CN113492264A

CN113492264A - Spider type laser rust removing equipment

Info

Publication number: CN113492264A
Application number: CN202110877642.XA
Authority: CN
Inventors: 郭玉玺
Original assignee: Jinan Hanteng Laser Technology Co ltd
Current assignee: Jinan Hanteng Laser Technology Co ltd
Priority date: 2021-08-01
Filing date: 2021-08-01
Publication date: 2021-10-12
Anticipated expiration: 2041-08-01
Also published as: CN113492264B

Abstract

The application discloses spider type laser rust removal equipment, which relates to the technical field of laser cleaning, and comprises a main controller, wherein a mounting base is connected below the main controller, the edge of the mounting base is movably connected with a plurality of stages of telescopic arms, the number of the plurality of stages of telescopic arms is not less than three, the telescopic distance of the plurality of stages of telescopic arms is adjusted according to the diameter of a kettle body, the tail end of the plurality of stages of telescopic arms is supported on the inner wall of the kettle body, and a laser generator below the multi-stage telescopic arms freely rotates by 360 degrees through a clamping turntable; the whole body adopts a spider-type structure, the rust removing equipment can go deep into a large-scale reaction kettle, annular rust removal from top to bottom is realized on the inner wall of the kettle through the walking unit and the fixing unit at the tail end of the telescopic arm, the rust removing process is full-automatic, and manual participation is not needed.

Description

Spider type laser rust removing equipment

Technical Field

The application relates to the technical field of laser cleaning, in particular to laser rust removal equipment, for example spider type laser rust removal equipment.

Background

In large metal reaction kettles in chemical industry and the like, metal oxide corrosion is easily formed on the surfaces of the large metal reaction kettles due to long-term corrosion of various chemical substances and long-term exposure to air, further reaction efficiency is affected, the service life of the kettle body is also damaged, mechanical rust removal, chemical rust removal and other methods are usually selected regularly for cleaning the inner and outer surfaces of the kettle body, but the mechanical rust removal can cause impurity and dust diffusion, and the health of operators is affected; the chemical rust removal method has the risk of damaging the surface of the kettle body, and is not suitable for long-term use; the laser rust removal method can avoid the problems to the greatest extent, and is increasingly applied in the field of rust removal. Generally, the rust on the outer surface can be removed by using a traditional handheld or mobile laser cleaning gun, but the inner surface, especially the inner surface of a large kettle body, is difficult to use the traditional laser rust removing equipment due to the problem of operation space.

The Chinese patent of application No. 201410421688.0 discloses an annular laser band deruster, which comprises a driving module, a derusting module and a controller; the driving module comprises a front wheel part and a rear wheel part and is used for driving the deruster to move forwards; the derusting module comprises a laser, an optical fiber coupler, an annular laser band adjusting unit and the like; the rust removing device is used for carrying out annular rust removing treatment on the inner wall of the cylindrical workpiece.

The Chinese patent application No. 201911355959.1 discloses a laser cleaning device for surface treatment of annular components, which comprises a flexible clamping turntable, an outer side cleaning mechanical arm, an outer laser cleaning head carried by the outer side cleaning mechanical arm, an inner side cleaning mechanical arm and an inner laser cleaning head carried by the inner side cleaning mechanical arm; the inner and outer cleaning arms are linked with the clamping turntable, and the inner and outer laser cleaning heads can open laser to automatically clean the inner and outer surfaces of the annular component.

The technical scheme solves the problem of cleaning workpieces by annular laser, but still has the problems of limited operation distance and limited moving space of mechanical arms aiming at the kettles with different specifications, particularly large kettles, and can not completely realize automatic cleaning, and the rust removal work is completed by the aid of the mechanical arms or the control units outside the kettles.

Disclosure of Invention

In view of the defects in the prior art, the spider type laser rust removal equipment can realize full-automatic cleaning and rust removal, and the applicable kettle body has a wider size range.

The technical problem solved by the invention can be realized by adopting the following technical scheme:

a laser rust removal device comprises a main controller, wherein the main controller is provided with a mounting base, and the edge of the mounting base is movably connected with a plurality of multi-stage telescopic arms which are circumferentially arranged at intervals; a clamping component is arranged at the tail end of each multi-stage telescopic arm; a recovery area is arranged on the side wall of the main controller corresponding to each multi-stage telescopic arm and used for accommodating the multi-stage telescopic arms in a furled state; the mounting base is movably provided with a laser generator; the laser generator is provided with a distance measuring group, and the vertical face of the laser generator is provided with a cleaning head used for cleaning the surface to be cleaned.

By adopting the technical scheme: the telescopic distance is adjusted according to cauldron body diameter to multistage flexible arm, and multistage flexible arm end-to-end support is in cauldron internal wall, and the laser generator free rotation of below makes the cleaning head can carry out annular no dead angle with cauldron internal wall and washs.

Furthermore, a fixing unit is arranged in the center of the tail end of the multistage telescopic arm, and a vacuum adsorption device is adopted as the fixing unit; and the two sides of the fixed unit are provided with walking units, and the walking units adopt crawler-type moving devices.

By adopting the technical scheme: when cleaning is carried out, the vacuum adsorption device is started, so that the multistage telescopic arm is more stably fixed on the inner wall of the kettle body; after the area of one annular belt is cleaned, the vacuum adsorption device is closed, the walking unit gradually moves downwards, and the cleaning work of the annular belts is sequentially realized.

Furthermore, the number of the multi-stage telescopic arms is three, and the interval of each multi-stage telescopic arm is 120 degrees; the recovery area is of an arc-shaped structure.

By adopting the technical scheme: the three multi-stage telescopic arms can not only meet the supporting function on the whole device, but also reduce the production cost.

Furthermore, the number of the multi-stage telescopic arms is four, and the interval of each multi-stage telescopic arm is 90 degrees; the top cover of the main controller is of an octahedral structure, and the recovery areas are trapezoidal grooves which are symmetrical to each other.

By adopting the technical scheme: four multistage flexible arms are two bisymmetry structures, support more firmly, and each other are the easy calibration of right angle position relation and location, are convenient for more produce the installation.

Furthermore, the number of the multi-stage telescopic arms is six; the interval of each multi-stage telescopic arm is 60 degrees; the main controller top cap is a dodecahedron structure, and the recovery area is rectangular grooves which are symmetrical to each other.

By adopting the technical scheme: the stability of the six multistage telescopic arms is further enhanced, and particularly the applicability to the irregular kettle body is enhanced.

Furthermore, the multistage telescopic arm comprises a first-stage cross arm, a second-stage cross arm, a third-stage cross arm and a vertical arm; the vertical arm is rotatably connected with the mounting base, and the tail part of the vertical arm is sequentially provided with a first-stage cross arm, a second-stage cross arm and a third-stage cross arm.

By adopting the technical scheme: the kettle body diameter range which can be met by the three-stage telescopic arm is wide, and the kettle body is convenient to store when not in use, so that the space is saved; the vertical arm can finely adjust the angle of the multi-stage telescopic arm.

Further, the distance measuring group comprises a bottom distance measuring instrument and an edge distance measuring instrument; the bottom distance measuring instrument is arranged at the center of the bottom surface of the laser generator, and the side distance measuring instrument is arranged on the side wall of the same plane with the cleaning head.

By adopting the technical scheme: the bottom distance meter is used for monitoring the distance between the derusting equipment and the kettle bottom in real time; the limit distancer is used for the distance of real-time supervision cleaning head and cauldron inner wall, and feedback signal adjusts multistage flexible arm length on the one hand, and laser generator's laser emission intensity is adjusted to on the other hand.

Further, the clamping assembly comprises a servo motor and a hanging part; the servo motor is installed at the tail end of the multistage telescopic arm and used for controlling the hanging part, the hanging part is movably connected to two sides of the tail end of the multistage telescopic arm, and the hanging part is provided with a lap joint groove.

By adopting the technical scheme: the effect of suspension portion is convenient for place rust cleaning equipment steadily in cauldron mouth department before carrying out cleaning work, avoids appearing dangerous accidents such as unexpected drop.

Furthermore, hoisting holes are installed on the side wall of the main controller, and the hoisting holes are located between each recovery area.

By adopting the technical scheme: the hoisting holes bring convenience to placement of the rust removing equipment, particularly for the super-large kettle, when the rust removing equipment is placed by means of a crane, the equipment can be placed by hanging the rope and the lifting hook on the hoisting holes, and the recovery of the rust removing equipment is facilitated after the cleaning work is completed.

Further, the mounting base is movably connected with the laser generator through a clamping turntable.

In summary, the present application has the following beneficial effects:

the spider-type laser rust removal equipment can be deeply inserted into a large reaction kettle, the inner wall is positioned by adopting the multi-stage telescopic arm, annular rust removal is realized on the inner wall of the kettle along the height direction of the kettle wall, such as from top to bottom, through the traveling unit and the fixing unit at the tail end of the telescopic arm, no dead angle is swept at 360 degrees, the rust removal process is fully automatically carried out, and manual participation is not needed; in addition, the device can also perform normal surface cleaning work.

Drawings

FIG. 1 is a top view of an embodiment of the present application;

FIG. 2 is a top view of the second embodiment of the present application;

FIG. 3 is a top view of the present application in accordance with an embodiment of the present invention;

FIG. 4 is a top view of the multi-stage telescopic boom;

FIG. 5 is a front view of the multi-stage telescoping arm;

FIG. 6 is an enlarged view of a portion A;

FIG. 7 is a partial enlarged view of the point B;

FIG. 8 is a schematic diagram of the main controller and the lower components;

fig. 9 is a schematic view of the walking unit and the fixing unit.

Description of reference numerals:

1. a kettle body; 2. a main controller; 201. hoisting holes; 3. a recovery zone;

4. a multi-stage telescopic arm; 401. a first-stage cross arm; 402. a secondary cross arm; 403. a third-level cross arm; 404. a vertical arm; 405. a traveling unit; 406. a fixing unit;

5. a clamping component; 501. a servo motor; 502. a hanging part;

6. mounting a base; 7. clamping the turntable;

8. a ranging group; 801. a bottom rangefinder; 801. a side rangefinder;

9. a laser generator; 10. a cleaning head.

Detailed Description

The present application is described in further detail below with reference to the attached drawings. Referring to fig. 1-9, the application discloses a spider type laser derusting equipment, including main control unit 2, mounting base 6 is connected to main control unit 2 below, 6 marginal swing joint multistage flexible arms 4 of mounting base guarantee to support firm the sake, multistage flexible arm 4 quantity is not less than three.

As shown in fig. 1 to 3, a recovery area 3 is provided at a position of the side wall of the main controller 2 corresponding to each multi-stage telescopic arm 4 for accommodating the multi-stage telescopic arms 4 in a furled state, so that the multi-stage telescopic arms 2 can be protected and the occupied space can be saved.

As shown in fig. 4 to 5, the multistage telescopic boom 4 includes a primary cross arm 401, a secondary cross arm 402, a tertiary cross arm 403, and a vertical arm 404; the vertical arm 404 is rotatably connected with the mounting base 6, and the tail part of the vertical arm 404 is sequentially provided with a first-stage cross arm 401, a second-stage cross arm 402 and a third-stage cross arm 403.

As shown in fig. 6-7, a position-locking assembly 5 is disposed at the end of each multi-stage telescopic arm 4, and the position-locking assembly 5 includes a servo motor 501 and a suspension portion 502; the servo motor 501 is arranged at the tail end of the multi-stage telescopic arm 4 and used for controlling the suspension part 502, the suspension part 502 is movably connected to two sides of the tail end of the multi-stage telescopic arm 4, and the servo motor 501 can control the multi-stage telescopic arm 2 to turn over up and down; the hanging part 502 is provided with a lapping groove which is used for being initially clamped to the top edge of the kettle body 1 to play a role in primary positioning.

As shown in fig. 8, a fixing unit 405 is arranged at the center of the tail end of the tertiary cross arm 403, and a vacuum adsorption device is adopted for the fixing unit 405; walking units 406 are arranged on two sides of the fixed unit 405, and the walking units 406 adopt crawler-type moving devices.

As shown in fig. 9, a laser generator 9 is arranged at the bottom of the mounting base 6, and the mounting base 6 and the laser generator 9 are movably connected through a clamping turntable 7; a distance measuring group 8 is arranged on the laser generator 9, and a cleaning head 10 is arranged on the vertical surface of the laser generator 9; the distance measuring group 8 comprises a bottom distance measuring instrument 801 and an edge distance measuring instrument 802; the bottom distance meter 801 is installed at the center of the bottom surface of the laser generator 9, and the side distance meter 802 is arranged on the side wall of the same plane as the cleaning head 10.

Hoisting holes 201 are installed on the side wall of the main controller 2, and the hoisting holes 201 are located between each recovery area 3.

Example 1:

the number of the multi-stage telescopic arms 4 is three, and the interval of each multi-stage telescopic arm 4 is 120 degrees; the recovery area 3 is of an arc-shaped structure; hoisting the derusting equipment to the top of the kettle body 1, primarily measuring the diameter of the kettle body 1 by using a range finder 802, extending a primary cross arm 401, a secondary cross arm 402 and a tertiary cross arm 403 to proper positions, overlapping a hanging part 502 at the edge of the kettle body 1 to fix the position, starting to work by using a bottom range finder 801, and detecting the distance between the derusting equipment and the bottom of the kettle body 1 in real time; the laser generator 9 adjusts the laser intensity according to the cleaning distance, the laser belt emitted by the cleaning head 10 removes rust at the same height on the inner wall of the kettle body 1, the laser belt emitted by the cleaning head 10 completes one-time annular rust removal on the inner wall of the kettle body 1 along with the rotation of the clamping turntable 7, after the first circle of rust close to the top edge is removed, the servo motor 501 controls the suspension part 501 to turn upwards, the walking unit 405 moves downwards, meanwhile, the vacuum adsorption device of the fixing unit 406 is opened, the three fixing units 406 are simultaneously adsorbed on the inner wall of the kettle body 1 to fix the rust removal equipment, and the moving distance of each time is consistent with the width of the annular belt which can be cleaned by the cleaning head 10; when the cleaning is finished for one circle again, the above instructions are repeated, the vacuum adsorption device is closed, and the walking unit 405 moves downwards at equal intervals again; when the bottom distance measuring instrument 801 monitors that the inner wall of the whole kettle body 1 is about to reach the bottom of the kettle body 1, the diameter of the kettle body 1 changes because the kettle bottom is usually in a circular arc shape, and in order to prevent the equipment from falling due to unstable adsorption force of the fixing unit 406, when the early warning distance is reached, the walking unit 405 does not move downwards, but the position of the cleaning head 10 falls through adjusting the vertical wall 404 until the inner wall of the whole kettle body 1 is cleaned; after cleaning, the traveling unit 405 moves upward to move the rust removing equipment to the top of the kettle body 1, and then the rust removing equipment is taken down by the hoisting equipment.

Example 2:

the number of the multi-stage telescopic arms 4 is four, and each multi-stage telescopic arm 4 is spaced by 90 degrees; the top cover of the main controller 2 is of an octahedral structure, and the recovery area 3 is of symmetrical trapezoidal grooves. The rust removing equipment is hoisted to the top of the kettle body 1, the diameter of the kettle body 1 is preliminarily measured by the side distance meter 802, the multi-stage telescopic arms 4 extend to proper positions, the hanging part 502 is lapped on the edge of the kettle body 1, the bottom distance meter 801 starts to work, the laser generator 9 adjusts the laser intensity according to the cleaning distance, the rust at the same height of the inner wall of the kettle body 1 is removed by the laser belt emitted by the cleaning head 10, the laser belt emitted by the cleaning head 10 completes one-time annular rust removing on the inner wall of the kettle body 1 along with the rotation of the clamping turntable 7, after the first circle of rust close to the top edge is removed, two opposite servo motors 501 can be independently controlled to control the hanging part 501 to turn upwards, the corresponding walking unit 405 moves downwards, the vacuum adsorption device of the corresponding fixing unit 406 is opened, the opposite walking unit 405 can move alternatively, and the positioning of the rust removing equipment is assisted; when the cleaning is finished for one circle again, repeating the instruction; when the bottom distance meter 801 monitors that the cleaning head is about to reach the bottom of the kettle body 1, after the early warning distance is reached, the four walking units 405 do not move downwards any more and play a role in fixing at the same time, and the position of the cleaning head 10 falls down by adjusting the vertical wall 404 until the inner wall of the whole kettle body 1 is cleaned; after cleaning, all the walking units 405 move upwards at the same time to move the rust removing equipment to the top of the kettle body 1, and then the rust removing equipment is taken down by the hoisting equipment.

Example 3:

the number of the multi-stage telescopic arms 4 is six; the interval of each multi-stage telescopic arm 4 is 60 degrees; the top cover of the main controller 2 is of a dodecahedron structure, and the recovery area 3 is of symmetrical rectangular grooves. The rust removing equipment is hoisted to the top of the kettle body 1, the diameter of the kettle body 1 is preliminarily measured by the side distance meter 802, the multi-stage telescopic arms 4 extend to proper positions, the hanging part 502 is lapped on the edge of the kettle body 1, the bottom distance meter 801 starts to work, the laser generator 9 adjusts the laser intensity according to the cleaning distance, the rust at the same height of the inner wall of the kettle body 1 is removed by the laser belt emitted by the cleaning head 10, the annular rust removing is completed on the inner wall of the kettle body 1 by the laser belt emitted by the cleaning head 10 along with the rotation of the clamping turntable 7, after the first circle of rust close to the top edge is removed, three servo motors 501 which are mutually spaced can be independently controlled to control the suspension part 501 to turn upwards, the corresponding three walking units 405 move downwards, the vacuum adsorption devices of the corresponding three fixing units 406 are started, and the adjacent walking units 405 can alternately move to assist the positioning of the derusting equipment; when the cleaning is finished for one circle again, repeating the instruction; when the bottom distance meter 801 monitors that the cleaning head is about to reach the bottom of the kettle body 1, after the early warning distance is reached, the walking units 405 are left to not move downwards and play a role in fixing, and the positions of the cleaning heads 10 fall down by adjusting the vertical walls 404 until the inner wall of the whole kettle body 1 is cleaned; after cleaning, all the walking units 405 are left to move upwards at the same time, and the rust removing equipment is moved to the top of the kettle body 1 and then taken down by the hoisting equipment.

The above is a preferred embodiment of the present application, and all modifications and variations that do not depart from the design concept, mechanical structure, and intelligent driving control of the present application are intended to be included within the scope of the present application.

Claims

1. A laser rust cleaning equipment which is characterized in that: the device comprises a main controller (2), wherein the main controller (2) is provided with a mounting base (6), and the edge of the mounting base (6) is movably connected with a plurality of multi-stage telescopic arms (4) which are circumferentially arranged at intervals; a clamping component (5) is arranged at the tail end of each multi-stage telescopic arm (4); a recovery area (3) is arranged on the side wall of the main controller (2) corresponding to each multi-stage telescopic arm (4) and used for accommodating the multi-stage telescopic arms (4) in a furled state; a laser generator (9) is movably arranged on the mounting base (6); set up range finding group (8) on laser generator (9), laser generator (9) facade sets up and is used for treating the surface of cleaning and carries out abluent cleaning head (10).

2. The laser rust removing apparatus according to claim 1, characterized in that: a fixing unit (405) is arranged in the center of the tail end of the multi-stage telescopic arm (4), and a vacuum adsorption device is adopted in the fixing unit (405); and walking units (406) are arranged on two sides of the fixed unit (405), and the walking units (406) adopt crawler-type moving devices.

3. The laser rust removing apparatus according to claim 2, characterized in that: the number of the multi-stage telescopic arms (4) is three, and the interval of each multi-stage telescopic arm (4) is 120 degrees; the recovery area (3) is of an arc-shaped structure.

4. The laser rust removing apparatus according to claim 2, characterized in that: the number of the multi-stage telescopic arms (4) is four, and each multi-stage telescopic arm (4) is spaced by 90 degrees; the top cover of the main controller (2) is of an octahedral structure, and the recovery area (3) is symmetrical trapezoidal grooves.

5. The laser rust removing apparatus according to claim 2, characterized in that: the number of the multi-stage telescopic arms (4) is six; the interval of each multi-stage telescopic arm (4) is 60 degrees; the top cover of the main controller (2) is of a dodecahedron structure, and the recovery area (3) is rectangular grooves which are symmetrical to each other.

6. The laser rust removing apparatus as claimed in any one of claims 3 to 5, wherein: the multi-stage telescopic arm (4) comprises a first-stage cross arm (401), a second-stage cross arm (402), a third-stage cross arm (403) and a vertical arm (404); the vertical arm (404) is rotatably connected with the mounting base (6), and the tail part of the vertical arm (404) is sequentially provided with a first-stage cross arm (401), a second-stage cross arm (402) and a third-stage cross arm (403).

7. The laser rust removing apparatus according to claim 6, characterized in that: the distance measuring group (8) comprises a bottom distance measuring instrument (801) and an edge distance measuring instrument (802); the bottom distance measuring instrument (801) is installed at the center of the bottom surface of the laser generator (9), and the side distance measuring instrument (802) is arranged on the side wall of the same plane with the cleaning head (10).

8. The laser rust removing apparatus according to claim 2, characterized in that: the clamping component (5) comprises a servo motor (501) and a hanging part (502); the servo motor (501) is installed at the tail end of the multi-stage telescopic arm (4) and used for controlling the suspension part (502), the suspension part (502) is movably connected to the two sides of the tail end of the multi-stage telescopic arm (4), and the suspension part (502) is provided with a lap joint groove.

9. The laser rust removing apparatus according to claim 8, characterized in that: hoisting holes (201) are installed on the side wall of the main controller (2), and the hoisting holes (201) are located between the recovery areas (3).

10. The laser rust removing apparatus according to claim 1, characterized in that: the mounting base (6) is movably connected with the laser generator (9) through a clamping turntable (7).