WO2024055643A1

WO2024055643A1 - Crane maintenance robot

Info

Publication number: WO2024055643A1
Application number: PCT/CN2023/098766
Authority: WO
Inventors: 甘韦飞; 张希靓; 曾维杰
Original assignee: 上海第二工业大学
Priority date: 2022-09-15
Filing date: 2023-06-07
Publication date: 2024-03-21
Also published as: CN115415909A

Abstract

A crane maintenance robot, comprising a body (1) and a control box (2). The control box (2) is provided on the body (1); a locomotion mechanism for movement is also provided on the body (1); the locomotion mechanism comprises locomotion frames (3); a plurality of travelling rollers (4) are provided in the locomotion frames (3); sprockets (11) are provided on rotating shafts of the travelling rollers (4); chains (12) are sleeved on the sprockets (11); an output end of each travelling motor (5) is connected to one set of sprockets (11); an adjustment mechanism for adjusting the positions of the two sets of locomotion frames (3) is further provided on the body (1); the adjustment mechanism comprises a rotating rod (6) and a driving motor (10); threaded sections having opposite rotation directions are formed on the rotating rod (6); connecting blocks (7) are further provided on the locomotion frames (3); threaded holes (13) meshed with the threaded sections are formed in the connecting blocks (7); a driven gear (8) is provided on the rotating rod (6); and a driving gear (9) meshed with the driven gear (8) is provided on the output end of the driving motor (10). According to said scheme, the problem of inconvenient maintenance of a rusty cross beam of an existing crane is solved.

Description

A crane maintenance robot

Technical field

The invention relates to the field of robot technology, specifically a crane maintenance robot.

Background technique

Crane is the popular name for crane, which is widely used in a series of heavy industry products such as ships, equipment, machinery, and molds.

The crane consists of two parts: power unit and bracket. The power device consists of electric motor, reducer, clutch, brake, rope drum and steel wire rope. The motor is a near-magnetic single-phase capacitor motor, designed with a braking mechanism when power is turned off; the motor is also equipped with a thermal switch to prevent the motor from overheating and burning; the reducer is a two-stage gear reduction, fixedly connected to the motor; the clutch, The brake is integrated with the rope drum, but when the clutch is disengaged, rapid descent can be achieved. Operating the brake can control the descent speed to avoid impact. The round hole on the front of the power unit housing can be used to install a hair dryer, and the user can equip it with a hair dryer for forced cooling as needed. The bracket part is composed of a main rod and a rotating arm composed of a screw rod, a jack nut and a vertical rod. The rotating arm can rotate 360 degrees on the main rod, and a travel switch is provided at the end of the arm to prevent lifting accidents caused by operating errors or button failure. By operating the button starter to realize the forward and reverse rotation of the motor, the wire rope can be wound and unwound, lifted through the pulley of the bracket part, and the object can be lowered to complete the hoisting operation.

To maintain means to protect it from external harm. For example, protective facilities should be set up around people’s residences, livestock areas, and other important objects and places to prevent intrusions from the outside world. Maintenance is also one of the communication terms.

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots are capable of performing tasks such as homework or movement through programming and automatic control. The earliest robot in history can be seen in the puppet robot built by Emperor Yang of the Sui Dynasty according to the image of Liu Peng. It was equipped with mechanisms and had the ability to sit, stand up, worship, and fall down.

Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

As we all know, when transporting large cargo in the port, auxiliary tools are needed. Port cranes are generally used to transport large cargo; the crane includes a support arm and a beam. The air humidity in the port is high, and the beam is operated outdoors. Parts are eroded by rain, and the anti-corrosion paint on the beams easily falls off, exposing the internal steel structure frame directly to the outside environment. If not repaired in time, the degree of corrosion will deepen, which will lead to a decrease in the load-bearing strength of the beams and a reduction in service life, and there will be certain There are potential safety risks; if you rely on manual labor to repair the peeling paint, working at high altitudes is inconvenient, time-consuming and labor-intensive. Therefore, a crane maintenance robot is urgently needed to solve the above problems.

Contents of the invention

In view of the problems existing in the prior art, the present invention discloses a crane maintenance robot. The technical solution adopted is that it includes a fuselage and a control box. The fuselage is provided with a control box, and the control box is equipped with a control box. There is a microprocessor, a wireless remote control module and an animation transmission module. The fuselage is also provided with a traveling mechanism for movement, a maintenance mechanism that can repair the crane arm, a monitoring mechanism and a power supply for the fuselage. Component powered battery.

As a preferred technical solution of the present invention, the walking mechanism includes a walking frame, the walking frame is a transparent shell on one side, and a horizontal plate is provided in the walking frame, and the horizontal plate is connected with the walking frame. A number of traveling rollers are rotatably connected between the frames. The traveling rollers are driven by traveling motors. The traveling motors are connected to the control box. There are two groups of traveling frames, and there are holes on the body for the traveling rollers. The frame slides through the slot, and the body is also provided with an adjustment mechanism for adjusting the position of the two sets of walking frames.

As a preferred technical solution of the present invention, no less than two groups of the traveling rollers are provided in the traveling frame, and a sprocket is provided on the rotating shaft of the traveling roller, and a chain is set on the sprocket. The output end of the traveling motor is connected to a set of sprockets.

As a preferred technical solution of the present invention, the fuselage is also provided with a plurality of balls, and the balls and the through grooves are located on the same plane of the fuselage.

As a preferred technical solution of the present invention, the adjustment mechanism includes a rotating rod and a driving motor. The rotating rod is rotationally connected in the fuselage through a bearing seat. The rotating rod is driven by the driving motor. The rotating rod There are threaded sections with opposite directions of rotation, and the walking frame is also provided with connecting blocks. The connecting blocks are provided with There is a threaded hole that meshes with the threaded section, and the rotating rod can drive the two sets of walking frames to move toward or away from each other.

As a preferred technical solution of the present invention, the rotating rod is provided with a driven gear, the driving motor is provided on the inner wall of the fuselage, and the output end of the driving motor is provided with a driven gear. The driving gear meshes with the driving gear, and the driven gear and the driving gear are combined into a bevel gear set.

As a preferred technical solution of the present invention, the maintenance mechanism includes a grinding disc and a nozzle. A lifting plate is connected to one side of the fuselage through a lifting assembly, and a hole is provided on the fuselage for the lifting plate to slide up and down. chute, the lifting plate is provided with a grinding motor, and the output end of the grinding motor is provided with the grinding disc; the other side of the fuselage is provided with the nozzle through a fixed plate, and the machine There is also a paint box inside the body, and an output pump is installed in the paint box. The output pump is connected to the nozzle through a pipeline, and the grinding motor and the output pump are connected to the control box.

As a preferred technical solution of the present invention, the lifting assembly uses a hydraulic cylinder, and the hydraulic cylinder is connected to the control box.

As a preferred technical solution of the present invention, the lifting plate is also provided with an air exhaust port corresponding to the position of the grinding disc, and a dust collection box is also provided in the fuselage. The box is connected to the air exhaust port through an air duct.

As a preferred technical solution of the present invention, the supervisory mechanism includes a camera assembly. There are two groups of camera assemblies, which are respectively provided on the fixed plate and the lifting plate. The camera assembly is connected to the control box.

Beneficial effects of the present invention: In the present invention, a control box is provided on the fuselage, and a microprocessor, an animation transmission module and a wireless remote control module are provided in the control box. Through the wireless remote control module, workers can control the robot on the ground. , and through the animation transmission module and the camera component on the fuselage, the implementation status of the robot can be collected through the camera component, and transmitted to the staff on the ground through the animation transmission module to enhance the controllability of the robot; on the fuselage A walking mechanism is set on the fuselage, which can drive the fuselage to move forward and backward on the beam; an adjustment mechanism for the walking mechanism is set on the fuselage to enable the robot to adapt to beam structures of different widths; maintenance is set on the fuselage Mechanism, through the cooperation of the grinding disc and the nozzle, can grind the rusty parts of the beam, and spray paint to protect it after the grinding is completed; an air outlet is provided on the fuselage and corresponds to the position of the grinding disc , can collect grinding debris on the beam to avoid environmental pollution.

Description of drawings

In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the drawings that need to be used in the description of the specific implementations or the prior art will be briefly introduced below. Throughout the drawings, similar elements or portions are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn to actual scale.

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic diagram 2 of the structure of the present invention;

Figure 3 is a partial structural diagram of the present invention;

Figure 4 is a schematic diagram 2 of the partial structure of the present invention;

Figure 5 is a schematic structural diagram of the fuselage of the present invention viewed from above;

Figure 6 is a schematic structural diagram of the control box of the present invention.

In the picture: 1. Body; 2. Control box; 3. Traveling frame; 4. Traveling roller; 5. Traveling motor; 6. Rotating rod; 7. Connecting block; 8. Driven gear; 9. Driving gear; 10 , drive motor; 11. sprocket; 12. chain; 13. threaded hole; 14. horizontal plate; 15. ball; 16. slot; 17. chute; 18. lifting plate; 19. grinding motor; 20. grinding Pan; 21. Air outlet; 22. Nozzle; 23. Camera assembly; 24. Paint box; 25. Output pump; 26. Dust collection box; 27. Hydraulic cylinder; 28. Fixing plate.

Detailed ways

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation or a specific orientation. construction and manipulation, so no can be understood as limitations of the present invention. Furthermore, the terms “first”, “second” and “third” are used for descriptive purposes only and are not to be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

Example 1

As shown in Figures 1 to 6, the present invention discloses a crane maintenance robot. The technical solution adopted is that it includes a fuselage 1 and a control box 2. The fuselage 1 is provided with a control box 2, and the control box 2 has a There is a microprocessor, a wireless remote control module and an animation transmission module. In order to solve the problem of inconvenient maintenance of the rusty parts on the crane beam, the body 1 is also equipped with a traveling mechanism for movement and a maintenance device that can repair the crane boom. Mechanism, supervisory authority and a battery that supplies power to the electrical components on the fuselage 1.

In order to facilitate the walking of the fuselage 1 on the beam, the walking mechanism includes a walking frame 3. The walking frame 3 is a transparent shell on one side, and a horizontal plate 14 is provided in the walking frame 3. Between the horizontal plate 14 and the walking frame 3 A number of traveling rollers 4 are rotatably connected. The traveling rollers 4 are driven by a traveling motor 5. A driven gear 8 is provided on the rotating rod 6. A driving motor 10 is provided on the inner wall of the fuselage 1, and the output end of the driving motor 10 is provided with a driven gear 8. The driving gear 9 meshes with the driven gear 8. The driven gear 8 and the driving gear 9 are combined to form a bevel gear set. The traveling motor 5 is connected to the control box 2. There are two sets of traveling frames 3, and there are two groups on the fuselage 1. Through the slot 16 for the sliding frame 3 to slide, in order to enable the robot to adapt to beam structures of different widths, an adjustment mechanism is also provided on the fuselage 1 to adjust the distance between the two sets of walking frames 3. The adjustment mechanism includes a rotating Rod 6 and drive motor 10. Rotating rod 6 is rotatably connected in fuselage 1 through bearing seat. Rotating rod 6 is driven by driving motor 10. Rotating rod 6 is provided with threaded sections in opposite directions. The walking frame 3 is also provided with The connecting block 7 is provided with a threaded hole 13 that meshes with the threaded section, and the rotating rod 6 can drive the two sets of walking frames 3 to move toward or away from each other.

In order to make the walking mechanism drive the fuselage 1 to move on the crossbeam more stably, two groups of traveling rollers 4 are arranged in the walking frame 3, and a sprocket 11 is provided on the rotating shaft of the traveling roller 4, a chain 12 is sleeved on the sprocket 11, and the output end of the traveling motor 5 is connected to a group of sprockets 11; at the same time, in order to reduce the friction between the fuselage 1 and the crossbeam, a plurality of balls 15 are also provided on the fuselage 1, and the balls 15 and the through grooves 16 are located on the same plane of the fuselage 1.

In order to allow workers on the ground to monitor the robot's work in real time, a monitoring mechanism is set up on the fuselage 1. The monitoring mechanism includes a camera assembly 23. The camera assembly 23 is provided with two groups, respectively located on the fixed plate 28 and the lifting plate 18. , the camera assembly 23 is connected to the control box 2 .

In order to perform maintenance after detecting the rusty parts of the beam, a maintenance mechanism is provided on the fuselage 1. The maintenance mechanism includes a grinding disc 20 and a nozzle 22. A lifting plate 18 is connected to one side of the fuselage 1 through a lifting assembly. The lifting assembly uses a hydraulic cylinder 27, which is connected to the control box 2. The body 1 is provided with a chute 17 for the lifting plate 18 to slide up and down. The lifting plate 18 is provided with a grinding motor 19, and the output end of the grinding motor 19 is A grinding disc 20 is provided; the other side of the fuselage 1 is provided with a nozzle 22 through a fixed plate 28. The fuselage 1 is also provided with a paint box 24. The paint box 24 is provided with an output pump 25. The output pump 25 communicates with the paint through a pipeline. The nozzle 22 is connected, and the grinding motor 19 and the output pump 25 are connected to the control box 2 .

In order to prevent polished debris from falling from high altitude and polluting the environment, a dust box 26 for collecting debris is also provided on the fuselage 1. The dust box 26 is provided with a fan and a dust bag, and the lifting plate 18 is also provided with There is an air exhaust port 21 corresponding to the position of the grinding disc 20. The body 1 is also provided with a dust box 26. The dust box 26 is connected to the air exhaust port 21 through an air duct. The dust box 26, air duct and air exhaust The mouth 21 is combined into a vacuum cleaner to collect the grinding debris at the grinding disc 20 .

The working principle of the present invention: when in use, place the bottom of the fuselage 1 on the beam of the crane, the ball 15 contacts the beam, is connected to the wireless remote control module in the control box 2 through the remote control, and controls the drive motor through the microprocessor 10 works to rotate. The driving motor 10 drives the driving gear 9 to rotate. The driving gear 9 meshes with the driven gear 8 to drive the rotating rod 6 to rotate. The threaded section on the rotating rod 6 with the opposite direction of rotation is in contact with the threaded hole 13 on the connecting block 7. Engagement drives the two groups of connecting blocks 7 to move toward each other, thereby driving the traveling frame 3 to slide in the slot 16 so that the traveling rollers 4 are clamped on both sides of the beam. When movement is required, the traveling motor 5 can be controlled It rotates to drive a set of sprockets 11 to rotate, and the chain 12 drives another sprocket 11 to rotate, thereby driving the traveling roller 4 to rotate, thereby driving the fuselage 1 to move forward and backward on the beam, and the ball 15 at the bottom of the fuselage 1 moves The top of the beam rolls to reduce the friction between the fuselage 1 and the beam; when the staff on the ground observes rusty areas on the beam through the camera assembly 23, the fuselage 1 is controlled to move, so that the grinding disc 20 moves to the top of the rusty position, controls the extension of the hydraulic cylinder 27, drives the lifting plate 18 to move downward in the chute 17, and controls the grinding motor 19 to work, driving the grinding disc 20 to rotate, so that the grinding disc 20 is connected with the beam. The rusty parts are in contact with each other and are polished. At the same time, the fan in the dust collection box 26 is controlled to form a negative pressure at the air exhaust port 21 through the air duct, and the grinding debris is collected in the dust bag in the dust collection box 26. The working principle of the dust collection box 26 is the same as that of the vacuum cleaner. After the polishing is completed, the body 1 is controlled to move forward so that the nozzle 22 on the fixed plate 28 corresponds to the position of the polished area. The output pump 25 is controlled to work and the paint box 24 is The paint inside is sprayed out through the nozzle 22 to protect the polished parts with spray coating.

In addition, the microprocessor uses Feiling ARM9 industrial control board. For the pins and connection methods of Feiling ARM9 industrial control board, those skilled in the field can refer to textbooks or technical manuals published by manufacturers for technical enlightenment.

The circuits and mechanical connections involved in the present invention are common means used by those skilled in the art. Technical enlightenment can be obtained through a limited number of experiments, and they belong to common knowledge.

As used herein, the term "prepared from" is synonymous with "comprising." As used herein, the terms "includes," "includes," "has," "contains," or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a composition, step, method, article, or device that includes listed elements need not be limited to those elements, but may include other elements not expressly listed or inherent to such composition, step, method, article, or device. elements.

The conjunction "consisting of" excludes any unspecified elements, steps or components. If used in a claim, this phrase will close the claim so that it does not contain materials other than those described except for the usual impurities associated therewith. When the phrase "consisting of" appears in a clause of the body of a claim rather than immediately following the subject matter, it is limited only to the elements described in that clause; other elements are not excluded from the claim as a whole beyond the requirements.

Components not described in detail herein are state of the art.

Although specific embodiments of the present invention have been described in detail above, the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the spirit of the present invention. Such changes, modifications or deformations without creative efforts are still within the protection scope of the present invention.

Claims

A crane maintenance robot is characterized by: including a fuselage (1) and a control box (2). The fuselage (1) is provided with a control box (2), and the control box (2) is provided with a control box (2). A microprocessor, a wireless remote control module and an animation transmission module. The fuselage (1) is also provided with a traveling mechanism for movement, a maintenance mechanism capable of repairing the crane boom, a supervisory mechanism and a monitoring mechanism for the fuselage (1). 1) A battery powered by electrical components.
A crane maintenance robot according to claim 1, characterized in that: the walking mechanism includes a walking frame (3), the walking frame (3) is a transparent shell on one side, and the walking frame (3) There is a horizontal plate (14) inside, and a number of traveling rollers (4) are rotatably connected between the horizontal plate (14) and the traveling frame (3). The traveling rollers (4) are driven by a traveling motor (3). 5) Drive, the traveling motor (5) is connected to the control box (2), the walking frame (3) has two groups, and the body (1) is provided with a space for the walking frame (3) ) sliding slot (16), and the body (1) is also provided with an adjustment mechanism for adjusting the positions of the two sets of walking frames (3).
A crane maintenance robot according to claim 2, characterized in that: no less than two groups of the traveling rollers (4) are provided in the traveling frame (3), and the traveling rollers (4) are A sprocket (11) is provided on the rotating shaft, and a chain (12) is set on the sprocket (11). The output end of the traveling motor (5) is connected to a set of the sprockets (11).
A crane maintenance robot according to claim 2, characterized in that: the body (1) is also provided with a number of balls (15), and the balls (15) and the through groove (16) are located at on the same plane as the fuselage (1).
A crane maintenance robot according to claim 2, characterized in that: the adjustment mechanism includes a rotating rod (6) and a driving motor (10), and the rotating rod (6) is rotationally connected to the said rotating rod through a bearing seat. In the fuselage (1), the rotating rod (6) is driven by the driving motor (10). The rotating rod (6) is provided with a threaded section in the opposite direction of rotation. The walking frame (3) is also provided with a The connecting block (7) is provided with a threaded hole (13) that meshes with the threaded section, and the rotating rod (6) can drive the two sets of walking frames (3) toward each other or Move backwards.
A crane maintenance robot according to claim 5, characterized in that: the rotating rod (6) is provided with a driven gear (8), and the driving motor (10) is provided on the fuselage (1 ), and the output end of the driving motor (10) is provided with a driving gear (9) meshing with the driven gear (8). The driven gear (8) and the driving gear (9) Combined into a bevel gear set.
A crane maintenance robot according to claim 1, characterized in that: the maintenance mechanism includes a grinding disc (20) and a nozzle (22), and a lifting assembly is connected to one side of the fuselage (1). Lifting plate (18). The fuselage (1) is provided with a chute (17) for the lifting plate (18) to slide up and down. The lifting plate (18) is provided with a grinding motor (19). The grinding disc (20) is provided on the output end of the grinding motor (19); the nozzle (22) is provided on the other side of the fuselage (1) through a fixed plate (28). The body (1) is also provided with a paint box (24), and the paint box (24) is equipped with an output pump (25). The output pump (25) is connected to the nozzle (22) through a pipeline. The grinding motor (19) and the output pump (25) are connected to the control box (2).
A crane maintenance robot according to claim 7, characterized in that: the lifting assembly adopts a hydraulic cylinder (27), and the hydraulic cylinder (27) is connected to the control box (2).
A crane maintenance robot according to claim 7, characterized in that: the lifting plate (18) is also provided with an air exhaust port (21), and the air exhaust port (21) and the grinding disc (20) Correspondingly, a dust collecting box (26) is also provided in the fuselage (1), and the dust collecting box (26) is connected to the air exhaust port (21) through an air duct.
A crane maintenance robot according to claim 7, characterized in that: the monitoring mechanism includes a camera assembly (23), and the camera assembly (23) is provided with two groups, respectively located on the fixed plate (28). ) and the lifting plate (18), the camera assembly (23) is connected to the control box (2).