A truss dust removal robot

Abstract

The present invention provides a truss dust removal robot, which relates to the field of dust removal equipment and includes: a device main body and a driving mechanism, the driving mechanism is connected to the device main body, and the driving mechanism can drive the device main body to move on the truss; a guiding mechanism, the guiding mechanism is connected to the device main body, and the guiding mechanism can guide the device main body when the device main body moves; a dust removal mechanism, the dust removal mechanism is connected to the device main body, and the dust removal mechanism is used to clean the truss. By using the dust removal robot for dust removal, the present invention avoids the heavy and dangerous work of operators. The swept dust can be recycled. It can adapt to the dust removal operations of most C-shaped and I-shaped trusses of various sizes. The guiding structure of the robot can ensure the safety of the robot and prevent the robot from falling.

Description

Technical Field

[0001] The present invention relates to the field of dust removal equipment, and particularly to a truss dust removal robot. Background Art

[0002] Thermal power generation is likely to cause serious fly ash pollution to the interior and surrounding environment of a power station, which is one of the main factors affecting the normal operation of power station equipment. There are a large number of steel frame structures in the interior equipment of the power station, which will be seriously polluted by dust during long-term operation and affect normal work.

[0003] At present, truss dust removal basically relies on manual sweeping with brooms, which is heavy work, and the dust raising is likely to cause occupational disease injuries and secondary pollution. Similar sweeping robots are mainly used for floor cleaning and are difficult to meet the needs of working on high-altitude trusses, resulting in safety accidents of personnel and equipment due to falls. Summary of the Invention

[0004] The purpose of the present invention is to provide a truss dust removal robot, which realizes rapid cleaning of the truss.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A truss dust removal robot, comprising: an equipment main body and a driving mechanism, the driving mechanism is connected to the equipment main body, and the driving mechanism can drive the equipment main body to move on the truss; a guiding mechanism, the guiding mechanism is connected to the equipment main body, and the guiding mechanism can guide the equipment main body when the equipment main body moves; a dust removal mechanism, the dust removal mechanism is connected to the equipment main body, and the dust removal mechanism is used to clean the truss.

[0006] Further, the equipment main body includes a housing and an adsorbent, the adsorbent is arranged at the bottom of the housing, and the adsorbent is located between the housing and the truss, and the adsorbent can attract the housing towards the truss; the adsorbent is a magnet array composed of multiple magnets.

[0007] Further, the number of the driving mechanisms is two, and the two driving mechanisms are symmetrically arranged relative to the housing. The driving mechanism includes a first motor, a speed reducer, a driving shaft and a driving wheel; the first motor is arranged in the housing, the output end of the first motor is connected to the input end of the speed reducer, the output end of the speed reducer is connected to one end of the driving shaft, and the other end of the driving shaft extends out of the housing and is connected to the driving wheel; the driving shaft is connected to the driving wheel through a expansion sleeve.

[0008] Further, the guiding mechanism includes at least two first support units and / or at least two second support units; the first support units are symmetrically arranged relative to the equipment main body, and the second support units are also symmetrically arranged relative to the equipment main body.

[0009] Further, the first support unit includes a first support arm, a telescopic arm, a first rotating arm, a first idler wheel, and a locking screw; one end of the first support arm is connected to the device main body, the other end of the first support arm is provided with a telescopic groove, one end of the telescopic arm extends into the telescopic groove, the locking screw is threadedly connected to the first support arm, and one end of the locking screw extends into the telescopic groove. By screwing the locking screw, the position of the telescopic arm in the telescopic groove can be fixed; one end of the first rotating arm is rotatably connected to the other end of the telescopic arm, and the first rotating arm is coaxially arranged with the telescopic arm. The first idler wheel is arranged at the other end of the first rotating arm, and the axis direction of the first idler wheel is perpendicular to the axis direction of the first support arm.

[0010] Further, the second support unit includes a bearing seat, a locking cam, a locking shaft, a second support arm, a second rotating arm, and a second idler wheel; the bearing seat is connected to the device main body, one end of the second support arm and the bearing seat are both connected to the locking shaft, the locking shaft is connected to the locking cam, and rotating the locking cam can prevent the second support arm from rotating relative to the bearing seat; one end of the second rotating arm is rotatably connected to the other end of the second support arm, and the second rotating arm is coaxially arranged with the second support arm. The second idler wheel is arranged at the other end of the second rotating arm, and the axis direction of the second idler wheel is perpendicular to the axis direction of the second support arm.

[0011] Further, the dust removal mechanism includes an adjustment unit and a dust removal execution unit. The dust removal execution unit is connected to the housing through the adjustment unit; the dust removal execution unit includes a second motor, a motor support frame, a first pulley, a second pulley, a belt, a brush roller body, a dust cover, a mounting bracket, and a negative pressure device. The brush roller body is arranged in the mounting bracket and is rotatably connected to the mounting bracket. The second motor is connected to the mounting bracket through the motor support frame. The output end of the second motor is connected to the first pulley. One end of the brush roller body extends out of the mounting bracket and is connected to the second pulley. The first pulley and the second pulley are driven by a belt; the dust cover is arranged on the mounting bracket. The dust cover and the mounting bracket together form a cavity with only one side open. The housing is provided with a mounting groove for mounting the negative pressure device. The negative pressure device is arranged on the mounting groove. One end of the negative pressure device is connected to the dust cover, and the negative pressure device can extract negative pressure for the cavity.

[0012] Further, the adjusting unit includes a roller brush support plate, a roller brush support frame, a guide shaft, an adjusting screw, and a connecting block. The connecting block is arranged on the mounting frame, the roller brush support plate is arranged on the housing, the roller brush support frame is arranged on the roller brush support plate. There are two guide shafts, and the two guide shafts are arranged on the roller brush support plate. The connecting block is slidably connected to the two guide shafts at the same time. The adjusting screw is threadedly connected to the roller brush support frame, and the lower end of the adjusting screw is connected to the connecting block. By screwing the adjusting bolt, the connecting block can be driven to move on the guide shaft. A row brush is arranged at the lower end of the mounting frame. The rotation directions of the bristles on both sides of the roller brush body are opposite.

[0013] Further, when the first idler wheel and / or the second idler wheel face vertically downward, the bottom ends of the first idler wheel and / or the second idler wheel are below the bottom end of the driving wheel in the vertical direction, and the edges of the first idler wheel and / or the second idler wheel are in contact with the outer side of the flange of the truss; when the first idler wheel and / or the second idler wheel face vertically upward, the bottom ends of the first idler wheel and / or the second idler wheel are above the bottom end of the driving wheel in the vertical direction, and the edges of the first idler wheel and / or the second idler wheel are in contact with the inner side of the flange of the truss.

[0014] Further, it further includes a driven wheel. The driven wheel is arranged on the housing and away from the dust removal mechanism. The driven wheel is parallel to the driving wheel. The bottom end of the driven wheel and the bottom end of the driving wheel are located in the same plane. An annular groove is arranged on the driven wheel, and an annular magnet is arranged on the annular groove. Yokes are symmetrically arranged on both sides of the annular magnet.

[0015] The present invention provides a truss dust removal robot. By using the dust removal robot for dust removal, the heavy and dangerous work of operators is avoided. The swept dust can be recycled. It can adapt to the dust removal operations of most C-shaped and I-shaped trusses of various sizes. The guiding structure of the robot can ensure the safety of the robot and prevent the robot from falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. Among them:

[0017] Figure 1 Schematic three-dimensional structure diagram of an embodiment of the present invention.

[0018] Figure 2 Schematic three-dimensional structure diagram of an embodiment of the present invention in the direction of the driven wheel.

[0019] Figure 3Schematic side view of the structure of an embodiment of the present invention.

[0020] Figure 4 Schematic cross-sectional view of the structure of the housing of an embodiment of the present invention from a top-down perspective.

[0021] Figure 5 Schematic cross-sectional view of the structure of the dust cover of an embodiment of the present invention.

[0022] Figure 6 Schematic diagram of the structure of the first support unit of an embodiment of the present invention.

[0023] Figure 7 Schematic diagram of the structure of the second support unit of an embodiment of the present invention.

[0024] Figure 8 Schematic diagram of the structure of an embodiment of the present invention in its first working state.

[0025] Figure 9 Schematic diagram of the structure of an embodiment of the present invention in its second working state.

[0026] Explanation of reference numerals: 1. Housing; 2. Adsorbent; 3. First motor; 4. Reducer; 5. Drive shaft; 6. Driving wheel; 7. Expansion sleeve; 8. First support arm; 9. Telescopic arm; 10. First rotating arm; 11. First idler wheel; 12. Locking screw; 13. Bearing seat; 14. Locking cam; 15. Locking shaft; 16. Second support arm; 17. Second rotating arm; 18. Truss; 19. Second idler wheel; 20. Second motor; 21. Motor support frame; 22. First pulley; 23. Second pulley; 24. Belt; 25. Brush body; 26. Dust cover; 27. Mounting frame; 28. Negative pressure device; 29. Exhaust brush; 30. Control board; 31. Battery pack; 32. Power switch; 33. Charging interface; 34. Emergency stop switch; 35. Driven wheel; 36. Ring magnet; 37. Brush support plate; 38. Brush support frame; 39. Guide shaft; 40. Adjusting screw; 41. Connecting block; 42. Yoke iron. Detailed Description of the Invention

[0027] 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 rather than limitation of the present invention. In fact, those skilled in the art will clearly understand that modifications and variations can be made to the present invention without departing from the scope or spirit of the present invention. For example, features shown or described as part of one embodiment can be used in another embodiment to yield yet another embodiment. Therefore, it is desirable that the present invention include such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0028] In the description of the present invention, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "connected", "coupled", and "disposed" used in the present invention should be understood in a broad sense. For example, it may be a fixed connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate component; it may be a wired electrical connection, a radio connection, or a wireless communication signal connection. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0029] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numerical and alphabetical labels to refer to features in the drawings. Similar or like labels in the drawings and the description have been used to refer to similar or like parts of the present invention. As used herein, terms such as "first", "second", "third", and "fourth" may be used interchangeably to distinguish one component from another and are not intended to denote the position or importance of individual components.

[0030] As Figure 1 and Figure 2 As shown, according to an embodiment of the present invention, a truss 18 dust removal robot is provided, including: a device main body and a driving mechanism, the driving mechanism is connected to the device main body, and the driving mechanism can drive the device main body to move on the truss 18; a guiding mechanism, the guiding mechanism is connected to the device main body, and the guiding mechanism can guide the device main body when the device main body moves; a dust removal mechanism, the dust removal mechanism is connected to the device main body, and the dust removal mechanism is used to clean the truss 18. The dust removal robot can be directly disposed on the truss 18 and move on the truss 18 to clean the dust on the truss 18. The driving mechanism provides driving force for the dust removal robot, so as to drive the dust removal robot to move on the truss 18. The guiding mechanism can provide guidance when the dust removal robot travels, so that the dust removal robot can travel along a certain trajectory during operation, improving the stability during work. The dust removal robot removes dust from the truss 18 through the dust removal mechanism.

[0031] Preferably, the device body includes a housing 1 and an adsorbent 2. The adsorbent 2 is provided at the bottom of the housing 1 and is located between the housing 1 and the truss 18. In the present invention, the adsorbent 2 is generally a magnet array composed of multiple magnets. The adsorbent 2 can attract the housing 1 towards the truss 18. The adsorbent 2 can give the dust removal robot an attractive force towards the truss 18, making the dust removal robot have a tendency to move towards the truss 18. The driving mechanism on the dust removal robot prevents the direct contact between the adsorbent 2 and the truss 18 through its overall structure, forming a permanent magnet gap adsorption relationship between the dust removal robot and the truss 18. This adsorption method can ensure the adsorption effect of the dust collector robot without affecting its movement flexibility. Moreover, when using this adsorption method, the dust removal robot has a large load and a high magnetic force utilization rate. The adsorbent 2 is generally a magnet array composed of multiple magnets arranged according to a certain rule.

[0032] Preferably, the number of driving mechanisms is two. The two driving mechanisms are symmetrically arranged with respect to the housing 1. The driving mechanism includes a first motor 3, a speed reducer 4, a driving shaft 5, and a driving wheel 6. The first motor 3 is provided inside the housing 1. The output end of the first motor 3 is connected to the input end of the speed reducer 4. The output end of the speed reducer 4 is connected to one end of the driving shaft 5. The other end of the driving shaft 5 extends outside the housing 1 and is connected to the driving wheel 6. The driving shaft 5 is connected to the driving wheel 6 through a expansion sleeve 7.

[0033] Preferably, the guiding mechanism includes at least two first support units and / or at least two second support units. The first support units are symmetrically arranged with respect to the device body, and the second support units are also symmetrically arranged with respect to the device body. Among them, when in use, the direction of the first support units can be adjusted to be perpendicular to the movement direction of the device body. The guiding mechanism is usually arranged at the four corners of the housing 1.

[0034] Preferably, as Figure 6As shown, the first support unit includes a first support arm 8, a telescopic arm 9, a first rotating arm 10, a first idler wheel 11, and a locking screw 12; one end of the first support arm 8 is connected to the equipment main body, and the other end of the first support arm 8 is provided with a telescopic groove. One end of the telescopic arm 9 extends into the telescopic groove, and the locking screw 12 is threadedly connected to the first support arm 8. One end of the locking screw 12 extends into the telescopic groove. By screwing the locking screw 12, the position of the fixed telescopic arm 9 in the telescopic groove can be adjusted; one end of the first rotating arm 10 is rotatably connected to the other end of the telescopic arm 9, and the first rotating arm 10 is coaxially arranged with the telescopic arm 9. The first idler wheel 11 is arranged at the other end of the first rotating arm 10. The axis direction of the first idler wheel 11 is perpendicular to the axis direction of the first support arm 8. The telescopic arm 9 can be telescoped in the telescopic groove inside the first support arm 8, so as to adjust the overall length of the first support unit, enabling the first support unit to adapt to channel steels of different widths. By screwing the locking screw 12, the position of the telescopic arm 9 in the telescopic groove can be restricted, thereby limiting the telescopic arm 9. The first rotating arm 10 can rotate to drive the first idler wheel 11 to rotate. When cleaning different positions of the truss 18, the orientation of the first idler wheel 11 will also be adjusted accordingly. The orientation of the first idler wheel 11 is generally vertically upward or vertically downward. When the first idler wheel 11 contacts the edge of the channel steel and the housing 1 is parallel to the channel steel, it means that the first telescopic unit has been adjusted.

[0035] Preferably, as Figure 7As shown in the figure, the second support unit includes a bearing block 13, a locking cam 14, a locking shaft 15, a second support arm 16, a second swing arm 17 and a second idler wheel 19; the bearing block 13 is connected to the equipment main body, one end of the second support arm 16 and the bearing block 13 are both connected to the locking shaft 15, the locking shaft 15 is connected to the locking cam 14, and rotating the locking cam 14 can prevent the second support arm 16 from rotating relative to the bearing block 13; one end of the second swing arm 17 is rotatably connected to the other end of the second support arm 16, and the second swing arm 17 is coaxially arranged with the second support arm 16. The second idler wheel 19 is arranged at the other end of the second swing arm 17, and the axis direction of the second idler wheel 19 is perpendicular to the axis direction of the second support arm 16. The distance between the second support unit and the dust removal mechanism is farther than that of the first support unit. When in use, the second support unit adjusts the angle to adapt to channel steels of different widths. Specifically, the second support arm 16 can rotate through the bearing block 13. After rotating to the required angle, the locking cam 14 is rotated to make the locking cam 14 press the bearing block 13 and the second support arm 16, so that the bearing block 13 and the second support arm 16 are closely attached, thereby limiting the second support arm 16. The second swing arm 17 can rotate to drive the second idler wheel 19 to rotate. When cleaning different positions of the channel steel, the orientation of the second idler wheel 19 will be adjusted accordingly. Generally, the direction of the second idler wheel 19 is vertically upward or vertically downward. When the second idler wheel 19 contacts the inner edge or outer edge of the channel steel and the housing 1 is parallel to the channel steel, it means that the second telescopic unit has been adjusted.

[0036] Preferably, when the first idler wheel 11 and / or the second idler wheel 19 face vertically downward, the bottom ends of the first idler wheel 11 and / or the second idler wheel 19 are below the bottom end of the driving wheel 6 in the vertical direction, and the edges of the first idler wheel 11 and / or the second idler wheel 19 contact the outer side of the flange of the truss 18; when the first idler wheel 11 and / or the second idler wheel 19 clean the outer side of the truss 18, the length of the first support unit and the angle of the second support unit are changed by adjusting the telescopic arm 9 and the second support arm 16, so that the first idler wheel 11 and the second idler wheel 19 can touch the outer side of the flange of the truss 18. Since the vertical positions of the first idler wheel 11 and the second idler wheel 19 are lower than that of the driving wheel 6 at this time, it does not affect the contact between the driving wheel 6 and the outer surface of the truss 18, and the first idler wheel 11 and the second idler wheel 19 clamp the truss 18 (channel steel) externally, so that the dust removal robot can clean the outer surface of the truss 18.

[0037] Similarly, when the first idler wheel 11 and / or the second idler wheel 19 face vertically upward, the bottom ends of the first idler wheel 11 and / or the second idler wheel 19 are above the bottom end of the drive wheel 6 in the vertical direction, and the edges of the first idler wheel 11 and / or the second idler wheel 19 are in contact with the inner side of the flange of the truss 18. When the first idler wheel 11 and / or the second idler wheel 19 clean the inside of the truss 18, the length of the first support unit and the angle of the second support unit are changed by adjusting the telescopic arm 9 and the second support arm 16, so that the first idler wheel 11 and the second idler wheel 19 can touch the inner side of the flange of the truss 18. Since the vertical positions of the first idler wheel 11 and the second idler wheel 19 are higher than that of the drive wheel 6 at this time, it does not affect the contact between the drive wheel 6 and the inner surface of the truss 18, and enables the first idler wheel 11 and the second idler wheel 19 to clamp the truss 18 (channel steel) inside, so that the dust removal robot can clean the inner surface of the truss 18.

[0038] Preferably, as Figure 3 and Figure 5As shown in the figure, the dust removal mechanism includes an adjustment unit and a dust removal execution unit. The dust removal execution unit is connected to the housing 1 through the adjustment unit. The dust removal execution unit includes a second motor 20, a motor support frame 21, a first pulley 22, a second pulley 23, a belt 24, a brush roller body 25, a dust-proof cover 26, a mounting bracket 27, and a negative pressure device 28. The brush roller body 25 is arranged in the mounting bracket 27 and is rotatably connected to the mounting bracket 27. The second motor 20 is connected to the mounting bracket 27 through the motor support frame 21. The output end of the second motor 20 is connected to the first pulley 22. One end of the brush roller body 25 extends out of the mounting bracket 27 and is connected to the second pulley 23. The first pulley 22 and the second pulley 23 are driven by the belt 24. The dust-proof cover 26 is arranged on the mounting bracket 27. The dust-proof cover 26 and the mounting bracket 27 together form a cavity with only one side open. An installation groove for installing the negative pressure device 28 is provided on the housing 1. The negative pressure device 28 is arranged on the installation groove. One end of the negative pressure device 28 is connected to the dust-proof cover 26. The negative pressure device 28 can draw negative pressure for the cavity. The adjustment unit includes a brush roller support plate 37, a brush roller support frame 38, a guide shaft 39, an adjustment screw 40, and a connecting block 41. The connecting block 41 is arranged on the mounting bracket 27. The brush roller support plate 37 is arranged on the housing 1. The brush roller support frame 38 is arranged on the brush roller support plate 37. The number of guide shafts 39 is two. The two guide shafts 39 are arranged on the brush roller support plate 37. The connecting block 41 is slidably connected to the two guide shafts 39 at the same time. The adjustment screw 40 is threadedly connected to the brush roller support frame 38. The lower end of the adjustment screw 40 is connected to the connecting block 41. By screwing the adjustment bolt, the connecting block 41 can be driven to move on the guide shaft 39, so as to adjust the contact force between the brush roller body 25 and the surface of the channel steel to be cleaned. A row of brushes 29 is arranged at the lower end of the mounting bracket 27. The rotation directions of the bristles on both sides of the brush roller body 25 are opposite. The brush roller body 25 is driven by the second motor 20 and is driven by the first pulley 22, the second pulley 23, and the conveyor belt (gear, chain, or rope drive can also be used). The bristles of the brush roller body 25 are made of nylon. The bristles on both sides of the brush roller body 25 are planted in opposite rotation directions (half left-handed and half right-handed). When the brush roller body 25 rotates, the dust will gather towards the middle of the brush roller, which is beneficial to the dust entering the negative pressure device 28. An interface for connecting the negative pressure device 28 is provided at the upper end of the dust-proof cover 26. A row of brushes 29 is arranged below the mounting bracket 27, which is used to gather dust and prevent dust leakage. When used in combination with the negative pressure device 28, the dust removal effect is good and the paint surface of the truss 18 is not damaged.

[0039] Preferably, as Figure 4 shown, it further includes a control mechanism. The control mechanism includes a control board 30, a battery pack 31, a power switch 32, a charging interface 33, and an emergency stop switch 34. The charging interface 33 is arranged on the housing 1. The control board 30 is arranged inside the housing 1. The power switch 32 and the emergency stop switch 34 are both arranged on the outer wall of the housing 1. The control board 30 is electrically connected to the battery pack 31, the power switch 32, the charging interface 33, the first motor 3, and the second motor 20.

[0040] Preferably, it further includes a driven wheel 35 which is arranged on the housing 1 and away from the dust removal mechanism. The driven wheel 35 is parallel to the driving wheel 6, and the bottom ends of the driven wheel 35 and the driving wheel 6 are located in the same plane. An annular groove is provided on the driven wheel 35, and an annular magnet 36 is provided on the annular groove. The annular magnet 36 is magnetized in its thickness direction. Yokes 42 are symmetrically provided on both sides of the annular magnet 36, and the magnetic induction lines of the annular magnet 36 are closed by the two yokes 42.

[0041] When the dust removal robot is in use, it can be divided into two working states. The first working state is that the dust removal robot cleans the outer side of the truss 18 (channel steel). As Figure 8 shown, at this time, the first idler wheel 11 and the second idler wheel 19 face the lower part of the dust removal robot, and both the first idler wheel 11 and the second idler wheel 19 are in contact with the outer edge of the channel steel, so as to "clamp" the channel steel. The second working state is that the dust removal robot cleans the inner side of the truss 18 (channel steel). As Figure 9 shown, at this time, the first idler wheel 11 and the second idler wheel 19 face the upper part of the dust removal robot, and both the first idler wheel 11 and the second idler wheel 19 are in contact with the inner edge of the channel steel, so as to "hold up" the channel steel. In both the first working state and the second working state, the driving wheel 6 is driven by the first motor 3 to drive the dust removal robot to move, and the channel steel is dusted by the dust removal mechanism.

[0042] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: The present invention designs an automatic dust removal robot. Using the dust removal robot for dust removal avoids the heavy and dangerous work of operators. The dust cleaned can be recycled. It can adapt to the dust removal operations of most C-shaped and I-shaped trusses 18 of various sizes. The guiding structure of the robot can ensure the safety of the robot and prevent the robot from falling.

[0043] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A truss dust removal robot, characterized in that, Comprising: A device main body and a driving mechanism, the driving mechanism is connected to the device main body, and the driving mechanism can drive the device main body to move on the truss; A guiding mechanism, the guiding mechanism is connected to the device main body, and the guiding mechanism can guide the device main body when the device main body moves; A dust removal mechanism, the dust removal mechanism is connected to the device main body, and the dust removal mechanism is used to clean the truss; The device main body includes a housing and an adsorbent, the adsorbent is arranged at the bottom of the housing, and the adsorbent is located between the housing and the truss, and the adsorbent can attract the housing towards the direction close to the truss; The number of the driving mechanisms is two, the two driving mechanisms are symmetrically arranged relative to the housing, and the driving mechanism includes a first motor, a speed reducer, a driving shaft and a driving wheel; The first motor is arranged inside the housing, the output end of the first motor is connected to the input end of the speed reducer, the output end of the speed reducer is connected to one end of the driving shaft, and the other end of the driving shaft extends out of the housing and is connected to the driving wheel; The guiding mechanism includes at least two first support units and / or at least two second support units; The first support units are symmetrically arranged relative to the device main body, and the second support units are also symmetrically arranged relative to the device main body; The first support unit includes a first support arm, a telescopic arm, a first rotating arm, a first idler wheel and a locking screw; One end of the first support arm is connected to the device main body, the other end of the first support arm is provided with a telescopic groove, one end of the telescopic arm extends into the telescopic groove, the locking screw is threadedly connected to the first support arm, and one end of the locking screw extends into the telescopic groove, and by screwing the locking screw, the position of the telescopic arm in the telescopic groove can be fixed; One end of the first rotating arm is rotatably connected to the other end of the telescopic arm, and the first rotating arm is coaxially arranged with the telescopic arm, the first idler wheel is arranged at the other end of the first rotating arm, and the axis direction of the first idler wheel is perpendicular to the axis direction of the first support arm; The second support unit includes a bearing seat, a locking cam, a locking shaft, a second support arm, a second rotating arm and a second idler wheel; The bearing seat is connected to the device main body, one end of the second support arm and the bearing seat are both connected to the locking shaft, the locking shaft is connected to the locking cam, and rotating the locking cam can prevent the second support arm from rotating relative to the bearing seat; One end of the second rotating arm is rotatably connected to the other end of the second support arm, and the second rotating arm is coaxially arranged with the second support arm, the second idler wheel is arranged at the other end of the second rotating arm, and the axis direction of the second idler wheel is perpendicular to the axis direction of the second support arm; When the first idler wheel and / or the second idler wheel face vertically downward, in the vertical direction, the bottom ends of the first idler wheel and / or the second idler wheel are below the bottom end of the driving wheel, and the edges of the first idler wheel and / or the second idler wheel are in contact with the outer side of the flange of the truss; When the first idler pulley and / or the second idler pulley face vertically upward, the bottom end of the first idler pulley and / or the second idler pulley is above the bottom end of the drive wheel in the vertical direction, and the edge of the first idler pulley and / or the second idler pulley is in contact with the inner side of the flange of the truss.

2. The truss dust removal robot according to claim 1, characterized in that, The adsorbent is a magnet array composed of multiple magnets.

3. The truss dust removal robot according to claim 1, characterized in that, The drive shaft is connected to the drive wheel through a shrink disc.

4. The truss dust removal robot according to claim 1, characterized in that, The dust removal mechanism includes an adjustment unit and a dust removal execution unit, and the dust removal execution unit is connected to the housing through the adjustment unit; The dust removal execution unit includes a second motor, a motor support frame, a first pulley, a second pulley, a belt, a brush roller body, a dust cover, a mounting frame, and a negative pressure device. The brush roller body is arranged in the mounting frame and is rotatably connected to the mounting frame. The second motor is connected to the mounting frame through the motor support frame. The output end of the second motor is connected to the first pulley. One end of the brush roller body extends out of the mounting frame and is connected to the second pulley. The first pulley and the second pulley are driven by a belt; The dust cover is arranged on the mounting frame. The dust cover and the mounting frame together form a cavity with only one side open. The housing is provided with a mounting groove for mounting the negative pressure device. The negative pressure device is arranged on the mounting groove. One end of the negative pressure device is connected to the dust cover, and the negative pressure device can extract negative pressure from the cavity.

5. The truss dust removal robot according to claim 4, characterized in that, The adjustment unit includes a brush roller support plate, a brush roller support frame, a guide shaft, an adjustment screw, and a connecting block. The connecting block is arranged on the mounting frame. The brush roller support plate is arranged on the housing. The brush roller support frame is arranged on the brush roller support plate. The number of guide shafts is two. The two guide shafts are arranged on the brush roller support plate. The connecting block is simultaneously slidably connected to the two guide shafts. The adjustment screw is threadedly connected to the brush roller support frame. The lower end of the adjustment screw is connected to the connecting block. By screwing the adjustment screw, the connecting block can be driven to move on the guide shaft.

6. The truss dust removal robot according to claim 5, characterized in that, A row of brushes is arranged at the lower end of the mounting frame.

7. The truss dust removal robot according to claim 5, characterized in that, The rotation directions of the bristles on both sides of the brush roller body are opposite.

8. The truss dust removal robot according to claim 1, characterized in that, It further includes a driven wheel. The driven wheel is arranged on the housing and away from the dust removal mechanism. The driven wheel is parallel to the drive wheel. The bottom end of the driven wheel and the bottom end of the drive wheel are located in the same plane. The driven wheel is provided with an annular groove. An annular magnet is arranged on the annular groove. Yokes are symmetrically arranged on both sides of the annular magnet.

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