CN113696194A - Wheel arm climbing type freezer calandria inspection robot - Google Patents

Abstract

The invention discloses a wheel arm climbing type freezer pipe bank inspection robot, which comprises a climbing device, a body position deformation device, a defrosting device and a centralized electric control device, wherein the body position deformation device is arranged on the climbing device; the climbing device comprises a front climbing assembly and a rear climbing assembly which are symmetrically arranged in front and back, the front climbing assembly comprises a front supporting seat, a front swing arm and a front main driving roller, and the rear climbing assembly comprises a rear supporting seat, a rear swing arm and a rear main driving roller; the position deformation device of the parallelogram connecting rod structure is arranged between the front climbing assembly and the rear climbing assembly; the defroster includes a front defrost assembly and a rear defrost assembly. The invention adopts a mode of climbing on the refrigeration calandria integrally and crawling along the pipe to perform defrosting operation, can realize step-by-step crawling defrosting along the S-shaped trend of the refrigeration calandria, can realize unattended automatic moving inspection and intelligent defrosting on the premise of keeping relatively constant temperature of a refrigerator to the maximum extent and not additionally arranging a walking channel in the refrigerator, and is particularly suitable for the defrosting operation of the refrigeration calandria of large and medium-sized refrigerators.

Description

Wheel arm climbing type freezer calandria inspection robot

Technical Field

The invention relates to an inspection robot, in particular to a wheel arm climbing type freezer pipe arrangement inspection robot which is suitable for automatically inspecting and defrosting refrigeration pipe arrangements of a freezer, and belongs to the technical field of freezer defrosting.

Background

The cold storage (also called as cold storage) is a kind of refrigeration equipment, which is a constant temperature and humidity storage equipment for food, liquid, chemical industry, medicine, vaccine, scientific experiment and other articles, and is always an important component of the logistics industry. In the same refrigeration principle as that of a refrigerator, a refrigeration house generally refrigerates by a compressor, and liquid (ammonia or freon) with low gasification temperature is used as a coolant to evaporate under the conditions of low pressure and mechanical control so as to absorb heat in the storage house, thereby achieving the purpose of cooling.

In order to avoid the influence of the low-temperature environment of the freezer on the quality of the refrigerated goods, the freezer usually needs to adjust the humidity of the interior of the freezer while maintaining the low-temperature environment. However, the surface of the refrigeration calandria of the refrigeration house is very easy to frost due to the environmental control of low temperature and high humidity, the frost on the surface of the refrigeration calandria of the refrigeration house not only hinders the conduction and emission of the cold quantity of the refrigeration calandria of the refrigeration house and influences the radiation refrigeration capacity, but also increases the surface thermal resistance of the refrigeration calandria of the refrigeration house and further increases the power consumption of the compressor, when the thickness of the frost layer on the surface of the refrigeration calandria of the refrigeration house reaches a certain degree, the refrigeration efficiency even drops below 30%, which not only results in large consumption of electric energy, but also shortens the service life of the compressor. The refrigerator is generally subjected to a defrosting operation in an appropriate cycle.

The traditional defrosting modes of the refrigeration calandria of the refrigeration house comprise a hot gas defrosting mode of directly leading hot high-temperature gaseous condensing agent to enter an evaporator without intercepting, a water spraying defrosting mode of spraying normal-temperature water to cool the evaporator, an electric heating defrosting mode of installing an electric heating pipe on the refrigeration calandria and a manual defrosting mode of manually removing frost layers (ice layers) on the refrigeration calandria of the refrigeration house. Although the hot air defrosting mode is simple in construction and convenient to maintain, the temperature fluctuation of the refrigerator is large, and the freezing and refrigerating quality is affected; although the water spray defrosting mode has good defrosting effect, the water spray defrosting mode is more suitable for an air cooler, is difficult to operate for an evaporation coil, and also has the problems of large storage temperature fluctuation and influence on the freezing and refrigerating quality; the electric heating defrosting mode is mostly used for refrigerating calandria of medium and small refrigerators, but the installation of the heating wire has high construction difficulty, high maintenance and management difficulty after installation and relatively low safety factor; the manual defrosting mode is suitable for the refrigerating calandria of the small-sized refrigeration house, but the labor intensity of operators is high, the defrosting is not thorough, and the deformation of the refrigerating calandria and even the refrigerant leakage accident are easily caused.

In the prior art, a defrosting robot for a large-sized refrigerator is available, but the defrosting robot mostly has a ground walking structure comprising a walking chassis capable of walking along the ground, and articles stored in the refrigerator are generally densely stacked and placed for effectively utilizing space, so that not only is a passage for the walking of the defrosting robot required to be additionally reserved and is uneconomical, but also a cantilever mechanical arm of the defrosting robot generally interferes with stacked articles in the operation process, so that an area incapable of being operated exists, and the overall defrosting effect is not ideal; the defrosting robot can horizontally move along the inner wall of the refrigeration house for defrosting, a guide rail positioning and mounting position is additionally arranged on the inner wall of the refrigeration house in a mode of horizontally moving along a guide rail hung on the inner wall of the refrigeration house through a mechanical arm, the guide rail mounting position is often interfered with the position of a refrigeration pipe bank of the existing inner wall of the refrigeration house, and the wall-attached movable defrosting robot is inconvenient to install or even cannot be additionally installed on the existing refrigeration house.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a wheel arm climbing type freezer pipe arrangement inspection robot which can realize unattended automatic moving inspection and intelligent defrosting on the premise of keeping the freezer temperature relatively constant to the maximum extent, not additionally arranging a walking channel in the freezer and facilitating the additional use of the existing freezer and is particularly suitable for the defrosting operation of the refrigeration pipe arrangement of large and medium freezers.

In order to realize the aim, the wheel arm climbing type freezer pipe bank inspection robot comprises a climbing device, a body position deformation device, a defrosting device and a centralized electric control device;

the climbing device comprises a front climbing component and a rear climbing component which are symmetrically arranged in front and back;

the front climbing assembly comprises a front supporting seat, a front swing arm and a front main driving roller; the front swing arms are arranged in two left-right symmetry relative to the front supporting seat, the two front swing arms are respectively hinged on the front supporting seat, the axial direction of a hinge shaft of each front swing arm is arranged along the front-back direction, and the front swing arms are in transmission connection with a front swing arm swing driving part arranged on the front supporting seat; the front main driving rollers are at least arranged in two left-right symmetry relative to the front supporting seat, the front main driving rollers are arranged on the front swing arm, and a front main driving roller driving motor is arranged on the front main driving rollers;

the rear climbing assembly comprises a rear supporting seat, a rear swing arm and a rear main driving roller; the rear swing arms are symmetrically arranged into two pieces left and right relative to the rear supporting seat, the two rear swing arms are respectively hinged on the rear supporting seat, the axial direction of a hinge shaft of each rear swing arm is arranged along the front-back direction, and the rear swing arms are in transmission connection with a rear swing arm swing driving component arranged on the rear supporting seat; the rear main driving rollers are at least symmetrically arranged into two parts left and right relative to the rear supporting seat, the rear main driving rollers are arranged on the rear swing arm, and a rear main driving roller driving motor is arranged on the rear main driving rollers;

the body position deformation device is arranged between the front climbing assembly and the rear climbing assembly, is of a parallelogram connecting rod structure and comprises a left connecting rod, a right connecting rod and a swing deformation driving part; the left connecting rod and the right connecting rod which are the same in length and size are arranged in parallel along the left-right horizontal direction, the front ends of the left connecting rod and the right connecting rod are respectively hinged on the front supporting seat, the rear ends of the left connecting rod and the right connecting rod are respectively hinged on the rear supporting seat, and the left connecting rod, the front supporting seat, the right connecting rod and the rear supporting seat form a parallelogram structure together; the swing deformation driving part is arranged on the left connecting rod or the right connecting rod or the front supporting seat or the rear supporting seat;

the defrosting device comprises a front defrosting assembly and a rear defrosting assembly; the front defrosting assembly comprises a front defrosting monitoring sensor assembly and a front defrosting execution mechanism, the front defrosting monitoring sensor assembly is arranged on the front supporting seat or the front defrosting execution mechanism, and the front defrosting execution mechanism is correspondingly arranged in front of the front supporting seat; the rear defrosting assembly comprises a rear defrosting monitoring sensor assembly and a rear defrosting execution mechanism, the rear defrosting monitoring sensor assembly is arranged on the rear supporting seat or the rear defrosting execution mechanism, and the rear defrosting execution mechanism is correspondingly arranged behind the rear supporting seat;

the centralized electric control device comprises a controller, a climbing control loop, a defrosting control loop and a body position deformation control loop, wherein the controller is respectively electrically connected with a front swing arm swinging driving component, a front main driving roller driving motor, a front defrosting monitoring sensor component, a front defrosting executing mechanism, a rear swing arm swinging driving component, a rear main driving roller driving motor, a rear defrosting monitoring sensor component, a rear defrosting executing mechanism and a swinging deformation driving component.

As an embodiment of the invention, the covering width dimension of the front defrosting actuating mechanism and the rear defrosting actuating mechanism along the left-right direction is matched with the overall width dimension of the straight pipe sections of the two adjacent refrigeration discharge pipes.

As another embodiment of the present invention, the front end hinge positions of the left and right connecting rods are arranged in bilateral symmetry with respect to the front supporting seat, and the rear end hinge positions of the left and right connecting rods are arranged in bilateral symmetry with respect to the rear supporting seat; the covering width of the front defrosting executing mechanism and the covering width of the rear defrosting executing mechanism along the left-right direction correspond to the width of a single straight pipe section of the refrigeration calandria along the left-right direction; the front defrosting assembly further comprises a front rotary overhanging swing rod fixedly installed and connected with the front defrosting execution mechanism and a front defrosting execution mechanism swinging rotary motor in transmission connection with the front rotary overhanging swing rod, the swinging rotary center of the front defrosting execution mechanism swinging rotary motor is positioned at the geometric center of the left connecting rod or the right connecting rod, and the front defrosting execution mechanism swinging rotary motor is electrically connected with the controller; the rear defrosting assembly further comprises a rear rotary overhanging swing rod fixedly installed and connected with the rear defrosting execution mechanism and a rear defrosting execution mechanism swinging rotary motor in transmission connection with the rear rotary overhanging swing rod, the swinging rotary center of the rear defrosting execution mechanism swinging rotary motor is located at the geometric center of the right connecting rod or the left connecting rod, and the rear defrosting execution mechanism swinging rotary motor is electrically connected with the controller.

As a further improvement scheme of the invention, the bottom parts of the front supporting seat and the rear supporting seat are respectively provided with a pair of rollers which are arranged in a rolling manner along the front-back direction at the positions corresponding to the straight pipe sections of the refrigeration calandria.

As a further improvement scheme of the invention, the auxiliary roller is horizontally arranged in the bottom planes of the front supporting seat and the rear supporting seat through bearings and is in transmission connection with an auxiliary roller driving motor, and the auxiliary roller driving motor is electrically connected with a controller.

As a further improvement scheme of the invention, when the front swing arm is in a clamping state after the front swing arm is closed, the height dimension between the bottom end of the front main driving roller wheel and the front support seat is larger than the height dimension between the bottom end of the straight pipe section of the refrigeration calandria and the front support seat; when the rear swing arm is in a clamping state after closing, the height between the rear supporting seats and the bottom end of the rear main driving roller is larger than the height between the rear supporting seats and the bottom end of the straight pipe section of the refrigeration calandria.

As a further improvement scheme of the invention, the front swing arm and the rear swing arm are both of bent arm structures with arc sections, the front main driving roller is in a state of being supported at the bottom of the straight pipe section of the refrigeration calandria when the front swing arm is in a clamping state after closing, and the rear main driving roller is in a state of being supported at the bottom of the straight pipe section of the refrigeration calandria when the rear swing arm is in a clamping state after closing.

As a further improvement scheme of the invention, the roller surfaces of the front main driving roller and the rear main driving roller are also provided with concave ring structures matched with the outer diameter size of the refrigeration calandria straight pipe section at the positions corresponding to the refrigeration calandria straight pipe section, the concave ring structures of the front main driving roller are clamped on the refrigeration calandria straight pipe section when the front swing arm is in a closed clamping state, and the concave ring structures of the rear main driving roller are clamped on the refrigeration calandria straight pipe section when the rear swing arm is in a closed clamping state.

As a further improvement scheme of the invention, the front main driving rollers are arranged in a plurality of groups in a bilateral symmetry way relative to the front supporting seat, a plurality of front main driving rollers are arranged on the same front swing arm along the front-back direction to form a front main driving roller group, the rear main driving rollers are arranged in a plurality of groups in a bilateral symmetry way relative to the rear supporting seat, and a plurality of rear main driving rollers are arranged on the same rear swing arm along the front-back direction to form a rear main driving roller group.

As a further improvement scheme of the invention, the left end and the right end of the front defrosting execution mechanism and the right end of the rear defrosting execution mechanism are respectively hinged with an arc-shaped extension structure which can swing and open and close along the left-right direction, and the arc-shaped extension structure comprises an arc-shaped section opening and closing swing driving part which is electrically connected with the controller.

Compared with the prior art, the wheel arm climbing type freezer pipe arranging inspection robot adopts a mode of climbing on the refrigeration pipe arranging integrally and climbing along the pipe to perform defrosting operation, a walking channel of the defrosting robot is not required to be additionally arranged in the freezer, the extra space occupation of the intelligent defrosting robot in the freezer can be reduced to the maximum extent, and the existing freezer is convenient to additionally install and use; the front supporting seat and the rear supporting seat are in a front-back symmetrical state by controlling the action of the swing deformation driving part, and the front swing arm swing driving part and the rear swing arm swing driving part are controlled to synchronously swing in opposite directions along the left and right directions respectively to be in a complete clamping state, so that the front main driving roller and the rear main driving roller are respectively clamped and attached to two adjacent straight pipe sections of the refrigeration calandria, the stable positioning of the arm climbing type refrigerator calandria polling robot on the two adjacent straight pipe sections of the refrigeration calandria is realized, the front main driving roller and the rear main driving roller are controlled to rotate in the same direction, the arm climbing type refrigerator calandria polling robot can linearly creep along the pipes on the two adjacent straight pipe sections of the refrigeration calandria by matching with different sequences of the front main driving roller and the rear main driving roller to clamp or loosen the refrigeration calandria, the obstacle crossing operation of crossing the hoop of the straight pipe section positioning node and the supporting angle iron in the process of climbing along the pipe straight line on two adjacent straight pipe sections of the refrigeration calandria by the wheel arm climbing type cold storage calandria inspection robot can be realized, the sequence of clamping or loosening the refrigeration calandria straight pipe sections is matched with the difference of the front main driving roller and the rear main driving roller, and the parallelogram connecting rod structure of the body position deforming device is deformed by controlling the action of the swinging deformation driving part, so that the front climbing assembly (or the rear climbing assembly) of the wheel arm climbing type cold storage calandria inspection robot can move towards the cross pipe which is translated towards the direction of the adjacent refrigeration calandria straight pipe section relative to the rear climbing assembly (or the front climbing assembly), and the wheel arm climbing type cold storage calandria inspection robot can continuously crawl along the S-shaped trend of the refrigeration calandria; because the front defrosting execution mechanism and the rear defrosting execution mechanism are respectively and correspondingly arranged at the front part of the front supporting seat and the rear part of the rear supporting seat, two times of defrosting operations before and after the same straight pipe section in the process of creeping and moving along the pipe can be realized, so that a better defrosting effect is realized, and the defrosting structure of the rear defrosting execution mechanism can be set to be a structure different from that of the front defrosting execution mechanism, namely, a plurality of defrosting structure composite defrosting modes are adopted, so that a better defrosting effect is realized; the wheel arm climbing type freezer pipe inspection robot can respectively feed back the position and the thickness of a frost layer on the outer surface of a straight pipe section of a refrigeration pipe bank through the front defrosting monitoring sensor assembly and the rear defrosting monitoring sensor assembly, respectively control the front defrosting executing mechanism and the rear defrosting executing mechanism to perform targeted defrosting operation on the outer surface of the straight pipe section of the refrigeration pipe bank passing through the front defrosting executing mechanism and the rear defrosting executing mechanism, realize intelligent defrosting with controllable defrosting intensity, can realize unattended automatic cruising and defrosting operation, can keep the temperature of a freezer relatively constant to the maximum extent, reduce the energy consumption of the freezer, and is particularly suitable for the defrosting operation of large and medium-sized freezer refrigeration pipe banks.

Drawings

FIG. 1 is a schematic view of a three-dimensional mounting structure of a climbing device and a body position deforming device according to the present invention;

FIG. 2 is a schematic diagram of the exploded structure of FIG. 1;

FIG. 3 is a schematic three-dimensional structure of the present invention as it climbs over a straight section of refrigeration calandria pipe;

FIG. 4 is a schematic view of the process of the present invention during obstacle crossing along a pipe, wherein (a) is a schematic view of the structure of the present invention climbing on a straight pipe section of a refrigeration pipe bank through a front climbing assembly and a rear climbing assembly, (b) is a schematic view of the structure of the present invention climbing on the straight pipe section of the refrigeration pipe bank through the rear climbing assembly, (c) is a schematic view of the structure of the present invention pushing the obstacle crossing process of the front climbing assembly through controlling the rear climbing assembly, and (d) is a schematic view of the structure of the present invention climbing on the straight pipe section of the refrigeration pipe bank through the front climbing assembly and the rear climbing assembly after the obstacle crossing of the front climbing assembly;

FIG. 5 is a schematic diagram of the process of the present invention during the pipe-crossing operation, wherein (a) is a schematic diagram of the structure of the present invention climbing on the straight pipe section of the refrigerating discharge pipe via the front climbing assembly and the rear climbing assembly, (b) is a schematic diagram of the structure of the present invention climbing on the straight pipe section of the refrigerating discharge pipe via the rear climbing assembly, (c) is a schematic diagram of the structure of the present invention climbing assembly moving in a direction of the straight pipe section without defrosting, (d) is a schematic diagram of the structure of the present invention climbing assembly front main driving roller clamping on the straight pipe section without defrosting, (e) is a schematic diagram of the present invention rear main driving roller separating from the straight pipe section with defrosting, (f) is a schematic diagram of the present invention rear climbing assembly moving in a direction of the straight pipe section without defrosting, (g) is a schematic diagram of the present invention rear main driving roller clamping on the straight pipe section without defrosting, (h) Is a structural schematic diagram of the obstacle crossing operation of the front climbing assembly;

FIG. 6 is a schematic view of the front and rear defrost actuators in a right-left direction having a cover width dimension that matches the overall width dimension of two adjacent straight refrigerant discharge tube sections;

FIG. 7 is a schematic structural view showing the cover width dimension of the front and rear defrosting actuators in the left-right direction corresponding to the width dimension of a single straight pipe section of the refrigeration calandria in the left-right direction;

FIG. 8 is a schematic structural view of the front main drive roller (or the rear main drive roller) of the present invention in a state of clamping the straight tube section of the refrigeration calandria;

fig. 9 is a schematic top view of the front swing arm (or the rear swing arm) of the present invention in which a front main driving roller set (or a rear main driving roller set) including a plurality of front main driving rollers (or rear main driving rollers) is installed.

In the figure: 1. the device comprises a front climbing assembly, 11, a front supporting seat, 12, a front swing arm, 13, a front main driving roller, 14, a front swing arm swing driving component, 2, a body position deformation device, 21, a left connecting rod, 22, a right connecting rod, 23, a swing deformation driving component, 3, a rear climbing assembly, 31, a rear supporting seat, 32, a rear swing arm, 33, a rear main driving roller, 34, a rear swing arm swing driving component, 4, a front defrosting assembly, 41, a front defrosting execution mechanism, 42, a front rotary suspension swing rod, 43, a front defrosting execution mechanism swing rotary motor, 5, a rear defrosting assembly, 51, a rear defrosting execution mechanism, 52, a rear rotary suspension swing rod, 53, a rear defrosting execution mechanism swing rotary motor, 6, an auxiliary roller, 7, a refrigerating pipe assembly, 71, a supporting angle iron, 72, a hoop, 73 and a refrigerating pipe.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The wheel arm climbing type freezer pipe bank inspection robot comprises a climbing device, a body position deformation device 2, a defrosting device and a centralized electric control device.

As shown in fig. 1 and 2, the climbing device comprises a front climbing assembly 1 and a rear climbing assembly 3 which are symmetrically arranged in front and rear;

the front climbing assembly 1 comprises a front supporting seat 11, a front swing arm 12 and a front main driving roller 13; the front swing arms 12 are symmetrically arranged in two left and right relative to the front support base 11, the two front swing arms 12 are respectively hinged on the front support base 11, the axial direction of the hinged shaft of the front swing arm 12 is arranged along the front and back direction, the front swing arms 12 are in transmission connection with a front swing arm swing driving part 14 arranged on the front support base 11, the front swing arm swing driving part 14 can be a hydraulic cylinder or an air cylinder or an electric cylinder or other telescopic cylinder structure controlled by linear telescopic action, or a driving motor controlled by circumferential rotation, and the like, the closed clamping state that the included angle between the front swing arm 12 and the front support base 11 is acute can be realized by controlling the actions of the front swing arm swing driving part 14, or the open non-clamping state that the included angle between the front swing arm 12 and the front support base 11 is not smaller than a flat angle can be realized by controlling the synchronous opposite swinging of the two front swing arms 12 along the left and right direction, the two front swing arms 12 can be connected through a connecting rod mechanism in a transmission way to share the same front swing arm swing driving part 14, and can also be respectively connected with one front swing arm swing driving part 14 in a transmission way; the front main driving roller 13 is at least arranged in two left-right symmetry relative to the front supporting seat 11, the front main driving roller 13 is arranged on the front swing arm 12, the direction of the roller axle wire of the front main driving roller 13 is consistent with the overhanging direction of the front swing arm 12, the front main driving roller 13 is provided with a front main driving roller driving motor, the front main driving roller 13 can rotate around the roller axle wire thereof in a forward direction or in a reverse direction by controlling the action of the front main driving roller driving motor, and the front main driving roller driving motor can be a hub motor structure coaxially arranged inside the front main driving roller 13 in order to simplify the mechanism arrangement;

the rear climbing assembly 3 comprises a rear supporting seat 31, a rear swing arm 32 and a rear main driving roller 33; the rear swing arms 32 are symmetrically arranged in two left and right relative to the rear supporting seat 31, the two rear swing arms 32 are respectively hinged on the rear supporting seat 31, the axial direction of the hinged shafts of the rear swing arms 32 is arranged along the front and rear direction, the rear swing arms 32 are in transmission connection with a rear swing arm swing driving part 34 arranged on the rear supporting seat 31, and a closed clamping state that the two rear swing arms 32 synchronously swing in opposite directions along the left and right direction to enable the included angle between the rear swing arms 32 and the rear supporting seat 31 to be an acute angle or an open non-clamping state that the two rear swing arms 32 synchronously swing in opposite directions along the left and right direction to enable the included angle between the rear swing arms 32 and the rear supporting seat 31 to be not smaller than a flat angle can be realized by controlling the action of the rear swing arm swing driving part 34; the rear main driving roller 33 is at least arranged in two left-right symmetry relative to the rear supporting seat 31, the rear main driving roller 33 is installed on the rear swing arm 32, the direction of the roller axle wire of the rear main driving roller 33 is consistent with the overhanging direction of the rear swing arm 32, and a rear main driving roller driving motor is arranged on the rear main driving roller 33.

The body position deformation device 2 is arranged between the front climbing assembly 1 and the rear climbing assembly 3, and the body position deformation device 2 is of a parallelogram connecting rod structure and comprises a left connecting rod 21, a right connecting rod 22 and a swinging deformation driving part 23; the left connecting rod 21 and the right connecting rod 22 are identical in length and size, the left connecting rod 21 and the right connecting rod 22 are arranged in parallel along the left-right horizontal direction, the front ends of the left connecting rod 21 and the right connecting rod 22 are respectively hinged to the front supporting seat 11, the rear ends of the left connecting rod 21 and the right connecting rod 22 are respectively hinged to the rear supporting seat 31, and the left connecting rod 21, the front supporting seat 11, the right connecting rod 22 and the rear supporting seat 31 jointly form a parallelogram structure; the swing deformation driving component 23 is disposed on the left connecting rod 21 or the right connecting rod 22 or the front supporting seat 11 or the rear supporting seat 31, the swing deformation driving component 23 may be a telescopic cylinder structure such as a hydraulic cylinder or an air cylinder or an electric cylinder which is installed on the front supporting seat 11 or the rear supporting seat 31 and controlled by linear telescopic action, the swing deformation driving component 23 may also be a rotary motor structure which is installed on the hinge position of the left connecting rod 21 or the right connecting rod 22 and controlled by circumferential rotation shown in fig. 1 and fig. 2, the swing and angular positioning of the left connecting rod 21 relative to the front supporting seat 11 and the rear supporting seat 31 can be controlled by controlling the action of the swing deformation driving component 23, or the swing and angular positioning of the right connecting rod 22 relative to the front supporting seat 11 and the rear supporting seat 31 can be controlled, further the deformation of the parallelogram structure can be controlled, and the change of the swing translation position of the front climbing component 1 (or the rear climbing component 3) relative to the rear climbing component 3 (or the front climbing component 1) can be controlled .

The defrosting device comprises a front defrosting assembly 4 and a rear defrosting assembly 5; the front defrosting assembly 4 comprises a front defrosting monitoring sensor assembly and a front defrosting execution mechanism 41, the front defrosting monitoring sensor assembly is arranged on the front support seat 11 or the front defrosting execution mechanism 41, and the front defrosting execution mechanism 41 is correspondingly arranged in front of the front support seat 11; the rear defrosting assembly 5 comprises a rear defrosting monitoring sensor assembly and a rear defrosting execution mechanism 51, the rear defrosting monitoring sensor assembly is installed on the rear supporting seat 31 or the rear defrosting execution mechanism 51, and the rear defrosting execution mechanism 51 is correspondingly arranged behind the rear supporting seat 31; the front defrosting monitoring sensor component and the rear defrosting monitoring sensor component respectively comprise a distance sensor which can be used for avoiding obstacles, the front defrosting monitoring sensor component and the rear defrosting monitoring sensor component also can respectively comprise a mode identification camera which is used for directly acquiring images of a refrigerating pipe bank, and the position and the thickness of a frost layer are judged through the images, the front defrosting monitoring sensor component and the rear defrosting monitoring sensor component can respectively comprise an infrared probe which is used for acquiring the temperature of the refrigerating pipe bank and judging the position and the thickness of the frost layer through the temperature, or the front defrosting monitoring sensor component and the rear defrosting monitoring sensor component can respectively comprise a sonar probe which is used for acquiring a sonar signal of the frost layer, and the position and the thickness of the frost layer are judged through sonar feedback, and the like; the front defrosting actuator 41 and the rear defrosting actuator 51 may be a dome structure that can guide and output hot defrosting gas (hot defrosting gas generated by hot gas generating components of the front defrosting actuator 41 and the rear defrosting actuator 51 can be output through a front hot gas input pipe and can blow the outer surface of the cooling rack pipe through a dome opening facing the outer surface of the cooling rack pipe), the front defrosting actuator 41 and the rear defrosting actuator 51 may be a grill structure that has built-in heating wires (grill the outer surface of the cooling rack pipe is baked through a grill opening facing the outer surface of the cooling rack pipe), the front defrosting actuator 41 and the rear defrosting actuator 51 may be a water spray cover structure that can spray defrosting water (defrosting water is sprayed to the outer surface of the cooling rack pipe through a water spray cover nozzle facing the outer surface of the cooling rack pipe), and so on.

The centralized electric control device comprises a controller, a climbing control loop, a defrosting control loop and a body position deformation control loop, wherein the controller is respectively electrically connected with a front swing arm swinging driving component 14, a front main driving roller driving motor of a front main driving roller 13, a front defrosting monitoring sensor component, a front defrosting executing mechanism 41, a rear swing arm swinging driving component 34, a rear main driving roller driving motor of a rear main driving roller 33, a rear defrosting monitoring sensor component, a rear defrosting executing mechanism 51 and a swinging deformation driving component 23.

As shown in fig. 3, the refrigeration rack pipe assembly 7 of the freezer generally comprises a refrigeration rack pipe 73 and a support angle iron 71, the support angle iron 71 is fixedly arranged on the inner wall (vertical wall and top wall) of the freezer, and the refrigeration rack pipe 73 comprising a plurality of straight pipe sections arranged in parallel and a bent pipe section connected end to end between two adjacent straight pipe sections is integrally positioned and erected on the support angle iron 71 through a hoop 72. When the wheel arm climbing type cold storage rack pipe inspection robot is used for defrosting a refrigeration pipe bank 73, the controller controls the swing deformation driving part 23 to move so that the left connecting rod 21 and the right connecting rod 22 are respectively in a state of being perpendicular to the front supporting seat 11 and the rear supporting seat 31, at the moment, the front climbing assembly 1 and the rear climbing assembly 3 are in a front-back symmetrical state, after the whole wheel arm climbing type cold storage rack pipe inspection robot is attached to the refrigeration pipe bank 73, a climbing control loop is started, the controller controls the front swing arm swing driving part 14 and the rear swing arm swing driving part 34 to move so that the two front swing arms 12 and the two rear swing arms 32 synchronously swing in opposite directions along the left-right direction respectively to form a combined clamping state, the front main driving roller 13 and the rear main driving roller 33 are driven and respectively clamped on two adjacent straight pipe sections of the refrigeration pipe bank 73, and the wheel arm climbing type cold storage rack pipe inspection robot is positioned on the refrigeration pipe bank 73, the defrosting control loop can be started to defrost along the pipe; when the operation of crawling along the pipe and defrosting is carried out, a front main driving roller driving motor of a front main driving roller 13 and a rear main driving roller driving motor of a rear main driving roller 33 are synchronously started, the front main driving roller 13 and the rear main driving roller 33 rotate along the same rotating direction, a front support seat 11 and a rear support seat 31 respectively drive a front defrosting execution mechanism 41 and a rear defrosting execution mechanism 51 to synchronously move along the straight pipe section of a refrigeration discharge pipe 73, a controller feeds back the position and the thickness of a frost layer on the outer surface of the straight pipe section through a front defrosting monitoring sensor assembly and a rear defrosting monitoring sensor assembly in the moving process of the front defrosting execution mechanism 41 and the rear defrosting execution mechanism 51 and controls the front defrosting execution mechanism 41 and the rear defrosting execution mechanism 51 to defrost the outer surface of the straight pipe section passing through the front defrosting and rear defrosting operation, so as to realize two times of defrosting operations on the same straight pipe section in the crawling along the pipe, until the straight pipe section is moved to the end part of the straight pipe section in the length direction, and the defrosting operation of the straight pipe section is completed. The two front swing arms 12 and the two rear swing arms 32 can respectively swing back to back along the left and right direction synchronously to form a structure in an open non-clamping state not less than a flat angle, the obstacle crossing operation of the hoop 72 and the supporting angle iron 71 of the straight pipe section positioning node in the translation crossing process of the front climbing component 1 or the rear climbing component 3 of the wheel arm climbing type refrigerator rack pipe inspection robot along the pipe in the pipe crawling moving process can be realized, as shown in figure 4, when the wheel arm climbing type refrigerator rack pipe inspection robot moves forward along the pipe, as shown in figure 4(a), the controller controls the front swing arm swing driving component 14 to act to enable the two front swing arms 12 to swing back to back and forth along the left and right direction synchronously to form a non-clamping state not less than a flat angle when the front defrosting monitoring sensor component feeds back the hoop 72 and the supporting angle iron 71 which are provided with the straight pipe section positioning node in front of the front supporting seat 11, as shown in figure 4(b), at this time, the front main driving roller 13 is separated from two adjacent straight tube sections of the refrigeration calandria 73, as shown in fig. 4(c), the controller continuously controls the rear main driving roller driving motor of the rear main driving roller 33 to act so that the rear supporting seat 31 drives the rear defrosting assembly 5 and drives the front supporting seat 11 to move forward along the straight tube section of the refrigeration calandria 73 through the body position deforming device 2, after the front supporting seat 11 passes through the hoop 72 of the straight tube section positioning node and the supporting angle iron 71, as shown in fig. 4(d), the controller controls the front swing arm swing driving part 14 to act so that the two front swing arms 12 synchronously swing in the left and right directions to form a clamping state after closing, at this time, the front main driving roller 13 is attached to the two adjacent straight tube sections of the refrigeration calandria 73 again to complete the obstacle crossing operation of the front climbing assembly 1, the controller continuously and synchronously controls the front main driving roller driving motor of the front main driving roller 13 and the rear main driving roller driving motor of the rear main driving roller 33 to rotate in the same direction to follow the tube, in the same way, the controller can control the rear climbing assembly 3 to perform obstacle crossing operation. After the wheel arm climbing type freezer pipe-arranging inspection robot climbs to the end part of the straight pipe section along the pipe, as shown in fig. 5, the controller synchronously controls the front main driving roller driving motor of the front main driving roller 13 and the rear main driving roller driving motor of the rear main driving roller 33 to stop and then starts a body position deformation control loop to perform pipe spanning operation, taking the example that the wheel arm climbing type freezer pipe-arranging inspection robot climbs to the end part of the straight pipe section along the pipe and moves forwards, as shown in fig. 5(a), when the feedback of the front defrosting monitoring sensor assembly is positioned in front of the front supporting seat 11 and is the end part of the straight pipe section, as shown in fig. 5(b), the controller firstly controls the front swing arm swinging driving part 14 to move so that the two front swing arms 12 synchronously swing back and back in the left-right direction to form an open non-clamping state not smaller than a flat angle, and then as shown in fig. 5(c), the controller controls the swinging deformation driving part 23 to move so that the left connecting rod 21 swings to the set angle left or right relative to position and position the rear supporting seat 31 The parallelogram structure is deformed to enable the front support seat 11 to move in a translational way for a set distance towards the direction of the straight pipe section which is close to the non-defrosted straight pipe section and is positioned at the position corresponding to the straight pipe section which is close to the non-defrosted straight pipe section, then as shown in figure 5(d), the controller controls the front swing arm swing driving component 14 to move to enable the two front swing arms 12 to swing synchronously and oppositely along the left and right directions to form a closed clamping state, at the moment, the front main driving roller 13 clamps and abuts against the non-defrosted straight pipe section to complete the pipe-crossing translational operation of the front climbing assembly 1, then as shown in figure 5(e), the controller controls the rear swing arm swing driving component 34 to move to enable the two rear swing arms 32 to swing synchronously and oppositely along the left and right directions to form an open non-clamping state which is not smaller than a flat angle, and then as shown in figure 5(f), the controller controls the swing deformation driving component 23 to move to enable the left connecting rod 21 to reset to a state which is vertical to the front support seat 11, the parallelogram structure is deformed to enable the rear supporting seat 31 to move in a translational way for a set distance towards the direction of the straight pipe section which is close to the straight pipe section which is not defrosted and is positioned at the position corresponding to the straight pipe section which is close to the straight pipe section which is not defrosted, then as shown in figure 5(g), the controller controls the rear swing arm swing driving component 34 to act so that the two rear swing arms 32 swing synchronously and oppositely along the left and right directions to form a complete clamping state, at the moment, the rear main driving roller 33 clamps and clings to the straight pipe section which is not defrosted to complete the pipe-crossing translational operation of the rear climbing component 3, the wheel arm climbing type freezer pipe inspection robot can be controlled to move backwards along the pipe to continue the defrosting operation, if a hoop 72 and a supporting angle iron 71 of a straight pipe section positioning node exist between the front climbing component 1 and the rear climbing component 3, as shown in figure 5(h), the front climbing component 1 can be controlled to perform obstacle-crossing operation, and so on the like, the wheel arm climbing type refrigeration house pipe arranging inspection robot can continuously climb along the S-shaped trend of the refrigeration pipe arranging 73 to defrost. Under the condition that the pipe spanning operation only spans one straight pipe section at each time, namely the pipe spanning operation rear wheel arm climbing type freezer pipe arrangement inspection robot straddles on one defrosted operation straight pipe section and one non-defrosted operation straight pipe section, the secondary defrosting operation of the defrosted operation straight pipe section can be realized, and the better defrosting effect can be realized.

In order to defrost the bent pipe sections of the refrigeration calandria 73 connected end to end between two adjacent straight pipe sections, as an embodiment of the present invention, as shown in fig. 6, the covering width dimension of the front defrosting execution mechanism 41 and the rear defrosting execution mechanism 51 along the left-right direction can be matched with the overall width dimension of two adjacent refrigeration calandria 73 straight pipe sections, so as to simultaneously defrost two straddled adjacent refrigeration calandria 73 straight pipe sections, and when the wheel arm climbing type freezer calandria inspection robot climbs to the end of the straight pipe sections along the pipe, the front defrosting execution mechanism 41 or the rear defrosting execution mechanism 51 can directly cover the bent pipe sections of the refrigeration calandria 73, so as to defrost the bent pipe sections of the refrigeration calandria 73.

In order to defrost the bent pipe section of the refrigeration calandria 73 connected end to end between two adjacent straight pipe sections, as another embodiment of the present invention, as shown in fig. 7, the coverage width dimension of the front defrosting actuator 41 along the left-right direction corresponds to the width dimension of a single straight pipe section of the refrigeration calandria 73 along the left-right direction, as shown in fig. 3, the front defrosting assembly 4 further includes a front swing rod 42 fixedly connected to the front defrosting actuator 41 and a front defrosting actuator swing rotary motor 43 in transmission connection with the front swing rod 42, the swing center of the front defrosting actuator swing rotary motor 43 is located at the geometric center of the left link 21 or the right link 22, the front defrosting actuator swing rotary motor 43 is electrically connected to the controller, and the front swing rod 42 can drive the front defrosting actuator 41 to surround the front defrosting actuator swing rotary motor 43 by controlling the front defrosting actuator swing rotary motor 43 to operate The swinging rotation center rotates circumferentially; as shown in fig. 7, the coverage width of the rear defrosting actuator 51 in the left-right direction corresponds to the width of a single straight pipe section of the refrigeration discharge pipe 73 in the left-right direction, as shown in fig. 3, the rear defrosting assembly 5 further includes a rear swing-out swing rod 52 fixedly connected to the rear defrosting actuator 51 and a rear defrosting actuator swing rotary motor 53 in transmission connection with the rear swing-out swing rod 52, the swing rotary center of the rear defrosting actuator swing rotary motor 53 is located at the geometric center of the right link 22 or the left link 21, and the rear defrosting actuator swing rotary motor 53 is electrically connected to the controller, and the rear swing-out swing rod 52 can drive the rear defrosting actuator 51 to circumferentially rotate around the swing rotary center of the rear defrosting actuator swing rotary motor 53 by controlling the operation of the rear defrosting actuator swing rotary motor 53. After the wheel arm climbing type freezer pipe bank inspection robot crawls to the end part of the straight pipe section along the pipe, the bent pipe section defrosting operation can be firstly carried out, then the pipe spanning operation is carried out, taking the wheel arm climbing type freezer pipe bank inspection robot crawls to the end part of the straight pipe section along the pipe and forwards moves to the end part of the straight pipe section as an example, at the moment, the front defrosting execution mechanism 41 is correspondingly positioned above the bent pipe section of the refrigeration pipe 73, the controller controls the front defrosting execution mechanism to swing the rotary motor 43 to act, so that the front rotary overhanging swing rod 42 drives the front defrosting execution mechanism 41 to circumferentially rotate around the swing rotary center of the front defrosting execution mechanism swing rotary motor 43 for setting the angle, the front defrosting execution mechanism 41 is further used for defrosting the bent pipe section, and after the bent pipe section defrosting operation is finished, the controller controls the front defrosting execution mechanism to swing the rotary motor 43 to reset; similarly, when the wheel arm climbing type freezer pipe arranging and inspecting robot climbs along the pipe and moves backwards to the end part of the straight pipe section, the controller controls the rear defrosting execution mechanism to swing the rotary motor 53 to act so that the rear defrosting execution mechanism 51 performs defrosting operation on the bent pipe section. In order to improve the defrosting effect and minimize the coverage deviation caused by the mismatch between the turning radius of the front defrosting actuator 41 and the rear defrosting actuator 51 and the bending radius of the pipe bending section, as shown in fig. 3, the front defrosting actuator 41 and the rear defrosting actuator 51 may be controlled to perform the defrosting operation on the same pipe bending section from both left and right directions.

In order to realize that the left translation amplitude and the right translation amplitude of the front climbing assembly 1 (or the rear climbing assembly 3) relative to the rear climbing assembly 3 (or the front climbing assembly 1) are consistent, and further facilitate the continuous crawling defrosting operation of the wheel arm climbing type cold storage rack pipe inspection robot along the S-shaped trend of the refrigeration rack pipe 73, as a further improvement scheme of the invention, the hinged positions of the front ends of the left connecting rod 21 and the right connecting rod 22 are arranged in a left-right symmetrical mode relative to the front supporting seat 11, and the hinged positions of the rear ends of the left connecting rod 21 and the right connecting rod 22 are arranged in a left-right symmetrical mode relative to the rear supporting seat 31.

As the section of the straight tube section of the refrigeration calandria 73 is a circular structure, in order to achieve better defrosting effect, as a further improvement of the present invention, as shown in fig. 6 and 7, the left and right ends of the front defrosting execution mechanism 41 and the rear defrosting execution mechanism 51 are respectively hinged with an arc-shaped extension structure capable of swinging and opening and closing along the left and right direction, and the arc-shaped extension structure comprises an arc-shaped section opening and closing swinging driving part electrically connected with the controller. When the wheel arm climbing type freezer pipe inspection robot climbs on two adjacent straight pipe sections of the refrigeration pipe bank 73, the arc-shaped extension structures of the front defrosting execution mechanism 41 and the rear defrosting execution mechanism 51 can be controlled to be clamped on the left side surface and the right side surface of the straight pipe sections or even part of the bottom surface, and then a semi-surrounding structure of the straight pipe sections is formed, so that a better defrosting effect can be realized. In the process of moving along the pipe, in order to avoid moving interference, the front defrosting monitoring sensor assembly and the rear defrosting monitoring sensor assembly respectively comprise a distance sensor which is used for feeding back whether to reach the end part of the straight pipe section or not and whether to move a barrier in front, and the arc section of the arc extending structure can be controlled to open and close to swing the driving part to move according to the feedback of the distance sensor when the pipe moves along to avoid the barrier.

In order to enable the front main driving roller 13 and the rear main driving roller 33 to stably clamp the straight pipe section of the refrigeration calandria 73 and to stably climb along the pipe, as shown in fig. 8, the positions of the bottoms of the front supporting seat 11 and the rear supporting seat 31 corresponding to the straight pipe section of the refrigeration calandria 73 are respectively provided with an auxiliary roller 6 which is arranged in a rolling manner along the front-back direction, the auxiliary roller 6 is horizontally arranged inside the bottom planes of the front supporting seat 11 and the rear supporting seat 31 through a bearing, the auxiliary roller 6 can be used as a driven roller, the auxiliary roller 6 can also be connected with an auxiliary roller driving motor which is electrically connected with a controller in a transmission manner and used as an auxiliary driving roller, and in order to increase the contact area and prevent the roller surface from slipping, the roller surface of the auxiliary roller 6 can be provided with a concave ring structure which is matched with the outer diameter size of the straight pipe section of the refrigeration calandria 73. When the front swing arm 12 is in a clamping state after the front swing arm is closed, the height between the bottom end of the front main driving roller 13 and the front support seat 11 is larger than the height between the bottom end of the straight pipe section of the refrigeration calandria 73 and the front support seat 11; when the rear swing arm 32 is in a clamped state after the rear swing arm is closed, the height between the bottom end of the rear main driving roller 33 and the rear supporting seat 31 is larger than the height between the bottom end of the straight pipe section of the refrigeration calandria 73 and the rear supporting seat 31. As shown in fig. 8, the front swing arm 12 and the rear swing arm 32 may be configured to have a curved arm structure having an arc-shaped section, and the front main driving roller 13 may be supported at the bottom of the straight pipe section of the refrigeration calandria 73 when the front swing arm 12 is in the clamped state after the clamping is completed, and the rear main driving roller 33 may be supported at the bottom of the straight pipe section of the refrigeration calandria 73 when the rear swing arm 32 is in the clamped state after the clamping is completed. To prevent slipping, the roll surfaces of the front and rear main drive rolls 13, 33 may also be provided with anti-slip coatings. In order to increase the contact area and prevent the roller surface from slipping, the roller surfaces of the front main driving roller 13 and the rear main driving roller 33 are further provided with concave ring structures corresponding to the outer diameter size of the straight pipe section of the refrigeration calandria 73, the concave ring structures of the front main driving roller 13 can be clamped on the straight pipe section of the refrigeration calandria 73 when the front swing arm 12 is in a clamping state after closing, and the concave ring structures of the rear main driving roller 33 can be clamped on the straight pipe section of the refrigeration calandria 73 when the rear swing arm 32 is in a clamping state after closing. In order to ensure the stability of the movement in the process of crossing obstacles along the pipe, as shown in fig. 9, the front main driving rollers 13 are symmetrically arranged in multiple groups in the left-right direction relative to the front supporting seat 11, a plurality of front main driving rollers 13 are arranged on the same front swing arm 12 in the front-back direction to form a front main driving roller group, the rear main driving rollers 33 are symmetrically arranged in multiple groups in the left-right direction relative to the rear supporting seat 31, and a plurality of rear main driving rollers 33 are arranged on the same rear swing arm 32 in the front-back direction to form a rear main driving roller group, so that when the front swing arm 12 (or the rear swing arm 32) is in a complete clamping state in the process of crossing obstacles along the pipe, the front main driving roller group (or the rear main driving roller group) formed by the plurality of front main driving rollers 13 (or the rear main driving rollers 33) can realize the stable clamping and positioning of the straight pipe section of the refrigeration calandria 73.

The wheel arm climbing type cold storage pipe inspection robot can adopt a wired control mode of providing electric energy through a power line, also can adopt a wireless control mode of providing electric energy through a rechargeable battery, reduces the whole volume and weight of the wheel arm climbing type cold storage pipe inspection robot on the premise of regional operation, is convenient to realize smaller space occupancy rate, avoids the problem of frequent charging, and preferably adopts a wired control mode. To achieve a better defrosting effect, the defrosting mode of the rear defrosting actuator 51 may be different from the defrosting mode of the front defrosting actuator 41, that is, the composite defrosting operation of two different defrosting modes of the same straight pipe section can be completed during the process of crawling along the pipe.

The wheel arm climbing type cold storage pipe inspection robot adopts a mode of climbing on a refrigeration pipe bank integrally and climbing along the pipe to perform defrosting operation, a walking channel of the defrosting robot is not required to be additionally arranged in the cold storage, the extra space occupation of the intelligent defrosting robot in the cold storage can be reduced to the maximum extent, and the existing cold storage is convenient to install and use; the front supporting seat 11 and the rear supporting seat 31 are in a front-back symmetrical state by controlling the action of the swing deformation driving part 23, and the front swing arm swing driving part 14 and the rear swing arm swing driving part 34 are controlled to move so that the two front swing arms 12 and the two rear swing arms 32 synchronously swing in opposite directions along the left-right direction respectively to form a complete clamping state, so that the front main driving roller 13 and the rear main driving roller 33 are respectively clamped and tightly attached to two adjacent straight pipe sections of the refrigeration calandria 73, the stable positioning of the arm climbing type refrigerator calandria polling robot on the two adjacent straight pipe sections of the refrigeration calandria 73 is further realized, the front main driving roller 13 and the rear main driving roller 33 are controlled to rotate in the same direction, the linear creeping of the wheel arm climbing type refrigerator calandria polling robot along the pipe on the two adjacent straight pipe sections of the refrigeration calandria 73 is realized, and the different sequences of clamping or loosening the straight pipe sections of the refrigeration calandria 73 are matched with the front main driving roller 13 and the rear main driving roller 33, the obstacle crossing operation of the wheel arm climbing type cold storage rack pipe inspection robot for crossing the hoop 72 of the straight pipe section positioning node and the supporting angle iron 71 in the process of linearly creeping along the pipe on two adjacent straight pipe sections of the refrigeration row pipe 73 can be realized, the parallelogram connecting rod structure of the body position deforming device 2 is deformed by matching with different sequences of clamping or loosening the straight pipe sections of the refrigeration row pipe 73 of the front main driving roller 13 and the rear main driving roller 33 and controlling the action of the swinging deformation driving part 23, the front climbing component 1 (or the rear climbing component 3) of the wheel arm climbing type freezer pipe polling robot can move along the cross pipe which is adjacent to the straight pipe section of the refrigeration pipe 73 relative to the rear climbing component 3 (or the front climbing component 1), further, the self-wheel arm climbing type refrigeration house calandria inspection robot can continuously crawl along the S-shaped trend of the refrigeration calandria 73; because the front defrosting execution mechanism 41 and the rear defrosting execution mechanism 51 are respectively and correspondingly arranged at the front part of the front support seat 11 and the rear part of the rear support seat 31, two times of defrosting operations before and after the same straight pipe section in the process of creeping and moving along the pipe can be realized, so that a better defrosting effect is realized, and the defrosting structure of the rear defrosting execution mechanism 51 can be set to be a structure different from that of the front defrosting execution mechanism 41, namely, a plurality of defrosting structure composite defrosting modes are adopted, so that a better defrosting effect is realized; the wheel arm climbing type freezer pipe inspection robot can respectively feed back the position and the thickness of a frost layer on the outer surface of a straight pipe section of a refrigeration pipe 73 through a front defrosting monitoring sensor assembly and a rear defrosting monitoring sensor assembly, respectively control a front defrosting execution mechanism 41 and a rear defrosting execution mechanism 51 to perform targeted defrosting operation on the outer surface of the straight pipe section of the refrigeration pipe 73 through which the front defrosting execution mechanism and the rear defrosting execution mechanism pass, realize intelligent defrosting with controllable defrosting intensity, not only can realize unattended automatic cruising and defrosting operation, but also can keep the freezer temperature relatively constant to the maximum extent, reduce the energy consumption of the freezer, and is particularly suitable for the defrosting operation of large and medium-sized freezer refrigeration pipe banks.

Claims (10)

1. A wheel arm climbing type freezer calandria inspection robot is characterized by comprising a climbing device, a body position deformation device (2), a defrosting device and a centralized electric control device;

the climbing device comprises a front climbing assembly (1) and a rear climbing assembly (3) which are symmetrically arranged in front and rear;

the front climbing assembly (1) comprises a front supporting seat (11), a front swing arm (12) and a front main driving roller (13); the front swing arms (12) are arranged in two left-right symmetry relative to the front supporting seat (11), the two front swing arms (12) are respectively hinged on the front supporting seat (11), the axial direction of a hinged shaft of each front swing arm (12) is arranged along the front-back direction, and the front swing arms (12) are in transmission connection with front swing arm swing driving components (14) arranged on the front supporting seat (11); the front main driving rollers (13) are at least arranged into two pieces in bilateral symmetry relative to the front supporting seat (11), the front main driving rollers (13) are arranged on the front swing arm (12), and a front main driving roller driving motor is arranged on the front main driving rollers (13);

the rear climbing assembly (3) comprises a rear supporting seat (31), a rear swing arm (32) and a rear main driving roller (33); the rear swing arms (32) are arranged in two left-right symmetry relative to the rear supporting seat (31), the two rear swing arms (32) are respectively hinged on the rear supporting seat (31), the axial direction of a hinge shaft of each rear swing arm (32) is arranged along the front-back direction, and the rear swing arms (32) are in transmission connection with rear swing arm swing driving components (34) arranged on the rear supporting seat (31); the rear main driving rollers (33) are at least arranged in two left-right symmetry relative to the rear supporting seat (31), the rear main driving rollers (33) are arranged on the rear swing arm (32), and a rear main driving roller driving motor is arranged on the rear main driving rollers (33);

the body position deformation device (2) is arranged between the front climbing assembly (1) and the rear climbing assembly (3), and the body position deformation device (2) is of a parallelogram connecting rod structure and comprises a left connecting rod (21), a right connecting rod (22) and a swinging deformation driving part (23); the left connecting rod (21) and the right connecting rod (22) with the same length and size are arranged in parallel along the left-right horizontal direction, the front ends of the left connecting rod (21) and the right connecting rod (22) are respectively hinged on the front supporting seat (11), the rear ends of the left connecting rod (21) and the right connecting rod (22) are respectively hinged on the rear supporting seat (31), and the left connecting rod (21), the front supporting seat (11), the right connecting rod (22) and the rear supporting seat (31) jointly form a parallelogram structure; the swing deformation driving component (23) is arranged on the left connecting rod (21) or the right connecting rod (22) or the front supporting seat (11) or the rear supporting seat (31);

the defrosting device comprises a front defrosting assembly (4) and a rear defrosting assembly (5); the front defrosting assembly (4) comprises a front defrosting monitoring sensor assembly and a front defrosting execution mechanism (41), the front defrosting monitoring sensor assembly is arranged on the front supporting seat (11) or the front defrosting execution mechanism (41), and the front defrosting execution mechanism (41) is correspondingly arranged in front of the front supporting seat (11); the rear defrosting assembly (5) comprises a rear defrosting monitoring sensor assembly and a rear defrosting execution mechanism (51), the rear defrosting monitoring sensor assembly is installed on the rear supporting seat (31) or the rear defrosting execution mechanism (51), and the rear defrosting execution mechanism (51) is correspondingly arranged behind the rear supporting seat (31);

concentrate electrically controlled device include controller, climbing control circuit, defrosting control circuit and position deformation control circuit, the controller respectively with preceding swing arm swing drive part (14), preceding main drive roller wheel driving motor, preceding defrosting monitor sensor subassembly, preceding defrosting actuating mechanism (41), back swing arm swing drive part (34), back main drive roller wheel driving motor, back defrosting monitor sensor subassembly, back defrosting actuating mechanism (51) and swing deformation drive part (23) electricity and be connected.

2. The wheel arm climbing type freezer pipe inspection robot according to claim 1, characterized in that the covering width dimension of the front defrosting execution mechanism (41) and the rear defrosting execution mechanism (51) along the left-right direction is matched with the total width dimension of the straight pipe sections of the two adjacent refrigeration pipes (73).

3. The wheel arm climbing type freezer rack pipe inspection robot according to claim 1, characterized in that the front end hinge positions of the left connecting rod (21) and the right connecting rod (22) are arranged in bilateral symmetry with respect to the front support base (11), and the rear end hinge positions of the left connecting rod (21) and the right connecting rod (22) are arranged in bilateral symmetry with respect to the rear support base (31); the covering width dimension of the front defrosting actuating mechanism (41) and the rear defrosting actuating mechanism (51) along the left-right direction corresponds to the width dimension of a single straight pipe section of the refrigeration discharge pipe (73) along the left-right direction; the front defrosting assembly (4) further comprises a front rotary overhanging swing rod (42) fixedly installed and connected with the front defrosting execution mechanism (41) and a front defrosting execution mechanism swinging rotary motor (43) in transmission connection with the front rotary overhanging swing rod (42), the swinging rotary center of the front defrosting execution mechanism swinging rotary motor (43) is positioned at the geometric center of the left connecting rod (21) or the right connecting rod (22), and the front defrosting execution mechanism swinging rotary motor (43) is electrically connected with the controller; the rear defrosting assembly (5) further comprises a rear rotary overhanging swing rod (52) fixedly connected with the rear defrosting execution mechanism (51) in a mounting mode and a rear defrosting execution mechanism swinging rotary motor (53) in transmission connection with the rear rotary overhanging swing rod (52), the swinging rotary center of the rear defrosting execution mechanism swinging rotary motor (53) is located at the geometric center of the right connecting rod (22) or the left connecting rod (21), and the rear defrosting execution mechanism swinging rotary motor (53) is electrically connected with the controller.

4. The wheel arm climbing type freezer calandria inspection robot according to claim 1, 2 or 3, characterized in that the bottom of the front support seat (11) and the rear support seat (31) are provided with auxiliary rollers (6) rolling along the front-back direction at positions corresponding to the straight pipe sections of the refrigeration calandria (73).

5. The wheel arm climbing type freezer calandria inspection robot according to claim 4, characterized in that the auxiliary roller wheel (6) is horizontally mounted inside the bottom plane of the front support base (11) and the rear support base (31) through a bearing, and the auxiliary roller wheel (6) is in transmission connection with an auxiliary roller wheel driving motor which is electrically connected with the controller.

6. The wheel arm climbing type freezer pipe inspection robot according to claim 1, 2 or 3, characterized in that when the front swing arm (12) is in a clamping state after completion, the height dimension between the bottom end of the front main driving roller wheel (13) and the front supporting seat (11) is larger than the height dimension between the bottom end of the straight pipe section of the refrigeration pipe rack (73) and the front supporting seat (11); when the rear swing arm (32) is in a clamping state after being closed, the height between the bottom end of the rear main driving roller (33) and the rear supporting seat (31) is larger than the height between the bottom end of the straight pipe section of the refrigeration calandria (73) and the rear supporting seat (31).

7. The wheel arm climbing type freezer pipe inspection robot according to claim 6, characterized in that the front swing arm (12) and the rear swing arm (32) are both of a bent arm structure having an arc-shaped section, the front main driving roller (13) is in a state of being supported at the bottom of the straight pipe section of the refrigeration pipe bank (73) when the front swing arm (12) is in a clamped state after clamping, and the rear main driving roller (33) is in a state of being supported at the bottom of the straight pipe section of the refrigeration pipe bank (73) when the rear swing arm (32) is in a clamped state after clamping.

8. The wheel arm climbing type freezer pipe inspection robot according to claim 6, characterized in that the roller surfaces of the front main driving roller (13) and the rear main driving roller (33) are further provided with concave ring structures corresponding to the straight pipe sections of the refrigeration pipe bank (73), the concave ring structures are matched with the outer diameter of the straight pipe sections of the refrigeration pipe bank (73), the concave ring structures of the front main driving roller (13) are clamped on the straight pipe sections of the refrigeration pipe bank (73) when the front swing arm (12) is in a clamping state after closing, and the concave ring structures of the rear main driving roller (33) are clamped on the straight pipe sections of the refrigeration pipe bank (73) when the rear swing arm (32) is in a clamping state after closing.

9. The wheel arm climbing type freezer pipe inspection robot according to claim 1, 2 or 3, characterized in that the front main driving rollers (13) are arranged in multiple groups in bilateral symmetry relative to the front supporting seat (11), a plurality of front main driving rollers (13) are arranged on the same front swing arm (12) along the front-back direction to form a front main driving roller group, a plurality of groups of rear main driving rollers (33) are arranged in bilateral symmetry relative to the rear supporting seat (31) and a plurality of rear main driving rollers (33) are arranged on the same rear swing arm (32) along the front-back direction to form a rear main driving roller group.

10. The wheel arm climbing type freezer pipe inspection robot according to claim 1, 2 or 3, characterized in that the left and right ends of the front defrosting execution mechanism (41) and the rear defrosting execution mechanism (51) are respectively hinged with an arc-shaped extension structure capable of swinging and opening and closing along the left and right directions, and the arc-shaped extension structure comprises an arc-shaped section opening and closing swinging driving part electrically connected with the controller.

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