CN215617243U - Surface cleaning operation wall-climbing robot suitable for large-scale steel structure - Google Patents
Surface cleaning operation wall-climbing robot suitable for large-scale steel structure Download PDFInfo
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- CN215617243U CN215617243U CN202121622984.9U CN202121622984U CN215617243U CN 215617243 U CN215617243 U CN 215617243U CN 202121622984 U CN202121622984 U CN 202121622984U CN 215617243 U CN215617243 U CN 215617243U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Cleaning In General (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The utility model provides a wall-climbing robot suitable for surface cleaning operation of large steel structural members, which comprises a motion platform, a yoke type permanent magnet gap adsorption device, a stainless steel wire coil brush cleaning module, a fan recovery module and a control unit, wherein the motion platform is connected with the yoke type permanent magnet gap adsorption device through a connecting rod; the motion platform includes robot bottom plate, motion drive wheel module and motion from driving wheel module, and motion drive wheel module and motion all set up the lower surface at robot bottom plate from driving wheel module, and motion drive wheel module is located the front end of robot bottom plate, and the motion is located the rear end of robot bottom plate from driving wheel module. This surface cleaning operation wall climbing robot will climb the surface cleaning of wall climbing robot and retrieve the integrated implementation of function, improve the efficiency of robot clearance and recovery, guarantee surface cleaning quality, improve operating personnel's operational environment, improved the security and the reliability of work.
Description
Technical Field
The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot suitable for surface cleaning operation of large steel structural members.
Background
Oil and natural gas are important components of the national energy strategy, and the storage of the oil and natural gas requires the use of a large number of pressure vessels such as large steel structural members. In recent years, with the progress of technology and the increase of storage demand, large steel structural members have been becoming larger and more complicated, and the number of large steel structural members has been increasing. In order to ensure the safe operation of large steel structural members such as large steel structural members, various national standards and specifications such as TSG R7001-2013 pressure vessel regular inspection rule are clearly specified, the pressure vessels such as the large steel structural members are detected within 3 years of first use, and then the pressure vessels are detected once every 3 to 6 years according to different safety levels of the large steel structural members.
Whether the flaw and the scar are regularly detected on a large steel structural member or the nondestructive detection and flaw detection are carried out on the areas at two sides of the welding seam after welding, the corrosion area on the surface of the storage tank needs to be cleaned. The purpose of surface cleaning is firstly to remove dust, rust and other corrosive substances on the surface; secondly, cleaning the corresponding corrosion area until the surface of the corrosion area is exposed with metallic luster and reaches a certain cleaning grade, so as to make a foundation for subsequent flaw detection; finally, the wastes such as iron slag, dust and the like generated by cleaning are timely recycled so as to facilitate the normal operation of the large-scale steel structural member.
At present, the surface cleaning operation method of large-scale steel structural parts at home and abroad mainly adopts the traditional manual power operation tool with low efficiency, long period, low safety and high labor intensity to clean, and the large-scale steel structural parts have the disadvantages of large field surface cleaning engineering quantity, severe working conditions, high operation potential safety hazard and unstable surface cleaning quality. Along with the increase of the consumption of petroleum and natural gas, the intensive construction of large-scale steel structural members in China, and along with the improvement of the industrial automation level and the development of the robot technology, the surface cleaning operation of the large-scale steel structural members by using a robot for replacing people is urgently needed. The surface cleaning robot at the present stage is with climbing wall robot or carrying on power operation instrument and carrying out work, or carry the high-pressure squirt and clear up through the high impact kinetic energy of water jet, can't deal with the operation environment of the inside low water content of large-scale steel structure in the medium-size, and surface cleaning quality is unstable and can't retrieve corrosives such as rust. Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a surface cleaning operation wall-climbing robot suitable for large steel structural members, which integrates and implements the surface cleaning and recovery functions of the wall-climbing robot, improves the cleaning and recovery efficiency of the robot, ensures the surface cleaning quality, improves the working environment of operators, and improves the safety and reliability of the work.
In order to achieve the above purpose, the utility model provides the following technical scheme:
a surface cleaning operation wall-climbing robot suitable for large steel structural members comprises a motion platform, a yoke iron type permanent magnet gap adsorption device, a stainless steel wire coil brush cleaning module, a fan recovery module and a control unit; the motion platform comprises a robot bottom plate, a motion driving wheel module and a motion driven wheel module, wherein the motion driving wheel module and the motion driven wheel module are both arranged on the lower surface of the robot bottom plate, the motion driving wheel module is positioned at the front end of the robot bottom plate, and the motion driven wheel module is positioned at the rear end of the robot bottom plate; the yoke type permanent magnet gap adsorption device is arranged on the lower surface of the robot bottom plate and is used for providing magnetic adsorption force; the stainless steel wire disc brush cleaning module is arranged on the lower surface of the robot bottom plate and used for cleaning the inner wall surface and the outer wall surface of the large steel structural member; the fan recovery module is arranged on the upper surface of the robot bottom plate and used for recovering sundries generated after the stainless steel wire disc brush cleaning module is cleaned; the control unit is arranged on the upper surface of the robot bottom plate and used for controlling the motion driving wheel module, the stainless steel wire disc brush cleaning module and the fan recovery module.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the motion driving wheel module comprises two driving wheel units, the two driving wheel units are respectively and fixedly arranged at two vertex angles at the front end of the lower surface of the robot bottom plate, and the two driving wheel units are symmetrically arranged about the central axis of the robot bottom plate; each driving wheel unit comprises a driving wheel shaft, a driving wheel, a deep groove ball bearing, a bearing support, a speed reducer, a coupler, a motor support and a driving motor; the motor support, the bearing support and the speed reducer are all fixedly arranged on the lower surface of the robot bottom plate, the driving motor is fixedly arranged on the motor support, and the output end of the driving motor is fixedly connected with the input end of the speed reducer through the coupler; the deep groove ball bearing is arranged in the bearing support, one end of the driving wheel shaft is fixedly connected with the output end of the speed reducer, the deep groove ball bearing is arranged on the driving wheel shaft, and the driving wheel is fixedly arranged at the other end of the driving wheel shaft; the driving wheel is positioned on the inner side of the speed reducer; the speed reducer is a worm gear speed reducer.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the number of the motion driven wheel modules is one; the motion driven wheel module is fixedly arranged in the middle of the rear end of the lower surface of the robot bottom plate, the motion driven wheel module is positioned on the central axis of the robot bottom plate, and the two driving wheel units and one motion driven wheel module are arranged in a triangular mode; the motion driven wheel module comprises a driven wheel fixing support, a connecting support, a driven wheel rotating shaft, a driven wheel shaft, a first yoke iron plate, a permanent magnet and two driven wheels; the driven wheel fixing support is fixedly arranged on the lower surface of the robot bottom plate, the driven wheel rotating shaft is vertically and rotatably arranged in the driven wheel fixing support, the driven wheel rotating shaft is connected with the driven wheel shaft through the connecting support, the two driven wheels are respectively arranged at two ends of the driven wheel shaft, the first yoke iron plate and the permanent magnet are both arranged on the driven wheel shaft, the permanent magnet is fixedly arranged on the first yoke iron plate, and the permanent magnet is positioned between the two driven wheels; and a bearing is arranged in the driven wheel fixing support to be in clearance fit with the driven wheel rotating shaft so as to realize the vertical rotation of the driven wheel rotating shaft.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the number of the yoke type permanent magnet gap adsorption devices is two, the two yoke type permanent magnet gap adsorption devices are symmetrically arranged about a central axis of the robot bottom plate, the two yoke type permanent magnet gap adsorption devices are located between the two driving wheels, and the two yoke type permanent magnet gap adsorption devices and the driving wheels are located on the same horizontal line; each yoke iron type permanent magnet gap adsorption device comprises an adsorption unit gap adjusting vertical rod, a yoke iron plate steering shaft, two fixing supports, a second yoke iron plate, a permanent magnet adsorption body, a nut and a shaft support; the robot bottom plate is provided with adjusting holes, and gaps among the adsorption unitsOne end of the vertical adjusting rod is provided with a thread, the shaft support is fixedly arranged on the lower surface of the robot bottom plate, one end of the vertical absorbing unit gap adjusting rod sequentially penetrates through the shaft support and the adjusting hole and is fixedly connected with the nut, the vertical absorbing unit gap adjusting rod is in threaded connection with the shaft support, and the nut is positioned on one side of the upper surface of the robot bottom plate; the other end of the adsorption unit gap adjusting vertical rod is fixedly connected with the second yoke plate steering shaft, two ends of the yoke plate steering shaft are respectively fixedly connected with two fixing supports, the two fixing supports are fixedly arranged on one side surface of the second yoke plate, and the permanent magnetic adsorbent is fixedly arranged on the other side surface of the second yoke plate; the volume of the large-scale steel structural member is more than 3000m3(ii) a The air gap between the yoke iron type permanent magnet gap adsorption device and the large-scale steel structural member is 5-20 mm.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the stainless steel wire disc brush cleaning module comprises two disc brush cleaning units; the two disc brush cleaning units are fixedly arranged on the lower surface of the robot bottom plate, and each disc brush cleaning unit comprises a cleaning motor fixing support, a cleaning driving motor, a flange, a sleeve, an output shaft, a stainless steel wire brush, a spring and a sliding block; the cleaning motor fixing support is fixedly arranged on the lower surface of the robot bottom plate, and the cleaning driving motor is fixedly arranged on the cleaning motor fixing support; one side of the flange is fixedly connected with the output end of the cleaning driving motor, and the other side of the flange is fixedly connected with the sleeve; the spring and the sliding block are both arranged in the sleeve, the spring is positioned between the flange and the sliding block, two ends of the spring are respectively contacted with the flange and the sliding block, the sliding block is connected with the inner wall of the sleeve in a sliding manner, one end of the sleeve is provided with an output hole, one end of the output shaft is positioned in the sleeve, one end of the output shaft is fixedly connected with the sliding block, and the other end of the output shaft penetrates through the output hole and is fixedly connected with the stainless steel wire brush; one side of the flange is provided with a hole and is fixedly connected with the output end of the cleaning driving motor through screws, and the other side of the flange is fixedly connected with the sleeve through four screws; a boss with the diameter of 14mm and the height of 2mm is arranged on the other side of the flange, the boss is inserted into the other end of the sleeve and is fixedly connected with the sleeve, and one end of the spring is fixedly connected with the boss; the sliding block and one end of the output shaft are fixed through a screw, and the sliding block and the output shaft are both made of 304 stainless steel; the sliding block is in clearance fit with the inner wall of the sleeve, and the sliding block can slide up and down along the inner wall of the sleeve by 6-8 mm; the cross section shapes of the output shaft and the output hole are both square, and the output shaft and the output hole are in clearance fit.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the fan recovery module comprises a recovery fan, a recovery hose, a recovery box, a recovery filter bag, a seal box and a seal row brush; the sealing box is fixedly arranged on the lower surface of the robot bottom plate, the sealing box is rectangular and is provided with a hole in the middle, the stainless steel wire disc brush cleaning module is positioned in the hole of the sealing box, the sealing row brush is arranged on the sealing box, and the sealing row brush is arranged around the stainless steel wire disc brush cleaning module; the recovery box is fixed to be set up the upper surface of robot bottom plate, just it is equipped with the recovery hose mounting hole to retrieve the box both ends, it sets up to retrieve the filter bag in the recovery box, it sets up to retrieve the fan the upper surface of robot bottom plate, it passes to retrieve the hose mounting hole with the seal box with it all connects to retrieve the box, it is used for realizing to retrieve the fan debris are in the seal box retrieve the hose with flow in the recovery box.
Furthermore, the wall-climbing robot suitable for surface cleaning operation of large steel structural members further comprises a vision sensing module, and an embedded processor and an embedded core controller are arranged in the control unit; the vision sensing module is electrically connected with the control unit, and is used for acquiring image information in front of the surface cleaning operation wall-climbing robot and feeding the image information back to the embedded processor for processing, and the embedded core controller controls the surface cleaning operation wall-climbing robot to work according to a processing result of the embedded processor.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the control unit comprises a motion control unit, a surface cleaning control unit, a fan recovery control unit and a visual perception unit; the motion control unit is used for controlling the motion driving wheel module, the surface cleaning control unit is used for controlling the stainless steel wire disc brush cleaning module, the fan recovery control unit is used for controlling the fan recovery module, and the visual perception unit is used for controlling the visual perception module.
Further, in the surface cleaning operation wall-climbing robot suitable for the large steel structural member, the second yoke plate is made of a common carbon structural steel material Q235 and subjected to surface blackening treatment, the permanent magnetic adsorbent is made of a rare earth permanent magnetic material neodymium iron boron, the number of the permanent magnetic adsorbent is 40-52, and the permanent magnetic adsorbent is magnetized in the thickness direction; the second yoke plate steering shaft is provided with a fixing hole, the other end of the adsorption unit gap adjusting vertical rod is inserted into the fixing hole to be fixedly connected with the second yoke plate steering shaft, and the fixing support is fixedly connected with the second yoke plate through a screw; the magnetic circuit of the permanent magnetic adsorption body adopts a yoke iron type permanent magnet array.
Further, in the wall-climbing robot suitable for surface cleaning operation of large steel structural members, the wall-climbing robot further comprises a ground operation platform, and the ground operation platform is electrically connected with the control unit; the ground operating platform comprises an upper computer display screen, an embedded industrial personal computer and an operating rocker, wherein the embedded industrial personal computer can provide a plurality of interfaces to expand the function of the surface cleaning operation wall-climbing robot; the upper computer display screen is used for displaying the working condition of the surface cleaning operation wall-climbing robot and can set the motion and cleaning parameters of the surface cleaning operation wall-climbing robot in real time; the operation rocker is used for operating the motion track of the surface cleaning operation wall-climbing robot; the motion platform still includes two handles, two the handle is fixed to be set up the upper surface of robot bottom plate, and two the handle is located the edge of robot bottom plate upper surface.
The analysis shows that the embodiment of the wall-climbing robot suitable for the surface cleaning operation of the large steel structural member disclosed by the utility model realizes the following technical effects:
this be applicable to the motion platform in the surface cleaning operation wall climbing robot of large-scale steel structure spare on be provided with two clearance adjustable yoke formula permanent magnetism clearance adsorption equipment, a fan recovery module, a control unit, two dish brush cleaning unit, two drive wheel units and a motion are from driving wheel module, wherein, two drive wheel units and a motion are triangle-shaped from driving wheel module and set up on the motion platform, two dish brush cleaning unit set up in robot bottom plate belly below, fan recovery module is located robot bottom plate belly top, thereby realize that corrosives such as iron rust directly retrieve after the surface cleaning of steel structure spare, combine clearance and recovery, the efficiency of the cleaning operation is improved, improve the operational environment of robot simultaneously. Meanwhile, the utility model adopts a framework of permanent magnet gap type adsorption, differential movement of double driving wheels and auxiliary support of a single driven wheel to adsorb on the surface of a steel structural member, uses a stainless steel wire disc brush structure which is directly driven by a motor and buffered by a spring to clean the surface, and realizes the rapid recovery of corrosive substances such as rust and the like by a high-efficiency fan, a sealed row brush and a recyclable filter bag. Nonrust steel wire dish brush clearance module is located this wall climbing robot's belly, offsets clearance operation reaction force through just reversing, realizes high-efficient surface cleaning. The fan recovery module is used for recovering corrosive substances such as rust and the like generated by cleaning. The control unit is used for realizing the motion control of the wall-climbing robot on the wall surface of the large steel structural member and the adjustment of cleaning parameters of the stainless steel wire disc brush cleaning module, combining the wall-climbing robot with the surface cleaning equipment, realizing the surface cleaning of the large steel structural member, effectively improving the surface cleaning work efficiency of the large steel structural member, improving the work environment of workers and improving the safety and reliability of work.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. Wherein:
FIG. 1 is a schematic top view of a wall climbing robot for surface cleaning operations according to an embodiment of the present invention;
FIG. 2 is a schematic bottom view of a wall-climbing robot for surface cleaning operation according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a moving platform in the wall-climbing robot for surface cleaning operation according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a motion driving wheel module of the wall-climbing robot for surface cleaning operation according to the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a stainless steel wire brush cleaning module of a wall-climbing robot for surface cleaning operation according to an embodiment of the present invention;
FIG. 6 is an exploded view of a stainless steel wire brush cleaning module of a wall-climbing robot for surface cleaning operation according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a yoke type permanent magnet gap adsorption device of a surface cleaning operation wall-climbing robot in an embodiment of the utility model.
Description of reference numerals:
1-a moving platform, 2-a yoke permanent magnet gap adsorption device, 3-a fan recovery module, 4-a control unit, 5-a moving driving wheel module, 6-a stainless steel wire disc brush cleaning module, 7-a moving driven wheel module, 8-a robot bottom plate, 9-a handle, 10-a driving wheel shaft, 11-a driving wheel, 12-a bearing support, 13-a reducer, 14-a coupler, 15-a motor support, 16-a driving motor, 17-a cleaning motor fixing support, 18-a cleaning driving motor, 19-a flange, 20-a sleeve, 21-an output shaft, 22-a stainless steel wire brush, 23-an adsorption unit gap adjustment vertical rod, 24-a yoke plate steering shaft, 25-a fixing support and 26-a second yoke plate, 27-permanent magnet adsorption body, 28-spring, 29-slide block and 30-lightening hole.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the utility model, and not limitation of the utility model. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
One or more examples of the utility model are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar parts of the utility model. As used herein, the terms "first," "second," "third," and "fourth," etc. may be used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of an individual component.
As shown in fig. 1 to 7, according to an embodiment of the present invention, there is provided a surface cleaning operation wall-climbing robot suitable for large steel structural members, including a motion platform 1, a yoke type permanent magnet gap adsorption device 2, a stainless steel wire coil brush cleaning module 6, a fan recovery module 3 and a control unit 4; the motion platform 1 comprises a robot bottom plate 8, a motion driving wheel module 5 and a motion driven wheel module 7, wherein the motion driving wheel module 5 and the motion driven wheel module 7 are both arranged on the lower surface of the robot bottom plate 8, the motion driving wheel module 5 is positioned at the front end of the robot bottom plate 8, and the motion driven wheel module 7 is positioned at the rear end of the robot bottom plate 8; the yoke type permanent magnet gap adsorption device 2 is arranged on the lower surface of the robot bottom plate 8, and the yoke type permanent magnet gap adsorption device 2 is used for providing magnetic adsorption force; the stainless steel wire disc brush cleaning module 6 is arranged on the lower surface of the robot bottom plate 8, and the stainless steel wire disc brush cleaning module 6 is used for cleaning the inner wall surface and the outer wall surface of the large-scale steel structural member; the fan recovery module 3 is arranged on the upper surface of the robot bottom plate 8, and the fan recovery module 3 is used for recovering sundries generated after being cleaned by the stainless steel wire disc brush cleaning module 6; the control unit 4 is arranged on the upper surface of the robot bottom plate 8, and the control unit 4 is used for controlling the movement driving wheel module 5, the stainless steel wire disc brush cleaning module 6 and the fan recovery module 3.
In the above embodiment, the large steel structural member means a volume of 3000m3The above large-sized steel structural member. Motion platform 1 includes robot bottom plate 8, the motion drive wheel module 5 of setting on robot bottom plate 8 and the motion of setting on robot bottom plate 8 follow driving wheel module 7, motion drive wheel module 5 sets up the front end at motion platform 1 for drive motion platform 1 is the all position motion on large-scale steel structure wall, the motion is followed driving wheel module 7 and is set up at the motion platform rear end, be used for realizing that the robot turns to in a flexible way and provides certain magnetism adsorption affinity. The yoke type permanent magnet gap adsorption device 2 is used for providing magnetic adsorption force so that the wall-climbing robot can be reliably adsorbed on the inner wall surface and the outer wall surface of a large steel structural member. The stainless steel wire disc brush cleaning module 6 can counteract the reaction force generated by the cleaning operation through the positive and negative rotation of the two disc brushes in the stainless steel wire disc brush cleaning module and is used for cleaning large steelAnd cleaning the surface of rust dust generated by corrosion on the inner wall surface and the outer wall surface of the structural part. The fan recovery module 3 is used for recovering the cleaned corrosive substances such as rust dust and the like. Control unit 4 is used for controlling motion drive wheel module 5, nonrust steel wire dish brush clearance module 6 and fan recovery module 3, control unit 4 is used for realizing climbing the motion control of wall robot at large-scale steel structure wall and the adjustment of nonrust steel wire dish brush clearance module 6 clearance parameter, combine climbing wall robot and surface cleaning equipment, realize large-scale steel structure surface cleaning, effectively improve large-scale steel structure surface cleaning work efficiency and improve staff's operational environment, the security and the reliability of work have been improved. Yoke formula permanent magnetism clearance adsorption equipment 2, nonrust steel wire dish brush clearance module 6, fan are retrieved module 3 and the control unit 4 and are all installed on robot bottom plate 8, and wherein, yoke formula permanent magnetism clearance adsorption equipment 2 and nonrust steel wire dish brush clearance module 6 set up the lower surface at robot bottom plate 8, and fan is retrieved module 3 and the control unit 4 setting and is at robot bottom plate 8's upper surface. This surface cleaning operation wall climbing robot suitable for large-scale steel structure adsorbs on the steel structure surface through adopting yoke formula permanent magnetism clearance adsorption equipment 2, motion drive wheel module 5 and the motion to follow framework of driving wheel module 7, uses stainless steel wire dish brush clearance module 6 to carry out surface cleaning to retrieve the quick recovery of module 3 realization debris through the fan, here debris are corrosives such as iron rust usually. Meanwhile, the wall-climbing robot can realize surface cleaning of large steel structural members, can reliably adsorb and flexibly move at all positions of the inner wall surface and the outer wall surface of the large steel structural members, combines the wall-climbing robot and surface cleaning equipment, realizes surface cleaning of the large steel structural members, effectively improves the surface cleaning work efficiency of the large steel structural members, improves the work environment of workers, and improves the safety and the reliability of work.
Preferably, as shown in fig. 1 to 4, in an embodiment of the present invention, the motion driving wheel module 5 includes two driving wheel units, the two driving wheel units are respectively and fixedly disposed at two top corners of the front end of the lower surface of the robot base plate 8, and the two driving wheel units are symmetrically disposed about a central axis of the robot base plate 8; each driving wheel unit comprises a driving wheel shaft 10, a driving wheel 11, a deep groove ball bearing, a bearing support 12, a speed reducer 13, a coupling 14, a motor support 15 and a driving motor 16; the motor support 15, the bearing support 12 and the speed reducer 13 are all fixedly arranged on the lower surface of the robot bottom plate 8, the driving motor 16 is fixedly arranged on the motor support 15, and the output end of the driving motor 16 is fixedly connected with the input end of the speed reducer 13 through the coupler 14; the deep groove ball bearing is arranged in the bearing support 12, one end of the driving wheel shaft 10 is fixedly connected with the output end of the speed reducer 13, the deep groove ball bearing is arranged on the driving wheel shaft 10, and the driving wheel 11 is fixedly arranged at the other end of the driving wheel shaft 10; preferably, the driving wheel 11 is located inside the reducer 13; preferably, the reducer 13 is a worm gear reducer.
In the above embodiment, the motion driving wheel module 5 includes two driving wheel units, each driving wheel unit includes a driving motor 10, a coupling 14, a motor bracket 15, a speed reducer 16, a deep groove ball bearing, a bearing bracket 12, a driving wheel shaft 10, and a driving wheel 11; two driving wheel units are respectively arranged at two corners of the front end of the robot base plate 8, the input ends of the speed reducers 13 of the driving wheel units are connected with the driving motors 16 through the couplings 14, the two driving wheel units can be respectively named as a first driving wheel unit and a second driving wheel unit, so that the input end of the speed reducer 13 of the first driving wheel unit is connected with the first driving motor through the first coupling, and the input end of the speed reducer 13 of the second driving wheel unit is connected with the second driving motor through the second coupling. The speed reducer 13 can be a worm gear speed reducer and is coaxially connected with the bearing support 12, so that the output torque is improved while the speed is reduced, and a self-locking effect is achieved; the bearing support 12 is fixed on the robot bottom plate 8 through screws, and a deep groove ball bearing is arranged in the bearing support and is in clearance fit with the driving wheel shaft, so that the bearing support can be used for supporting the driving wheel shaft 10 and reducing the friction coefficient in the rotation process of the driving wheel shaft. The driving wheel shaft 10 is connected with the output end of the speed reducer 13, the bearing support 12 and the driving wheel 11. The two driving units are symmetrically distributed on the robot bottom plate 8 and fixed on the mounting holes on the robot bottom plate 8, as shown in fig. 2, the first driving unit is arranged at the upper left corner, and the second driving unit is arranged at the upper right corner. As shown in fig. 4, taking the first driving unit as an example, the driving motor 16 is fixed to the motor bracket 15, the motor bracket 15 is mounted on the robot base plate 8, so as to fix the driving motor 16, and the bearing bracket 12 and the worm gear reducer 13 are both mounted on the robot base plate 8. An output shaft of the driving motor 16 is connected to an input end of the worm gear reducer 13 through a coupling 14, and a driving wheel shaft 10 is coaxially connected with the driving wheel 11, the deep groove ball bearing (located inside the bearing support 12) and the worm gear reducer 13. When the driving motor works, the rotating speed and the torque are transmitted into the input end of the worm gear reducer 13, and are transmitted to the driving wheel shaft 10 after speed reduction and torque lifting, so that the driving wheel 13 rotates, and the robot moves on the surface of a steel structural member.
Preferably, as shown in fig. 1 to 4, in one embodiment of the present invention, the motion driven wheel module 7 comprises one motion driven wheel module; the motion driven wheel module is fixedly arranged in the middle of the rear end of the lower surface of the robot bottom plate 8, the motion driven wheel module is positioned on the central axis of the robot bottom plate 8, and the two driving wheel units and the motion driven wheel module are arranged in a triangular mode; the motion driven wheel module comprises a driven wheel fixing support, a connecting support, a driven wheel rotating shaft, a driven wheel shaft, a first yoke iron plate, a permanent magnet and two driven wheels; the driven wheel fixing support is fixedly arranged on the lower surface of the robot bottom plate 8, a driven wheel rotating shaft is vertically and rotatably arranged in the driven wheel fixing support and is connected with a driven wheel shaft through a connecting support, the two driven wheels are respectively arranged at two ends of a driven wheel shaft, a first yoke iron plate and a permanent magnet are both arranged on the driven wheel shaft, the permanent magnet is fixedly arranged on the first yoke iron plate, and the permanent magnet is positioned between the two driven wheels; preferably, the driven wheel fixing support is internally provided with a bearing to be in clearance fit with the driven wheel rotating shaft so as to realize the vertical rotation of the driven wheel rotating shaft.
In the above embodiment, the movable driven wheel module 7 includes a movable driven wheel module, and the movable driven wheel module includes a driven wheel fixing support, a connecting support, a driven wheel rotating shaft, a driven wheel shaft, a permanent magnet and two driven wheels; the middle part of the rear end of the robot bottom plate is provided with a movable driven wheel module, a bearing is arranged in a driven wheel fixing support and is in clearance fit with a driven wheel rotating shaft so as to realize vertical rotation, a connecting support is connected with the driven wheel rotating shaft and a driven wheel shaft, a driving wheel shaft is coaxially connected with two driven wheels, and a permanent magnet is arranged between the two driven wheels so as to provide certain magnetic adsorption force. The double-driving wheel unit and the single-motion driven wheel module are arranged on the robot bottom plate 8 in a triangular shape, and operation holes for the stainless steel wire coil brush cleaning module 6 and the fan recovery module 3 are arranged in the area, corresponding to the triangular shape, of the robot bottom plate 8. The motion driving wheel modules 5 are symmetrically arranged on two sides of the central axis of the robot bottom plate 8 and used for driving the motion platform 1 to move in the full position on the surface of a large-scale steel structural part, and the motion driving wheel modules 7 are arranged on the central axis of the robot bottom plate 8 and play a role in three-point support and provide certain magnetic adsorption force and free rotation. The movement is provided with a permanent magnet with a fixed gap from the wheel module 7, so that certain magnetic adsorption force can be provided to offset the overturning force when the robot brakes, and the arrangement mode can effectively avoid mechanical failure of the robot, so that the wall-climbing robot is safe and reliable in movement and operation.
Preferably, as shown in fig. 1 to 7, in an embodiment of the present invention, the number of the yoke type permanent magnet gap adsorption devices 2 is two, the two yoke type permanent magnet gap adsorption devices 2 are symmetrically arranged about a central axis of the robot base plate 8, the two yoke type permanent magnet gap adsorption devices 2 are located between the two driving wheels 10, and the two yoke type permanent magnet gap adsorption devices 2 and the driving wheels 10 are located on the same horizontal line; each yoke type permanent magnet gap adsorption device 2 comprises an adsorption unit gap adjusting vertical rod 23, a yoke plate steering shaft 24, two fixing supports 25, a second yoke iron plate 26, a permanent magnet adsorption body 27, a nut and a shaft support; an adjusting hole is formed in the robot bottom plate 8, a thread is arranged at one end of the adsorption unit gap adjusting vertical rod 23, the shaft support is fixedly arranged on the lower surface of the robot bottom plate 8, one end of the adsorption unit gap adjusting vertical rod 23 sequentially penetrates through the shaft support and the adjusting hole and is fixedly connected with a nut, the adsorption unit gap adjusting vertical rod 23 is in threaded connection with the shaft support, and the nut is located on one side of the upper surface of the robot bottom plate 8; the other end of the vertical rod 23 for adjusting the gap of the adsorption unit is fixedly connected with a steering shaft 24 of the yoke plate, two ends of the steering shaft 24 of the yoke plate are respectively fixedly connected with two fixing brackets 25, the two fixing brackets 25 are fixedly arranged on one side surface of a second yoke plate 26, and a permanent magnetic adsorption body 27 is fixedly arranged on the other side surface of the second yoke plate 26; preferably, the air gap between the yoke type permanent magnet gap adsorption device 2 and the steel structural member is 5mm-20 mm; preferably, the air gap between the yoke type permanent magnet gap adsorption device 2 and the steel structural member is 5mm-15 mm; the second yoke plate 26 is made of a common carbon structural steel material Q235 and subjected to surface blackening treatment, the permanent magnetic adsorbent 27 is made of a rare earth permanent magnetic material neodymium iron boron, the brand number of the permanent magnetic adsorbent 27 is 40-52, and the permanent magnetic adsorbent 27 is magnetized in the thickness direction; preferably, a fixing hole is formed on the yoke plate steering shaft 24, the other end of the adsorption unit gap adjustment vertical rod 23 is inserted into the fixing hole to be fixedly connected with the yoke plate steering shaft 24, and the fixing bracket 25 is fixedly connected with the second yoke plate 26 through a screw; preferably, the magnetic circuit of the permanent magnetic adsorption body 27 employs a yoke type permanent magnet array.
In the above embodiment, two yoke type permanent magnet gap adsorption devices 2 are symmetrically and fixedly arranged on the lower surface of the robot bottom plate 8, the yoke type permanent magnet gap adsorption device structure 2 is installed on the robot bottom plate 8, and the permanent magnet adsorption bodies 27 on the yoke type permanent magnet gap adsorption devices 2 are arranged below the robot bottom plate 8 and are not in surface contact with the steel structural member. The two yoke type permanent magnet gap adsorption devices 2 are arranged on the inner sides of the two driving wheels 10 and parallel to the driving wheels, and the driving wheels 10 and the yoke type permanent magnet gap adsorption devices 2 are located on the same horizontal line. Two yoke iron type permanent magnet gap adsorption devices 2 with adjustable gaps are installed on a robot bottom plate 8, when the robot works on the wall surface of a storage tank, the yoke iron type permanent magnet gap adsorption devices 2 are not in direct contact with the surface of a steel structural member but have certain air gaps, and yoke iron restrains magnetic paths diverged by permanent magnets, so that a relatively closed loop is formed between each permanent magnet adsorption unit and the ferromagnetic wall surface. Yoke formula permanent magnetism clearance adsorption equipment 2 is including adsorbing unit clearance adjustment vertical rod 23, yoke board steering spindle 24, fixed bolster 25, second yoke board 26, permanent magnetism adsorbent 27, wherein, the one end tapping of adsorbing unit clearance adjustment vertical rod 23, install on robot bottom plate 8 through the axle support, can realize adjusting yoke formula permanent magnetism clearance adsorption equipment 2 and the surperficial clearance size of steel structure through the nut of rotatory robot bottom plate 8 top, adsorb unit clearance adjustment vertical rod 23 below trompil and be used for realizing fixed with yoke board steering spindle 24. The yoke plate steering shaft 24 is coaxially connected with two fixing supports 25, the fixing supports 25 are mounted on a second yoke plate 26 through screws, the second yoke plate 26 can be made of a common carbon structural steel material Q235 and subjected to surface blackening treatment, a permanent magnet adsorber 27 can be made of a rare earth permanent magnet material neodymium iron boron (NdFeB) with the brand number of 40-52, and the permanent magnet adsorber 27 needs to be magnetized in the thickness direction and mounted on the second yoke plate 26. The adjustment of the adsorption force is realized by adjusting the size of the air gap between the yoke iron type permanent magnet gap adsorption device 2 and the surface of the steel structural member. Preferably, the magnetic circuit of the permanent magnet absorber 27 of the yoke type permanent magnet gap adsorption device 2 adopts a yoke type permanent magnet array.
Preferably, as shown in fig. 1 to 6, in one embodiment of the present invention, the stainless steel wire disk brush cleaning module 6 includes two disk brush cleaning units; the two disc brush cleaning units are fixedly arranged on the lower surface of the robot bottom plate 8, and each disc brush cleaning unit comprises a cleaning motor fixing support 17, a cleaning driving motor 18, a flange 19, a sleeve 20, an output shaft 21, a stainless steel wire brush 22, a spring 28 and a sliding block 29; the cleaning motor fixing support 17 is fixedly arranged on the lower surface of the robot bottom plate 8, and the cleaning driving motor 18 is fixedly arranged on the cleaning motor fixing support 17; one side of the flange 19 is fixedly connected with the output end of the cleaning driving motor 18, and the other side of the flange 19 is fixedly connected with the sleeve 20; the spring 28 and the sliding block 29 are arranged in the sleeve 20, the spring 28 is positioned between the flange 19 and the sliding block 29, two ends of the spring 28 are respectively contacted with the flange 19 and the sliding block 29, the sliding block 29 is connected with the inner wall of the sleeve 20 in a sliding manner, one end of the sleeve 20 is provided with an output hole, one end of the output shaft 21 is positioned in the sleeve 20, one end of the output shaft 21 is fixedly connected with the sliding block 29, and the other end of the output shaft 21 penetrates through the output hole and is fixedly connected with the stainless steel wire brush 22; preferably, one side of the flange 19 is provided with a hole and is fixedly connected with the output end of the cleaning driving motor 18 through screws, and the other side of the flange 19 is fixedly connected with the sleeve 20 through four screws; preferably, the other side of the flange 19 is provided with a boss with a diameter of 14mm and a height of 2mm, the boss is inserted into the other end of the sleeve 20 and is fixedly connected with the sleeve 20, and one end of the spring 28 is fixedly connected with the boss; preferably, the sliding block 29 and one end of the output shaft 21 are fixed by screws, and the sliding block 29 and the output shaft are both made of 304 stainless steel; preferably, the sliding block 29 is cylindrical, the sliding block 29 is in clearance fit with the inner wall of the sleeve, and the sliding block 29 can slide up and down 6mm-8mm along the inner wall of the sleeve; preferably, the output shaft 21 and output bore are square in cross-sectional shape, which ensures that the slide 29 cannot fall out of the sleeve 20, with a clearance fit between the output shaft 21 and output bore.
In the above embodiment, two stainless steel wire disc brush cleaning modules 6 are installed at the abdomen of the moving platform 1, and are used for cleaning the surfaces of the inner and outer wall surfaces of the large steel structural member. The stainless steel wire disc brush cleaning module 6 comprises two disc brush cleaning units, wherein each cleaning unit comprises a cleaning motor fixing support 17, a cleaning driving motor 18, a flange 19, a spring 28, a sleeve 20, an output shaft 21, a sliding block 29 and a stainless steel wire brush 22; the cleaning driving motor 18 is installed on the cleaning motor fixing support 17, the cleaning motor fixing support 17 is installed on the robot bottom plate 8, the flange 19, the sleeve 20 and the cleaning driving motor 18 are fixed to rotate coaxially, a spring 28, a sliding block 29 and an output shaft 21 are arranged in the sleeve 20, the spring 28 moves in a telescopic mode to achieve up-down movement of the output shaft 21 to achieve a buffering effect, and the stainless steel wire brush 22 is fixed with the output shaft 21 to achieve surface cleaning operation. An opening at one side of the flange 19 is fixed with an output shaft hole of the cleaning driving motor 18 by a screw, and the rotating speed and the torque of the cleaning driving motor 18 are transmitted. The flange 19 and the sleeve 20 are fixed by four screws to enable the flange and the sleeve to rotate together, and a boss with the diameter of 14mm and the height of 2mm is arranged at the bottom of the flange to ensure that the flange and the sleeve are coaxial; there are spring 28, slider 29 and output shaft etc. in the sleeve 20, steel structure spare welding seam height is 3 ~ 4mm, when the dish brush meets barrier or curvature change in the clearance process and causes the altitude variation, spring 28 can play the cushioning effect well, and both slider 29 and output shaft 21 pass through the fix with screw, all use 304 stainless steel, and comprehensive mechanical properties is better, and intensity is high, and slider 29 and sleeve inner wall adopt clearance fit, can slide 6 ~ 8mm from top to bottom. The output shaft 21 and the output hole of the sleeve 20 are both square, and are in clearance fit, so that relative rotation between the output shaft 21 and the sleeve is prevented, and the output shaft only transmits torque. The stainless steel wire disk brush 22 is attached to the output shaft 21, and performs surface cleaning operation in accordance with the rotation of the cleaning drive motor 18.
Preferably, as shown in fig. 1 and 2, in one embodiment of the present invention, the fan recovery module 3 includes a recovery fan, a recovery hose, a recovery box, a recovery filter bag, a seal box and a seal row brush; the sealing box is fixedly arranged on the lower surface of the robot bottom plate 8, the sealing box is rectangular and is provided with a hole in the middle, the stainless steel wire disc brush cleaning module 6 is positioned in the hole of the sealing box, the sealing row brush is arranged on the sealing box, and the sealing row brush is arranged around the stainless steel wire disc brush cleaning module 6; the recovery box is fixedly arranged on the upper surface of the robot bottom plate 8, the two ends of the recovery box are provided with recovery hose mounting holes, the recovery filter bag is arranged in the recovery box, the recovery fan is arranged on the upper surface of the robot bottom plate 8, the recovery hose penetrates through the recovery hose mounting holes to be connected with the sealing box and the recovery box, and the recovery fan is used for achieving flowing of sundries in the sealing box, the recovery hose and the recovery box.
In the above embodiment, the fan recovery module 3 is installed above the abdomen of the motion platform 1, and the fan recovery module 4 includes a recovery fan, a recovery hose, a recovery box, a recovery filter bag, a seal box and a seal row brush. The seal box is rectangle and fixed the setting 8 belly lower surfaces at the robot bottom plate, and sealed row brush is installed on the seal box and around stainless steel wire dish brush clearance module 6 around so that the corrosive substance such as iron rust after avoiding clearing splashes everywhere. The two ends of the recovery box are provided with holes and are fixed on the upper surface of the belly of the robot bottom plate 8, the holes (the installation holes of the recovery hose) at the two ends of the recovery box are used for connecting the recovery hose, and the interior of the recovery box contains a recovery filter bag to realize the recovery of corrosive substances. The recovery hose is connected with the sealing box, the recovery box and the recovery fan to realize the flow of corrosive substances such as rust and the like, and the fan is arranged on the upper surface of the robot bottom plate 8 and forms negative pressure through high-speed rotation to realize the flow of solid and gas. Wherein, the recovery fan forms local pressure differential through high-speed rotation and forms the air current and flow to make the rust after the clearance stay in retrieving the filter bag along retrieving the hose, retrieve the box and install in robot bottom plate 8's top, inside is provided with retrieves the filter bag, retrieves the filter bag gas permeability and is good, can retrieve corrosives such as rust. As shown in fig. 2, the sealing box and the sealing row brush are installed below the belly of the robot bottom plate 8, are rectangular, have openings in the middle, and are located around the two disk brush cleaning units, so that good sealing is formed, and splashing of corrosive substances such as rust is avoided. Preferably, the robot bottom plate 8 is provided with a plurality of lightening holes 30 for reducing the weight of the wall-climbing robot, wherein the total area of all the lightening holes 30 provided on the robot bottom plate 8 accounts for 40-60% of the total area of the robot bottom plate 8. Preferably, the total area of all the lightening holes 30 opened on the robot base plate 8 accounts for 50% of the total area of the robot base plate 8.
Preferably, as shown in fig. 1 to 7, in an embodiment of the present invention, an embedded processor and an embedded core controller are disposed in the control unit 4, which further includes a visual sensing module; the vision sensing module is electrically connected with the control unit 4, the vision sensing module is used for acquiring image information in front of the surface cleaning operation wall-climbing robot and feeding the image information back to the embedded processor for processing, and the embedded core controller controls the surface cleaning operation wall-climbing robot to work according to a processing result of the embedded processor. The vision sensing module is electrically connected with the control unit and can be used for acquiring image information in front of the surface cleaning operation robot and feeding the image information back to the embedded processor of the control unit 4, and the embedded core controller can control the robot to clean along the tracking side of the welding seam after image processing, so that the surface cleaning of the areas on two sides of the welding seam is realized.
Preferably, as shown in fig. 1 to 7, in one embodiment of the present invention, the control unit 4 includes a motion control unit, a surface cleaning control unit, a fan recovery control unitAnd a visual perception unit; the motion control unit is used for controlling the motion driving wheel module 5, the surface cleaning control unit is used for controlling the stainless steel wire disc brush cleaning module 6, the fan recovery control unit is used for controlling the fan recovery module 3, and the visual perception unit is used for controlling the visual perception module. The control unit 4 is installed on the motion platform 1, and the control unit 4 comprises a motion control unit, a surface cleaning control unit, a fan recovery control unit and a visual perception unit. The motion control unit is used for controlling the rotating speed of the motion driving motor 16 so as to realize the linear or steering motion of the robot on the surface of a steel structural member, and the large steel structural member has a volume of 3000m3The above large-sized steel structural member. The surface cleaning control unit is used for controlling the rotation direction and the rotation speed of the cleaning driving motor 18, so that the reaction force of the cleaning operation is offset, and the efficient surface cleaning operation is realized. The fan recovery control unit is used for controlling the rotating speed of the recovery fan so as to realize the regulation of the recovery air speed and the air quantity and further realize the recovery of corrosive substances such as rust and the like. The control unit 4 can record the control operation data to feed back to the upper computer system.
Preferably, as shown in fig. 1 to 7, in an embodiment of the present invention, the present invention further includes a ground console, and the ground console is electrically connected to the control unit 4; the ground operating platform comprises an upper computer display screen, an embedded industrial personal computer and an operating rocker, wherein the embedded industrial personal computer can provide a plurality of interfaces to expand the functions of the surface cleaning operation wall-climbing robot; the upper computer display screen is used for displaying the working condition of the surface cleaning operation wall-climbing robot and can set the motion and cleaning parameters of the surface cleaning operation wall-climbing robot in real time; the operation rocker is used for operating the motion trail of the surface cleaning operation wall-climbing robot; preferably, the moving platform 1 further comprises two handles 9, the two handles 9 are fixedly arranged on the upper surface of the robot base plate 8, and the two handles 9 are positioned at the edge of the upper surface of the robot base plate 8. The surface cleaning wall-climbing robot further comprises a ground operation table, wherein the ground operation table is electrically connected with the control unit 4 and comprises an upper computer display screen, an embedded industrial personal computer, an operation rocker, a keyboard and other peripherals. The embedded industrial personal computer is a core control unit of the ground operation platform and provides a plurality of interfaces for other peripheral equipment to expand the functions of the robot. The upper computer display screen is used for displaying the working condition of the wall-climbing robot in front of the large steel member and setting the motion and cleaning parameters of the robot in real time. The operation rocker is used for operating the motion trail of the wall-climbing robot.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
this motion platform 1 in surface cleaning operation wall climbing robot suitable for large-scale steel structure is last to be provided with two clearance adjustable yoke formula permanent magnetism clearance adsorption equipment 2, a fan recovery module 3, a control unit 4, two dish brush cleaning unit, two drive wheel units and a motion are from driving wheel module, wherein, two drive wheel units and a motion are triangle-shaped from driving wheel module and set up on motion platform 1, two dish brush cleaning unit set up in 8 belly belows in the robot bottom plate, fan recovery module 3 is located 8 belly tops in the robot bottom plate, thereby realize that corrosives such as iron rust are directly retrieved after the steel structure surface cleaning, combine clearance and recovery, the efficiency of the cleaning operation is improved, improve the operational environment of robot simultaneously. Meanwhile, the utility model adopts a framework of permanent magnet gap type adsorption, differential movement of double driving wheels and auxiliary support of a single driven wheel to adsorb on the surface of a steel structural member, uses a stainless steel wire disc brush structure which is directly driven by a motor and buffered by a spring 28 to clean the surface, and realizes the rapid recovery of corrosive substances such as rust and the like by a high-efficiency fan, a sealed row brush and a recyclable filter bag. Nonrust steel wire dish brush clearance module 6 is located this wall climbing robot's belly, offsets clearance operation reaction force through just reversing, realizes high-efficient surface cleaning. The fan recovery module 3 is used for recovering corrosive substances such as rust generated by cleaning. The control unit 4 is used for realizing the motion control of the wall-climbing robot on the wall surface of the large-scale steel structural member and the adjustment of cleaning parameters of the stainless steel wire disc brush cleaning module 6, combining the wall-climbing robot with the surface cleaning equipment, realizing the surface cleaning of the large-scale steel structural member, effectively improving the surface cleaning work efficiency of the large-scale steel structural member, improving the working environment of workers and improving the safety and reliability of work.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A surface cleaning operation wall-climbing robot suitable for large steel structural members is characterized by comprising a motion platform, a yoke type permanent magnet gap adsorption device, a stainless steel wire disc brush cleaning module, a fan recovery module and a control unit;
the motion platform comprises a robot bottom plate, a motion driving wheel module and a motion driven wheel module, wherein the motion driving wheel module and the motion driven wheel module are both arranged on the lower surface of the robot bottom plate, the motion driving wheel module is positioned at the front end of the robot bottom plate, and the motion driven wheel module is positioned at the rear end of the robot bottom plate;
the yoke type permanent magnet gap adsorption device is arranged on the lower surface of the robot bottom plate and is used for providing magnetic adsorption force;
the stainless steel wire disc brush cleaning module is arranged on the lower surface of the robot bottom plate and used for cleaning the inner wall surface and the outer wall surface of the large steel structural member;
the fan recovery module is arranged on the upper surface of the robot bottom plate and used for recovering sundries generated after the stainless steel wire disc brush cleaning module is cleaned;
the control unit is arranged on the upper surface of the robot bottom plate and used for controlling the motion driving wheel module, the stainless steel wire disc brush cleaning module and the fan recovery module.
2. The wall-climbing robot suitable for surface cleaning operation of large steel structural members according to claim 1, wherein the motion driving wheel module comprises two driving wheel units, the two driving wheel units are respectively and fixedly arranged at two top corners of the front end of the lower surface of the robot bottom plate, and the two driving wheel units are symmetrically arranged about a central axis of the robot bottom plate;
each driving wheel unit comprises a driving wheel shaft, a driving wheel, a deep groove ball bearing, a bearing support, a speed reducer, a coupler, a motor support and a driving motor;
the motor support, the bearing support and the speed reducer are all fixedly arranged on the lower surface of the robot bottom plate, the driving motor is fixedly arranged on the motor support, and the output end of the driving motor is fixedly connected with the input end of the speed reducer through the coupler;
the deep groove ball bearing is arranged in the bearing support, one end of the driving wheel shaft is fixedly connected with the output end of the speed reducer, the deep groove ball bearing is arranged on the driving wheel shaft, and the driving wheel is fixedly arranged at the other end of the driving wheel shaft;
the driving wheel is positioned on the inner side of the speed reducer;
the speed reducer is a worm gear speed reducer.
3. The wall-climbing robot for surface cleaning operation of large steel structural members according to claim 2, wherein the number of the motion driven wheel modules is one;
the motion driven wheel module is fixedly arranged in the middle of the rear end of the lower surface of the robot bottom plate, the motion driven wheel module is positioned on the central axis of the robot bottom plate, and the two driving wheel units and one motion driven wheel module are arranged in a triangular mode;
the motion driven wheel module comprises a driven wheel fixing support, a connecting support, a driven wheel rotating shaft, a driven wheel shaft, a first yoke iron plate, a permanent magnet and two driven wheels;
the driven wheel fixing support is fixedly arranged on the lower surface of the robot bottom plate, the driven wheel rotating shaft is vertically and rotatably arranged in the driven wheel fixing support, the driven wheel rotating shaft is connected with the driven wheel shaft through the connecting support, the two driven wheels are respectively arranged at two ends of the driven wheel shaft, the first yoke iron plate and the permanent magnet are both arranged on the driven wheel shaft, the permanent magnet is fixedly arranged on the first yoke iron plate, and the permanent magnet is positioned between the two driven wheels;
and a bearing is arranged in the driven wheel fixing support to be in clearance fit with the driven wheel rotating shaft so as to realize the vertical rotation of the driven wheel rotating shaft.
4. The wall-climbing robot for surface cleaning operation of large steel structural members according to claim 3, wherein the number of the yoke type permanent magnet gap adsorption devices is two, the two yoke type permanent magnet gap adsorption devices are symmetrically arranged about a central axis of the robot bottom plate, the two yoke type permanent magnet gap adsorption devices are positioned between the two driving wheels, and the two yoke type permanent magnet gap adsorption devices and the driving wheels are positioned on the same horizontal line;
each yoke iron type permanent magnet gap adsorption device comprises an adsorption unit gap adjusting vertical rod, a yoke iron plate steering shaft, two fixing supports, a second yoke iron plate, a permanent magnet adsorption body, a nut and a shaft support;
the robot bottom plate is provided with an adjusting hole, one end of the adsorption unit gap adjusting vertical rod is provided with a thread, the shaft support is fixedly arranged on the lower surface of the robot bottom plate, one end of the adsorption unit gap adjusting vertical rod sequentially penetrates through the shaft support and the adjusting hole and is fixedly connected with the nut, the adsorption unit gap adjusting vertical rod is in threaded connection with the shaft support, and the nut is positioned on one side of the upper surface of the robot bottom plate;
the other end of the adsorption unit gap adjusting vertical rod is fixedly connected with the second yoke plate steering shaft, two ends of the yoke plate steering shaft are respectively fixedly connected with two fixing supports, the two fixing supports are fixedly arranged on one side surface of the second yoke plate, and the permanent magnetic adsorbent is fixedly arranged on the other side surface of the second yoke plate;
the volume of the large-scale steel structural member is more than 3000m3；
The air gap between the yoke iron type permanent magnet gap adsorption device and the large-scale steel structural member is 5-20 mm.
5. The surface cleaning operation wall-climbing robot suitable for the large-scale steel structural member is characterized in that the stainless steel wire disc brush cleaning module comprises two disc brush cleaning units;
the two disc brush cleaning units are fixedly arranged on the lower surface of the robot bottom plate, and each disc brush cleaning unit comprises a cleaning motor fixing support, a cleaning driving motor, a flange, a sleeve, an output shaft, a stainless steel wire brush, a spring and a sliding block;
the cleaning motor fixing support is fixedly arranged on the lower surface of the robot bottom plate, and the cleaning driving motor is fixedly arranged on the cleaning motor fixing support;
one side of the flange is fixedly connected with the output end of the cleaning driving motor, and the other side of the flange is fixedly connected with the sleeve;
the spring and the sliding block are both arranged in the sleeve, the spring is positioned between the flange and the sliding block, two ends of the spring are respectively contacted with the flange and the sliding block, the sliding block is connected with the inner wall of the sleeve in a sliding manner, one end of the sleeve is provided with an output hole, one end of the output shaft is positioned in the sleeve, one end of the output shaft is fixedly connected with the sliding block, and the other end of the output shaft penetrates through the output hole and is fixedly connected with the stainless steel wire brush;
one side of the flange is provided with a hole and is fixedly connected with the output end of the cleaning driving motor through screws, and the other side of the flange is fixedly connected with the sleeve through four screws;
a boss with the diameter of 14mm and the height of 2mm is arranged on the other side of the flange, the boss is inserted into the other end of the sleeve and is fixedly connected with the sleeve, and one end of the spring is fixedly connected with the boss;
the sliding block and one end of the output shaft are fixed through a screw, and the sliding block and the output shaft are both made of 304 stainless steel;
the sliding block is in clearance fit with the inner wall of the sleeve, and the sliding block can slide up and down along the inner wall of the sleeve by 6-8 mm;
the cross section shapes of the output shaft and the output hole are both square, and the output shaft and the output hole are in clearance fit.
6. The surface cleaning operation wall-climbing robot suitable for the large-scale steel structural member as claimed in claim 1, wherein the fan recovery module comprises a recovery fan, a recovery hose, a recovery box, a recovery filter bag, a sealing box and a sealing row brush;
the sealing box is fixedly arranged on the lower surface of the robot bottom plate, the sealing box is rectangular and is provided with a hole in the middle, the stainless steel wire disc brush cleaning module is positioned in the hole of the sealing box, the sealing row brush is arranged on the sealing box, and the sealing row brush is arranged around the stainless steel wire disc brush cleaning module;
the recovery box is fixed to be set up the upper surface of robot bottom plate, just it is equipped with the recovery hose mounting hole to retrieve the box both ends, it sets up to retrieve the filter bag in the recovery box, it sets up to retrieve the fan the upper surface of robot bottom plate, it passes to retrieve the hose mounting hole with the seal box with it all connects to retrieve the box, it is used for realizing to retrieve the fan debris are in the seal box retrieve the hose with flow in the recovery box.
7. The wall-climbing robot suitable for surface cleaning operation of large steel structural members according to claim 1, further comprising a vision sensing module, wherein an embedded processor and an embedded core controller are arranged in the control unit;
the vision sensing module is electrically connected with the control unit, and is used for acquiring image information in front of the surface cleaning operation wall-climbing robot and feeding the image information back to the embedded processor for processing, and the embedded core controller controls the surface cleaning operation wall-climbing robot to work according to a processing result of the embedded processor.
8. The surface cleaning operation wall-climbing robot suitable for the large-scale steel structural member is characterized in that the control unit comprises a motion control unit, a surface cleaning control unit, a fan recovery control unit and a visual perception unit;
the motion control unit is used for controlling the motion driving wheel module, the surface cleaning control unit is used for controlling the stainless steel wire disc brush cleaning module, the fan recovery control unit is used for controlling the fan recovery module, and the visual perception unit is used for controlling the visual perception module.
9. The surface cleaning operation wall-climbing robot suitable for the large steel structure part according to claim 4, wherein the second yoke plate is made of a common carbon structural steel material Q235 and subjected to surface blackening treatment, the permanent magnetic adsorption body is made of a rare earth permanent magnetic material neodymium iron boron, the brand of the permanent magnetic adsorption body is 40-52, and the permanent magnetic adsorption body is magnetized in the thickness direction;
the second yoke plate steering shaft is provided with a fixing hole, the other end of the adsorption unit gap adjusting vertical rod is inserted into the fixing hole to be fixedly connected with the second yoke plate steering shaft, and the fixing support is fixedly connected with the second yoke plate through a screw;
the magnetic circuit of the permanent magnetic adsorption body adopts a yoke iron type permanent magnet array.
10. The wall-climbing robot suitable for surface cleaning operation of large steel structural members according to claim 1, further comprising a ground console, wherein the ground console is electrically connected with the control unit;
the ground operating platform comprises an upper computer display screen, an embedded industrial personal computer and an operating rocker, wherein the embedded industrial personal computer can provide a plurality of interfaces to expand the function of the surface cleaning operation wall-climbing robot;
the upper computer display screen is used for displaying the working condition of the surface cleaning operation wall-climbing robot and can set the motion and cleaning parameters of the surface cleaning operation wall-climbing robot in real time;
the operation rocker is used for operating the motion track of the surface cleaning operation wall-climbing robot;
the motion platform still includes two handles, two the handle is fixed to be set up the upper surface of robot bottom plate, and two the handle is located the edge of robot bottom plate upper surface.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021107963185 | 2021-07-14 | ||
| CN202110796318 | 2021-07-14 |
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| CN215617243U true CN215617243U (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121622984.9U Active CN215617243U (en) | 2021-07-14 | 2021-07-16 | Surface cleaning operation wall-climbing robot suitable for large-scale steel structure |
| CN202110807205.0A Pending CN113414695A (en) | 2021-07-14 | 2021-07-16 | Surface cleaning operation wall-climbing robot suitable for large-scale steel structure |
| CN202122807069.3U Expired - Fee Related CN216232652U (en) | 2021-07-14 | 2021-11-16 | Robot suitable for steel plate surface cleaning and flaw detection operation before welding |
| CN202111358103.1A Pending CN113895532A (en) | 2021-07-14 | 2021-11-16 | Robot suitable for steel plate surface cleaning and flaw detection operation before welding |
| CN202111616191.0A Active CN114179937B (en) | 2021-07-14 | 2021-12-27 | Robot suitable for cleaning, recycling and flaw detection operation of edges of steel plates before welding |
| CN202123327472.2U Active CN216508708U (en) | 2021-07-14 | 2021-12-27 | Robot suitable for steel plate edge cleaning, recycling and flaw detection operation before welding |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110807205.0A Pending CN113414695A (en) | 2021-07-14 | 2021-07-16 | Surface cleaning operation wall-climbing robot suitable for large-scale steel structure |
| CN202122807069.3U Expired - Fee Related CN216232652U (en) | 2021-07-14 | 2021-11-16 | Robot suitable for steel plate surface cleaning and flaw detection operation before welding |
| CN202111358103.1A Pending CN113895532A (en) | 2021-07-14 | 2021-11-16 | Robot suitable for steel plate surface cleaning and flaw detection operation before welding |
| CN202111616191.0A Active CN114179937B (en) | 2021-07-14 | 2021-12-27 | Robot suitable for cleaning, recycling and flaw detection operation of edges of steel plates before welding |
| CN202123327472.2U Active CN216508708U (en) | 2021-07-14 | 2021-12-27 | Robot suitable for steel plate edge cleaning, recycling and flaw detection operation before welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN215617243U (en) * | 2021-07-14 | 2022-01-25 | 苏州荣坤智能机器科技有限公司 | Surface cleaning operation wall-climbing robot suitable for large-scale steel structure |
| CN114670945B (en) * | 2022-03-28 | 2023-08-18 | 中国铁建重工集团股份有限公司 | Wall climbing robot and wall climbing robot walking method |
| CN115320740B (en) * | 2022-07-26 | 2024-02-02 | 华中科技大学 | Ship wall surface rust removal wall climbing robot |
| CN116101396B (en) * | 2023-03-30 | 2024-10-29 | 自贡华西能源工业有限公司 | TOFD weld detection-based drum wall climbing robot and detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101531217A (en) * | 2009-04-15 | 2009-09-16 | 江苏工业学院 | Spirally driven walking robot in pipe |
| US10343276B2 (en) * | 2017-07-12 | 2019-07-09 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
| CN109530854B (en) * | 2018-11-21 | 2020-12-18 | 南通理工学院 | Semi-closed space auxiliary flaw detection, carbon planing and welding robot |
| CN111521679A (en) * | 2020-05-06 | 2020-08-11 | 京冶华诚(天津)钢结构有限公司 | Flaw detection method for steel structure |
| CN212709719U (en) * | 2020-08-10 | 2021-03-16 | 孙彩霞 | Crawler-type magnetic adsorption wall-climbing robot |
| CN215617243U (en) * | 2021-07-14 | 2022-01-25 | 苏州荣坤智能机器科技有限公司 | Surface cleaning operation wall-climbing robot suitable for large-scale steel structure |
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2021
- 2021-07-16 CN CN202121622984.9U patent/CN215617243U/en active Active
- 2021-07-16 CN CN202110807205.0A patent/CN113414695A/en active Pending
- 2021-11-16 CN CN202122807069.3U patent/CN216232652U/en not_active Expired - Fee Related
- 2021-11-16 CN CN202111358103.1A patent/CN113895532A/en active Pending
- 2021-12-27 CN CN202111616191.0A patent/CN114179937B/en active Active
- 2021-12-27 CN CN202123327472.2U patent/CN216508708U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN216232652U (en) | 2022-04-08 |
| CN113895532A (en) | 2022-01-07 |
| CN113414695A (en) | 2021-09-21 |
| CN216508708U (en) | 2022-05-13 |
| CN114179937A (en) | 2022-03-15 |
| CN114179937B (en) | 2024-07-26 |
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