block, and two sides are provided with jack, jack and inserted link cooperation at the top of movable block；Movable block
Lower section is connected with magnetic support plate.
Preferably, derusting component includes No. three shafts, No.1 gear, bracket, jet pipe, spray head, water tank, high-pressure water pipe and consolidates
Fixed board；
No.1 gear is combined on the right side of rack gear, No.1 gear is arranged in No. three shafts, and No. three shaft tops and top plate turn
Dynamic connection；The bracket of inverted U is connected with below No.1 gear, frame bottom is provided with fixed plate；Water tank is provided in fixed plate,
The external high-pressure water pipe of water tank；Water tank two sides are also connected with jet pipe, and jet pipe is connected with downwards spray head, and spray head is fixed in fixed plate.
Preferably, when driver plate and sheave cooperate, No. five gears and No. two gears are staggered, No. six gears and No. three gear mistakes
It opens；When No. five gears and the cooperation of No. two gears, driver plate and sheave is staggered, No. six gears and No. three gears are staggered；No. six gears and
When the cooperation of No. three gears, driver plate and sheave be staggered, No. five gears and No. two gears are staggered, the cooperation of sheave and disk.
Preferably, magnetic bottom plate and magnetic support plate use permanent magnet or magnechuck.
(3) beneficial effect
The present invention provides one kind to climb wall type derusting device, drives stand bar structure mobile using servo motor, simulates four feet
The walking states of animal, realization device carry out actively creeping on wall surface；Using the cooperation of changeover module and adjustment component, pass through
The cooperation of different components switches, and realizes derusting and the realization of device commutation function；It is wherein also moved back and forth using rack gear and realizes branch
Frame oscillates, and realizes the derusting work of large area, completes safe and efficient derusting.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description be only it is of the invention, protect some embodiments, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the structure chart of the present apparatus；
Fig. 2 is the structure chart at another visual angle of the present apparatus；
Fig. 3 is the structure chart of top rack unit；
Fig. 4 be after take action component structure chart；
Fig. 5 is the structure chart of derusting component, adjustment component and changeover module；
Fig. 6 is the structure chart at another visual angle of derusting component, adjustment component and changeover module
Fig. 7 is the structure chart of shell；
Fig. 8 is the structure chart for adjusting component and changeover module；
Fig. 9 is the structure chart of changeover module；
Figure 10 is the part-structure figure of changeover module；
Figure 11 is another part structure chart of changeover module；
Figure 12 is the structure chart for adjusting component；
Figure 13 is the structure chart for adjusting another visual angle of component；
Figure 14 is the structure chart of derusting component.
In attached drawing, parts list represented by the reference numerals are as follows:
1- top rack unit, 101- top plate, 102- shaft case, 103- motor cabinet, 104- shell, 1041- inserted link；
It walks after 2- component, 201- No.1 servo motor, 202- small pulley, 203- transmission belt, 204- big belt wheel, 205- mono-
Number shaft, 206- rocking bar, 207- No.1 connecting rod, No. bis- connecting rods of 208-, No. tri- connecting rods of 209-, No. tetra- connecting rods of 210-, 211- five
Connecting rod, 212- magnetism bottom plate, No. bis- shafts of 213-；
It walks before 3- component；
4- derusting component, No. tri- shafts of 401-, 402- No.1 gear, 403- bracket, 404- jet pipe, 405- spray head, 406-
Water tank, 407- high-pressure water pipe, 408- fixed plate；
5- adjustment component, 501- mounting rack, No. tetra- shafts of 502-, 503- sheave, No. bis- gears of 504-, 505- beam barrel,
507- turntable, 5071- pin rod, 508- movable plate, one word hole of 5081- No.1, No. bis- word holes 5082-, 509- rack gear, 510- limit
Position screw, No. five shafts of 511-, No. tri- gears of 512-, 513- magnetic separation support plate, 514- No.1 screw rod, 515- movable block, 5151-
Jack；
6- changeover module, No. bis- servo motors of 601-, 602- shaft coupling, No. bis- screw rods of 603-, 604- travelling nut, 605-
Connecting rod, 606- claw, No. six shafts of 607-, 608- driver plate, No. tetra- gears of 609-, 610- disk, 611- axle sleeve, No. five teeth of 612-
Wheel, No. six gears of 614-, No. seven gears of 615-, No. tri- servo motors of 606-.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that such as occur term " center ", "upper", "lower", "left", "right",
"vertical", "horizontal", "inner", "outside" etc., indicated by orientation or positional relationship be orientation based on the figure or position
Relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, as occurred
Term " first ", " second ", " third ", are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " peace such as occur
Dress ", " connected ", " connection ", shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or one
Ground connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, it can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
Embodiment 1
One kind climbing wall type derusting device, including top rack unit 1, preceding walking component 2, rear walking component 3, derusting component 4, tune
Whole group part 5 and changeover module 6；
Preceding walking component 2 is identical with rear walking 3 structure of component, is separately positioned on the front and back end of top rack unit 2；Derust component
4, it adjusts component 5 and changeover module 6 is successively set on along its length on top rack unit 2；Changeover module 6 is by adjusting component 5
Cooperate with derusting component 4.
Embodiment 2
One kind climbing wall type derusting device, including top rack unit 1, preceding walking component 2, rear walking component 3, derusting component 4, tune
Whole group part 5 and changeover module 6；
Preceding walking component 2 is identical with rear walking 3 structure of component, is separately positioned on the front and back end of top rack unit 2；Derust component
4, it adjusts component 5 and changeover module 6 is successively set on along its length on top rack unit 2；Changeover module 6 is by adjusting component 5
Cooperate with derusting component 4.
Wherein, top rack unit 1 includes top plate 101, shaft case 102, motor cabinet 103, shell 104 and inserted link 1041；
101 rear and front end of top plate has been respectively and fixedly connected with a shaft case 102；Motor cabinet 103, bottom are connected at the top of top plate 101
Portion is connected with shell 104；104 bottom end of shell is connected with inserted link 1041.
Since the structure of front and back walking component is identical, takes at one and be illustrated herein.
Wherein, walking component 2 includes No.1 servo motor 201, small pulley 202, transmission belt 203, big belt wheel 204, one afterwards
Number shaft 205, No. two shafts 213 and stand bar structure；
No.1 servo motor 201 is fixed on 102 top of shaft case；Time interval is equipped with No.1 shaft 205 in shaft case 102
With No. two shafts 213；Shaft case 102 is stretched out at No.1 shaft 205 and No. two 213 both ends of shaft, and same side also passes through stabilizer blade knot
Structure connection.
Specifically, stand bar structure includes 209, No. four rocking bar 206, the connecting rod of connecting rod 208, three of No.1 connecting rod 207, two companies
210, No. five connecting rods 211 of bar and magnetic bottom plate 212；
Affixed 206 one end of rocking bar in 205 outer end of No.1 shaft, 211 top of hinged No. five connecting rods of 206 other end of rocking bar；No.1
Also hinged 207 top of No.1 connecting rod in shaft 205, No.1 connecting rod 207 are located at 206 inside of rocking bar；No. two 213 outer ends of shaft are hinged
No. three 209 tops of connecting rod, 207 bottom end of No.1 connecting rod, 208 one end of hinged No. two connecting rods, No. two 208 other ends of connecting rod and No. three companies
209 bottom end of bar is hinged；207 bottom end of No.1 connecting rod also 210 top of hinged No. four connecting rods, the hinged magnetic bottom in No. four 210 bottom ends of connecting rod
212 back segment of plate, No. five 211 middle sections of connecting rod and No. three 209 bottom ends of connecting rod are hinged；The hinged magnetic bottom plate 212 in No. five 211 bottom ends of connecting rod
Leading portion.
In this way, magnetic bottom plate 212 makes device be adsorbed on Chuan Bishang, start No.1 servo motor 201, drives one by transmission
Number axis 205 rotates, and rocking bar 206 and then rotates, thus the week that the stabilizer blade for being hinged to several connecting rods is lifted forward, fallen later
Phase movement, lifts or falls with the magnetic bottom plate 212 of bottom, is similar to four limbs, realizes the step-by-step movement linear rows on wall surface
Walk movement.
Herein it should be noted that, since the present apparatus is walked, therefore, it is necessary to it is preceding walking component 3 two stabilizer blades
Structure initial position is different, and two stand bar structure initial positions of rear component 2 of walking are also different；Two stabilizer blade knots positioned at left side
Structure motion state is identical, and two stand bar structure motion states positioned at right side are identical；
Specifically, two stand bar structure for being located at left side are lifted, corresponding two stand bar structure for being located at right side are fallen；It is located at
Two stand bar structure in left side are fallen, and corresponding two stand bar structure for being located at right side are lifted, and are realized and are advanced.
Wherein, changeover module 6 include No. two servo motors 601,602, No. two screw rods 603 of shaft coupling, travelling nut 604,
Connecting rod 605,606, No. six shafts 607 of claw, 609, No. four gears 609 of driver plate, disk 610,613, No. five gears 612 of axle sleeve,
614, No. seven gears 615 of No. six gears and No. three servo motors 606；
103 leading portion of motor cabinet is fixedly installed with No. two servo motors 601, and the output end of No. two servo motors 601 is stretched downwards
Connect No. two screw rods 603, No. two 603 bottom end rotation case of screw rod, 104 bottoms out and by shaft coupling 602；On No. two screw rods 603
It is bolted with travelling nut 604, travelling nut 604 goes backward through connecting rod 605 and is connected with claw 606；It is arranged on rear side of No. two screw rods 603
There are No. six shafts 607；No. six 607 tops of shaft and top plate 101 are rotatablely connected, and bottom end is connected with 104 lower rotation of shell；No. six
No. four gears 609 are installed at the top of shaft 607；Axle sleeve 610,610 inside of axle sleeve and No. six shafts are sheathed in No. six shafts 607
Spline is housed between 607, carries out direction limit；Axle sleeve 610 is sequentially arranged with 608, No. five disk 610, driver plate gears from top to bottom
612 and No. six gears 614；Claw 606 extend into 608 lower section of driver plate and encases axle sleeve 610；102 back segment of motor cabinet is fixedly mounted
There are No. three servo motors 616, the output end of No. three servo motors 616 is passed down through top plate 101 and is connected with No. seven gears 615,
No. seven gears 615 and No. four gears 609 cooperate.
Specifically, driving No. two screw rods 603 to rotate by No. two servo motors 606, move up and down travelling nut 604,
To be moved up and down by claw 606 with axle sleeve, to realize disk 610,608, No. five gears 612 of driver plate and No. six gears
614 synchronous displacement.It drives No. seven gears 615 to rotate by No. three servo motors 616, and No. four gears 609 is made to drive No. six
Shaft 607 rotates, and inputs as power, and axle sleeve 610 also and then rotates, disk 610,608, No. five gears 612 of driver plate and No. six
Gear 614 rotates together.
Wherein, adjustment component 5 include 501, No. four shafts 502 of mounting rack, beam barrel 505,503, No. two gears 504 of sheave,
Turntable 507, pin rod 5071, movable plate 508, a No.1 one word hole 5081, two word hole 5082, rack gear 509, stop screw 510,
511, No. three gears 512 of No. five shafts, magnetic support plate 513, No.1 screw rod 514, movable block 515 and jack 5151；
Mounting rack 501 is U-shaped, and two sides are fixed on 104 inner wall of shell；Movement is provided with above 501 bottom edge of mounting rack
Plate 508,501 sliding contact of 508 bottom surface of movable plate and mounting rack；508 left and right part of movable plate is symmetrically provided with a No. two word holes 5082,
A No. two word holes 5082 are equipped with stop screw 510, and 510 bottom end of stop screw is fixed on mounting rack 501, on stop screw 510
Equipped with fixture nut, fixture nut is close to movable plate 508；One word hole 5081 of No.1 is provided in the middle part of movable plate 508；Movable plate 508
Rear side is connected with rack gear 509；No. four shafts 502 are provided with above movable plate 508, No. four 502 tops of shaft and top plate 102 rotate
Connection；No. four 502 bottom ends of shaft are equipped with No. two gears 504 and turntable 507, and No. two gears 504 are arranged above turntable 507；Four
Number 502 upper section of shaft is linked in beam barrel 505, and 505 top of beam barrel and top plate 102 are affixed, and 505 bottom end of beam barrel is equipped with sheave 503；
507 bottom surface eccentric part of turntable is connected with pin rod 5071, pin rod 5071 and the cooperation of one word hole 5081 of No.1；
No.1 screw rod 514 is provided with below mounting rack 501,514 top of No.1 screw rod and mounting rack 501 are affixed, No.1 spiral shell
No. three gears 511 are housed on bar 514；514 lower section of No.1 screw rod is spirally connected movable block 515, and 515 top two sides of movable block are machined with slotting
Hole 5151, jack 5151 and inserted link 1041 cooperate；Magnetic support plate 513 is connected with below movable block 515.
Wherein, derusting component 4 includes No. three shafts 401, No.1 gear 402, bracket 403, jet pipe 404, spray head 405, water
Case 406, high-pressure water pipe 407 and fixed plate 408；
No.1 gear 402 is combined on the right side of rack gear 509, No.1 gear 402 is in No. three shafts 401, No. three shafts 401
Top and top plate 102 are rotatablely connected；The bracket 403 of inverted U is connected with below No.1 gear 402,403 bottom of bracket is connected with solid
Fixed board 408；Water tank 406, the external high-pressure water pipe 407 of water tank 406 are housed in fixed plate 408；406 two sides of water tank are also connected with jet pipe
404, jet pipe 404 is connected with downwards spray head 405, and spray head 405 is fixed in fixed plate 408.
Specifically, realizing the same of disk 610,608, No. four gears 612 of driver plate and No. five gears 614 by changeover module 6
Step displacement completes different functions so that its component different with the adjustment component in left side be made to realize cooperation.
When driver plate 608 and sheave 503 cooperate, No. five gears 612 and No. two gears 512 are staggered, No. six gears 614 and No. three
Gear 512 is staggered；When No. five gears 612 and No. two gears 512 cooperate, driver plate 608 and sheave 503 be staggered, No. six 614 and of gear
No. three gears 512 are staggered；When No. six gears 614 and No. three gears 512 cooperate, driver plate 608 and sheave 503 be staggered, No. five gears
612 and No. two gears 512 be staggered, sheave 503 and disk 610 cooperation
1, front and back walking component advances with device along ship wall, and derusting component 4 derusts, specifically, corresponding to five
Number gear 612 and No. two gears 512 cooperate, and No. five gears 512 drive No. two gears 512 to rotate, and pass through No. four 502 bands of shaft
Turntable 507 rotate, pin rod 5071 and the effect of one word hole 5081 of No.1, at the same No. two word holes 5082 of movable plate 508 again by
It to the limit of two sides fixing screws 510, moves back and forth movable plate 508 under the driving of turntable 507, and is moved with rack gear 509
Dynamic, so that No.1 gear 402 be driven to rotate, No.1 gear 402 makes No. three shafts 401 carry out back rotation, with the bracket of bottom end
403, fixed plate 408 carrys out back rotation.High-pressure water pipe 407 is passed through rust remover, and is sprayed by jet pipe 404 from spray head 405, realizes big
The derusting of area acts.
2, when device needs to turn to, first adjusts No. six gears 614 and No. three gears 512 cooperate, No. six gears 614 drive
No. three gears 512 rotate, and No.1 screw rod 514 rotates and keeps movable block 515 mobile, and movable block 515 is close to wall surface and makes magnetism
Wall surface is sucked in support plate 513, and movable block 515 is continued to move to wall surface, and four stand bar structure of device is made to suspend.Adjustment is dialled at this time
Disk 608 and sheave 503 cooperate, and one circle of the rotation of driver plate 608 drives sheave 503 to rotate 90 °, and then realize whole steering.
Under normal conditions, magnetic bottom plate 212 and magnetic support plate 513 use permanent magnet.In view of the controllability of absorption, magnetic
Magnechuck can also be used in property bottom plate 212 and magnetic support plate 513.
It should be noted that above-mentioned electrical component is furnished with power supply, in order to avoid narration burden, it is unified in described herein as.
Control mode of the invention can be automatically controlled by controller, and the control circuit of controller passes through this field
Technical staff's simple programming can be realized, and belong to the common knowledge of this field, and the present invention is mainly used to protect mechanical device,
So the present invention is not explained control mode and circuit connection.
In the description of this specification, reference term " one embodiment ", " example ", " specifically show.The description meaning of example " etc.
Refer to that specific features described in conjunction with this embodiment or example, structure, material live feature and be contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or show
Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples
It can be combined in any suitable manner.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, also do not limit the specific embodiment that the invention is only.Obviously, according to the content of this specification, can make
Many modifications and variations.These embodiments are chosen and specifically described to this specification, is original in order to better explain the present invention
Reason and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only authorized
The limitation of sharp claim and its full scope and equivalent.
Claims (10)
1. one kind climbs wall type derusting device, which is characterized in that including top rack unit, preceding walking component, walk afterwards component, derusting group
Part, adjustment component and changeover module；
Walking component is identical with rear walking modular construction before described, is separately positioned on the front and back end of top rack unit；The derusting group
Part, adjustment component and changeover module are successively set on top rack unit along its length；The changeover module is by adjusting component
With derusting component cooperation.
2. one kind according to claim 1 climbs wall type derusting device, which is characterized in that the top rack unit include top plate,
Shaft case, motor cabinet, shell and inserted link；
The top plate rear and front end is respectively arranged with a shaft case；It is provided with motor cabinet at the top of the top plate, bottom is provided with
Shell；The shell bottom end is provided with inserted link.
3. one kind according to claim 2 climbs wall type derusting device, which is characterized in that walking component includes No.1 after described
Servo motor, small pulley, transmission belt, big belt wheel, No.1 shaft, No. two shafts and stand bar structure；
The No.1 servo motor is arranged in shaft box top；Time interval is provided with No.1 shaft and No. two in the shaft case
Shaft；The No.1 shaft and No. two both ends of the shaft stretch out shaft case, and same side is also connected by stand bar structure.
4. one kind according to claim 3 climbs wall type derusting device, which is characterized in that the stand bar structure include rocking bar,
No.1 connecting rod, No. two connecting rods, No. three connecting rods, No. four connecting rods, No. five connecting rods and magnetic bottom plate；
No.1 shaft outer end connects rocking bar one end, the hinged No. five connecting rod tops of the rocking bar other end；In the No.1 shaft also
Hinged No.1 connecting rod top, No.1 connecting rod are located on the inside of rocking bar；The hinged No. three connecting rod tops in No. two shaft outer ends, No.1 connect
The hinged No. two connecting rod one end in bar bottom end, No. two connecting rod other ends and No. three connecting rod bottom ends are hinged；It also cuts with scissors No.1 connecting rod bottom end
No. four connecting rod tops are connect, hingedly magnetic bottom plate back segment, No. five connecting rod middle sections and No. three connecting rod bottom ends are cut with scissors for No. four connecting rod bottom ends
It connects；The hinged magnetic bottom plate leading portion in No. five connecting rod bottom ends.
5. one kind according to claim 4 climbs wall type derusting device, which is characterized in that two branch of walking component before described
Leg structure initial position is different, and two stand bar structure initial positions of rear component of walking are also different；Two stabilizer blades positioned at left side
Structure motion state is identical, and two stand bar structure motion states positioned at right side are identical；Two stand bar structure positioned at left side are lifted
It rises, two stand bar structure positioned at right side are fallen；Two stand bar structure positioned at left side are fallen, two stabilizer blade knots positioned at right side
Structure lifts.
6. one kind according to claim 5 climbs wall type derusting device, which is characterized in that the changeover module includes No. two and watches
Take motor, shaft coupling, No. two screw rods, travelling nut, connecting rod, claw, No. six shafts, driver plate, No. four gears, disk, axle sleeve, five
Number gear, No. six gears, No. seven gears and No. three servo motors；
The motor cabinet leading portion is provided with No. two servo motors, and the output end of No. two servo motors extends downwardly and passes through shaft coupling
Connect No. two screw rods, No. two screw rod bottom ends rotation case bottom；Be bolted with travelling nut on No. two screw rods, travelling nut to
Claw is connected with by connecting rod afterwards；No. six shafts are provided on rear side of No. two screw rods；No. six shaft tops and top plate turn
Dynamic connection, bottom end and outer casing bottom rotation connection；No. four gears are provided at the top of No. six shafts；It is covered in No. six shafts
Conjunction has axle sleeve, is provided with spline between No. six shafts on the inside of axle sleeve；The axle sleeve is disposed with disk from top to bottom, dials
Disk, No. five gears and No. six gears；The claw extend into below driver plate and encases axle sleeve；The motor cabinet back segment is provided with three
Number servo motor, the output end of No. three servo motors are passed down through top plate and are connected with No. seven gears, No. seven gears and No. four teeth
Wheel cooperation.
7. one kind according to claim 6 climbs wall type derusting device, which is characterized in that the adjustment component includes installation
Frame, No. four shafts, beam barrel, sheave, No. two gears, turntable, pin rod, movable plate, one word hole of No.1, No. two a word holes, rack gear, limit
Position screw, No. five shafts, No. three gears, magnetic support plate, No.1 screw rod, movable block and jack；
The mounting rack is U-shaped, and two sides are fixed on outer casing inner wall；It is provided with movable plate above the mounting rack bottom edge, is moved
Movable plate bottom surface and mounting rack sliding contact；The movable plate left and right part is symmetrically arranged with a No. two word holes, No. two word hole settings
There is stop screw, stop screw bottom end is fixed on mounting rack, fixture nut is provided on stop screw, fixture nut is close to shifting
Movable plate；One word hole of No.1 is provided in the middle part of the movable plate；Rack gear is provided on rear side of the movable plate；It is set above the movable plate
No. four shafts are equipped with, No. four shaft tops are connected with top panel turns；No. four shaft bottom ends are provided with No. two gears and turntable,
No. two gears are arranged above turntable；No. four shaft upper sections are linked in beam barrel, and beam barrel top and top plate are affixed, beam barrel bottom
End is provided with sheave；Turntable bottom surface eccentric part is provided with pin rod, pin rod and the cooperation of one word hole of No.1；
It is provided with No.1 screw rod below the mounting rack, No.1 screw tip and mounting rack are affixed, are provided with three on No.1 screw rod
Number gear；The No.1 screw rod lower section is spirally connected movable block, and two sides are provided with jack, jack and inserted link cooperation at the top of movable block；Institute
It states and is connected with magnetic support plate below movable block.
8. one kind according to claim 7 climbs wall type derusting device, which is characterized in that the derusting component includes No. three and turns
Axis, No.1 gear, bracket, jet pipe, spray head, water tank, high-pressure water pipe and fixed plate；
No.1 gear is combined on the right side of the rack gear, No.1 gear is arranged in No. three shafts, and No. three shaft tops and top plate turn
Dynamic connection；The bracket of inverted U is connected with below the No.1 gear, frame bottom is provided with fixed plate；It is set in the fixed plate
It is equipped with water tank, the external high-pressure water pipe of water tank；The water tank two sides are also connected with jet pipe, and jet pipe is connected with downwards spray head, and spray head is solid
It is scheduled in fixed plate.
9. one kind according to claim 8 climbs wall type derusting device, which is characterized in that when the driver plate and sheave cooperate,
No. five gears and No. two gears are staggered, No. six gears and No. three gears are staggered；When No. five gears and No. two gear cooperations, dial
Disk and sheave are staggered, No. six gears and No. three gears are staggered；When No. six gears and No. three gear cooperations, driver plate and sheave are wrong
It opens, No. five gears and No. two gears are staggered, the cooperation of sheave and disk.
10. one kind according to claim 9 climbs wall type derusting device, which is characterized in that the magnetism bottom plate and magnetic branch
Fagging uses permanent magnet or magnechuck.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910568482.3A CN110125809B (en) | 2019-06-27 | 2019-06-27 | Wall climbing type rust removing device |
| LU101701A LU101701B1 (en) | 2019-06-27 | 2020-03-24 | Wall climbing-type rust removing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910568482.3A CN110125809B (en) | 2019-06-27 | 2019-06-27 | Wall climbing type rust removing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110125809A true CN110125809A (en) | 2019-08-16 |
| CN110125809B CN110125809B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910568482.3A Active CN110125809B (en) | 2019-06-27 | 2019-06-27 | Wall climbing type rust removing device |
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| CN (1) | CN110125809B (en) |
| LU (1) | LU101701B1 (en) |
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| CN110757347A (en) * | 2019-11-02 | 2020-02-07 | 中国船舶重工集团公司第七一六研究所 | Automatic sand blasting system and method for ship curved surface segmentation |
| CN111203591A (en) * | 2020-02-28 | 2020-05-29 | 广州力多机器人智能科技有限公司 | Modular derusting robot |
| CN111495899A (en) * | 2020-05-07 | 2020-08-07 | 诸暨新伏给排水设备有限公司 | Device for dredging and cleaning pipeline |
| CN111571453A (en) * | 2020-06-02 | 2020-08-25 | 苏州琦少工程科技有限公司 | Ship rust removal equipment |
| CN118563639A (en) * | 2024-08-01 | 2024-08-30 | 山东铁鹰建设工程有限公司 | Tunnel inverted arch construction van-type hydraulic trestle |
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Also Published As
| Publication number | Publication date |
|---|---|
| LU101701B1 (en) | 2020-12-30 |
| CN110125809B (en) | 2024-02-06 |
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