CN111216820A

CN111216820A - Little rust cleaning robot of noise

Info

Publication number: CN111216820A
Application number: CN202010130329.5A
Authority: CN
Inventors: 汪冬
Original assignee: Guangzhou Liduo Robot Intelligent Technology Co ltd
Current assignee: Guangzhou Liduo Robot Intelligent Technology Co ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2020-06-02

Abstract

The invention aims to provide a rust removal robot with low noise. The rust removal robot with low noise comprises an attachment part and a rust removal part, wherein the attachment part is attached to a surface to be subjected to rust removal, the rust removal part is used for removing rust on the surface to be subjected to rust removal, and a cushion pad is arranged on the attachment surface of the attachment part. The rust removing part can enable the rust removing robot to vibrate during rust removing, after the attachment part is attached to a surface to be subjected to rust removing, one part of vibration generated by the rust removing robot is transmitted to the surface to be subjected to rust removing through the attachment part, and the part of vibration transmitted to the surface to be subjected to rust removing can be weakened by the buffer cushion arranged on the attachment surface of the attachment part, so that the noise is low.

Description

Little rust cleaning robot of noise

Technical Field

The invention relates to the field of rust removal operation, in particular to a rust removal robot.

Background

At present, as shown in chinese patent publication No. 208682970U, a rust removing robot capable of traveling on a vertical wall surface in the related art includes a rust removing portion, a traveling wheel, and a magnet as an attachment portion, and the rust removing robot is attached to the wall surface by the magnet so that there is a proper friction force between the traveling wheel and the wall surface, and thus the rust removing robot can travel on the vertical wall surface by the traveling wheel, and the rust removing portion removes rust from a surface to be cleaned.

The defects of the prior art are as follows: when the rust removing part removes rust, the rust removing robot can vibrate, and after the attachment part is attached to a surface to be rust removed, one part of vibration generated by the rust removing robot is transmitted to the surface to be rust removed through the attachment part, so that noise is easily generated.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a rust removing robot with low noise.

The rust removal robot with low noise comprises an attachment part and a rust removal part, wherein the attachment part is attached to a surface to be subjected to rust removal, the rust removal part is used for removing rust on the surface to be subjected to rust removal, and a cushion pad is arranged on the attachment surface of the attachment part.

Further, the attachment portion is a negative pressure suction cup mechanism, and the cushion pad is a soft suction cup on the negative pressure suction cup mechanism.

Further, the rust removing robot comprises at least two rust removing parts and at least two attachment parts, wherein the rust removing parts are respectively arranged on two sides of the rust removing robot, and the attachment parts are also respectively arranged on two sides of the rust removing robot.

Further, the rust removing portion includes a rust removing bullet.

Has the advantages that: the rust removing part can enable the rust removing robot to vibrate during rust removing, after the attachment part is attached to a surface to be subjected to rust removing, one part of vibration generated by the rust removing robot is transmitted to the surface to be subjected to rust removing through the attachment part, and the part of vibration transmitted to the surface to be subjected to rust removing can be weakened by the buffer cushion arranged on the attachment surface of the attachment part, so that the noise is low.

Drawings

FIG. 1 is an overall schematic view of a rust removing machine;

FIG. 2 is a partial schematic view of a derusting robot;

FIG. 3 is a schematic view of a deformation mechanism;

FIG. 4 is a schematic view of a back chuck;

fig. 5 is a schematic view of the connection of the rust removing portion and the deforming mechanism.

In the figure: 2. a frame; 3. a pulley arrangement; 4. a lifting member; 5. a first nut; 6. a connecting rod; 7. applying a force arm; 8. an auxiliary arm; 9. a lifting motor; 10. a deformation mechanism; 20. a derusting integrated mechanism; 21. a rust removal part; 210. derusting the warhead; 22. a side suction cup; 23. side support rollers; 24. a telescopic motor; 241. a second nut; 242. a second lead screw; 243. a substrate; 30. a back suction cup; 31. a traveling motor; 32. a traction ring; 33. a track; 34. a driving wheel; 35. erecting a beam; 36. drawing and pressing the hole; 37. a connecting plate; 370. and a screw hole.

The rust removing robot provided by the invention comprises a middle deformation mechanism 10 and a left rust removing integrated mechanism and a right rust removing integrated mechanism 20, wherein the two rust removing integrated mechanisms 20 are respectively arranged on the deformation mechanism 10, the deformation mechanism 10 can drive the two rust removing integrated mechanisms 20 to jointly extend and retract in the lateral direction (the lateral direction in the figure indicates the left side and the right side) through self deformation, and the two extended rust removing integrated mechanisms 20 can remove rust on surfaces to be subjected to rust removal in the respective directions.

The specific structure of the deformation mechanism 10 according to the direction in fig. 1 is shown in fig. 3, the deformation mechanism 10 includes a frame 2 and a lifting motor 9 fixedly mounted on the frame 2, a first nut 5 and a vertically arranged first lead screw (the first lead screw is omitted in the drawing) are arranged in the frame 2, and the first nut 5 is screwed on the first lead screw; the upper end of frame 2 is equipped with belt pulley device 3, and the output of elevator motor 9 and belt pulley device 3 link together, and the upper end of first lead screw also links with belt pulley device 3, so elevator motor 9 can control first lead screw through belt pulley device 3 and rotate thereby control first nut 5 and go up and down. The frame 2 is provided with a pair of auxiliary arms 8 and a pair of force applying arms 7, the upper end of the frame 2 is respectively hinged with the near ends of the two auxiliary arms 8, and the far ends of the two auxiliary arms 8 face left and right respectively; the lower end of the frame 2 is respectively hinged with the near ends of the two force applying arms 7, and the far ends of the two force applying arms 7 face to the left and the right respectively. The lower extreme rigid coupling of first nut 5 has lifting member 4, is equipped with a distal end towards right connecting rod 6 and a distal end towards left connecting rod 6 on lifting member 4 (the distal end towards left connecting rod 6 is sheltered from in the picture), and the near-end of two connecting rods 6 all articulates on lifting member 4, and the middle part of two arm of force 7 of exerting oneself articulates respectively on the distal end of two connecting rods 6. The auxiliary arm 8 with the far end facing right and the force applying arm 7 with the far end facing right are a first group, and the far ends of the auxiliary arm and the force applying arm are fixedly connected with a rust removing integrated mechanism 20; and the other auxiliary arm 8 and the other force applying arm 7 are a second group, and the far ends of the two are fixedly connected with another derusting integrated mechanism 20. When the first nut 5 drives the lifting piece 4 to vertically ascend, the lifting piece 4 drives the two connecting rods 6 to ascend so as to pull up the two force applying arms 7, so that the two rust removing integrated mechanisms 20 are folded, and the two auxiliary arms 8 can swing upwards along with the lateral folding of the two rust removing integrated mechanisms 20. In a similar way, when the first nut 5 drives the lifting piece 4 to vertically descend, the two connecting rods 6 descend to respectively drive the two force applying arms 7 to swing downwards, so that the two derusting integrated mechanisms 20 laterally extend out, and the two auxiliary arms 8 swing downwards along with the two derusting integrated mechanisms. (Note that "lateral" means a left-right direction in the direction of FIG. 1.)

As shown in fig. 2, taking the left-facing rust removal integrated mechanism 20 as an example, the rust removal integrated mechanism 20 includes a traction ring 32 at the upper end, a left-facing rust removal part 21, a left-facing side support roller 23, a side suction cup 22 as a second attachment part in the present embodiment, and a first attachment part back suction cup 30, wherein the side support roller 23 is arranged in parallel with the side suction cup 22, and the protruding degree of the side support roller 23 exceeds the side suction cup 22. The side suction cup 22 is a negative pressure suction cup mechanism, and a plurality of soft suction cups are arranged on the attachment surface of the side suction cup mechanism; the back suction cup 30 is also a negative pressure suction cup mechanism, but the attachment surface of the back suction cup 30 is not provided with a soft suction cup, the back suction cup 30 is provided with an air exhaust mechanism, the air exhaust mechanism is provided with a plurality of air passages connected to the back suction cup 30 in parallel, as shown in fig. 4, the back suction cup 30 is provided with a pressure exhaust hole 36 for each air passage, and the pressure exhaust holes 36 of different air passages are not communicated with each other in the back suction cup 30. The attachment surface of the back suction cup 30 is a flat surface, and even if the attachment surface is not flat, only part of the suction holes 36 are attached to the attachment surface, and each suction hole 36 is provided with an independent air passage, only part of the suction holes 36 are attached to the attached surface, so that the back suction cup 30 can be attached to the attachment surface. Of course, it is preferable that the surface to be attached is a plane, and all the suction holes 36 are tightly attached to the surface to be attached, so that the best adsorption effect is achieved. The side suction cup 22 is arranged on a base plate 243, the base plate 243 is fixedly provided with a telescopic motor 24 and a second nut 241, a second lead screw 242 is screwed on the second nut 241, the left end part of the second lead screw 242 is fixedly connected with the side suction cup 22, the telescopic motor 24 can control the side suction cup 22 to extend towards the left and retract towards the right by controlling the relative rotation of the second lead screw 242 and the second nut 241 (the left and the right refer to the left and the right in the direction shown in fig. 1, namely the side suction cup 22 extends laterally), and the side suction cup 22 retracts towards the right when moving along the advancing direction along with the derusting integrated mechanism 20, so that the protruding degree of the side suction cup 22 is not as much as that of the side support roller 23. The back surface of the back suction cup 30 is provided with a track 33, the rust removing part 21 and the base plate 243 are fixedly connected with each other through a vertical beam 35, both of which are provided with a driving wheel 34 and a traveling motor 31 (the driving wheel 34 provided in the rust removing part 21 is shielded by the traveling motor 31), the driving wheel 34 is installed on the track 33, and the traveling motor 31 drives the driving wheel 34 to rotate so as to make the driving wheel 34 move along the track 33, thereby driving the side suction cup 22 and the rust removing part 21 to move together relative to the back suction cup 30 (i.e. the side suction cup 22 is movably connected with the back suction cup 30 so as to move relatively along the traveling. The surface of the rust removing part 21 facing the left is provided with a plurality of rust removing bullets 210, the rust removing bullets 210 are in the prior art, the rust removing bullets 210 are provided with an air pressure driving mechanism, when the rust removing bullets 210 are driven by the air pressure driving mechanism to move in a reciprocating and lifting mode, the surface to be subjected to rust removing can be repeatedly knocked to remove rust, and the specific working process and the working principle refer to Chinese patent document with publication number of CN 209754923U. In the left-facing rust removal integrated mechanism 20, the right end of the rust removal part 21 is fixedly connected with the far end of the auxiliary arm 8, and the right end of the base plate 243 is fixedly connected with the far end of the force application arm 7. The right derusting integrated mechanism 20 and the left derusting integrated mechanism 20 are basically symmetrical in structure.

The rust removing robot can be used for rust removing operation of various occasions, such as rust removing of the inner wall of a cabin and the inner wall of a square pipe, and the working process is as follows by taking the square pipe as an example: a traction ring 32 is tightly bound by a traction wire, the derusting robot is hung in a vertically arranged square, and the back sucker 30 is contacted with the inner back wall surface of the square pipe; an operator starts the telescopic motor 24 to enable a left side sucker 22 and a right side sucker 22 to respectively extend out until the side suckers 22 protrude out of the derusting bullet 210 of the derusting part 21, so that the derusting bullet 210 and the side suckers 22 are prevented from being abraded due to accidental touch of the inner wall of the square pipe; in the concrete operation, operating personnel starts the elevator motor 9 of warp mechanism 10 and makes lift 4 descend, force connecting rod 6 to drive integrated rust cleaning mechanism 20 and stretch out until two side sucking discs 22 support on the inside wall of square pipe, operating personnel control side sucking disc 22 and control back sucking disc 30 and hold the interior back wall face of square pipe (whether control through side sucking disc 22 from the control valve of taking is adsorbed), the robot rigidity that derusts this moment, two rust cleaning portions 21 are respectively towards the left inside wall and the right-hand inside wall of square pipe, operating personnel control left and right two rust cleaning portions 21 respectively to the right-hand rust cleaning of the left inside wall and the right-hand inside wall of square pipe, the operation of derusting to two lateral walls of one section square pipe has been accomplished. The next step is to adjust the position of the derusting robot so as to carry out derusting operation on the next section of square pipe, which comprises the following steps: the operator controls the side sucker 22 to no longer suck the inner side wall of the square pipe and then starts the telescopic motor 24 to retract the side sucker 22, and then the derusting bullet 210 and the side sucker 22 both do not protrude to the same extent as the side support roller 23, so that the side support roller 23 abuts against the inner side wall of the square pipe to avoid abrasion of the soft sucker on the side sucker 22 (the soft suckers of the side sucker 22 are at the front end, i.e. in the left direction of fig. 2; the side sucker 22 is retracted preferably only when the side sucker 22 needs to move vertically relative to the square pipe; the side sucker 22 is retracted less preferably when one of the side sucker 22 and the back sucker 30 moves relative to the square pipe; this is advantageous in that the operation is convenient compared with the preferred mode), while the derusting robot position is still fixed because the back sucker 30 still sucks the inner back wall surface of the square pipe, then the operator starts the two traveling motors 31 to rotate the two driving wheels 34 forward, thereby driving the side sucker 22 and the derusting part 21 to move together along the square tube relative to the back sucker 30, in the moving process, the derusting integration mechanism 20 is in rolling contact with the inner wall of the square tube through the side support roller 23 until the side sucker 22 and the derusting part 21 reach the next section of square tube and the back sucker 30 is still left on the previous section of square tube, at this time, an operator stops the moving motor 31 and starts the telescopic motor 24 to control the side sucker 22 to extend out again, so that the two side suckers 22 respectively suck the left inner side wall and the right inner side wall of the square tube, then controls the back sucker 30 not to suck the inner back wall of the square tube through the air suction mechanism (the air suction mechanism is omitted in the figure) of the back sucker 30, fixes the side sucker 22 and the derusting part 21 on the next section of square tube together with other parts of the derusting integration mechanism 20, and then starts the moving motor 31 to enable the driving wheel 34 to rotate reversely, (since the attachment surface of the back suction cup 30 is a flat surface without a protruded soft suction cup, the back suction cup 30 is not easily abraded) and finally the whole rust removing robot reaches the next stage of the square pipe. The operator stops the traveling motor 31 and controls the back suction cup 30 to suck the inner back wall surface of the square tube through the air exhaust mechanism, and then the square tube is derusted according to the derusting step of the previous section of square tube. Repeating the steps to finish the derusting operation on the left inner side wall and the right inner side wall of the whole square pipe. And (3) when the other two inner side walls which are not derusted in the square tube need to be derusted, the derusting robot is rotated by 90 degrees along the circumferential direction of the square tube, and the derusting process is repeated. Besides the function of hanging the traction wire into the rust removal robot, the traction wire also plays a role in guiding when the rust removal robot moves to the next section of square pipe. When the travel process is simply considered, the side suction pad 22 and the back suction pad 30 may be changed to an electromagnet (the electromagnet is powered off to cancel the magnetic force, and the effect is equivalent to the negative pressure pad mechanism that the soft suction pad is not sucked to the sucked surface by not sucking air). When the rust removing bullet works, the negative pressure suction cup mechanism of the side suction cup 22 is used as the second attachment part, and the soft suction cup is made of elastic material, so that the vibration intensity transmitted from the rust removing part 21 to the surface to be rust removed can be reduced, and the soft suction cup is used as a damping part. The side suction plate of the negative pressure suction plate mechanism can be changed into a cushion pad made of elastic materials only from the viewpoint of shock absorption without considering the positioning function.

In order to be suitable for more occasions, the derusting integration mechanism 20 and the deformation mechanism 10 are detachably connected, as shown in fig. 5, the distal end of the force applying arm 7 is hinged with a connecting plate 37, the connecting plate 37 is provided with four screw holes 370, the vertical beam 35 is also provided with four screw holes 370 corresponding to the positions (the screw holes 370 on the vertical beam 35 are shielded by the connecting plate 37), and an operator uses screws (the screws are omitted in the figure) to detachably and fixedly connect the connecting plate 37 and the vertical beam 35. The original rust removal integrated mechanism 20 is replaced by the rust removal integrated mechanism with other specifications, and the rust removal integrated mechanism can be suitable for other different occasions. In addition, it can also be changed as follows: after the deformation mechanism 10 and the rust removal integrated mechanism 20 are detachably connected, the deformation mechanism and the rust removal integrated mechanism can be detachably mounted on other types of advancing power devices (such as linear motion mechanisms), so that after the rust removal integrated mechanism 20 is conveniently produced in a modularized manner, the deformation mechanism 10 and the advancing power devices can be combined with different rust removal integrated mechanisms 20 for use.

Claims

1. The rust cleaning robot with small noise comprises an attachment part and a rust cleaning part, wherein the attachment part is used for attaching to a surface to be derusted, and the rust cleaning robot is characterized in that: the attachment surface of the attachment portion is provided with a cushion pad.

2. The rust removing robot as claimed in claim 1, wherein: the attachment part is a negative pressure sucker mechanism, and the cushion pad is a soft sucker on the negative pressure sucker mechanism.

3. The rust removing robot as claimed in claim 1, wherein: the rust removing robot comprises at least two rust removing parts and at least two attachment parts, wherein the rust removing parts are respectively arranged on two sides of the rust removing robot, and the attachment parts are also respectively arranged on two sides of the rust removing robot.

4. The rust removing robot as claimed in claim 1, wherein: the rust removing part comprises a rust removing bullet.