CN115430642A - Paint and rust removing cleaning robot - Google Patents

Abstract

The invention provides a cleaning robot for paint and rust removal, relates to the technical field of robots, and solves the technical problem of low efficiency caused by insufficient load capacity of the paint and rust removal robot in the prior art. The cleaning robot for paint removal and derusting includes a robot body and a cleaning device, and a magnetic suction mechanism is arranged on the robot body; , the rotating spray rod runs through the cleaning disc shell and is connected to the cleaning disc shell in rotation, the cleaning drive mechanism is connected to the rotating spray rod, and the cleaning spray head is connected to the end of the rotating spray rod located in the cleaning disc shell; at the bottom of the cleaning disc shell A disc brush is provided, and the cleaning disc housing can form a recovery chamber through the disc brush and the surface to be cleaned, and a suction recovery port is provided on the cleaning disc housing. The invention is used to provide a paint-removing, rust-removing and cleaning robot with higher working efficiency.

Description

A cleaning robot for paint and rust removal

technical field

The invention relates to the technical field of robots, in particular to a cleaning robot for removing paint and rust.

Background technique

In real life, there are many large-scale equipment such as: ships, storage tanks, etc. After a certain number of years, the surface coating is aging, and it is necessary to remove paint and rust, restore the color of the metal body, and then repaint.

The traditional paint removal operation adopts the air sandblasting (shot blasting) process, which will produce a large amount of harmful dust to pollute the surrounding environment, cause harm to the human body, and leave a large amount of waste to be recycled.

With the strengthening of environmental protection law enforcement, this kind of operation method has been banned, calling for new alternative processes; at present, "high-pressure water gun rust removal or water sandblasting rust removal" is mostly used in shipyards because there is no dust pollution, but it is widely used in shipyards. The disadvantages of high-pressure water hand gun derusting are:

(1) The labor intensity is high, the jet noise is loud, and paint slag is splashed everywhere, causing secondary pollution;

(2) Derusting with high-pressure water gun, uneven coating removal;

(3) The hand-held high-pressure water gun removes the paint, and the rust is serious, which affects the subsequent painting.

So far, there have been a number of domestically developed or imitated foreign paint removal robots. Because they are not familiar with ultra-high pressure water and recycling technology, they have inherent defects in design structure.

(1) The load capacity is up to 50kg, and it is impossible to drag hundreds of kilograms of high-pressure water pipes and vacuum recovery pipes to climb to the top of the ship's side. It needs to use an auxiliary hoisting mechanism to reduce the load to work, and the efficiency is low;

(2) The sealing is not good, and it is easy to leak water during work, resulting in rust on the surface after cleaning;

(3) Rapid maintenance and replacement of wearing parts cannot be realized on the spot. ;

The applicant finds that the prior art has at least the following technical problems: the load capacity of the existing paint and rust removal robot is not enough, resulting in low efficiency.

Contents of the invention

The purpose of the present invention is to provide a cleaning robot for paint and rust removal, so as to solve the technical problem in the prior art that the load capacity of the paint and rust removal robot is not enough to cause low efficiency. The many technical effects that can be produced by the preferred technical solutions among the many technical solutions provided by the present invention are described in detail below.

To achieve the above object, the present invention provides the following technical solutions:

The paint removal and rust removal cleaning robot provided by the present invention includes a robot body and a cleaning device, wherein:

A magnetic attraction mechanism is provided on the robot body, and the magnetic attraction mechanism is used to provide an adsorption force that makes the robot body adsorb to the surface to be cleaned;

The cleaning device is arranged on the robot body, and the cleaning device includes a cleaning drive mechanism, a cleaning disc housing, a rotating spray bar and a cleaning spray head, and the rotating spray bar passes through the cleaning disc housing and connects with the cleaning disc housing. The disk housing is rotatably connected, and the cleaning drive mechanism is connected with the rotating spray rod to drive the rotating spray rod to rotate on the cleaning disk housing. The cleaning spray head is connected to the rotating spray rod at the On one end of the cleaning disc shell, the other end of the rotating spray rod is provided with a high-pressure water interface, and the high-pressure water interface is connected to the pump station equipment;

A disc brush is arranged at the bottom of the cleaning disc housing. When the robot body is adsorbed on the surface to be cleaned, the cleaning disc housing forms a recovery cavity through the disc brush and the surface to be cleaned. A suction recovery port is provided on the disk housing, and the suction recovery port is connected with a vacuum recovery device for recovery of waste water in the recovery cavity.

As a further improvement of the present invention, a water retaining disc is also provided on the rotating spray rod, and the water retaining disc is arranged between the cleaning disc shell and the cleaning spray head, and the water retaining disc It is a curved surface special-shaped structure or a conical structure.

As a further improvement of the present invention, the cleaning device is connected to the robot body through a cleaning bracket, a first shock absorbing device is arranged between the cleaning tray shell and the cleaning bracket, and a first shock absorber is provided between the cleaning bracket and the cleaning bracket. A second damping device is arranged between the robot bodies;

The first shock absorbing device includes a positioning block, a first fixed column and a first shock absorbing spring, the positioning block is connected with the cleaning bracket, one end of the first fixed column is connected with the positioning block, the The other end of the first fixed column is connected to the cleaning tray housing, and the first damping spring is sleeved on the first fixed column;

The second damping device includes a U-shaped frame, the U-shaped frame is fixed on the robot body, and a number of second fixed columns are connected between the two free ends of the U-shaped frame. Second shock absorbing springs are sheathed on the second fixed columns, and the cleaning bracket is fixedly connected to the side of the U-shaped frame.

As a further improvement of the present invention, an unloading valve is also provided on the cleaning disc housing.

As a further improvement of the present invention, four sets of cleaning nozzles are provided, and the four groups of cleaning nozzles extend around the rotating spray rod, and the adjacent two groups of cleaning nozzles are distributed at an angle of 90 degrees.

As a further improvement of the present invention, the magnetic attraction mechanism is arranged between two groups of the driving wheel assemblies, and the magnetic attraction mechanism is made of permanent magnet material.

As a further improvement of the present invention, an electric ejector rod is also provided at the bottom of the robot body.

As a further improvement of the present invention, a suspension ring is also provided on the robot body.

As a further improvement of the present invention, the robot body includes a frame, two sets of drive wheel assemblies and one set of steering wheels are arranged at the bottom of the frame, and the two sets of drive wheel assemblies are arranged on the first part of the frame. end, the steering wheels are arranged at the second end of the frame.

As a further improvement of the present invention, each set of driving wheel assemblies includes a traveling driving mechanism and a traveling wheel, the traveling driving mechanism drives the traveling wheels to rotate, and the steering wheels are universal wheels.

The beneficial effects of the present invention are: the cleaning robot for paint removal and derusting provided by the present invention includes a robot body and a cleaning device, the robot body is provided with a magnetic attraction mechanism, and the magnetic attraction mechanism is used to provide the robot body to be adsorbed on the surface to be cleaned. The cleaning device is equipped with a disk brush, which plays the role of supporting the cleaning disk shell and sealing the cleaning waste water, and at the same time has a certain amount of air flow, so that a certain negative pressure is formed and maintained in the recovery chamber, so that the cleaning device Vacuum adsorption on the surface to be cleaned improves the sealing effect of the recovery chamber and avoids water leakage; the combination of magnetic adsorption and vacuum adsorption requires the aid of an auxiliary lifting mechanism to increase the load capacity and thus improve work efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a perspective view of the present invention;

Fig. 2 is a side view of the present invention;

Fig. 3 is a sectional view of the cleaning device of the present invention;

Fig. 4 is a schematic structural view of the drive wheel assembly of the present invention;

Fig. 5 is a schematic diagram of the installation of the magnetic attraction mechanism of the present invention;

Fig. 6 is a schematic diagram of part of the structure of the present invention.

In the figure 1, robot body; 2, cleaning device; 3, cleaning bracket; 4, first shock absorbing device; 5, second shock absorbing device; 11, frame; 12, driving wheel assembly; 13, steering wheel; 14 1. Magnetic attraction mechanism; 15. Walking drive mechanism; 16. Traveling wheel; 17. Electric ejector rod; 18. Lifting ring; 21. Cleaning drive mechanism; 22. Cleaning disc shell; 25. High-pressure water interface; 26. Disc brush; 27. Pumping recovery port; 28. Unloading valve; 29. Water retaining disc; 41. Positioning block; 42. First fixed column; 43. First damping spring ; 51, U-shaped frame; 52, the second fixed column; 53, the second damping spring.

detailed description

The content of the present invention and the differences between the present invention and the prior art can be understood below with reference to the accompanying drawings, Figures 1 to 6 and the text. The technical solution (including the preferred technical solution) of the present invention will be further described in detail below by means of the accompanying drawings and by way of listing some optional embodiments of the present invention. It should be noted that: any technical feature and any technical solution in this embodiment are one or more of a variety of optional technical features or optional technical solutions. Citing all the alternative technical features and alternative technical solutions of the present invention, it is not convenient for the implementation of each technical feature to emphasize that it is one of the optional multiple implementation modes, so those skilled in the art should know that: Replace any technical means provided by the present invention or combine any two or more technical means or technical features provided by the present invention with each other to obtain a new technical solution. Any technical features and any technical solutions in this embodiment do not limit the protection scope of the present invention, and the protection scope of the present invention should include any alternative technical solutions that those skilled in the art can think of without paying creative work, and those skilled in the art will A new technical solution obtained by combining any two or more technical means or technical features provided by the present invention.

In the description of the present invention, it should be noted that, unless otherwise specified, "plurality" means two or more; the terms "upper", "lower", "left", "right", "inner" The orientation or positional relationship indicated by "," outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. 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 also be noted that, unless otherwise clearly 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 flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The invention provides a cleaning robot with higher working efficiency for removing paint and rust.

The technical solution provided by the present invention will be described in more detail below with reference to FIGS. 1 to 6 .

The invention provides a cleaning robot for paint and rust removal, including a robot body and a cleaning device, wherein:

A magnetic attraction mechanism is provided on the robot body, and the magnetic attraction mechanism is used to provide an adsorption force that makes the robot body adsorb to the surface to be cleaned;

The cleaning device is arranged on the robot body, and the cleaning device includes a cleaning drive mechanism, a cleaning disc housing, a rotating spray bar and a cleaning spray head, and the rotating spray bar passes through the cleaning disc housing and connects with the cleaning disc housing. The disk housing is rotatably connected, and the cleaning drive mechanism is connected with the rotating spray rod to drive the rotating spray rod to rotate on the cleaning disk housing. The cleaning spray head is connected to the rotating spray rod at the On one end of the cleaning disc shell, the other end of the rotating spray rod is provided with a high-pressure water interface, and the high-pressure water interface is connected to the pump station equipment;

A disc brush is arranged at the bottom of the cleaning disc housing. When the robot body is adsorbed on the surface to be cleaned, the cleaning disc housing forms a recovery cavity through the disc brush and the surface to be cleaned. A suction recovery port is provided on the disk housing, and the suction recovery port is connected with a vacuum recovery device for recovery of waste water in the recovery cavity.

The cleaning robot for paint removal and derusting provided by the present invention comprises a robot body and a cleaning device, the robot body is provided with a magnetic attraction mechanism, and the magnetic attraction mechanism is used to provide an adsorption force that makes the robot body adsorb on the surface to be cleaned; on the cleaning device There is a disc brush, which plays the role of supporting the cleaning disc shell and sealing the cleaning waste water. At the same time, it has a certain amount of air flow, so that a certain negative pressure is formed and maintained in the recovery chamber, and the cleaning device is vacuum adsorbed on the surface to be cleaned. , improve the sealing effect of the recovery chamber and avoid water leakage; the combination of magnetic adsorption and vacuum adsorption requires the aid of an auxiliary hoisting mechanism to increase the load capacity and improve work efficiency.

As a further improvement of the present invention, a water retaining disc is also provided on the rotating spray rod, and the water retaining disc is arranged between the cleaning disc shell and the cleaning spray head, and the water retaining disc It is a curved surface special-shaped structure or a conical structure.

In this further improvement, when the water retaining disc rotates, centrifugal force is generated to play the function of cyclone collection, and the cleaning water mist is completely and quickly sucked away.

As a further improvement of the present invention, the cleaning device is connected to the robot body through a cleaning bracket, a first shock absorbing device is arranged between the cleaning tray shell and the cleaning bracket, and a first shock absorber is provided between the cleaning bracket and the cleaning bracket. A second damping device is arranged between the robot bodies;

The first shock absorbing device includes a positioning block, a first fixed column and a first shock absorbing spring, the positioning block is connected with the cleaning bracket, one end of the first fixed column is connected with the positioning block, the The other end of the first fixed column is connected to the cleaning tray housing, and the first damping spring is sleeved on the first fixed column;

The second damping device includes a U-shaped frame, the U-shaped frame is fixed on the robot body, and a number of second fixed columns are connected between the two free ends of the U-shaped frame. Second shock absorbing springs are sheathed on the second fixed columns, and the cleaning bracket is fixedly connected to the side of the U-shaped frame.

In this further improvement, by arranging the first shock absorbing device and the second shock absorbing device, it is ensured that the cleaning robot for paint removal and rust removal can play up and down shock absorption and front and rear shock absorption when it crosses uneven surfaces such as weld seams during its travel. role.

As a further improvement of the present invention, an unloading valve is also provided on the cleaning disc housing. The unloading valve is made of aluminum alloy, the purpose is to actively unload when the negative pressure is too high, so as not to create an absolute vacuum in the cleaning plate, resulting in insufficient suction power.

As a further improvement of the present invention, four sets of cleaning nozzles are provided, and the four groups of cleaning nozzles extend around the rotating spray rod, and the adjacent two groups of cleaning nozzles are distributed at an angle of 90 degrees.

In this further improvement, the cleaning nozzles are evenly distributed in four directions, and the force is uniform, which improves the stability.

As a further improvement of the present invention, the magnetic attraction mechanism is arranged between two groups of the driving wheel assemblies, and the magnetic attraction mechanism is made of permanent magnet material.

As a further improvement of the present invention, an electric ejector rod is also provided at the bottom of the robot body. When the cleaning robot for paint removal and rust removal needs to leave the working surface, it overcomes the magnetic force generated by the magnet, which is convenient for the robot to manually remove the paint and rust removal.

As a further improvement of the present invention, a suspension ring is also provided on the robot body.

As a further improvement of the present invention, the robot body includes a frame, two sets of drive wheel assemblies and one set of steering wheels are arranged at the bottom of the frame, and the two sets of drive wheel assemblies are arranged on the first part of the frame. end, the steering wheels are arranged at the second end of the frame.

As a further improvement of the present invention, each set of driving wheel assemblies includes a traveling driving mechanism and a traveling wheel, the traveling driving mechanism drives the traveling wheels to rotate, and the steering wheels are universal wheels.

Example 1:

The present invention provides a robot body 1 and a cleaning device 2, wherein:

Described robot body 1 comprises frame 11, is provided with two groups of driving wheel assemblies 12 and one group of steering wheels 13 at the bottom of described frame 11, and two groups of described driving wheel assemblies 12 are arranged on the first of described frame 11. end, the steering wheel 13 is arranged on the second end of the frame 11;

A magnetic attraction mechanism 14 is also provided on the frame 11, and the magnetic attraction mechanism 14 is used to provide an adsorption force that makes the robot body 1 adsorb on the surface to be cleaned;

The cleaning device 2 is connected to the frame 11 through a cleaning bracket 3, and the cleaning device 2 includes a cleaning drive mechanism 21, a cleaning disc housing 22, a rotating spray bar 23 and a cleaning nozzle 24;

The rotating spray bar 23 passes through the cleaning disc housing 22 and is rotationally connected with the cleaning disc housing 22 , and the cleaning drive mechanism 21 is in drive connection with the rotating spray bar 23 to drive the rotating spray bar 23 Rotate on the cleaning disc housing 22;

The cleaning nozzles 24 are connected to one end of the rotating spray rod 23 located in the cleaning disc housing 22, and the cleaning nozzles 24 are provided with four groups, and the cleaning nozzles 24 of the four groups are separated by the rotating spray rod 23 Extending from the center to the surroundings, the cleaning nozzles 24 of the adjacent two groups are distributed at an angle of 90 degrees;

The other end of the rotating spray rod 23 is provided with a high-pressure water interface 25, and the high-pressure water interface 25 is connected with the pump station equipment.

A disc brush 26 is arranged at the bottom of the cleaning disc housing 22, and when the robot body 1 is adsorbed on the surface to be cleaned, the cleaning disc housing 22 forms a recovery chamber through the disc brush 26 and the surface to be cleaned ;

A pumping recovery port 27 is provided on the cleaning disc housing 22, and the pumping recovery port 27 is connected with a vacuum recovery device for recovering waste water in the recovery cavity.

An unloading valve 28 is also provided on the cleaning disc housing 22 . The unloading valve 28 actively unloads when the negative pressure is too high, so that absolute vacuum will not be generated in the recovery chamber, resulting in insufficient pumping power.

A water retaining disc 29 is also arranged on the rotating spray rod 23, and the water retaining disc 29 is arranged between the cleaning disc housing 22 and the cleaning nozzle 24;

The water retaining dish 29 is a curved special-shaped structure or a conical structure. When the water retaining disc 29 rotates, it generates centrifugal force, which plays the function of cyclone collection, and thoroughly sucks away the cleaning water mist quickly.

A first shock absorbing device 4 is arranged between the cleaning tray housing 22 and the cleaning bracket 3, and a second shock absorbing device 5 is arranged between the cleaning bracket 3 and the frame 11;

The first damping device 4 includes a positioning block 41, a first fixed column 42 and a first shock absorbing spring 43, the positioning block 41 is connected with the cleaning bracket 3, and one end of the first fixed column 42 is connected to the first fixed column 42. The positioning block 41 is connected, the other end of the first fixed column 42 is connected to the cleaning disc housing 22, and the first damping spring 43 is sleeved on the first fixed column 42;

The second damping device 5 includes a U-shaped frame 51, which is fixed on the frame 11, and a plurality of second fixed columns 52 are connected between the two free ends of the U-shaped frame 51. A second damping spring 53 is sheathed on each of the second fixing columns 52 , and the cleaning bracket 3 is fixedly connected to the side of the U-shaped frame 51 .

Each set of drive wheel assemblies 12 includes a travel drive mechanism 15 and a travel wheel 16, the travel drive mechanism 15 drives the travel wheel 16 to rotate, and the steering wheel 13 is a universal wheel.

The magnetic attraction mechanism 14 is arranged between two groups of the driving wheel assemblies 12, and the magnetic attraction mechanism 14 is made of permanent magnet material.

An electric ejector rod 17 is also arranged at the bottom of the frame 11 . The electric ejector rod 17 is used for when the robot body 1 needs to leave the working surface, to overcome the magnetic force produced by the magnet, so as to facilitate the manual up and down of the robot body 1.

A lifting ring 18 is also arranged on the frame 11 .

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. The utility model provides a paint and rust removing cleaning machines people which characterized in that, includes robot body and cleaning device, wherein:

the robot body is provided with a magnetic attraction mechanism, and the magnetic attraction mechanism is used for providing an adsorption force for adsorbing the robot body on a surface to be cleaned;

the cleaning device is arranged on the robot body and comprises a cleaning driving mechanism, a cleaning disc shell, a rotary spray rod and a cleaning spray head, the rotary spray rod penetrates through the cleaning disc shell and is in rotary connection with the cleaning disc shell, the cleaning driving mechanism is in transmission connection with the rotary spray rod so as to drive the rotary spray rod to rotate on the cleaning disc shell, the cleaning spray head is connected to one end, located in the cleaning disc shell, of the rotary spray rod, the other end of the rotary spray rod is provided with a high-pressure water interface, and the high-pressure water interface is connected with pump station equipment;

wash set casing bottom and be provided with the dish brush, robot adsorbs when treating clean on the surface, wash set casing through set brush with treat and form between the clean surface and retrieve the chamber wash set casing is last to be provided with the pump drainage and to retrieve the mouth, the pump drainage is retrieved the mouth and is connected with vacuum recovery equipment, is used for retrieving retrieve the waste water of intracavity.

2. The paint and rust removing cleaning robot as claimed in claim 1, wherein a water retaining disc is further disposed on the rotary spray rod, the water retaining disc is disposed between the cleaning disc housing and the cleaning nozzle, and the water retaining disc is of a curved surface special-shaped structure or a conical structure.

3. The paint and rust removing cleaning robot as claimed in claim 1, wherein the cleaning device is connected to the robot body through a cleaning bracket, a first damping device is arranged between the cleaning disc housing and the cleaning bracket, and a second damping device is arranged between the cleaning bracket and the robot body;

the first damping device comprises a positioning block, a first fixed upright and a first damping spring, the positioning block is connected with the cleaning support, one end of the first fixed upright is connected with the positioning block, the other end of the first fixed upright is connected with the cleaning disc shell, and the first damping spring is sleeved on the first fixed upright;

the second damping device comprises a U-shaped frame, the U-shaped frame is fixed on the robot body, a plurality of second fixing stand columns are connected between two free ends of the U-shaped frame, each second fixing stand column is sleeved with a second damping spring, and the cleaning support is fixedly connected with the side edges of the U-shaped frame.

4. The paint and rust removing cleaning robot as claimed in claim 1, wherein an unloading valve is further provided on the cleaning disc housing.

5. A paint and rust removing cleaning robot as claimed in any one of claims 1 to 4, wherein four groups of cleaning nozzles are provided, the four groups of cleaning nozzles extend around the rotating spray bar as a center, and two adjacent groups of cleaning nozzles are distributed at 90-degree included angles.

6. A paint and rust removing cleaning robot as claimed in any one of claims 1 to 4, wherein the magnetic attraction mechanism is arranged between the two sets of drive wheel assemblies and is made of permanent magnet material.

7. A paint and rust removing cleaning robot as claimed in any one of claims 1-4, characterized in that an electric ejector rod is arranged at the bottom of the robot body.

8. A paint and rust removing cleaning robot as claimed in any one of claims 1 to 4, wherein a lifting ring is further provided on the robot body.

9. A paint and rust removing cleaning robot as claimed in any one of claims 1-4, wherein the robot body comprises a frame, two sets of driving wheel assemblies and a set of steering wheels are arranged at the bottom of the frame, the two sets of driving wheel assemblies are arranged at a first end of the frame, and the steering wheels are arranged at a second end of the frame.

10. The paint and rust removing cleaning robot as claimed in claim 9, wherein each set of driving wheel assemblies comprises a walking driving mechanism and a walking wheel, the walking driving mechanism drives the walking wheel to rotate, and the steering wheel is a universal wheel.

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