Multifunctional caterpillar band magnetic type wall-climbing robot for sand blasting and rust removal of ship

Abstract

The invention relates to a multifunctional track magnetic type wall-climbing robot for sand blasting and rust removal of a ship. The sand blasting robot is arranged on the chassis and is used for sand blasting and rust removal; the adsorption climbing device enables the chassis to climb along the ship wall; the slag removal device is used for directionally removing solid impurities; the slag removal device comprises a swing mechanism, a slag removal mechanism and a slag removal mechanism, the power mechanism is used for providing power for the swinging mechanism to enable the swinging mechanism to swing; the judging mechanism is used for judging the number of particles in the advancing path; and the power mechanism also provides kinetic energy for the judgment mechanism. According to the method, different conditions of solid particle impurities are judged, so that the effect of cleaning the solid particles in different modes is achieved, and it is guaranteed that wall-climbing sand blasting rust removal work is conducted efficiently.

Description

Technical Field

[0001] The present application relates to the technical field of sandblasting robots, and in particular to a multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal on ships. Background Art

[0002] At present, the hull walls of ships are prone to rust after being used for a certain period of time, so the ships need to be regularly derusted. If the ship is not high, the rust is removed manually. However, if the ship exceeds a certain height, manual operation is more troublesome and the rust needs to be removed with the help of a ladder or a lifting device.

[0003] In view of the troublesome and low operating efficiency of manual rust removal, more robots with magnetic wall-climbing functions are currently designed to perform sandblasting and rust removal. The main principle is to set multiple permanent magnets on the tracks and then remove rust during the climbing process of the ship wall. However, a large amount of solid particles such as rust and gravel will be generated during the sandblasting and rust removal process. These solid particles will inevitably be scattered on the path in front of the robot. When the tracks run over these particles, they will be sandwiched between the permanent magnets and the hull steel plates, forming a physical air gap, which will affect the adsorption force between the permanent magnets and the ship wall, seriously affecting the adsorption force between the permanent magnets and the ship wall, and even causing the magnetic wall-climbing robot to fall, posing a safety hazard. Summary of the Invention

[0004] In order to improve the above problems, the present application provides a multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships.

[0005] The present application provides a multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal on ships, which adopts the following technical solutions: A multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships, comprising: chassis; A sandblasting robot, disposed on the chassis and used for sandblasting and rust removal; Adsorption climbing device enables the chassis to climb along the ship wall; Slag cleaning device, used for targeted cleaning of solid impurities; The slag cleaning device comprises: Swing mechanism to achieve swing slag cleaning; A power mechanism, used for providing power to the swing mechanism to make it swing; A judging mechanism, used to judge the number of particles in the traveling path; The power mechanism also provides kinetic energy to the judgment mechanism.

[0006] Furthermore, the swing mechanism includes: A swing rod, one end of which is hinged to the chassis and the other end of which is movable and swingable; a cleaning assembly that cleans impurities toward the outside of the chassis and does not clean impurities toward the inside of the chassis; and The transmission assembly is used to convert the power of the power mechanism into the swing of the swing rod.

[0007] Furthermore, the cleaning component includes: Cleaning parts, which remove fixed impurities through friction; A lifting portion, used for lifting the cleaning member upward until it is separated from the ship wall; The cleaning piece is elastically arranged on the swing rod, and the moving direction of the cleaning piece is perpendicular to the plane where the swing rod swings.

[0008] Furthermore, the power mechanism includes: a power wheel movably arranged on the chassis and in contact with the ship wall; A swing drive assembly, used for controlling the reciprocating swing of the swing rod; a separation drive assembly, configured to pull the lifting member until the cleaning member is separated from the vessel wall; a judgment drive assembly, used to provide kinetic energy to the judgment mechanism; After the swing drive assembly controls the swing rod to swing toward the outside of the chassis, the cleaning member is pulled to be separated from the ship wall during the swing rod's automatic swing toward the inside of the chassis.

[0009] Furthermore, the transmission assembly includes: A slider, sliding on the chassis along the forward direction of the chassis; a transmission rod, one end of which is hinged to the slider and the other end of which is hinged to the middle of the swing rod; A half gear is rotatably mounted on the chassis and is coaxially arranged with the power wheel; two first racks, slidably disposed on the chassis, and only one of the first racks being meshedly connected to the half gear; a connecting rod, used to connect the same end of the two first racks; The transmission rod is fixedly connected to the slider, and the swing drive assembly controls the power wheel to be connected to the half gear.

[0010] Furthermore, the swing drive assembly includes: a drive shaft, fixed coaxially with the half gear; Slide cylinder, sliding sleeve arranged outside the driving shaft; a friction transmission clutch, fixed to the end of the slide cylinder and used to connect the drive shaft and the power wheel; a square cylinder fixed to the end of the drive shaft and the friction transmission clutch is adapted to the square cylinder; a reciprocating assembly for achieving reciprocating motion of the friction transmission clutch; The inner hole of the friction transmission clutch is also set to be square. When the friction transmission clutch follows the movement of the slide cylinder and fits into the power wheel, the drive shaft starts to rotate.

[0011] Furthermore, the reciprocating assembly includes: a reciprocating rod, hinged to the chassis; a reciprocating block, one end of which is fixedly connected to the reciprocating rod and the other end of which is provided with a reciprocating groove; a force-bearing block fixed to the other end of the reciprocating rod; A cam power unit, used for applying a force to the force-bearing block to separate the friction transmission clutch from the power wheel; An elastic member, used for the friction transmission clutch to fit the power wheel; The slide cylinder is provided with an annular groove, the reciprocating groove is adapted to the slide cylinder, and the end side wall of the reciprocating groove opening abuts against the side wall of the annular groove.

[0012] Furthermore, the lifting portion includes: A lifting block is slidably disposed in the swing rod; a fixed block, fixedly connected to the end of the cleaning member; An intermittent group, used to realize the staggered movement of the lifting block and the fixed block; The plug-in block and the clamping block, the swing rod is provided with a sliding groove for the sliding of the pulling block, the side wall of the sliding groove is provided with a plug-in hole, the pulling block is provided with a plug-in groove, the plug-in block is elastically provided in the plug-in groove, the plug-in block is plugged into the plug-in hole, and the clamping block is slidably adapted to fit in the plug-in hole; An extrusion block is fixed on the chassis and is located above the swing rod when it swings to the outermost side. The bottom surface of the extrusion block is configured as an inclined surface and faces the clamping block. A release block is fixed on the chassis and is located on the side where the swing rod swings to the innermost side. The release block is provided with an inclined surface and fits with the swing rod. The release block squeezes the clamping block into the plug hole.

[0013] Furthermore, the bottom of the pulling block is further provided with an adsorption portion; The adsorption part includes: An adsorption box is rotatably disposed in the lifting block, and the lifting block is provided with an adsorption motor for controlling the swing of the adsorption box; A movable roller, movably arranged on the adsorption box; an adsorption roller, rotatably disposed between the movable rollers; The adsorption box is provided with a horizontal groove, one end of the horizontal groove is provided with an inclined groove, one end of the horizontal groove and the bottom end of the inclined groove are both provided with a magnet ring, the magnet ring is used to adsorb and fix the movable roller, when the movable roller is located in the horizontal groove, the adsorption roller will not contact the ship wall, when the movable roller is located at the bottom wall of the inclined groove, the adsorption roller is in contact with the ship wall.

[0014] Furthermore, the judgment mechanism includes: A judgment frame, elastically arranged in front of the chassis; a judgment wheel, rotatably mounted on the judgment frame and initially rotating due to interaction with the frictional force of the ship wall, wherein the rotation axis of the judgment wheel is connected to the judgment frame via a torsion spring; and Identification component, judge the number of foreign particles by the sound made by the fast rotation of the judging wheel; The judgment drive assembly is used to enable the judgment frame to intermittently move away from the ship wall.

[0015] In summary, the beneficial technical effects of this application are: 1. When traveling straight, the drive system must overcome the attraction between the permanent magnets and the ship's walls. As the tracks rotate, different permanent magnets attract the ship's walls. When turning, the track on the side facing the turn slows down, while the track on the other side speeds up, achieving the desired turning effect. 2. The swing mechanism sweeps away solid particles in front of the two tracks by swinging. The power mechanism converts the power of the tracks into power for the swing mechanism. The judgment mechanism is mainly used to determine the number of particles in the path. In this embodiment, if the number of solid particles is large, a combination of sweeping and adsorption is required. If the number of solid particles is small, sweeping is sufficient. 3. When there is no sound, there is no need to clean the forward direction of the crawler. If the sound sensor determines that the sound is loud, when the sound is small, for example, a specific decibel value is set, the cleaning part needs to start working, that is, the swing rod starts to swing; if the sound is loud and exceeds the set value, it is also necessary to control the rotation of the adsorption box, that is, to move the adsorption roller to absorb the impurities on the ship wall. Because there are a lot of impurities, relying solely on cleaning cannot guarantee that the impurities are completely cleaned, and some may even fall to the inside of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 This is a schematic diagram of a slag cleaning device in an embodiment of the present application; Figure 3is a schematic diagram of a judgment mechanism in an embodiment of the present application; Figure 4 yes Figure 2 Enlarged view of point A in the middle; Figure 5 is a schematic diagram of a cleaning component in an embodiment of the present application; Figure 6 Schematic diagram of the adsorption part in the embodiment of the present application.

[0017] Description of reference numerals: 1. Chassis; 10. Track; 11. Permanent magnet; 20. Swing rod; 201. Cleaning member; 202. Lifting block; 203. Fixed block; 204. Second gear; 205. Second rack; 206. Connecting block; 207. Connecting hole; 208. Clamping block; 209. Connecting slot; 2010. Extruding block; 2011. Loosening block; 2012. Adsorption box; 2013. Movable roller; 2014. Adsorption roller; 2015. Horizontal slot; 2016. Inclined slot; 2017. Scraper; 30. Power wheel; 31. Slider; 32. Sliding rod; 33. Transmission rod; 34. Half gear; 35. First rack; 36. Connecting rod; 301. Drive shaft; 302. Sliding cylinder; 303. Friction transmission clutch; 304. Square cylinder; 305. Reciprocating rod; 306. Reciprocating block; 307. Force bearing block; 308. Cam power unit; 309. Elastic member; 3010. Annular groove; 40. Judgment frame; 41. Judgment wheel; 42. Judgment cam; 43. Synchronous wheel; 44. Synchronous belt; 45. Sounding part; 46. Sound sensor. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0019] The embodiment of the present application discloses a multifunctional crawler 10 magnetic wall climbing robot for sandblasting and rust removal of ships. Figures 1-6, which includes a chassis 1; a sandblasting robot, which is arranged on the chassis 1 and is used for sandblasting and rust removal; an adsorption climbing device, which enables the chassis 1 to climb along the ship wall; in this embodiment, the sandblasting robot uses the applicant's eight-axis spray robot arm, which will not be described here. The sandblasting robot is installed on the chassis 1, and then the ship wall can be fully sandblasted and rusted. The adsorption climbing device adopts the crawler 10 and the permanent magnet 11 in the prior art to cooperate with each other. Similarly, during the climbing process, the crawler 10 needs to be designed with a tensioning structure to prevent it from loosening. Relaxation, during the actual climbing process, it is necessary to ensure that the track 10 remains in a tensioned state, only then can the permanent magnet 11 be adsorbed on the ship wall. In this embodiment, both tracks 10 are provided with a drive system. During the straight-line process, the drive system needs to overcome the adsorption force between the permanent magnet 11 and the ship wall. As the track 10 rotates, different permanent magnets 11 are adsorbed on the ship wall. When turning is required, the track 10 on the side facing the turn runs slowly, while the track 10 on the other side runs faster, thereby achieving the effect of the chassis 1 turning.

[0020] Slag cleaning device, used for targeted cleaning of solid impurities; The slag cleaning device includes: a swinging mechanism for realizing swinging slag cleaning; a power mechanism for providing power to the swinging mechanism to make it swing; a judgment mechanism for judging the number of particles in the travel path; the power mechanism also provides kinetic energy to the judgment mechanism, and the swinging mechanism cleans the solid particle impurities in front of the two tracks 10 by swinging. The power mechanism converts the power of the tracks 10 during their travel into the power of the swinging mechanism. The judgment mechanism is mainly used to judge the number of particles on the travel path. In this embodiment, if the number of solid particle impurities is large, it is necessary to combine cleaning and adsorption for treatment. If the solid particle impurities are not many, they only need to be cleaned.

[0021] The swing mechanism includes: a swing rod 20, one end of which is elastically hinged on the chassis 1 and the other end is movable and swingable; a cleaning component, which cleans impurities toward the outside of the chassis 1 and does not clean impurities toward the inside of the chassis 1; a transmission component, which is used to convert the power of the power mechanism into the swing of the swing rod 20. The swing range of the swing rod 20 can cover or be larger than the front area of ​​the track 10. The cleaning component needs to keep cleaning impurities toward the outside of the track 10 or the chassis 1. If solid particles are cleaned to the inside of the chassis 1, it is easy for impurities to fall to the position of the track 10. Therefore, when cleaning toward the outside of the chassis 1, the probability of impurities falling to the position of the track 10 can be reduced; the swing rod 20 and the rotation axis of the chassis 1 are vertically arranged, and the cleaning component can complete the cleaning of the ship wall during the swinging of the swing rod 20.

[0022] The cleaning component includes: a cleaning piece 201, which cleans fixed impurities through friction; a lifting part, which is used to lift the cleaning piece 201 upward to separate it from the ship wall; the cleaning piece 201 is elastically arranged on the swing rod 20, and the movement direction of the cleaning piece 201 is perpendicular to the plane where the swing rod 20 swings. In this embodiment, the cleaning piece 201 can be made of a brush or a steel ball, which is used to clean impurities on the ship wall. When the swing rod 20 swings toward the outside of the chassis 1, the cleaning piece 201 cleans the impurities on the ship wall, and when the cleaning piece 201 moves to the outermost position, the cleaning piece 201 is recovered into the swing rod 20. When the swing rod 20 swings toward the inside of the chassis 1, the cleaning piece 201 is separated from the ship wall, reducing the probability of the cleaning piece 201 cleaning impurities to the inside of the chassis 1.

[0023] The power mechanism includes: a power wheel 30, which is movably arranged on the chassis 1 and in contact with the ship wall; a swing drive assembly, used to control the reciprocating swing of the swing rod 20; a separation drive assembly, used to pull the pulling member until the cleaning member 201 is separated from the ship wall; a judgment drive assembly, used to provide kinetic energy to the judgment mechanism; the chassis 1 is rotatably connected to the power rod, and the power wheel 30 is rotatably connected to the tail end of the power rod. The rotation of the power rod is used to cooperate with the steering work of the crawler 10. In this embodiment, the power wheel 30 is set to automatically restore to the initial state during the linear movement of the crawler 10; after the swing drive assembly controls the swing rod 20 to swing toward the outside of the chassis 1, the swing rod 20 automatically swings toward the inside of the chassis 1, and the cleaning member 201 is pulled to separate from the ship wall.

[0024] The transmission assembly includes: a slider 31, which slides on the chassis 1 along the forward direction of the chassis 1. The chassis 1 is also provided with a slide bar 32 for guiding the slider 31. The length direction of the slide bar 32 is set along the running direction of the crawler 10. The slider 31 is sleeved on the outside of the slide bar 32 and slides; a transmission rod 33, one end of which is hinged to the slider 31 and the other end is hinged to the middle part of the swing rod 20. The above structure is combined with the crank rocker structure to realize the reciprocating swing of the swing rod 20; a half gear 34, which is rotatably set on the chassis 1 and is coaxial with the power wheel 30; two first racks 35, which are slidably set on the chassis 1 and have only one first rack The rack 35 is meshed and connected with the half gear 34, and the half gear 34 is arranged between the two first racks 35. The half gear 34 will only be meshed and connected with one first rack 35 during the rotation process. As the half gear 34 rotates in one direction, the transmission rod 33 can realize reciprocating motion; the connecting rod 36 is used to connect the same end of the two first racks 35; the connecting rod 36 is fixedly connected to the slider 31, and the swing drive assembly controls the connection between the power wheel 30 and the half gear 34; wherein, the movement distance of the slider 31 determines the swing angle of the swing rod 20, because it is necessary to ensure that the swing range of the swing rod 20 can cover the forward range of the track 10.

[0025] The swing drive assembly includes: a drive shaft 301, which is coaxially fixed with the half gear 34 and is rotatably connected to the chassis 1; a slide cylinder 302, which is slidably sleeved on the outside of the drive shaft 301; a friction transmission clutch 303, which is fixed at the end of the slide cylinder 302 and is used to connect the drive shaft 301 and the power wheel 30, and the friction transmission clutch 303 realizes the connection between the power wheel 30 and the half gear 34 by friction. In this embodiment, in order to facilitate the power wheel 30 to drive the half gear 34 to connect, the inner wall of the power wheel 30 is also provided with an inner disk made of a rigid and frictional material; a square cylinder 304, which is fixed at the end of the drive shaft 301 and the friction transmission clutch 303 is connected to the square cylinder 304. The cylinder 304 is adapted; a reciprocating component is used to realize the reciprocating motion of the friction transmission clutch 303; the inner hole of the friction transmission clutch 303 is also set to a square shape. When the friction transmission clutch 303 follows the movement of the slide cylinder 302 and fits into the power wheel 30, the drive shaft 301 starts to rotate, and during the sliding process of the slide cylinder 302 and the friction transmission clutch 303, the friction transmission clutch 303 is partially located outside the square cylinder 304, that is, the friction clutch will not be separated from the square cylinder 304. The square cylinder 304 is set at one end of the drive shaft 301 close to the power wheel 30, and the end of the drive shaft 301 is close to the inner disk of the power wheel 30 but will not contact.

[0026] The reciprocating assembly includes: a reciprocating rod 305, which is hinged to the chassis 1; a reciprocating block 306, one end of which is fixedly connected to the reciprocating rod 305 and the other end is provided with a reciprocating groove; a force-bearing block 307, which is fixed to the other end of the reciprocating rod 305; a cam power unit 308, which is used to apply a force to the force-bearing block 307 to separate the friction transmission clutch from the power wheel 30; an elastic member 309, which is used to fit the friction transmission clutch 303 with the power wheel 30; the slide cylinder 302 is provided with an annular groove 3010, the reciprocating groove is adapted to the slide cylinder 302 and the end side wall of the reciprocating groove opening abuts against the side wall of the annular groove 3010, and the annular groove 3010 is used to limit the end movement of the reciprocating block 306, and the point where the reciprocating rod 305 is hinged to the chassis 1 is located in the middle position of the reciprocating rod 305. The cam power unit 308 adopts a power motor and a cam, and the rotation of the cam The part is rotatably connected to the chassis 1, the protrusion of the cam abuts against the force block 307, and the output end of the power motor is connected to the rotating part of the cam. In the initial state, the reciprocating rod 305 is in a vertical state and abuts against the protrusion of the cam. The elastic member 309 adopts a spring, and the spring is sleeved outside the drive shaft 301. One end of the spring abuts against the chassis 1, and the other end abuts against the half gear 34. In the initial state, the elastic member 309 is in a compressed state. At this time, the friction transmission clutch 303 is in contact with the power wheel 30, and through the action force of the force block 307, the reciprocating rod 305 drives the reciprocating block 306 to swing, and the reciprocating groove of the reciprocating block 306 swings to the side wall of the opening and abuts against the annular groove 3010, and pushes the annular groove 3010 away from the power wheel 30, thereby separating the friction transmission clutch 303 from the power wheel 30.

[0027] When the friction clutch transmission is in contact with the power wheel 30, under the interaction of friction, the power wheel 30 begins to drive the drive shaft 301 to move, and the half gear 34 begins to rotate. During the rotation, the half gear 34 engages with a first rack 35, and the slider 31 moves along the direction of the slide rod 32. Under the action of the transmission rod 33, the swing arm 20 begins to swing around the hinge point. During the reciprocating motion of the cleaning member 201 driven by the swing arm 20, impurities on the forward path of the crawler 10 are cleaned.

[0028] The lifting part includes: a lifting block 202, which is slidably arranged in the swing rod 20; a fixed block 203, which is fixedly connected to the end of the cleaning piece 201; an intermittent group, which is used to realize the up and down staggered movement of the lifting block 202 and the fixed block 203; a plug-in block 206 and a clamping block 208, the swing rod 20 is provided with a sliding groove for the sliding of the lifting block 202, and both ends of the sliding groove along the vertical direction are open, the side wall of the sliding groove is provided with a plug-in hole 207, the fixed block 203 is provided with a plug-in groove 209, the plug-in block 206 is elastically arranged in the plug-in groove 209, the plug-in block 206 is plugged into the plug-in hole 207, and the clamping block 208 is slidably adapted to the plug-in hole The second gear 204 is rotated in the sliding groove, and the axial direction of the second gear 204 is set along the length direction of the swing rod 20. The two second racks 205 are respectively located on both sides of the second gear 204, and the two second racks 205 are meshed with the second gear 204. In the initial state, the cleaning piece 201 is located at the bottom of the swing rod 20 and contacts the ship wall. Under the mutual cooperation of the second gear 204 and the second rack 205, the fixed block 203 and the lifting block 202 begin to move up / down respectively.

[0029] The extrusion block 2010 is fixed on the chassis 1 and is located above the swing rod 20 when it swings to the outermost side. The bottom surface of the extrusion block 2010 is set as an inclined surface and faces the clamping block 208; the release block 2011 is fixed on the chassis 1 and is located on the side surface where the swing rod 20 swings to the innermost side. The release block 2011 is provided with an inclined surface and fits with the swing rod 20. The release block 2011 squeezes the clamping block 208 into the plug hole 207. In the initial state, the top of the pulling block 202 leaks out of the sliding groove. As the swing rod 20 moves, the extrusion block 2010 010 abuts against the bottom surface of the pulling block 202, and the bottom surface of the squeezing block 2010 is set as an inclined surface, which can push the fixed block 203 to move downward. Under the action of the second gear 204 and the second rack 205, the fixed block 203 moves upward, that is, the cleaning piece 201 moves upward, until the swing rod 20 moves to the outermost side, and the cleaning piece 201 is completely moved to separate from the ship wall. In this embodiment, both the fixed block 203 and the pulling block 202 can be connected to the inner wall of the sliding groove by a spring, and it is only necessary to ensure that the pulling block 202 or the fixed block 203 can be automatically reset; When the swing arm 20 swings toward the inside of the chassis 1, the cleaning piece 201 is separated from the ship wall, and the plug-in block 206 moves to the position of the plug-in hole 207. The clamping block 208 and the plug-in hole 207 are restricted by the existing technology to prevent the clamping block 208 from falling off from the plug-in hole 207. When the plug-in block 206 is plugged into the plug-in hole 207, a section of the clamping block 208 is pushed out from the plug-in hole 207. At this time, the pulling block 202 is clamped, and then the cleaning piece 201 is also separated from the ship wall. During the swing arm 20 swinging toward the inside of the chassis 1, the cleaning piece 201 is always in a state of being separated from the ship wall. , until the swing rod 20 swings to the innermost side, at this time the swing rod 20 abuts against the release block 2011. Since the release block 2011 is parallel to the length direction of the swing rod 20, the release block 2011 pushes the clamping block 208 toward the plug hole 207, and the clamping block 208 pushes the plug block 206 out of the plug hole 207. Under the elastic action of the lifting block 202 and the sliding groove, and under the action of the second gear 204 and the second rack 205, the cleaning piece 201 is pushed to a position that fits the ship wall. When the swing rod 20 swings toward the outside, the cleaning piece 201 cleans the impurities toward the outside of the chassis 1.

[0030] The bottom of the lifting block 202 is also provided with an adsorption portion; the adsorption portion includes: The adsorption box 2012 is rotatably disposed within the lifting block 202. The lifting block 202 is provided with an adsorption motor for controlling the swing of the adsorption box 2012. The rotation axis of the lifting block 202 and the swing rod 20 is arranged along the length direction of the swing rod 20. The adsorption motor controls the swing of the adsorption box 2012. The movable roller 2013 is movably disposed within the adsorption box 2012. The adsorption roller 2014 is rotatably disposed between the movable rollers 2013. The adsorption rollers 2014 are made of silicone or polyurethane materials in the prior art. Silicone or polyurethane materials have good gaps and can thus adsorb impurities. The movable rollers 2013 are disposed at both ends of the adsorption rollers 2014, and the adsorption rollers 2014 and the movable rollers 2013 are rotatably connected. The adsorption box 2012 is provided with a horizontal groove 2015, and an inclined groove 2016 is provided at one end of the horizontal groove 2015. A magnet ring is provided at one end of the horizontal groove 2015 and at the bottom end of the inclined groove 2016. The magnet ring is used to adsorb and fix the movable roller 2013. When the movable roller 2013 is located in the horizontal groove 2015, the adsorption roller 2014 will not contact the ship wall. When the movable roller 2013 is located at the bottom wall of the inclined groove 2016, the adsorption roller 2014 is in contact with the ship wall. Since in the initial state, the horizontal groove 2015 on the adsorption box 2012 is also horizontally set, the movable roller 2013 is located in the horizontal groove 2015. In order to ensure the position stability of the movable roller 2013 The magnet ring adopts an electromagnet, which is used to adsorb the movable roller 2013. When the adsorption roller 2014 is needed to start adsorbing impurities, the adsorption box 2012 is controlled to swing by the adsorption motor, and the magnet ring in the horizontal groove 2015 is powered off. After the magnet ring is powered off, the adsorption box 2012 swings in the tilted direction, and the movable roller 2013 swings toward the tilted groove 2016, and the movable roller 2013 is adsorbed in the tilted groove 2016. At this time, the adsorption box 2012 is swung to the initial position, and the adsorption roller 2014 is in contact with the ship wall. In this embodiment, the adsorption roller 2014 may be needed to adsorb impurities only when the swing arm 20 swings toward the inside of the chassis 1.

[0031] A scraper 2017 can be set in the adsorption box 2012 near the adsorption roller 2014. The scraper 2017 is set at an angle upward. When the adsorption roller 2014 rolls to adsorb impurities, the scraper 2017 can clean the impurities on the adsorption roller 2014 and drop them into the adsorption box 2012, thereby improving the utilization efficiency and service life of the adsorption roller 2014.

[0032] The judging mechanism includes: a judging frame 40, which is elastically arranged in front of the chassis 1; a judging wheel 41, which is rotatably arranged on the judging frame 40 and starts to rotate by interacting with the friction force of the ship wall in the initial state, and the rotating shaft of the judging wheel 41 is connected to the judging frame 40 through a torsion spring; and an identification component, which judges the number of impurity particles by the sound emitted by the impurities caused by the rapid rotation of the judging wheel 41; a judging drive component is used to realize that the judging frame 40 is intermittently away from the ship wall, the size of the judging wheel 41 is smaller than that of the power wheel 30, and the judging frame 40 and the chassis 1 are also connected by a spring. The elastic connection relationship in the vertical direction means that when the judgment wheel 41 is in contact with the ship wall, the spring is also in a compressed state, and the judgment wheel 41 is connected to the judgment frame 40 through a torsion spring, so that the instantaneous speed of the judgment wheel 41 can be suddenly increased. When the judgment wheel 41 rotates rapidly, the judgment drive component moves the judgment wheel 41 to a position where it just moves to the separation position from the ship wall. Therefore, if there are impurities on the surface of the ship wall, as the judgment wheel 41 rotates rapidly, the impurities on the ship wall are splashed from the ship wall toward the rear side of the judgment wheel 41 under the action of the friction force with the judgment wheel 41.

[0033] The judgment drive assembly also adopts the functions of the judgment cam 42, the synchronous wheel 43 and the synchronous belt 44. The two synchronous wheels 43 are coaxially arranged with the power wheel 30 and the judgment cam 42. The synchronous belt 44 is used to connect the two synchronous wheels 43, and the bottom surface of the judgment frame 40 abuts against the raised portion of the judgment cam 42. When the raised portion of the judgment cam 42 lifts the judgment frame 40, at the same time, the torsion spring between the judgment wheel 41 and the judgment frame 40 is deformed. As long as the judgment wheel 41 is just separated from the ship wall, under the action of the torsion spring, the judgment wheel 41 rotates rapidly and realizes impurities splashing. If the impurities are small or non-existent, no impurities splash.

[0034] The identification component includes: a sound piece 45, which makes a sound when colliding with foreign particles; a sound sensor 46, which is used to monitor the sound of the sound piece 45 and control the cam power unit 308 to start working. The sound piece 45 is made of a material with a relatively high sound, such as a triangular fork. The sound sensor 46 is used to identify the size or presence of the sound. The sound piece 45 is located on the rear side of the judgment wheel 41. The sound sensor 46 is close to the position of the sound piece 45, and can be located on the rear side or the side. The sound piece 45 controls the cam power unit 308 and The adsorption motor does not need to clean the forward direction of the track 10 when there is no sound. If the sound sensor 46 determines that the sound is loud, when the sound is small, for example, a specific decibel value is set, the cleaning part needs to start working, that is, the swing rod 20 starts to swing; if the sound is loud and exceeds the set value, it is also necessary to control the rotation of the adsorption box 2012, that is, to move the adsorption roller 2014 to adsorb the impurities on the ship wall. Because there are many impurities, it is not possible to ensure that the impurities are completely cleaned by cleaning alone, and some of them may even fall to the inside of the chassis 1.

[0035] The implementation principle of the multifunctional crawler 10 magnetic wall-climbing robot for sandblasting and rust removal of ships in the embodiment of the present application is: when there is no sound, there is no need to clean the forward direction of the crawler 10. If the sound sensor 46 determines that the sound is loud, when the sound is relatively small, for example, a specific decibel value is set, the cleaning part needs to start working, that is, the swing rod 20 starts to swing; if the sound is loud and exceeds the set value, it is also necessary to control the rotation of the adsorption box 2012, that is, to move the adsorption roller 2014 to nearly adsorb the impurities on the ship wall. Because there are many impurities, relying solely on cleaning cannot guarantee that the impurities are completely cleaned, and some may even fall to the inside of the chassis 1.

[0036] When the friction clutch transmission is in contact with the power wheel 30, under the interaction of friction, the power wheel 30 starts to drive the drive shaft 301 to move, and the half gear 34 starts to rotate. During the rotation, the half gear 34 engages with a first rack 35, and the slider 31 moves along the direction of the slide rod 32. Under the action of the transmission rod 33, the swing arm 20 starts to swing around the hinge point. During the reciprocating motion of the cleaning member 201 driven by the swing arm 20, impurities on the forward path of the crawler 10 are cleaned; When the swing arm 20 swings toward the inside of the chassis 1, the cleaning piece 201 is separated from the ship wall, and the plug-in block 206 moves to the position of the plug-in hole 207. The clamping block 208 and the plug-in hole 207 are restricted by the existing technology to prevent the clamping block 208 from falling off from the plug-in hole 207. When the plug-in block 206 is plugged into the plug-in hole 207, a section of the clamping block 208 is pushed out from the plug-in hole 207. At this time, the pulling block 202 is clamped, and then the cleaning piece 201 is also separated from the ship wall. During the swing arm 20 swinging toward the inside of the chassis 1, the cleaning piece 201 is always in a state of being separated from the ship wall. , until the swing rod 20 swings to the innermost side, at this time the swing rod 20 abuts against the loosening block 2011. Since the loosening block 2011 is parallel to the length direction of the swing rod 20, the loosening block 2011 pushes the clamping block 208 toward the insertion hole 207, and the clamping block 208 pushes the insertion block 206 out of the insertion hole 207. Under the elastic action of the lifting block 202 and the sliding groove, and under the action of the second gear 204 and the second rack 205, the cleaning member 201 is pushed to a position in contact with the ship wall. When the swing rod 20 swings toward the outside, the cleaning member 201 sweeps impurities toward the outside of the chassis 1; When the adsorption roller 2014 is required to start adsorbing impurities, the adsorption box 2012 is controlled to swing by the adsorption motor, and the magnet ring in the horizontal groove 2015 is powered off. After the magnet ring is powered off, the adsorption box 2012 swings in the tilted direction, and the movable roller 2013 swings toward the tilted groove 2016, and the movable roller 2013 is adsorbed in the tilted groove 2016. At this time, the adsorption box 2012 is swung to the initial position, and the adsorption roller 2014 is in contact with the ship wall. In this embodiment, the adsorption roller 2014 may be needed to adsorb impurities only when the swing arm 20 swings toward the inside of the chassis 1.

[0037] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0038] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal on ships, characterized in that: include: chassis; A sandblasting robot, disposed on the chassis and used for sandblasting and rust removal; Adsorption climbing device enables the chassis to climb along the ship wall; Slag cleaning device, used for targeted cleaning of solid impurities; The slag cleaning device comprises: Swing mechanism to achieve swing slag cleaning; A power mechanism, used for providing power to the swing mechanism to make it swing; A judging mechanism, used to judge the number of particles in the traveling path; The power mechanism also provides kinetic energy to the judgment mechanism.

2. A multifunctional crawler magnetic wall-climbing robot for ship sandblasting and rust removal according to claim 1, characterized in that: The swing mechanism comprises: A swing rod, one end of which is hinged to the chassis and the other end of which is movable and swingable; a cleaning assembly that cleans impurities toward the outside of the chassis and does not clean impurities toward the inside of the chassis; and The transmission assembly is used to convert the power of the power mechanism into the swing of the swing rod.

3. A multifunctional crawler magnetic wall-climbing robot for ship sandblasting and rust removal according to claim 2, characterized in that: The cleaning assembly comprises: Cleaning parts, which remove fixed impurities through friction; A lifting portion, used for lifting the cleaning member upward until it is separated from the ship wall; The cleaning piece is elastically arranged on the swing rod, and the moving direction of the cleaning piece is perpendicular to the plane where the swing rod swings.

4. The multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships according to claim 3, characterized in that: The power mechanism comprises: a power wheel movably arranged on the chassis and in contact with the ship wall; A swing drive assembly, used for controlling the reciprocating swing of the swing rod; a separation drive assembly, configured to pull the lifting member until the cleaning member is separated from the vessel wall; a judgment drive assembly, used to provide kinetic energy to the judgment mechanism; After the swing drive assembly controls the swing rod to swing toward the outside of the chassis, the cleaning member is pulled to be separated from the ship wall during the swing rod's automatic swing toward the inside of the chassis.

5. The multifunctional crawler magnetic wall-climbing robot for ship sandblasting and rust removal according to claim 4, characterized in that: The transmission assembly comprises: A slider, sliding on the chassis along the forward direction of the chassis; a transmission rod, one end of which is hinged to the slider and the other end of which is hinged to the middle of the swing rod; A half gear is rotatably mounted on the chassis and is coaxially arranged with the power wheel; Two first racks are slidably disposed on the chassis, and only one of the racks is meshed with the half gear; a connecting rod, used to connect the same end of the two first racks; The transmission rod is fixedly connected to the slider, and the swing drive assembly controls the power wheel to be connected to the half gear.

6. The multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships according to claim 5, characterized in that: The swing drive assembly includes: a drive shaft, fixed coaxially with the half gear; Slide cylinder, sliding sleeve arranged outside the driving shaft; a friction transmission clutch, fixed to the end of the slide cylinder and used to connect the drive shaft and the power wheel; a square cylinder fixed to the end of the drive shaft and the friction transmission clutch is adapted to the square cylinder; a reciprocating assembly for achieving reciprocating motion of the friction transmission clutch; The inner hole of the friction transmission clutch is also set to be square. When the friction transmission clutch follows the movement of the slide cylinder and fits into the power wheel, the drive shaft starts to rotate.

7. The multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships according to claim 6, characterized in that: The reciprocating assembly comprises: a reciprocating rod, hinged to the chassis; a reciprocating block, one end of which is fixedly connected to the reciprocating rod and the other end of which is provided with a reciprocating groove; a force-bearing block fixed to the other end of the reciprocating rod; A cam power unit, used for applying a force to the force-bearing block to separate the friction transmission clutch from the power wheel; An elastic member, used for the friction transmission clutch to fit the power wheel; The slide cylinder is provided with an annular groove, the reciprocating groove is adapted to the slide cylinder, and the end side wall of the reciprocating groove opening abuts against the side wall of the annular groove.

8. The multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships according to claim 4, characterized in that: The lifting portion includes: A lifting block is slidably disposed in the swing rod; a fixed block, fixedly connected to the end of the cleaning member; An intermittent group, used to realize the staggered movement of the lifting block and the fixed block; The plug-in block and the clamping block, the swing rod is provided with a sliding groove for the sliding of the pulling block, the side wall of the sliding groove is provided with a plug-in hole, the pulling block is provided with a plug-in groove, the plug-in block is elastically provided in the plug-in groove, the plug-in block is plugged into the plug-in hole, and the clamping block is slidably adapted to fit in the plug-in hole; An extrusion block is fixed on the chassis and is located above the swing rod when it swings to the outermost side. The bottom surface of the extrusion block is configured as an inclined surface and faces the clamping block. A release block is fixed on the chassis and is located on the side where the swing rod swings to the innermost side. The release block is provided with an inclined surface and fits with the swing rod. The release block squeezes the clamping block into the plug hole.

9. The multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships according to claim 8, characterized in that: The bottom of the pulling block is also provided with an adsorption portion; The adsorption part includes: An adsorption box is rotatably disposed in the lifting block, and the lifting block is provided with an adsorption motor for controlling the swing of the adsorption box; A movable roller, movably arranged on the adsorption box; an adsorption roller, rotatably disposed between the movable rollers; The adsorption box is provided with a horizontal groove, one end of the horizontal groove is provided with an inclined groove, one end of the horizontal groove and the bottom end of the inclined groove are both provided with a magnet ring, the magnet ring is used to adsorb and fix the movable roller, when the movable roller is located in the horizontal groove, the adsorption roller will not contact the ship wall, when the movable roller is located at the bottom wall of the inclined groove, the adsorption roller is in contact with the ship wall.

10. The multifunctional crawler magnetic wall-climbing robot for sandblasting and rust removal of ships according to claim 4, characterized in that: The judgment mechanism includes: A judgment frame, elastically arranged in front of the chassis; a judgment wheel, rotatably mounted on the judgment frame and initially rotating due to interaction with the frictional force of the ship wall, wherein the rotation axis of the judgment wheel is connected to the judgment frame via a torsion spring; and Identification component, judge the number of foreign particles by the sound made by the fast rotation of the judging wheel; The judgment drive assembly is used to enable the judgment frame to intermittently move away from the ship wall.

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