CN114633189B

CN114633189B - Walking control method of bearing seat

Info

Publication number: CN114633189B
Application number: CN202210237130.1A
Authority: CN
Inventors: 陈根财; 傅如学; 李刚; 戚国方
Original assignee: Zhejiang Mopper Environmental Technology Co Ltd
Current assignee: Zhejiang Mopper Environmental Technology Co Ltd
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2023-06-02
Anticipated expiration: 2042-03-10
Also published as: CN114633189A

Abstract

The invention discloses a walking control method of a bearing seat, which comprises the following steps: s1, placing a bearing seat for bearing the brush roller between two frames on a base, so that a travelling wheel on a moving seat on the bearing seat is positioned above a guide rail on the frames; s2, the bearing seat is provided with a walking lifting oil cylinder, and the walking lifting oil cylinder can drive the movable seat to lift so as to realize switching between a brushing state and a walking state; when the brushing state is switched to the walking state, the walking lifting oil cylinder is controlled to shrink to drive the movable seat to descend until the walking wheels are propped against the guide rail, and a space is reserved between the bearing seat and the base; when the walking state is switched to the brushing state, the walking lifting oil cylinder is controlled to extend to drive the bearing seat to descend until the bearing seat is propped against the base, and a gap is reserved between the walking wheel and the guide rail. The travelling wheel is matched with the guide rail, so that the bearing seat can smoothly walk in a walking state, and the bearing seat is relatively fixed with the base in a brushing state, thereby avoiding affecting the subsequent brushing effect and avoiding dislocation of the travelling wheel and the guide rail.

Description

Walking control method of bearing seat

Technical Field

The invention relates to the technical field of wire rod surface treatment, in particular to a walking control method of a bearing seat.

Background

Wire rods often need to pass a period of time from the time of production to the time of actual use, and the time period can cause rust on the surface of the wire rods for various reasons to influence the actual use, so that rust removal treatment is needed on the surface of the wire rods before the rust wire rods are used.

The brush roller of the wire rod rust remover generally adopts the brush roller with the surface wrapped with abrasive wires to remove rust on the surface of the wire rod, and the brush roller of the wire rod rust remover is horizontally installed and can remove rust on the wire rod only from the upper part and the lower part of the wire rod.

The steel wire rust removing device with the application number of 201921667151.7 is provided with a steel wire rust remover, wherein a scale breaking roller is obliquely arranged in a frame of the steel wire rust remover, and the scale breaking roller on the frame is used for polishing and removing rust on the surface of a steel wire. However, the scale breaking roller is formed with a brushing roller made of nylon or diamond material along the circumferential direction, and the brushing roller is gradually worn in use, so that the roller changing operation is required. However, the scale breaking roller in the equipment is arranged in the frame of the derusting machine, and the roller changing vehicle needs to enter the frame to change the roller, so that the roller changing is inconvenient.

In order to facilitate roll replacement, the bearing seat for bearing the scale breaking roll is driven to move out of the frame for roll replacement. And in order to drive the bearing seat to walk out of the frame for roll changing and drive the bearing seat to walk back to the brushing position for subsequent brushing after roll changing. The existing walking driving method of the bearing seat is that a gear is additionally arranged on the bearing seat, a rack is additionally arranged on a base below the bearing seat, and finally a driving motor connected with the gear on the bearing seat is driven to drive the gear to rotate, and the walking of the bearing seat is realized through the cooperation of the gear and the rack.

However, the following problems exist in the traveling driving method of the bearing seat:

1. through driving the gear to rotate, the gear and the rack are matched to drive the bearing seat to walk, and the price of the gear and the rack is relatively high.

2. Through driving the gear to rotate, the gear and the rack cooperate to drive the bearing seat to walk to the brushing position, and then the bearing seat shakes in the descaling roller brushing process to cause the dislocation of the gear and the rack and the subsequent incapability of smooth movement.

3. The bearing seat is easy to shake in the grinding and brushing process of the scale breaking roller to influence the grinding and brushing effect of the scale breaking roller.

Disclosure of Invention

The invention overcomes the defects in the prior art, and provides a walking control method of a bearing seat, which is characterized in that a walking lifting cylinder is arranged on the bearing seat, a movable seat on the bearing seat is driven to descend by controlling the walking lifting cylinder, so that walking wheels on the movable seat are lowered to be propped against guide rails on racks on two sides of the bearing seat and are matched with the guide rails through the walking wheels, the bearing seat can smoothly move, and meanwhile, the walking control method can drive the movable seat on the bearing seat to ascend through controlling the walking lifting cylinder, so that the walking wheels on the movable seat are lifted to be separated from the guide rails on the racks on two sides of the bearing seat, so that the bearing seat cannot move to facilitate the brushing work of brush rolls on the subsequent bearing seat, and the walking wheels cannot move left and right relative to the guide rails.

The technical scheme of the invention is realized as follows:

a walking control method of a bearing seat comprises the following steps:

s1, placing a bearing seat for bearing the brush roller between two frames on a base, so that two travelling wheels on a moving seat arranged on the bearing seat are positioned above guide rails on the two frames;

s2, a walking lifting oil cylinder is arranged at the bottom of the bearing seat, and the bearing seat has a brushing state and a walking state; in the brushing state, a gap is reserved between the travelling wheel and the guide rail; in the walking state, the walking wheel is propped against the guide rail; the walking lifting oil cylinder is driven to act on the movable seat to drive the movable seat to lift so as to realize the switching between the brushing state and the walking state; when the brushing state is switched to the walking state, the walking lifting oil cylinder is controlled to shrink to drive the movable seat to descend until the walking wheels are abutted against the guide rail, and then the walking lifting oil cylinder is controlled to shrink to enable the movable seat to descend, so that the walking lifting oil cylinder drives the bearing seat to move upwards until a gap is reserved between the bearing seat and the base, and the switching of the walking state is completed;

when the travelling wheel is switched to a travelling state, a travelling driving motor connected with the travelling wheel can be controlled to rotate so as to drive the travelling wheel to rotate on the guide rail for travelling, and thus the bearing seat is driven to travel to a brushing position or a roller changing position;

when the running state is switched to the brushing state, the running lifting oil cylinder is controlled to extend to drive the bearing seat to descend until the bearing seat abuts against the base, then the running lifting oil cylinder is controlled to extend continuously, the running lifting oil cylinder drives the movable seat to ascend until a gap is reserved between the running wheel and the guide rail, and the switching of the brushing state is completed.

In a further scheme, a locking driving assembly is arranged on the base, a locking piece is connected to the locking driving assembly, the locking driving assembly comprises a clamping driving oil cylinder, a supporting piece is arranged on the base, and the clamping driving oil cylinder is arranged at the top end of the supporting piece; and the step S2 of driving the bearing seat to move to the brushing position further comprises the following steps: controlling the clamping driving oil cylinder to extend so as to drive the locking piece to act on the bearing seat, so that the bearing seat and the base are kept relatively fixed; the step S2 of switching from the brushing state to the walking state further comprises the following steps: and controlling the clamping driving oil cylinder to retract so as to drive the locking piece to be separated from the bearing seat.

The bearing seat is driven to move to the brushing position by driving, and then the clamping driving oil cylinder is driven to extend so as to drive the locking piece to act on the bearing seat, so that the bearing seat and the base are kept relatively fixed, and the bearing seat can be further prevented from sliding relative to the base in the brushing process.

In a further scheme, fixed blocks are arranged on the left side and the right side of the bearing seat, the end face of one side, away from the bearing seat, of the fixed block is an inclined plane, and the locking piece is an inclined iron; the specific steps of controlling the extension of the clamping driving oil cylinder to drive the locking piece to act on the bearing seat so as to enable the bearing seat and the base to be kept relatively fixed are as follows: and controlling the clamping driving oil cylinder to extend so as to drive the inclined iron to move until the inclined iron is attached to the inclined surface on the fixed block, so that the bearing seat and the base are kept relatively fixed.

The inclined plane on the fixed block is attached to the inclined iron, and the friction force between the inclined iron and the inclined iron enables the bearing seat to be relatively fixed with the base.

In a further scheme, the top end of the bearing seat is provided with a speed reducing lifter, and the speed reducing lifter is connected with a supporting seat for loading the brush roller; and the step S2 of driving the bearing seat to move to the brushing position further comprises the following steps: the speed reducing lifter is controlled to operate so as to drive the supporting seat to rise to the height of the grinding brush.

In a further scheme, an inserting block is arranged at the bottom end of the bearing seat, and a slot matched with the inserting block is arranged on the base; the specific steps of S2 for driving the bearing seat to move to the brushing position are as follows: the walking driving motor connected with the walking wheel is controlled to rotate so as to drive the walking wheel to rotate on the guide rail and walk, thereby driving the bearing seat to advance to the brushing position, and enabling the insert block at the bottom end of the bearing seat to be opposite to the slot on the base; the specific step of switching from the walking state to the brushing state in the step S2 is as follows: the running lifting oil cylinder is controlled to extend to drive the bearing seat to descend until the bearing seat is propped against the base, so that the insert at the bottom end of the bearing seat is inserted into the slot on the base, then the running lifting oil cylinder is controlled to extend continuously, the running lifting oil cylinder drives the moving seat to ascend until a gap is reserved between the running wheel and the guide rail, and the switching of the brushing state is completed. The bearing seat is positioned by the matching of the slot and the insert block.

The design starting point, the idea and the beneficial effects of the invention adopting the technical scheme are as follows:

1. because the bearing seat in the step S2 is switched from the brushing state to the walking state, the walking lifting oil cylinder is controlled to shrink to drive the movable seat to descend until the walking wheel abuts against the guide rail, and at the moment, the bearing seat can move between the brushing position and the roller changing position along the guide rail, and dislocation can not occur when the walking wheel is matched with the guide rail in brushing of the roller. In the step S2, after the traveling lift cylinder contracts to drive the movable seat to descend until the traveling wheels are against the guide rail, the traveling lift cylinder is continuously driven to control the traveling lift cylinder to contract so that the movable seat has a descending trend, the traveling lift cylinder drives the bearing seat to move upwards until a space is reserved between the bearing seat and the base, so that friction is not generated at the bottom end when the subsequent bearing seat moves, and the movement of the bearing seat is facilitated.

2. Because the step S2 is that the bearing seat is switched from the walking state to the brushing state, the walking lifting oil cylinder drives the movable seat to ascend until a gap is reserved between the walking wheel and the guide rail, the bearing seat can not move relative to the base any more, and the influence on the brushing effect of the brush roller due to the forward and backward movement of the bearing seat in the brushing process of the brush roller is avoided. Meanwhile, when the bearing seat is switched from the walking state to the brushing state, the walking lifting oil cylinder drives the movable seat to ascend until a space is reserved between the walking wheel and the guide rail, and the bearing seat is driven to descend until the bearing seat abuts against the base, so that the bearing seat provides support for the brush roller after the base abuts against the base, and the whole structure is more stable.

3. Because the bearing seat is switched from the walking state to the brushing state, the walking lifting oil cylinder drives the movable seat to ascend until the space is reserved between the walking wheel and the guide rail, and drives the bearing seat to descend until the bearing seat is propped against the base, the bearing seat does not move in the brushing process, and then the walking wheel can be propped against the guide rail when the walking wheel is switched to the walking state next time, and the problem that the dislocation between the walking wheel and the guide rail is not needed to be worried about.

4. The prices of the travelling wheels and the guide rails are relatively low, which is beneficial to saving the cost.

Drawings

FIG. 1 is a schematic view of a brush rust removing apparatus;

FIG. 2 is a schematic view of a part of a brush rust remover at another view angle;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

FIG. 4 is a side view of the brushing rust-removing device in a walking state;

FIG. 5 is a side view of the brushing apparatus in a brushing configuration;

FIG. 6 is a front view of a brush rust removal apparatus;

fig. 7 is a flow chart of a walking control method of the bearing seat.

The reference numerals are as follows: the device comprises a 1-base, a 2-bearing seat, a 3-supporting seat, a 4-frame, a 5-moving seat, a 6-guide rail, 7-travelling wheels, 8-travelling lifting cylinders, 9-limiting blocks, 10-slots, 11-avoidance slots, 12-insertion blocks, 13-fixed blocks, 14-clamping driving cylinders, 15-inclined irons, 16-supporting pieces, 17-avoidance sections, 18-shielding sections, 19-reduction elevators and 20-sliding slots.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

The specific embodiments of the present invention are as follows:

examples: as shown in fig. 1 to 6, the invention provides a brushing and rust removing device, which comprises a base 1 and a bearing seat 2, wherein a supporting seat 3 is arranged on the bearing seat 2, and a brush roller for brushing and rust removing is loaded on the supporting seat 3.

In this scheme, be provided with two frames 4 on the base 1, be formed with the walk passageway that can supply to bear seat 2 to remove between two frames 4, above-mentioned bearing seat 2 is located this walk passageway. And guide rails 6 are paved on the two frames 4, and the two guide rails 6 extend along the length direction of the walking channel. Meanwhile, a movable seat 5 is further arranged on the bearing seat 2, travelling wheels 7 are arranged on the left side and the right side of the movable seat 5, and the movable seat 5 is erected on the two frames 4 through the cooperation of the travelling wheels 7 and the guide rails 6. The movable seat 5 is also provided with a traveling driving assembly, and the traveling driving assembly in the scheme comprises a traveling driving motor which is connected with the traveling wheels 7 to drive the traveling wheels 7 to rotate.

In this scheme, the bearing seat 2 is also provided with a lifting driving component. Specifically, the lifting driving assembly comprises a walking lifting oil cylinder 8, the walking lifting oil cylinder 8 is mounted on the bearing seat 2 and connected with the movable seat 5, and the walking lifting oil cylinder 8 can drive the movable seat 5 to move up and down, so that the walking wheel 7 is propped against the guide rail 6 or a gap is reserved between the walking wheel 7 and the guide rail 6.

The base 1 is provided with two preset appointed positions, wherein one appointed position is a roll changing position, and the other appointed position is a grinding and brushing position. When the bearing seat 2 is arranged in the walking channel between the two frames 4 on the base 1, the moving seat 5 can be driven to lift by the walking lifting oil cylinder 8 so as to realize the switching of the brushing state and the walking state of the bearing seat 2. In the brushing state, a space is reserved between the traveling wheel 7 and the guide rail 6. While in the travelling state, the travelling wheel 7 is in abutment with the guide rail 6.

When the bearing seat 2 needs to be moved to a roll changing position or to a brushing position, the traveling lifting oil cylinder 8 is controlled to shrink, and the traveling lifting oil cylinder 8 drives the movable seat 5 to descend until the traveling wheels 7 on the movable seat 5 are propped against the guide rail 6. Then, the traveling lifting oil cylinder 8 is continuously controlled to shrink so that the movable seat 5 has a descending trend, and as the traveling wheel 7 is propped against the guide rail 6, a reverse acting force is given to the traveling lifting oil cylinder 8, so that the traveling lifting oil cylinder 8 drives the bearing seat 2 to move upwards until a gap is reserved between the bearing seat 2 and the base 1, and the traveling state is switched, and at the moment, the state is shown in fig. 4. At this time, the traveling driving motor connected with the traveling wheel 7 can be controlled to rotate so as to drive the traveling wheel 7 to rotate on the guide rail 6 for traveling, thereby driving the bearing seat 2 to travel to the brushing position or the roll changing position. Because the space is reserved between the bearing seat 2 and the base 1, the bottom end does not have friction when the bearing seat 2 moves, and the bearing seat 2 is convenient to move.

When the carrying seat 2 moves to the brushing position, in order to avoid that the back-and-forth movement of the carrying seat 2 affects the brushing effect during the brushing process, the carrying seat 2 needs to be switched to the brushing state. At this time, the traveling lifting cylinder 8 is controlled to extend to drive the bearing seat 2 to descend until the bearing seat abuts against the base 1. And then the running lifting oil cylinder 8 is continuously controlled to extend, the running lifting oil cylinder 8 drives the movable seat 5 to ascend until a gap is reserved between the running wheel 7 and the guide rail 6, and the switching of the brushing state is completed, and at the moment, the state is shown in fig. 5.

In this scheme, as shown in fig. 3 and 5, a limiting block 9 is further provided on the base 1, a slot 10 is provided at the top end of the limiting block 9, and the slot 10 penetrates through the front and rear end surfaces of the limiting block 9 along the length direction of the walking channel. And the bottom of the bearing seat 2 is provided with an avoidance groove 11, and the bottom of the avoidance groove 11 is provided with an insertion block 12. When the walking lifting cylinder 8 extends to drive the bearing seat 2 to descend until the walking lifting cylinder abuts against the base 1, the limiting block 9 is located in the avoidance groove 11, and the inserting block 12 is inserted into the inserting groove 10 of the limiting block 9, so that the limiting effect on the bearing seat 2 is achieved, and the brush roller on the bearing seat 2 can be fixed on a preset position.

And preferably, the slot wall of the slot 10 on the limiting block 9 extends outwards from the slot bottom to the slot opening in an inclined way. When the bearing seat 2 is slightly inclined, in the process of descending the bearing seat 2, the insert block 12 is propped against the groove wall of the slot 10, the bearing seat 2 is stressed to return force, and then the bearing seat 2 descends until propped against the base 1, and the insert block 12 is inserted into the slot 10 of the limiting block 9.

It should be noted that, although the slot 10 is disposed on the stopper 9 on the base 1 and the insert 12 is disposed at the bottom end of the carrier 2 in the present embodiment, it is easy to understand that it is also possible to dispose the slot 10 at the bottom end of the carrier 2 and the insert 12 on the base 1.

Meanwhile, referring to fig. 2, 4 and 5, in this embodiment, the left and right sides of the bearing seat 2 are both provided with fixing blocks 13, and a side surface of one end of the fixing block 13 facing away from the bearing seat 2 is an inclined surface. The base 1 is also provided with a locking driving component, and the locking driving component is connected with a locking piece. The number of the locking driving assemblies is two, the locking driving assemblies comprise a clamping driving oil cylinder 14, a supporting piece 16 is arranged on the base 1, and the clamping driving oil cylinder 14 is arranged at the top end of the supporting piece 16. The end surface of one side of the supporting piece 16 facing the bearing seat 2 is provided with a sliding groove 20 extending along the vertical direction, a wedge 15 is slidably arranged in the sliding groove 20, and the clamping driving oil cylinder 14 is connected with the wedge 15 and can drive the wedge 15 to slide in the sliding groove 20.

When the carrying seat 2 moves to the brushing position, the two locking driving components are respectively positioned at the left side and the right side of the carrying seat 2. When the bearing seat 2 is switched to a brushing state, the bottom end of the bearing seat 2 is propped against the base 1, the clamping driving oil cylinder 14 is controlled to push the inclined iron 15 to slide in the sliding groove 20 until the inclined surface on the fixed block 13 of the inclined iron 15 is clung, and the bearing seat 2 and the base 1 can be kept relatively fixed by the friction force between the inclined iron 15 and the fixed block 13. Further avoiding that the carrier 2 moves relative to the base 1 during brushing.

In addition, as a preferred embodiment, the inclined plane on the fixed block 13 extends obliquely from the bottom end to the top end of the fixed block 13 to the direction of the bearing seat 2, the clamping driving oil cylinder 14 is mounted on the top end of the supporting piece 16, and the clamping driving oil cylinder 14 can drive the inclined iron 15 to move in the vertical direction and cling to the inclined plane on the fixed block 13. Because the locking driving component drives the chute 15 to move in the vertical direction and clings to the inclined surface on the fixed block 13, the locking driving component is necessarily arranged above the chute 15 instead of beside the chute 15, so that the width of the base 1 is greatly reduced, and the cost is saved. And because the inclined plane extends from the bottom end to the top end of the fixed block 13 to the direction of the bearing seat 2, the inclined iron 15 moves in the vertical direction and clings to the inclined plane on the fixed block 13, so that the gravity of the inclined iron 15 also acts on the fixed block 13, and the friction force between the inclined iron and the fixed block is enhanced.

In order to avoid interference between the support 16 and the fixed block 13 during the movement of the carrier 2. In this embodiment, the supporting member 16 is divided into an avoiding section 17 and a shielding section 18 from the bottom end to the top end, and the thickness of the avoiding section 17 in the depth direction of the sliding groove 20 is smaller than the thickness of the shielding section 18 in the depth direction of the sliding groove 20. When the bearing seat 2 moves to the brushing position relative to the base 1, a gap is reserved between the avoiding section 17 and the fixed block 13. When the clamping driving cylinder 14 drives the chute 15 to slide in the sliding groove 20 to the avoiding section 17, the chute 15 is partially exposed out of the sliding groove 20 and is tightly attached to the inclined surface on the fixed block 13. Since the thickness of the avoiding section 17 in the depth direction of the sliding groove 20 is smaller than the thickness of the shielding section 18 in the depth direction of the sliding groove 20, the avoiding section 17 and the fixed block 13 are spaced, so that interference between the supporting member 16 and the fixed block 13 can be avoided. The thickness of the shielding section 18 is greater than that of the relief section 17, and the support of the clamping driving cylinder 14 is also enhanced.

When the bearing seat 2 is positioned at the brushing position, the clamping driving oil cylinder 14 drives the inclined surface on the inclined iron 15 and the fixed block 13 to be attached through friction force between the inclined iron and the fixed block to realize locking. When the subsequent carrying seat 2 wants to move to the roll changing position, the carrying seat 2 needs to control the clamping driving oil cylinder 14 to drive the inclined iron 15 to move upwards when the switching operation of the walking state is repeated, so that the inclined iron 15 is separated from the inclined surface on the fixed block 13 to complete unlocking.

In addition, in this embodiment, a deceleration lift 19 is provided at the end of the carrying base 2, and the deceleration lift 19 acts on the supporting base 3. When the bearing seat 2 moves to the brushing position, the speed reducing lifter 19 is controlled to operate so as to drive the supporting seat 3 to rise to the brushing height, so that the brush roller is in contact with the wire rod, and the surface of the wire rod is brushed.

Based on the above-mentioned brushing and rust-removing device, as shown in fig. 7, the present embodiment also provides a walking control method for the bearing seat 2, which includes the following steps:

s1, a bearing seat 2 for bearing a brush roll is arranged between two frames 4 on a base 1, so that two travelling wheels 7 arranged on a moving seat 5 on the bearing seat 2 are positioned above guide rails 6 on the two frames 4;

s2, a walking lifting oil cylinder 8 is arranged at the bottom of the bearing seat 2, and the bearing seat 2 has a brushing state and a walking state; in the brushing state, a space is reserved between the travelling wheel 7 and the guide rail 6; in the walking state, the walking wheel 7 is propped against the guide rail 6; the walking lifting oil cylinder 8 is driven, and the walking lifting oil cylinder 8 acts on the movable seat 5 to drive the movable seat 5 to lift so as to realize the switching between the brushing state and the walking state; when the brushing state is switched to the walking state, the walking lifting oil cylinder 8 is controlled to shrink firstly to drive the movable seat 5 to descend until the walking wheel 7 abuts against the guide rail 6, and then the walking lifting oil cylinder 8 is controlled to shrink continuously to enable the movable seat 5 to have a descending trend, so that the walking lifting oil cylinder 8 drives the bearing seat 2 to move upwards until a gap is reserved between the bearing seat 2 and the base 1, and the switching of the walking state is completed;

when the travelling state is switched to the travelling state, a travelling driving motor connected with the travelling wheel 7 can be controlled to rotate so as to drive the travelling wheel 7 to rotate and travel on the guide rail 6, and thus the bearing seat 2 is driven to travel to a brushing position or a roller changing position;

when the running state is switched to the brushing state, the running lifting oil cylinder 8 is controlled to extend to drive the bearing seat 2 to descend until the bearing seat is propped against the base 1, then the running lifting oil cylinder 8 is controlled to extend, the running lifting oil cylinder 8 drives the movable seat 5 to ascend until a gap is reserved between the running wheel 7 and the guide rail 6, and the switching of the brushing state is completed.

In S2, the specific steps of driving the carrying seat 2 to move to the brushing position are as follows: the walking driving motor connected with the walking wheel 7 is controlled to rotate so as to drive the walking wheel 7 to rotate and walk on the guide rail 6, thereby driving the bearing seat 2 to advance to a brushing position, and enabling the insert block 12 at the bottom end of the bearing seat 2 to be opposite to the slot 10 on the base 1; the specific step of switching from the walking state to the brushing state in the step S2 is as follows: the running lifting oil cylinder 8 is controlled to extend to drive the bearing seat 2 to descend until the bearing seat is propped against the base 1, so that the inserting block 12 at the bottom end of the bearing seat 2 is inserted into the inserting groove 10 on the base 1, then the running lifting oil cylinder 8 is controlled to extend continuously, the running lifting oil cylinder 8 drives the movable seat 5 to ascend until a gap is reserved between the running wheel 7 and the guide rail 6, and the switching of the brushing state is completed.

And in S2, after driving the bearing seat 2 to move to the brushing position, the method further comprises the following steps: the clamping driving oil cylinder 14 is controlled to extend to drive the inclined iron 15 to move until the inclined iron 15 is attached to the inclined surface on the fixed block 13, so that the bearing seat 2 and the base 1 are kept relatively fixed. And simultaneously, the speed reducing lifter 19 is controlled to operate so as to drive the supporting seat 3 to rise to the brushing height.

And the step S2 of switching from the brushing state to the walking state further comprises the following steps: the clamping driving cylinder 14 is controlled to retract to drive the inclined iron 15 to separate from the inclined surface on the fixed block 13 of the bearing seat 2.

The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.

Claims

1. A walking control method of a bearing seat is characterized in that: the method comprises the following steps: s1, placing a bearing seat for bearing the brush roller between two frames on a base, so that two travelling wheels on a moving seat arranged on the bearing seat are positioned above guide rails on the two frames; s2, a walking lifting oil cylinder is arranged at the bottom of the bearing seat, and the bearing seat has a brushing state and a walking state; in the brushing state, a gap is reserved between the travelling wheel and the guide rail; in the walking state, the walking wheel is propped against the guide rail; the walking lifting oil cylinder is driven to act on the movable seat to drive the movable seat to lift so as to realize the switching between the brushing state and the walking state; when the brushing state is switched to the walking state, the walking lifting oil cylinder is controlled to shrink to drive the movable seat to descend until the walking wheels are abutted against the guide rail, and then the walking lifting oil cylinder is controlled to shrink to enable the movable seat to descend, so that the walking lifting oil cylinder drives the bearing seat to move upwards until a gap is reserved between the bearing seat and the base, and the switching of the walking state is completed; when the travelling wheel is switched to a travelling state, a travelling driving motor connected with the travelling wheel can be controlled to rotate so as to drive the travelling wheel to rotate on the guide rail for travelling, and thus the bearing seat is driven to travel to a brushing position or a roller changing position; when the running state is switched to the brushing state, the running lifting oil cylinder is controlled to extend to drive the bearing seat to descend until the bearing seat abuts against the base, then the running lifting oil cylinder is controlled to extend continuously, the running lifting oil cylinder drives the movable seat to ascend until a gap is reserved between the running wheel and the guide rail, and the switching of the brushing state is completed.

2. The walking control method of the carrying seat according to claim 1, characterized in that: the base is provided with a locking driving assembly, the locking driving assembly is connected with a locking piece, the locking driving assembly comprises a clamping driving oil cylinder, the base is provided with a supporting piece, and the clamping driving oil cylinder is arranged at the top end of the supporting piece; and the step S2 of driving the bearing seat to move to the brushing position further comprises the following steps: controlling the clamping driving oil cylinder to extend so as to drive the locking piece to act on the bearing seat, so that the bearing seat and the base are kept relatively fixed; the step S2 of switching from the brushing state to the walking state further comprises the following steps: and controlling the clamping driving oil cylinder to retract so as to drive the locking piece to be separated from the bearing seat.

3. The walking control method of the carrying seat according to claim 2, characterized in that: the left side and the right side of the bearing seat are provided with fixed blocks, the end face of one side of the fixed block, which is away from the bearing seat, is an inclined plane, and the locking piece is an inclined iron; the specific steps of controlling the extension of the clamping driving oil cylinder to drive the locking piece to act on the bearing seat so as to enable the bearing seat and the base to be kept relatively fixed are as follows: and controlling the clamping driving oil cylinder to extend so as to drive the inclined iron to move until the inclined iron is attached to the inclined surface on the fixed block, so that the bearing seat and the base are kept relatively fixed.

4. The walking control method of the carrying seat according to claim 1, characterized in that: the top end of the bearing seat is provided with a speed reducing lifter, and the speed reducing lifter is connected with a supporting seat for loading the brush roller; and the step S2 of driving the bearing seat to move to the brushing position further comprises the following steps: the speed reducing lifter is controlled to operate so as to drive the supporting seat to rise to the height of the grinding brush.

5. The walking control method of the carrying seat according to claim 1, characterized in that: the bottom end of the bearing seat is provided with an inserting block, and the base is provided with a slot matched with the inserting block; the specific steps of S2 for driving the bearing seat to move to the brushing position are as follows: the walking driving motor connected with the walking wheel is controlled to rotate so as to drive the walking wheel to rotate on the guide rail and walk, thereby driving the bearing seat to advance to the brushing position, and enabling the insert block at the bottom end of the bearing seat to be opposite to the slot on the base; the specific step of switching from the walking state to the brushing state in the step S2 is as follows: the running lifting oil cylinder is controlled to extend to drive the bearing seat to descend until the bearing seat is propped against the base, so that the insert at the bottom end of the bearing seat is inserted into the slot on the base, then the running lifting oil cylinder is controlled to extend continuously, the running lifting oil cylinder drives the moving seat to ascend until a gap is reserved between the running wheel and the guide rail, and the switching of the brushing state is completed.