CN219598951U - Cleaning and polishing device of magnetic hull polishing robot - Google Patents

Abstract

The utility model discloses a cleaning and polishing device of a magnetic hull polishing robot, which comprises a chassis, wherein a cross base frame is arranged at the bottom of the chassis, two groups of traveling modules are arranged on the cross base frame, adsorption modules are arranged on two sides of the two groups of traveling modules, a plurality of groups of polishing head assemblies are further arranged at the bottom of the chassis, the polishing head assemblies are respectively arranged in spaces divided by the two groups of traveling modules, each polishing head assembly comprises a cleaning arm, a push rod assembly and a cleaning assembly, two adjacent cleaning assemblies respectively adopt a Lailo triangle cleaning brush and a round cleaning brush, and a water tank is arranged on the upper side of the chassis. The swingable polishing head assembly is utilized to enable the cleaning assembly to be attached to the ship wall, and the revolution and rotation of the Lei-Luo triangular cleaning brush can sweep out an approximately square area. While the circular cleaning brush also rotates clockwise. The four cleaning brushes are matched for cleaning, so that the cleaning area can be enlarged, and the working efficiency is improved.

Description

Cleaning and polishing device of magnetic hull polishing robot

Technical Field

The utility model particularly relates to a cleaning and polishing device of a magnetic hull polishing robot.

Background

In recent years, with the development of global economy, the ship building industry has a great influence on the shipbuilding industry in the aspects of transnational transportation, ocean development, national defense construction and the like. In the process of ship construction and maintenance, welding seams, rust and the like on the wall surface of the ship body need to be polished. At present, the polishing operation of the ship bulkhead is usually completed manually, and the following problems exist: (1) The working environment is bad, and sparks and dust harm the health of workers; (2) The technical proficiency of workers is different, and the polishing quality is uneven; and (3) the automation degree is low, and the production efficiency is low.

With the development of robot technology, the robot polishing technology is introduced into the polishing operation of the ship cabin. The robot has the advantages of good repeatability, high efficiency, good environmental adaptability and the like, and can well complete the repetitive work in a severe working environment. As in chinese patent CN115367074a, an adaptive crawler wall climbing robot for polishing a wall of a ship and a control method thereof are disclosed, which uses a permanent magnet to form a crawler, and uses the crawler to drive the robot to crawl on the wall of the ship and polish, but the polishing range is small, resulting in too long polishing time and easy omission.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide a cleaning and polishing device of a magnetic hull polishing robot.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a clean grinding device of magnetic attraction formula hull polishing robot, its includes the chassis, the chassis bottom is equipped with the cross bed frame, be equipped with two sets of walking modules on the cross bed frame, the both sides of two sets of walking modules all are provided with the adsorption module, the chassis bottom still is equipped with multiunit polishing head subassembly, the polishing head subassembly is arranged in the space of cutting apart by two sets of walking modules respectively, the polishing head subassembly includes cleaning arm, push rod subassembly and cleaning element, cleaning arm one end and cross bed frame hinge setting, push rod subassembly sets up between cleaning arm and the cross bed frame, and its both ends are articulated with cross bed frame and cleaning arm respectively and set up, cleaning element then sets up the other end at cleaning arm, and two adjacent cleaning element adopts the clean brush of Lai triangle-shaped respectively, and wherein the cleaning element that adopts the clean brush of Lai triangle-shaped to adopt still including setting up on the cleaning arm revolution motor, with the rotatory motor linkage of revolution motor, the chassis upside is equipped with the water tank.

The rotation rate of the revolution motor and the rotation motor is 3:1.

an extension arm is arranged between the cleaning component and the cleaning arm, wherein the length of the extension arm of the cleaning component adopting the Lei-Luo triangle cleaning brush is longer than that of the extension arm of the cleaning component adopting the round cleaning brush.

The walking module comprises two sliding blocks and connecting rods, wherein the sliding blocks and the connecting rods are arranged on the upper side of the cross base frame, the two sliding blocks are arranged on the cross base frame in a sliding manner, and the two sliding blocks are connected into a whole through the connecting rods; the cross bed frame is also provided with a rack, any sliding block is provided with a traveling motor, the traveling motor is connected with a traveling gear in a driving way, and the traveling gear is meshed with the rack.

Guide rods distributed in a cross shape are arranged above the cross base frame in parallel, and the sliding blocks are in sliding fit with the guide rods.

The adsorption module comprises a lifting assembly and an adsorption assembly arranged at the end part of the lifting assembly, and the lifting assembly and the adsorption assembly are connected in a universal mode.

The lifting assembly comprises a lifting rod, a driving gear, a transmission gear and a lifting motor, wherein the lifting rod is arranged on a sliding block of the walking module in a sliding manner, teeth are formed on the side edges of two sides of the lifting rod, the driving gear and the transmission gear are respectively arranged on two sides of the lifting rod and meshed with the lifting rod, and the lifting motor is fixedly arranged on the sliding block and is in driving connection with the driving gear.

The transmission gears are 2, and the driving gears and the 2 transmission gears are distributed in a triangular shape.

The adsorption component adopts electromagnetic adsorption.

The utility model has the beneficial effects that: the swingable polishing head assembly is utilized to enable the cleaning assembly to be attached to the ship wall, and the revolution and rotation of the Lei-Luo triangular cleaning brush can sweep out an approximately square area. While the circular cleaning brush also rotates clockwise. The four cleaning brushes are matched for cleaning, so that the cleaning area can be enlarged, and the working efficiency is improved.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2-3 are schematic structural views of the walking module, the adsorption module and the polishing head module according to the present utility model.

Fig. 4 is a partial schematic view of a sanding head module of the present utility model.

Fig. 5 is a front view of the walking module and the adsorption module of the present utility model.

Fig. 6 is a schematic diagram of the structure at A-A in fig. 5.

Fig. 7 is an enlarged schematic view at E in fig. 6.

Fig. 8 is a schematic diagram of the structure at B-B in fig. 5.

Fig. 9 is a schematic view of the polishing area of the lehr triangle cleaning brush.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

As shown in the figure, the utility model discloses a cleaning and polishing device of a magnetic hull polishing robot, which comprises a chassis 1, wherein a cross base frame 21 is arranged at the bottom of the chassis, the cross base frame 21 is provided with four arms, the front ends of the arms are fixedly connected with the chassis through a guide rail cover 14, a certain interval exists between the cross base frame and the chassis, a walking module is convenient to install between the cross base frame and the chassis, a plurality of arc grooves are formed in the chassis, the integral weight is reduced, a plurality of mounting holes are formed in the chassis and are used for fixedly installing other accessories.

The novel multifunctional mechanical polishing device is characterized in that two groups of traveling modules are arranged on the cross base frame 21, adsorption modules are arranged on two sides of the two groups of traveling modules, a plurality of groups of polishing head assemblies 5 are further arranged at the bottom of the chassis, the polishing head assemblies are respectively arranged in spaces divided by the two groups of traveling modules, each polishing head assembly comprises a cleaning arm 51, a push rod assembly 52 and a cleaning assembly, one end of each cleaning arm is hinged to the cross base frame, each push rod assembly is arranged between the cleaning arm and the cross base frame, two ends of each push rod assembly are respectively hinged to the cross base frame and the cleaning arm, each push rod assembly 52 can adopt an electric push rod, the cleaning arms swing relative to a hinge point through extending and locking the push rod, the cleaning assemblies are further controlled to contact or not contact with a ship wall, subsequent movement is facilitated, each cleaning assembly is arranged at the other end of each cleaning arm, each two adjacent cleaning assemblies are respectively provided with a Lai triangle cleaning brush 57 and a round cleaning brush 58, each cleaning assembly which is provided with a Lai triangle cleaning brush further comprises a revolution motor 54 arranged on the cleaning arm, a rotating motor 55 which is in linkage with a shaft of the Lai triangle cleaning brush, and the rotating motor, the rotating motor is arranged on the rotating motor in linkage mode, the rotating speed of the Lai triangle cleaning brush and the rotating motor is matched with the rotating speed of the rotating bracket 11, and the rotating speed of the rotating bracket 3 is matched with the rotating speed of the rotating bracket 3. 1. Furthermore, the characteristic that the Lailo triangle cleaning brush is a fixed-width curve is utilized, and the rotation center of the cleaning brush can be offset from the geometric center through the support in the device. Such rotation may cause the cleaning brush to sweep out an approximately square area. Therefore, rectangular corners which cannot be reached by the common disc-shaped cleaning brush can be cleaned, and the problem of dead angles in cleaning and polishing is solved. Wherein the revolution motor rotates counterclockwise and the rotation motor rotates clockwise.

As shown in fig. 9, red dots in the drawing are rotating motor shafts, gray dots are fixed revolution motor shafts, blue lyocell triangles are cleaning brushes, and black frames are polishing areas.

The length of the extension arm of the cleaning component adopting the Lailo triangle cleaning brush is longer than that of the extension arm of the cleaning component adopting the round cleaning brush, and the four cleaning brushes are matched with each other, so that the cleaning polishing device of the magnetic hull polishing robot can polish and clean a larger range.

The walking modules 2 are provided with two groups and are arranged at the bottom of the chassis 1, and the two groups of walking modules 2 are in cross-shaped cross arrangement. Each group of walking modules 2 comprises two sliding blocks 22 and connecting rods 23, wherein the two sliding blocks 22 are arranged on the cross base frame 21 in a sliding manner, and the two sliding blocks 22 are connected into a whole through the connecting rods 23; the cross base frame 21 is further provided with 4 racks 24, wherein the 4 racks are respectively arranged on four arms of the cross base frame, one sliding block 22 is provided with a traveling motor 25, the traveling motor 25 is in driving connection with a traveling gear 26, and the traveling gear 26 is meshed with the racks 24. The traveling gear 26 is driven to rotate in the forward and reverse directions by the traveling motor 25, and the sliding block 22 slides back and forth along the cross base frame 21 by means of transmission cooperation between the traveling gear 26 and the rack 24. Compared with the structure of a conventional synchronous belt, the structure is more stable and the action is stable and reliable by adopting a gear transmission mode.

Guide rods 27 distributed in a cross shape are arranged above the cross base frames 21 in parallel, and the sliding blocks are in sliding fit with the guide rods. And the sliding block 22 is in sliding fit with the guide rod 27, and is connected through the guide rod, so that the sliding block 22 acts stably and reliably, the blocking phenomenon between the sliding block and the cross base frame 21 is avoided, and the action is smooth and reliable.

The adsorption module comprises a lifting assembly 3 and an adsorption assembly 4 arranged at the end part of the lifting assembly 3, the lifting assembly 3 and the adsorption assembly 4 are connected in a universal mode, each group of adsorption modules are independently controlled, the adsorption module can adapt to rugged wall surfaces with small drop, and meanwhile the adsorption assembly 4 can be adjusted in a certain angle through the universal connection, so that the adsorption module can adapt to wall surfaces with different radians.

The lifting assembly 3 comprises a lifting rod 31, a driving gear 32, a transmission gear 33 and a lifting motor 34, wherein the lifting rod 31 is arranged on the sliding block 22 in a sliding manner, teeth are formed on the side edges of two sides of the lifting rod, the driving gear 32 and the transmission gear 33 are respectively arranged on two sides of the lifting rod 31 and meshed with the lifting rod 31, and the lifting motor 34 is fixedly arranged on the sliding block 22 and is in driving connection with the driving gear 32.

The driving gear 32 is used for power transmission, the driving gear 32 is driven to rotate by the lifting motor 34, and the driving gear 32 is matched with the lifting rod 31 in a transmission manner, so that lifting action of the driving gear 32 can be realized. The number of the driving gears 33 is 2, the driving gears 32 and the 2 driving gears 33 are distributed in a triangle, and mainly provide positioning and guiding functions, so as to ensure the linear lifting action of the lifting rod 31.

The adsorption unit 4 preferably employs electromagnetic adsorption, but may employ vacuum adsorption.

The specific operation is as follows:

setting two groups of walking modules, wherein one group is a transverse walking module and comprises walking modules E and F, the other group is a longitudinal walking module and comprises walking modules C and D, and the walking module E comprises an a electromagnetic chuck and a b electromagnetic chuck; the walking module F comprises a c electromagnetic chuck and a d electromagnetic chuck; the walking module C comprises an e electromagnetic chuck and an f electromagnetic chuck; the walking module D comprises g electromagnetic chucks and h electromagnetic chucks.

When the wall surface is transversely walked, the 4 electromagnetic chuck e, f, g, h devices are downwards rotated by the vertical transmission motor on the walking module C, D until the surfaces of the electromagnetic chucks cling to the metal wall surface. At the moment, the e, f, g, h electromagnetic chuck is electrified, and the band-type brake is electrified to lock the vertical transmission motor, so that the robot main body is adsorbed on the wall surface.

The transverse moving motor on the walking module E forwards rotates to drive the walking module E, F to integrally move forwards through the racks, and when the transverse moving motor moves to a limited position, 4 electromagnetic chuck devices are downwards rotated through the vertical transmission motor on the walking module E, F until the surfaces of the electromagnetic chuck devices are tightly attached to the metal wall surface. At the moment, the a, b, c, d electromagnetic chuck is electrified, and the band-type brake is electrified to lock the vertical transmission motor, so that the robot main body is adsorbed on the wall surface. Then e, f, g, h electromagnetic chuck is powered off, band-type brake is powered off, and the vertical transmission motor on the walking module C, D rotates forward to move up 4 electromagnetic chuck devices.

The transverse moving motor on the walking module E reverses, and the robot main body is driven to move forwards through the rack, and when the robot main body moves to a limited position, the moving motor stops rotating. At this time, the vertical transmission motor on the slide block of the walking module C, D rotates forward to lower the 4 electromagnetic chuck devices until the surfaces of the electromagnetic chucks cling to the metal wall surface, the e, f, g, h electromagnetic chucks and the band-type brake are electrified again, and the robot main body completes transverse stepping movement.

The longitudinal stepping movement process is similar.

The examples should not be construed as limiting the utility model, but any modifications based on the spirit of the utility model should be within the scope of the utility model.

Claims (9)

1. The utility model provides a clean grinding device of magnetic attraction formula hull polishing robot, its includes chassis (1), the chassis bottom is equipped with cross bed frame (21), be equipped with two sets of walking modules on the cross bed frame, the both sides of two sets of walking modules all are provided with adsorption module, its characterized in that: the chassis bottom still is equipped with multiunit and polishes first subassembly (5), it is arranged in the space of cutting apart by two sets of walking modules respectively to polish first subassembly (5), it includes clean arm (51), push rod subassembly (52) and clean subassembly to polish first subassembly, clean arm (51) one end and cross bed frame articulated setting, push rod subassembly (52) set up between clean arm and the cross bed frame, and its both ends respectively with cross bed frame and clean arm articulated setting, clean subassembly then sets up the other end at clean arm, two adjacent clean subassemblies adopt respectively that the triangle-shaped cleaning brush of leo (57) and circular cleaning brush (58), wherein adopt the clean subassembly of triangle-shaped cleaning brush of leo still including setting up revolution motor (54) on the clean arm, with revolution motor's axle linkage rotating electrical machines (55), the triangle-shaped cleaning brush of leo links with rotating electrical machines and sets up, the chassis upside is equipped with water tank (11).

2. The cleaning and polishing device of the magnetic hull polishing robot of claim 1, wherein: the rotation rate of the revolution motor (54) and the rotation motor (55) is 3:1.

3. the cleaning and polishing device of the magnetic hull polishing robot of claim 2, wherein: an extension arm (53) is arranged between the cleaning component and the cleaning arm (51), wherein the length of the extension arm of the cleaning component adopting the Lei triangle cleaning brush is longer than that of the extension arm of the cleaning component adopting the round cleaning brush.

4. The cleaning and polishing device of the magnetic hull polishing robot of claim 1, wherein: the walking module comprises two sliding blocks (22) and connecting rods (23), wherein the sliding blocks (22) are arranged on the upper side of the cross base frame (21), the two sliding blocks (22) are arranged on the cross base frame (21) in a sliding manner, and the two sliding blocks (22) are connected into a whole through the connecting rods (23); the cross bed frame is further provided with a rack (24), any one sliding block (22) is provided with a traveling motor (25), the traveling motor (25) is connected with a traveling gear (26) in a driving mode, and the traveling gear (26) is meshed with the rack (24).

5. The cleaning and polishing device of the magnetic hull polishing robot of claim 4, wherein: guide rods (27) distributed in a cross shape are arranged above the cross base frame in parallel, and the sliding blocks (22) are in sliding fit with the guide rods (27).

6. The cleaning and polishing device of the magnetic hull polishing robot of claim 1, wherein: the adsorption module comprises a lifting assembly (3) and an adsorption assembly (4) arranged at the end part of the lifting assembly (3), and the lifting assembly (3) and the adsorption assembly (4) are connected in a universal mode.

7. The cleaning and polishing device of the magnetic hull polishing robot of claim 6, wherein: lifting assembly (3) are including lifter (31), driving gear (32), drive gear (33), elevator motor (34), lifter (31) slip sets up on slider (22) of walking module, and its both sides side all is formed with the tooth, driving gear (32) set up respectively in lifter (31) both sides with drive gear (33) to mesh with lifter (31), elevator motor (34) fixed mounting is on slider (22) to drive connection driving gear (32).

8. The cleaning and polishing device of the magnetic hull polishing robot of claim 7, wherein: the number of the transmission gears (33) is 2, and the driving gears (32) and the 2 transmission gears (33) are distributed in a triangular shape.

9. The cleaning and polishing device of the magnetic hull polishing robot of claim 6, wherein: the adsorption component (4) adopts electromagnetic adsorption.