CN113578804A - Steel sheet surface climbing cleaning machines people - Google Patents
Steel sheet surface climbing cleaning machines people Download PDFInfo
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- CN113578804A CN113578804A CN202110818806.1A CN202110818806A CN113578804A CN 113578804 A CN113578804 A CN 113578804A CN 202110818806 A CN202110818806 A CN 202110818806A CN 113578804 A CN113578804 A CN 113578804A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 139
- 239000010959 steel Substances 0.000 title claims abstract description 139
- 238000004140 cleaning Methods 0.000 title claims abstract description 70
- 230000009194 climbing Effects 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 238000001179 sorption measurement Methods 0.000 claims abstract description 11
- 230000035939 shock Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000007790 scraping Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 abstract description 77
- 238000000034 method Methods 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 20
- 230000000694 effects Effects 0.000 abstract description 14
- 239000003818 cinder Substances 0.000 abstract description 3
- 239000002253 acid Substances 0.000 description 12
- UQSXHKLRYXJYBZ-UHFFFAOYSA-N Iron oxide Chemical compound [Fe]=O UQSXHKLRYXJYBZ-UHFFFAOYSA-N 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000003749 cleanliness Effects 0.000 description 4
- 238000003912 environmental pollution Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 239000003082 abrasive agent Substances 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 238000005554 pickling Methods 0.000 description 2
- 238000004381 surface treatment Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000002351 wastewater Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000221535 Pucciniales Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005098 hot rolling Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- -1 rust Chemical compound 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of surface cleaning of steel plate profiles, and particularly relates to a steel plate surface climbing cleaning robot which comprises a shell, wherein a first driving motor is fixedly installed on the inner bottom wall of the shell, a first transmission shaft is fixedly installed on an output shaft of the first driving motor through a coupler, a crawler belt walking mechanism is meshed with the outer surface of one end of the first transmission shaft through a bevel gear, and a non-contact type adsorption mechanism is fixedly installed in the center of the inner bottom wall of the shell. This steel sheet surface climbing cleaning machines people, clean the mechanism through the setting, reached and used with the cooperation of horizontal laser instrument, this mechanism is earlier to the thick embroidery layer that exists on steel sheet part surface and be the thick cinder of slice and carry out preliminary rotatory striking off, horizontal laser instrument carries out laser cleaning to steel sheet part surface again, thereby realize greatly reduced to staff's intensity of labour, the rust cleaning is effectual, the rust cleaning is efficient and can not the polluted environment, the effect of the clean degree that steel sheet part surface reached the aftertreatment process requirement has been guaranteed.
Description
Technical Field
The invention relates to the technical field of surface cleaning of steel plate profiles, in particular to a steel plate surface climbing cleaning robot.
Background
The surface of the steel plate parts to be treated generates various residues due to the requirements in the processes of manufacturing, storing and transporting, and the like, the existence of the foreign matters on the surface is redundant, and further treatment of the products is even harmful, and the dirt is also called dirt.
For example, metal scraps, abrasives, burrs and burrs are left on the surface of a steel plate part in the machining process, particles are introduced due to machining, and dust falls off due to environmental pollution of a machining site. The combination strength of the dirt and the surface of the steel plate part is very weak, the dirt can be removed only by manual rust removal and acid cleaning rust removal, but the cleaning difficulty is large and the situation is complicated if a plurality of dirt residues with higher combination strength with the surface of the steel plate part exist, and the dirt on the surface of the steel plate part mainly comprises the following two types:
the rust layer on the surface of the steel plate part mainly refers to rust on the surface of steel, and comprises rust and a thick rust layer. The rust comes from the processing and placing processes. The steel material is an active steel plate part material and is easy to combine with oxygen in air and an environmental medium to generate oxides. During the cold and hot working of machinery, the surface of steel is constantly in contact with oxygen, and iron oxide, i.e. rust, is rapidly generated particularly at high temperature.
Generally, the rust generated by high-temperature operation in the processing process is more, and the generated rust layer is thicker and more serious when the stainless steel is processed in a stronger corrosive environment or stored for a long time. Therefore, the steel plate parts, especially the steel products, must be derusted before the electroplating or coating surface treatment. If the parts are just machined, only thin rust exists on the surfaces, and the method for removing rust and cleaning is simple and easy. The storage time is long or the rust is corroded by corrosive media, the rust layer on the surface is thick and serious, and the rust removal is difficult and complicated. Therefore, the surface rust removal of the steel plate part is an important construction content in surface treatment and an important process for cleaning the surface of the steel plate part;
the other is the oxide scale on the surface of the steel, which is one of the rusts, and the other is the existence form of the iron oxide, which is a thicker flake-shaped body on the surface of the steel and is mainly generated in the high-temperature processing process. For example, iron oxide which is firmly bonded to the surface of steel is generated by oxidation at high temperature in the hot rolling process of steel sheet, and a thick film layer is formed. The scale is also generated in the high-temperature operation processes of heat treatment, welding and the like of the steel products, and the scale is difficult to completely remove due to the high bonding strength between the scale and the surface of the body metal. Typically, the release is achieved by acid immersion followed by rinsing to remove the residue.
However, when two rust removal modes of manual rust removal and acid cleaning rust removal are adopted for rust removal, the manual rust removal has high labor intensity on workers, low rust removal efficiency and severe environment, oxide skins and other dirt are difficult to remove, the rust removal effect is poor, and the specified cleanliness and roughness are difficult to achieve, a large amount of clear water is required for cleaning and passivating after acid cleaning rust removal, a large amount of waste water, waste acid and acid mist formed by the manual rust removal cause environmental pollution, if the manual rust removal and the acid cleaning rust removal are not proper, the surface of a steel plate part is over-corroded to form pockmarks, and dead corners exist in the rust removal process, such as the side edges of the part, and cannot be cleaned.
Therefore, the invention provides a steel plate surface climbing cleaning robot, which enables the surface of a steel plate part to reach the cleanliness required by a post-treatment process.
Disclosure of Invention
Based on the technical problems that when the existing rust removal is carried out by adopting two rust removal modes of manual rust removal and acid pickling rust removal, the manual rust removal has high labor intensity on workers, the rust removal efficiency is low, the environment is severe, dirt such as oxide skin is difficult to remove, the rust removal effect is poor, and the specified cleanliness and roughness are difficult to achieve, a large amount of clear water is required for cleaning and passivating after the acid pickling rust removal, a large amount of waste water, waste acid and acid mist formed by the manual rust removal cause environmental pollution, if the treatment is improper, the surface of a steel plate part is over-corroded to form pockmarks, dead corners exist in the rust removal process, and the side edges of the steel plate part cannot be cleaned, for example, the side edges of the steel plate part, the invention provides the steel plate surface climbing cleaning robot.
The invention provides a steel plate surface climbing cleaning robot which comprises a shell, wherein a first driving motor is fixedly installed on the inner bottom wall of the shell, a first transmission shaft is fixedly installed on an output shaft of the first driving motor through a coupler, the outer surface of one end of the first transmission shaft is meshed with a crawler belt travelling mechanism through a bevel gear, a non-contact type adsorption mechanism is fixedly installed at the center of the inner bottom wall of the shell and comprises a first air cylinder, the center of the inner bottom wall of the shell is fixedly connected with the outer surface of the first air cylinder, the shell is adsorbed on the surface of a steel plate part through magnetic force by the non-contact type adsorption mechanism, and then the crawler belt in the crawler belt travelling mechanism travels on the surface of the steel plate part.
Preferably, one end surface of a piston rod of the first cylinder penetrates through and extends to the lower surface of the shell, a first connecting plate is fixedly connected to one end surface of the piston rod of the first cylinder, movable rods distributed in a rectangular array are sleeved on the lower surface of the first connecting plate through rotating grooves in a sliding mode, electromagnets are fixedly connected to the lower surfaces of the ten movable rods, and the distance from the lower surface of each electromagnet to the upper surface of the steel plate part is larger than the distance from the lower surface of a crawler belt in the crawler belt travelling mechanism to the upper surface of the steel plate part;
through above-mentioned technical scheme, first connecting plate slides through the swivelling chute and cup joints with the movable rod, makes the electro-magnet when meetting the curved surface, also can with steel sheet part surface adsorption to make the electro-magnet be applicable to two kinds of steel sheet parts that the surface is level form and curved surface form, the lower surface that sets up the electro-magnet is greater than to steel sheet part upper surface distance crawler lower surface to steel sheet part upper surface distance among the crawler travel mechanism makes to have the distance between electro-magnet and the steel sheet part upper surface, does not take place the contact, belongs to non-contact state, has avoided the superficial rust and the thick rust layer of steel sheet part upper surface to cause the influence to the electro-magnet, has guaranteed that electro-magnet normal use can adsorb on the surface of steel sheet part.
Preferably, the lower surface of the housing is fixedly provided with a cleaning mechanism, the cleaning mechanism comprises a second driving motor, the outer surface of the upper end of the second driving motor is fixedly connected with the lower surface of the housing, an output shaft of the second driving motor is fixedly provided with a second transmission shaft through a coupler, the outer surface of one end of the second transmission shaft is fixedly sleeved with a first gear, the lower surface of the housing is fixedly provided with symmetrically distributed connecting rods through bearings, and the two connecting rods are respectively positioned at the front part and the rear part of the second driving motor;
through above-mentioned technical scheme, second driving motor work drives the second transmission shaft and is rotary motion, drives the first gear rotation that second transmission shaft one end surface cup jointed, and first gear and two second gear meshes, drive the connecting rod rotation of second gear inner wall connection.
Preferably, the outer surfaces of one ends of the two connecting rods are fixedly sleeved with second gears, the outer surfaces of the two second gears are both meshed with the outer surface of the first gear, the outer surface of one end of the second transmission shaft and the outer surfaces of one ends of the two connecting rods are both fixedly connected with scrapers distributed in an annular array, the scrapers are respectively positioned below the first gear and the second gear, and the lower surfaces of the sharp ends of the scrapers and the lower surface of a crawler belt in the crawler belt travelling mechanism are positioned on the same horizontal plane;
through the technical scheme, the plurality of the scrapers are distributed on the outer surface of one end of the second transmission shaft and the outer surfaces of two ends of the connecting rod in a staggered manner, and then the thick embroidery layer on the surface of the steel plate part and the flaky thick oxide skin are subjected to primary rotary scraping by utilizing high-speed rotation.
Preferably, side cleaning mechanisms are fixedly mounted at the right end of the front side and the right end of the back side of the shell, each side cleaning mechanism comprises a second air cylinder, the two second air cylinders are fixedly connected with the right end of the front side and the right end of the back side of the shell respectively, a third air cylinder is fixedly connected to the surface of one end of a piston rod of each second air cylinder, a fixed block is fixedly connected to the outer surface of one end of a piston rod of each third air cylinder, rubber shock pads are fixedly connected to the lower surfaces of the two fixed blocks, third driving motors are fixedly connected to the lower surfaces of the two rubber shock pads, and third transmission shafts are fixedly mounted on output shafts of the two third driving motors through couplers;
through above-mentioned technical scheme, set up the clean mechanism of side and carry out laser cleaning to the side on steel sheet part surface, set up rubber shock pad and carry out absorbing effect to the vibrations that third driving motor produced at work.
Preferably, the lower surfaces of one ends of the two third transmission shafts are fixedly connected with abrasive discs, and the outer surfaces of the abrasive discs are cylindrical;
through above-mentioned technical scheme, the abrasive material dish on third transmission shaft and third transmission shaft surface is driven in the work of third driving motor and is rotated at a high speed, and then utilizes high-speed rotatory upper surface near steel sheet part side to remove rust.
Preferably, the back surfaces of the two fixing blocks are fixedly connected with second connecting plates, and the lower surfaces of the two second connecting plates are fixedly provided with micro lasers;
through the technical scheme, the miniature laser is arranged to carry out laser cleaning on the side edge of the surface of the steel plate part, so that the effect of rust removal is good, and the rust removal is thorough.
Preferably, the right side surface of the housing is fixedly connected with a third connecting plate, the lower surface of the third connecting plate is in a T shape, the right side surface of the third connecting plate is fixedly connected with a transverse laser, and the upper surface of the housing is fixedly provided with a power supply box and a supporting block respectively;
through the technical scheme, the transverse laser is arranged to perform laser cleaning on the surface of the floating rust, the thick rust layer and the oxide skin of the steel plate part after the steel plate part is moved by the crawler traveling mechanism.
Preferably, the power supply box is positioned on the left side of the supporting block, a storage battery is fixedly installed inside the power supply box, and the upper surface of the supporting block is fixedly provided with the control box and the high-definition camera respectively;
through the technical scheme, the high-definition camera is arranged to perform high-definition shooting on the surface of the steel plate part subjected to rust removal and transmit the high-definition shooting to the display screen of the remote controller, so that a worker can conveniently observe the rust removal effect of the rust removal device on the steel plate part.
Preferably, the control box is positioned on the left side of the high-definition camera, and a single chip microcomputer module and a wireless transmission module are fixedly mounted on the inner bottom wall of the control box respectively;
through the technical scheme, the single chip microcomputer module is adopted, so that the whole derusting process belongs to manual derusting, the single chip microcomputer module can be replaced by a PLC (programmable logic controller), and the surface of a steel plate part is automatically cleaned through a program programmed in the PLC in advance.
The beneficial effects of the invention are as follows:
1. through setting up non-contact adsorption apparatus structure, reached when wasing steel sheet part surface, no matter transversely place the steel sheet part or vertically place, can not influence the washing to steel sheet part surface through adopting this mechanism to have the influence that does not receive operational environment, guaranteed the effect that steel sheet part surface reaches the clean degree that the aftertreatment process required.
2. Through setting up the cleaning mechanism, reached and used with the cooperation of horizontal laser instrument, this mechanism carries out preliminary rotation to the thick embroidery layer that exists on steel sheet part surface earlier and is the thick cinder of slice and strikes off, and horizontal laser instrument carries out laser cleaning to steel sheet part surface again to realize greatly reduced to staff's intensity of labour, rust cleaning is effectual, the rust cleaning is efficient and can not the polluted environment, has guaranteed that steel sheet part surface reaches the effect of the clean degree that the aftertreatment process required.
3. Through setting up the clean mechanism of side, reached and realized carrying out laser cleaning to the side of steel sheet part through this mechanism to have and make whole derusting process no dead angle, it is effectual to the steel sheet part derusting.
Drawings
FIG. 1 is a schematic diagram of a steel plate surface climbing cleaning robot;
FIG. 2 is a perspective view of a second cylinder structure of the steel plate surface climbing cleaning robot;
FIG. 3 is an exploded view of a housing structure of a steel plate surface climbing cleaning robot;
FIG. 4 is a perspective view of a first gear structure of the steel plate surface climbing cleaning robot;
FIG. 5 is a perspective view of a scraper structure of a steel plate surface climbing cleaning robot;
fig. 6 is a perspective view of a crawler traveling mechanism of the steel plate surface climbing cleaning robot.
In the figure: 1. a housing; 2. a first drive motor; 3. a crawler travel mechanism; 4. a first cylinder; 41. a first connecting plate; 42. a movable rod; 43. an electromagnet; 5. a second drive motor; 51. a first gear; 52. a connecting rod; 53. a second gear; 54. a squeegee; 6. a second cylinder; 61. a third cylinder; 62. a fixed block; 63. a third drive motor; 64. an abrasive disc; 65. a second connecting plate; 66. a micro laser; 7. a third connecting plate; 8. a transverse laser; 9. a power supply box; 10. a support block; 11. a storage battery; 12. a high-definition camera; 13. a single chip module; 14. and a wireless transmission module.
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.
Referring to fig. 1-6, a steel plate surface climbing cleaning robot;
in order to realize walking of the robot on the surface of a steel plate, the robot comprises a shell 1, wherein a first driving motor 2 is fixedly installed on the inner bottom wall of the shell 1, a first transmission shaft is fixedly installed on an output shaft of the first driving motor 2 through a coupler, and a crawler walking mechanism 3 is meshed with the outer surface of one end of the first transmission shaft through a bevel gear; the first driving motor 2 is used as a driving source to drive a first transmission shaft connected with the first driving motor 2 to rotate, and then the first transmission shaft is meshed with the crawler traveling mechanism 3 through the bevel gear to drive the shell 1 to move on the surface of the steel plate;
in order to realize the robot to walk in a multi-angle manner better, a non-contact adsorption mechanism is fixedly arranged at the center of the inner bottom wall of the shell 1 and comprises a first cylinder 4, and the cylinder has the characteristics of quick action and light weight; the center of the inner bottom wall of the shell 1 is fixedly connected with the outer surface of the first air cylinder 4, the shell 1 is adsorbed on the surface of a steel plate part through magnetic force by the non-contact adsorption mechanism, and the crawler belt runs on the surface of the steel plate part in the crawler belt running mechanism 3.
Furthermore, in order to enable the robot walking mechanism to walk along the surface of the steel plate in a magnetic attraction manner all the time, one end surface of a piston rod of the first cylinder 4 penetrates through and extends to the lower surface of the shell 1, one end surface of the piston rod of the first cylinder 4 is fixedly connected with a first connecting plate 41, movable rods 42 distributed in a rectangular array are sleeved on the lower surface of the first connecting plate 41 in a sliding manner through rotating grooves, electromagnets 43 are fixedly connected to the lower surfaces of the ten movable rods 42, and the magnetic force of the electromagnets 43 is in contact with the surface of the steel plate, so that the robot walking mechanism is large in magnetic force and can walk on the surface of the steel plate stably; the distance from the lower surface of the electromagnet 43 to the upper surface of the steel plate part is greater than the distance from the lower surface of the crawler belt to the upper surface of the steel plate part in the crawler belt walking mechanism 3; the first connecting plate 41 is in sliding sleeve joint with the movable rod 42 through the rotary groove, so that the electromagnet 43 can be adsorbed to the surface of the steel plate part when meeting a curved surface, and the electromagnet is suitable for two steel plate parts with the surfaces in a horizontal shape and a curved surface shape;
through setting up non-contact adsorption apparatus structure, reached when wasing steel sheet part surface, no matter transversely place the steel sheet part or vertically place, can not influence the washing to steel sheet part surface through adopting this mechanism to have the influence that does not receive operational environment, guaranteed the effect that steel sheet part surface reaches the clean degree that the aftertreatment process required.
Further, in order to remove rust on the surface of the steel plate, a cleaning mechanism is fixedly mounted on the lower surface of the shell 1, and the cleaning mechanism comprises a second driving motor 5; the cleaning mechanism is arranged to perform laser cleaning on the upper surface of the steel plate part which is moved by the crawler belt moving mechanism 3, and compared with two modes of manual rust removal and acid cleaning rust removal in the prior art, the laser cleaning rust removal method has the advantages of being good in rust removal effect, high in rust removal efficiency and fast in rust removal, so that the surface of the steel plate part reaches the cleanliness required by a post-treatment process.
The specific rust removing step is that the outer surface of the upper end of a second driving motor 5 is fixedly connected with the lower surface of a shell 1, a second transmission shaft is fixedly installed on an output shaft of the second driving motor 5 through a coupler, a first gear 51 is fixedly sleeved on the outer surface of one end of the second transmission shaft, connecting rods 52 which are symmetrically distributed are fixedly installed on the lower surface of the shell 1 through bearings, and the two connecting rods 52 are respectively positioned at the front part and the rear part of the second driving motor 5; second driving motor 5 work drives the second transmission shaft and is rotary motion, drives the first gear 51 that second transmission shaft one end surface cup jointed and rotates, and first gear 51 meshes with two second gears 53, drives the connecting rod 52 rotation of second gear 53 inner wall connection, and the meshing of gear can make the transmission stable effective, and the rust cleaning is not influenced.
Further, in order to remove rust on the relatively thick rust on the surface of the steel plate in advance, a second gear 53 is fixedly sleeved on the outer surface of one end of each of the two connecting rods 52, the outer surfaces of the two second gears 53 are both meshed with the outer surface of the first gear 51, scrapers 54 distributed in an annular array are fixedly connected to the outer surface of one end of the second transmission shaft and the outer surfaces of one ends of the two connecting rods 52, the scrapers 54 are respectively positioned below the first gear 51 and the second gear 53, and the lower surfaces of the sharp ends of the scrapers 54 and the lower surfaces of the tracks in the track traveling mechanism 3 are positioned on the same horizontal plane; a plurality of scrapers 54 are alternately disposed on an outer surface of one end of the second transmission shaft and an outer surface of one end of the two connecting rods 52, as shown in fig. 5, so as to primarily and rotatably scrape off the thick embroidery layer and the flaky and thick scale on the surface of the steel plate part by high-speed rotation.
Further, in order to realize the rust removal action on the side face of the steel plate, side edge cleaning mechanisms are fixedly mounted at the right end of the front face and the right end of the back face of the shell 1 respectively, each side edge cleaning mechanism comprises a second air cylinder 6, the two second air cylinders 6 are fixedly connected with the right end of the front face and the right end of the back face of the shell 1 respectively, the surfaces of one ends of piston rods of the two second air cylinders 6 are fixedly connected with third air cylinders 61, the outer surfaces of one ends of piston rods of the two third air cylinders 61 are fixedly connected with fixed blocks 62, the lower surfaces of the two fixed blocks 62 are fixedly connected with rubber shock pads, the lower surfaces of the two rubber shock pads are fixedly connected with third driving motors 63, and third transmission shafts are fixedly mounted on output shafts of the two third driving motors 63 through couplings; set up the clean mechanism of side and carry out laser cleaning to the side on steel sheet part surface, set up the rubber shock pad and carry out absorbing effect to the vibrations that third driving motor 63 produced at work, set up the upper surface that second cylinder 6 drove third driving motor 63 and carry out lateral shifting, set up the upper surface that third cylinder 61 drove third driving motor 63 and carry out longitudinal movement.
Further, in order to better realize fine rust removal action on the side corners of the steel plate, the lower surfaces of the lower ends of the two third transmission shafts are fixedly connected with abrasive discs 64, and the outer surfaces of the abrasive discs 64 are in a cylindrical shape; the third driving motor 63 works to drive the third transmission shaft and the abrasive disc 64 on the surface of the third transmission shaft to rotate at a high speed, and then the upper surface close to the side edge of the steel plate part is derusted by high-speed rotation.
Further, in order to realize the rust removal action on the side face of the steel plate, second connecting plates 65 are fixedly connected to the opposite surfaces of the two fixing blocks 62, and micro lasers 66 are fixedly mounted on the lower surfaces of the two second connecting plates 65; the micro laser 66 is arranged to carry out laser cleaning on the side edge of the surface of the steel plate part, so that good rust removing effect and thorough rust removal are realized.
Through setting up the clean mechanism of side, reached and realized carrying out laser cleaning to the side of steel sheet part through this mechanism to have and make whole derusting process no dead angle, it is effectual to the steel sheet part derusting.
Further, in order to realize rust removal on the large-area surface of the steel plate, a third connecting plate 7 is fixedly connected to the right side surface of the shell 1, the lower surface of the third connecting plate 7 is in a T shape, a transverse laser 8 is fixedly connected to the right side surface of the third connecting plate 7, and a power supply box 9 and a supporting block 10 are fixedly mounted on the upper surface of the shell 1 respectively; and arranging a transverse laser 8 to perform laser cleaning on the surface of the floating rust, the thick rust layer and the oxide skin of the steel plate part after the crawler walking mechanism 3 walks.
Further, in order to realize the overall monitoring of the robot, the power supply box 9 is positioned on the left side of the support block 10, the storage battery 11 is fixedly installed inside the power supply box 9, and the control box and the high-definition camera 12 are respectively and fixedly installed on the upper surface of the support block 10; the high-definition camera 12 is arranged to perform high-definition shooting on the surface of the derusted steel plate part from a high position and transmit the derusted steel plate part to the display screen of the remote controller, so that workers can conveniently observe the derusting effect of the derusting machine on the steel plate part.
Further, in order to realize manual and automatic control of the robot, the control box is positioned on the left side of the high-definition camera 12, and a single chip microcomputer module 13 and a wireless transmission module 14 are fixedly installed on the inner bottom wall of the control box respectively; the single chip microcomputer module 13 is adopted, so that the whole derusting process belongs to manual derusting, the single chip microcomputer module 13 can be replaced by a PLC (programmable logic controller), and the surface of a steel plate part is automatically cleaned through a program programmed in the PLC in advance.
Through setting up cleaning mechanism, reached and used with the cooperation of horizontal laser instrument 8, this mechanism carries out preliminary rotation to the thick embroidery layer that exists on steel sheet part surface earlier and is the thick cinder of slice and strikes off, and horizontal laser instrument 8 carries out laser cleaning to steel sheet part surface again to realize greatly reduced to staff's intensity of labour, the rust cleaning is effectual, the rust cleaning is efficient and can not the polluted environment, has guaranteed that steel sheet part surface reaches the effect of the clean degree that the aftertreatment process required.
The working principle is as follows: s1, mounting, namely transversely placing the steel plate part on the upper surface of the workbench, adsorbing the steel plate part on the upper surface of the workbench through an external sucker, and connecting the micro laser 66 and the transverse laser 8 with external laser equipment through a lead;
s2, the worker sends a start signal through an external remote controller, the wireless transmission module 14 receives the start signal and transmits the start signal to the singlechip module 13, the start signal is processed by the singlechip module 13 and then respectively controls the first driving motor 2, the first cylinder 4, the electromagnet 43 and the second driving motor 5 to start, the first driving motor 2 drives the first transmission shaft to rotate and is meshed with the crawler walking mechanism 3 through a bevel gear to drive the shell 1 to walk on the surface of the steel plate part, the piston rod of the first cylinder 4 drives the first connecting plate 41 and the movable rod 42 and the electromagnet 43 arranged on the lower surface of the first connecting plate 41 to move downwards along the vertical direction of the shell 1, the piston rod of the first cylinder 4 extends to the longest working length to ensure that the electromagnet 43 is not in contact with the steel plate part, at the moment, the electromagnet 43 is electrified, and because the distance exists between the lower surface of the electromagnet 43 and the steel plate part, and then the electromagnet 43 and the surface of the steel plate part are adsorbed in a non-contact way through the same polarity attraction of the magnets, so that the situation that the crawler travel mechanism 3 drives the shell 1 to move backwards in the forward traveling process of the surface of the steel plate part is avoided, the piston rod is arranged to be sleeved with the first connecting plate 41 in a sliding way, the electromagnet 43 can also be adsorbed on the surface of the steel plate part when meeting a curved surface, meanwhile, the second driving motor 5 works to drive the second transmission shaft to rotate, so as to drive the first gear 51 sleeved on one end surface of the second transmission shaft to rotate, the first gear 51 is engaged with the two second gears 53 to drive the connecting rod 52 connected with the inner wall of the second gear 53 to rotate, thereby rotating the scrapers 54 of the one end surface of the second transmission shaft and the one end surface of the connecting rod 52, the thick embroidery layer and the flaky thick oxide skin on the surface of the steel plate part are preliminarily scraped in a rotating way by a scraper 54 through high-speed rotation;
s3, controlling the transverse laser 8 to be electrified and started, and performing laser cleaning on the surface of the steel plate part subjected to the walking by the crawler walking mechanism 3, namely the surface of the steel plate part, the thick rust layer and the oxide skin;
s4, finally, controlling the piston rod of the second cylinder 6 to extend out to the longest working length, controlling the third cylinder 61 connected with one end surface of the piston rod of the second cylinder 6 to start, controlling the piston rod of the third cylinder 61 to extend out to the longest working length, controlling the third servo motor to start the third servo motor to drive the third transmission shaft to rotate, driving the abrasive disc 64 on one end surface of the third transmission shaft to rotate, removing rust on the upper surface close to the side edge of the steel plate part by the abrasive disc 64 through high-speed rotation, simultaneously controlling the micro laser 66 to start, performing laser rust removal on the side edge of the steel plate part, arranging the high-definition camera 12 to perform high-definition shooting on the surface of the steel plate part which is cleaned and removed rust by the laser of the transverse laser 8, transmitting the shot video signal to the singlechip module 13, and transmitting the video signal to an external remote controller display screen through the wireless transmission module 14 after being processed by the singlechip module 13, the staff of being convenient for looks over sets up battery 11 and plays and supplies power to above-mentioned structure to guarantee its normal use.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a steel sheet surface climbing cleaning machines people, includes shell (1), its characterized in that: the utility model discloses a steel plate part surface cleaning device, including shell (1), inner bottom wall fixed mounting of shell (1) has first driving motor (2), the output shaft of first driving motor (2) has first transmission shaft through shaft coupling fixed mounting, the one end surface of first transmission shaft has track running gear (3) through the bevel gear meshing, inner bottom wall center fixed mounting of shell (1) has non-contact adsorption apparatus to construct, and non-contact adsorption apparatus constructs including first cylinder (4), the outer fixed surface connection of inner bottom wall center department and first cylinder (4) of shell (1), and non-contact adsorption apparatus constructs with shell (1) through magnetic force absorption on steel plate part surface, the rethread track is walked on steel plate part surface in track running gear (3).
2. The steel plate surface climbing cleaning robot of claim 1, wherein: the lower surface that runs through and extend to shell (1) on the piston rod end surface of first cylinder (4), the piston rod one end fixed surface of first cylinder (4) is connected with first connecting plate (41), the lower surface of first connecting plate (41) all slides through the swivelling chute and has cup jointed movable rod (42) that are the rectangular array and distribute, ten the equal fixedly connected with electro-magnet (43) of lower surface of movable rod (42), the lower surface of electro-magnet (43) is greater than to steel sheet part upper surface distance track lower surface to steel sheet part upper surface distance in crawler running gear (3).
3. The steel plate surface climbing cleaning robot of claim 1, wherein: the lower fixed surface of shell (1) installs and cleans the mechanism, and cleans the mechanism and include second driving motor (5), the upper end surface of second driving motor (5) and the lower fixed surface of shell (1) are connected, the output shaft of second driving motor (5) has the second transmission shaft through shaft coupling fixed mounting, the fixed cover of one end surface of second transmission shaft has connect first gear (51), the lower surface of shell (1) has connecting rod (52) that are the symmetric distribution through bearing fixed mounting, two connecting rod (52) are located the front portion and the rear portion of second driving motor (5) respectively.
4. The steel plate surface climbing cleaning robot of claim 3, wherein: the outer surface of one end of each of the two connecting rods (52) is fixedly sleeved with a second gear (53), the outer surfaces of the two second gears (53) are meshed with the outer surface of the first gear (51), the outer surface of one end of the second transmission shaft and the outer surfaces of one ends of the two connecting rods (52) are fixedly connected with scraping plates (54) distributed in an annular array mode, the scraping plates (54) are respectively located below the first gear (51) and the second gear (53), and the lower surfaces of sharp ends of the scraping plates (54) and the lower surfaces of tracks in the track walking mechanism (3) are located on the same horizontal plane.
5. The steel plate surface climbing cleaning robot of claim 1, wherein: the equal fixed mounting in front right-hand member of shell (1) and the back right-hand member has the clean mechanism of side, and the clean mechanism of side includes second cylinder (6), two second cylinder (6) respectively with the front right-hand member and the back right-hand member fixed connection of shell (1), two the equal fixedly connected with third cylinder (61) in piston rod one end surface of second cylinder (6), two the equal fixedly connected with fixed block (62) of piston rod one end surface of third cylinder (61), two the equal fixedly connected with rubber shock pad of lower surface of fixed block (62), two the equal fixedly connected with third driving motor (63) of lower surface of rubber shock pad, two the output shaft of third driving motor (63) passes through the equal fixed mounting of shaft coupling and has the third transmission shaft.
6. The steel plate surface climbing cleaning robot of claim 5, wherein: two the equal fixedly connected with abrasive disc (64) of one end lower surface of third transmission shaft, the external surface of abrasive disc (64) is the cylindricality.
7. The steel plate surface climbing cleaning robot of claim 5, wherein: two equal fixedly connected with second connecting plate (65) in the surface that fixed block (62) carried on the back mutually, two the equal fixed mounting of lower surface of second connecting plate (65) has miniature laser instrument (66).
8. The steel plate surface climbing cleaning robot of claim 7, wherein: the laser power supply comprises a shell (1), and is characterized in that a third connecting plate (7) is fixedly connected to the right side surface of the shell (1), the lower surface of the third connecting plate (7) is in a T shape, a transverse laser (8) is fixedly connected to the right side surface of the third connecting plate (7), and a power supply box (9) and a supporting block (10) are fixedly mounted on the upper surface of the shell (1) respectively.
9. The steel plate surface climbing cleaning robot of claim 8, wherein: the power supply box (9) is located on the left side of the supporting block (10), a storage battery (11) is fixedly mounted inside the power supply box (9), and a control box and a high-definition camera (12) are fixedly mounted on the upper surface of the supporting block (10) respectively.
10. The steel plate surface climbing cleaning robot of claim 9, wherein: the control box is located the left side of high definition digtal camera (12), the interior diapire of control box fixed mounting respectively has single chip module (13) and wireless transmission module (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110818806.1A CN113578804A (en) | 2021-07-20 | 2021-07-20 | Steel sheet surface climbing cleaning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110818806.1A CN113578804A (en) | 2021-07-20 | 2021-07-20 | Steel sheet surface climbing cleaning machines people |
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| Publication Number | Publication Date |
|---|---|
| CN113578804A true CN113578804A (en) | 2021-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110818806.1A Withdrawn CN113578804A (en) | 2021-07-20 | 2021-07-20 | Steel sheet surface climbing cleaning machines people |
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| Country | Link |
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| CN (1) | CN113578804A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114472367A (en) * | 2021-12-28 | 2022-05-13 | 深圳泰德激光技术股份有限公司 | Method and device for cleaning material and computer readable storage medium |
| CN115007562A (en) * | 2022-06-10 | 2022-09-06 | 上海建冶科技股份有限公司 | Portable steel box girder surface laser rust removal device and method |
| CN115367011A (en) * | 2022-07-26 | 2022-11-22 | 山东孚岳电气有限公司 | Power equipment washs climbing robot |
-
2021
- 2021-07-20 CN CN202110818806.1A patent/CN113578804A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114472367A (en) * | 2021-12-28 | 2022-05-13 | 深圳泰德激光技术股份有限公司 | Method and device for cleaning material and computer readable storage medium |
| CN115007562A (en) * | 2022-06-10 | 2022-09-06 | 上海建冶科技股份有限公司 | Portable steel box girder surface laser rust removal device and method |
| CN115007562B (en) * | 2022-06-10 | 2024-05-07 | 上海建冶科技股份有限公司 | Portable steel box girder surface laser rust removing device and method |
| CN115367011A (en) * | 2022-07-26 | 2022-11-22 | 山东孚岳电气有限公司 | Power equipment washs climbing robot |
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