Robot suitable for steel plate surface cleaning and flaw detection before welding

Abstract

The present invention provides a robot suitable for surface cleaning and flaw detection of steel plates before welding, comprising a motion platform, a yoke-type permanent magnetic gap adsorption device, a cleaning module, a fan recovery module, a flaw detection device and a control unit; the motion platform comprises a bottom plate, a motion driving wheel module and a motion driven wheel module arranged on the bottom plate, the yoke-type permanent magnetic gap adsorption device is used to provide magnetic adsorption force so that the robot can be reliably adsorbed on the surface of the steel plate; the cleaning module is arranged in front of the bottom plate, the fan recovery module is arranged on the upper surface of the bottom plate, and the flaw detection device is connected to the bottom plate. The robot realizes surface cleaning and flaw detection of the inner and outer walls of the steel plate before welding, integrates the surface cleaning, recovery and flaw detection functions of the robot, improves the efficiency of robot cleaning, recovery and flaw detection, ensures the surface cleaning quality and flaw detection efficiency, and improves the working environment of the operator.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot suitable for cleaning and flaw detection operations on steel plate surfaces before welding. Background Art

[0002] The purpose of surface cleaning is to remove dust, rust and other corrosive substances on the surface of the steel plate; clean the corresponding corroded area until the surface shows metallic luster and reaches a certain cleaning level, and recycle the iron slag, dust and other waste generated by cleaning in time to lay a foundation for subsequent flaw detection.

[0003] The purpose of NDT is to check whether there are defects on the surface of steel structural parts. If there are defects, the location of the defects is detected and marked in time.

[0004] At present, the surface cleaning method of steel plates mainly adopts the traditional manual power operation tools with low efficiency, long cycle, low safety and high labor intensity; and in the subsequent non-destructive testing, most of them are done by inspectors holding the scanning frame. This detection method is inefficient and requires workers to adjust the probe position at any time according to the surface conditions of the steel plate to ensure good coupling between the probe and the workpiece.

[0005] Therefore, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Summary of the invention

[0006] The purpose of the present invention is to provide a robot suitable for surface cleaning and flaw detection of steel plates before welding, which integrates the surface cleaning, recovery and flaw detection functions of the robot, improves the efficiency of robot cleaning, recovery and flaw detection, ensures the surface cleaning quality and flaw detection efficiency, and improves the working environment of operators.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A robot suitable for cleaning and flaw detection of steel plate surfaces before welding, comprising a motion platform, a yoke-type permanent magnetic gap adsorption device, a cleaning module, a fan recovery module, a flaw detection device and a control unit; the motion platform comprises a bottom plate, a motion driving wheel module and a motion driven wheel module arranged on the bottom plate, the motion driving wheel module being arranged at the front of the motion platform and used to drive the motion platform to move on the steel plate; the motion driven wheel module being arranged at the rear of the motion platform and used to realize flexible steering of the robot and provide magnetic adsorption force; the yoke-type permanent magnetic gap adsorption device is used to provide magnetic adsorption force so that the robot can be reliably adsorbed on the surface of the steel plate; the cleaning module is arranged in front of the bottom plate and used to clean the surface of the steel plate before welding; the fan recovery module is arranged on the upper surface of the bottom plate and used to recover the corrosive substances generated after cleaning; the flaw detection device is connected to the bottom plate and used to detect whether there are defects on the surface of the steel plate; the control unit is used to control the motion driving wheel module, the cleaning module, the fan recovery module and the flaw detection device.

[0009] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, it also includes a visual sensor module and a vertical ranging module. The visual sensor module is electrically connected to the control unit and can be used to obtain image information in front of the robot and feed the image information back to the embedded processor of the control unit; the vertical ranging module is located at the front part of the lower surface of the base plate and can be used to detect whether the robot is located on the steel plate.

[0010] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, the motion driving wheel module includes two driving wheel units, both of which are fixedly arranged at the front end of the lower surface of the base plate, and the two driving wheel units are symmetrically arranged about the central axis of the base plate; each of the driving wheel units includes a driving motor, a coupling, a motor bracket, a reducer, a deep groove ball bearing, a bearing bracket, a driving wheel shaft and a driving wheel; one driving wheel unit is respectively arranged at the two corners of the front end of the base plate, and the input end of the reducer of the driving wheel unit is connected to the drive wheel shaft through the coupling. connected to the driving motor; the two driving wheel units and the moving driven wheel module are arranged in a triangle on the base plate; preferably, the reducer is a worm gear reducer, and the reducer is coaxially connected to the bearing bracket; the bearing bracket is fixed to the base plate by screws, and a deep groove ball bearing is installed inside the bearing bracket, and the deep groove ball bearing is clearance-matched with the driving wheel shaft to support the driving wheel shaft and reduce the friction coefficient of the driving wheel shaft during rotation; one end of the driving wheel shaft is connected to the output end of the reducer, and the other end of the driving wheel shaft is connected to the driving wheel.

[0011] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, the moving driven wheel module includes a driven wheel unit, and the driven wheel unit includes a driven wheel fixing bracket, a connecting bracket, a driven wheel rotating shaft, a driven wheel shaft, a permanent magnet and two driven wheels; the driven wheel unit is arranged in the middle of the rear end of the base plate; the driven wheel fixing bracket is equipped with a bearing inside and is clearance-matched with the driven wheel rotating shaft to achieve vertical rotation; the connecting bracket connects the driven wheel rotating shaft and the driven wheel shaft; the driving wheel shaft is coaxially connected to the two driven wheels; and the permanent magnet is installed between the two driven wheels to provide magnetic adsorption force.

[0012] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, there are two yoke-type permanent magnetic gap adsorption devices, and the two yoke-type permanent magnetic gap adsorption devices are symmetrically arranged about the central axis of the base plate, and the two yoke-type permanent magnetic gap adsorption devices are located between the two driving wheels, and the two yoke-type permanent magnetic gap adsorption devices and the driving wheels are located on the same horizontal line; each of the yoke-type permanent magnetic gap adsorption devices includes an adsorption unit gap adjustment vertical rod, a yoke plate steering shaft, two steering shaft fixing brackets, a yoke plate, a permanent magnetic adsorption body, a nut and an axle support; an adjustment hole is provided on the base plate, and the adsorption unit gap adjustment vertical rod One end of the straight rod is provided with a thread, and the shaft support is fixedly set on the lower surface of the base plate, one end of the adsorption unit gap adjustment vertical rod passes through the shaft support and the adjustment hole in sequence and is fixedly connected to the nut, the adsorption unit gap adjustment vertical rod is threadedly connected to the shaft support, and the nut is located on one side of the upper surface of the base plate; the other end of the adsorption unit gap adjustment vertical rod is fixedly connected to the yoke iron plate steering shaft, and the two ends of the yoke iron plate steering shaft are respectively fixedly connected to the two steering shaft fixing brackets, the two steering shaft fixing brackets are both fixedly set on one side surface of the yoke iron plate, and the permanent magnetic adsorption body is fixedly set on the other side surface of the yoke iron plate.

[0013] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, the cleaning module includes two disc brush cleaning units, each of which includes a cleaning motor fixing bracket, a cleaning drive motor, a flange, a spring, a sleeve, an output shaft, a slider, and a stainless steel wire brush; the cleaning drive motor is fixed to the cleaning motor fixing bracket, and the cleaning motor fixing bracket is connected to the front end of the base plate; one side of the flange is fixedly connected to the output end of the cleaning drive motor, and the other side of the flange is fixedly connected to the sleeve; the spring and the slider are both arranged in the sleeve, and the spring is located between the flange and the slider, the two ends of the spring are respectively in contact with the flange and the slider, the slider is slidably connected to the inner wall of the sleeve, one end of the sleeve is provided with an output hole, one end of the output shaft is located in the sleeve, and one end of the output shaft is fixedly connected to the slider, and the other end of the output shaft passes through the output A hole is formed on one side of the flange and is fixedly connected to the output end of the cleaning drive motor by screws, and the other side of the flange is fixedly connected to the sleeve by four screws; a boss with a diameter of 14 mm and a height of 2 mm is provided on the other side of the flange, and the boss is inserted into the other end of the sleeve and fixedly connected to the sleeve, and one end of the spring is fixedly connected to the boss; the slider is fixed to one end of the output shaft by screws, and the slider and the output shaft are both made of 304 stainless steel; the slider and the inner wall of the sleeve are clearance-fitted, and the slider can slide up and down along the inner wall of the sleeve by 6mm-8mm; the cross-sectional shapes of the output shaft and the output hole are both square, and the output shaft and the output hole are clearance-fitted; the flange, the sleeve and the cleaning drive motor are fixed to realize coaxial rotation; the spring realizes the up and down movement of the output shaft by telescopic movement, thereby playing a buffering role.

[0014] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, the fan recovery module includes a recovery fan, a recovery hose, a recovery filter bag, a recovery box, a sealing box and a sealing exhaust brush; the sealing box is fixedly arranged at the front of the base plate; the sealing exhaust brush is installed on the sealing box and surrounds the cleaning module to avoid splashing of corrosion products after cleaning; the recovery box is fixedly arranged on the upper surface of the base plate, and recovery hose mounting holes are provided at both ends of the recovery box, the recovery filter bag is arranged in the recovery box, the recovery fan is arranged on the upper surface of the base plate, the recovery hose passes through the recovery hose mounting hole and is connected to both the sealing box and the recovery box, and the recovery fan is used to realize the flow of debris in the sealing box, the recovery hose and the recovery box.

[0015] Furthermore, the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding also includes a ground operating console, which is electrically connected to the control unit, and includes a host computer display screen, an embedded industrial computer, an operating joystick and external devices; the embedded industrial computer is the core control unit of the ground operating console, providing multiple interfaces for the external devices to expand the functions of the robot; the host computer display screen is used to display the working conditions in front of the robot and can set the movement, cleaning and flaw detection parameters of the robot in real time; the operating joystick is used to operate the movement trajectory of the robot; the motion platform also includes two handles, the two handles are fixedly arranged on the upper surface of the base plate, and the two handles are located at the edge of the upper surface of the base plate.

[0016] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, the flaw detection device is a TOFD flaw detection device with one transmission and one reception, and the TOFD flaw detection device includes a scanning frame and a flaw detection board, wherein the scanning frame is composed of a horizontal adjustment part, a vertical adjustment part, a bracket and a probe, and the scanning frame is used to adjust the angle and position of the probe, and can ensure that the probe is closely fitted to the surface of the steel plate according to the movement of the robot; the flaw detection board is used to collect and receive the signal received by the probe and process the signal to obtain the position and height of the defect; the horizontal adjustment part includes a linear guide rail, each of which is provided with two probes, and the probe can move on the linear guide rail; the linear guide rail has two, and the two linear guide rails are connected by a connecting block; the horizontal adjustment part also includes a slide, and the slide can slide on the linear guide rail, and the vertical adjustment part includes a telescopic rod, a shaft rod and a shaft seat, and the slide is connected to one end of the telescopic rod, and the The other end of the telescopic rod is connected to the shaft seat, the shaft rod is located in the shaft seat, the shaft rod is connected to the bracket, and the bracket is connected to the probe; the slide is composed of two slides and a vertical plate, the two slides are connected to the same side of the vertical plate, the linear guide has two tracks, and the slide can be sleeved on the track; the probe assembly also includes a locking device, the locking device is composed of a knob and a screw connected to the knob, the slide is connected to a positioning block, the slide and the positioning block are provided with through holes at corresponding positions, the screw can enter the through holes and contact the track, and the knob can be rotated to position the slide and the linear guide; preferably, the two probes arranged on each linear guide are respectively a transmitting probe and a receiving probe, the transmitting probe is used to transmit the diffraction signal of the defect; the receiving probe is used to receive the diffraction signal to realize TOFD flaw detection of the steel plate; preferably, the four probes arranged on the two linear guides are all self-transmitting and self-receiving probes.

[0017] Furthermore, in the above-mentioned robot suitable for surface cleaning and flaw detection of steel plates before welding, the control unit includes a drive motor control unit, a cleaning motor control unit, a fan control unit and an acquisition board; the drive motor control unit is used to control the speed of the drive motor to realize the linear or turning movement of the robot on the steel plate; the cleaning motor control unit is used to control the direction and speed of the cleaning drive motor to realize surface cleaning operations; the fan control unit is used to control the rotation of the recovery fan to realize the adjustment of the recovery wind speed and air volume; the acquisition board is used to obtain the data collected by the probe and feed the data back to the ground operating console in the form of a byte stream.

[0018] Analysis shows that the present invention discloses a robot suitable for surface cleaning and flaw detection of steel plates before welding, which can realize surface cleaning and flaw detection of inner and outer walls of steel plates before welding, integrates the surface cleaning, recovery and flaw detection functions of the robot, improves the efficiency of robot cleaning, recovery and flaw detection, ensures surface cleaning quality and flaw detection efficiency, and improves the working environment of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0020] Figure 1 A schematic top view of an embodiment of the present invention;

[0021] Figure 2 A bottom view schematically showing an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of a motion platform in one embodiment of the present invention;

[0023] Figure 4 It is a structural schematic diagram of a motion driving wheel module in one embodiment of the present invention;

[0024] Figure 5 is a schematic structural diagram of a cleaning module in one embodiment of the present invention;

[0025] Figure 6 An exploded view of a cleaning module structure in one embodiment of the present invention;

[0026] Figure 7 Schematic diagram of the structure of a yoke-type permanent magnetic gap adsorption device in one embodiment of the present invention;

[0027] Figure 8 It is a schematic structural diagram of a flaw detection device in one embodiment of the present invention.

[0028] Description of the accompanying drawings: 1. Motion platform, 2. Yoke-type permanent magnetic gap adsorption device, 3. Fan recovery module, 4. Control unit, 5. Motion drive wheel module, 6. Cleaning module, 7. Motion driven wheel module, 8. Bottom plate, 9. Handle, 10. Drive wheel shaft, 11. Drive wheel, 12. Bearing bracket, 13. Reducer, 14. Coupling, 15. Motor bracket, 16. Drive motor, 17. Cleaning motor fixing bracket, 18. Cleaning drive motor, 19. Flange, 20. Sleeve, 21. Output shaft, 22. Stainless steel Wire brush, 23. Adsorption unit gap adjustment vertical rod, 24. Yoke iron plate steering shaft, 25. Steering shaft fixing bracket, 26. Yoke iron plate, 27. Permanent magnetic adsorption body, 28. Spring, 29. Slider, 30. Weight reduction hole; 31. Probe; 32. Bracket; 33. First mounting hole; 34. Water injection hole; 35. Telescopic rod; 36. Elastic sleeve; 37. Slide; 38. Knob; 39. Linear guide; 40. Connecting block; 41. Vertical plate; 42. Slide seat; 43. Shaft rod; 44. Shaft seat; 45. Track; 46 Positioning block. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0030] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numbers and letter labels to refer to features in the drawings. Like or similar labels in the drawings and description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first", "second", "third", etc. are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0032] like Figures 1 to 8 As shown, according to an embodiment of the present invention, a robot suitable for cleaning and flaw detection of steel plate surfaces before welding is provided, such as Figures 1 to 3 As shown, it includes a motion platform 1, a yoke-iron permanent magnetic gap adsorption device 2, a cleaning module 6, a fan recovery module 3, a flaw detection device and a control unit 4; the motion platform 1 includes a base plate 8, a motion driving wheel module 5 and a motion driven wheel module 7 arranged on the base plate 8, the motion driving wheel module 5 is arranged at the front of the motion platform 1, and is used to drive the motion platform 1 to move on the steel plate; the motion driven wheel module 7 is arranged at the rear of the motion platform 1, and is used to realize the flexible steering of the robot and provide magnetic adsorption force; the yoke-iron permanent magnetic gap adsorption device 2 is used to provide magnetic adsorption force so that the robot can be reliably adsorbed on the steel plate surface; the cleaning module 6 is a stainless steel wire brush cleaning module 6, which is arranged in front of the base plate 8, and the cleaning module 6 is used to clean the surface of the steel plate before welding; the fan recovery module 3 is arranged on the upper surface of the base plate 8, and the fan recovery module 3 is used to recover the rust dust and other corrosive substances generated after cleaning; the flaw detection device is connected to the base plate 8, preferably arranged behind the base plate 8, and the flaw detection device is used to detect whether there are defects on the surface of the steel plate, and the defects refer to cracks or pores inside the steel plate; the control unit 4 is used to control the motion drive wheel module 5, the cleaning module 6, the fan recovery module 3 and the flaw detection device.

[0033] The moving driven wheel module 7 provides a magnetic adsorption force of about 200N, and the auxiliary yoke iron permanent magnetic gap adsorption device 2 reliably adsorbs the robot on the surface of the steel plate. Preferably, a plurality of weight-reducing holes 30 are provided on the bottom plate 8 to reduce the weight of the robot, wherein the total area of ​​all weight-reducing holes 30 provided on the bottom plate 8 accounts for 40%-60% of the total area of ​​the bottom plate 8. Preferably, the total area of ​​all weight-reducing holes 30 provided on the bottom plate 8 accounts for 50% of the total area of ​​the bottom plate 8.

[0034] Furthermore, it also includes a visual sensor module and a vertical distance measurement module. The visual sensor module is electrically connected to the control unit 4, and can be used to obtain image information in front of the robot, and feed the image information back to the embedded processor of the control unit 4; the vertical distance measurement module is located at the front of the lower surface of the bottom plate 8, and can be used to detect whether the robot is located on the steel plate. An embedded processor and an embedded core controller are set in the control unit 4; the visual sensor module is electrically connected to the control unit 4, and the visual sensor module is used to obtain image information in front of the robot, and feed the image information back to the embedded processor for processing, and the embedded core controller controls the robot to work according to the processing result of the embedded processor. The visual sensor module is electrically connected to the control unit 4, and can be used to obtain image information in front of the robot, and feed the image information back to the embedded processor of the control unit 4. After image processing, the embedded core controller can control the robot to clean and detect the surface of the steel plate. The vertical distance measurement module is electrically connected to the control unit 4, and can be used to detect the vertical distance between the robot and the steel plate and feed the information back to the embedded processor of the control unit 4. After processing, the embedded core controller can detect whether the robot is located on the steel plate.

[0035] Furthermore, if Figure 4As shown, the motion driving wheel module 5 includes two driving wheel units, both of which are fixedly arranged at the front end of the lower surface of the base plate 8, and the two driving wheel units are symmetrically arranged about the central axis of the base plate 8; each driving wheel unit includes a driving motor 16, a coupling 14, a motor bracket 15, a reducer 13, a deep groove ball bearing, a bearing bracket 12, a driving wheel shaft 10 and a driving wheel 11; a driving wheel unit is respectively arranged at the two corners of the front end of the base plate 8, and the input end of the reducer 13 of the driving wheel unit is connected to the driving motor 16 through the coupling 14; the two driving wheel units and the motion driven wheel module 7 are arranged on the base plate 8 in a triangle; the motor bracket 15, the bearing bracket 12 and the reducer 13 are all fixedly arranged on the lower surface of the base plate 8, the driving motor 16 is fixedly arranged on the motor bracket 15, and the output end of the driving motor 16 is connected to the reducer 13 through the coupling 14. The input end is fixedly connected; the deep groove ball bearing is arranged in the bearing bracket 12, one end of the driving wheel shaft 10 is fixedly connected to the output end of the reducer 13, the deep groove ball bearing is arranged on the driving wheel shaft 10, and the driving wheel 11 is fixedly arranged at the other end of the driving wheel shaft 10; preferably, the driving wheel 11 is located on the inner side of the reducer 13; preferably, the reducer 13 is a worm gear reducer, and the reducer 13 is coaxially connected to the bearing bracket 12, which increases the output torque while reducing the speed and plays a self-locking role; the bearing bracket 12 is fixed to the base plate 8 by screws, and a deep groove ball bearing is installed inside the bearing bracket 12, and the deep groove ball bearing is clearance-matched with the driving wheel shaft 10, which is used to support the driving wheel shaft 10 and reduce the friction coefficient during the rotation of the driving wheel shaft 10; one end of the driving wheel shaft 10 is connected to the output end of the reducer 13, and the other end of the driving wheel shaft 10 is connected to the driving wheel 11.

[0036] Furthermore, the moving driven wheel module 7 includes a driven wheel unit, which includes a driven wheel fixing bracket, a connecting bracket, a driven wheel rotating shaft, a driven wheel shaft, a permanent magnet and two driven wheels; the driven wheel unit is arranged in the middle of the rear end of the base plate 8; the driven wheel fixing bracket is equipped with a bearing inside and is matched with the driven wheel rotating shaft gap to realize vertical rotation; the connecting bracket connects the driven wheel rotating shaft and the driven wheel shaft; the driving wheel shaft 10 is coaxially connected to the two driven wheels; the permanent magnet is installed between the two driven wheels to provide magnetic adsorption force. The permanent magnet provides a magnetic adsorption force of about 200N, and the auxiliary yoke iron permanent magnet gap adsorption device 2 reliably adsorbs the robot on the surface of the steel plate. The two driving wheel units and the single driven wheel unit are arranged in a triangle on the base plate 8 to provide reliable support for the robot.

[0037] Furthermore, if Figure 7As shown, there are two yoke-type permanent magnetic gap adsorption devices 2, and the two yoke-type permanent magnetic gap adsorption devices 2 are symmetrically arranged about the central axis of the bottom plate 8, and the two yoke-type permanent magnetic gap adsorption devices 2 are located between the two driving wheels 11, and the two yoke-type permanent magnetic gap adsorption devices 2 are located on the same horizontal line as the driving wheels 11; each yoke-type permanent magnetic gap adsorption device 2 includes an adsorption unit gap adjustment vertical rod 23, a yoke iron plate steering shaft 24, two steering shaft fixing brackets 25, a yoke iron plate 26, a permanent magnetic adsorption body 27, a nut and an axle support; an adjustment hole is provided on the bottom plate 8, and one end of the adsorption unit gap adjustment vertical rod 23 is provided There is a thread, and the shaft support is fixedly set on the lower surface of the base plate 8. One end of the adsorption unit gap adjustment vertical rod 23 passes through the shaft support and the adjustment hole in sequence and is fixedly connected with the nut. The adsorption unit gap adjustment vertical rod 23 is threadedly connected with the shaft support, and the nut is located on one side of the upper surface of the base plate 8; the other end of the adsorption unit gap adjustment vertical rod 23 is fixedly connected to the yoke iron plate steering shaft 24, and the two ends of the yoke iron plate steering shaft 24 are respectively fixedly connected to two steering shaft fixing brackets 25, and the two steering shaft fixing brackets 25 are both fixedly set on one side surface of the yoke iron plate 26, and the permanent magnetic adsorption body 27 is fixedly set on the other side surface of the yoke iron plate 26.

[0038] Preferably, the air gap between the yoke-type permanent magnetic gap adsorption device 2 and the steel plate is 5mm-20mm; preferably, the air gap between the yoke-type permanent magnetic gap adsorption device 2 and the steel structure is 5mm-15mm; the yoke plate 26 is made of ordinary carbon structural steel material Q235 and the surface is blackened, the permanent magnetic adsorption body 27 is made of rare earth permanent magnetic material neodymium iron boron, the grade of the permanent magnetic adsorption body 27 is 40-52, and the permanent magnetic adsorption body 27 is magnetized along the thickness direction; preferably, a fixing hole is opened on the yoke plate steering shaft 24, and the other end of the adsorption unit gap adjustment vertical rod 23 is inserted into the fixing hole to be fixedly connected to the yoke plate steering shaft 24, and the fixing bracket is fixedly connected to the yoke plate 26 by screws; preferably, the magnetic circuit of the permanent magnetic adsorption body 27 adopts a yoke-type permanent magnet array.

[0039] In the above embodiment, there are two yoke-type permanent magnetic gap adsorption devices 2 and they are symmetrically fixed on the lower surface of the bottom plate 8. The yoke-type permanent magnetic gap adsorption device 2 is structurally mounted on the bottom plate 8. The permanent magnetic adsorption body 27 on the yoke-type permanent magnetic gap adsorption device 2 is arranged below the bottom plate 8, and the permanent magnetic adsorption body 27 does not contact the surface of the steel plate. The two yoke-type permanent magnetic gap adsorption devices 2 are arranged inside the two driving wheels 11 and are parallel thereto, and the driving wheels 11 and the yoke-type permanent magnetic gap adsorption devices 2 are located on the same horizontal line. Two yoke-type permanent magnetic gap adsorption devices 2 with adjustable gaps are installed on the base plate 8. The yoke-type permanent magnetic gap adsorption devices 2 are not in direct contact with the surface of the steel plate but have a certain air gap. The yoke constrains the divergent magnetic circuit of the permanent magnet, so that the permanent magnetic adsorption unit and the ferromagnetic wall form a relatively closed loop. In this embodiment, the air gap between the yoke-type permanent magnetic gap adsorption device 2 and the steel plate is preferably selected between 5mm-15mm, and the adjustable range can be up to 20mm. For example, the air gap between the yoke-type permanent magnetic gap adsorption device 2 and the steel plate can be 5mm, 8mm, 10mm, 12mm, 15mm, 17mm, or 20mm. The yoke iron type permanent magnetic gap adsorption device 2 comprises an adsorption unit gap adjustment vertical rod 23, a yoke iron plate steering shaft 24, a fixed bracket, a yoke iron plate 26, and a permanent magnetic adsorption body 27, wherein one end of the adsorption unit gap adjustment vertical rod 23 is threaded and installed on the bottom plate 8 through an axis support, and the gap size between the yoke iron type permanent magnetic gap adsorption device 2 and the steel plate surface can be adjusted by rotating the nut above the bottom plate 8, and the opening below the adsorption unit gap adjustment vertical rod 23 is used to achieve fixation with the yoke iron plate steering shaft 24. The yoke iron plate steering shaft 24 is coaxially connected to two fixed brackets, and the fixed bracket is installed on the yoke iron plate 26 by screws. The yoke iron plate 26 can use ordinary carbon structural steel material Q235 and perform surface blackening treatment. The permanent magnetic adsorption body 27 can use rare earth permanent magnetic material neodymium iron boron, and the brand 40-52 can be used. The permanent magnetic adsorption body 27 needs to be magnetized along the thickness direction and installed on the yoke iron plate 26. The size of the adsorption force can be adjusted by adjusting the size of the air gap between the yoke-type permanent magnetic gap adsorption device 2 and the steel plate surface. Preferably, the magnetic circuit of the permanent magnetic adsorption body 27 of the yoke-type permanent magnetic gap adsorption device 2 adopts a yoke-type permanent magnet array.

[0040] Furthermore, if Figure 5 and Figure 6As shown, the cleaning module 6 includes two disc brush cleaning units for cleaning the surface of the steel plate. Each disc brush cleaning unit includes a cleaning motor fixing bracket 17, a cleaning drive motor 18, a flange 19, a spring 28, a sleeve 20, an output shaft 21, a slider 29, and a stainless steel wire brush 22; the cleaning drive motor 18 is fixed to the cleaning motor fixing bracket 17, and the cleaning motor fixing bracket 17 is connected to the front end of the bottom plate 8; one side of the flange 19 is fixedly connected to the output end of the cleaning drive motor 18, and the other side of the flange 19 is fixedly connected to the sleeve 20; the spring 28 and the slider 29 are both arranged in the sleeve 20, and the spring 28 is located at the flange 19. The two ends of the spring 28 are respectively in contact with the flange 19 and the slider 29, the slider 29 is slidably connected with the inner wall of the sleeve 20, one end of the sleeve 20 is provided with an output hole, one end of the output shaft 21 is located in the sleeve 20, and one end of the output shaft 21 is fixedly connected with the slider 29, and the other end of the output shaft 21 passes through the output hole and is fixedly connected with the stainless steel wire brush 22 to realize the steel plate surface cleaning operation; one side of the flange 19 is opened and fixedly connected with the output end of the cleaning drive motor 18 by screws, and the other side of the flange 19 is connected with the sleeve 20 is fixedly connected by four screws; a boss with a diameter of 14mm and a height of 2mm is provided on the other side of the flange 19, the boss is inserted into the other end of the sleeve 20 and is fixedly connected to the sleeve 20, and one end of the spring 28 is fixedly connected to the boss. When the stainless steel wire brush 22 encounters obstacles or height changes due to curvature changes during the cleaning process, the spring 28 can play a good buffering role; the slider 29 is fixed to one end of the output shaft 21 by screws, and the slider 29 and the output shaft 21 are both made of 304 stainless steel; the slider 29 and the sleeve 2 0 inner wall adopts clearance fit, and the slider 29 can slide up and down 6mm-8mm along the inner wall of the sleeve 20; the cross-sectional shapes of the output shaft 21 and the output hole are both square, and the output shaft 21 and the output hole adopt clearance fit to prevent relative rotation between the two so that the output shaft 21 only transmits torque, thus ensuring that the slider 29 cannot fall from the sleeve 20; the flange 19, the sleeve 20 and the cleaning drive motor 18 are fixed to realize coaxial rotation; the spring 28 realizes the up and down movement of the output shaft 21 by telescopic movement, thereby playing a buffering role.

[0041] Furthermore, if Figure 1As shown, the fan recovery module 3 includes a recovery fan, a recovery hose, a recovery filter bag, a recovery box, a sealing box and a sealing brush; the sealing box is a rectangular parallelepiped structure and is fixedly arranged at the front of the bottom plate 8; the sealing brush is installed on the sealing box and surrounds the cleaning module 6 to prevent the corrosion products after cleaning from splashing everywhere; the recovery box is fixedly arranged on the upper surface of the bottom plate 8, and the two ends of the recovery box are provided with recovery hose mounting holes, the recovery filter bag is arranged in the recovery box, the recovery fan is arranged on the upper surface of the bottom plate 8, the recovery hose passes through the recovery hose mounting hole and is connected to the sealing box and the recovery box, and the recovery fan is used to realize the flow of debris in the sealing box, the recovery hose and the recovery box. The recovery fan is installed on the upper surface of the bottom plate 8 and forms a negative pressure through high-speed rotation to realize the flow of solids and gases. Among them, the recovery fan forms a local pressure difference through high-speed rotation to form an airflow flow, so that the cleaned rust is left in the recovery filter bag along the recovery hose. The recovery box is installed above the bottom plate 8, and a recovery filter bag is arranged inside. The recovery filter bag has good air permeability and can recover corrosion products such as rust. The sealing box and the sealing brush are installed below the bottom plate 8, are rectangular, have a hole in the middle and are located around the two disc brush cleaning units, so as to form a good seal and avoid the splashing of corrosive substances such as rust.

[0042] Furthermore, it also includes a ground operating console, which is electrically connected to the control unit 4, and the ground operating console includes a host computer display screen, an embedded industrial computer, an operating joystick and external devices; the embedded industrial computer is the core control unit of the ground operating console, and the embedded industrial computer provides multiple interfaces for external devices to expand the functions of the robot; the host computer display screen is used to display the working conditions in front of the robot and can set the robot's movement, cleaning and flaw detection parameters in real time; the operating joystick is used to operate the robot's movement trajectory; the motion platform 1 also includes two handles 9, the two handles 9 are fixedly set on the upper surface of the base plate 8, and the two handles 9 are located at the edge of the upper surface of the base plate 8.

[0043] Furthermore, if Figure 8As shown, the flaw detection device is a TOFD flaw detection device with one transmission and one reception, and the TOFD flaw detection device includes a scanning frame and a flaw detection board, wherein the scanning frame is composed of a horizontal adjustment part, a vertical adjustment part, a bracket 32 ​​and a probe 31, and the scanning frame is used to adjust the angle and position of the probe 31, and can ensure that the probe 31 is closely attached to the surface of the steel plate according to the movement of the robot; the flaw detection board is used to collect and receive the signal received by the probe 31 and process the signal to obtain the position and height of the defect; the horizontal adjustment part includes a linear guide 39, each linear guide 39 is provided with two probes 31, and the probe 31 can move on the linear guide 39; the linear guide 39 has two, and the two linear guides 39 are connected by a connecting block 40; the horizontal adjustment part also includes a slide 37, and the slide 37 can slide on the linear guide 39, and the vertical adjustment part includes a telescopic rod 35, a shaft rod 43 and a shaft seat 44, the slide 37 is connected to one end of the telescopic rod 35, and the other end of the telescopic rod 35 is connected to the shaft seat 44, and the shaft rod 43 is located in the shaft seat 44, the shaft 43 is connected to the bracket 32, and the bracket 32 ​​is connected to the probe 31; the slide 37 is composed of two slides 42 and a vertical plate 41, the two slides 42 are connected to the same side of the vertical plate 41, and the linear guide 39 has two tracks 45, and the slide 42 can be set on the track 45; the probe 31 assembly also includes a locking device, which is composed of a knob 38 and a screw connected to the knob 38. The slide 42 is connected to a positioning block 46, and the slide 42 and the positioning block 46 are connected to the slide 42. 6 is provided with a through hole at a corresponding position, the screw can enter the through hole and contact with the track 45, and the rotating knob 38 can position the slide 37 and the linear guide 39; preferably, the two probes 31 provided on each linear guide 39 are respectively a transmitting probe and a receiving probe, the transmitting probe is used to transmit the diffraction signal of the defect; the receiving probe is used to receive the diffraction signal to realize TOFD flaw detection of the steel plate; preferably, the four probes 31 provided on the two linear guides 39 are all self-transmitting and self-receiving probes.

[0044] The transmitting probe is used to transmit the diffraction signal of the defect; the receiving probe is used to receive the diffraction signal to realize TOFD flaw detection of the steel plate; the scanning frame is used to adjust the angle and position of the transmitting probe and the receiving probe, and can ensure that the transmitting probe and the receiving probe are in close contact with the surface of the steel plate according to the movement of the robot; the flaw detection board is used to collect the diffraction signal received by the receiving probe and process the diffraction signal to obtain the position and height of the defect; multiple probes 31 adopt a symmetrical array and / or a cross arrangement to increase the area and efficiency of flaw detection; the flaw detection board is used to collect the received diffraction signal and process the diffraction signal.

[0045] The vertical adjustment part also includes an elastic sleeve 36 and an elastic member. A compression plate is provided in the elastic sleeve 36. A storage space for placing the elastic member is formed between the top of the inner wall of the elastic sleeve 36, the side wall and the compression plate. One end of the telescopic rod 35 extends into the elastic sleeve 36 and is connected to the compression plate, and the other end extends downward and is connected to the shaft seat 44. The elastic sleeve 36 realizes the passive adjustment of the probe 31 in the vertical direction of the linear guide 39. When the probe 31 moves slightly, the telescopic rod 35 is driven to move slightly, and the elastic member is compressed. The bracket 32 ​​is provided with a first mounting hole 33, and the bracket 32 ​​is rotatably connected to the probe 31 through the first mounting hole 33. When the flaw detection device rotates, the rotation of the connection between the bracket and the probe 31 can be adapted by coordinating the rotation of the connection between the bracket and the probe 31 through the different compression amounts of the two elastic members. The probe 31 assembly also includes a pressurizing mechanism. A water injection hole 34 is provided on the probe 31. The water injection hole 34 is connected to the pressurizing mechanism through a pipeline. The pressurizing mechanism is used to pressurize the water injection hole 34.

[0046] Furthermore, the control unit 4 includes a drive motor control unit, a cleaning motor control unit, a fan control unit and an acquisition board; the drive motor control unit is used to control the speed of the drive motor 16 to realize the linear or turning movement of the robot on the steel plate; the cleaning motor control unit is used to control the direction and speed of the cleaning drive motor 18 to realize the surface cleaning operation; the fan control unit is used to control the rotation of the recovery fan to realize the adjustment of the recovery wind speed and air volume; the acquisition board is used to obtain the data collected by the probe 31 and feed the data back to the ground operating console in the form of a byte stream.

[0047] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the present invention discloses a robot suitable for surface cleaning and flaw detection of steel plates before welding, which realizes surface cleaning and flaw detection of inner and outer walls of steel plates before welding, integrates the surface cleaning, recovery and flaw detection functions of the robot, improves the efficiency of robot cleaning, recovery and flaw detection, ensures surface cleaning quality and flaw detection efficiency, and improves the working environment of operators.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot suitable for cleaning and flaw detection of steel plate surfaces before welding, characterized in that: It includes a motion platform, a yoke-type permanent magnetic gap adsorption device, a cleaning module, a fan recovery module, a flaw detection device and a control unit; The motion platform comprises a bottom plate, a motion driving wheel module and a motion driven wheel module arranged on the bottom plate, wherein the motion driving wheel module is arranged at the front of the motion platform to drive the motion platform to move on the steel plate; the motion driven wheel module is arranged at the rear of the motion platform to realize flexible steering of the robot and provide magnetic adsorption force; The yoke-iron type permanent magnetic gap adsorption device is used to provide magnetic adsorption force so that the robot can be reliably adsorbed on the surface of the steel plate; The cleaning module is arranged in front of the bottom plate, and is used to clean the surface of the steel plate before welding; The fan recovery module is arranged on the upper surface of the bottom plate, and the fan recovery module is used to recover the corrosion products generated after cleaning; The flaw detection device is connected to the bottom plate, and the flaw detection device is used to detect whether there are defects on the surface of the steel plate; The control unit is used to control the motion drive wheel module, the cleaning module, the fan recovery module and the flaw detection device; The number of the yoke-type permanent magnetic gap adsorption devices is two, the two yoke-type permanent magnetic gap adsorption devices are symmetrically arranged about the central axis of the bottom plate, and the two yoke-type permanent magnetic gap adsorption devices are located between the two driving wheels, and the two yoke-type permanent magnetic gap adsorption devices and the driving wheels are located on the same horizontal line; Each of the yoke iron type permanent magnetic gap adsorption devices comprises an adsorption unit gap adjustment vertical rod, a yoke iron plate steering shaft, two steering shaft fixing brackets, a yoke iron plate, a permanent magnetic adsorption body, a nut and an axle support; The bottom plate is provided with an adjustment hole, one end of the adsorption unit gap adjustment vertical rod is provided with a thread, the shaft support is fixedly arranged on the lower surface of the bottom plate, one end of the adsorption unit gap adjustment vertical rod passes through the shaft support and the adjustment hole in sequence and is fixedly connected to the nut, the adsorption unit gap adjustment vertical rod is threadedly connected to the shaft support, and the nut is located on one side of the upper surface of the bottom plate; The other end of the adsorption unit gap adjustment vertical rod is fixedly connected to the yoke iron plate steering shaft, and the two ends of the yoke iron plate steering shaft are respectively fixedly connected to the two steering shaft fixing brackets, and the two steering shaft fixing brackets are fixedly arranged on one side surface of the yoke iron plate, and the permanent magnetic adsorption body is fixedly arranged on the other side surface of the yoke iron plate; The cleaning module comprises two disc brush cleaning units, each of which comprises a cleaning motor fixing bracket, a cleaning drive motor, a flange, a spring, a sleeve, an output shaft, a slider, and a stainless steel wire brush; The cleaning drive motor is fixed on the cleaning motor fixing bracket, and the cleaning motor fixing bracket is connected to the front end of the bottom plate; One side of the flange is fixedly connected to the output end of the cleaning drive motor, and the other side of the flange is fixedly connected to the sleeve; The spring and the slider are both arranged in the sleeve, and the spring is located between the flange and the slider, the two ends of the spring are respectively in contact with the flange and the slider, the slider is slidably connected to the inner wall of the sleeve, one end of the sleeve is provided with an output hole, one end of the output shaft is located in the sleeve, and one end of the output shaft is fixedly connected to the slider, and the other end of the output shaft passes through the output hole and is fixedly connected to the stainless steel wire brush; One side of the flange is opened and fixedly connected to the output end of the cleaning drive motor by screws, and the other side of the flange is fixedly connected to the sleeve by four screws; A boss with a diameter of 14 mm and a height of 2 mm is provided on the other side of the flange, the boss is inserted into the other end of the sleeve and fixedly connected to the sleeve, and one end of the spring is fixedly connected to the boss; The slider is fixed to one end of the output shaft by screws, and both the slider and the output shaft are made of 304 stainless steel; The slider and the inner wall of the sleeve are clearance-matched, and the slider can slide up and down along the inner wall of the sleeve by 6mm-8mm; The cross-sectional shapes of the output shaft and the output hole are both square, and a clearance fit is adopted between the output shaft and the output hole; The flange, the sleeve and the cleaning drive motor are fixed to realize coaxial rotation; the spring moves up and down through telescopic movement to realize the output shaft, thereby playing a buffering role; The fan recovery module includes a recovery fan, a recovery hose, a recovery filter bag, a recovery box, a sealing box and a sealing exhaust brush; The sealing box is fixedly arranged at the front of the bottom plate; the sealing brush is installed on the sealing box and surrounds the cleaning module to prevent the corrosion products after cleaning from splashing around; The recycling box is fixedly arranged on the upper surface of the bottom plate, and recycling hose mounting holes are arranged at both ends of the recycling box, the recycling filter bag is arranged in the recycling box, the recycling fan is arranged on the upper surface of the bottom plate, the recycling hose passes through the recycling hose mounting hole and is connected to both the sealing box and the recycling box, and the recycling fan is used to realize the flow of debris in the sealing box, the recycling hose and the recycling box; The flaw detection device is a one-transmit-one-receive TOFD flaw detection device. The TOFD flaw detection device includes a scanning frame and a flaw detection plate card, wherein the scanning frame is composed of a horizontal adjustment part, a vertical adjustment part, a bracket and a probe, and the scanning frame is used to adjust the angle and position of the probe, and can ensure that the probe is closely attached to the surface of the steel plate according to the movement of the robot; The flaw detection board is used to collect the signal received by the probe and process the signal to obtain the position and height of the defect; The horizontal adjustment part includes a linear guide rail, each of which is provided with two probes, and the probes can move on the linear guide rail; There are two linear guide rails, and the two linear guide rails are connected by a connecting block; The horizontal adjustment unit also includes a slide, and the slide can slide on the linear guide rail. The vertical adjustment part includes a telescopic rod, a shaft rod and a shaft seat. The slide is connected to one end of the telescopic rod, the other end of the telescopic rod is connected to the shaft seat, the shaft is located in the shaft seat, the shaft is connected to the bracket, and the bracket is connected to the probe; The slide table is composed of two slide seats and a vertical plate, the two slide seats are connected to the same side of the vertical plate, the linear guide rail has two tracks, and the slide seats can be sleeved on the tracks; The probe assembly also includes a locking device, which consists of a knob and a screw connected to the knob. A positioning block is connected to the slide. Through holes are provided at corresponding positions on the slide and the positioning block. The screw can enter the through holes and contact the track. Rotating the knob can position the slide and the linear guide.

2. The robot for cleaning and flaw detection of steel plate surfaces before welding according to claim 1, characterized in that: It also includes a visual sensor module and a vertical ranging module. The visual sensor module is electrically connected to the control unit and is used to obtain image information in front of the robot and feed the image information back to the embedded processor of the control unit; the vertical ranging module is located at the front of the lower surface of the base plate and is used to detect whether the robot is located on the steel plate.

3. The robot suitable for cleaning and flaw detection of steel plate surface before welding according to claim 1, characterized in that: The motion driving wheel module includes two driving wheel units, both of which are fixedly arranged at the front end of the lower surface of the bottom plate, and the two driving wheel units are symmetrically arranged about the central axis of the bottom plate; Each of the driving wheel units includes a driving motor, a coupling, a motor bracket, a reducer, a deep groove ball bearing, a bearing bracket, a driving wheel shaft and a driving wheel; A driving wheel unit is respectively arranged at two corners of the front end of the bottom plate, and the input end of the reducer of the driving wheel unit is connected to the driving motor through the coupling; The two driving wheel units and the moving driven wheel module are arranged on the bottom plate in a triangle shape.

4. The robot for cleaning and flaw detection of steel plate surfaces before welding according to claim 3, characterized in that: The reducer is a worm gear reducer, and the reducer is coaxially connected to the bearing bracket; The bearing bracket is fixed to the base plate by screws, and a deep groove ball bearing is installed inside the bearing bracket. The deep groove ball bearing is clearance-matched with the driving wheel shaft to support the driving wheel shaft and reduce the friction coefficient during the rotation of the driving wheel shaft; one end of the driving wheel shaft is connected to the output end of the reducer, and the other end of the driving wheel shaft is connected to the driving wheel.

5. The robot suitable for cleaning and flaw detection of steel plate surface before welding according to claim 1, characterized in that: The motion driven wheel module comprises a driven wheel unit, and the driven wheel unit comprises a driven wheel fixing bracket, a connecting bracket, a driven wheel rotating shaft, a driven wheel shaft, a permanent magnet and two driven wheels; The driven wheel unit is arranged at the middle of the rear end of the base plate; The driven wheel fixing bracket is internally provided with a bearing and is clearance-matched with the driven wheel rotating shaft to achieve vertical rotation; the connecting bracket connects the driven wheel rotating shaft and the driven wheel shaft; the driving wheel shaft is coaxially connected to the two driven wheels; the permanent magnet is installed between the two driven wheels to provide magnetic adsorption force.

6. The robot suitable for cleaning and flaw detection of steel plate surface before welding according to claim 1, characterized in that: It also includes a ground operating console, which is electrically connected to the control unit. The ground operating console includes a host computer display screen, an embedded industrial computer, an operating joystick and external devices; The embedded industrial computer is the core control unit of the ground operating console and provides multiple interfaces for the external devices to expand the functions of the robot; The upper computer display screen is used to display the working conditions in front of the robot and can set the movement, cleaning and flaw detection parameters of the robot in real time; The operating rocker is used to operate the motion trajectory of the robot; The motion platform further includes two handles, which are fixedly disposed on the upper surface of the base plate and are located at the edges of the upper surface of the base plate.

7. The robot suitable for cleaning and flaw detection of steel plate surface before welding according to claim 1, characterized in that: The two probes arranged on each linear guide rail are respectively a transmitting probe and a receiving probe. The transmitting probe is used to transmit the diffraction signal of the defect; and the receiving probe is used to receive the diffraction signal to realize TOFD flaw detection of the steel plate.

8. The robot suitable for cleaning and flaw detection of steel plate surface before welding according to claim 1, characterized in that: The four probes arranged on the two linear guide rails are all self-emitting and self-receiving probes.

9. The robot suitable for cleaning and flaw detection of steel plate surface before welding according to claim 6, characterized in that: The control unit includes a drive motor control unit, a cleaning motor control unit, a fan control unit and an acquisition board; The drive motor control unit is used to control the speed of the drive motor to achieve linear or turning motion of the robot on the steel plate; The cleaning motor control unit is used to control the direction and speed of the cleaning drive motor to achieve surface cleaning operations; The fan control unit is used to control the rotation of the recovery fan to adjust the recovery wind speed and air volume; The acquisition board is used to obtain the data collected by the probe and feed the data back to the ground operating console in the form of a byte stream.

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