CN115415909A

CN115415909A - Crane maintenance robot

Info

Publication number: CN115415909A
Application number: CN202211123799.4A
Authority: CN
Inventors: 甘韦飞; 张希靓; 曾维杰
Original assignee: Shanghai Polytechnic University
Current assignee: Shanghai Polytechnic University
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2022-12-02
Also published as: WO2024055643A1

Abstract

The invention provides a crane maintenance robot, which relates to the technical field of robots and aims to solve the problem that the conventional crane beam is inconvenient to maintain after rusting.A technical scheme is adopted that the crane maintenance robot comprises a machine body and a control box, wherein the machine body is provided with the control box, the control box is internally provided with a microprocessor, a wireless remote control module and an animation transmission module, and the machine body is also provided with a travelling mechanism for moving, a maintenance mechanism capable of repairing a crane boom, a monitoring mechanism and a storage battery for supplying power to electric elements on the machine body; the robot control system is characterized in that a control box is arranged on the machine body, a worker can control the robot on the ground, the implementation condition of the robot is collected through a camera assembly and transmitted to the worker on the ground, and the controllability of the robot is enhanced; a traveling mechanism is arranged on the machine body, and the machine body can be driven by the traveling mechanism to move back and forth on the cross beam; the adjusting mechanism for the walking mechanism is arranged on the machine body, so that the robot can adapt to cross beam structures with different width sizes.

Description

Crane maintenance robot

Technical Field

The invention relates to the technical field of robots, in particular to a crane maintenance robot.

Background

The crane is a popular name of the crane and is widely applied to a series of heavy-duty products such as ships, equipment, machinery, molds and the like.

The crane consists of a power device and a bracket. The power device consists of a motor, a speed reducer, a clutch, a brake, a rope drum, a steel wire rope and the like. The motor is a magnetizing single-phase capacitor motor and is provided with a mechanism which can brake when power is off; the motor is also provided with a thermal switch which can prevent the motor from being burnt out due to overheating; the speed reducer is a two-stage gear speed reducer and is fixedly connected with the motor; the clutch, the brake and the rope drum are integrated, but when the clutch is in a disengaged state, the clutch can rapidly descend, and the descending speed can be controlled by operating the brake to avoid impact. The circular hole opened on the front surface of the power device shell can be used for installing a blower, and a user can be equipped with the blower to carry out forced cooling according to the requirement. The support part comprises a main rod and a rotating arm, wherein the main rod and the rotating arm are composed of a screw rod, a jack nut and a vertical rod. The rotating arm can rotate 360 degrees on the main rod, and a travel switch is arranged at the arm end to prevent the hoisting over-position accident caused by misoperation or button failure. The operation button starter realizes that the motor rotates forwards and backwards to wind and release the steel wire rope, and the hoisting operation is completed by hoisting the pulley of the bracket part and lowering the object.

Maintenance refers to maintaining and protecting the skin from external damage. For example, protective facilities are provided around the place where people live, around the stocked livestock, and around other important objects and places to prevent external invasion. Maintenance is also one of the communication terms.

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. The robot is capable of performing tasks such as tasks or movements through programming and automatic control. Historically, the earliest robots are found in puppet robots built by the Yang Ming worker in the sui dynasty according to the image of Liu (25219) and provided with organs with the capabilities of sitting, standing, worship, leaning and the like.

The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

As is well known, when large goods are transported in a port, auxiliary tools are needed, and port cranes are generally used for transporting the large goods; the crane comprises a supporting arm and a beam, the air humidity at a port is high, the beam part in outdoor operation is corroded by rainwater, an anticorrosive coating on the beam is easy to fall off, an internal steel structure frame is directly exposed in an external environment, if the internal steel structure frame is not repaired in time, the corrosion degree is deepened, the bearing strength of the beam is reduced, the service life is shortened, and certain potential safety hazards exist; if the coating falling part is repaired manually, the overhead operation is inconvenient, and time and labor are wasted, so that a crane maintenance robot is urgently needed to solve the problems.

Disclosure of Invention

In view of the problems in the prior art, the invention discloses a crane maintenance robot which adopts the technical scheme that the crane maintenance robot comprises a machine body and a control box, wherein the control box is arranged on the machine body, a microprocessor, a wireless remote control module and an animation transmission module are arranged in the control box, and the machine body is also provided with a traveling mechanism for moving, a maintenance mechanism capable of repairing a crane boom, a monitoring mechanism and a storage battery for supplying power to electric elements on the machine body.

As a preferred technical scheme of the invention, the traveling mechanism comprises two groups of traveling frames, the traveling frames are shells with one through side, a transverse plate is arranged in each traveling frame, a plurality of traveling rollers are rotatably connected between the transverse plate and the traveling frames, the traveling rollers are driven by traveling motors, the traveling motors are connected with the control box, through grooves for the traveling frames to slide are formed in the machine body, and adjusting mechanisms for adjusting the positions of the two groups of traveling frames are further arranged on the machine body.

As a preferred technical scheme of the present invention, at least two sets of the advancing rollers are arranged in the traveling frame, a rotating shaft of the advancing roller is provided with a chain wheel, the chain wheel is sleeved with a chain, and an output end of the advancing motor is connected with one set of the chain wheel.

As a preferable technical scheme of the invention, the machine body is also provided with a plurality of balls, and the balls and the through grooves are positioned on the same plane of the machine body.

As a preferred technical scheme of the invention, the adjusting mechanism comprises a rotating rod and a driving motor, the rotating rod is rotatably connected in the machine body through a bearing seat, the rotating rod is driven by the driving motor, the rotating rod is provided with threaded sections with opposite rotation directions, the walking frames are also provided with connecting blocks, the connecting blocks are provided with threaded holes engaged with the threaded sections, and the rotating rod can drive the two groups of walking frames to move in opposite directions or in opposite directions.

As a preferable technical scheme of the invention, the rotating rod is provided with a driven gear, the driving motor is arranged on the inner wall of the machine body, the output end of the driving motor is provided with a driving gear meshed with the driven gear, and the driven gear and the driving gear are combined into a bevel gear set.

As a preferred technical scheme of the invention, the maintenance mechanism comprises a polishing disc and a spray head, one side of the machine body is connected with a lifting plate through a lifting assembly, the machine body is provided with a chute for the lifting plate to slide up and down, the lifting plate is provided with a polishing motor, and the output end of the polishing motor is provided with the polishing disc; the polishing machine is characterized in that the spray head is arranged on the other side of the machine body through a fixing plate, a coating box is further arranged in the machine body, an output pump is arranged in the coating box and connected with the spray head through a pipeline, and the polishing motor and the output pump are connected with the control box.

As a preferable technical scheme of the invention, the lifting assembly adopts a hydraulic cylinder, and the hydraulic cylinder is connected with the control box.

As a preferred technical scheme of the invention, the lifting plate is also provided with an air suction opening, the air suction opening corresponds to the polishing disc in position, and the machine body is also internally provided with a dust collection box which is connected with the air suction opening through an air pipe.

As a preferred technical scheme of the invention, the monitoring mechanism comprises two groups of camera assemblies which are respectively arranged on the fixed plate and the lifting plate, and the camera assemblies are connected with the control box.

The invention has the beneficial effects that: according to the robot, the robot body is provided with the control box, the microprocessor, the animation transmission module and the wireless remote control module are arranged in the control box, and through the wireless remote control module, a worker can control the robot on the ground, and through the cooperation of the animation transmission module and the camera assembly on the robot body, the implementation condition of the robot can be collected through the camera assembly and transmitted to the worker on the ground through the animation transmission module, so that the controllability of the robot is enhanced; a traveling mechanism is arranged on the machine body, and the machine body can be driven by the traveling mechanism to move on the cross beam back and forth; the robot is adaptive to cross beam structures with different width sizes by arranging an adjusting mechanism for the travelling mechanism on the body; a maintenance mechanism is arranged on the machine body, the rusty part on the cross beam can be polished through the matching of the polishing disc and the spray head, and after polishing is finished, coating is sprayed to protect the cross beam; the suction opening is formed in the machine body, the position of the suction opening corresponds to that of the polishing disc, polishing debris on the cross beam can be collected, and the environment pollution is avoided.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a first schematic structural diagram of the present invention;

FIG. 2 is a second schematic structural view of the present invention;

FIG. 3 is a first partial schematic view of the present invention;

FIG. 4 is a second partial schematic view of the present invention;

FIG. 5 is a schematic bottom view of the fuselage of the present invention;

FIG. 6 is a schematic view of the control box of the present invention.

In the figure: 1. a body; 2. a control box; 3. a traveling frame; 4. a traveling roller; 5. a traveling motor; 6. a rotating rod; 7. connecting blocks; 8. a driven gear; 9. a drive gear; 10. a drive motor; 11. a sprocket; 12. a chain; 13. a threaded hole; 14. a transverse plate; 15. a ball bearing; 16. a through groove; 17. a chute; 18. a lifting plate; 19. polishing the motor; 20. grinding the disc; 21. an air suction opening; 22. a spray head; 23. a camera assembly; 24. a paint tank; 25. an output pump; 26. a dust collection box; 27. a hydraulic cylinder; 28. and (7) fixing the plate.

Detailed Description

The technical scheme of the invention is clearly and completely described in the following with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

As shown in fig. 1 to 6, the invention discloses a crane maintenance robot, which adopts the technical scheme that the crane maintenance robot comprises a machine body 1 and a control box 2, wherein the machine body 1 is provided with the control box 2, the control box 2 is internally provided with a microprocessor, a wireless remote control module and an animation transmission module, and in order to solve the problem that a rusty part on a crane beam is inconvenient to maintain, the machine body 1 is also provided with a traveling mechanism for moving, a maintenance mechanism capable of repairing a crane boom, a monitoring mechanism and a storage battery for supplying power to an electric element on the machine body 1.

In order to facilitate the walking of the machine body 1 on the cross beam, the walking mechanism comprises a walking frame 3, the walking frame 3 is a shell with one through side, a transverse plate 14 is arranged in the walking frame 3, a plurality of advancing rollers 4 are rotatably connected between the transverse plate 14 and the walking frame 3, the advancing rollers 4 are driven by an advancing motor 5, driven gears 8 are arranged on the rotating rod 6, driving motors 10 are arranged on the inner wall of the machine body 1, a driving gear 9 meshed with the driven gears 8 is arranged on the output end of the driving motors 10, the driven gears 8 and the driving gear 9 are combined into a conical gear set, the advancing motor 5 is connected with the control box 2, the walking frame 3 is divided into two groups, a through groove 16 for the walking frame 3 to slide is formed in the machine body 1, in order to enable the robot to adapt to cross beam structures with different width sizes, an adjusting mechanism for adjusting the distance between the two groups of walking frames 3 is further arranged on the machine body 1, the adjusting mechanism comprises a rotating rod 6 and a driving motor 10, the rotating rod 6 is rotatably connected into the machine body 1 through a bearing seat, the rotating rod 6 is driven by the driving motor 10, threaded sections with opposite to be provided with threaded sections on the rotating rod 6, and threaded holes which the connecting blocks 7 are also arranged on the connecting blocks, and can drive the rotating rod to move oppositely, or move back to move with the two groups of the rotating rod 13.

In order to enable the travelling mechanism to more stably drive the machine body 1 to move on the cross beam, two groups of travelling rollers 4 are arranged in the travelling frame 3, a chain wheel 11 is arranged on a rotating shaft of the travelling rollers 4, a chain 12 is sleeved on the chain wheel 11, and the output end of the travelling motor 5 is connected with one group of chain wheels 11; meanwhile, in order to reduce the friction force between the machine body 1 and the cross beam, a plurality of balls 15 are further arranged on the machine body 1, and the balls 15 and the through grooves 16 are located on the same plane of the machine body 1.

In order to monitor the work of the robot in real time by the staff on the ground, a monitoring mechanism is arranged on the machine body 1 and comprises two camera assemblies 23, the two camera assemblies 23 are arranged on a fixing plate 28 and a lifting plate 18 respectively, and the camera assemblies 23 are connected with the control box 2.

In order to process and maintain after a rust part of a cross beam is detected, a maintenance mechanism is arranged on a machine body 1 and comprises a polishing disc 20 and a spray head 22, one side of the machine body 1 is connected with a lifting plate 18 through a lifting assembly, the lifting assembly adopts a hydraulic cylinder 27, the hydraulic cylinder 27 is connected with a control box 2, a sliding groove 17 for the lifting plate 18 to slide up and down is formed in the machine body 1, a polishing motor 19 is arranged on the lifting plate 18, and the output end of the polishing motor 19 is provided with the polishing disc 20; the other side of the machine body 1 is provided with a spray head 22 through a fixing plate 28, a coating tank 24 is also arranged in the machine body 1, an output pump 25 is arranged in the coating tank 24, the output pump 25 is connected with the spray head 22 through a pipeline, and the grinding motor 19 and the output pump 25 are connected with the control box 2.

In order to avoid the polished fragments from falling from the high altitude and polluting the environment, a dust collection box 26 for collecting the fragments is further arranged on the machine body 1, a fan and a dust collection bag are arranged in the dust collection box 26, an air suction opening 21 is further arranged on the lifting plate 18, the air suction opening 21 corresponds to the polishing disc 20, the dust collection box 26 is further arranged in the machine body 1, the dust collection box 26 is connected with the air suction opening 21 through an air pipe, and the dust collection box 26, the air pipe and the air suction opening 21 are combined into a dust collector for collecting the polished fragments at the polishing disc 20.

The working principle of the invention is as follows: when the device is used, the bottom of the machine body 1 is placed on a cross beam of a crane, the balls 15 are in contact with the cross beam, the device is connected with a wireless remote control module in a control box 2 through a remote controller, a driving motor 10 is controlled by a microprocessor to work and rotate, the driving motor 10 drives a driving gear 9 to rotate, the driving gear 9 is meshed with a driven gear 8 to drive a rotating rod 6 to rotate, thread sections in opposite directions on the rotating rod 6 are meshed with threaded holes 13 in connecting blocks 7 to drive two groups of connecting blocks 7 to move oppositely, so that a walking frame 3 is driven to slide in a through groove 16, a walking roller 4 is clamped on two sides of the cross beam, and when the device needs to move, the walking motor 5 can be controlled to work and rotate to drive one group of chain wheels 11 to rotate, the other chain wheels 11 are driven to rotate through a chain 12, so that the machine body 1 is driven to move back and forth on the cross beam, and back, and forth on the balls 15 at the bottom of the machine body 1 roll on the top of the cross beam, so that the friction force between the machine body 1 and the cross beam is reduced; when an operator on the ground observes that a rusty place exists on the cross beam through the camera assembly 23, the machine body 1 is controlled to move, the polishing disc 20 is moved to the top of the rusty position, the hydraulic cylinder 27 is controlled to work and extend, the lifting plate 18 is driven to move downwards in the sliding groove 17, the polishing motor 19 is controlled to work, the polishing disc 20 is driven to rotate, the polishing disc 20 is enabled to be in contact with the rusty place on the cross beam and is polished, meanwhile, the fan in the dust collection box 26 is controlled to work, negative pressure is formed at the air suction opening 21 through the air pipe, polishing scraps are collected in a dust collection bag in the dust collection box 26, the working principle of the dust collection box 26 is the same as that of a dust collector, after polishing is completed, the machine body 1 is controlled to move forwards, the spray head 22 on the fixing plate 28 corresponds to the position of the polished place, the output pump 25 is controlled to work, paint in the paint box 24 is sprayed out through the spray head 22, and the polished place is sprayed.

In addition, the microprocessor adopts a flying ARM9 industrial control board, and the pins and the connection mode of the flying ARM9 industrial control board can be referred by technicians in the field to obtain technical suggestions by reference to textbooks or technical manuals published by manufacturers.

The electrical circuits and mechanical connections involved in the present invention are conventional means employed by those skilled in the art and may be suggested by limited experimentation and are within the ordinary skill of the art.

As used herein, the term "consisting of 8230; preparation" is synonymous with "comprising". The terms "comprises," "comprising," "includes," "including," "has," "having," "contains," "containing," or any other variation thereof, as used herein, are intended to cover a non-exclusive inclusion. For example, a composition, process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such composition, process, method, article, or apparatus.

The conjunction "consisting of 8230comprises" excludes any non-specified elements, steps or components. If used in a claim, this phrase shall render the claim closed except for the materials described except for those materials normally associated therewith. When the phrase "consisting of 8230title" appears in a clause of the subject matter of the claims and not immediately after the subject matter, it defines only the elements described in the clause; other elements are not excluded from the claims as a whole.

Components not described in detail herein are prior art.

Although the present invention has been described in detail with reference to the specific embodiments, the present invention is not limited to the above embodiments, and various changes and modifications without inventive changes may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. The utility model provides a loop wheel machine maintenance robot which characterized in that: including fuselage (1) and control box (2), be equipped with control box (2) on fuselage (1), be equipped with microprocessor, wireless remote control module and animation transmission module in control box (2), still be equipped with running gear that is used for the removal on fuselage (1), can advance maintenance mechanism, the monitoring mechanism of repairing to the loop wheel machine davit and right the battery of power consumption component power supply on fuselage (1).

2. The crane maintenance robot of claim 1, wherein: running gear is including walking frame (3), walking frame (3) are one side penetrating casing, just be equipped with diaphragm (14) in walking frame (3), diaphragm (14) with it is connected with a plurality of rollers (4) of marcing to rotate between walking frame (3), it is driven by motor (5) of marcing to advance roller (4), advance motor (5) with control box (2) are connected, walking frame (3) have two sets ofly, just seted up the confession on fuselage (1) the gliding logical groove (16) of walking frame (3), still be equipped with on fuselage (1) to two sets of the adjustment mechanism of walking frame (3) position control.

3. A crane maintenance robot as claimed in claim 2, wherein: advance roller (4) and be in it is no less than two sets of to set up in walking frame (3), just be equipped with sprocket (11) in the pivot of advancing roller (4), the cover is equipped with chain (12) on sprocket (11), the output and a set of motor (5) of advancing sprocket (11) are connected.

4. A crane maintenance robot as claimed in claim 2, wherein: still be equipped with a plurality of balls (15) on fuselage (1), ball (15) with logical groove (16) are located the coplanar of fuselage (1).

5. A crane maintenance robot as claimed in claim 2, wherein: adjustment mechanism includes bull stick (6) and driving motor (10), bull stick (6) are rotated through the bearing frame and are connected in fuselage (1), bull stick (6) are driven by driving motor (10), set up on bull stick (6) and revolve to opposite screw thread section, still be equipped with on walking frame (3) and link piece (7), link set up on piece (7) with screw thread section engaged with screw hole (13), bull stick (6) can drive two sets ofly walking frame (3) are in opposite directions or dorsad removal.

6. A crane maintenance robot as defined in claim 5, wherein: be equipped with driven gear (8) on bull stick (6), establish driving motor (10) on the inner wall of fuselage (1), just be equipped with on the output of driving motor (10) with driven gear (8) engaged with drive gear (9), driven gear (8) with drive gear (9) make up into the bevel gear group.

7. A crane maintenance robot as claimed in claim 1, wherein: the maintenance mechanism comprises a polishing disc (20) and a spray head (22), a lifting plate (18) is connected to one side of the machine body (1) through a lifting assembly, a sliding groove (17) for the lifting plate (18) to slide up and down is formed in the machine body (1), a polishing motor (19) is arranged on the lifting plate (18), and the polishing disc (20) is arranged at the output end of the polishing motor (19); be equipped with through fixed plate (28) on the opposite side of fuselage (1) shower nozzle (22), still be equipped with in fuselage (1) and scribble workbin (24), be equipped with output pump (25) in scribbling workbin (24), output pump (25) pass through the pipeline with shower nozzle (22) are connected, polish motor (19) with output pump (25) with control box (2) are connected.

8. A crane maintenance robot as claimed in claim 7, wherein: the lifting assembly adopts a hydraulic cylinder (27), and the hydraulic cylinder (27) is connected with the control box (2).

9. The crane maintenance robot of claim 7, wherein: an air suction opening (21) is further formed in the lifting plate (18), the air suction opening (21) corresponds to the grinding disc (20), a dust collection box (26) is further arranged in the machine body (1), and the dust collection box (26) is connected with the air suction opening (21) through an air pipe.

10. A crane maintenance robot as claimed in claim 7, wherein: monitoring mechanism includes camera subassembly (23), camera subassembly (23) are equipped with two sets ofly, establish respectively on fixed plate (28) and lifter plate (18), camera subassembly (23) with control box (2) are connected.