CN110773489A - Barrier-free high-altitude rust removal device - Google Patents
Barrier-free high-altitude rust removal device Download PDFInfo
- Publication number
- CN110773489A CN110773489A CN201910861416.5A CN201910861416A CN110773489A CN 110773489 A CN110773489 A CN 110773489A CN 201910861416 A CN201910861416 A CN 201910861416A CN 110773489 A CN110773489 A CN 110773489A
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- machine body
- main machine
- connecting pipe
- obstacle
- free high
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
Abstract
A barrier-free high-altitude rust removal device comprises a main machine body, a movable rod, a driving wheel and a guide wheel; a third motor is arranged inside the main machine body, and a rotating shaft is arranged at the top of the main machine body; one end of the movable rod is fixedly connected with the top of the rotating shaft; the other end of the movable rod is provided with a connecting pipe which is vertically arranged downwards; the bottom of the connecting pipe is provided with a nozzle; a booster pump is arranged on one side of the movable rod, which faces the connecting pipe; the guide wheel is arranged at the bottom of the main machine body and is positioned on one side of the main machine body facing the connecting pipe, a turntable is fixedly arranged at the top of the guide wheel, and a first motor for driving the turntable to rotate is arranged in the main machine body; two groups of mounting frames are arranged at the bottom of the main machine body, and two groups of driving wheels are symmetrically arranged and are respectively positioned on the two mounting frames at the bottom of the main machine body; a plurality of support frames are uniformly distributed along the periphery of the hub; the invention has simple structure, good rust removing effect, small turning radius, close adsorption with the contact surface and more stable operation.
Description
Technical Field
The invention relates to the technical field of high-altitude rust removal, in particular to an obstacle-free high-altitude rust removal device.
Background
The wall-climbing rust-removing robot belongs to one of the branches of a special robot and can replace human beings to carry out limit operation on a vertical face at high altitude. At present, the wall-climbing robot is widely applied to the nuclear industry, the petrochemical industry, the building industry, the ship industry and the like. For example, in the ship industry, most of rust removal operations are performed manually, and the concentration of harmful substances such as dust in the air is quite high in an operation site, so that the rust removal operation is extremely harmful to human bodies. The application field of the wall-climbing rust-removing paint-removing robot reduces the high-altitude operation risk of workers, reduces the pollution to the environment, improves the operation efficiency and ensures the operation quality; in the prior art, most of the derusting robots move by using the crawler belt, and the contact area between the crawler belt and the surface of the climbing wall is large, so that the turning radius is large. In addition, when the existing wall-climbing robot meets an uneven surface, the whole wall-climbing robot is of a rigid structure, so that the robot cannot pass through the uneven surface, or large dibbling can occur when the robot passes through the uneven surface, and the risk that the robot drops is caused.
In order to solve the problems, the application provides an obstacle-free high-altitude rust removing device.
Disclosure of Invention
Objects of the invention
In order to solve the problems that the prior art rust removing robot in the background technology mostly uses the crawler belt to move, and the contact area between the crawler belt and the surface of the climbing wall is large, so that the turning radius is large. In addition, when the existing wall climbing robot meets an uneven surface, the whole wall climbing robot cannot pass through the uneven surface due to a rigid structure, or large dibbling can occur during passing through the uneven surface, so that the risk of falling of the robot is caused.
(II) technical scheme
In order to solve the problems, the invention provides an obstacle-free high-altitude rust removing device which comprises a main machine body, a movable rod, a driving wheel and a guide wheel, wherein the main machine body is provided with a main shaft;
a third motor is arranged inside the main machine body, a rotating shaft is arranged at the top of the main machine body, and the third motor drives the rotating shaft to rotate clockwise or anticlockwise; one end of the movable rod is fixedly connected with the top of the rotating shaft; the other end of the movable rod is provided with a connecting pipe which is vertically arranged downwards; the bottom of the connecting pipe is provided with a nozzle; a booster pump is arranged on one side of the movable rod, which faces the connecting pipe, a water supply pipe is arranged at one end of the booster pump, and the bottom of the booster pump is communicated with the connecting pipe; the water supply pipe is connected with an external water source;
the guide wheel is arranged at the bottom of the main machine body and is positioned on one side of the main machine body facing the connecting pipe, a turntable is fixedly arranged at the top of the guide wheel, and a first motor for driving the turntable to rotate is arranged in the main machine body; two groups of mounting frames are arranged at the bottom of the main machine body, and two groups of driving wheels are symmetrically arranged and are respectively positioned on the two mounting frames at the bottom of the main machine body; the main machine body is provided with a signal receiving module for receiving remote control signals, and the signal receiving module is in signal connection with a control module preset in the main machine body; the driving wheel comprises a hub, a support frame and an outer tire; the hub is provided with a mounting groove; a plurality of support frames are uniformly distributed along the periphery of the hub; the outer tire is arranged on the support frame; the inside of cover tire is provided with support piece, and support piece divides into three cavity with the cover tire, aerifys in the cavity, is provided with the magnetite in two cavities that are located both sides.
Preferably, the outer part of the nozzle is provided with an outer cladding layer which is made of sponge material.
Preferably, the movable rod is provided with a plurality of straps for fixing the water supply pipe.
Preferably, the rotation range of the rotating shaft is 30-150 degrees.
Preferably, the main body is provided with two power supply lines, the input ends of the power supply lines are electrically connected with an external power supply, and the two output ends of the power supply lines are respectively connected to the booster pump and the inside of the main body; used for supplying power to the booster pump and the motor inside the main machine body.
Preferably, the signal receiving module is provided with a signal line.
Preferably, one side of the main body, which faces the connecting pipe, is provided with a buffer layer, and the buffer layer is made of silica gel.
Preferably, the mounting frame is provided with a transmission shaft, and the transmission shaft penetrates through the mounting groove and is fixedly connected with the driving wheel; an installation cavity is formed in the installation frame, a transmission belt is arranged in the installation cavity, and the transmission belt is in transmission connection with the transmission shaft; two second motors are arranged inside the main machine body and respectively drive the transmission belts in the two mounting frames to move.
Preferably, the guide wheel is spherical, and a plurality of magnetic sheets are embedded in the guide wheel.
Preferably, the main body is provided with a hook for hanging the safety rope.
The technical scheme of the invention has the following beneficial technical effects: in the invention, the driving wheel comprises a hub, a support frame and an outer tire; the inner part of the outer tire is provided with a support piece which divides the outer tire into three cavities, the cavities are inflated with air, and the two cavities at the two sides are internally provided with magnets; when in use, the magnet and the iron material attract each other, so that the main machine body can be adsorbed on the surfaces of a ship, a chimney and the like; in the invention, the outer tire is kept in a gas-deficient state, and the contact surface of the driving wheel and the iron wall can deform, so that more magnets can be attracted with the contact surface, and the phenomenon of falling of the main machine body is prevented; when the driving wheel presses the bulge of the contact surface, the outer tire can deform, the driving wheel is guaranteed to be always attracted with the contact surface, and the stability is better.
The invention is provided with two driving wheels which are driven by different motors; when steering is needed, the first motor drives the turntable to rotate, so that the direction of the guide wheel is changed; then the second motor rotates clockwise and anticlockwise one by one, and keeps the two driving wheels to move in opposite directions; the main machine body can rotate along the original place, the turning radius is greatly reduced, and the operation of the main machine body is more flexible.
Drawings
Fig. 1 is a schematic structural diagram of an obstacle-free high-altitude rust removal device provided by the invention.
Fig. 2 is a top view of a main body in the obstacle-free high altitude rust removing device provided by the invention.
Fig. 3 is a schematic structural diagram of a driving wheel in the obstacle-free high-altitude rust removing device provided by the invention.
Fig. 4 is a schematic structural diagram of a mounting frame in the barrier-free high-altitude rust removal device provided by the invention.
Fig. 5 is a schematic diagram of the internal structure of a driving wheel in the obstacle-free high-altitude rust removing device provided by the invention.
Fig. 6 is a schematic structural diagram of a guide wheel in the barrier-free high-altitude rust removal device provided by the invention.
Reference numerals: 1. an outer cladding; 2. a nozzle; 3. a connecting pipe; 4. a booster pump; 5. a power supply line; 6. a water supply pipe; 7. binding bands; 8. a movable rod; 9. a rotating shaft; 10. a signal line; 11. a signal receiving module; 12. hooking; 13. a drive wheel; 131. a hub; 132. mounting grooves; 133. a support frame; 134. an outer tire; 135. a cavity; 136. a magnet; 137. a support member; 14. a mounting frame; 15. a main body; 16. a guide wheel; 161. a magnetic sheet; 17. a turntable; 18. a first motor; 19. a second motor; 20. a third motor; 21. a buffer layer; 22. a drive belt; 23. a drive shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1-6, the obstacle-free high altitude rust removing device provided by the invention comprises a main machine body 15, a movable rod 8, a driving wheel 13 and a guide wheel 16;
a third motor 20 is arranged inside the main machine body 15, a rotating shaft 9 is arranged at the top of the main machine body 15, and the third motor 20 drives the rotating shaft 9 to rotate clockwise or anticlockwise; one end of the movable rod 8 is fixedly connected with the top of the rotating shaft 9; the other end of the movable rod 8 is provided with a connecting pipe 3, and the connecting pipe 3 is vertically arranged downwards; the bottom of the connecting pipe 3 is provided with a nozzle 2; a booster pump 4 is arranged on one side of the movable rod 8, which faces the connecting pipe 3, a water supply pipe 6 is arranged at one end of the booster pump 4, and the bottom of the booster pump 4 is communicated with the connecting pipe 3; the water supply pipe 6 is connected with an external water source;
the guide wheel 16 is installed at the bottom of the main machine body 15, the guide wheel 16 is positioned at one side of the main machine body 15 facing the connecting pipe 3, a turntable 17 is fixedly arranged at the top of the guide wheel 16, and a first motor 18 for driving the turntable 17 to rotate is arranged in the main machine body 15; two groups of mounting frames 14 are arranged at the bottom of the main machine body 15, and two groups of driving wheels 13 are symmetrically arranged and are respectively positioned on the two mounting frames 14 at the bottom of the main machine body 15; the main machine body 15 is provided with a signal receiving module 11 for receiving remote control signals, and the signal receiving module 11 is in signal connection with a control module preset in the main machine body 15; the driving wheel 13 comprises a hub 131, a support frame 133 and an outer tire 134; the hub 131 is provided with a mounting groove 132; the supporting frames 133 are uniformly distributed along the outer circumference of the hub 131; the outer tire 134 is arranged on the support frame 133; the outer tire 134 is provided with a support 137 inside, the support 137 divides the outer tire 134 into three cavities 135, the cavities 135 are inflated, and magnets 136 are arranged in the two cavities 135 at the two sides.
In an alternative embodiment, the exterior of the nozzle 2 is provided with an outer cladding 1, the outer cladding 1 being made of a sponge material.
In an alternative embodiment, the movable bar 8 is provided with several straps 7 for fixing the water supply tube 6.
In an alternative embodiment, the rotation range of the shaft 9 is 30-150 degrees.
In an alternative embodiment, the main body 15 is provided with the power supply line 5, the input end of the power supply line 5 is electrically connected with an external power supply, and the output end of the power supply line 5 is provided with two output ends which are respectively connected to the booster pump 4 and the inside of the main body 15; for powering the booster pump 4 and the motor inside the main body 15.
In an alternative embodiment, the signal receiving module 11 is provided with a signal line 10.
In an alternative embodiment, a buffer layer 21 is disposed on a side of the main body 15 facing the connection pipe 3, and the buffer layer 21 is made of a silicone material.
In an alternative embodiment, the mounting frame 14 is provided with a transmission shaft 23, and the transmission shaft 23 passes through the mounting groove 132 and is fixedly connected with the driving wheel 13; a mounting cavity is formed in the mounting frame 14, a transmission belt 22 is arranged in the mounting cavity, and the transmission belt 22 is in transmission connection with a transmission shaft 23; two second motors 19 are arranged inside the main body 15, and the second motors 19 respectively drive the driving belts 22 in the two mounting frames 14 to move.
In an alternative embodiment, the guide wheel 16 is spherical, and a plurality of magnetic sheets 161 are embedded in the guide wheel 16.
In an alternative embodiment, the main body 15 is provided with a hook 12 for hanging a safety rope.
In the present invention, the driving wheel 13 includes a hub 131, a supporting frame 133 and an outer tire 134; a support 137 is arranged in the outer tire 134, the outer tire 134 is divided into three cavities 135 by the support 137, the cavities 135 are inflated, and magnets 136 are arranged in the two cavities 135 at the two sides; when in use, the magnet 136 and the iron material attract each other, so that the main machine body 15 can be adsorbed on the surfaces of a ship, a chimney and the like; in the invention, the outer tire 134 is kept in a gas-deficient state, and the contact surface of the driving wheel 13 and an iron wall can deform, so that more magnets 136 can be attracted with the contact surface to prevent the main machine body 15 from falling; when the driving wheel 13 presses the protrusion of the contact surface, the outer tire 134 deforms, so that the driving wheel 13 is always attracted to the contact surface, and the stability is better.
The invention is provided with two driving wheels 13, and the two driving wheels 13 are driven by different motors; when steering is needed, the first motor 18 drives the turntable 17 to rotate, so that the direction of the guide wheel 16 is changed; then the second motor 19 rotates forwards and backwards one by one, and keeps the two driving wheels 13 moving in opposite directions; the main machine body 15 can rotate along the original place, the turning radius is greatly reduced, and the operation of the main machine body 15 is more flexible; when rust removal operation is carried out, water supply from a water source is pressurized by a booster pump 4, and the pressurized water is sprayed out by a spray head to remove rust on a contact surface; during operation, the third motor 20 drives the rotating shaft 9 to rotate in a reciprocating manner, so that a fan-shaped rust removing working surface is formed at the front end of the main body 15, and the rust removing effect is better.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. An obstacle-free high-altitude rust removal device is characterized by comprising a main machine body (15), a movable rod (8), a driving wheel (13) and a guide wheel (16);
a third motor (20) is arranged inside the main machine body (15), a rotating shaft (9) is arranged at the top of the main machine body (15), and the third motor (20) drives the rotating shaft (9) to rotate clockwise or anticlockwise; one end of the movable rod (8) is fixedly connected with the top of the rotating shaft (9); the other end of the movable rod (8) is provided with a connecting pipe (3), and the connecting pipe (3) is vertically arranged downwards; the bottom of the connecting pipe (3) is provided with a nozzle (2); a booster pump (4) is arranged on one side, facing the connecting pipe (3), of the movable rod (8), a water supply pipe (6) is arranged at one end of the booster pump (4), and the bottom of the booster pump (4) is in conduction connection with the connecting pipe (3); the water supply pipe (6) is connected with an external water source;
the guide wheel (16) is arranged at the bottom of the main machine body (15), the guide wheel (16) is positioned on one side, facing the connecting pipe (3), of the main machine body (15), a turntable (17) is fixedly arranged at the top of the guide wheel (16), and a first motor (18) for driving the turntable (17) to rotate is arranged in the main machine body (15); two groups of mounting frames (14) are arranged at the bottom of the main machine body (15), two groups of driving wheels (13) are symmetrically arranged and are respectively positioned on the two mounting frames (14) at the bottom of the main machine body (15); the main machine body (15) is provided with a signal receiving module (11) for receiving remote control signals, and the signal receiving module (11) is in signal connection with a control module preset in the main machine body (15); the driving wheel (13) comprises a hub (131), a support frame (133) and an outer tire (134);
the hub (131) is provided with a mounting groove (132); a plurality of supporting frames (133) are uniformly distributed along the periphery of the hub (131); the outer tire (134) is arranged on the support frame (133); the inner part of the outer tire (134) is provided with a support piece (137), the outer tire (134) is divided into three cavities (135) by the support piece (137), the cavities (135) are inflated, and the two cavities (135) positioned at two sides are internally provided with magnets (136).
2. The obstacle-free high altitude rust removing device according to claim 1, characterized in that the nozzle (2) is externally provided with an outer cladding (1), and the outer cladding (1) is made of sponge material.
3. Obstacle-free aerial rust removal device according to claim 1, characterized in that the movable rod (8) is provided with several straps (7) for fixing the water supply pipe (6).
4. An obstacle-free high altitude rust removing device as claimed in claim 1, wherein the rotation range of the rotating shaft (9) is 30-150 degrees.
5. The obstacle-free high altitude rust removing device as claimed in claim 1, wherein the main machine body (15) is provided with a power supply line (5), the input end of the power supply line (5) is electrically connected with an external power supply, and the output ends of the power supply line (5) are provided with two output ends which are respectively connected to the booster pump (4) and the inside of the main machine body (15); used for supplying power to the booster pump (4) and a motor inside the main machine body (15).
6. The obstacle-free high altitude rust removing device according to claim 1, characterized in that the signal receiving module (11) is provided with a signal line (10).
7. The obstacle-free high-altitude rust removing device as claimed in claim 1, wherein a buffer layer (21) is arranged on one side of the main body (15) facing the connecting pipe (3), and the buffer layer (21) is made of silica gel.
8. The obstacle-free high-altitude rust removal device as claimed in claim 1, wherein the mounting frame (14) is provided with a transmission shaft (23), and the transmission shaft (23) penetrates through the mounting groove (132) to be fixedly connected with the driving wheel (13); an installation cavity is arranged in the installation rack (14), a transmission belt (22) is arranged in the installation cavity, and the transmission belt (22) is in transmission connection with a transmission shaft (23); two second motors (19) are arranged in the main machine body (15), and the second motors (19) respectively drive the transmission belts (22) in the two mounting frames (14) to move.
9. The obstacle-free high altitude rust removing device as claimed in claim 1, wherein the guide wheel (16) is spherical, and a plurality of magnetic sheets (161) are embedded in the guide wheel (16).
10. The obstacle-free high altitude rust removing device as claimed in claim 1, wherein the main body (15) is provided with a hook (12) for hanging the safety rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910861416.5A CN110773489A (en) | 2019-09-12 | 2019-09-12 | Barrier-free high-altitude rust removal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910861416.5A CN110773489A (en) | 2019-09-12 | 2019-09-12 | Barrier-free high-altitude rust removal device |
Publications (1)
| Publication Number | Publication Date |
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| CN110773489A true CN110773489A (en) | 2020-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910861416.5A Pending CN110773489A (en) | 2019-09-12 | 2019-09-12 | Barrier-free high-altitude rust removal device |
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| CN109987165A (en) * | 2019-04-11 | 2019-07-09 | 上海海洋大学 | A kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support |
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| JP5849907B2 (en) * | 2012-02-09 | 2016-02-03 | 新日鐵住金株式会社 | Wheel for magnetic body moving vehicle and magnetic body moving vehicle |
| CN106004230A (en) * | 2016-05-30 | 2016-10-12 | 哈工大机器人集团有限公司 | Flexible magnet wheel capable of climbing across concave-convex face |
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20200211 |