CN111283527A - Derusting spraying wall-climbing robot - Google Patents
Derusting spraying wall-climbing robot Download PDFInfo
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- CN111283527A CN111283527A CN202010122269.2A CN202010122269A CN111283527A CN 111283527 A CN111283527 A CN 111283527A CN 202010122269 A CN202010122269 A CN 202010122269A CN 111283527 A CN111283527 A CN 111283527A
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- Prior art keywords
- frame
- spraying
- rust removing
- driving
- mounting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rust removing spraying wall-climbing robot, comprising: the device comprises a frame, an adsorption mechanism, a driving mechanism, a traveling mechanism, a rust removal mechanism, a spraying mechanism and a control device; the adsorption mechanism is arranged at the bottom of the frame and is adsorbed on the surface of the steel die through magnetic attraction; the driving mechanism is arranged on the frame and drives the traveling mechanism to travel or turn, and the traveling mechanism is arranged on the frame; the rust removing mechanism is used for removing rust spots on the surface of the steel die and is connected with the frame; the spraying mechanism is used for spraying an antirust coating or a release agent on the surface of the steel die and is connected with the rack; the control device is used for controlling the actions of the driving mechanism, the derusting mechanism, the spraying mechanism and the adsorption mechanism. The rust removing, spraying and wall climbing robot provided by the invention can automatically complete the rust removing and spraying operations on the surface of a steel die, thereby avoiding the working fatigue caused by long-time work of workers, improving the working efficiency and reducing the safety risk.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a rust removing spraying wall-climbing robot.
Background
In the construction process of mountain tunnels, the tunnel lining trolley is special equipment which must be used for secondary lining and is used for concrete lining construction of the inner wall of the tunnel. The steel mould is a working device of the trolley, and the appearance quality and the contour dimension precision of the steel mould directly determine the concrete lining quality. The surface of the steel die needs to be thoroughly polished before lining, rusty spots are removed, and oil is applied for rust prevention. Along with the construction, rust spots are generated on the surface of the steel die after the lining trolley works for a certain time, and the quality of concrete lining on the wall surface is reduced at the moment. Therefore, the rust removal work for the surface of the steel mold of the lining trolley must be performed. In addition, after the lining trolley is used for operation each time, a layer of release agent is sprayed on the surface of the steel die, so that the lining trolley can be conveniently separated from concrete after operation.
At present, the surface of a steel die is subjected to manual derusting operation and release agent spraying operation, certain safety risk exists, the operation efficiency is low, and the operation strength is high.
In summary, how to reduce the safety risk of rust removal and spraying operation on the surface of a steel film is a problem to be solved urgently by technical personnel in the field at present.
Disclosure of Invention
In view of the above, the invention aims to provide a rust removing and spraying wall-climbing robot which can replace manual work to remove rust and spray the surface of a steel die, and reduce safety risks.
In order to achieve the above purpose, the invention provides the following technical scheme:
a rust removing spray wall climbing robot comprising: the device comprises a frame, an adsorption mechanism, a driving mechanism, a traveling mechanism, a rust removal mechanism, a spraying mechanism and a control device;
the adsorption mechanism is arranged at the bottom of the rack and adsorbed on the surface of the steel die through magnetic attraction;
the driving mechanism is arranged on the rack and drives the traveling mechanism to travel or turn, and the traveling mechanism is arranged on the rack;
the rust removing mechanism is used for removing rust spots on the surface of the steel die and is connected with the rack;
the spraying mechanism is used for spraying an antirust coating or a release agent on the surface of the steel die and is connected with the rack;
the control device is connected with the driving mechanism, the rust removing mechanism, the spraying mechanism and the adsorption mechanism to control the actions of the driving mechanism, the rust removing mechanism, the spraying mechanism and the adsorption mechanism.
Preferably, the traveling mechanism comprises a first driving wheel and a second driving wheel which are arranged on two sides of the frame in the width direction, the driving mechanism comprises a first driving mechanism for driving the first driving wheel to rotate and a second driving mechanism for driving the second driving wheel to rotate, and the control device respectively controls the first driving mechanism and the second driving mechanism so as to control the robot to steer through differential adjustment;
the first driving mechanism and the second driving mechanism are connected with the control device, the first driving wheel is connected with the first driving mechanism, and the second driving wheel is connected with the second driving mechanism.
Preferably, the first driving mechanism comprises a first motor connected with the control device, a first speed reducer connected with an output end of the first motor, and a first wheel shaft connecting the first speed reducer and the first driving wheel;
the second driving mechanism comprises a second motor connected with the control device, a second speed reducer connected with the output end of the second motor, and a second wheel shaft connected with the second speed reducer and the second driving wheel.
Preferably, running gear still including set up in the frame bottom, be used for with the universal wheel permanent magnetism wheelset of steel mould contact, universal wheel permanent magnetism wheelset set up in frame length direction's one end, and with first action wheel the second action wheel can form isosceles triangle.
Preferably, the universal wheel permanent magnet wheel set comprises a first universal wheel base body, a first base used for installing the first universal wheel base body on the rack, a second universal wheel base body and a second base used for installing the second universal wheel base body on the rack;
the first base and the second base are respectively installed at two ends of the rack in the length direction.
Preferably, the adsorption mechanism is including being used for adsorbing the magnet subassembly of steel mould and being used for with the magnet subassembly install in the magnet mounting bracket of frame, the magnet mounting bracket set firmly in the frame.
Preferably, the magnet assembly comprises a first permanent magnet and a second permanent magnet, the magnet mounting comprises a first magnet mounting for mounting the first permanent magnet to the frame and a second magnet mounting for mounting the second permanent magnet to the frame;
first magnet mounting bracket with second magnet mounting bracket all set firmly in the frame, and the width direction symmetry of frame sets up.
Preferably, the rack comprises a first bottom plate, a second bottom plate, a side plate connecting shaft, a first side plate and a second side plate;
the second bottom plate is provided with a mounting hole for mounting the side plate connecting shaft, the side plate connecting shaft penetrates through the mounting hole, and the first side plate and the second side plate are mounted at two ends of the side plate connecting shaft;
the first side plate and the second side plate are both connected with the driving mechanism.
Preferably, the upper surface of the first bottom plate is provided with a first fixed seat and a second fixed seat which are used for being rotatably connected with the derusting mechanism, and the first fixed seat is arranged close to the end part of the rack relative to the second fixed seat;
when the derusting mechanism is rotationally connected with the first fixing seat, the derusting mechanism is contacted with the surface to be derusted; when the rust removing mechanism is rotatably connected with the second fixing seat, the rust removing mechanism is lifted up and is in a non-working state.
Preferably, the rust removing mechanism comprises a steel wire rolling brush for removing rust spots on the surface of the steel die through rolling, a power device for driving the steel wire rolling brush to rotate, a transmission device for transmitting the power of the power device to the steel wire rolling brush and an installation frame;
the steel wire round brush rotate set up in the mounting bracket, power device with transmission all install in the mounting bracket, power device with controlling means connects, in order to control power device's action.
Preferably, the mounting frame comprises a mounting plate rotatably connected with the rack through a hinge and a movable rod used for connecting the mounting plate with the rack;
the mounting panel is provided with the third fixing base, the third fixing base is provided with the third pinhole, the one end of movable rod through first round pin hub rotation connect in the third fixing base, the other end of movable rod rotate connect in the frame.
Preferably, the spraying mechanism comprises a spray head, a storage tank, a pressure pump, a swing rod connected with the spray head and power equipment for driving the swing rod to swing;
the pressure pump is used for pumping the raw materials in the storage tank to the spray head and is connected with the control device;
the power equipment is connected with the control device, one end of the swing rod is connected with the power equipment, the other end of the swing rod is connected with the spray head, and the power equipment is arranged on the rack.
Preferably, the power equipment is a swing rod motor.
Preferably, the rust removing mechanism is arranged at one end of the rack in the length direction, and the spraying mechanism is arranged at the other end of the rack in the length direction.
Preferably, the control device further comprises a control box for mounting the control device, and the control box is arranged on the upper surface of the rack.
The invention provides a rust removing spraying wall climbing robot, which comprises: the device comprises a frame, an adsorption mechanism, a driving mechanism, a traveling mechanism, a rust removal mechanism, a spraying mechanism and a control device;
the adsorption mechanism is arranged at the bottom of the frame and is adsorbed on the surface of the steel die through magnetic attraction;
the driving mechanism is arranged on the frame and drives the traveling mechanism to travel or turn, and the traveling mechanism is arranged on the frame;
the rust removing mechanism is used for removing rust spots on the surface of the steel die and is connected with the frame;
the spraying mechanism is used for spraying an antirust coating or a release agent on the surface of the steel die and is connected with the rack;
the control device is connected with the driving mechanism, the rust removing mechanism, the spraying mechanism and the adsorption mechanism to control the actions of the driving mechanism, the rust removing mechanism, the spraying mechanism and the adsorption mechanism.
In the in-process of using, can make rust cleaning spraying wall climbing robot walk to treat the rust cleaning or treat the surface of spraying in the steel mould, and through adsorption mechanism, utilize magnetic attraction to adsorb on the steel mould surface, when the rust spot on steel mould surface is got rid of to needs, can control rust cleaning mechanism work through controlling means, get rid of the rust spot on steel mould surface, when needs are to the surface spraying anti-rust coating or the release agent of steel mould, can control spraying mechanism work through controlling means, carry out spray finishing to the surface of steel mould.
Compared with manual operation in the prior art, the rust removing, spraying and wall climbing robot provided by the invention can automatically complete rust removing and spraying operations on the surface of a steel die, so that the condition of working fatigue caused by manual work for a long time is avoided, the working efficiency is improved, and the safety risk is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a specific embodiment of a rust removing, spraying and wall climbing robot provided by the invention;
FIG. 2 is a schematic structural view of the rust removing, spraying and wall climbing robot provided by the invention at another angle;
FIG. 3 is a schematic top view of the rust removing, spraying and wall climbing robot provided by the invention;
FIG. 4 is a schematic view of the frame of FIG. 1;
fig. 5 is a schematic structural view of the adsorption mechanism.
In FIGS. 1-5:
1 is a wheel type magnetic suction chassis, 111 is a first motor, 112 is a first speed reducer, 113 is a first wheel axle, 114 is a second motor, 115 is a second speed reducer, 116 is a second wheel axle, 121 is a first driving wheel, 1211 is a first wheel hub, 1212 is a first rubber wheel, 122 is a second driving wheel, 1221 is a second wheel hub, 1222 is a second rubber wheel, 123 is a universal wheel permanent magnet wheel set, 1231 is a universal wheel base, 1232 is a base, 131 is a magnet assembly, 1311 is a first permanent magnet, 1312 is a second permanent magnet, 132 is a magnet mounting rack, 1321 is a first magnet mounting rack, 1322 is a second magnet mounting rack, 14 is a rack, 141 is a first bottom plate 1412, 1411 is a first fixing seat, 142 is a second fixing seat, 143 is a first side plate, 144 is a second side plate, 145 is a side plate connecting shaft, 15 is a control box, 2 is a derusting mechanism, 21 is a steel wire rolling brush, 22 is a third motor, 231 is a driving wheel, 232 is a driven wheel, 233 is a conveying belt, 241 is a mounting plate, 242 is a first hinge, 243 is a second hinge, 244 is a movable rod, 245 is a third fixed seat, 246 is a first pin shaft, 247 is a second pin shaft, 3 is a spraying mechanism, 31 is a swing rod motor, 32 is a swing rod, and 33 is a spray head.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a rust removing and spraying wall climbing robot which can replace manpower to remove rust and spray the surface of a steel mould and reduce the safety risk.
Referring to fig. 1-5, fig. 1 is a schematic structural diagram of an embodiment of a rust removing spraying wall-climbing robot provided by the present invention; FIG. 2 is a schematic structural view of the rust removing, spraying and wall climbing robot provided by the invention at another angle; FIG. 3 is a schematic top view of the rust removing, spraying and wall climbing robot provided by the invention; FIG. 4 is a schematic view of the frame of FIG. 1; fig. 5 is a schematic structural view of the adsorption mechanism.
This concrete embodiment provides a rust cleaning spraying wall climbing robot includes: the device comprises a frame 14, an adsorption mechanism, a driving mechanism, a traveling mechanism, a rust removing mechanism 2, a spraying mechanism 3 and a control device; the adsorption mechanism is arranged at the bottom of the frame 14 and is adsorbed on the surface of the steel die through magnetic attraction; the driving mechanism is arranged on the frame 14 and drives the traveling mechanism to travel or turn, and the traveling mechanism is arranged on the frame 14; the rust removing mechanism 2 is used for removing rust spots on the surface of the steel die and is connected with the frame 14; the spraying mechanism 3 is used for spraying an antirust coating or a release agent on the surface of the steel die and is connected with the frame 14; the control device is connected with the driving mechanism, the rust removing mechanism 2, the spraying mechanism 3 and the adsorption mechanism to control the actions of the driving mechanism, the rust removing mechanism 2, the spraying mechanism 3 and the adsorption mechanism.
It should be noted that, in the process of traveling, the traveling mechanism needs to overcome the attraction of the adsorption mechanism to the surface of the steel film, the adsorption mechanism adsorbed on the surface of the steel film through the magnetic attraction can provide the adsorption force through the permanent magnet and also can provide the adsorption force through the electromagnet, and when the electromagnet is used, the control device needs to control the on-off of the electromagnet current; of course, other structures for providing magnetic attraction may be used, which are determined according to actual situations and are not described herein.
In the in-process of using, can make rust cleaning spraying wall climbing robot walk to treat the rust cleaning or treat the surface of spraying in the steel mould, and through adsorption device, utilize magnetic attraction to adsorb on the steel mould surface, when the rust spot on steel mould surface is got rid of to needs, can control 2 work of rust cleaning mechanism through controlling means, get rid of the rust spot on steel mould surface, when needs are to the surface spraying anti-rust coating or the release agent of steel mould, can control 3 work of spraying mechanism through controlling means, carry out the spraying to the surface of steel mould and handle.
It should be noted that the spraying mechanism 3 may spray other products except for the antirust coating or the mold release agent, which is determined according to the actual situation and is not described herein again.
Compared with manual operation in the prior art, the rust removing, spraying and wall climbing robot provided by the invention can replace manual work to automatically complete rust removing and spraying operations on the surface of a steel die, so that the condition that the work fatigue occurs when the manual work works for a long time is avoided, the work efficiency is improved, the action of manually climbing on the surface of the steel die is avoided, and the safety risk is reduced.
It should be noted that the frame 14, the suction mechanism, the driving mechanism, and the traveling mechanism form a wheel type magnetic chassis 1.
On the basis of the above embodiment, in order to better control the rust removing spraying wall-climbing robot to walk and turn on the surface of the steel mold, the walking mechanism may include a first driving wheel 121 and a second driving wheel 122 disposed on both sides of the frame 14 in the width direction, the driving mechanism includes a first driving mechanism for driving the first driving wheel 121 to rotate and a second driving mechanism for driving the second driving wheel 122 to rotate, and the control device respectively controls the first driving mechanism and the second driving mechanism to control the robot to steer through differential adjustment;
the first driving mechanism and the second driving mechanism are both connected with the control device, the first driving wheel 121 is connected with the first driving mechanism, and the second driving wheel 122 is connected with the second driving mechanism.
In the using process, the rotating speeds of the first driving wheel 121 and the second driving wheel 122 can be controlled by the first driving mechanism and the second driving mechanism respectively, when the derusting spraying wall-climbing robot travels along a straight line direction, the rotating speeds of the first driving wheel 121 and the second driving wheel 122 can be the same, when the direction needs to be changed by turning, the rotating speeds of the first driving wheel 121 and the second driving wheel 122 can be different, for example, the rotating speed of the first driving wheel 121 can be larger than that of the second driving wheel 122, the derusting spraying wall-climbing robot can turn towards the direction of the second driving wheel 122, the rotating angles of the derusting spraying wall-climbing robot can be different by adjusting the difference between the rotating speeds of the first driving wheel 121 and the second driving wheel 122, and 360-degree rotation of the derusting spraying wall-climbing robot can be realized to the maximum extent.
Preferably, the first drive wheel 121 includes a first hub 1211 and a first rubber wheel 1212, and the second drive wheel 122 includes a second hub 1221 and a second rubber wheel 1222.
Preferably, the first driving wheel 121 and the second driving wheel 122 are symmetrically arranged in the width direction of the frame 14.
On the basis of the above embodiment, the first driving mechanism may include the first motor 111 connected to the control device, the first speed reducer 112 connected to the output end of the first motor 111, and the first wheel shaft 113 connecting the first speed reducer 112 and the first driving wheel 121;
the second driving mechanism comprises a second motor 114 connected with the control device, a second speed reducer 115 connected with the output end of the second motor 114, and a second wheel shaft 116 connecting the second speed reducer 115 with a second driving wheel 122.
Preferably, the frame 14 is provided with a through hole for mounting the first wheel axle 113 and the second wheel axle 116, and the central axes of the first wheel axle 113 and the second wheel axle 116 coincide.
In the using process, the first motor 111 drives the first wheel shaft 113 to rotate after being decelerated by the first speed reducer 112, and the first wheel shaft 113 can drive the first driving wheel 121 to rotate because the first driving wheel 121 is connected with the first wheel shaft 113, and the rotating speed of the first motor 111 can be adjusted by the control device, so that the rotating speed of the first driving wheel 121 can be adjusted.
The second motor 114 drives the second wheel axle 116 to rotate after being decelerated by the second speed reducer 115, and the second wheel axle 116 can drive the second driving wheel 122 to rotate because the second driving wheel 122 is connected with the second wheel axle 116, so that the rotating speed of the second motor 114 can be adjusted by the control device, and the rotating speed of the second driving wheel 122 can be adjusted.
On the basis of the above embodiment, in order to make the rust removing spraying wall-climbing robot more stable in the working process, the traveling mechanism may further include a universal wheel permanent magnet wheel set 123 arranged at the bottom of the frame 14 and used for contacting with the steel die, and the universal wheel permanent magnet wheel set 123 is arranged at one end of the frame 14 in the length direction and can form an isosceles triangle with the first driving wheel 121 and the second driving wheel 122.
It should be noted that, the connecting line of the universal wheel permanent magnet wheel set 123, the first driving wheel 121 and the second driving wheel 122 forms an isosceles triangle, which means that the connecting line of the installation positions of the first driving wheel 121 and the second driving wheel 122 can form an isosceles triangle, and when the first driving wheel 121 and the second driving wheel 122 are symmetrically arranged in the width direction of the rack 14, the universal wheel permanent magnet wheel set 123 is arranged at the center line of the width direction of the rack 14.
The setting of universal wheel permanent magnetism wheelset 123 can support rust cleaning spraying wall climbing robot at the rust cleaning spraying wall climbing robot rotation in-process, makes rust cleaning spraying wall climbing robot's rotation process more steady, can also provide the adsorption affinity of removal with the steel mould actuation simultaneously.
On the basis of the above embodiment, the number of the universal wheel permanent magnet wheel sets 123 may be two, so that the universal wheel permanent magnet wheel set 123 includes the first universal wheel base 1231, the first base 1232 for mounting the first universal wheel base 1231 to the rack 14, the second universal wheel base 1231, and the second base 1232 for mounting the second universal wheel base 1231 to the rack 14; the first base 1232 and the second base 1232 are respectively installed at both ends of the rack 14 in the length direction.
In the installation process, any one of the universal wheel permanent magnet wheel sets 123, the first driving wheel 121 and the second driving wheel 122 can form an isosceles triangle.
Preferably, the two universal wheel permanent magnet wheel sets 123 are identical in structural size.
On the basis of the above embodiment, in order to facilitate control, the adsorption mechanism may include a magnet assembly 131 for adsorbing the steel die and a magnet mounting bracket 132 for mounting the magnet assembly 131 on the rack 14, and the magnet mounting bracket 132 is fixedly mounted on the rack 14.
As shown in fig. 5, the upper portion of the magnet mounting bracket 132 is provided with a permanent magnet, which is installed to face downward so that the permanent magnet can be attracted to the steel mold.
Preferably, the permanent magnet is mounted to the magnet mounting bracket 132 by screws.
the first magnet mounting rack 1321 and the second magnet mounting rack 1322 are both fixedly arranged on the frame 14 and symmetrically arranged in the width direction of the frame 14.
Preferably, the first magnet mounting bracket 1321 and the second magnet mounting bracket 1322 are symmetrically disposed in the width direction of the frame 14, and are installed between the first driving wheel 121 and the second driving wheel 122.
On the basis of the above embodiment, in order to make the setting of the rack 14 more convenient for the installation of the relevant components, the rack 14 may include a first bottom plate 141, a second bottom plate 142, a side plate connecting shaft 145, a first side plate 143, and a second side plate 144;
the second base plate 142 is provided with a mounting hole for mounting the side plate connecting shaft 145, the side plate connecting shaft 145 passes through the mounting hole, and the first and second side plates 143 and 144 are mounted at both ends of the side plate connecting shaft 145;
the first side plate 143 and the second side plate 144 are both connected to the drive mechanism.
Preferably, the mounting hole is located at the middle position of the side plate connecting shaft 145 in the length direction, the first side plate 143 is provided with a first axle 113 mounting hole for mounting the first axle 113, the second side plate 144 is provided with a second axle 116 mounting hole for mounting the second axle 116, the first side plate 143 is disposed between the first speed reducer and the first axle 113, the second side plate 144 is disposed between the second axle 116 and the second speed reducer, the first axle 113 passes through the first axle 113 mounting hole to be connected with the first driving wheel 121, and the second axle 116 passes through the second axle 116 mounting hole to be connected with the second driving wheel 122.
Preferably, the first base plate 141 is disposed on the upper portion of the second base plate 142, the width of the first base plate 141 is greater than that of the second base plate 142, a connecting shaft mounting portion is convexly disposed on the lower portion of the second base plate 142, the connecting shaft mounting portion is provided with a mounting hole for being engaged with the side plate connecting shaft 145, and the mounting portions are symmetrically disposed about a central axis of the second base plate 142 in the width direction.
In order to make the whole of the rack 14 more firm, the first side plate 143 and the second side plate 144 may be both connected to the side plate connecting shaft 145 by bolts, and the first side plate 143 and the second side plate 144 may be both connected to the first bottom plate 141.
Preferably, the first and second magnet mounting blocks 1321 and 1322 are mounted on a lower portion of the first base plate 141, the first base 1232 is mounted on a lower portion of the first base plate 141, the second base 1232 is mounted on a lower portion of the second base plate 142, and the driving mechanism is disposed above the first base plate 141 as shown in fig. 2.
On the basis of the above embodiment, a first fixing seat 1411 and a second fixing seat 1412 for rotatably connecting with the derusting mechanism 2 may be disposed on the upper surface of the first bottom plate 141, and the first fixing seat 1411 is disposed near the end of the frame 14 relative to the second fixing seat 1412;
when the derusting mechanism 2 is rotationally connected with the first fixed seat 1411, the derusting mechanism 2 is contacted with the surface to be derusted; when the derusting mechanism 2 is rotatably connected with the second fixing seat 1412, the derusting mechanism 2 is lifted and is in a non-working state.
In the using process, when the surface of the steel die needs to be subjected to rust removal operation, the rust removal mechanism 2 can be connected with the first fixing seat 1411, and when the rust removal operation is not needed, the rust removal mechanism 2 can be connected with the second fixing seat 1412.
On the basis of the above embodiment, the rust removing mechanism 2 can include a steel wire rolling brush 21 for removing rust spots on the surface of the steel die by rolling, a power device for driving the steel wire rolling brush 21 to rotate, a transmission device for transmitting the power of the power device to the steel wire rolling brush 21, and an installation frame;
the steel wire rolling brush 21 is rotatably arranged on the mounting frame, the power device and the transmission device are both arranged on the mounting frame, and the power device is connected with the control device to control the action of the power device.
When the rust removing mechanism 2 is rotatably connected with the first fixing seat 1411, the steel wire rolling brush 21 is in contact with a working surface to be subjected to rust removing, the steel wire rolling brush 21 is controlled to rotate through the control device, and the steel wire rolling brush 21 can rub the surface of a steel die in a rotating process so as to remove rust spots.
The rotating speed, the number and the size of the steel wire rolling brush 21 need to be controlled by a power device and are determined according to actual conditions. When the rust spots are relatively stubborn, the steel wire rolling brush 21 made of a relatively hard material can be used instead or the rotating speed of the steel wire rolling brush 21 can be increased, and when the rust spots are relatively light, the steel wire rolling brush 21 made of a relatively soft material can be used instead or the rotating speed of the steel wire rolling brush 21 can be reduced.
Preferably, the power device is a third motor 22, the transmission device includes a driving wheel 231 connected to an output end of the third motor 22, a driven wheel 232 connected to the wire roller brush 21, and a transmission belt 233 wound around outer peripheries of the driving wheel 231 and the driven wheel 232, and the control device is connected to the third motor 22 and controls a rotation speed of the third motor 22.
On the basis of the above embodiment, the mounting bracket includes a mounting plate 241 rotatably connected to the frame 14 by a hinge and a movable rod 244 for connecting the mounting plate 241 to the frame 14;
the mounting plate 241 is provided with a third fixing seat 245, the third fixing seat 245 is provided with a third pin hole, one end of the movable rod 244 is rotatably connected to the third fixing seat 245 through a first pin 246, and the other end of the movable rod 244 is rotatably connected to the frame 14.
When the other end of the movable rod 244 is connected to the first fixing base 1411 through the second pin 247, the mounting plate 241 rotates relative to the frame 14 to a position where the wire rolling brush 21 contacts with the surface of the steel mold, so that the rust removing operation can be performed, and when the other end of the movable rod 244 is connected to the second fixing base 1412 through the second pin 247, the wire rolling brush 21 is lifted up when the mounting plate 241 rotates relative to the frame 14, so that the rust removing mechanism 2 is in a non-working state.
Preferably, the wire roll brush 21 is detachably coupled to the mounting plate 241 to facilitate replacement.
The operation of connecting the movable rod 244 to the first fixing base 1411 or the second fixing base 1412 may be performed manually or by a mechanical device.
The mounting plate 241 is connected to the first base plate by a hinge, and in order to secure the connection, a first hinge 242 and a second hinge 243 are provided along the length direction of the mounting plate 241, and the first hinge 242 and the second hinge 243 are symmetrically provided about the center line of the length direction of the mounting plate 241.
On the basis of the above embodiment, the spraying mechanism 3 may include a spray head 33, a storage tank, a pressure pump, a swing rod 32 connected to the spray head 33, and a power device for driving the swing rod 32 to swing;
the pressure pump is used for pumping the raw materials in the storage tank to the spray head 33 and is connected with the control device;
the power equipment is connected with the control device, one end of the swing rod 32 is connected with the power equipment, the other end of the swing rod is connected with the spray head 33, and the power equipment is arranged on the rack 14.
Preferably, the power equipment is a swing rod motor 31, the swing rod motor 31 is arranged on the upper surface of the second base plate 142, the output end of the swing rod motor 31 is connected with the swing rod 32, the other end of the swing rod 32 is connected with the spray head 33, and in the spraying process, the pressure pump can be controlled by the control device to work, so that the raw material in the storage tank is pumped to the spray head 33 for continuous spraying operation.
Preferably, the derusting mechanism 2 is arranged at one end of the rack 14 in the length direction, and the spraying mechanism 3 is arranged at the other end of the rack 14 in the length direction. The derusting mechanism 2 is disposed on the first bottom plate 141, and the spraying mechanism 3 is disposed on the second bottom plate 142.
On the basis of the above embodiment, a control box 15 for installing the control device may be further included, and the control box 15 is disposed on the upper surface of the rack 14.
It should be noted that, in the present document, the first motor 111, the second motor 114, and the third motor 22, the first fixing seat 1411, the second fixing seat 1412, and the third fixing seat 245, the first wheel shaft 113, the second wheel shaft 116, the first side plate 143, the second side plate 144, the first reducer 112, the second reducer 115, the first pin 246, the second pin 247, the first base plate 141, and the second base plate 142, the first permanent magnet 1311, the second permanent magnet 1312, the first magnet mounting frame 1321, the second magnet mounting frame 1322, the first base 1232, the second base 1232, the first universal wheel base 1231, the second universal wheel base 1231, the first driving wheel 121, the second driving wheel 122, the first hub 1211, the second hub 1221, and the first rubber wheel 1212, and the third rubber wheel 1222 are mentioned only for distinguishing the differences of the positions, and are not sequentially mentioned.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The rust removing, spraying and wall climbing robot provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (15)
1. The utility model provides a rust cleaning spraying wall climbing robot which characterized in that includes: the device comprises a rack (14), an adsorption mechanism, a driving mechanism, a traveling mechanism, a rust removing mechanism (2), a spraying mechanism (3) and a control device;
the adsorption mechanism is arranged at the bottom of the rack (14) and is adsorbed on the surface of the steel die through magnetic attraction;
the driving mechanism is mounted on the rack (14) and drives the traveling mechanism to travel or turn, and the traveling mechanism is mounted on the rack (14);
the rust removing mechanism (2) is used for removing rust spots on the surface of the steel die and is connected with the rack (14);
the spraying mechanism (3) is used for spraying an antirust coating or a release agent on the surface of the steel die and is connected with the rack (14);
the control device is connected with the driving mechanism, the rust removing mechanism (2), the spraying mechanism (3) and the adsorption mechanism to control the actions of the driving mechanism, the rust removing mechanism (2), the spraying mechanism (3) and the adsorption mechanism.
2. The rust removing and spraying wall-climbing robot is characterized in that the walking mechanism comprises a first driving wheel (121) and a second driving wheel (122) which are arranged on two sides of the frame (14) in the width direction, the driving mechanism comprises a first driving mechanism for driving the first driving wheel (121) to rotate and a second driving mechanism for driving the second driving wheel (122) to rotate, and the control device respectively controls the first driving mechanism and the second driving mechanism to control the robot to steer through differential adjustment;
the first driving mechanism and the second driving mechanism are both connected with the control device, the first driving wheel (121) is connected with the first driving mechanism, and the second driving wheel (122) is connected with the second driving mechanism.
3. The rust removing, spraying and wall climbing robot as recited in claim 2, characterized in that the first driving mechanism comprises a first motor (111) connected with the control device, a first reducer (112) connected with an output end of the first motor (111), and a first wheel shaft (113) connecting the first reducer (112) with the first driving wheel (121);
the second driving mechanism comprises a second motor (114) connected with the control device, a second speed reducer (115) connected with the output end of the second motor (114), and a second wheel shaft (116) connected with the second speed reducer (115) and the second driving wheel (122).
4. The rust removing, spraying and wall climbing robot as claimed in claim 2, wherein the traveling mechanism further comprises a universal wheel permanent magnet wheel set (123) arranged at the bottom of the frame (14) and used for contacting with the steel die, and the universal wheel permanent magnet wheel set (123) is arranged at one end of the frame (14) in the length direction and can form an isosceles triangle with the first driving wheel (121) and the second driving wheel (122).
5. The rust removing, spraying and wall climbing robot as claimed in claim 4, characterized in that the universal wheel permanent magnet wheel set (123) comprises a first universal wheel base (1231), a first base (1232) for mounting the first universal wheel base (1231) to the frame (14), a second universal wheel base (1231), and a second base (1232) for mounting the second universal wheel base (1231) to the frame (14);
the first base (1232) and the second base (1232) are respectively installed at two ends of the rack (14) in the length direction.
6. The rust removing spray wall-climbing robot according to any one of claims 1-5, characterized in that the adsorption mechanism comprises a magnet assembly (131) for adsorbing the steel die and a magnet mounting bracket (132) for mounting the magnet assembly (131) to the frame (14), the magnet mounting bracket (132) being fixedly arranged to the frame (14).
7. The rust removing spray wall-climbing robot according to claim 6, characterized in that the magnet assembly (131) comprises a first permanent magnet (1311) and a second permanent magnet (1312), the magnet mounting (132) comprising a first magnet mounting (1321) for mounting the first permanent magnet (1311) to the frame (14) and a second magnet mounting (1322) for mounting the second permanent magnet (1312) to the frame (14);
the first magnet mounting rack (1321) and the second magnet mounting rack (1322) are fixedly arranged on the rack (14) and symmetrically arranged in the width direction of the rack (14).
8. The rust removing spray wall-climbing robot according to any one of claims 1 to 5, characterized in that the frame (14) includes a first bottom plate (141), a second bottom plate (142), a side plate connecting shaft (145), a first side plate (143), and a second side plate (144);
the second bottom plate (142) is provided with a mounting hole for mounting the side plate connecting shaft (145), the side plate connecting shaft (145) penetrates through the mounting hole, and the first side plate (143) and the second side plate (144) are mounted at two ends of the side plate connecting shaft (145);
the first side plate (143) and the second side plate (144) are both connected with the driving mechanism.
9. The derusting spraying wall-climbing robot as recited in claim 8, characterized in that the upper surface of the first bottom plate (141) is provided with a first fixing seat (1411) and a second fixing seat (1412) for rotatably connecting with the derusting mechanism (2), the first fixing seat (1411) is arranged close to the end of the frame (14) relative to the second fixing seat (1412);
when the rust removing mechanism (2) is rotationally connected with the first fixing seat (1411), the rust removing mechanism (2) is in contact with the surface to be subjected to rust removing; when the derusting mechanism (2) is rotatably connected with the second fixing seat (1412), the derusting mechanism (2) is lifted up and is in a non-working state.
10. The rust removing spray wall-climbing robot as claimed in any one of claims 1-5, characterized in that the rust removing mechanism (2) comprises a steel wire rolling brush (21) for removing rust spots on the surface of the steel die by rolling, a power device for driving the steel wire rolling brush (21) to rotate, a transmission device for transmitting the power of the power device to the steel wire rolling brush (21), and a mounting rack;
the steel wire round brush (21) rotate set up in the mounting bracket, power device with transmission all install in the mounting bracket, power device with controlling means connects, in order to control power device's action.
11. The rust removing spray wall-climbing robot as claimed in claim 10, characterized in that the mounting frame comprises a mounting plate (241) rotatably connected with the frame (14) by a hinge and a movable rod (244) for connecting the mounting plate (241) with the frame (14);
mounting panel (241) is provided with third fixing base (245), third fixing base (245) are provided with the third pinhole, the one end of movable rod (244) through first round pin axle (246) rotate connect in third fixing base (245), the other end of movable rod (244) rotate connect in frame (14).
12. The rust removing and wall climbing robot as claimed in any one of claims 1 to 5, characterized in that the spraying mechanism (3) comprises a spray head (33), a storage tank, a pressure pump, a swing rod (32) connected with the spray head (33) and a power device driving the swing rod (32) to swing;
the pressure pump is used for pumping the raw material in the storage tank to the spray head (33) and is connected with the control device;
the power equipment is connected with the control device, one end of the swing rod (32) is connected with the power equipment, the other end of the swing rod is connected with the spray head (33), and the power equipment is arranged on the rack (14).
13. The rust removing spray wall-climbing robot as claimed in claim 12, characterized in that the power equipment is a pendulum motor (31).
14. The rust removing, spraying and wall climbing robot as claimed in any one of claims 1-5, characterized in that the rust removing mechanism (2) is arranged at one end of the machine frame (14) in the length direction, and the spraying mechanism (3) is arranged at the other end of the machine frame (14) in the length direction.
15. The rust removing spray wall-climbing robot as claimed in any one of claims 1-5, characterized by further comprising a control box (15) for mounting the control device, the control box (15) being provided on the upper surface of the frame (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122269.2A CN111283527A (en) | 2020-02-26 | 2020-02-26 | Derusting spraying wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122269.2A CN111283527A (en) | 2020-02-26 | 2020-02-26 | Derusting spraying wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111283527A true CN111283527A (en) | 2020-06-16 |
Family
ID=71029498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010122269.2A Pending CN111283527A (en) | 2020-02-26 | 2020-02-26 | Derusting spraying wall-climbing robot |
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| Country | Link |
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| CN (1) | CN111283527A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114318974A (en) * | 2021-12-29 | 2022-04-12 | 河北大学 | Spraying equipment with rust cleaning mechanism |
| CN114559447A (en) * | 2022-03-25 | 2022-05-31 | 中建安装集团有限公司 | Intelligent robot suitable for removing rust in equipment and control method thereof |
| CN114800129A (en) * | 2022-06-28 | 2022-07-29 | 江苏润昊智能装备有限公司 | Boats and ships steel construction grinding device |
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| JP2000302071A (en) * | 1999-04-19 | 2000-10-31 | Jiyakusutoron Kk | Self-propelled working vehicle |
| CN104828170A (en) * | 2015-05-08 | 2015-08-12 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN105381902A (en) * | 2015-12-23 | 2016-03-09 | 烟台大学 | Wall-climbing rust removal paint spraying robot and control method thereof |
| CN108297957A (en) * | 2018-02-08 | 2018-07-20 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of magnetic gap |
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| JP2000302071A (en) * | 1999-04-19 | 2000-10-31 | Jiyakusutoron Kk | Self-propelled working vehicle |
| CN104828170A (en) * | 2015-05-08 | 2015-08-12 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN105381902A (en) * | 2015-12-23 | 2016-03-09 | 烟台大学 | Wall-climbing rust removal paint spraying robot and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114318974A (en) * | 2021-12-29 | 2022-04-12 | 河北大学 | Spraying equipment with rust cleaning mechanism |
| CN114318974B (en) * | 2021-12-29 | 2023-09-26 | 河北大学 | Spraying equipment with rust cleaning mechanism |
| CN114559447A (en) * | 2022-03-25 | 2022-05-31 | 中建安装集团有限公司 | Intelligent robot suitable for removing rust in equipment and control method thereof |
| CN114800129A (en) * | 2022-06-28 | 2022-07-29 | 江苏润昊智能装备有限公司 | Boats and ships steel construction grinding device |
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Application publication date: 20200616 |