WO2021004200A1 - 一种弧面异物清理设备 - Google Patents
一种弧面异物清理设备 Download PDFInfo
- Publication number
- WO2021004200A1 WO2021004200A1 PCT/CN2020/094092 CN2020094092W WO2021004200A1 WO 2021004200 A1 WO2021004200 A1 WO 2021004200A1 CN 2020094092 W CN2020094092 W CN 2020094092W WO 2021004200 A1 WO2021004200 A1 WO 2021004200A1
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- Prior art keywords
- swing
- support frame
- plate
- arc surface
- foreign body
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 154
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims description 84
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 230000036316 preload Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
Definitions
- the invention relates to the technical field of arc surface operations, in particular to a arc surface foreign matter cleaning equipment.
- the arc surface cleaner is a common large-scale arc surface cleaning operation mechanical device, for example, it is used to clean the sea creatures attached to the tunnel.
- the inner surface of the tunnel is theoretically arc structure, but in actual situations, such as tunnels and other arc structures There will be some non-standard arc surfaces on the surface, and the non-standard arc surfaces will affect the cleaning work of the arc surface structure by the washer.
- the existing arc surface cleaners are mostly hydraulically driven high torque low speed double disc brush cleaning equipment. When working, the disc brush is deformed to adapt to the non-standard curved surface.
- the inventor found that the existing arc surface cleaner has at least the following technical problems: in the process of cleaning arc surface foreign matter, the cleaning equipment has poor adaptability to non-standard arc surfaces, cleaning is not clean, and low efficiency. .
- the invention aims to provide a curved surface foreign body cleaning equipment, which improves the non-standard curved surface self-adaptability and the curved surface cleaning operation reliability of the curved surface foreign body cleaning equipment.
- an embodiment of the present invention provides a curved surface foreign body cleaning device, including:
- the cleaning actuator is used to clean foreign objects on the arc surface
- a positioning device connected to the cleaning actuator and used for positioning the cleaning actuator;
- the positioning device includes a moving mechanism and a flexible self-adjusting mechanism connected to the moving mechanism;
- a driving device for driving the moving mechanism to press on the arc surface with a certain pressure and move relative to the arc surface
- the flexible self-adjusting mechanism is made of flexible material, which deforms under the reaction force of the arc structure.
- the cleaning actuator is flexibly connected to the positioning device, and the cleaning actuator can move back and forth and/or left and right to a certain displacement relative to the positioning device.
- the cleaning actuator includes a supporting plate and a working blade connected to one side of the supporting plate, and the supporting plate is movably connected with the positioning device.
- the positioning device further includes a support frame, an active joint, and a connecting mechanism; wherein, one side of the support frame is provided with the moving mechanism, and the other side of the support frame is provided with the flexible self-adjusting mechanism and For the movable joint, the connecting mechanism is respectively connected with the flexible self-adjusting mechanism and the movable joint.
- the flexible self-adjusting mechanism includes a plurality of first spring elements, one end of the first spring element is connected to the connecting mechanism, the other end of the first spring element is connected to the support frame, the A plurality of first spring elements are distributed on the front, rear, left, and right sides of the connecting mechanism.
- the support frame is further provided with a pretension adjustment mechanism
- the pretension adjustment mechanism includes a plurality of second spring elements, one end of the second spring element is connected to the support plate, and the second spring The other end of the element is connected with the support frame, and the plurality of second spring elements are sequentially and equally spaced on one side of the support plate.
- the cleaning actuator further includes a front and rear swing mechanism and a left and right swing mechanism.
- the support plate, the left and right swing mechanism, the front and rear swing mechanism, and the support frame are connected in sequence, and the left and right swing mechanism is used to adjust the support.
- the plate swings left and right relative to the support frame, and the front and rear swing mechanism is used to adjust the support plate to swing back and forth relative to the support frame.
- the left and right swing mechanism includes a swing plate and a rotation shaft, the rotation shaft is disposed on the support plate, and the rotation shaft penetrates the swing plate, and the support plate passes through the The rotating shaft rotates relative to the swing plate; the forward and backward swing mechanism is connected with the swing plate.
- the front and rear swing mechanism includes a first swing element and a second swing element, the first swing element and the second swing element are hinged, and the first swing element is connected with the swing plate, The second swing element is connected with the support frame.
- a limit mechanism is provided on the support plate, a limit slot is formed between the limit mechanism and the support plate, a limit block is arranged on the swing plate, and the limit block It is accommodated in the limiting slot, and the limiting block can move relative to the supporting plate.
- Limit slot Limit slot is provided on the support plate, a limit slot is formed between the limit mechanism and the support plate, a limit block is arranged on the swing plate, and the limit block It is accommodated in the limiting slot, and the limiting block can move relative to the supporting plate.
- the embodiment of the present invention provides a curved surface foreign body cleaning equipment, including a cleaning actuator, a positioning device, and a driving device.
- the positioning device in the embodiment of the present invention includes a flexible self-adjusting mechanism and a moving mechanism.
- the flexible self-adjusting mechanism is made of a flexible material. Manufactured, it has elastic deformation ability.
- the driving device provides driving force to drive the moving mechanism of the positioning device to press on the cleaned arc surface with a certain pressure, and when the moving mechanism contacts the non-standard arc surface , The moving mechanism is subjected to the reaction force of the non-standard arc surface structure.
- the flexible self-adjusting mechanism produces deformation to buffer the reaction force of the non-standard arc surface structure, so as to realize the cleaning equipment to the non-standard arc surface in the process of cleaning the arc surface.
- the embodiment of the present invention simplifies the structure of the arc surface foreign body cleaning equipment, reduces the complexity of the control system, improves the arc surface foreign object cleaning equipment non-standard arc surface adaptive ability, and ultimately improves the reliability of the arc surface foreign object cleaning operation.
- FIG. 1 is a schematic diagram of the structure of a curved surface foreign body cleaning equipment in an embodiment of the present invention.
- Fig. 2 is a schematic diagram of the movement direction of the arc surface foreign body cleaning equipment in an embodiment of the present invention.
- FIG. 3 is a schematic diagram of the structure of the working blade and the supporting plate in an embodiment of the present invention.
- Fig. 4 is a schematic structural diagram of a positioning device in an embodiment of the present invention.
- Fig. 5 is a schematic diagram of the structure of a cleaning actuator in an embodiment of the present invention.
- Cleaning actuator 1 working blade 11, support plate 12, preload adjustment mechanism 13, front and rear swing mechanism 14, first swing member 141, second swing member 142, left and right swing mechanism 15, swing plate 151, rotation shaft 152, limiter Bit block 16, limit mechanism 17;
- Positioning device 2 moving mechanism 21, flexible self-adjusting mechanism 22, support frame 23, movable joint 24, connecting mechanism 25;
- an embodiment of the present invention provides a curved surface foreign body cleaning device, including:
- Cleaning actuator 1 used to clean foreign objects on the arc surface
- the positioning device 2 is connected to the cleaning actuator 1 and is used for positioning the cleaning actuator 1;
- the positioning device 2 includes a moving mechanism 21 and a flexible self-adjusting mechanism 22 connected to the moving mechanism 21;
- the driving device 3 is used to drive the moving mechanism 21 of the positioning device 2 to press on the arc surface with a certain pressure and move relative to the arc surface;
- the flexible self-adjusting mechanism 22 is made of a flexible material, which deforms under the reaction force of the arc structure.
- the positioning device 2 in this embodiment is used for positioning the position of the cleaning actuator 1, and the cleaning actuator 1 is installed at the front end of the positioning device 2, which is convenient for maintenance and maintenance.
- the cleaning actuator 1 is driven to move to clean the foreign matter 5 on the arc surface 4; at the same time, during the movement of the moving mechanism 21, all
- the driving device 3 provides a driving force to drive the moving mechanism 21 of the positioning device 2 to press on the cleaned arc surface with a certain pressure and make the moving mechanism 21 move relative to the cleaned arc surface.
- the movement of the positioning device 2 Refer to Figure 2 for directions.
- the arc surface foreign body cleaning equipment of this embodiment can be applied to various operating driving force forms, such as linear, step-rotating, and spiral.
- the flexible self-adjusting mechanism 22 has elastic deformation capability.
- a reaction force of the non-standard arc will act on the moving mechanism 21.
- the flexible self-adjusting mechanism 22 will be deformed.
- the non-standard curved surface is a protruding structure
- the flexible self-adjusting mechanism 22 will elastically contract.
- the flexible self-adjusting mechanism 22 is restored to its original state under the action of elastic restoring force, so that the positioning device 2 can be adaptively adjusted according to the structure of the arc surface, maintain the pressure on the arc surface, and smoothly move and clean foreign objects on the arc surface. Avoid cleaning the actuator 1 to damage the curved surface to be operated.
- the arc surface foreign body cleaning equipment provided in this embodiment has a high single-time cleaning efficiency and can be well suited for large-area non-standard arc surface cleaning.
- the moving mechanism 21 is preferably, but not limited to, a directional wheel, a universal wheel or other structural casters, and the material may be rubber or metal.
- the caster directly contacts the curved surface, and through the action of the driving device 3, it presses on the cleaned curved surface with a certain pressure during work.
- the cleaning actuator 1 and the positioning device 2 are flexibly connected, and the cleaning actuator 1 can move back and forth and/or left and right relative to the positioning device 2 to a certain displacement.
- the flexible connection in this embodiment refers to the connection through a connection component with a certain elastic deformation ability, so that the cleaning actuator 1 can be adjusted to a certain degree with respect to the positioning device 2.
- the displacement adjustment direction of the cleaning actuator 1 relative to the positioning device 2 is the front-rear direction and/or the left-right direction of the movement direction of the cleaning actuator 1.
- forward and backward directions in this embodiment are the moving directions shown by the arrows in FIG. 2.
- the cleaning actuator 1 includes a supporting plate 12 and a working blade 11 connected to one side of the supporting plate 12, and the supporting plate 12 is movably connected to the positioning device 2 .
- the working blade 11 is used for cleaning the arc-surfaced foreign matter, preferably but not limited to be processed by wear-resistant materials, and it can be installed on the front end of the support plate 12 through bolts and other connectors. .
- the working blade 11 can be designed with a corresponding anti-arc shape according to different working modes of the driving device 3.
- the positioning device 2 further includes a support frame 23, a movable joint 24, and a connecting mechanism 25; wherein, the moving mechanism 21 is provided on one side of the support frame 23, and the support The other side of the frame 23 is provided with one end of the flexible self-adjusting mechanism 22 and one end of the movable joint 24, and the connecting mechanism 25 is connected to the other end of the flexible self-adjusting mechanism 22 and the other end of the movable joint 24, respectively.
- the movable joint 24 is used to adjust the front and rear posture of the support frame 23, and the flexible self-adjusting mechanism 22 is used to adjust the front, back, left and right posture of the support frame 23.
- the non-standard arc There will be a reaction force acting on the moving mechanism 21.
- the movable joint 24 adjusts the front and rear posture of the support frame 23.
- the flexible self-adjusting mechanism 22 will adaptively contract elastically to adapt to the The adjustment of the movable joint 24 can realize the adjustment of the front and rear posture of the support frame 23; in addition, it is inevitable that there is a certain gap between the mechanical parts. Therefore, in the cleaning process of the arc surface foreign body cleaning equipment, the flexible The elasticity of the self-adjusting mechanism 22 can finely adjust the left and right posture of the support frame 23.
- the support frame 23 in this embodiment can be assembled from rectangular tubes and/or other load-bearing structures.
- the movable joint 24 includes a first movable part and a second movable part, the first movable part is connected to the connecting mechanism 25, the second movable part is connected to the support frame 23, and the first movable part It is hinged with the second movable part, so that the support frame 23 can adjust the front and back posture relative to the connecting mechanism 25 through the movable joint 24.
- the movable joint 24 is designed differently according to the effective working width of the front end cleaning actuator 1.
- a one-way hinge is selected, that is, it swings back and forth in the direction of the cleaning actuator 1;
- a custom-made cross hinge mechanism can be used, which can swing back and forth and left and right.
- the connecting mechanism 25 is used to connect the positioning device 2 and the driving device 3. Specifically, one end of the connecting mechanism 25 is connected to the support frame 23 through the movable joint 24, and the other One end is connected to the driving device 3 through a quick-change mechanism; wherein the quick-change mechanism is preferably but not limited to a mechanical bolt connection, an electro-hydraulic quick-change joint or other mechanisms with a quick-change function according to requirements.
- the flexible self-adjusting mechanism 22 includes a plurality of first spring elements, one end of the first spring element is connected to the connecting mechanism 25, and the other end of the first spring element is connected to the support frame 23
- the plurality of first spring elements are distributed on the front, rear, left, and right sides of the connecting mechanism 25.
- the flexible self-adjusting mechanism 22 is designed based on a spring mechanism. As shown in FIG. 4, the four first spring elements are evenly distributed on the movable joint 24. The swing direction is used to balance the movement of the movable joint 24 caused by the weight of the operating mechanism in the non-operating state. At the same time, under the operating conditions, under the action of external force, it can automatically expand and contract, so that the support frame 23 can be adjusted according to the change of the pressed arc surface. Front and back or left and right posture adjustment
- the support frame 23 is further provided with a pre-tension adjustment mechanism 13, and the pre-tension adjustment mechanism 13 includes a plurality of second spring elements, one end of the second spring element is connected to the The supporting plate 12 is connected, the other end of the second spring element is connected to the supporting frame 23, and the plurality of second spring elements are sequentially distributed on one side of the supporting plate 12 at equal intervals.
- one side of the preload adjusting mechanism 13 is installed above the support plate 12, and the other side is pressed against the support frame 23 of the positioning device 2 with a certain preload force.
- the pre-tightening adjustment mechanism 13 is designed based on a spring mechanism, and its force and stroke can be automatically adjusted to provide a certain pressing force for the front working blade 11 during operation.
- the working blade 11 of the cleaning actuator 1 is pressed against the arc surface with a certain pressure under the action of the preload adjustment mechanism 13, and at the same time, the posture of the cleaning actuator 1 is adjusted back and forth and left and right under the reaction of the irregular arc surface, so that The working blade 11 fits the curved surface in the best posture.
- the pressing force of the working blade 11 under the action of the pre-tightening adjustment mechanism 13 can be controlled floating within a certain range to ensure that the arc surface is not damaged during the cleaning process.
- the cleaning actuator 1 further includes a front and rear swing mechanism 14 and a left and right swing mechanism 15.
- the support plate 12, the left and right swing mechanism 15, the front and rear swing mechanism 14 and the support frame 23 are connected in sequence
- the left-right swing mechanism 15 is used to adjust the support plate 12 to swing left and right relative to the support frame 23, and the front and rear swing mechanism 14 is used to adjust the support plate 12 to swing back and forth relative to the support frame 23.
- the left-right swing mechanism 15 and the front-back swing mechanism 14 are preferably, but not limited to, hinged connections.
- the cleaning actuator 1 can adjust the front and rear, left and right postures within a certain range according to the arc structure condition during the cleaning of the arc surface foreign body.
- the left-right swing mechanism 15 includes a swing plate 151 and a rotating shaft 152.
- the rotating shaft 152 is disposed on the supporting plate 12, and the rotating shaft 152 passes through.
- the support plate 12 rotates relative to the swing plate 151 through the rotation shaft 152; the forward and backward swing mechanism 14 is connected to the swing plate 151.
- the swing plate 151 is connected to the front and rear swing mechanism 14, and the swing shaft is arranged on the support plate 12, so that the support plate 12 can rotate relative to the front and rear swing mechanism 14 and the swing plate 151 through the rotation shaft 152. Since the front and rear swing mechanism 14 is connected to the support frame 23, the front and rear swing mechanism 14, the swing plate 151 and the support frame 23 move synchronously in the left and right directions. Therefore, the support plate 12 can adjust the left and right posture relative to the support frame 23. Wherein, when the support plate 12 adjusts the left-right posture relative to the support frame 23, the preload adjustment mechanism 13 also adaptively changes the elastic expansion and contraction in the left-right direction.
- the forward and backward swing mechanism 14 includes a first swing element 141 and a second swing element 142, the first swing element 141 and the second swing element 142 are hinged, and the A swing element 141 is connected to the swing plate 151, and the second swing element 142 is connected to the support frame 23.
- the first swing element 141 is connected to the swing plate 151
- the second swing element 142 is connected to the support frame 23
- the swing plate 151 is connected to the support plate 12
- the swing plate 151 is connected to the support plate 12.
- the movement is synchronized in the front-rear direction, and therefore, the support plate 12 can adjust the front-rear posture relative to the support frame 23.
- the preload adjustment mechanism 13 also adaptively changes the elastic expansion and contraction in the front-to-back direction.
- the articulation of the first swing element 141 and the second swing element 142 is preferably but not limited to a single articulation, which is composed of two sets of deep groove ball bearings.
- a limit mechanism 17 is provided on the support plate, a limit slot is formed between the limit mechanism 17 and the support plate 12, and a limit block 16 is provided on the swing plate 151, The limiting block 16 is received in the limiting slot, and the limiting block 16 can move relative to the supporting plate 12.
- Limit slot Limit slot is provided on the support plate, a limit slot is formed between the limit mechanism 17 and the support plate 12, and a limit block 16 is provided on the swing plate 151, The limiting block 16 is received in the limiting slot, and the limiting block 16 can move relative to the supporting plate 12.
- the limiting mechanism 17 in this embodiment has four sides, two of which are opposite to the supporting plate 12 to form a seal, and the accommodating cavity of the limiting groove is opposite to the limiting block. 16 is large enough.
- the limit block 16 is accommodated in the limit slot, there is a certain gap margin between the limit block 16 and the limit slot 17, so that the support plate 12 can swing relative to the
- the plate 151 swings around the rotating shaft 152 left and right, and at the same time, its left and right swing range is restricted by the two opposite sides of the stop mechanism 17.
- the driving device 3 in the working state, the driving device 3 is driven by the rotation or linear travel to realize the cleaning of arc surface foreign bodies. During the cleaning process, the driving device 3 always outputs with constant pressure to ensure that the positioning device 2 is always pressed on the arc Surface.
- the positioning device 2 automatically adjusts the posture of the flexible self-adjusting mechanism 22 under the reaction of the arc surface, so that the sports casters are pressed on the arc surface.
- the positioning device 2 In the non-working state, the positioning device 2 is in a balanced state under the action of the flexible self-adjusting mechanism 22, the front end of the cleaning actuator 1 is restricted by the limit device of the positioning device 2, and the left and right swing is pre-tensioned. Under the action of the adjustment mechanism 13, a balanced state is reached.
- the embodiment of the present invention provides a curved surface foreign body cleaning equipment, including a cleaning actuator 1, a positioning device 2, and a driving device 3.
- the positioning device 2 in the embodiment of the present invention includes a flexible self-adjusting mechanism 22
- the moving mechanism 21, the flexible self-adjusting mechanism 22 is made of a flexible material, which has elastic deformation capability.
- the driving device 3 provides driving force to drive the moving mechanism 21 of the positioning device 2 to press against the cleaned arc surface with a certain pressure.
- the moving mechanism 21 touches the non-standard
- the moving mechanism 21 is subjected to the reaction force of the non-standard arc surface structure.
- the flexible self-adjusting mechanism 22 produces deformation to buffer the reaction force of the non-standard arc surface structure, so as to realize the cleaning process of the cleaning equipment in the arc surface foreign body Adaptive to non-standard arcs in the middle.
- the embodiment of the present invention simplifies the structure of the arc surface operation mechanism, reduces the complexity of the control system, improves the non-standard arc surface adaptive ability of the operating mechanism, and ultimately improves the reliability of the arc surface operation mechanism while ensuring the function.
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Abstract
一种弧面异物清理设备，包括：清理执行器（1），用于清理弧面上的异物；定位装置（2），其与清理执行器（1）连接，用于对清理执行器（1）进行定位；定位装置（2）包括移动机构（21）以及与移动机构（21）连接的柔性自调节机构（22）；驱动装置（3），用于驱动移动机构（21）以一定压力压在弧面上并相对于弧面运动；柔性自调节机构（22）由柔性材料制成，其在弧面结构的反作用力下产生形变。
Description
本申请要求于2019年7月10日提交中国专利局、申请号为201910623443.9、发明名称为“一种弧面异物清理设备”的中国专利申请的优先权，上述专利的全部内容通过引用结合在本申请中。
本发明涉及弧面作业技术领域，具体涉及一种弧面异物清理设备。
弧面清洗器是一种常见的大型的弧面清洗作业机械装置，例如用于隧洞附着海生物清理，其中，隧洞内表面理论上为弧面结构，但实际情况中例如隧洞等弧面结构内表面会存在一些非标准弧面，而非标准弧面影响清洗器对弧面结构的清洗工作，那么，现有弧面清洗器大多是由液压驱动的大扭矩低转速双圆盘刷清洗设备，工作时通过圆盘刷自身变形来适应非标准弧面。
在实现本发明的过程中，发明人发现现有弧面清洗器至少存在以下技术问题：弧面异物清理过程中，清理设备对于非标准弧面自适应能力差,清理不干净且效率低等问题。
发明内容
本发明旨在提供一种弧面异物清理设备，提高弧面异物清理设备的非标准弧面自适应能力和弧面清理作业可靠性。
具体地，本发明实施例提供一种弧面异物清理设备，包括：
清理执行器，用于清理弧面上的异物；
定位装置，其与所述清理执行器连接，用于对所述清理执行器进行定位； 所述定位装置包括移动机构以及与所述移动机构连接的柔性自调节机构；
驱动装置，用于驱动所述移动机构以一定压力压在弧面上并相对于所述弧面运动；
其中，所述柔性自调节机构由柔性材料制成，其在所述弧面结构的反作用力下产生形变。
在一实施例中，所述清理执行器与所述定位装置柔性连接，且所述清理执行器可相对于所述定位装置前后和/或左右运动一定位移。
在一实施例中，所述清理执行器包括支撑板以及连接于所述支撑板一侧的作业刀片，所述支撑板与所述定位装置活动连接。
在一实施例中，所述定位装置还包括支撑架、活动关节和连接机构；其中，所述支撑架一侧设置所述移动机构，所述支撑架另一侧设置所述柔性自调节机构和所述活动关节，所述连接机构分别与所述柔性自调节机构和所述活动关节连接。
在一实施例中，所述柔性自调节机构包括若干第一弹簧元件，所述第一弹簧元件一端与所述连接机构连接，所述第一弹簧元件另一端与所述支撑架连接，所述若干第一弹簧元件分布所述连接机构前后左右四个侧部。
在一实施例中，所述支撑架上还设置有预紧调节机构，所述预紧调节机构包括若干第二弹簧元件，所述第二弹簧元件一端与述支撑板连接，所述第二弹簧元件另一端与述支撑架连接，所述若干第二弹簧元件依次等间距分布于所述支撑板一侧。
在一实施例中，所述清理执行器还包括前后摆动机构和左右摆动机构，所述支撑板、左右摆动机构、前后摆动机构以及支撑架依次连接，所述左右摆动机构用于调整所述支撑板相对于所述支撑架左右摆动，所述前后摆动机 构用于调整所述支撑板相对于所述支撑架前后摆动。
在一实施例中，所述左右摆动机构包括摆动板和旋转轴，所述旋转轴设置于所述支撑板上，且所述旋转轴穿设于所述摆动板中，所述支撑板通过所述旋转轴相对于所述摆动板转动；所述前后摆动机构与所述摆动板连接。
在一实施例中，所述前后摆动机构包括第一摆动元件和第二摆动元件，所述第一摆动元件和所述第二摆动元件铰接，所述第一摆动元件与所述摆动板连接，所述第二摆动元件与所述支撑架连接。
在一实施例中，所述支撑板上设置有一限位机构，所述限位机构与所述支撑板之间形成一限位槽，所述摆动板上设置有限位块，所述限位块容纳于所述限位槽中，且所述限位块可相对于所述支撑板移动。限位槽限位槽。
本发明实施例具有以下有益效果：
本发明实施例提供一种弧面异物清理设备，包括清理执行器和定位装置以及驱动装置，其中，本发明实施例定位装置包括柔性自调节机构和移动机构，所述柔性自调节机构由柔性材料制成，其具有弹性形变能力。本发明实施例具体应用过程中，所述驱动装置提供驱动力以驱动所述定位装置的移动机构以一定压力压在已清理的弧面上，当所述移动机构接触到非标准的弧面时，移动机构受到非标准弧面结构的反作用力，此时，柔性自调节机构产生形变，以缓冲非标准弧面结构的反作用力，从而实现清理设备在弧面异物清理过程中对非标准弧面的自适应。综上，本发明实施例本简化了弧面异物清理设备的结构，降低控制系统复杂度，提高弧面异物清理设备非标准弧面自适应能力，最终提高弧面异物清理作业的可靠性。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实 施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一实施例中弧面异物清理设备结构示意图。
图2为本发明一实施例中弧面异物清理设备运动方向示意图。
图3为本发明一实施例中作业刀片及支撑板结构示意图。
图4为本发明一实施例中定位装置结构示意图。
图5为本发明一实施例中清理执行器结构示意图。
附图标记：
清理执行器1，作业刀片11，支撑板12，预紧调节机构13，前后摆动机构14，第一摆动件141，第二摆动件142，左右摆动机构15，摆动板151，旋转轴152，限位块16，限位机构17；
定位装置2，移动机构21，柔性自调节机构22，支撑架23，活动关节24，连接机构25；
驱动装置3；
弧面4；
异物5。
以下将参考附图详细说明本公开的各种示例性实施例、特征。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
另外，为了更好的说明本发明，在下文的具体实施例中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本发明同样可以实 施。在一些实例中，对于本领域技术人员熟知的手段、元件未作详细描述，以便于凸显本发明的主旨。
如图1所示，本发明实施例提供一种弧面异物清理设备，包括：
清理执行器1，用于清理弧面上的异物；
定位装置2，其与所述清理执行器1连接，用于对所述清理执行器1进行定位；所述定位装置2包括移动机构21以及与所述移动机构21连接的柔性自调节机构22；
驱动装置3，用于驱动所述定位装置2的移动机构21以一定压力压在弧面上并相对于所述弧面运动；
其中，所述柔性自调节机构22由柔性材料制成，其在所述弧面结构的反作用力下产生形变。
具体而言，本实施例中定位装置2用于对所述清理执行器1的位置进行定位，所述清理执行器1安装于所述定位装置2的前端，维护及保养方便。当所述定位装置2通过移动机构21实现相对于弧面运动过程中，带动所述清理执行器1运动以对弧面4表面的异物5进行清理；同时，在移动机构21运动过程中，所述驱动装置3提供一驱动力驱动所述定位装置2的移动机构21以一定压力压在已清理的弧面上并使得移动机构21相对于已清理的弧面运动，其中，定位装置2的运动方向可参阅图2。
其中，本实施例弧面异物清理设备可适用多样的作业驱动力形式，如直线式、步进旋转式以及螺旋式等。
其中，所述柔性自调节机构22具有弹性形变能力，在所述定位装置2运动过程中，当遇到非标准弧面的情况下，非标准弧面会有一个反作用力作用于所述移动机构21，此时，所述柔性自调节机构22会产生形变，例如非 标准弧面为一突起结构的情况，柔性自调节机构22会进行弹性收缩，待移动机构21运动通过非标准弧面之后，则柔性自调节机构22在弹性恢复力的作用下恢复至原来状态，使得定位装置2能够根据弧面结构情况进行自适应调整，保持对弧面的压力以及顺畅地在弧面上运动和清理异物，避免清理执行器1损伤待作业弧面。
基于以上内容可知，本实施例提供的弧面异物清理设备单次清理效率高，能够很好地适用于大面积非标准弧面清理。
在一实施例中，根据现场作业需求，所述移动机构21优选但不限于是定向轮、万向轮或其它结构形式的脚轮，材料可以是橡胶或金属。所述脚轮直接与弧面接触，通过驱动装置3的作用，工作时以一定的压力压于已清理好的弧面上。
在一实施例中，所述清理执行器1与所述定位装置2柔性连接，且所述清理执行器1可相对于所述定位装置2前后和/或左右运动一定位移。
具体而言，本实施例中所述柔性连接指的是通过具有一定弹性形变能力的连接部件进行连接，使得清理执行器1可以相对于定位装置2做一定地位移调整，其中，本实施例中清理执行器1相对于定位装置2的位移调整方向为清理执行器1运动方向的前后方向和/或左右方向。
需说明的是，本实施例中所述前后方向为图2箭头所示运动方向。
在一实施例中，如图3所示，所述清理执行器1包括支撑板12以及连接于所述支撑板12一侧的作业刀片11，所述支撑板12与所述定位装置2活动连接。
具体而言，在本实施例中，所述作业刀片11用于弧面异物的清理，优选但不限于采用耐磨性材料加工，其可以通过螺栓等连接件安装于所述支撑 板12的前端。
可以理解的是，所述作业刀片11可以根据驱动装置3作业形式的不同，可以进行相应的防弧形设计。
在一实施例中，如图4所示，所述定位装置2还包括支撑架23、活动关节24和连接机构25；其中，所述支撑架23一侧设置所述移动机构21，所述支撑架23另一侧设置所述柔性自调节机构22一端和所述活动关节24一端，所述连接机构25分别与所述柔性自调节机构22另一端和所述活动关节24另一端连接。
其中，所述活动关节24用于调整支撑架23前后姿态，所述柔性自调节机构22用于调整支撑架23的前后左右姿态，其中，当遇到非标准弧面的情况下，非标准弧面会有一个反作用力作用于所述移动机构21，此时所述活动关节24对支撑架23进行前后姿态调整，同时，所述柔性自调节机构22会适应性地进行弹性收缩，以适应所述活动关节24的调节，从而实现对支撑架23的前后姿态调整；此外，不可避免的，由于各机械部件之间存在一定的间隙，因此，在弧面异物清理设备清理过程中，利用所述柔性自调节机构22的弹性伸缩能力，能够对支撑架23的左右姿态进行微调。
具体而言，本实施例中支撑架23可以由矩形管和/或其它承力结构组装而成。其中，所述活动关节24包括第一活动件和第二活动件，所述第一活动件连接所述连接机构25，所述第二活动件连接所述支撑架23，所述第一活动件和第二活动件铰接，使得支撑架23可以通过所述活动关节24实现相对于所述连接机构25做前后姿态调整。在本实施例中，所述活动关节24根据前端清理执行器1有效作业宽度不同而设计不同，当前端作业宽度较小时，选用单向铰接，即沿清理执行器1方向前后摆动；当前端作业宽度较大时， 则选用定制十字铰接机构，可前后和左右方向摆动。
在本实施例中，所述连接机构25用于连接所述定位装置2与所述驱动装置3，具体地，所述连接机构25一端通过所述活动关节24与所述支撑架23连接，另一端通过快换机构与所述驱动装置3连接；其中，所述快换机构根据需求，优选但不限于是机械式螺栓连接、电液式快换接头或其它具有快换功能的机构。
在一实施例中，所述柔性自调节机构22包括若干第一弹簧元件，所述第一弹簧元件一端与所述连接机构25连接，所述第一弹簧元件另一端与所述支撑架23连接，所述若干第一弹簧元件分布所述连接机构25前后左右四个侧部。
在本实施例中，第一弹簧元件优选但不限于为四个，所述柔性自调节机构22基于弹簧机理设计，如图4所示，四个第一弹簧元件均布于所述活动关节24摆动方向，用于在非作业状态下平衡作业机构自重导致的活动关节24运动，同时在作业工况下，在外力作用下，可自动伸缩调节，使支撑架23根据所压弧面的变化而前后或左右姿态调整。
在一实施例中，如图5所示，所述支撑架23上还设置有预紧调节机构13，所述预紧调节机构13包括若干第二弹簧元件，所述第二弹簧元件一端与述支撑板12连接，所述第二弹簧元件另一端与述支撑架23连接，所述若干第二弹簧元件依次等间距分布于所述支撑板12一侧。
具体而言，图5中所述预紧调节机构13一侧安装于支撑板12上方，另一侧以一定的预紧力压于所述定位装置2的所述支撑架23上。所述预紧调节机构13基于弹簧机理设计，作用力及行程可自动调节，工作时为前端作业刀片11提供一定的压紧力。
其中，清理执行器1的作业刀片11在预紧调节机构13的作用下以一定的压力压在弧面上方，同时在不规则弧面的反作用下前后、左右调节清理执行器1的姿态，使得作业刀片11以最佳姿态贴合弧面。在清理过程中，作业刀片11在预紧调节机构13的作用下压紧力可在一定范围内浮动控制，确保清理过程中不损伤弧面。
在一实施例中，可参阅图5，所述清理执行器1还包括前后摆动机构14和左右摆动机构15，所述支撑板12、左右摆动机构15、前后摆动机构14以及支撑架23依次连接，所述左右摆动机构15用于调整所述支撑板12相对于所述支撑架23左右摆动，所述前后摆动机构14用于调整所述支撑板12相对于所述支撑架23前后摆动。
具体而言，所述左右摆动机构15和前后摆动机构14优选但不限于为铰接连接件。通过左右摆动机构15和前后摆动机构14，使得清理执行器1在进行弧面异物清理过程中，能够根据弧面结构情况进行一定范围内的前后、左右姿态调整。
在一实施例中，可参阅图5，所述左右摆动机构15包括摆动板151和旋转轴152，所述旋转轴152设置于所述支撑板12上，且所述旋转轴152穿设于所述摆动板151中，所述支撑板12通过所述旋转轴152相对于所述摆动板151转动；所述前后摆动机构14与所述摆动板151连接。
具体而言，本实施例中摆动板151与前后摆动机构14连接，摆动轴设置于支撑板12上，使得支撑板12可以通过所述旋转轴152相对于前后摆动机构14和摆动板151旋转，由于前后摆动机构14与支撑架23连接，前后摆动机构14和摆动板151以及支撑架23在左右方向上同步运动，因此，支撑板12可以相对于支撑架23进行左右姿态调整。其中，当支撑板12相对 于支撑架23进行左右姿态调整时，所述预紧调节机构13也适应性地进行左右方向上的弹性伸缩变化。
在一实施例中，可参阅图5，所述前后摆动机构14包括第一摆动元件141和第二摆动元件142，所述第一摆动元件141和所述第二摆动元件142铰接，所述第一摆动元件141与所述摆动板151连接，所述第二摆动元件142与所述支撑架23连接。
具体而言，本实施例中第一摆动元件141与摆动板151连接，所述第二摆动元件142与所述支撑架23连接，摆动板151与支撑板12连接，摆动板151与支撑板12在前后方向上同步运动，因此，支撑板12可以相对于支撑架23进行前后姿态调整。当支撑板12相对于支撑架23进行前后姿态调整时，所述预紧调节机构13也适应性地进行前后方向上的弹性伸缩变化。
其中，所述第一摆动元件141和所述第二摆动元件142铰接方式优选但不限与为单铰接，其由两组深沟球轴承组成。
在一实施例中，所述支撑板上设置有一限位机构17，所述限位机构17与所述支撑板12之间形成一限位槽，所述摆动板151上设置有限位块16，所述限位块16容纳于所述限位槽中，且所述限位块16可相对于所述支撑板12移动。限位槽限位槽。
具体而言，本实施例中限位机构17具有四个侧部，其中两个相对的侧部与所述支撑板12构成封闭，所述限位槽的容纳空腔相对于所述限位块16而言足够大，当所述限位块16容纳于所述限位槽中时，限位块16与限位槽17之间存在一定间隙裕度，使得支撑板12能够相对于所述摆动板151绕所述旋转轴152左右摆动，同时，其左右摆动范围受到限位机构17的所述两个相对的侧部的限制。
其中，在工作状态下，在驱动装置3的旋转或直线行走驱动下，实现弧面异物的清理，在清理过程中，驱动装置3始终以恒力的压力输出，确保定位装置2始终压在弧面上。所述定位装置2在弧面反作用下，自动调节柔性自调节机构22的姿态，使运动脚轮均压在弧面上。在非工作状态下，所述定位装置2在柔性自调节机构22的作用下，达到平衡状态，前端的清理执行器1的前后俯仰动作被定位装置2的限位装置约束，左右摆动在预紧调节机构13的作用下，达到平衡状态。通过以上实施例的描述可知，本发明实施例提供一种弧面异物清理设备，包括清理执行器1和定位装置2以及驱动装置3，其中，本发明实施例定位装置2包括柔性自调节机构22和移动机构21，所述柔性自调节机构22由柔性材料制成，其具有弹性形变能力。本发明实施例具体应用过程中，所述驱动装置3提供驱动力以驱动所述定位装置2的移动机构21以一定压力压在已清理的弧面上，当所述移动机构21接触到非标准的弧面时，移动机构21受到非标准弧面结构的反作用力，此时，柔性自调节机构22产生形变，以缓冲非标准弧面结构的反作用力，从而实现清理设备在弧面异物清理过程中对非标准弧面的自适应。综上，本发明实施例在保证功能的前提下，简化弧面作业机构的结构，降低控制系统复杂度，提高作业机构非标准弧面自适应能力，最终提高弧面作业机构的可靠性。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
Claims (10)
- 一种弧面异物清理设备，其特征在于，包括：清理执行器，用于清理弧面上的异物；定位装置，其与所述清理执行器连接，用于对所述清理执行器进行定位；所述定位装置包括移动机构以及与所述移动机构连接的柔性自调节机构；驱动装置，用于驱动所述移动机构以一定压力压在弧面上并相对于所述弧面运动；其中，所述柔性自调节机构由柔性材料制成，其在所述弧面结构的反作用力下产生形变。
- 如权利要求1所述的弧面异物清理设备，其特征在于，所述清理执行器与所述定位装置柔性连接，且所述清理执行器可相对于所述定位装置前后和/或左右运动一定位移。
- 如权利要求2所述的弧面异物清理设备，其特征在于，所述清理执行器包括支撑板以及连接于所述支撑板一侧的作业刀片，所述支撑板与所述定位装置活动连接。
- 如权利要求3所述的弧面异物清理设备，其特征在于，所述定位装置还包括支撑架、活动关节和连接机构；其中，所述支撑架一侧设置所述移动机构，所述支撑架另一侧设置所述柔性自调节机构和所述活动关节，所述连接机构分别与所述柔性自调节机构和所述活动关节连接。
- 如权利要求4所述的弧面异物清理设备，其特征在于，所述柔性自调节机构包括若干第一弹簧元件，所述第一弹簧元件一端与所述连接机构连接，所述第一弹簧元件另一端与所述支撑架连接，所述若干第一弹簧元件分布所述连接机构前后左右四个侧部。
- 如权利要求4所述的弧面异物清理设备，其特征在于，所述支撑架上还设置有预紧调节机构，所述预紧调节机构包括若干第二弹簧元件，所述第二弹簧元件一端与述支撑板连接，所述第二弹簧元件另一端与述支撑架连接，所述若干第二弹簧元件依次等间距分布于所述支撑板一侧。
- 如权利要求6所述的弧面异物清理设备，其特征在于，所述清理执行器还包括前后摆动机构和左右摆动机构，所述支撑板、左右摆动机构、前后摆动机构以及支撑架依次连接，所述左右摆动机构用于调整所述支撑板相对于所述支撑架左右摆动，所述前后摆动机构用于调整所述支撑板相对于所述支撑架前后摆动。
- 如权利要求7所述的弧面异物清理设备，其特征在于，所述左右摆动机构包括摆动板和旋转轴，所述旋转轴设置于所述支撑板上，且所述旋转轴穿设于所述摆动板中，所述支撑板通过所述旋转轴相对于所述摆动板转动；所述前后摆动机构与所述摆动板连接。
- 如权利要求8所述的弧面异物清理设备，其特征在于，所述前后摆动机构包括第一摆动元件和第二摆动元件，所述第一摆动元件和所述第二摆动元件铰接，所述第一摆动元件与所述摆动板连接，所述第二摆动元件与所述支撑架连接。
- 如权利要求8所述的弧面异物清理设备，其特征在于，所述支撑板上设置有一限位机构，所述限位机构与所述支撑板之间形成一限位槽，所述摆动板上设置有限位块，所述限位块容纳于所述限位槽中，且所述限位块可相对于所述支撑板移动。
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