CN115415909A - A crane maintenance robot - Google Patents

Abstract

The invention provides a crane maintenance robot, which relates to the field of robot technology and aims to solve the problem of inconvenient maintenance after the existing crane beams are rusted. The technical solution adopted is to include a fuselage and a control box. There is a control box, which is equipped with a microprocessor, a wireless remote control module and an animation transmission module. The fuselage is also equipped with a traveling mechanism for moving, a maintenance mechanism capable of repairing the boom of the crane, a monitoring mechanism and an inspection mechanism. The battery is powered by electric components on the body; the control box is set on the body, and the staff can control the robot on the ground, and the implementation status of the robot is collected through the camera component and transmitted to the staff on the ground to strengthen the monitoring of the robot. Excellent maneuverability; a walking mechanism is set on the fuselage, which can drive the fuselage to move forward and backward on the beam; an adjustment mechanism for the walking mechanism is set on the fuselage, so that the robot can adapt to beam structures of different widths.

Description

A crane maintenance robot

technical field

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

Background technique

Crane is a popular name for cranes, which are widely used in a series of heavy industrial products such as ships, equipment, machinery, and molds.

The crane consists of two parts, the power unit and the bracket. The power unit is composed of motor, reducer, clutch, brake, rope drum and wire rope. The motor is a side-magnet single-phase capacitor motor, designed with a braking mechanism when power is off; the motor is also equipped with a thermal switch to prevent the motor from being burned due to overheating; the reducer is a two-stage gear reduction, which is fixed to the motor; the clutch, The brake is integrated with the rope drum, but when the clutch is disengaged, it can achieve rapid descent, and the operation of the brake can control the descending speed to avoid impact. The round hole on the front of the power unit casing can be used to install a blower, and the user can equip a blower for forced cooling as required. The support part is composed of a main rod and a rotating arm 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 provided at the end of the arm to prevent lifting over-position accidents caused by misoperation or button failure. Operate the button starter to realize the positive and negative rotation of the motor. The wire rope can be wound and released, and the lifting operation can be completed by lifting the pulley through the bracket part and lowering the object.

Maintenance means maintaining and protecting it from external harm. For example, protective facilities should be set up around people's residences, around livestock, and other important objects and places to prevent external invasion. Maintenance is also one of the communication terms.

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can be programmed and automatically controlled to perform tasks such as work or move. The earliest robots in history can be seen in the puppet robots that Emperor Sui Yang ordered craftsmen to build according to the image of Liu Bian.

Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

As we all know, when handling large cargo in the port, auxiliary tools are needed. Generally, port cranes are used to transport large cargo; the crane includes support arms and beams. Partly eroded by rainwater, the anti-corrosion coating on the beams is easy to fall off, and the internal steel structure frame is directly exposed to the external environment. If repairs are not carried out in time, the corrosion will deepen, which will lead to a decrease in the load-bearing strength of the beams and a reduction in service life. potential safety hazard; if relying on manual repairing of the peeling paint, it is inconvenient to work at heights, and it is time-consuming and laborious. Therefore, there is an urgent need for a crane maintenance robot to solve the above problems.

Contents of the invention

In view of the problems existing in the prior art, the present invention discloses a crane maintenance robot. The technical solution adopted is that it includes a fuselage and a control box, the fuselage is provided with a control box, and the control box is equipped with There is a microprocessor, a wireless remote control module and an animation transmission module. The fuselage is also equipped with a traveling mechanism for moving, a maintenance mechanism capable of repairing the boom of the crane, a monitoring mechanism and a power supply on the fuselage. Component powered battery.

As a preferred technical solution of the present invention, the walking mechanism includes a walking frame, the walking frame is a transparent shell on one side, and a horizontal plate is arranged inside the walking frame, and the horizontal plate and the walking frame There are a number of traveling rollers rotatably connected between the frames, and the traveling rollers are driven by a traveling motor connected to the control box. The frame slides through slots, and the fuselage is also provided with an adjustment mechanism for adjusting the positions of the two groups of walking frames.

As a preferred technical solution of the present invention, no less than two groups of the traveling rollers are arranged in the traveling frame, and a sprocket is provided on the rotating shaft of the traveling roller, and a chain is sheathed on the sprocket, The output end of the traveling motor is connected with a set of the sprockets.

As a preferred technical solution of the present invention, the fuselage is further provided with several balls, and the balls and the through groove are located on the same plane of the fuselage.

As a preferred technical solution of the present invention, the adjustment mechanism includes a rotating rod and a drive motor, the rotating rod is rotatably connected in the fuselage through a bearing seat, the rotating rod is driven by the driving motor, and the rotating rod There is a threaded section with the opposite direction of rotation on the top, and a connecting block is provided on the walking frame, and a threaded hole meshing with the threaded section is opened on the connecting block, and the rotating rod can drive two groups of the walking The frames move towards or away from each other.

As a preferred technical solution of the present invention, the rotating rod is provided with a driven gear, the driving motor is provided on the inner wall of the fuselage, and the output end of the driving motor is provided with a The driving gear is meshed with the driven gear, and the driven gear is combined with the driving gear to form a bevel gear set.

As a preferred technical solution of the present invention, the maintenance mechanism includes a grinding disc and a spray head, a lifting plate is connected to one side of the fuselage through a lifting assembly, and a lifting plate is provided on the fuselage for the lifting plate to slide up and down. The chute, the lifting plate is provided with a grinding motor, the output end of the grinding motor is provided with the grinding disc; the other side of the fuselage is provided with the nozzle through the fixing plate, the machine There is also a paint box inside the body, and an output pump is arranged in the paint box, and the output pump is connected to the spray head through a pipeline, and the grinding motor and the output pump are connected to the control box.

As a preferred technical solution of the present invention, the lifting assembly adopts a hydraulic cylinder, and the hydraulic cylinder is connected with the control box.

As a preferred technical solution of the present invention, the lifting plate is also provided with an air exhaust port corresponding to the position of the grinding disc, and a dust collection box is also provided in the fuselage, and the dust collection box The box is connected with the air suction port through an air duct.

As a preferred technical solution of the present invention, the monitoring mechanism includes a camera assembly, and two groups of the camera assembly are arranged on the fixing plate and the lifting plate respectively, and the camera assembly is connected with the control box.

Beneficial effects of the present invention: the present invention arranges a control box on the fuselage, and arranges a microprocessor, an animation transmission module and a wireless remote control module in the control box. Through the wireless remote control module, the staff can control the robot on the ground , and cooperate with the camera assembly on the fuselage through the animation transmission module, the implementation status of the robot can be collected through the camera assembly, and transmitted to the staff on the ground through the animation transmission module, so as to enhance the controllability of the robot; in the fuselage The walking mechanism is set on the body, which can drive the fuselage to move back and forth on the beam; the adjusting mechanism of the walking mechanism is set on the fuselage, which can make the robot adapt to the beam structure of different widths; the maintenance mechanism is set on the fuselage , through the cooperation of the grinding disc and the nozzle, the rusty part on the beam can be polished, and after the grinding is finished, the paint can be sprayed to protect it; It can collect the grinding debris on the beam to avoid polluting the environment.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that are required in the description of the specific embodiments or the prior art. Throughout the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn in actual scale.

Fig. 1 is a schematic diagram of the structure of the present invention;

Fig. 2 is the structure schematic diagram II of the present invention;

Fig. 3 is a schematic diagram of a partial structure of the present invention;

Fig. 4 is the partial structure schematic diagram II of the present invention;

Fig. 5 is a structural schematic diagram of the fuselage of the present invention looking up;

Fig. 6 is a schematic structural diagram of the control box of the present invention.

In the figure: 1. Body; 2. Control box; 3. Traveling frame; 4. Traveling roller; 5. Traveling motor; 6. Rotating rod; 7. Connecting block; 8. Driven gear; 9. Driving gear; 10 , drive motor; 11, sprocket; 12, chain; 13, threaded hole; 14, horizontal plate; 15, ball; 16, through groove; 17, chute; 18, lifting plate; 19, grinding motor; 20, grinding Disk; 21, air outlet; 22, nozzle; 23, camera assembly; 24, paint box; 25, output pump; 26, dust box; 27, hydraulic cylinder; 28, fixed plate.

detailed description

The technical solutions of the present invention will be clearly and completely described below in conjunction with 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. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Example 1

As shown in Figures 1 to 6, the present invention discloses a crane maintenance robot. The technical solution adopted is to include a fuselage 1 and a control box 2. The fuselage 1 is provided with a control box 2, and the control box 2 is equipped with a There is a microprocessor, a wireless remote control module and an animation transmission module. In order to solve the problem of inconvenient maintenance of the rusted parts on the beam of the crane, the fuselage 1 is also equipped with a traveling mechanism for moving and maintenance for repairing the boom of the crane. Mechanism, monitoring mechanism and the accumulator to electric element power supply on the fuselage 1.

In order to facilitate the walking of the fuselage 1 on the crossbeam, the running mechanism includes a walking frame 3, which is a transparent shell on one side, and a horizontal plate 14 is arranged in the walking frame 3, between the horizontal plate 14 and the walking frame 3 Rotationally connected with some traveling rollers 4, the traveling rollers 4 are driven by the traveling motor 5, the rotating rod 6 is provided with a driven gear 8, the driving motor 10 is arranged on the inner wall of the fuselage 1, and the output end of the driving motor 10 is provided with The driving gear 9 meshed with the driven gear 8, the driven gear 8 and the driving gear 9 are combined into a bevel gear set, the traveling motor 5 is connected with the control box 2, the walking frame 3 has two groups, and the body 1 is equipped with The through slot 16 for the sliding of the walking frame 3, in order to enable the robot to adapt to beam structures of different width sizes, an adjustment mechanism for adjusting the distance between the two groups of walking frames 3 is also provided on the fuselage 1. The adjustment mechanism includes a rotary Rod 6 and driving motor 10, rotating rod 6 is connected in the fuselage 1 through the rotation of bearing seat, and rotating rod 6 is driven by driving motor 10, and rotating rod 6 is provided with the screw thread segment of opposite rotation direction, and walking frame 3 is also provided with The connecting block 7 is provided with a threaded hole 13 engaged with the threaded section on the connecting block 7, and the rotating rod 6 can drive two groups of walking frames 3 to move toward or back.

In order to make the traveling mechanism more stable and drive the fuselage 1 to move on the crossbeam, two groups of traveling rollers 4 are arranged in the traveling frame 3, and a sprocket 11 is arranged on the rotating shaft of the traveling roller 4, and a chain is set on the sprocket 11. 12. The output end of the travel motor 5 is connected to a set of sprockets 11; at the same time, in order to reduce the friction between the fuselage 1 and the beam, the fuselage 1 is also provided with a number of balls 15, and the balls 15 and the through groove 16 are located on the fuselage. 1 on the same plane.

In order to be able to monitor the real-time work of the robot by the staff on the ground, a supervisory mechanism is set on the fuselage 1. The supervisory mechanism includes a camera assembly 23, and the camera assembly 23 is provided with two groups, which are respectively located on the fixed plate 28 and the lifting plate 18. On, the camera assembly 23 is connected with the control box 2.

In order to be able to process and maintain after detecting the rusted part of the beam, a maintenance mechanism is provided on the fuselage 1. The maintenance mechanism includes a grinding disc 20 and a nozzle 22. One side of the fuselage 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 the control box 2, the fuselage 1 is provided with a chute 17 for the lifting plate 18 to slide up and down, the lifting plate 18 is provided with a grinding motor 19, and on the output end of the grinding motor 19 A polishing disc 20 is provided; the other side of the fuselage 1 is provided with a spray nozzle 22 by a fixed plate 28, and a paint box 24 is also provided in the fuselage 1, and an output pump 25 is provided in the paint box 24, and the output pump 25 passes through the pipeline and Spray nozzle 22 is connected, and grinding motor 19 and output pump 25 are connected with control box 2.

In order to prevent the debris from grinding from falling from a high altitude and polluting the environment, a dust box 26 for debris collection is also provided on the fuselage 1. A blower fan and a dust bag are arranged in the dust box 26. There is an air exhaust port 21, which corresponds to the position of the grinding disc 20. The body 1 is also provided with a dust collection box 26, which is connected to the air exhaust port 21 through an air duct. The dust collection box 26, the air duct and the exhaust air The mouth 21 is combined into a vacuum cleaner, and the grinding debris at the grinding disc 20 is collected.

The working principle of the present invention: when in use, the bottom of the fuselage 1 is placed on the beam of the crane, the ball 15 is in contact with the beam, the remote controller is connected with the wireless remote control module in the control box 2, and the drive motor is controlled by the microprocessor 10 works and rotates, the driving motor 10 drives the driving gear 9 to rotate, the driving gear 9 meshes with the driven gear 8, drives the rotating rod 6 to rotate, and the threaded section on the rotating rod 6 with the opposite direction of rotation is aligned with the threaded hole 13 on the connecting block 7 Engagement drives the two groups of connecting blocks 7 to move towards each other, thereby driving the traveling frame 3 to slide in the through groove 16, so that the traveling roller 4 is clamped on both sides of the beam. When it needs to move, the traveling motor 5 can be controlled to work and rotate, driving a group of The sprocket 11 rotates, and the chain 12 drives the other sprocket 11 to rotate, thereby driving the traveling roller 4 to rotate, so as to drive the fuselage 1 to move back and forth on the beam, and the ball 15 at the bottom of the fuselage 1 rolls on the top of the beam to This reduces the friction between the fuselage 1 and the beam; when the staff on the ground observes that there is a rusty place on the beam through the camera assembly 23, the fuselage 1 is controlled to move, so that the grinding disc 20 is moved to the rusted position At the top, the hydraulic cylinder 27 is controlled to work and elongate, driving the lifting plate 18 to move downward in the chute 17, and controlling the grinding motor 19 to work, driving the grinding disc 20 to rotate, so that the grinding disc 20 is in contact with the rusted part on the beam, and It is polished, and at the same time controls the blower fan in the dust collection box 26 to form a negative pressure at the air outlet 21 through the air duct, and collects the grinding debris in the dust bag in the dust collection box 26. The working principle of the dust collection box 26 The working principle is the same as that of a vacuum cleaner. After the polishing is completed, the control body 1 moves forward so that the nozzle 22 on the fixed plate 28 corresponds to the position of the polished part just now, and the output pump 25 is controlled to work, so that the paint in the paint tank 24 passes through the nozzle 22 Spray out at the place, spray protection on the grinding part.

In addition, the microprocessor adopts Feiling ARM9 industrial control board, and the pins and connection methods of Feiling ARM9 industrial control board can refer to teaching materials or technical manuals published by manufacturers to obtain technical inspiration.

The circuits and mechanical connections involved in the present invention are common means used by those skilled in the art, and technical inspiration can be obtained through a limited number of tests, which belong to common knowledge.

As used herein, the term "prepared from" is synonymous with "comprising". As used herein, the terms "comprises," "including," "has," "containing," or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a composition, step, method, article, or device comprising listed elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to such composition, step, method, article, or device. elements.

The conjunction "consisting of" excludes any unspecified elements, steps or components. If used in a claim, this phrase will make the claim closed so that it does not contain material other than those described except for the customary impurities associated therewith. When the phrase "consisting of" appears in a clause of the subject of a claim rather than immediately following the subject matter, it only defines the elements described in that clause; other elements are not excluded from the claim as a whole. Outside of requirements.

Components not specified herein are prior art.

Although the above-mentioned specific embodiments of the present invention have been described in detail, the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various The modification or deformation without creative work is still within the protection scope of the present invention.

Claims (10)

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.

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