LU101701B1 - Wall climbing-type rust removing device - Google Patents

Wall climbing-type rust removing device Download PDF

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Publication number
LU101701B1
LU101701B1 LU101701A LU101701A LU101701B1 LU 101701 B1 LU101701 B1 LU 101701B1 LU 101701 A LU101701 A LU 101701A LU 101701 A LU101701 A LU 101701A LU 101701 B1 LU101701 B1 LU 101701B1
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LU
Luxembourg
Prior art keywords
gear
rotating shaft
link
component
plate
Prior art date
Application number
LU101701A
Other languages
German (de)
Inventor
Ping Liu
Original Assignee
Univ Anhui Sci & Technology
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Publication of LU101701B1 publication Critical patent/LU101701B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
    • B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
    • B24C1/086—Descaling; Removing coating films
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C11/00—Selection of abrasive materials or additives for abrasive blasts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
    • B24C7/0007—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a liquid carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23G—CLEANING OR DE-GREASING OF METALLIC MATERIAL BY CHEMICAL METHODS OTHER THAN ELECTROLYSIS
    • C23G3/00—Apparatus for cleaning or pickling metallic material

Abstract

The present invention relates to the technical field of ship wall rust removal, in particular to a wall climbing-type rust removing device; the present invention provides a wall climbing-type rust removing device, in which a servo motor is used to drive a leg structure to move, and the walking state of a four-legged animal is simulated, so that the device actively crawls on the wall; the switching component and the adjusting component cooperate, realizing the functions of rust removal and device reversal through the cooperation switching of different components; a rack is also reciprocated to realize the back and forth swing of a bracket, realizing large-scale rust removal work, and completing safe and efficient rust removal.

Description

WALL CLIMBING-TYPE RUST REMOVING DEVICE lu101701 |
[0001] The present invention relates to the technical field of ship wall rust removal, in 5 particular to a wall climbing-type rust removing device. | BACKGROUND |
[0002] The shipbuilding industry has played a decisive role in the development of the national | economy, and the rust removal of large ships is the top priority of the shipbuilding industry. | However, more than 90% of the existing ship rust removing methods remove rust by manual | hand-held spray guns, and use copper slag to impact the ship wall to clean the rust. However, | this method has many problems. The rust removal cost is high, the environmental pollution is | serious and the efficiency is low. The above reasons seriously restrict the development of | China's shipbuilding industry. Therefore, the existing ship rust removing technology needs to be | improved. |
[0003] In view of the above problems, this present invention proposes to use a wall-climbing ' robot instead of a manual high-pressure water cleaning module to carry out ship wall rust | removal, so that rust can be safely and efficiently removed. :
[0004] (1) Technical problem to be solved |
[0005] The object of the present invention is to overcome the shortcomings of the prior art, | and to provide a wall climbing-type rust removing device. |
[0006] (2) Technical solution : | 100071 A climbing-type rust removing device comprises a top frame component, a front | walking component, a rear walking component, a rust removing component, an adjusting | component and a switching component; |
[0008] the front walking component and the rear walking component have the same structure, | and are respectively provided at the front and rear ends of the top frame component; the rust | removing component, the adjusting component and the switching component are sequentially provided on the top frame component along the length direction; the switching component cooperates with the rust removing component through the adjusting component.
[0009] Preferably, the top frame component comprises a top plate, a rotating shaft box, a motor base, a housing, and an inserting rod:
ET
[0010] a rotating shaft box is respectively provided at the front and rear ends of the top plate; 1u101701 | a motor base is provided at the top of the top plate; a housing is provided at the bottom; and an | inserting rod is provided at the bottom end of the housing. ;
[0011] Preferably, the rear walking component comprises a first servo motor, a small pulley, a ; transmission belt, a large pulley, a first rotating shaft, a second rotating shaft, and a leg : structure; °
[0012] the first servo motor is provided at the top of the rotating shaft box; a first rotating | shaft and a second rotating shaft are provided inside the rotating shaft box at intervals from | front to back; both ends of the first rotating shaft and second rotating shaft protrude from the | rotating shaft box, and the same ends are also connected by the leg structure. |
[0013] Preferably, the leg structure comprises a rocker, a first link, a second link, a third link, | a fourth link, a fifth link, and a magnetic bottom plate; .
[0014] the outer end of the first rotating shaft is connected to one end of the rocker, and the | other end of the rocker is hinged to the top of the fifth link; the first rotating shaft is also hinged . to the top of the first link, the first link is located inside the rocker; the outer end of the second A rotating shaft is hinged to the top end of the third link, the bottom end of the first link is hinged | to one end of the second link, the other end of the second link is hinged to the bottom end of the | third link; the bottom end of the first link is also hinged to the top end of the fourth link, the Ë bottom end of the fourth link is hinged to the rear section of the magnetic bottom plate, the .
middle section of the fifth link is hinged to the bottom end of the third link; and the bottom end | of the fifth link is hinged to the front section of the magnetic bottom plate. 5
[0015] Preferably, the initial positions of the two leg structures of the front walking | component are different, the initial positions of the two leg structures of the rear walking | component are also different; the two leg structures on the left are in the same motion state, the ; two leg structures on the right are in the same motion state; the two leg structures on the left are | lifted, the two leg structures on the right are dropped; the two leg structures on the left are | dropped, and the two leg structures on the right are lifted. |
[0016] Preferably, the switching component comprises a second servo motor, a coupler, a | second screw, a moving nut, a link, a claw, a sixth rotating shaft, a dial, a fourth gear, a disc, a | shaft sleeve, a fifth gear, a sixth gear, a seventh gear and a third servo motor; |
[0017] the front section of the motor base is provided with a second servo motor, the output | end of the second servo motor extends downward and is connected to the second screw through | a coupler, the bottom end of the second screw rotates the bottom of the housing; a moving nut is | screwed to the second screw, the moving nut is rearwardly connected with a claw through a link; | the rear side of the second screw is provided with a sixth rotating shaft; the top end of the sixth | rotating shaft is rotatably connected with the top plate, the bottom end is rotatably connected 1u101701 ; with the bottom of the housing; a fourth gear is provided at the top of the sixth rotating shaft; a | shaft sleeve is sleeved on the sixth rotating shaft, a spline is provided between the inside of the ' shaft sleeve and the sixth rotating shaft; the shaft sleeve is provided with a disc, a dial, a fifth . gear and a sixth gear in order from top to bottom; the claw extends below the dial and envelops | the shaft sleeve; the rear section of the motor base is provided with a third servo motor, the | output end of the third servo motor passes through the top plate and is connected with the | seventh gear, and the seventh gear and the fourth gear cooperate. |
[0018] Preferably, the adjusting component comprises an installing frame, a fourth rotating | shaft, a beam barrel, a sheave, a second gear, a turntable, a pin rod, a moving plate, a first / slotted hole, a second slotted hole, a rack, a limiting screw, a fifth rotating shaft, a third gear, a / magnetic supporting plate, a first screw, a moving block and a jack; '
[0019] the installing frame is U-shaped, both sides thereof are fixed to the inner wall of the : housing; a moving plate is provided above the bottom of the installing frame, the bottom surface | of the moving plate is in sliding contact with the installing frame; the second slotted holes are | symmetrically provided on the left and right parts of the moving plate, the second slotted hole is : provided with a limiting screw, the bottom end of the limiting screw is fixed on the installing . frame, the limiting screw is provided with a fixing nut, and the fixing nut is closely attached to A the moving plate; the middle part of the moving plate is provided with a first slotted hole; the | rear side of the moving plate is provided with a rack; a fourth rotating shaft is provided above ) the moving plate, the top of the fourth rotating shaft is rotatably connected to the top plate; the | bottom end of the fourth rotating shaft is provided with a second gear and a turntable, the ] second gear is provided above the turntable; the upper section of the fourth rotating shaft is | sleeved in the beam barrel, the top end of the beam barrel is fixedly connected to the top plate, a | sheave is provided at the bottom end of the beam barrel; a pin rod is provided eccentrically at | the bottom surface of the turntable, and the pin rod is cooperated with the first slotted hole; |
[0020] a first screw is provided below the installing frame, the top end of first screw is fixedly | connected to the installing frame, a third gear is provided on the first screw; the lower section of | the first screw is screwed to the moving block, jacks are provided at both sides of the top of the | moving block, the jacks are cooperated with the inserting rod; and the magnetic supporting plate | is connected below the moving block. |
[0021] . Preferably, the rust removing component comprises a third rotating shaft, a first gear, a bracket, a spray pipe, a nozzle, a water tank, a high-pressure water pipe, and a fixing plate;
[0022] a first gear is cooperated on the right side of the rack, the first gear is provided on the third rotating shaft, the top end of the third rotating shaft is rotatably connected to the top plate; —" eee an inverted U-shaped bracket is connected below the first gear, the bottom of the bracket is 11101701 ; provided with a fixing plate; a water tank is provided on the fixing plate, a high-pressure water ] pipe is connected to the outside of the water tank; spray pipes are connected to both sides of the | water tank, and the spray pipe is connected to the nozzle downward, and the nozzle is fixed on | the fixing plate. ;
[0023] Preferably, when the dial and the sheave cooperate, the fifth gear and the second gear | are staggered, the sixth gear and the third gear are staggered; when the fifth gear and the second | gear cooperate, the dial and the sheave are staggered, and the sixth gear and the third gear are | staggered; when the sixth gear and the third gear cooperate, the dial and the sheave are | staggered, the fifth gear and the second gear are staggered, and the sheave and the disc | cooperate. }
[0024] Preferably, the magnetic bottom plate and the magnetic supporting plate use a à permanent magnet or an electromagnetic chuck. ;
[0025] (3) Beneficial effects Ë 10026] The present invention provides a wall climbing-type rust removing device, in which a } servo motor is used to drive a leg structure to move, and the walking state of a four-legged | animal is simulated, so that the device actively crawls on the wall; the switching component and | the adjusting component cooperate, realizing the functions of rust removal and device reversal ; through the cooperation switching of different components; a rack is also reciprocated to realize | the back and forth swing of a bracket, realizing large-scale rust removal work, and completing | safe and efficient rust removal. Ë BRIEF DESCRIPTION OF THE DRAWINGS |
[0027] In order to explain the technical solution of the embodiments of the present invention | more clearly, the drawings used in the description of the embodiments are briefly introduced | below. Obviously, the drawings in the following description are merely some embodiments | protected by the present invention. For those skilled in the art, other drawings can be obtained | according to these drawings without paying creative labor. |
[0028] FIG. 1 is a structural diagram of the device; |
[0029] FIG.2 isa structural diagram of the device from another perspective; |
[0030] FIG. 3 is a structural diagram of a top frame component; |
[0031] FIG. 4 is a structural diagram of a rear walking component; |
[0032] FIG. 5 is a structural diagram of a rust removing component, an adjusting component, and a switching component;
[0033] FIG. 6 is a structural diagram of a rust removing component, an adjusting component,
ET and a switching component from another perspective; lu101701 |
[0034] FIG. 7 is a structural diagram of a housing; |
[0035] FIG. 8 is a structural diagram of an adjusting component and a switching component; )
[0036] FIG. 9 is a structural diagram of a switching component; / 10037] FIG. 10 is a partial structural diagram of a switching component; ‘
[0038] FIG. 11 is another structural diagram of a switching component; l
[0039] FIG. 12 is a structural diagram of an adjusting component; |
[0040] FIG. 13 is a structural diagram of an adjusting component from another perspective; :
[0041] FIG. 14 is a structural diagram of a rust removing component. | 10042] In the drawings, the list of parts represented by each number is as follows: |
[0043] 1-a top frame component, 101-a top plate, 102-a rotating shaft box, 103-a motor base, | 104-a housing, 1041-an inserting rod; .
[0044] 2-a rear walking component, 201-a first servo motor, 202-a small pulley, 203-a transmission belt, 204-a large pulley, 205-a first rotating shaft, 206-a rocker, 207-a first link, ; 208-a second link, 209-a third link, 210-a fourth link, 211-a fifth link, 212-a magnetic bottom ‘ plate, 213-a second rotating shaft; ;
[0045] 3-a front walking component; ‘ Ê
[0046] 4-a rust removing component, 401-a third rotating shaft, 402-a first gear, 403-a bracket, | 404-a spray pipe, 405-a nozzle, 406-a water tank, 407-a high-pressure water pipe, 408-a fixing | plate; |
[0047] 5-an adjusting component, 501-an installing frame, 502-a fourth rotating shaft, 503-a i sheave, 504-a second gear, 505-a beam barrel, 507-a turntable, 5071-a pin rod, 508-a moving | plate, 5081-a first slotted hole, 5082-a second slotted hole, 509-a rack, 510-a limiting screw, | 511-a fifth rotating shaft, 512-a third gear, 513-a magnetic supporting plate, 514-a first screw, | 515-a moving block, 5151-a jack; |
[0048] 6-a switching component, 601-a second servo motor, 602-a coupler, 603-a second | screw, 604-a moving nut, 605-a link, 606-a claw, 607-a sixth rotating shaft, 608-a dial, 609-a fourth gear, 610-a disk, 611-a shaft sleeve, 612-a fifth gear, 614-a sixth gear, 615-a seventh gear, | 616-a third servo motor. | | oo | DESCRIPTION OF THE EMBODIMENTS |
[0049] The technical solution of the present invention will be clearly and completely | described below with reference to the accompanying drawings. Obviously, the described | embodiments are part of the embodiments of the present invention, rather than all of the | embodiments. Based on the embodiments of the present invention, all other embodiments
VE obtained by those skilléd in the art without paying creative labor shall fall within the protection [4101701 j scope of the present invention. ,
[0050] In the description of the present invention, it should be noted that if the terms such as : "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are ! present, the orientation or position relationship indicated is based on the orientation or position : relationship shown in the drawings only for the convenience of describing the present invention J and simplifying the description, rather than indicating or implying that the indicated device or ' element must have a specific orientation or must be constructed and operated in a specific Ë orientation, so it cannot be understood as a limitation to the present invention. In addition, if the | terms such as "first", "second", and "third" are present, they are used for descriptive purposes | only and cannot be interpreted as indicating or implying relative importance. |
[0051] In the description of the present invention, it should be noted that, unless specifically j stated and defined otherwise, the terms such as "installing", "linking", and "connecting" should | be understood in a broad sense. For example, they may be in a fixed connection or a detachable | connection or an integral connection; they may be in a mechanical connection or an electrical à connection; they may be in a direct connection or an indirect connection through an i intermediate medium; they may be in internal communication of two components. For those ; skilled in the art, the specific meanings of the above terms in the present invention can be ; understood as the case may be. |
[0052] Embodiment 1 ;
[0053] A wall climbing-type rust removing device comprises a top frame component 1, a | front walking component 2, a rear walking component 3, a rust removing component 4, an | adjusting component 5 and a switching component 6; |
[0054] the front walking component 2 and the rear walking component 3 have the same | structure, and are respectively provided at the front and rear ends of the top frame component 2; | the rust removing component 4, the adjusting component 5 and the switching component 6 are | sequentially provided on the top frame component 2 along the length direction; the switching | component 6 cooperates with the rust removing component 4 through the adjusting component |
5. | |
[0055] Embodiment2 | |
[0056] A wall climbing-type rust removing device comprises a top frame component 1, a front walking component 2, a rear walking component 3, a rust removing component 4, an adjusting component 5 and a switching component 6;
[0057] the front walking component 2 and the rear walking component 3 have the same ; structure, and are respectively provided at the front and rear ends of the top frame component 2; ; me the rust removing component 4, the adjusting component 5 and the switching component 6 are |u101701 sequentially provided on the top frame component 2 along the length direction; the switching | component 6 cooperates with the rust removing component 4 through the adjusting component ;
[0058] The top frame component 1 comprises a top plate 101, a rotating shaft box 102, a : motor base 103, a housing 104, and an inserting rod 1041; É
[0059] a rotating shaft box 102 is respectively fixedly connected to the front and rear ends of | the top plate 101; a motor base 103 is fixedly connected to the top of the top plate 101; a ] housing 104 is fixedly connected to the bottom; and an inserting rod 1041 is fixedly connected | to the bottom end of the housing 104. ]
[0060] Since the structure of the front and rear walking components is the same, one aspect | will be described here. '
[0061] The rear walking component 2 comprises a first servo motor 201, a small pulley 202, a | transmission belt 203, a large pulley 204, a first rotating shaft 205, a second rotating shaft 213, ) and a leg structure; ;
[0062] the first servo motor 201 is fixed at the top of the rotating shaft box 102; a first : rotating shaft 205 and a second rotating shaft 213 are provided inside the rotating shaft box 102 | at intervals from front to back; both ends of the first rotating shaft 205 and second rotating shaft 2 213 protrude from the rotating shaft box 102, and the same ends are also connected by the leg 1 structure. |
[0063] Specifically, the leg structure comprises a rocker 206, a first link 207, a second link ; 208, a third link 209, a fourth link 210, a fifth link 211, and a magnetic bottom plate 212; |
[0064] the outer end of the first rotating shaft 205 is fixedly connected to one end of the ; rocker 206, and the other end of the rocker 206 is hinged to the top of the fifth link 211; the first | rotating shaft 205 is also hinged to the top of the first link 207, the first link 207 is located / inside the rocker 206; the outer end of the second rotating shaft 213 is hinged to the top end of | the third link 209, the bottom end of the first link 207 is hinged to one end of the second link | 208, the other end of the second link 208 is hinged to the bottom end of the third link 209; the | bottom end of the first link 207 is also hinged to the top end of the fourth link 210, the bottom | end of the fourth link 210 is hinged to the rear section of the magnetic bottom plate 212, the | middle section of the fifth link 211 is hinged to the bottom end of the third link 209; and the | bottom end of the fifth link 211 is hinged to the front section of the magnetic bottom plate 212. |
[0065] In this way, the magnetic bottom plate 212 causes the device to be adsorbed on the | ship wall, activates the first servo motor 201, and drives the first rotating shaft 205 to rotate | through the transmission. The rocker 206 rotates accordingly, so that the leg hinged by several | links has a periodic movement of lifting forward and dropping afterwards, driving the magnetic |,101701 : bottom plate 212 at the bottom to be lifted or dropped, similar to the limbs, and achieving a | stepped straight walking motion on the wall. |
[0066] It should be noted here that because the device needs to walk, it is required that the à initial positions of the two leg structures of the front walking component 3 are different, the : initial positions of the two leg structures of the rear walking component 2 are also different; the : two leg structures on the left are in the same motion state, and the two leg structures on the right f are in the same motion state; |
[0067] Specifically, the two leg structures on the left are lifted, correspondingly, the two leg | structures on the right are dropped; the two leg structures on the left are dropped, and A correspondingly, the two leg structures on the right are lifted to achieve moving forward. 7
[0068] The switching component 6 comprises a second servo motor 601, a coupler 602, a | second screw 603, a moving nut 604, a link 605, a claw 606, a sixth rotating shaft 607, a dial 7 608, a fourth gear 609, a disc 610, a shaft sleeve 611, a fifth gear 612, a sixth gear 614, a | seventh gear 615 and a third servo motor 616; |
[0069] the front section of the motor base 103 is provided with a second servo motor 601, the | output end of the second servo motor 601 extends downward and is connected to the second : screw 603 through a coupler 602, the bottom end of the second screw 603 rotates the bottom of | the housing 104; a moving nut 604 is screwed to the second screw 603, the moving nut 604 is | rearwardly connected with a claw 606 through a link 605; the rear side of the second screw 603 À is provided with a sixth rotating shaft 607; the top end of the sixth rotating shaft 607 is rotatably | connected with the top plate 101, the bottom end is rotatably connected with the bottom of the | housing 104; a fourth gear 609 is provided at the top of the sixth rotating shaft 607; a shaft | sleeve 610is sleeved on the sixth rotating shaft 607, a spline is provided between the inside of | the shaft sleeve 610 and the sixth rotating shaft 607 to limit the direction; the shaft sleeve 610 is | provided with a disc 610, a dial 608, a fifth gear 612 and a sixth gear 614 in order from top to | bottom; the claw 606 extends below the dial 608 and envelops the shaft sleeve 610; the rear | section of the motor base 102 is s fixedly installed with a third servo motor 616, the output end / of the third servo motor 616 passes through the top plate 101 and is connected with the seventh | gear 615, and the seventh gear 615and the fourth gear 609 cooperate. |
[0070] Specifically, the second servo motor 606 drives the second screw 603 to rotate, so that | the moving nut 604 moves up and down, and the claw 606 drives the shaft sleeve to move up | and down, thereby realizing synchronous shifting of the disc 610, the dial 608, the fifth gear 612 / and sixth gear 614. The third servo motor 616 drives the seventh gear 615 to rotate, and the | fourth gear 609 drives the sixth rotating shaft 607 to rotate. As a power input, the shaft sleeve |
610 also rotates, and the disc 610, the dial 608, the fifth gear 612 and the sixth gear 614 rotates 13101701 | together, 1
[0071] The adjusting component 5 comprises an installing frame 501, a fourth rotating shaft | 502, a beam barrel 505, a sheave 503, a second gear 504, a turntable 507, a pin rod 5071, a ; moving plate 508, a first slotted hole 5081, a second slotted hole 5082, a rack 509, a limiting ; screw 510, a fifth rotating shaft 511, a third gear 512, a magnetic supporting plate 513, a first 1 screw 514, a moving block 515 and a jack 5151; /
[0072] the installing frame 501 is U-shaped, both sides thereof are fixed to the inner wall of / the housing 104; a moving plate 508 is provided above the bottom of the installing frame 501, / the bottom surface of the moving plate 508 is in sliding contact with the installing frame 501; the second slotted holes 5082 are symmetrically provided on the left and right parts of the | moving plate 508, the second slotted hole 5082 is provided with a limiting screw 510, the bottom end of the limiting screw 510 is fixed on the installing frame 501, the limiting screw 510 / is provided with a fixing nut, and the fixing nut is closely attached to the moving plate 508; the ı middle part of the moving plate 508 is provided with a first slotted hole 5081; the rear side of | the moving plate 508 is connected with a rack 509; a fourth rotating shaft 502 is provided above / the moving plate 508, the top of the fourth rotating shaft 502 is rotatably connected to the top / plate 102; the bottom end of the fourth rotating shaft 502 is provided with a second gear 504 / and a turntable 507, the second gear 504 is provided above the turntable 507; the upper section ; of the fourth rotating shaft 502 is sleeved in the beam barrel 505, the top end of the beam barrel ; 505 is fixedly connected to the top plate 102, a sheave 503 is provided at the bottom end of the ; beam barrel 505; a pin rod 5071 is provided eccentrically at the bottom surface of the turntable | 507, and the pin rod 5071 is cooperated with the first slotted hole 5081; |
[0073] a first screw 514 is provided below the installing frame 501, the top end of first screw | 514 is fixedly connected to the installing frame 501, a third gear 511 is provided on the first | screw 514; the lower section of the first screw 514 is screwed to the moving block 515, jacks | 5151 are provided at both sides of the top of the moving block 515, the jacks 5151 are / cooperated with the inserting rod 1041; and the magnetic supporting plate 513 is connected | below the moving block 515. | |
[0074] The rust removing component 4 comprises a third rotating shaft 401, a first gear 402, a | bracket 403, a spray pipe 404, a nozzle 405, a water tank 406, a high-pressure water pipe 407, and a fixing plate 408; |
[0075] a first gear 402 is cooperated on the right side of the rack 509, the first gear 402 is provided on the third rotating shaft 401, the top end of the third rotating shaft 401 is rotatably connected to the top plate 102; an inverted U-shaped bracket 403 is connected below the first — m m m " "nee a. 10 | gear 402, the bottom of the bracket 403 is provided with a fixing plate 408; a water tank 406 is 14101701 | provided on the fixing plate 408, a high-pressure water pipe 407 is connected to the outside of A the water tank 406; spray pipes 404 are connected to both sides of the water tank 406, and the | spray pipe 404 is connected to the nozzle 405 downward, and the nozzle 405 is fixed on the | fixing plate 408. Ë
[0076] Specifically, the synchronous shifting of the disc 610, the dial 608, the fourth gear 612, and the fifth gear 614 is realized by the switching component 6 so that the switching component É 6 is cooperated with different parts of the adjusting component on the left to complete different Ë functions. ,
[0077] When the dial 608 and the sheave 503 cooperate, the fifth gear 612 and the second = gear 512 are staggered, the sixth gear 614 and the third gear 512 are staggered; when the fifth à gear 612 and the second gear 512 cooperate, the dial 608 and the sheave 503 are staggered, and : the sixth gear 614 and the third gear 512 are staggered; when the sixth gear 614 and the third | gear 512 cooperate, the dial 608 and the sheave 503 are staggered, the fifth gear 612 and the | second gear 512 are staggered, and the sheave 503 and the disc 610 cooperate. |
[0078] 1. The front and rear walking components drive the device to move forward along the | ship wall, and the rust-removing component 4 performs rust removal. Specifically, the fifth gear | 612 and the second gear 512 cooperate. The fifth gear 512 drives the second gear 512 to rotate, | and the fourth rotating shaft 502 drives the turntable 507 to rotate. The pin rod 5071 and the first | slotted hole 5081 function, and the second slotted hole 5082 of the moving plate 508 is also | limited by the fixing screws 510 at both sides, so that the moving plate 508 reciprocates when | being driven by the turntable 507 and drives the rack 509 to move, so as to drive the first gear | 402 to rotate. The first gear 402 rotates the third rotating shaft 401 back and forth, and drives | the bracket 403 at the bottom and the fixing plate 408 to rotate back and forth. À rust remover is | injected into the high-pressure water pipe 407 and is sprayed from the nozzle 405 through the | spray pipe 404, thereby realizing a large-scale rust removal work. |
[0079] 2. When the device needs to rotate, the sixth gear 614 is first adjusted to cooperate | with the third gear 512. The sixth gear 614 drives the third gear 512 to rotate. The first screw | 514 rotates and moves the moving block 515. The moving block 515 approaches the wall | surface, so that the magnetic supporting plate 513 sucks the wall surface. The moving block 515 | continues to move toward the wall surface, so that the four leg structures of the device are I suspended. At this time, the dial 608 is adjusted to cooperate with the sheave 503. The dial 608 | takes a turn, and drives the sheave 503 to turn by 90°, thereby realizing the overall steering. |
[0080] In general, the magnetic bottom plate 212 and the magnetic supporting plate 513 use a | permanent magnet. Considering the controllability of the adsorption, the magnetic bottom plate |
212 and the magnetic supporting plate 513 may also use an electromagnetic chuck. lu101701 |
[0081] It should be noted that the above electrical components are provided with a power | source. In order to avoid redundant descriptions, they are collectively described here. )
[0082] The control method of the present invention is to automatically control by a controller. | The control circuit of the controller can be realized by simple programming by those skilled in | the art, which belongs to the common general knowledge in the art, and the present invention is , mainly used to protect mechanical devices. Therefore, the present invention will not explain the | control method and the circuit connection in detail. 3
[0083] In the description of this specification, the description with reference to the terms "an | embodiment”, "an example", "a specific example", etc. means that specific features, structures, | materials or characteristics described in combination with this embodiment or example are ; included in at least one embodiment or example of the present invention. In this specification, .
the schematic expressions of the above terms do not necessarily refer to the same embodiment | or example. Moreover, the specific features, structures, materials, or characteristics described Ë may be combined in any suitable manner in any one or more embodiments or examples. |
[0084] The preferred embodiments of the present invention disclosed above are only used to .
help explain the present invention. The preferred embodiment does not describe all the details in | detail, nor does it limit the present invention to specific embodiments. Obviously, many | modifications and changes can be made according to the contents of this specification. These .
embodiments are selected and described in this specification in order to better explain the | principles and practical applications of the present invention, so that those skilled in the art can | better understand and use the present invention. The present invention is limited only by the : claims and the full scope and equivalents thereof. :

Claims (10)

Claims lu101701 Ë WHAT IS CLAIMED IS: ;
1. À climbing-type rust removing device, wherein it comprises a top frame component, a front - walking component, a rear walking component, a rust removing component, an adjusting ° component and a switching component; | wherein the front walking component and the rear walking component have the same structure, | and are respectively provided at the front and rear ends of the top frame component; the rust | removing component, the adjusting component and the switching component are sequentially provided on the top frame component along the length direction; the switching component É cooperates with the rust removing component through the adjusting component. |
2. The climbing-type rust removing device according to claim 1, wherein the top frame | component comprises a top plate, a rotating shaft box, a motor base, a housing, and an inserting ) rod; | wherein a rotating shaft box is respectively provided at the front and rear ends of the top plate; a | motor base is provided at the top of the top plate; a housing is provided at the bottom; and an ; inserting rod is provided at the bottom end of the housing. |
3. The climbing-type rust removing device according to claim 2, wherein the rear walking 2 component comprises a first servo motor, a small pulley, a transmission belt, a large pulley, a | first rotating shaft, a second rotating shaft, and a leg structure; ' wherein the first servo motor is provided at the top of the rotating shaft box; a first rotating shaft 8 and a second rotating shaft are provided inside the rotating shaft box at intervals from front to - back; both ends of the first rotating shaft and second rotating shaft protrude from the rotating | shaft box, and the same ends are also connected by the leg structure. |
4. The climbing-type rust removing device according to claim 3, wherein the leg structure | comprises a rocker, a first link, a second link, a third link, a fourth link, a fifth link, and a | magnetic bottom plate; | wherein the outer end of the first rotating shaft is connected to one end of the rocker, and the | other end of the rocker is hinged to the top of the fifth link; the first rotating shaft is also hinged | to the top of the first link, the first link is located inside the rocker; the outer end of the second ‘ rotating shaft is hinged to the top end of the third link, the bottom end of the first link is hinged | to one end of the second link, the other end of the second link is hinged to the bottom end of the | third link; the bottom end of the first link is also hinged to the top end of the fourth link, the 4101701 | bottom end of the fourth link is hinged to the rear section of the magnetic bottom plate, the | middle section of the fifth link is hinged to the bottom end of the third link; and the bottom end | of the fifth link is hinged to the front section of the magnetic bottom plate. .
5. The climbing-type rust removing device according to claim 4, wherein the initial positions of | the two leg structures of the front walking component are different, the initial positions of the . two leg structures of the rear walking component are also different; the two leg structures on the | left are in the same motion state, the two leg structures on the right are in the same motion state; | the two leg structures on the left are lifted, the two leg structures on the right are dropped; the ; two leg structures on the left are dropped, and the two leg structures on the right are lifted. É
6. The climbing-type rust removing device according to claim 5, wherein the switching È component comprises a second servo motor, a coupler, a second screw, a moving nut, a link, a a claw, a sixth rotating shaft, a dial, a fourth gear, a disc, a shaft sleeve, a fifth gear, a sixth gear, a | seventh gear and a third servo motor; . wherein the front section of the motor base is provided with a second servo motor, the output | end of the second servo motor extends downward and is connected to the second screw through . a coupler, the bottom end of the second screw rotates the bottom of the housing; a moving nut is 0 screwed to the second screw, the moving nut is rearwardly connected with a claw through a link; . the rear side of the second screw is provided with a sixth rotating shaft; the top end of the sixth | rotating shaft is rotatably connected with the top plate, the bottom end is rotatably connected with the bottom of the housing; a fourth gear is provided at the top of the sixth rotating shaft; a . shaft sleeve is sleeved on the sixth rotating shaft, a spline is provided between the inside of the L shaft sleeve and the sixth rotating shaft; the shaft sleeve is provided with a disc, a dial, a fifth | gear and a sixth gear in order from top to bottom; the claw extends below the dial and envelops | the shaft sleeve; the rear section of the motor base is provided with a third servo motor, the . output end of the third servo motor passes through the top plate and is connected with the seventh gear, and the seventh gear and the fourth gear cooperate. |
7. The climbing-type rust removing device according to claim 6, wherein the adjusting | component comprises an installing frame, a fourth rotating shaft, a beam barrel, a sheave, a | second gear, a turntable, a pin rod, a moving plate, a first slotted hole, a second slotted hole, a | rack, a limiting screw, a fifth rotating shaft, a third gear, a magnetic supporting plate, a first 0 screw, a moving block and a jack; ;
14 | wherein the installing frame is U-shaped, both sides thereof are fixed to the inner wall of the 14101701 ) housing; a moving plate is provided above the bottom of the installing frame, the bottom surface À of the moving plate is in sliding contact with the installing frame; the second slotted holes are ' symmetrically provided on the left and right parts of the moving plate, the second slotted hole is | provided with a limiting screw, the bottom end of the limiting screw is fixed on the installing ; frame, the limiting screw is provided with a fixing nut, and the fixing nut is closely attached to | the moving plate; the middle part of the moving plate is provided with a first slotted hole; the ' rear side of the moving plate is provided with a rack; a fourth rotating shaft is provided above the moving plate, the top of the fourth rotating shaft is rotatably connected to the top plate; the : bottom end of the fourth rotating shaft is provided with a second gear and a turntable, the ) second gear is provided above the turntable; the upper section of the fourth rotating shaft is | sleeved in the beam barrel, the top end of the beam barrel is fixedly connected to the top plate, a | sheave is provided at the bottom end of the beam barrel; a pin rod is provided eccentrically at the bottom surface of the turntable, and the pin rod is cooperated with the first slotted hole; ' wherein a first screw is provided below the installing frame, the top end of first screw is fixedly Ë connected to the installing frame, a third gear is provided on the first screw; the lower section of | the first screw is screwed to the moving block, jacks are provided at both sides of the top of the | moving block, the jacks are cooperated with the inserting rod; and the magnetic supporting plate i is connected below the moving block. |
8. The climbing-type rust removing device according to claim 7, wherein the rust removing ) component comprises a third rotating shaft, a first gear, a bracket, a spray pipe, a nozzle, a water À tank, a high-pressure water pipe, and a fixing plate; | wherein a first gear is cooperated on the right side of the rack, the first gear is provided on the | third rotating shaft, the top end of the third rotating shaft is rotatably connected to the top plate; | an inverted U-shaped bracket is connected below the first gear, the bottom of the bracket is | provided with a fixing plate; a water tank is provided on the fixing plate, a high-pressure water | pipe is connected to the outside of the water tank; spray pipes are connected to both sides of the | water tank, and the spray pipe is connected to the nozzle downward, and the nozzle is fixed on | the fixing plate. |
9. The climbing-type rust removing device according to claim 8, wherein the fifth gear and the | second gear are staggered, the sixth gear and the third gear are staggered, when the dial and the | sheave cooperate; the dial and the sheave are staggered, and the sixth gear and the third gear are | staggered, when the fifth gear and the second gear cooperate;,the dial and the sheave are | staggered, the fifth gear and the second gear are staggered, and the sheave and the disc 4101701 | cooperate, when the sixth gear and the third gear cooperate. a
10. The climbing-type rust removing device according to claim 9, wherein the magnetic bottom | plate and the magnetic supporting plate use a permanent magnet or an electromagnetic chuck. | TE ET]
LU101701A 2019-06-27 2020-03-24 Wall climbing-type rust removing device LU101701B1 (en)

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