Automatic maintenance robot and working method thereof

Abstract

The present invention discloses an automatic maintenance robot and a working method thereof, comprising: a support platform; a rotating device, mounted on the support platform; a lifting device, wherein the top of the lifting device is connected to the rotating device, the bottom of the lifting device is connected to one end of a hydraulic telescopic rod, and the other end of the hydraulic telescopic rod is connected to a leg-supporting operation platform; wherein the rotating device can drive the lifting device to rotate in a horizontal plane, adjust the steering of the leg-supporting operation platform in the horizontal plane, the lifting device can telescope up and down to adjust the height position of the hydraulic telescopic rod and the leg-supporting operation platform, and the hydraulic telescopic rod can telescope horizontally to adjust the horizontal position of the leg-supporting operation platform; the leg-supporting operation platform is used for automatically cleaning and repairing the wall surface, and also includes a portable controller. The present invention can realize semi-automatic mechanical cleaning operations, and has the advantages of simple and convenient operation, high safety, and high operating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning and coating devices, and in particular to an automatic maintenance robot and a working method thereof. Background Art

[0002] The pump station cleaning business of domestic sewage treatment plants is still mainly carried out by operators carrying cleaning equipment down the well. The pump station contains toxic gases and substances such as hydrogen sulfide, methane, and cyanide. These neurotoxic substances can directly act on the brain nerve center through human organs, causing symptoms such as respiratory paralysis, movement disorders, and coma, which can all lead to death. The acid and alkali substances in the pump station can also corrode the eyes and skin. Therefore, cleaning personnel are often killed or injured. In addition, long-term ventilation and the arrangement of protective devices and supplies are required before manual cleaning, which consumes a lot of working time and the protective supplies are expensive. Summary of the invention

[0003] Based on this, it is necessary to provide an automatic maintenance robot to address the above technical problems.

[0004] An automatic maintenance robot, comprising:

[0005] Support platform;

[0006] A rotating device, mounted on the supporting platform;

[0007] A lifting device, wherein the top of the lifting device is connected to the rotating device, the bottom of the lifting device is connected to one end of a hydraulic telescopic rod, and the other end of the hydraulic telescopic rod is connected to the leg-supporting operation platform;

[0008] The rotating device can drive the lifting device to rotate in the horizontal plane to adjust the steering of the leg-supporting operation platform in the horizontal plane. The lifting device can adjust the height position of the hydraulic telescopic rod and the leg-supporting operation platform by telescopic adjustment up and down. The hydraulic telescopic rod can adjust the horizontal position of the leg-supporting operation platform by telescopic adjustment horizontally. The leg-supporting operation platform is used to automatically clean and repair the wall surface.

[0009] The portable controller is respectively connected with the rotating device, the lifting device, the hydraulic telescopic rod and the leg-supporting operation platform.

[0010] In one embodiment, the support platform comprises:

[0011] A frame, with a beam frame on the upper surface, a through hole at the top center of the frame, and a slide groove on the bottom side of the frame;

[0012] a pulley, rotatably connected to the top of the beam frame;

[0013] A lifting ring is inserted into a lifting ring seat, and the lifting ring seat is fixed at four corners of the frame;

[0014] A support groove is fixed on the lower surface of the top inner side of the frame, and the top of the lifting device is inserted into the support groove and the through hole;

[0015] The baffle comprises two baffle bodies, both of which are slidably disposed in the slide groove, and the middle parts of the two baffle bodies have an enclosed bayonet, and the bayonet matches with the top outer surface of the lifting device;

[0016] A pin is used to lock the baffle onto the frame.

[0017] In one embodiment, the rotating device comprises:

[0018] A reduction motor is fixed on the inner side of the frame;

[0019] A small pulley is fixed on the rotating shaft of the reduction motor via a key connection;

[0020] A large pulley is mounted and fixed on the top of the lifting device;

[0021] The synchronous belt is sleeved on the small pulley and the large pulley.

[0022] In one embodiment, the lifting device comprises:

[0023] The lifting rod includes a one-stage rod, a two-stage rod, a three-stage rod, a four-stage rod and a five-stage rod which are nested in sequence and can slide and retract relative to each other;

[0024] A lifting cable winding motor is fixed inside the frame, the lifting cable winding motor is connected to one end of a first steel wire rope, the other end of the first steel wire rope passes through a pulley and is fixed to one end of an anti-knot universal wheel through a lock; wherein the first steel wire rope and the anti-knot universal wheel pass through the interior of the lifting rod;

[0025] A first pin shaft is passed through the other end of the anti-knot universal wheel, and the first pin shaft is connected to the bottom side wall of the five-section rod through a cotter pin;

[0026] Two semicircular column plates are wrapped around the bottom sides of the five-section rod, and the grooves of the semicircular column plates clamp the bottom convex plates of the five-section rod;

[0027] Two first hoops are connected to the inclined cable winding motor after wrapping a section of the rod, and the second steel wire rope of the inclined cable winding motor is connected to the hydraulic telescopic rod.

[0028] In one embodiment, the hydraulic telescopic rod comprises:

[0029] A U-shaped frame connected to the bottom of the semicircular column plate;

[0030] An L-shaped mounting plate connected to the U-shaped frame via a shaft tube and hand screws, and the L-shaped mounting plate can rotate around an axis inside the U-shaped frame;

[0031] The hydraulic rod comprises a first-stage hydraulic rod, a second-stage hydraulic rod, a third-stage hydraulic rod, a fourth-stage hydraulic rod and a fifth-stage hydraulic rod which are nested in sequence and can slide and retract relative to each other; the rear end of the first-stage hydraulic rod is fixedly connected to the side plate of the L-shaped mounting plate;

[0032] A hydraulic rod mounting seat is mounted on the front end of the L-shaped mounting plate, and the hydraulic rod mounting seat is connected to the section of hydraulic rod through a second clamp;

[0033] A welding clamp is installed on the shoulder of the second-stage hydraulic rod;

[0034] A camera mounting seat is arranged on both sides of the welding clamp, and the camera mounting seat fixes the camera via a third clamp;

[0035] The fourth clamp is used to fix the hydraulic rod pull ring on the shaft end of the five-section hydraulic rod, and the hydraulic rod pull ring cooperates with the second steel wire rope.

[0036] In one embodiment, the leg-supporting operation platform comprises:

[0037] A center plate, mounted on the end plates of the five-section hydraulic rod by bolts;

[0038] A support leg is rotatably mounted in a side groove of the center plate via a second pin;

[0039] A spring, one end of which is sleeved on the side wall of the supporting leg, and the other end of which is sleeved on the extension arm of the center plate;

[0040] A mounting plate mounted on the pan / tilt plate, wherein the pan / tilt plate is fixed to the center plate;

[0041] A nozzle connected to the mounting plate via a fifth clamp;

[0042] Universal wheels are installed at the ends of the supporting legs, and the universal wheels can support and slide on the inner wall surface of the pump station;

[0043] The row of brushes is installed on the end side panels of the supporting legs;

[0044] The special-shaped strip is installed at the bottom of the pan / tilt plate, and the two ends of the elastic steel strip are respectively inserted into the insertion holes at the two ends of the special-shaped strip;

[0045] Straight steel bars are fixed to the ends of both sides of the special-shaped strips;

[0046] The net bag passes through the elastic steel bar and the straight steel bar and is hung below them.

[0047] In one embodiment, the portable controller comprises:

[0048] A controller body, wherein a handle is provided on the top of the controller body;

[0049] A display screen, used to display the images detected by the camera;

[0050] Control buttons are arranged on the controller body, and the control buttons include a power button, an up control key, a down control key, an extension control key, a shortening control key, a rotation control knob, a high-pressure water gun control key and a paint spray gun control key.

[0051] A working method of an automatic maintenance robot comprises the following steps:

[0052] S1, lifting from the bottom to the wellhead;

[0053] S2, fix the frame and insert the baffle;

[0054] S3, start the lifting cable winding motor to lower the lifting device to the inside of the pump station;

[0055] S4, starting the cable winding motor of the inclined cable, and lifting the front end of the hydraulic telescopic rod until the hydraulic telescopic rod is in a horizontal state;

[0056] S5, start the hydraulic control and extend the hydraulic telescopic rod to the wall;

[0057] S6, start the reduction motor to rotate and detect the wall surface condition, and clean and spray the wall surface when it is contaminated;

[0058] S7. Start the recycling process.

[0059] In one embodiment, step S6 comprises:

[0060] S61, start the reduction motor to rotate, and detect whether it rotates 360°, if so, start the lifting cable motor to lower the lifting device; if not, execute step S62;

[0061] S62, detecting the distance between the leg support operation platform and the wall, and judging the distance change, if the distance increases, starting the hydraulic control to extend the hydraulic telescopic rod; if the distance decreases, starting the hydraulic control to shorten the hydraulic telescopic rod;

[0062] S63, the camera detects whether the wall surface is polluted, if yes, the high-pressure water gun is turned on for cleaning; if no, step S64 is executed;

[0063] S64, check whether it is damaged, if so, start the paint spray gun to spray, if not, return to step S61.

[0064] In one embodiment, the step S7 comprises:

[0065] S71. Turn off the high-pressure water gun and paint spray gun;

[0066] S72, start the hydraulic control and fully retract the hydraulic telescopic rod;

[0067] S73, starting the cable winding motor of the inclined cable, and loosening the front end of the hydraulic telescopic rod until the hydraulic telescopic rod is in a vertical state;

[0068] S74, remove the baffle and fixing device;

[0069] S75, start the lifting cable winding motor to make the lifting device rise to the pump station entrance;

[0070] S76. Lift and evacuate the pump station.

[0071] The above-mentioned automatic maintenance robot and its working method are implemented by supporting the supporting platform on the wellhead, and then the underground part is lowered from the wellhead, and the steering of the rotating device, the up and down lifting of the lifting device, and the horizontal extension and retraction of the hydraulic telescopic rod are used to adjust the leg-supporting operating platform to a suitable position. Finally, the wall surface can be automatically cleaned and repaired by the leg-supporting operating platform. It can realize semi-automatic mechanical cleaning operations and has the advantages of simple and convenient operation, high safety, and high operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0073] Figure 1 It is a structural schematic diagram of the automatic maintenance robot of the present invention;

[0074] Figure 2 It is a structural schematic diagram of the support platform of the present invention;

[0075] Figure 3 It is a schematic structural diagram of the rotating device of the present invention;

[0076] Figure 4 It is a structural schematic diagram of the lifting device of the present invention;

[0077] Figure 5 It is a structural schematic diagram of the hydraulic telescopic rod of the present invention;

[0078] Figure 6 It is a structural schematic diagram of the leg-supporting operation platform of the present invention;

[0079] Figure 7 is a schematic diagram of the structure of a portable controller of the present invention;

[0080] Figure 8 It is a flow chart of the working method of the automatic maintenance robot of the present invention;

[0081] Fig. 9 It is a recovery flow chart of the automatic maintenance robot of the present invention. DETAILED DESCRIPTION

[0082] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0083] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0085] See also Figure 1-7 As shown, an embodiment of the present invention provides an automatic maintenance robot, comprising:

[0086] Support platform 1;

[0087] A rotating device 2 is installed on the supporting platform 1;

[0088] A lifting device 3, wherein the top of the lifting device 3 is connected to the rotating device 2, the bottom of the lifting device 3 is connected to one end of a hydraulic telescopic rod 4, and the other end of the hydraulic telescopic rod 4 is connected to a leg-supporting operation platform 5;

[0089] The rotating device 2 can drive the lifting device 3 to rotate in the horizontal plane to adjust the steering of the leg-supporting operation platform 5 in the horizontal plane. The lifting device 3 can adjust the height position of the hydraulic telescopic rod 4 and the leg-supporting operation platform 5 by telescoping up and down. The hydraulic telescopic rod 4 can adjust the horizontal position of the leg-supporting operation platform 5 by telescoping horizontally. The leg-supporting operation platform 5 is used to automatically clean and repair the wall surface.

[0090] The portable controller 6 is connected to the rotating device 2, the lifting device 3, the hydraulic telescopic rod 4 and the leg-supporting operation platform 5 respectively.

[0091] The above-mentioned automatic maintenance robot is operated by supporting the supporting platform 1 on the wellhead, and then the underground part is lowered from the wellhead. The steering of the rotating device 2, the up and down lifting of the lifting device 3, and the horizontal extension and retraction of the hydraulic telescopic rod 4 are used to adjust the leg-supporting operation platform 5 to a suitable position. Finally, the wall surface can be automatically cleaned and repaired by the leg-supporting operation platform 5. It can realize semi-automatic mechanical cleaning operations and has the advantages of simple and convenient operation, high safety, and high operating efficiency.

[0092] In one embodiment of the present invention, the support platform 1 comprises:

[0093] The frame 14 has a beam frame 11 on its upper surface, a through hole 19 is provided at the top center of the frame 14 , and a slide groove 110 is provided on the bottom side of the frame 14 ; wherein the frame 14 is formed by welding steel plates.

[0094] A pulley 17 is rotatably connected to the top of the beam 11;

[0095] The lifting ring 12 is inserted into the lifting ring seat 13, and the lifting ring seat 13 is fixed at the four corners of the frame 14. In this embodiment, the robot can be lifted and lowered as a whole by hooking the lifting ring 12 with a sling.

[0096] A support groove 18 is fixed on the lower surface of the top inner side of the frame 14, and the top of the lifting device 3 is inserted into the support groove 18 and the through hole 19;

[0097] The baffle 16 includes two baffle bodies, both of which are slidably disposed in the slide groove 110, and the middle parts of the two baffle bodies have an enclosed bayonet 111, and the bayonet 111 is matched with the top outer surface of the lifting device 3;

[0098] The pin 15 is used to lock the baffle 16 on the frame 14 .

[0099] In this embodiment, when the baffle 16 is inserted into the slide groove 110 and slides to the bayonet 111 to cooperate with the top outer surface of the lifting device 3, and then the pin 15 is inserted to fix it, it can prevent the liquid or odor inside the pump station from overflowing.

[0100] In one embodiment of the present invention, the rotating device 2 comprises:

[0101] The reduction motor 23 is fixed on the inner side of the frame 14 ; specifically, the reduction motor 23 can be fixed inside the frame 14 in a detachable and washable manner by bolts.

[0102] The small pulley 21 is connected and fixed to the rotating shaft of the reduction motor 23 via a key 22;

[0103] A large pulley 24 is sleeved and fixed on the top of the lifting device 3;

[0104] The synchronous belt 25 is sleeved on the small pulley 21 and the large pulley 24 .

[0105] In this embodiment, when the reduction motor 23 is started, it can drive the small pulley 21 to rotate, and then, under the action of the synchronous belt 25, it can drive the lifting device 3 connected to the large pulley 24 to rotate synchronously to adjust the steering of the leg-supporting operating platform 5 in the horizontal plane.

[0106] In one embodiment of the present invention, the lifting device 3 comprises:

[0107] The lifting rod includes a first-stage rod 31, a second-stage rod 33, a third-stage rod 34, a fourth-stage rod 35 and a fifth-stage rod 36 which are nested in sequence and can slide and telescope relative to each other;

[0108] The lifting cable motor 310 is fixed inside the frame 14, and the lifting cable motor 310 is connected to one end of the first steel wire rope 39, and the other end of the first steel wire rope 39 passes through the pulley 17 and is fixed to one end of the anti-knot universal wheel 314 through the lock buckle 313; wherein the first steel wire rope 39 and the anti-knot universal wheel 314 pass through the interior of the lifting rod;

[0109] A first pin shaft 315 is passed through the other end of the anti-knot universal wheel 314, and the first pin shaft 315 is connected to the bottom side wall of the five-section rod 36 through a cotter pin 37;

[0110] Two semicircular column plates 38 are wrapped around the bottom sides of the five-section rod 36, and the grooves of the semicircular column plates 38 clamp the bottom convex plates of the five-section rod 36;

[0111] The two first hoops 311 wrap a section of the rod 31 and are connected to the inclined cable winding motor 312. The second steel wire rope of the inclined cable winding motor 312 is connected to the hydraulic telescopic rod 4.

[0112] In this embodiment, the first-stage rod 31, the second-stage rod 33, the third-stage rod 34, the fourth-stage rod 35 and the fifth-stage rod 36 are nested and installed. Each stage rod can slide in the pipe of the upper stage rod. A bayonet is provided at the tail of each stage rod to prevent the lower stage rod end from completely falling out. The interior of the lifting rod is hollow and connected.

[0113] When the lifting cable motor 310 rotates forward, the five-section rod 36 can be driven to move upward through the first wire rope 39, so that the two-section rod 33, the three-section rod 34, the four-section rod 35 and the five-section rod 36 slide inward in sequence, shortening the length of the lifting rod. Conversely, when the lifting cable motor 310 rotates reversely, under the action of their own gravity, the two-section rod 33, the three-section rod 34, the four-section rod 35 and the five-section rod 36 can slide outward in sequence, extending the length of the lifting rod, thereby adjusting the height of the leg-supporting operation platform 5.

[0114] In one embodiment of the present invention, the hydraulic telescopic rod 4 comprises:

[0115] A U-shaped frame 49 connected to the bottom of the semicircular column plate 38;

[0116] An L-shaped mounting plate 47 is connected to the U-shaped frame 49 through a shaft tube 48 and a hand screw 417, and the L-shaped mounting plate 47 can rotate around the axis inside the U-shaped frame 49;

[0117] The hydraulic rod comprises a first hydraulic rod 46, a second hydraulic rod 45, a third hydraulic rod 412, a fourth hydraulic rod 43 and a fifth hydraulic rod 41 which are nested in sequence and can slide and retract relative to each other; the rear end of the first hydraulic rod 46 is fixedly connected to the side plate of the L-shaped mounting plate 47;

[0118] The hydraulic rod mounting seat 415 is mounted on the front end of the L-shaped mounting plate 47 , and the hydraulic rod mounting seat 415 is connected to the section of hydraulic rod 46 via a second clamp 416 ; in this way, the stability of the hydraulic rod can be enhanced.

[0119] A welding clamp 44 is installed on the shoulder of the second-stage hydraulic rod 45;

[0120] The camera mounting seat 414 is arranged on both sides of the welding clamp 44 , and the camera mounting seat 414 fixes the camera 42 via the third clamp 413 ; the camera 42 is used to monitor the wall surface condition.

[0121] The fourth clamp 410 is used to fix the hydraulic rod pull ring 411 on the shaft end of the five-section hydraulic rod 41, and the hydraulic rod pull ring 411 cooperates with the second steel wire rope. In this way, the second steel wire rope passes through the hydraulic rod pull ring 411, pulls the front end of the hydraulic rod, controls the tilt degree of the hydraulic rod, and enhances the strength of the hydraulic rod.

[0122] In this embodiment, the U-shaped frame 49 connects the top through hole with the bottom through hole of the semicircular column plate 3-8 by bolts, the circular holes of the upper plate of the L-shaped mounting plate 47 are aligned with the circular holes on both sides of the U-shaped frame 49, the shaft tube 48 is inserted through the U-shaped frame 49 and the L-shaped mounting plate 47, and the hand screw 417 is screwed into the shaft tube 48 to fix it, so that the L-shaped mounting plate 47 can rotate around the axis inside the U-shaped frame 49.

[0123] It should be noted that the welding clamp 44 has a square tube welded on the clamp, and square bars are welded at the ends of both sides of the square tube. Through holes are opened on both sides of the square bars. The camera mounting seat 414 is installed under the square bar by bolts, and the clamp 413 passes through the camera mounting seat 414 and holds the camera 42. The camera 42 is installed on the two-stage hydraulic rod 45, so that the camera 42 is away from the wall and the nozzle to prevent the camera from being covered by the paint. The extension arm is formed by welding the square tube to extend the camera to both sides to prevent the camera 42 from being blocked by the leg operation platform 5. The two cameras 42 monitor the cleaning spraying area and the cleaned spraying area respectively, and control the cleaning spraying residence time in real time.

[0124] In one embodiment of the present invention, the leg-supporting operation platform 5 comprises:

[0125] A center plate 58 is mounted on the end plates of the five-section hydraulic rod 41 by bolts 54;

[0126] The support leg 53 is rotatably mounted in the side groove of the center plate 58 through the second pin 59.

[0127] A spring 57, one end of the spring 57 is sleeved on the side wall of the support leg 53, and the other end of the spring 57 is sleeved on the extension arm of the center plate 58;

[0128] A mounting plate 511 mounted on the pan-tilt plate 510, wherein the pan-tilt plate 510 is fixed on the center plate 58;

[0129] The nozzle 56 is connected to the mounting plate 511 via a fifth clamp 55;

[0130] A universal wheel 51 is installed at the end of the support leg 53, and the universal wheel 51 can support and slide on the inner wall surface of the pump station;

[0131] The row brush 52 is installed on the end side plate of the support leg 53; specifically, the row brush 52 is installed on the end side plate of the support leg 53 by bolts, so that the leg support operation platform 5 can complete the cleaning task when it slides against the wall of the pump station.

[0132] The special-shaped strip plate 512 is installed at the bottom of the pan-tilt plate 510, and the two ends of the elastic steel strip 515 are respectively inserted into the insertion holes at the two ends of the special-shaped strip plate 512;

[0133] Straight steel bars 513 are fixed to the ends of both sides of the special-shaped strip plate 512;

[0134] The net bag 514 passes through the elastic steel bar 515 and the straight steel bar 513 and is suspended below them.

[0135] In this embodiment, when the hydraulic telescopic rod 4 is extended until the leg-supporting operation platform 5 reaches the wall of the pump station, the supporting legs 53 can be squeezed and rotated to a certain extent under the action of the spring 57 to prevent the rigidity of the device from breaking.

[0136] The special-shaped strip 512 is installed at the corresponding hole position at the bottom of the pan-tilt plate 510 by bolts, and the two ends of the elastic steel strip 515 are respectively inserted into the insertion holes at the ends of the two sides of the special-shaped strip 512, presenting an arc-shaped curved shape. Before each operation, a garbage bag is put into the net bag 514 to hold the splashed or dripping paint to prevent the paint from dripping and accumulating at the bottom of the pump station. After the robot device is recovered and cleaned, a new garbage bag is replaced.

[0137] In one embodiment of the present invention, the portable controller 6 comprises:

[0138] A controller body, wherein a handle 61 is provided on the top of the controller body;

[0139] A display screen 62, used to display the image detected by the camera 42;

[0140] The control buttons are arranged on the controller body, and the control buttons include a power button 63, an up control key 64, a down control key 67, an extension control key 66, a shortening control key 65, a rotation control knob 68, a high-pressure water gun control key 610 and a paint spray gun control key 69.

[0141] In this embodiment, the power button 63 is mainly used to control the power on or off, the up control key 64 and the down control key 67 are respectively used to control the forward or reverse rotation of the lifting cable motor 310 to make the lifting device 3 rise or fall; the extension control key 66 and the shortening control key 65 are respectively used to control the hydraulic system to extend or shorten the hydraulic telescopic rod 4; the rotation control knob 68 is used to control the rotation of the reduction motor 23; the high-pressure water gun control key 610 and the paint spray gun control key 69 are respectively used to control the spraying of water or paint.

[0142] The working process of the present invention is as follows:

[0143] During operation, the crane lifts the entire robot device through the four lifting rings 12 on the corners of the frame 14, lowers it at the wellhead of the pump station, arranges the support platform 1 at the periphery of the wellhead, inserts the baffle 16 into the bottom slide groove 110 of the frame 14, and inserts the pin 15 to fix it. Start the lifting cable winding motor 310 to control the lifting rod to descend, start the inclined cable winding motor 312 to pull up the front end of the hydraulic rod to make the hydraulic rod in a horizontal state, control the extension of the hydraulic rod until the leg operation platform 5 reaches the wall, control the injection and residence time of high-pressure water and paint according to the wall conditions detected by the camera 42, start the reduction motor 23 to control the rotation of the device in the well, and perform translation operation along the wall.

[0144] Specifically, see Figure 8-9As shown, an embodiment of the present invention provides a working method of an automatic maintenance robot, comprising the following steps:

[0145] S1, lifting from the bottom to the wellhead;

[0146] S2, fix the frame and insert the baffle 16;

[0147] S3, start the lifting cable motor 310 to lower the lifting device 3 to the inside of the pump station;

[0148] S4, start the cable winding motor 312 of the inclined cable, and lift the front end of the hydraulic telescopic rod 4 until the hydraulic telescopic rod 4 is in a horizontal state;

[0149] S5, start the hydraulic control, extend the hydraulic telescopic rod 4 to the wall;

[0150] S6, start the reduction motor 23 to rotate and detect the wall surface condition, and clean and spray the wall surface when it is contaminated;

[0151] S7. Start the recycling process.

[0152] In one embodiment of the present invention, step S6 includes:

[0153] S61, start the reduction motor 23 to rotate, and detect whether it rotates 360°, if so, start the lifting cable motor 310 to lower the lifting device 3; if not, execute step S62;

[0154] S62, detecting the distance between the leg support operation platform 5 and the wall surface, and judging the distance change, if the distance increases, starting the hydraulic control to extend the hydraulic telescopic rod 4; if the distance decreases, starting the hydraulic control to shorten the hydraulic telescopic rod 4;

[0155] S63, the camera 42 detects whether the wall surface is polluted, if yes, the high-pressure water gun is turned on for cleaning; if no, step S64 is executed;

[0156] S64, check whether it is damaged, if so, start the paint spray gun to spray, if not, return to step S61.

[0157] In one embodiment of the present invention, step S7 includes:

[0158] S71. Turn off the high-pressure water gun and paint spray gun;

[0159] S72, start the hydraulic control to fully retract the hydraulic telescopic rod 4;

[0160] S73, start the cable winding motor 312 of the inclined cable, and relax the front end of the hydraulic telescopic rod 4 until the hydraulic telescopic rod 4 is in a vertical state;

[0161] S74, removing the baffle 16 and the fixing device;

[0162] S75, start the lifting cable winding motor 310 to make the lifting device 3 rise to the pump station entrance;

[0163] S76. Lift and evacuate the pump station.

[0164] In summary, the advantages of the present invention are:

[0165] 1. The cleaning robot can be remotely operated, easy to deploy, low in cleaning cost and time, and can improve the cleaning efficiency of the inner wall of closed spaces such as pumping stations.

[0166] 2. It can replace the cleaning personnel's downhole operation method, which is safer and more reliable and can avoid various safety accidents.

[0167] 3. The cleaning robot can complete lifting, rotation and telescopic movements in closed spaces such as pump stations. It has a large range of changes and a wide operating area, and can adapt to various types of bottom cleaning operations.

[0168] 4. The various parts of the cleaning robot are easy to assemble and can be flexibly modified according to the actual working environment, and the prospect of product upgrading is broad.

[0169] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The above-described embodiments only express several implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An automatic maintenance robot, It is characterized in that include: Support platform (1); A rotating device (2) mounted on the supporting platform (1); A lifting device (3), wherein the top of the lifting device (3) is connected to the rotating device (2), the bottom of the lifting device (3) is connected to one end of a hydraulic telescopic rod (4), and the other end of the hydraulic telescopic rod (4) is connected to a leg-supporting operation platform (5); The rotating device (2) can drive the lifting device (3) to rotate in a horizontal plane, and adjust the steering of the leg-supporting operation platform (5) in the horizontal plane; the lifting device (3) can adjust the height position of the hydraulic telescopic rod (4) and the leg-supporting operation platform (5) by telescopic movement up and down; the hydraulic telescopic rod (4) can adjust the horizontal position of the leg-supporting operation platform (5) by telescopic movement horizontally; the leg-supporting operation platform (5) is used for automatically cleaning and repairing the wall surface; The portable controller (6) is respectively connected to the rotating device (2), the lifting device (3), the hydraulic telescopic rod (4) and the leg-supporting operation platform (5).

2. The automatic maintenance robot according to claim 1, It is characterized in that The support platform (1) comprises: A frame (14) is provided with a beam frame (11) on its upper surface, a through hole (19) is provided at the center of the top of the frame (14), and a sliding groove (110) is provided on the bottom side of the frame (14); A pulley (17) rotatably connected to the top of the beam frame (11); A lifting ring (12) is inserted into a lifting ring seat (13), and the lifting ring seat (13) is fixed at four corners of the frame (14); A support groove (18) is fixed on the lower surface of the top inner side of the frame (14), and the top of the lifting device (3) is inserted into the support groove (18) and the through hole (19); The baffle (16) comprises two baffle bodies, both of which are slidably disposed in the slide groove (110), and the middle parts of the two baffle bodies have an enclosed bayonet (111), and the bayonet (111) matches with the top outer surface of the lifting device (3); A pin (15) is used to lock the baffle (16) onto the frame (14).

3. The automatic maintenance robot according to claim 2, It is characterized in that The rotating device (2) comprises: A reduction motor (23) fixed on the inner side of the frame (14); A small pulley (21) is connected and fixed to the rotating shaft of the reduction motor (23) via a key (22); A large pulley (24) is sleeved and fixed on the top of the lifting device (3); The synchronous belt (25) is sleeved on the small pulley (21) and the large pulley (24).

4. The automatic maintenance robot according to claim 3, It is characterized in that The lifting device (3) comprises: The lifting rod comprises a first-stage rod (31), a second-stage rod (33), a third-stage rod (34), a fourth-stage rod (35) and a fifth-stage rod (36) which are nested in sequence and can slide and telescope relative to each other; A lifting cable motor (310) is fixed inside the frame (14), the lifting cable motor (310) is connected to one end of a first steel wire rope (39), the other end of the first steel wire rope (39) passes through a pulley (17) and is fixed to one end of an anti-knot universal wheel (314) through a lock buckle (313); wherein the first steel wire rope (39) and the anti-knot universal wheel (314) pass through the interior of the lifting rod; A first pin shaft (315) is passed through the other end of the anti-knot universal wheel (314), and the first pin shaft (315) is connected to the bottom side wall of the five-section rod (36) through a cotter pin (37); Two semicircular column plates (38) are wrapped around the bottom sides of the five-section rod (36), and the grooves of the semicircular column plates (38) are clamped on the bottom convex plates of the five-section rod (36); Two first hoops (311) wrap a section of the rod (31) and are connected to a cable-stayed cable winding motor (312); a second steel wire rope of the cable-stayed cable winding motor (312) is connected to the hydraulic telescopic rod (4).

5. The automatic maintenance robot according to claim 4, It is characterized in that The hydraulic telescopic rod (4) comprises: A U-shaped frame (49) connected to the bottom of the semicircular column plate (38); An L-shaped mounting plate (47) is connected to the U-shaped frame (49) via a shaft tube (48) and a hand screw (417), and the L-shaped mounting plate (47) can rotate around an axis inside the U-shaped frame (49); The hydraulic rod comprises a first hydraulic rod (46), a second hydraulic rod (45), a third hydraulic rod (412), a fourth hydraulic rod (43) and a fifth hydraulic rod (41) which are nested in sequence and can slide and retract relative to each other; the rear end of the first hydraulic rod (46) is fixedly connected to the side plate of the L-shaped mounting plate (47); A hydraulic rod mounting seat (415) is mounted on the front end of the L-shaped mounting plate (47), and the hydraulic rod mounting seat (415) is connected to the section of hydraulic rod (46) via a second clamp (416); A welding hoop (44) is installed on the shaft shoulder of the second-stage hydraulic rod (45); A camera mounting seat (414) is arranged on both sides of the welding hoop (44), and the camera mounting seat (414) fixes the camera (42) via the third hoop (413); The fourth clamp (410) is used to fix the hydraulic rod pull ring (411) on the shaft end of the five-section hydraulic rod (41), and the hydraulic rod pull ring (411) cooperates with the second steel wire rope.

6. The automatic maintenance robot according to claim 5, It is characterized in that The leg-supporting operation platform (5) comprises: A center plate (58) is mounted on the end plates of the five-section hydraulic rod (41) by means of bolts (54); A support leg (53) is rotatably mounted in a side groove of the center plate (58) via a second pin shaft (59); A spring (57), one end of the spring (57) is sleeved on the side wall of the support leg (53), and the other end of the spring (57) is sleeved on the extension arm of the center plate (58); A mounting plate (511) mounted on a pan-tilt plate (510), wherein the pan-tilt plate (510) is fixed on the center plate (58); A nozzle (56) is connected to the mounting plate (511) via a fifth clamp (55); A universal wheel (51) is mounted on the end of the support leg (53), and the universal wheel (51) can support and slide on the inner wall surface of the pump station; A row of brushes (52) mounted on the end side panels of the supporting legs (53); The special-shaped strip plate (512) is installed at the bottom of the pan / tilt plate (510), and the two ends of the elastic steel strip (515) are respectively inserted into the insertion holes at the two ends of the special-shaped strip plate (512); Straight steel bars (513) fixed at the ends of both sides of the special-shaped strip plate (512); The net bag (514) passes through the elastic steel bar (515) and the straight steel bar (513) and is suspended below them.

7. The automatic maintenance robot according to claim 6, It is characterized in that The portable controller (6) comprises: A controller body, wherein a handle (61) is provided above the controller body; A display screen (62) for displaying images detected by the camera (42); Control buttons are arranged on the controller body, and the control buttons include a power button (63), an ascending control key (64), a descending control key (67), an extending control key (66), a shortening control key (65), a rotating control knob (68), a high-pressure water gun control key (610), and a paint spray gun control key (69).

8. A working method of the automatic maintenance robot according to any one of claims 1 to 7, It is characterized in that The following steps are involved: S1, lifting from the bottom to the wellhead; S2, fix the frame and insert the baffle (16); S3, starting the lifting cable winding motor (310) to lower the lifting device (3) to the inside of the pump station; S4, starting the cable winding motor (312) of the inclined cable, and lifting the front end of the hydraulic telescopic rod (4) until the hydraulic telescopic rod (4) is in a horizontal state; S5, start the hydraulic control and extend the hydraulic telescopic rod (4) to the wall surface; S6, starting the reduction motor (23) to rotate and detect the wall surface condition, and cleaning and spraying the wall surface when it is contaminated; S7. Start the recycling process.

9. The working method of the automatic maintenance robot according to claim 8, It is characterized in that The step S6 comprises: S61, start the reduction motor (23) to rotate, and detect whether it rotates 360 degrees. If so, start the lifting cable motor (310) to lower the lifting device (3); if not, execute step S62; S62, detecting the distance between the leg support operation platform (5) and the wall surface, and judging the distance change, if the distance increases, starting the hydraulic control to extend the hydraulic telescopic rod (4); if the distance decreases, starting the hydraulic control to shorten the hydraulic telescopic rod (4); S63, the camera (42) detects whether the wall surface is polluted, if yes, starts high-pressure water gun cleaning; if no, executes step S64; S64, check whether it is damaged, if so, start the paint spray gun to spray, if not, return to step S61.

10. The working method of the automatic maintenance robot according to claim 9, It is characterized in that The step S7 comprises: S71. Turn off the high-pressure water gun and paint spray gun; S72, start the hydraulic control to fully retract the hydraulic telescopic rod (4); S73, starting the cable winding motor (312) of the inclined cable, and loosening the front end of the hydraulic telescopic rod (4) until the hydraulic telescopic rod (4) is in a vertical state; S74, removing the baffle (16) and the fixing device; S75, starting the lifting cable winding motor (310) to raise the lifting device (3) to the pump station entrance; S76. Lift and evacuate the pump station.

Images