CN105438302A - Open type steel surface maintenance robot with charging function - Google Patents
Open type steel surface maintenance robot with charging function Download PDFInfo
- Publication number
- CN105438302A CN105438302A CN201510841814.2A CN201510841814A CN105438302A CN 105438302 A CN105438302 A CN 105438302A CN 201510841814 A CN201510841814 A CN 201510841814A CN 105438302 A CN105438302 A CN 105438302A
- Authority
- CN
- China
- Prior art keywords
- vehicle frame
- bound edge
- flexible solar
- body surface
- solar battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 64
- 239000010959 steel Substances 0.000 title claims abstract description 64
- 238000012423 maintenance Methods 0.000 title abstract description 11
- 239000007921 spray Substances 0.000 claims description 60
- 238000004140 cleaning Methods 0.000 claims description 20
- 238000003860 storage Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 abstract description 73
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 abstract description 4
- 210000004027 cell Anatomy 0.000 abstract 2
- 210000000170 cell membrane Anatomy 0.000 abstract 2
- 230000002950 deficient Effects 0.000 abstract 1
- 238000003384 imaging method Methods 0.000 abstract 1
- 239000000839 emulsion Substances 0.000 description 26
- 230000009286 beneficial effect Effects 0.000 description 21
- 239000004816 latex Substances 0.000 description 17
- 229920000126 latex Polymers 0.000 description 17
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 12
- 229910001369 Brass Inorganic materials 0.000 description 8
- 239000010951 brass Substances 0.000 description 8
- 238000002955 isolation Methods 0.000 description 7
- 239000000696 magnetic material Substances 0.000 description 7
- 238000000576 coating method Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 229910052757 nitrogen Inorganic materials 0.000 description 6
- 239000011248 coating agent Substances 0.000 description 5
- 239000007789 gas Substances 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000004810 polytetrafluoroethylene Substances 0.000 description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003628 erosive effect Effects 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 230000000873 masking effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000008961 swelling Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- -1 such as Substances 0.000 description 1
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
- B62D57/024—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an open type steel surface maintenance robot with a charging function, comprising a frame and rollers arranged at the bottom of the frame and used for being matched with a steel surface, wherein magnetic adsorption components for adsorbing and compressing the frame on the steel surface are arranged at four corners of the frame; a pivoted loop is arranged at the middle part of the frame, and a plurality of connectors for connecting maintenance components are uniformly distributed at the inner edge of the pivoted loop; and a wind-up roll is also arranged at the rear end of the frame, and a flexible solar cell membrane is accepted and wound on the wind-up roll. By using the robot disclosed by the invention, the robot can be driven to climb to the steel surface so as to carry out maintenance operation on a defective surface. By arranging the pivoted loop on the frame, maintenance components with different functions can be connected through the connectors so as to be convenient for spraying components, imaging components, ultrasonic flaw detection components and the like. The flexible solar cell membrane can be in charging connection with power supply cells of the robot so as to supply power constantly, thereby prolonging the duration of the cells.
Description
Technical field
The present invention relates to a kind of open steel body surface maintaining robot with charge function.
Background technology
As everyone knows, in the commercial production and engineering construction in modern times, usually can use the equipment of steel, such as, steel retort in chemical industry, pressure container, reserve tank; The steel pylon of high voltage generating station, the pedestal on aerogenerator; Various large-scale delivery duct etc.The equipment of such steel, in order to prevent corrosion, usually has antifretting coating in the surface coating of steel body, but in the equipment exposure air of open air after, As time goes on antifretting coating can slowly come off inefficacy.Itself potential safety hazard is caused to steel body.Existing steel systeming equipment is bulky, and manual maintenance is got up more difficult.Will be very convenient if carry out remote manipulation maintenance by control, but all there is the feature of flying power deficiency in telecommand terminal.Prior art urgent need is a kind of can conveniently to the open steel body surface maintaining robot with charge function that steel body surface is safeguarded.
Summary of the invention
The object of the invention is to overcome the defect existed in prior art, provide a kind of can conveniently to the open steel body surface maintaining robot with charge function that steel body surface is safeguarded.
For achieving the above object, technical scheme of the present invention provides a kind of open steel body surface maintaining robot with charge function, comprise vehicle frame and be arranged on the roller of bottom of frame for coordinating with steel body surface, described vehicle frame corner is provided with for vehicle frame being adsorbed the magnetic suck parts being pressed on steel body surface; Be provided with a pivoted loop in the middle part of described vehicle frame, described pivoted loop outer rim is rotationally connected by swing bearing and vehicle frame; The inner edge of described pivoted loop is evenly equipped with multiple for connecting the connector safeguarding assembly; Vehicle frame rear end is also provided with a wind-up roll, and on described wind-up roll, storage is wound with flexible solar battery film, and described flexible solar battery film charges with supplying cell and is connected; Vehicle frame front end is provided with a release roller, and described release roller is driven by release motor and connects, described in be accommodated in flexible solar battery film one end on wind-up roll and discharge roller and be connected.By using the robot described in the application drive machines people can climb steel body surface, attended operation being carried out to the surface occurring problem, prevents steel body surface deep erosions.The maintenance assembly of difference in functionality can be connected by arranging pivoted loop on vehicle frame by connector, being beneficial to spray assembly, camera assembly, ultrasonic flaw detection assembly etc.Can be charged with the supplying cell of robot by flexible solar battery film and be connected, provide charging constantly, improve the cruise duration of battery.
As preferably, described vehicle frame is provided with arched guide, and described arched guide two ends are individually fixed in vehicle frame rear end and vehicle frame front end; Described flexible solar battery film both sides are provided with bound edge; Described arched guide is provided with two, and described two arched guide are separately positioned on the both sides of vehicle frame; The inner side of described arched guide offers the bound edge groove for holding bound edge, and the bound edge of described flexible solar battery film both sides is along the bound edge groove bearing fit in two arched guide.Such design is beneficial to release roller strap and moves flexible solar battery film along arched guide laying or contraction, and whether operator can select to select flexible solar battery film to charge to supplying cell as required.
As preferably, the bound edge of described flexible solar battery film both sides stretches out and is provided with traction section, is not provided with flexible solar battery film between described traction section, and described traction section end is connected with release roller.Such design is beneficial to when not using flexible solar battery film to charge, and is arranged in arched guide, does not have flexible solar battery film to block between arched guide, be also beneficial to the replacing safeguarding assembly simultaneously by traction section; When using flexible solar battery film, winding traction section is rotated by release roller, progressively the flexible solar battery film be accommodated on wind-up roll is laid along arched guide, at this run duration, between traction section and bound edge groove, and coordinate between bound edge with bound edge groove and slide, realize flexible solar battery film and be progressively laid on arched guide, draw section simultaneously and be progressively wound on process on release roller.
As preferably, described vehicle frame rear end is provided with rolling support, and described rolling support is provided with Scroll, and described wind-up roll is arranged on Scroll, is also provided with the wind spring producing backrush power between described wind-up roll and Scroll; Described flexible solar battery film storage is wound on wind-up roll.Such structure design is beneficial to after flexible solar battery film uses, and is wound on wind-up roll, draws section simultaneously and leave on arched guide by the backrush power of wind spring by the storage of solar cell film.
As preferably, described bound edge is inner wide and outer narrow shape, described bound edge groove shape and bound edge adaptive, and bound edge channel opening restriction bound edge lateral slip; Described release motor drives traction section traction flexible solar battery film to lay along arched guide.Such design prevents solar cell film from laterally sliding when laying along arched guide and skidding off bound edge groove.
As preferably, the discharging direction of described wind-up roll is connected mutually with the bound edge groove feedstock direction near vehicle frame rear end; The pan feeding direction of described release roller is connected mutually with the bound edge groove discharging direction near vehicle frame front end.When such design avoids flexible solar battery film to lay and bound edge groove port rub and damage.
As preferably, described vehicle frame is also provided with rotary electric machine, described rotary electric machine drives pivoted loop to rotate by power wheel.Such design is beneficial to and drives pivoted loop to realize the switching safeguarded between assembly by rotary electric machine.
As preferably, described connector with safeguard that assembly removably connects.Such design is beneficial to according to the actual needs to safeguarding that assembly is changed.
As preferably, describedly safeguard that assembly comprises spray assembly and cleaning assembly.Such design is the one optimization to scheme.
As preferably, described cleaning assembly comprises cleaning assembly shell and is enclosed in the high pressure gas in cleaning assembly shell, and described cleaning assembly outer casing bottom is provided with nozzle, and described nozzle is communicated with spray assembly enclosure, and described nozzle is provided with wash-out valve.Such design carries out gasflow clean-up by high pressure gas to steel body surface, simple to operate.
As preferably, described cleaning assembly shell is pressure container, is pressed into nitrogen in described cleaning assembly shell by press device, and when wash-out valve is opened, high pressure nitrogen carries out gasflow clean-up from nozzle ejection to steel body surface.Such design carries out gasflow clean-up by high pressure nitrogen to steel body surface, prevents it to be oxidized, increases work efficiency.
As preferably, described magnetic suck parts are magnet base, and described magnet base comprises outside soft-magnetic material shell and the permanent magnetic magnet of rotary connection in soft-magnetic material shell, and described permanent magnetic magnet rotates outer rim and is provided with a pair brass magnetic isolation plate.Such design can by fast speed rotate permanent magnetic magnet realize to the absorption of steel body surface be separated.
As preferably, described spray assembly comprises spray assembly shell and is enclosed in the spray coating liquor in spray assembly shell, described spray coating liquor pressure is stored in spray coating liquor reservoir bag, described spray assembly outer casing bottom is provided with shower nozzle, described shower nozzle is communicated with spray coating liquor reservoir bag inside by catheter, and described catheter is provided with control valve body.By being stored in spray coating liquor reservoir bag and by vehicle frame, spray assembly can being transported to steel body surface by spray coating liquor pressure, opening controlling valve body, spray coating liquor is forced out in spray coating liquor reservoir bag, is sprayed on steel body surface.
As preferably, described spray coating liquor reservoir bag is elastic emulsion bag, described spray coating liquor to be poured in elastic emulsion bag by external pressure and forces spray coating liquor reservoir bag to be swelling state in spray assembly enclosure, under control valve body is in opening, spray coating liquor relies on spray coating liquor reservoir bag convergent force that spray coating liquor is squeezed out shower nozzle.Such design relies on the convergent force of elastic emulsion bag to realize the spraying of spray coating liquor, enriched design plan.
As preferably, described spray assembly enclosure is also provided with the magnetic patch slided up and down along spray assembly shell, described magnetic patch is arranged between spray coating liquor reservoir bag and spray assembly cover top portion, and described magnetic patch is used for and steel body surface adsorbs with the extruding strengthened spray coating liquor reservoir bag; Described spray assembly shell is non-ironware.Such design makes spray coating liquor can rely on the combined action of the convergent force of spray coating liquor reservoir bag and the pressure of magnetic patch and realizes spraying, simultaneously being combined with of masking liquid reservoir bag and magnetic patch is beneficial to spray pressure and is tending towards a comparatively stable state, under initial state, magnetic patch distance steel surface is far away, pressure is less, and the elastic module of spray coating liquor reservoir bag is larger, convergent force is stronger, along with the Stepwize Shrink of spray coating liquor reservoir bag, elastic module reduces, and magnetic patch distance steel surface is progressively close, attractive force is strengthened, pressure strengthens, like this in the whole process to spray coating liquor extruding, can mutually make up between the convergent force of spray coating liquor reservoir bag and magnetic patch pressure, summation is tending towards a comparatively stable state, be conducive to the realization of spraying effect.Eliminate outside for the force lift by strong spray pressure simultaneously, simplify the structure and reach same technique effect.
As preferably, described spray assembly shell offers breather hole.Such design be beneficial to magnetic patch slide in spray assembly shell and spray coating liquor reservoir bag expands in spray assembly shell or shrinkage distortion time the suction of gas and discharge.
As preferably, described roller drives with drive motor and is connected, and roller is connected with steering hardware.Realize the operation of car body by said structure and turn to, spray assembly being transported to the steel body surface needing to safeguard; The roller mode of the application is remote control, and power driven structure and steering structure are mechanism general in existing remote-control car, do not repeat at this.The parts such as described drive motor, rotary electric machine, control valve body, wash-out valve are all powered by supplying cell, and consumption of current is comparatively large, and need to be charged by flexible solar battery film constantly, flexible solar battery film is connected for charging with supplying cell.
As preferably, described elastic emulsion bag inside is also provided with a latex balloon, and described latex balloon is connected with elastic emulsion bag top; Described elastic emulsion bag thickness is 0.5 ~ 3mm; Described latex balloon thickness is 0.1 ~ 1mm.When such design spray coating liquor be beneficial in elastic emulsion bag has soon sprayed, avoid magnetic patch to elastic emulsion bag excessive compression; After elastic emulsion bag restores to the original state, if extruded it, easily form folding and folding line in extruding place, reduce the elastic performance of latex, latex balloon is arranged in elastic emulsion bag, can realizes supporting to elastic emulsion bag by latex balloon, prevent it from forming folding and folding line.Latex balloon in elastic emulsion bag can along with the minimizing of internal spray liquid use amount progressively volume increase; be conducive to realizing supporting; after again pouring into spray coating liquor; because the pressure in elastic emulsion bag increases; latex balloon volume can reduce; such design can realize the protection of latex balloon to elastic emulsion bag, can not cause taking space in elastic emulsion bag again because latex balloon volume is excessive, causes spray coating liquor storage area not enough.
As preferably, described magnetic patch and spray coating liquor reservoir bag contact position bonding by adhesive agent.Such design is beneficial to spray coating liquor reservoir bag expanding can to drive together with magnetic patch in time shrinking and moves; Be level at spray assembly shell, magnetic patch needs to overcome certain friction force, and such design can be shunk by spray coating liquor reservoir bag and magnetic patch is pulled the position nearer to distance steel surface, be beneficial to the formation of magnetic patch and steel body surface adsorption affinity; The shower nozzle of spray assembly shell upward time, magnetic patch needs to overcome self gravitation, and such design can be shunk by spray coating liquor reservoir bag and magnetic patch is pulled the position nearer to distance steel surface, be beneficial to the formation of magnetic patch and steel body surface adsorption affinity.
As preferably, between described magnetic patch and spray assembly cover top portion, be also provided with brass magnetic isolation unit part.Such design can completely cut off the attractive force of the outer bound pair magnetic patch of spray assembly cover top portion, avoids the interference that other iron components are unnecessary.
As preferably, described magnetic patch sidewall and spray assembly outer casing inner wall contact position are provided with PTFE anti-wear layer.Such design is beneficial to the friction force reduced between magnetic patch and spray assembly outer casing inner wall, enhances magnetic patch outer wall volume resistance to abrasion simultaneously.
As preferably, described spray assembly outer casing inner wall is coated with lubricating oil.Such design is beneficial to the friction force of less spray assembly outer casing inner wall, is beneficial to magnetic patch and slides in spray assembly shell, be beneficial to spray coating liquor reservoir bag expand in spray assembly shell or shrinkage distortion time and spray assembly shell in rub and few damaged.
As preferably, described shower nozzle and catheter junction seal and arrange, and described catheter and spray coating liquor reservoir bag junction seal and arrange.Such design makes shower nozzle can be communicated with catheter, connects by forming high pressure sealing in junction, avoids should be pressure excessive and leakage during spraying; Such design makes catheter can be communicated with spray coating liquor reservoir bag, connects by forming high pressure sealing in junction, avoids should be pressure excessive and leakage during spraying.Described spraying liquid level anti-corrosion spray coating liquor, such as, paint, the liquid coatings such as epoxy resin coating.
Advantage of the present invention and beneficial effect are: by using the robot described in the application drive machines people can climb steel body surface, carrying out attended operation, prevent steel body surface deep erosions to the surface occurring problem.The maintenance assembly of difference in functionality can be connected by arranging pivoted loop on vehicle frame by connector, being beneficial to spray assembly, camera assembly, ultrasonic flaw detection assembly etc.Can be charged with the supplying cell of robot by flexible solar battery film and be connected, provide charging constantly, improve the cruise duration of battery.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is plan structure schematic diagram of the present invention;
Fig. 3 is cleaning assembly inner structure schematic diagram;
Fig. 4 is spray assembly inner structure schematic diagram;
Fig. 5 is that flexible solar battery film coordinates cutaway view with arched guide;
Fig. 6 is flexible solar battery film deployed configuration schematic diagram.
In figure: 1, spray assembly shell; 2, spray coating liquor; 3, shower nozzle; 4, catheter; 5, control valve body; 6, elastic emulsion bag; 7, magnetic patch; 8, steel body surface; 9, brass magnetic isolation unit part; 10, PTFE anti-wear layer; 11, breather hole; 12, latex balloon; 13, roller; 14, spray assembly; 15, rotary electric machine; 16, soft-magnetic material shell; 17, permanent magnetic magnet; 18, brass magnetic isolation plate; 19, vehicle frame; 20, pivoted loop; 21, connector; 22, power wheel; 23, cleaning assembly; 24, cleaning assembly shell; 25, high pressure gas; 26, nozzle; 27, wash-out valve; 28, wind-up roll; 29, flexible solar battery film; 30, roller is discharged; 31, motor is discharged; 32, arched guide; 33, bound edge; 34, bound edge groove; 35, section is drawn; 36, rolling support; 37, Scroll.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
As shown in figs 1 to 6, a kind of open steel body surface maintaining robot with charge function, comprise vehicle frame 19 and be arranged on the roller 13 for coordinating with steel body surface 8 bottom vehicle frame 19, described vehicle frame 19 4 jiaos is provided with for vehicle frame 19 being adsorbed the magnetic suck parts being pressed on steel body surface 8; Be provided with a pivoted loop 20 in the middle part of described vehicle frame 19, described pivoted loop 20 outer rim is rotationally connected by swing bearing and vehicle frame 19; The inner edge of described pivoted loop 20 is evenly equipped with multiple for connecting the connector 21 safeguarding assembly; Vehicle frame 19 rear end is also provided with a wind-up roll 28, and on described wind-up roll 28, storage is wound with flexible solar battery film 29, and described flexible solar battery film 29 charges with supplying cell and is connected; Vehicle frame 19 front end is provided with a release roller 30, and described release roller 30 is driven by release motor 31 and connects, described in be accommodated in flexible solar battery film 29 one end on wind-up roll 28 and discharge roller 30 and be connected.
Described vehicle frame 19 is provided with arched guide 32, and described arched guide 32 two ends are individually fixed in vehicle frame 19 rear end and vehicle frame 19 front end; Described flexible solar battery film 29 both sides are provided with bound edge 33; Described arched guide 32 is provided with two, and described two arched guide 32 are separately positioned on the both sides of vehicle frame 19; The inner side of described arched guide 32 offers the bound edge groove 34 for holding bound edge 33, and the bound edge 33 of described flexible solar battery film 29 both sides is along bound edge groove 34 bearing fit in two arched guide 32.
The bound edge 33 of described flexible solar battery film 29 both sides stretches out and is provided with traction section 35, is not provided with flexible solar battery film 29 between described traction section 35, and described traction section 35 end is connected with release roller 30.
Described vehicle frame 19 rear end is provided with rolling support 36, and described rolling support 36 is provided with Scroll 37, and described wind-up roll 28 is arranged on Scroll 37, is also provided with the wind spring producing backrush power between described wind-up roll 28 and Scroll 37; Described flexible solar battery film 29 storage is wound on wind-up roll 28.The Wind spring structure be arranged between wind-up roll 28 and Scroll 37 is similar to the Wind spring structure in tape measure.
Described bound edge 33 is inner wide and outer narrow shape, described bound edge groove 34 shape and bound edge 33 adaptation, and bound edge groove 34 opening restriction bound edge 33 lateral slip; Described release motor 31 drives traction section 35 to draw flexible solar battery film 29 and lays along arched guide 32.
The discharging direction of described wind-up roll 28 is connected mutually with bound edge groove 34 feedstock direction near vehicle frame 19 rear end; The pan feeding direction of described release roller 30 is connected mutually with the bound edge groove 34 discharging direction near vehicle frame 19 front end.
Described vehicle frame 19 is also provided with rotary electric machine 15, and described rotary electric machine 15 drives pivoted loop 20 to rotate by power wheel 22.
Described connector 21 with safeguard that assembly removably connects.
Describedly safeguard that assembly comprises spray assembly 14 and cleaning assembly 23.
The high pressure gas 25 that described cleaning assembly 23 comprises cleaning assembly shell 24 and is enclosed in cleaning assembly shell 24, nozzle 26 is provided with bottom described cleaning assembly shell 24, described nozzle 26 is communicated with spray assembly shell 1 inside, and described nozzle 26 is provided with wash-out valve 27.
Described cleaning assembly shell 24 is pressure container, and be pressed into nitrogen by press device in described cleaning assembly shell 24, when wash-out valve 27 is opened, high pressure nitrogen sprays from nozzle 26 and carries out gasflow clean-up to steel body surface 8.
Described magnetic suck parts are magnet base, and described magnet base comprises outside soft-magnetic material shell 16 and the permanent magnetic magnet 17 of rotary connection in soft-magnetic material shell 16, and described permanent magnetic magnet 17 rotates outer rim and is provided with a pair brass magnetic isolation plate 18.
The spray coating liquor 2 that described spray assembly 14 comprises spray assembly shell 1 and is enclosed in spray assembly shell 1, described spray coating liquor 2 pressure is stored in spray coating liquor 2 reservoir bag, shower nozzle 3 is provided with bottom described spray assembly shell 1, described shower nozzle 3 is communicated with spray coating liquor 2 reservoir bag inside by catheter 4, and described catheter 4 is provided with control valve body 5.
Described spray coating liquor 2 reservoir bag is elastic emulsion bag 6, described spray coating liquor 2 to be poured in elastic emulsion bag 6 by external pressure and forces spray coating liquor 2 reservoir bag in spray assembly shell 1 inside in swelling state, under control valve body 5 is in opening, spray coating liquor 2 relies on spray coating liquor 2 reservoir bag convergent force that spray coating liquor 2 is squeezed out shower nozzle 3.
Described spray assembly shell 1 inside is also provided with the magnetic patch 7 slided along spray assembly shell about 1, described magnetic patch 7 is arranged between spray coating liquor 2 reservoir bag and spray assembly shell 1 top, and described magnetic patch 7 is for adsorbing to strengthen the extruding to spray coating liquor 2 reservoir bag with steel body surface 8; Described spray assembly shell 1 is non-ironware.Magnetic patch 7 is permanent magnet preferably.
Described spray assembly shell 1 offers breather hole 11.
Described roller 13 drives with drive motor and is connected, and roller 13 is connected with steering hardware.
Spray assembly shell 1 and vehicle frame 19 can be Plastic Parts or the Al-alloy parts of hard, so that the weight alleviated.
Described elastic emulsion bag 6 inside is also provided with a latex balloon 12, and described latex balloon 12 is connected with elastic emulsion bag 6 top; Described elastic emulsion bag 6 thickness is 0.5 ~ 3mm; Described latex balloon 12 thickness is 0.1 ~ 1mm.
Described magnetic patch 7 is bonding by adhesive agent with spray coating liquor 2 reservoir bag contact position.
Brass magnetic isolation unit part 9 is also provided with between described magnetic patch 7 and spray assembly shell 1 top.Can be brass magnetic isolation plate 18 or the sprayed coating having brass material, can be arranged on also can in spray assembly shell 1 top inner wall on magnetic patch 7.
Described magnetic patch 7 sidewall and spray assembly shell 1 contact internal walls position are provided with PTFE anti-wear layer 10.
Described spray assembly shell 1 inwall is coated with lubricating oil.
Described shower nozzle 3 seals with catheter 4 junction and arranges, and described catheter 4 seals with spray coating liquor 2 reservoir bag junction and arranges.
When carrying out maintenance and handling, first permanent magnetic magnet 17 is rotated, no matter soft-magnetic material and steel body surface 8 are formed magnetic suck relation, relies on magnetic suck parts that vehicle frame 19 absorption is pressed on steel body surface 8 like this, be that vehicle frame 19 bottom surface can realize absorption connection towards any direction; Control roller 13 to rotate, vehicle frame 19 is moved to the position that damaging appears in steel body surface 8; By rotary electric machine 15(servomotor) drive pivoted loop 20 to rotate cleaning assembly 23 turned to and damage position, aimed at by nozzle 26 and damage position, control to open wash-out valve 27, high pressure nitrogen sprays from nozzle 26 and carries out gasflow clean-up to steel body surface 8; Wash-out valve 27 is closed after cleaning;
Clean complete after, rotated by pivoted loop 20 and spray assembly 14 turned to just cleaned damage position; Simultaneously opening controlling valve body 5, spray coating liquor 2 relies on spray coating liquor 2 reservoir bag convergent force, and magnetic patch 7 and steel body surface 8 adsorption and spray coating liquor 2 is squeezed out shower nozzle 3 to the squeese pressure of spray coating liquor 2 reservoir bag, thus realizes spraying operation.If need the spraying operation carrying out next position can to circulate aforesaid operations; If spray complete, by car body remote control to lower position, permanent magnetic magnet 17 will be rotated, and soft-magnetic material and steel body surface 8 magnetic suck relation be eliminated, vehicle frame 19 is taken off;
Preferred as one, by the cooperation of spray coating liquor 2 reservoir bag and magnetic patch 7, spray coating liquor 2 can rely on the combined action of the convergent force of spray coating liquor 2 reservoir bag and the pressure of magnetic patch 7 and realize spraying, simultaneously being combined with of masking liquid reservoir bag and magnetic patch 7 is beneficial to spray pressure and is tending towards a comparatively stable state, under initial state, magnetic patch 7 distance steel surface 8 is far away, pressure is less, and the elastic module of spray coating liquor 2 reservoir bag is larger, convergent force is stronger, along with the Stepwize Shrink of spray coating liquor 2 reservoir bag, elastic module reduces, and magnetic patch 7 distance steel surface 8 is progressively close, attractive force is strengthened, pressure strengthens, like this in the whole process that spray coating liquor 2 is extruded, can mutually make up between the convergent force of spray coating liquor 2 reservoir bag and magnetic patch 7 pressure, summation is tending towards a comparatively stable state, be conducive to the realization of spraying effect.Eliminate outside for the force lift by strong spray pressure simultaneously, simplify the structure and reach same technique effect;
After elastic emulsion bag 6 restores to the original state, latex balloon 12 is arranged in elastic emulsion bag 6, can realize supporting by latex balloon 12 pairs of elastic emulsion bags 6, prevents magnetic patch 7 excessive extrusion and form folding and folding line; Now in elastic emulsion bag 6, be again filled with spray coating liquor 2 by external device, because the pressure in elastic emulsion bag 6 increases, latex balloon 12 volume can reduce gradually.
Open described in the application, refer to the maintenance assembly that can be connected difference in functionality by connector 21, be beneficial to spray assembly 14, camera assembly, ultrasonic flaw detection assembly etc., reach the variety of robot function, connector 21 with safeguard that the connection of assembly can be bolted, also can be connected by clamping, absorption connects etc.
In the energy supply side of robot, the parts such as drive motor, rotary electric machine 15, control valve body 5, wash-out valve 27 are all powered by supplying cell, consumption of current is larger, need to be charged by flexible solar battery film 29 constantly, flexible solar battery film 29 is connected for charging with supplying cell;
In order to make flexible solar battery film 29, there is the function of laying and receiving, devise wind-up roll 28, flexible solar battery film 29, parts such as release roller 30 and arched guide 32 etc., flexible solar battery film 29 is optionally used, simultaneously, when assembly is safeguarded in needs replacing, need flexible solar battery film 29 to receive, avoid interfering;
Under normal conditions, flexible solar battery film 29 is accommodated on wind-up roll 28 by the backrush power of wind spring, traction section 35 is contained in the bound edge groove 34 on arched guide 32, when needs charge, release motor 31 drives release roller 30 to rotate, winding traction section 35, progressively the flexible solar battery film 29 be accommodated on wind-up roll 28 is laid along arched guide 32, at this run duration, between traction section 35 and bound edge groove 34, and coordinate between bound edge 33 with bound edge groove 34 and slide, realizing flexible solar battery film 29 is progressively laid on arched guide 32, draw section 35 simultaneously and be progressively wound on the process discharged on roller 30,
After flexible solar battery film 29 uses, release motor 31 cuts out, by the backrush power of wind spring solar cell film received again and be wound on wind-up roll 28, draw section 35 simultaneously and leave on arched guide 32; In like manner, at this run duration, between traction section 35 and bound edge groove 34, and coordinate between bound edge 33 with bound edge groove 34 and slide.In order to prevent flexible solar battery film 29 shifted laterally, bound edge 33 is inner wide and outer narrow shape, described bound edge groove 34 shape and bound edge 33 adaptation.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as the protection domain invented.
Claims (9)
1. one kind has the open steel body surface maintaining robot of charge function, it is characterized in that: comprise vehicle frame and be arranged on the roller of bottom of frame for coordinating with steel body surface, described vehicle frame corner is provided with for vehicle frame being adsorbed the magnetic suck parts being pressed on steel body surface; Be provided with a pivoted loop in the middle part of described vehicle frame, described pivoted loop outer rim is rotationally connected by swing bearing and vehicle frame; The inner edge of described pivoted loop is evenly equipped with multiple for connecting the connector safeguarding assembly; Vehicle frame rear end is also provided with a wind-up roll, and on described wind-up roll, storage is wound with flexible solar battery film, and described flexible solar battery film charges with supplying cell and is connected; Vehicle frame front end is provided with a release roller, and described release roller is driven by release motor and connects, described in be accommodated in flexible solar battery film one end on wind-up roll and discharge roller and be connected.
2. have the open steel body surface maintaining robot of charge function as claimed in claim 1, it is characterized in that: described vehicle frame is provided with arched guide, described arched guide two ends are individually fixed in vehicle frame rear end and vehicle frame front end; Described flexible solar battery film both sides are provided with bound edge; Described arched guide is provided with two, and described two arched guide are separately positioned on the both sides of vehicle frame; The inner side of described arched guide offers the bound edge groove for holding bound edge, and the bound edge of described flexible solar battery film both sides is along the bound edge groove bearing fit in two arched guide.
3. there is the open steel body surface maintaining robot of charge function as claimed in claim 2, it is characterized in that: the bound edge of described flexible solar battery film both sides stretches out and is provided with traction section, be not provided with flexible solar battery film between described traction section, described traction section end is connected with release roller.
4. there is the open steel body surface maintaining robot of charge function as claimed in claim 3, it is characterized in that: described vehicle frame rear end is provided with rolling support, described rolling support is provided with Scroll, described wind-up roll is arranged on Scroll, is also provided with the wind spring producing backrush power between described wind-up roll and Scroll; Described flexible solar battery film storage is wound on wind-up roll.
5. there is the open steel body surface maintaining robot of charge function as claimed in claim 4, it is characterized in that: described bound edge is inner wide and outer narrow shape, described bound edge groove shape and bound edge adaptation, and bound edge channel opening restriction bound edge lateral slip; Described release motor drives traction section traction flexible solar battery film to lay along arched guide.
6. there is the open steel body surface maintaining robot of charge function as claimed in claim 5, it is characterized in that: the discharging direction of described wind-up roll is connected mutually with the bound edge groove feedstock direction near vehicle frame rear end; The pan feeding direction of described release roller is connected mutually with the bound edge groove discharging direction near vehicle frame front end.
7. have the open steel body surface maintaining robot of charge function as claimed in claim 6, it is characterized in that: described vehicle frame is also provided with rotary electric machine, described rotary electric machine drives pivoted loop to rotate by power wheel.
8. there is the open steel body surface maintaining robot of charge function as claimed in claim 7, it is characterized in that: described connector with safeguard that assembly removably connects.
9. there is the open steel body surface maintaining robot of charge function as claimed in claim 8, it is characterized in that: describedly safeguard that assembly comprises spray assembly and cleaning assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841814.2A CN105438302B (en) | 2015-11-28 | 2015-11-28 | A kind of open steel body surface maintaining robot with charge function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841814.2A CN105438302B (en) | 2015-11-28 | 2015-11-28 | A kind of open steel body surface maintaining robot with charge function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438302A true CN105438302A (en) | 2016-03-30 |
| CN105438302B CN105438302B (en) | 2017-11-10 |
Family
ID=55549055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510841814.2A Expired - Fee Related CN105438302B (en) | 2015-11-28 | 2015-11-28 | A kind of open steel body surface maintaining robot with charge function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105438302B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6000484A (en) * | 1996-09-25 | 1999-12-14 | Aqua Dynamics, Inc. | Articulating wheeled permanent magnet chassis with high pressure sprayer |
| US6011455A (en) * | 1996-11-19 | 2000-01-04 | Mitsubishi Heavy Industries, Ltd. | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| CN201102245Y (en) * | 2007-09-14 | 2008-08-20 | 强而青科技开发有限公司 | Miniature solar robot |
| CN102280499A (en) * | 2011-07-26 | 2011-12-14 | 河南天恩太阳能科技有限公司 | Winding shaft solar cell panel device |
| CN203158113U (en) * | 2013-04-12 | 2013-08-28 | 山东电力建设第二工程公司 | Remote-controlled magnetic-adsorbing rust-removing, paint-spraying and detecting locomotive |
| CN203266627U (en) * | 2013-05-02 | 2013-11-06 | 青岛欧晟达海装实验有限公司 | Surface maintaining robot |
| CN104440915A (en) * | 2013-09-15 | 2015-03-25 | 南京大五教育科技有限公司 | Spray painting robot for rust removal of large pipe |
| CN204263159U (en) * | 2014-11-22 | 2015-04-15 | 天津米岚泽科技发展有限公司 | A kind of solar energy transfer robot |
-
2015
- 2015-11-28 CN CN201510841814.2A patent/CN105438302B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6000484A (en) * | 1996-09-25 | 1999-12-14 | Aqua Dynamics, Inc. | Articulating wheeled permanent magnet chassis with high pressure sprayer |
| US6011455A (en) * | 1996-11-19 | 2000-01-04 | Mitsubishi Heavy Industries, Ltd. | Wall surface absorption type moving device and magnet driving method of the wall surface absorption type moving device |
| CN201102245Y (en) * | 2007-09-14 | 2008-08-20 | 强而青科技开发有限公司 | Miniature solar robot |
| CN102280499A (en) * | 2011-07-26 | 2011-12-14 | 河南天恩太阳能科技有限公司 | Winding shaft solar cell panel device |
| CN203158113U (en) * | 2013-04-12 | 2013-08-28 | 山东电力建设第二工程公司 | Remote-controlled magnetic-adsorbing rust-removing, paint-spraying and detecting locomotive |
| CN203266627U (en) * | 2013-05-02 | 2013-11-06 | 青岛欧晟达海装实验有限公司 | Surface maintaining robot |
| CN104440915A (en) * | 2013-09-15 | 2015-03-25 | 南京大五教育科技有限公司 | Spray painting robot for rust removal of large pipe |
| CN204263159U (en) * | 2014-11-22 | 2015-04-15 | 天津米岚泽科技发展有限公司 | A kind of solar energy transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105438302B (en) | 2017-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105438301A (en) | Magnetic adsorption type robot for detecting shell surface of shipbuilding steel plate | |
| CN110090835A (en) | A kind of new-energy automobile charging pile | |
| CN105527343A (en) | Robot for detecting welds on outer wall of large-scale water storage tank | |
| CN105499027A (en) | Open type steel body surface maintenance robot | |
| CN105478280A (en) | Wind power tower base surface maintenance robot | |
| CN105499028B (en) | A kind of cylinder of steel surface maintenance device with automatic charging function | |
| CN105438302A (en) | Open type steel surface maintenance robot with charging function | |
| CN105435987B (en) | A kind of large-size stainless steel storage tank surface spraying machine people | |
| CN105437237B (en) | A kind of large-scale storing top tank structure detection machine device people | |
| CN105478312A (en) | Ship steel plate housing surface detection robot | |
| CN105437240B (en) | A kind of large-sized steel container inner wall detects robot | |
| CN105435995B (en) | A kind of magnetic adsorption type wind-powered electricity generation leg surface maintaining robot | |
| CN215235139U (en) | Double-sided spraying equipment for battery diaphragm production | |
| CN105435994B (en) | A kind of harbour arm surface maintenance system | |
| CN105437238A (en) | Portal crane maintaining robot | |
| CN207901820U (en) | A kind of vacuum brake plate of make-up machine | |
| CN105437239B (en) | A kind of harbor crane maintaining robot | |
| CN215412293U (en) | High-efficiency high-pressure micro-mist humidifier | |
| CN105521890B (en) | A kind of large-scale water storage box outer wall spray robot | |
| CN215695059U (en) | Part paint spraying apparatus is used in toy production | |
| CN216350229U (en) | Remove and get ageing line body of electricity, gas | |
| CN105460098A (en) | Robot for surface maintenance of wind power stand column | |
| CN110721882A (en) | Waterproof coating machine of cell-phone nanometer | |
| CN210159876U (en) | Multifunctional film coating machine | |
| CN217392821U (en) | Gluing device for corrugated board production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhu Hongyan Inventor before: Mei Wei |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20170922 Address after: Tianjin City, Tanggu Binhai New Area 300450 auspicious No. 8 Building 3 unit 401 Applicant after: Zhu Hongyan Address before: 214400 Jiangsu city of Wuxi province Jiangyin City East Ring Road No. 9 E501 Applicant before: JIANGSU FENGLEI CULTURE MEDIA Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180822 Address after: 246701 Jinshan Road, Zongyang Town, Zongyang County, Tongling, Anhui, China Patentee after: ZONGYANG ZHONGBANG TECHNOLOGY INFORMATION CONSULTING Co.,Ltd. Address before: 300450 Tianjin Binhai New Area Tanggu Jiqing Li 8 Building 3 unit 401 Patentee before: Zhu Hongyan |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210112 Address after: 272000 37 Jining Avenue, taibaihu New District, Jining City, Shandong Province Patentee after: SHANDONG POLYTECHNIC College Address before: 246701 Jinshan Road, Zongyang Town, Zongyang County, Tongling, Anhui, China Patentee before: ZONGYANG ZHONGBANG TECHNOLOGY INFORMATION CONSULTING Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171110 Termination date: 20211128 |