CN110125809B - Wall climbing type rust removing device - Google Patents
Wall climbing type rust removing device Download PDFInfo
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- CN110125809B CN110125809B CN201910568482.3A CN201910568482A CN110125809B CN 110125809 B CN110125809 B CN 110125809B CN 201910568482 A CN201910568482 A CN 201910568482A CN 110125809 B CN110125809 B CN 110125809B
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 title claims abstract description 48
- 230000009194 climbing Effects 0.000 title claims abstract description 11
- 239000007921 spray Substances 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 7
- 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
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 13
- 238000004140 cleaning Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007885 magnetic separation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 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
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- 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
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- 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
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- 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
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- 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)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to the technical field of ship wall rust removal, in particular to a wall climbing type rust removal device; the invention provides a wall-climbing rust remover, which adopts a servo motor to drive a supporting leg structure to move, simulates the walking state of a quadruped, and realizes the active crawling of the device on the wall surface; the switching assembly and the adjusting assembly are matched, and the rust removal and the reversing function of the device are realized through the matched switching of different components; the rack is also utilized to reciprocate to realize the back and forth swinging of the bracket, so that the large-area rust removal work is realized, and the safe and efficient rust removal is completed.
Description
Technical Field
The invention relates to the technical field of ship wall rust removal, in particular to a wall climbing type rust removal device.
Background
The ship industry plays a role in the development of national economy, and rust removal of large ships is important in the ship industry. However, the existing ship rust removing mode has the problems that the rust removing cost is high, the environment pollution is serious and the efficiency is low, and the development of the ship industry in China is seriously restricted by the reasons, so that the existing ship rust removing technology needs to be improved.
Aiming at the problems, the wall climbing robot is used for carrying the high-pressure water cleaning module instead of manpower to perform the rust cleaning work of the ship wall surface, so that the rust cleaning can be performed safely and efficiently.
Disclosure of Invention
(one) solving the technical problems
The invention aims to overcome the defects in the prior art and provides a wall-climbing rust removing device.
(II) technical scheme
A wall climbing type rust removing device comprises a top frame assembly, a front walking assembly, a rear walking assembly, a rust removing assembly, an adjusting assembly and a switching assembly;
the front walking assembly and the rear walking assembly have the same structure and are respectively arranged at the front end and the rear end of the top frame assembly; the rust removing assembly, the adjusting assembly and the switching assembly are sequentially arranged on the top frame assembly along the length direction; the switching component is matched with the rust removing component through the adjusting component.
Preferably, the top frame component comprises a top plate, a rotating shaft box, a motor seat, a shell and an inserting rod;
the front end and the rear end of the top plate are respectively provided with a rotating shaft box; the top of the top plate is provided with a motor seat, and the bottom of the top plate is provided with a shell; the bottom of the shell is provided with a plug rod.
Preferably, the rear walking assembly comprises a first servo motor, a small belt pulley, a driving belt, a large belt pulley, a first rotating shaft, a second rotating shaft and a supporting leg structure;
the first servo motor is arranged at the top of the rotating shaft box; a first rotating shaft and a second rotating shaft are arranged in the rotating shaft box at intervals in the front-back direction; the two ends of the first rotating shaft and the second rotating shaft extend out of the rotating shaft box, and the same ends are connected through the supporting leg structure.
Preferably, the support leg structure comprises a rocker, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a magnetic bottom plate;
the outer end of the first rotating shaft is connected with one end of a rocker, and the other end of the rocker is hinged with the top end of the fifth connecting rod; the first rotating shaft is also hinged with the top end of a first connecting rod, and the first connecting rod is positioned at the inner side of the rocker; the outer end of the second rotating shaft is hinged with the top end of the third connecting rod, the bottom end of the first connecting rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with the bottom end of the third connecting rod; the bottom end of the first connecting rod is also hinged with the top end of the fourth connecting rod, the bottom end of the fourth connecting rod is hinged with the rear section of the magnetic bottom plate, and the middle section of the fifth connecting rod is hinged with the bottom end of the third connecting rod; the bottom end of the fifth connecting rod is hinged with the front section of the magnetic bottom plate.
Preferably, the initial positions of the two support leg structures of the front walking assembly are different, and the initial positions of the two support leg structures of the rear walking assembly are also different; the motion states of the two support leg structures on the left side are the same, and the motion states of the two support leg structures on the right side are the same; the two support leg structures on the left side are lifted, and the two support leg structures on the right side are fallen down; the two leg structures on the left side fall and the two leg structures on the right side are lifted.
Preferably, the switching component comprises a second servo motor, a coupling, a second screw, a movable nut, a connecting rod, a claw, a sixth rotating shaft, a driving plate, a fourth gear, a disc, a shaft sleeve, a fifth gear, a sixth gear, a seventh gear and a third servo motor;
the front section of the motor base is provided with a second servo motor, the output end of the second servo motor extends downwards and is connected with a second screw rod through a coupler, and the bottom end of the second screw rod rotates the bottom of the shell; the second screw is connected with a movable nut in a threaded manner, and the movable nut is connected with a claw backwards through a connecting rod; a sixth rotating shaft is arranged at the rear side of the second screw; the top end of the sixth rotating shaft is rotationally connected with the top plate, and the bottom end of the sixth rotating shaft is rotationally connected with the bottom of the shell; a fourth gear is arranged at the top of the sixth rotating shaft; a shaft sleeve is sleeved on the sixth rotating shaft, and a spline is arranged between the inner side of the shaft sleeve and the sixth rotating shaft; the shaft sleeve is sequentially provided with a disc, a driving plate, a gear number five and a gear number six from top to bottom; the claw extends into the lower part of the driving plate and wraps the shaft sleeve; the motor cabinet rear section is provided with No. three servo motor, no. three servo motor's output downwards passes the roof and is connected with No. seven gears, no. seven gears and No. four gears cooperation.
Preferably, the adjusting component comprises a mounting frame, a fourth rotating shaft, a shaft barrel, a grooved pulley, a second gear, a turntable, a pin rod, a moving plate, a first straight hole, a second straight hole, a rack, a limit screw, a fifth rotating shaft, a third gear, a magnetic supporting plate, a first screw rod, a moving block and a jack;
the mounting frame is U-shaped, and two side edges are fixed on the inner wall of the shell; a movable plate is arranged above the bottom edge of the mounting frame, and the bottom surface of the movable plate is in sliding contact with the mounting frame; the left part and the right part of the moving plate are symmetrically provided with second straight holes, the second straight holes are provided with limit screws, the bottom ends of the limit screws are fixed on the mounting frame, the limit screws are provided with fixing nuts, and the fixing nuts are attached to the moving plate; the middle part of the movable plate is provided with a straight hole; a rack is arranged at the rear side of the moving plate; a fourth rotating shaft is arranged above the moving plate, and the top end of the fourth rotating shaft is rotationally connected with the top plate; the bottom end of the fourth rotating shaft is provided with a second gear and a turntable, and the second gear is arranged above the turntable; the upper section of the fourth rotating shaft is sleeved in the shaft cylinder, the top end of the shaft cylinder is fixedly connected with the top plate, and the bottom end of the shaft cylinder is provided with a grooved wheel; a pin rod is arranged at the eccentric position of the bottom surface of the turntable and is matched with the straight hole;
a first screw is arranged below the mounting frame, the top end of the first screw is fixedly connected with the mounting frame, and a third gear is arranged on the first screw; the lower section of the first screw is in threaded connection with the moving block, the two sides of the top of the moving block are provided with jacks, and the jacks are matched with the inserting rods; a magnetic supporting plate is connected below the moving block.
Preferably, the rust removing assembly comprises a third rotating shaft, a first gear, a bracket, a spray pipe, a spray head, a water tank, a high-pressure water pipe and a fixing plate;
the right side of the rack is matched with a first gear, the first gear is arranged on a third rotating shaft, and the top end of the third rotating shaft is rotationally connected with the top plate; an inverted U-shaped bracket is connected below the first gear, and a fixing plate is arranged at the bottom of the bracket; the fixing plate is provided with a water tank which is externally connected with a high-pressure water pipe; the two sides of the water tank are also connected with spray pipes, the spray pipes are downwards connected with spray heads, and the spray heads are fixed on the fixed plate.
Preferably, when the driving plate is matched with the grooved pulley, the gear number five is staggered with the gear number two, and the gear number six is staggered with the gear number three; when the fifth gear is matched with the second gear, the driving plate and the grooved wheel are staggered, and the sixth gear is staggered with the third gear; when the gear six is matched with the gear three, the driving plate and the grooved wheel are staggered, the gear five is staggered with the gear two, and the grooved wheel is matched with the disc.
Preferably, the magnetic bottom plate and the magnetic supporting plate adopt permanent magnets or electromagnetic chucks.
(III) beneficial effects
The invention provides a wall-climbing rust remover, which adopts a servo motor to drive a supporting leg structure to move, simulates the walking state of a quadruped, and realizes the active crawling of the device on the wall surface; the switching assembly and the adjusting assembly are matched, and the rust removal and the reversing function of the device are realized through the matched switching of different components; the rack is also utilized to reciprocate to realize the back and forth swinging of the bracket, so that the large-area rust removal work is realized, and the safe and efficient rust removal is completed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only of the present invention, protecting some embodiments, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of the present apparatus;
FIG. 2 is a block diagram of another view of the present device;
FIG. 3 is a block diagram of a top frame assembly;
FIG. 4 is a block diagram of a rear action assembly;
FIG. 5 is a block diagram of the rust removal assembly, the adjustment assembly, and the switching assembly;
FIG. 6 is a block diagram of another view of the rust removing assembly, the adjusting assembly and the switching assembly
FIG. 7 is a block diagram of the housing;
FIG. 8 is a block diagram of an adjustment assembly and a switching assembly;
FIG. 9 is a block diagram of a switching assembly;
FIG. 10 is a partial block diagram of a switching assembly;
FIG. 11 is another partial block diagram of a switching assembly;
FIG. 12 is a block diagram of an adjustment assembly;
FIG. 13 is a block diagram of another view of the adjustment assembly;
fig. 14 is a structural view of the rust removing assembly.
In the drawings, the list of components represented by the various numbers is as follows:
1-top frame components, 101-top plates, 102-rotating shaft boxes, 103-motor bases, 104-shells and 1041-inserted bars;
the device comprises a 2-rear walking assembly, a 201-first servo motor, a 202-small belt pulley, a 203-transmission belt, a 204-large belt pulley, a 205-first rotating shaft, a 206-rocker, a 207-first connecting rod, a 208-second connecting rod, a 209-third connecting rod, a 210-fourth connecting rod, a 211-fifth connecting rod, a 212-magnetic bottom plate and a 213-second rotating shaft;
3-front walking assembly;
4-rust removing components, 401-third rotating shafts, 402-first gears, 403-supports, 404-spray pipes, 405-spray heads, 406-water tanks, 407-high-pressure water pipes and 408-fixing plates;
the device comprises a 5-adjusting component, a 501-mounting frame, a 502-fourth rotating shaft, a 503-grooved pulley, a 504-second gear, a 505-shaft barrel, a 507-rotating disc, a 5071-pin rod, a 508-moving plate, a 5081-first-line hole, a 5082-second-line hole, a 509-rack, a 510-limit screw, a 511-fifth rotating shaft, a 512-third gear, a 513-magnetic separation supporting plate, a 514-first screw, a 515-moving block and a 5151-jack;
6-switching components, 601-second servo motors, 602-couplers, 603-second screws, 604-movable nuts, 605-connecting rods, 606-clamping jaws, 607-sixth rotating shafts, 608-driving plates, 609-fourth gears, 610-circular discs, 611-shaft sleeves, 612-fifth gears, 613-shaft sleeves, 614-sixth gears, 615-seventh gears and 616-third servo motors.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are used, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the indicated apparatus or element must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that unless explicitly specified and limited otherwise, terms such as "mounted," "connected," and "connected" are to be construed broadly and include, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
A wall-climbing rust remover comprises a top frame component 1, a front walking component 3, a rear walking component 3, a rust removing component 4, an adjusting component 5 and a switching component 6;
the front walking assembly 3 and the rear walking assembly 3 have the same structure and are respectively arranged at the front end and the rear end of the top frame assembly 1; the rust removing assembly 4, the adjusting assembly 5 and the switching assembly 6 are sequentially arranged on the top frame assembly 1 along the length direction; the switching component 6 is matched with the rust removing component 4 through the adjusting component 5.
Example 2
A wall-climbing rust remover comprises a top frame component 1, a front walking component 3, a rear walking component 3, a rust removing component 4, an adjusting component 5 and a switching component 6;
the front walking assembly 3 and the rear walking assembly 3 have the same structure and are respectively arranged at the front end and the rear end of the top frame assembly 1; the rust removing assembly 4, the adjusting assembly 5 and the switching assembly 6 are sequentially arranged on the top frame assembly 1 along the length direction; the switching component 6 is matched with the rust removing component 4 through the adjusting component 5.
Wherein, the top frame assembly 1 comprises a top plate 101, a rotating shaft box 102, a motor base 103, a shell 104 and an inserted link 1041;
the front end and the rear end of the top plate 101 are fixedly connected with a rotating shaft box 102 respectively; the top of the top plate 101 is fixedly connected with a motor base 103, and the bottom is fixedly connected with a shell 104; the bottom end of the housing 104 is fixedly connected with a plunger 1041.
The same structure of the front and rear traveling units is used here for explanation.
The rear walking assembly 2 comprises a first servo motor 201, a small belt pulley 202, a driving belt 203, a large belt pulley 204, a first rotating shaft 205, a second rotating shaft 213 and a supporting leg structure;
a first servomotor 201 is fixed on top of the spindle box 102; a first rotating shaft 205 and a second rotating shaft 213 are arranged in the rotating shaft box 102 at intervals in the front-back direction; both ends of the first rotating shaft 205 and the second rotating shaft 213 extend out of the rotating shaft box 102, and the same ends are also connected through a supporting leg structure.
Specifically, the leg structure includes a rocker 206, a first connecting rod 207, a second connecting rod 208, a third connecting rod 209, a fourth connecting rod 210, a fifth connecting rod 211, and a magnetic base plate 212;
the outer end of the first rotating shaft 205 is fixedly connected with one end of a rocker 206, and the other end of the rocker 206 is hinged with the top end of a fifth connecting rod 211; the first rotating shaft 205 is also hinged with the top end of a first connecting rod 207, and the first connecting rod 207 is positioned at the inner side of the rocker 206; the outer end of the second rotating shaft 213 is hinged with the top end of a third connecting rod 209, the bottom end of the first connecting rod 207 is hinged with one end of a second connecting rod 208, and the other end of the second connecting rod 208 is hinged with the bottom end of the third connecting rod 209; the bottom end of the first connecting rod 207 is also hinged with the top end of a fourth connecting rod 210, the bottom end of the fourth connecting rod 210 is hinged with the rear section of the magnetic bottom plate 212, and the middle section of the fifth connecting rod 211 is hinged with the bottom end of the third connecting rod 209; the bottom end of the fifth connecting rod 211 is hinged with the front section of the magnetic bottom plate 212.
In this way, the magnetic bottom plate 212 makes the device adsorbed on the ship wall, the first servo motor 201 is started, the first rotating shaft 205 is driven to rotate through transmission, and the rocker 206 rotates accordingly, so that the support leg formed by hinging a plurality of connecting rods performs periodic actions of lifting forward and then falling down, and the magnetic bottom plate 212 with the bottom lifts up or falls down, similar to four limbs, to realize stepping linear walking action on the wall surface.
It should be noted here that, because the device needs to walk, the initial positions of the two support leg structures of the front walking assembly 3 are different, and the initial positions of the two support leg structures of the rear walking assembly 2 are also different; the motion states of the two support leg structures on the left side are the same, and the motion states of the two support leg structures on the right side are the same;
specifically, the two support leg structures positioned on the left side are lifted up, and the two support leg structures correspondingly positioned on the right side are fallen down; the two support leg structures positioned on the left side fall down, and the two support leg structures correspondingly positioned on the right side are lifted up, so that the forward movement is realized.
The switching component 6 comprises a second servo motor 601, a coupling 602, a second screw 603, a moving nut 604, a connecting rod 605, a claw 606, a sixth rotating shaft 607, a driving plate 608, a fourth gear 609, a disc 610, a shaft sleeve 613, a fifth gear 612, a sixth gear 614, a seventh gear 615 and a third servo motor 616;
a second servo motor 601 is fixedly arranged at the front section of the motor base 103, the output end of the second servo motor 601 extends downwards and is connected with a second screw 603 through a coupler 602, and the bottom end of the second screw 603 rotates the bottom of the shell 104; the second screw 603 is in threaded connection with a movable nut 604, and the movable nut 604 is connected with a claw 606 backwards through a connecting rod 605; a sixth rotating shaft 607 is arranged at the rear side of the second screw 603; the top end of the sixth rotating shaft 607 is rotationally connected with the top plate 101, and the bottom end is rotationally connected with the bottom of the shell 104; a fourth gear 609 is arranged on the top of the sixth rotating shaft 607; a shaft sleeve 613 is sleeved on the sixth rotating shaft 607, and a spline is arranged between the inner side of the shaft sleeve 613 and the sixth rotating shaft 607 for direction limiting; the shaft sleeve 613 is provided with a disc 610, a driving plate 608, a gear number five 612 and a gear number six 614 from top to bottom in sequence; pawl 606 extends below dial 608 and encases boss 613; the rear section of the motor base 103 is fixedly provided with a third servo motor 616, the output end of the third servo motor 616 downwards penetrates through the top plate 101 and is connected with a seventh gear 615, and the seventh gear 615 is matched with a fourth gear 609.
Specifically, the second servo motor 606 drives the second screw 603 to rotate, so that the moving nut 604 moves up and down, and the claw 606 drives the shaft sleeve to move up and down, so that synchronous displacement of the disc 610, the driving plate 608, the fifth gear 612 and the sixth gear 614 is realized. The third servo motor 616 drives the seventh gear 615 to rotate, and the fourth gear 609 drives the sixth rotary shaft 607 to rotate, so that the shaft sleeve 613 rotates along with the rotation of the disc 610, the dial 608, the fifth gear 612 and the sixth gear 614 as power input.
The adjusting component 5 includes a mounting frame 501, a fourth rotating shaft 502, a shaft barrel 505, a sheave 503, a second gear 504, a turntable 507, a pin 5071, a moving plate 508, a first straight hole 5081, a second straight hole 5082, a rack 509, a limit screw 510, a fifth rotating shaft 511, a third gear 512, a magnetic support plate 513, a first screw 514, a moving block 515, and an insertion hole 5151;
the mounting frame 501 is U-shaped, and two side edges are fixed on the inner wall of the shell 104; a movable plate 508 is arranged above the bottom edge of the mounting frame 501, and the bottom surface of the movable plate 508 is in sliding contact with the mounting frame 501; the left and right parts of the moving plate 508 are symmetrically provided with a second straight hole 5082, the second straight hole 5082 is provided with a limit screw 510, the bottom end of the limit screw 510 is fixed on the mounting frame 501, the limit screw 510 is provided with a fixing nut, and the fixing nut is attached to the moving plate 508; a straight hole 5081 is formed in the middle of the movable plate 508; a rack 509 is connected to the rear side of the moving plate 508; a fourth rotating shaft 502 is arranged above the moving plate 508, and the top end of the fourth rotating shaft 502 is rotationally connected with the top plate 101; the bottom end of the fourth rotating shaft 502 is provided with a second gear 504 and a rotary table 507, and the second gear 504 is arranged above the rotary table 507; the upper section of the fourth rotating shaft 502 is sleeved in a shaft barrel 505, the top end of the shaft barrel 505 is fixedly connected with the top plate 101, and the bottom end of the shaft barrel 505 is provided with a grooved pulley 503; the eccentric position of the bottom surface of the turntable 507 is connected with a pin rod 5071, and the pin rod 5071 is matched with a straight hole 5081;
a first screw rod 514 is arranged below the mounting frame 501, the top end of the first screw rod 514 is fixedly connected with the mounting frame 501, and a third gear 512 is arranged on the first screw rod 514; the lower section of the first screw 514 is in threaded connection with a moving block 515, insertion holes 5151 are formed in two sides of the top of the moving block 515, and the insertion holes 5151 are matched with the inserting rods 1041; a magnetic support plate 513 is connected below the moving block 515.
The rust removing assembly 4 comprises a third rotating shaft 401, a first gear 402, a bracket 403, a spray pipe 404, a spray head 405, a water tank 406, a high-pressure water pipe 407 and a fixing plate 408;
the right side of the rack 509 is matched with a first gear 402, the first gear 402 is arranged on a third rotating shaft 401, and the top end of the third rotating shaft 401 is rotationally connected with the top plate 101; an inverted U-shaped bracket 403 is connected below the first gear 402, and a fixing plate 408 is connected at the bottom of the bracket 403; the fixed plate 408 is provided with a water tank 406, and the water tank 406 is externally connected with a high-pressure water pipe 407; two sides of the water tank 406 are also connected with spray pipes 404, the spray pipes 404 are downwards connected with spray heads 405, and the spray heads 405 are fixed on a fixed plate 408.
Specifically, the disc 610, the dial 608, the fourth gear 609 and the fifth gear 612 are synchronously shifted through the switching component 6, so that the disc is matched with different components of the left adjusting component, and different functions are completed.
When the driving plate 608 is matched with the grooved pulley 503, the gear No. 612 and the gear No. 504 are staggered, and the gear No. 614 and the gear No. 512 are staggered; when the gear No. 612 is matched with the gear No. 504, the driving plate 608 is staggered with the grooved wheel 503, and the gear No. 614 is staggered with the gear No. 512; when the gear number six 614 is matched with the gear number three 512, the driving plate 608 is staggered with the grooved wheel 503, the gear number five 612 is staggered with the gear number two 504, and the grooved wheel 503 is matched with the disc 610
1, the front-back walking assembly moves along the ship wall with the device, the rust removing assembly 4 removes rust, specifically, the gear 612 and the gear 504 are matched, the gear 612 drives the gear 504 to rotate, the rotating disc 507 is driven to rotate through the rotating shaft 502, the pin 5071 and the linear holes 5081 act, meanwhile, the linear holes 5082 of the moving plate 508 are limited by the fixing screws 510 at two sides, the moving plate 508 is driven by the rotating disc 507 to reciprocate, the rack 509 is driven to move, the gear 402 is driven to rotate, the rotating shaft 401 is driven by the gear 402 to rotate back and forth, and the bracket 403 and the fixing plate 408 at the bottom are driven to rotate back and forth. The high-pressure water pipe 407 is introduced with the rust remover and sprayed out of the spray nozzle 405 through the spray pipe 404, so that the large-area rust removal action is realized.
2, when the device needs to turn, the gear No. 614 is adjusted first to match with the gear No. 512, the gear No. 614 drives the gear No. 512 to rotate, the screw No. 514 rotates and moves the moving block 515, the moving block 515 approaches to the wall surface and the magnetic supporting plate 513 attracts the wall surface, the moving block 515 continues to move to the wall surface, and the four support leg structures of the device are suspended. At this time, the adjusting dial 608 is matched with the grooved pulley 503, and the dial 608 rotates one circle to drive the grooved pulley 503 to rotate 90 degrees, so that the integral steering is realized.
Typically, the magnetic bottom plate 212 and the magnetic support plate 513 employ permanent magnets. The magnetic base plate 212 and the magnetic support plate 513 may also employ electromagnetic chucks in view of the controllability of the attraction.
It should be noted that the above electrical components are provided with a power source, and are collectively described herein to avoid redundancy.
The control mode of the invention can be automatically controlled by the controller, the control circuit of the controller can be realized by simple programming of a person skilled in the art, the control mode belongs to common knowledge in the art, and the control mode is mainly used for protecting the mechanical device, so the control mode and circuit connection are not explained in detail.
In the description of the present specification, reference is made to the terms "one embodiment," example, "" particular illustration. The description of the embodiments, etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (5)
1. The wall climbing type rust removing device is characterized by comprising a top frame assembly, a front walking assembly, a rear walking assembly, a rust removing assembly, an adjusting assembly and a switching assembly; the front walking assembly and the rear walking assembly have the same structure and are respectively arranged at the front end and the rear end of the top frame assembly; the rust removing assembly, the adjusting assembly and the switching assembly are sequentially arranged on the top frame assembly along the length direction; the switching component is matched with the rust removing component through the adjusting component;
the top frame assembly comprises a top plate, a rotating shaft box, a motor seat, a shell and an inserted link; the front end and the rear end of the top plate are respectively provided with a rotating shaft box; the top of the top plate is provided with a motor seat, and the bottom of the top plate is provided with a shell; the bottom end of the shell is provided with an inserting rod;
the switching component comprises a second servo motor, a coupling, a second screw, a movable nut, a connecting rod, a claw, a sixth rotating shaft, a driving plate, a fourth gear, a disc, a shaft sleeve, a fifth gear, a sixth gear, a seventh gear and a third servo motor; the front section of the motor base is provided with a second servo motor, the output end of the second servo motor extends downwards and is connected with a second screw rod through a coupler, and the bottom end of the second screw rod rotates the bottom of the shell; the second screw is in threaded connection with a movable nut, and the movable nut is connected with a claw backwards through a connecting rod; a sixth rotating shaft is arranged at the rear side of the second screw; the top end of the sixth rotating shaft is rotationally connected with the top plate, and the bottom end of the sixth rotating shaft is rotationally connected with the bottom of the shell; a fourth gear is arranged at the top of the sixth rotating shaft; a shaft sleeve is sleeved on the sixth rotating shaft, and a spline is arranged between the inner side of the shaft sleeve and the sixth rotating shaft; the shaft sleeve is sequentially provided with a disc, a driving plate, a gear number five and a gear number six from top to bottom; the clamping claw stretches into the lower part of the driving plate and wraps the shaft sleeve; the rear section of the motor seat is provided with a third servo motor, the output end of the third servo motor downwards penetrates through the top plate and is connected with a seventh gear, and the seventh gear is matched with the fourth gear;
the adjusting component comprises a mounting frame, a fourth rotating shaft, a shaft barrel, a sheave, a second gear, a rotary table, a pin rod, a moving plate, a first straight hole, a second straight hole, a rack, a limit screw, a fifth rotating shaft, a third gear, a magnetic supporting plate, a first screw rod, a moving block and a jack; the mounting frame is U-shaped, and two side edges are fixed on the inner wall of the shell; a movable plate is arranged above the bottom edge of the mounting frame, and the bottom surface of the movable plate is in sliding contact with the mounting frame; the left part and the right part of the moving plate are symmetrically provided with a second straight hole, the second straight hole is provided with a limit screw, the bottom end of the limit screw is fixed on the mounting frame, the limit screw is provided with a fixing nut, and the fixing nut is attached to the moving plate; a straight hole is formed in the middle of the movable plate; a rack is arranged at the rear side of the moving plate; a fourth rotating shaft is arranged above the moving plate, and the top end of the fourth rotating shaft is rotationally connected with the top plate; the bottom end of the fourth rotating shaft is provided with a second gear and a rotary table, and the second gear is arranged above the rotary table; the upper section of the fourth rotating shaft is sleeved in a shaft cylinder, the top end of the shaft cylinder is fixedly connected with the top plate, and the bottom end of the shaft cylinder is provided with a grooved wheel; a pin rod is arranged at the eccentric position of the bottom surface of the turntable and is matched with the straight hole;
a first screw is arranged below the mounting frame, the top end of the first screw is fixedly connected with the mounting frame, and a third gear is arranged on the first screw; the lower section of the first screw is in threaded connection with the moving block, the two sides of the top of the moving block are provided with jacks, and the jacks are matched with the inserting rods; a magnetic supporting plate is connected below the moving block;
the rust removing assembly comprises a third rotating shaft, a first gear, a bracket, a spray pipe, a spray head, a water tank, a high-pressure water pipe and a fixing plate; the right side of the rack is matched with a first gear, the first gear is arranged on a third rotating shaft, and the top end of the third rotating shaft is rotationally connected with the top plate; an inverted U-shaped bracket is connected below the first gear, and a fixing plate is arranged at the bottom of the bracket; the fixing plate is provided with a water tank which is externally connected with a high-pressure water pipe; the two sides of the water tank are also connected with spray pipes, the spray pipes are downwards connected with spray heads, and the spray heads are fixed on the fixed plate;
when the driving plate is matched with the grooved pulley, the gear number five is staggered with the gear number two, and the gear number six is staggered with the gear number three; when the fifth gear is matched with the second gear, the driving plate and the grooved pulley are staggered, and the sixth gear is staggered with the third gear; when the gear six is matched with the gear three, the driving plate is staggered with the grooved wheel, the gear five is staggered with the gear two, and the grooved wheel is matched with the disc;
the number of the spray heads is four.
2. The wall climbing derusting device according to claim 1, wherein the rear walking assembly comprises a first servo motor, a small belt pulley, a driving belt, a large belt pulley, a first rotating shaft, a second rotating shaft and a supporting leg structure;
the first servo motor is arranged at the top of the rotating shaft box; a first rotating shaft and a second rotating shaft are arranged in the rotating shaft box at intervals in the front-back direction; the rotating shaft I and the rotating shaft II are respectively provided with a rotating shaft box, and the same ends of the rotating shafts I and the rotating shafts II are connected through a supporting leg structure.
3. The wall climbing derusting device according to claim 2, wherein the foot structure comprises a rocker, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a magnetic bottom plate;
the outer end of the first rotating shaft is connected with one end of a rocker, and the other end of the rocker is hinged with the top end of the fifth connecting rod; the first rotating shaft is also hinged with the top end of a first connecting rod, and the first connecting rod is positioned on the inner side of the rocker; the outer end of the second rotating shaft is hinged with the top end of the third connecting rod, the bottom end of the first connecting rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with the bottom end of the third connecting rod; the bottom end of the first connecting rod is also hinged with the top end of a fourth connecting rod, the bottom end of the fourth connecting rod is hinged with the rear section of the magnetic bottom plate, and the middle section of the fifth connecting rod is hinged with the bottom end of the third connecting rod; and the bottom end of the fifth connecting rod is hinged with the front section of the magnetic bottom plate.
4. A wall climbing derusting device according to claim 3, wherein the initial positions of the two leg structures of the front travelling assembly are different, and the initial positions of the two leg structures of the rear travelling assembly are also different; the motion states of the two support leg structures on the left side are the same, and the motion states of the two support leg structures on the right side are the same; the two support leg structures on the left side are lifted, and the two support leg structures on the right side are fallen down; the two leg structures on the left side fall and the two leg structures on the right side are lifted.
5. A wall climbing derusting device according to claim 3, wherein the magnetic base plate and the magnetic support plate are permanent magnets or electromagnetic chucks.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910568482.3A CN110125809B (en) | 2019-06-27 | 2019-06-27 | Wall climbing type rust removing device |
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| CN110125809A CN110125809A (en) | 2019-08-16 |
| CN110125809B true CN110125809B (en) | 2024-02-06 |
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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 |
| CN111495899B (en) * | 2020-05-07 | 2021-05-25 | 南京溧水高新产业股权投资有限公司 | Device for dredging and cleaning pipeline |
| CN111571453B (en) * | 2020-06-02 | 2021-11-12 | 山东产研博迈得科技有限公司 | Ship rust removal equipment |
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| LU101701B1 (en) | 2020-12-30 |
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