A wall-climbing rust removal robot system

Abstract

The present invention discloses a wall-climbing rust removal robot system, comprising: a robot body, the robot body including a frame, a driving component for driving the frame to move, a cleaning component for removing rust, an identification component for identifying the position of the frame, and an electric control component for controlling the movement of the driving component and the cleaning component, wherein the driving component, the cleaning component, the identification component, and the electric control component are all mounted on the frame; a visual component for acquiring the position information of the identification component in real time; a controller, wherein the electric control component and the visual component are both connected to the controller, and the controller is used to determine a target path based on the position information and the pre-collected rust removal position, and control the driving component to move along the target path through the electric control component. The wall-climbing rust removal robot system provided by the present invention can realize automated rust removal, effectively reduce the labor intensity of the operator, and improve work efficiency; by setting the identification component, the position of the robot body can be easily identified, thereby improving efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the field of rust removal equipment, in particular to a wall-climbing rust removal robot system. Background Art

[0002] Currently, there are three main methods for cleaning ship surfaces: manual cleaning, large-scale mechanical cleaning, and robotic cleaning. Manual cleaning involves workers using handheld cleaning equipment to clean the ship surface, while large-scale mechanical cleaning involves the use of large-scale engineering machinery combined with cleaning equipment to clean the ship surface. Robotic cleaning involves the use of robots carrying cleaning equipment to complete the cleaning operation of the ship surface.

[0003] However, manual cleaning operations in the existing technology are labor-intensive, unsafe, and costly; large-scale mechanical operations have great limitations, long cleaning cycles, and high costs; and robot cleaning is mostly semi-automatic, that is, a person stands on the ground and operates a remote control to remotely control the robot's movement and rust removal operations. The operator needs to pay attention to the robot's posture and rust removal status at all times, and operate the remote control handle at all times, which consumes a lot of the operator's energy. The operator also needs to look up at the wall-climbing robot operation, which causes great damage to the operator's neck and low cleaning efficiency.

[0004] Therefore, how to improve the working efficiency of the wall-climbing rust removal robot system is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a wall-climbing rust removal robot system, which can realize automatic rust removal with high efficiency and effectively save manpower and material resources.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A wall-climbing rust removal robot system, comprising:

[0008] A robot body, the robot body comprising a frame, a drive assembly for driving the frame to move, a cleaning assembly for removing rust, an identification assembly for identifying the position of the frame, and an electronic control component for controlling the actions of the drive assembly and the cleaning assembly, wherein the drive assembly, the cleaning assembly, the identification assembly, and the electronic control component are all mounted on the frame;

[0009] A visual component, used for obtaining the position information of the identification component in real time;

[0010] A controller, wherein the electronic control component and the visual component are both connected to the controller, and the controller is used to determine a target path based on the position information and the pre-collected rust removal position, and control the drive assembly to move along the target path through the electronic control component.

[0011] Preferably, the driving assembly includes a first driving wheel, a first driving mechanism, a second driving wheel, a second driving mechanism and a driven wheel, the first driving wheel and the second driving wheel are respectively located on both sides of the cleaning assembly, and the first driving mechanism and the second driving mechanism are separately controlled by the electronic control component.

[0012] Preferably, the first driving mechanism and the second driving mechanism both include a power component, a reducer and a rotating shaft, and the reducer is connected between the power component and the corresponding first driving wheel or the corresponding second driving wheel through the rotating shaft.

[0013] Preferably, the driving assembly further includes a first magnetic component, a second magnetic component and a driven magnetic component, the first magnetic component is mounted on the bottom of the first driving wheel, the second magnetic component is mounted on the bottom of the second driving wheel, and the driven magnetic component is mounted on the bottom of the driven wheel.

[0014] Preferably, the first magnetic component, the second magnetic component and the driven magnetic component are distributed in a triangle.

[0015] Preferably, the cleaning assembly comprises a cleaning tray, a water inlet pipe and a water return pipe, and both the water inlet pipe and the water return pipe are connected to the cleaning tray.

[0016] Preferably, the cleaning disc is a high-pressure cleaning disc.

[0017] Preferably, the visual component is a camera.

[0018] Preferably, the identification component comprises an identification plate, the identification plate is provided with an identification background portion and an identification portion, and the identification background portion and the identification portion have different colors.

[0019] Preferably, it further comprises a logo mounting bracket, the logo plate is detachably mounted on the logo mounting bracket, and the logo mounting bracket is mounted on the rack.

[0020] The wall-climbing rust removal robot system provided by the present invention comprises: a robot body, the robot body comprising a frame, a driving component for driving the frame to move, a cleaning component for removing rust, an identification component for identifying the position of the frame, and an electronic control component for controlling the actions of the driving component and the cleaning component, wherein the driving component, the cleaning component, the identification component, and the electronic control component are all mounted on the frame; a visual component for obtaining the position information of the identification component in real time; a controller, wherein the electronic control component and the visual component are both connected to the controller, the controller for determining a target path based on the position information and a pre-collected rust removal position, and controlling the driving component to move along the target path through the electronic control component. The wall-climbing rust removal robot system provided by the present invention, through the setting of the visual component, obtains the position of the robot body in real time, sets the target path, realizes automated rust removal, effectively reduces the labor intensity of the operator, and improves work efficiency; at the same time, through the setting of the identification component, the position of the robot body can be easily identified, thereby improving efficiency and accuracy.

[0021] In a preferred embodiment, the first magnetic component, the second magnetic component, and the driven magnetic component are arranged in a triangular pattern. This arrangement, through the triangular pattern of the first, second, and driven magnetic components, enables the robot body to be attached to a steel wall, ensuring that the robot body can travel on both vertical and inclined surfaces, improving applicability and meeting rust removal requirements in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0023] Figure 1 This is a structural schematic diagram of a specific embodiment of the wall-climbing rust removal robot system provided by the present invention;

[0024] Figure 2 for Figure 1 A front view of the wall-climbing rust removal robot system shown;

[0025] Figure 3 for Figure 1 A side view of the wall-climbing rust removal robot system shown;

[0026] Figure 4 for Figure 1The structural diagram of the identification components in the wall-climbing rust removal robot system shown;

[0027] Figure 5 for Figure 1 The assembly drawing of the identified components and the frame in the wall-climbing rust removal robot system shown;

[0028] Among them: frame 1; drive assembly 2; first driving wheel 2-1; first magnetic component 2-1-1; second driving wheel 2-2; second magnetic component 2-2-1; driven wheel 2-3; driven magnetic component 2-3-1; cleaning assembly 3; water inlet pipe 3-1; return pipe 3-2; cleaning tray 3-3; identification assembly 4; identification part 4-1; identification background part 4-2; identification mounting bracket 4-3. DETAILED DESCRIPTION

[0029] The core of the present invention is to provide a wall-climbing rust removal robot system, which can realize full-automatic rust removal, is safe, reliable and efficient.

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Please refer to Figures 1 to 5 , Figure 1 This is a structural schematic diagram of a specific embodiment of the wall-climbing rust removal robot system provided by the present invention; Figure 2 for Figure 1 A front view of the wall-climbing rust removal robot system shown;

[0032] Figure 3 for Figure 1 A side view of the wall-climbing rust removal robot system shown; Figure 4 for Figure 1 The structural diagram of the identification components in the wall-climbing rust removal robot system shown; Figure 5 for Figure 1 The assembly drawing of the identified components and the frame in the wall-climbing rust removal robot system is shown.

[0033] In this embodiment, the wall-climbing rust removal robot system includes:

[0034] The robot body is used to move on the surface of the object to be inspected and perform rust removal. Specifically, the robot body includes a frame 1, a driving component 2 for driving the frame 1 to move, a cleaning component 3 for removing rust, an identification component 4 for identifying the position of the frame 1, and an electronic control component for controlling the operation of the driving component 2 and the cleaning component 3. The driving component 2, the cleaning component 3, the identification component 4, and the electronic control component are all mounted on the frame 1.

[0035] A visual component, used to obtain the position information of the identification component 4 in real time;

[0036] The controller, the electronic control components and the visual components are all connected to the controller. The controller is used to determine the target path according to the position information and the pre-collected rust removal position, and control the drive component 2 to move along the target path through the electronic control components.

[0037] Specifically, the robot body controls the driving component 2 through the electronic control system to realize the movement of the robot body, completes the rust removal action through the cleaning component 3, uses the identification component 4 to conveniently identify the position of the robot body, and fixes the various components together through the frame 1 to form the entire robot body; at the same time, the visual recognition function of the visual component is used to identify the real-time position of the identification component 4, and compares it with the pre-collected rust removal position as the basis for adjusting the target path; the controller is preferably a single-chip microcomputer with a simple circuit structure, which is convenient for planning and adjusting the target path and has high efficiency.

[0038] The wall-climbing rust removal robot system provided by the present invention obtains the position of the robot body in real time through the setting of visual components, sets the target path, and realizes automated rust removal, which effectively reduces the labor intensity of the operator and improves work efficiency; at the same time, through the setting of the identification component 4, the position of the robot body can be easily identified, thereby improving efficiency and accuracy.

[0039] In some embodiments, the drive assembly 2 includes a first driving wheel 2-1, a first drive mechanism, a second driving wheel 2-2, a second drive mechanism, and a driven wheel 2-3. The first driving wheel 2-1 and the second driving wheel 2-2 are located on either side of the cleaning assembly 3, and the first and second drive mechanisms are independently controlled by an electronic control component. Specifically, the first and second drive mechanisms are independently controlled, and the robot body can be steered and moved by the differential speed between the first and second driving wheels 2-1, 2-2, which facilitates operation.

[0040] In some embodiments, the first drive mechanism and the second drive mechanism each include a power component, a speed reducer, and a rotating shaft, wherein the speed reducer is connected between the power component and the corresponding first driving wheel 2-1 or second driving wheel 2-2 via the rotating shaft. Specifically, the power component may be a motor; after the motor in the first drive mechanism is started, the torque is transmitted to the rotating shaft through the speed reducer, and the rotating shaft is fixedly connected to the first driving wheel 2-1. The rotation of the rotating shaft drives the first driving wheel 2-1 to move; similarly, after the motor in the second drive mechanism is started, the torque is transmitted to the rotating shaft through the speed reducer, and the rotating shaft is fixedly connected to the second driving wheel 2-2. The rotation of the rotating shaft drives the second driving wheel 2-2 to move; the first driving wheel 2-1 and the second driving wheel 2-2 move, thereby causing the robot body to move.

[0041] In some embodiments, the driving assembly 2 also includes a first magnetic component 2-1-1, a second magnetic component 2-2-1 and a driven magnetic component 2-3-1, the first magnetic component 2-1-1 is installed at the bottom of the first driving wheel 2-1, the second magnetic component 2-2-1 is installed at the bottom of the second driving wheel 2-2, and the driven magnetic component 2-3-1 is installed at the bottom of the driven wheel 2-3; through the setting of the first magnetic component 2-1-1, the second magnetic component 2-2-1 and the driven magnetic component 2-3-1, the robot body can be adsorbed on the surface of the object to be derusted, ensuring the stability of the robot body and the object to be derusted, and at the same time, rust removal work on vertical or inclined surfaces can also be achieved.

[0042] In some embodiments, the first magnetic component 2-1-1, the second magnetic component 2-2-1, and the driven magnetic component 2-3-1 are arranged in a triangle. That is, the first driving wheel 2-1, the second driving wheel 2-2, and the driven wheel 2-3 are preferably arranged in a triangle. This arrangement, through the triangular arrangement of the first magnetic component 2-1-1, the second magnetic component 2-2-1, and the driven magnetic component 2-3-1, enables the robot body to be attached to a steel wall, ensuring that the robot body can travel on both vertical and inclined walls, improving applicability and meeting rust removal requirements in various environments.

[0043] In some embodiments, the cleaning assembly 3 includes a cleaning disc 3-3, an inlet pipe 3-1, and a return pipe 3-2, both of which are connected to the cleaning disc 3-3. Preferably, the cleaning disc 3-3 is a high-pressure cleaning disc, which has good cleaning effect and high efficiency. Specifically, the first driving wheel 2-1 and the second driving wheel 2-2 are driven by independent driving mechanisms. The first driving wheel 2-1 and the second driving wheel 2-2 are located on the left and right sides of the high-pressure cleaning disc. The high-pressure cleaning disc is installed on the frame 1 and moves with the robot body. Ultra-high-pressure water enters the high-pressure cleaning disc through the inlet pipe 3-1, and the high-pressure water is then sprayed from the cleaning disc 3-3 onto the wall of the ship to remove rust. The wastewater after rust removal is recovered through the return pipe 3-2 to ensure that it does not pollute the environment.

[0044] In some embodiments, the visual component is a camera. Specifically, the camera performs visual recognition to generate the real-time position coordinates of the identification plate, and sends the coordinates to the single-chip microcomputer for analysis. The single-chip microcomputer automatically plans and adjusts the target path for rust removal, thereby achieving fully automatic rust removal.

[0045] In some embodiments, the identification component 4 includes an identification plate, which is provided with an identification background portion 4-2 and an identification portion 4-1, and the identification background portion 4-2 and the identification portion 4-1 have different colors. Specifically, the identification portion 4-1 and the identification background portion 4-2 are selected in different colors to form a contrasting color, which facilitates the identification component to identify the identification portion 4-1 on the identification plate; the identification portion 4-1 is preferably circular, which is convenient for setting and has a clear position; and there should be no obstructions directly above the identification portion 4-1 to avoid obstructing the line of sight of the visual component; because the identification plate is fixedly connected to the frame 1, the real-time position of the robot body can be known by identifying the position of the identification portion 4-1 on the identification plate; then, by sending the real-time position to the controller for data processing, the controller issues instructions to plan and adjust the target path of the robot body, thereby realizing automated rust removal.

[0046] In some embodiments, an identification mounting bracket 4-3 is further included, and an identification plate is detachably mounted on the identification mounting bracket 4-3, which is mounted on the frame 1. The identification plate is mounted on the frame 1 via the identification mounting bracket 4-3. In this arrangement, automatic control of the robot body can be achieved simply by adding the identification mounting bracket 4-3 and the identification plate, facilitating modification of existing equipment and saving costs.

[0047] This wall-climbing rust removal robot system changes the structure of the robot body and uses visual components to obtain the real-time position of the robot body. The visual components send the real-time position to the single-chip microcomputer for data processing. The single-chip microcomputer issues instructions to plan and adjust the target path of the robot body, thereby realizing automated rust removal. This wall-climbing rust removal robot system can replace manual rust removal on the walls of ships, reducing labor intensity and improving work efficiency.

[0048] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0049] The above is a detailed introduction to the wall-climbing rust removal robot system provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A wall-climbing rust removal robot system, characterized in that: include: A robot body, the robot body comprising a frame (1), a driving component (2) for driving the frame (1) to move, a cleaning component (3) for removing rust, an identification component (4) for identifying the position of the frame (1), and an electric control component for controlling the actions of the driving component (2) and the cleaning component (3), wherein the driving component (2), the cleaning component (3), the identification component (4), and the electric control component are all mounted on the frame (1); A visual component for acquiring position information of the identification component (4) in real time; A controller, the electric control component and the visual component are both connected to the controller, the controller is used to determine a target path according to the position information and the pre-collected rust removal position, and control the drive component (2) to move along the target path through the electric control component; The driving assembly (2) comprises a first driving wheel (2-1), a first driving mechanism, a second driving wheel (2-2), a second driving mechanism and a driven wheel (2-3), the first driving wheel (2-1) and the second driving wheel (2-2) being respectively located on both sides of the cleaning assembly (3), and the first driving mechanism and the second driving mechanism being independently controlled by the electronic control component; The driving assembly (2) further comprises a first magnetic component (2-1-1), a second magnetic component (2-2-1) and a driven magnetic component (2-3-1), wherein the first magnetic component (2-1-1) is mounted on the bottom of the first driving wheel (2-1), the second magnetic component (2-2-1) is mounted on the bottom of the second driving wheel (2-2), and the driven magnetic component (2-3-1) is mounted on the bottom of the driven wheel (2-3); The first magnetic component (2-1-1), the second magnetic component (2-2-1) and the driven magnetic component (2-3-1) are distributed in a triangular shape; The cleaning assembly (3) comprises a cleaning pan (3-3), a water inlet pipe (3-1) and a water return pipe (3-2); the water inlet pipe (3-1) and the water return pipe (3-2) are both connected to the cleaning pan (3-3).

2. The wall-climbing rust removal robot system according to claim 1, characterized in that: The first driving mechanism and the second driving mechanism both comprise a power component, a reducer and a rotating shaft, wherein the reducer is connected between the power component and the corresponding first driving wheel (2-1) or the corresponding second driving wheel (2-2) via the rotating shaft.

3. The wall-climbing rust removal robot system according to claim 1, characterized in that: The cleaning disc (3-3) is a high-pressure cleaning disc.

4. The wall-climbing rust removal robot system according to claim 1, characterized in that: The visual component is a camera.

5. The wall-climbing rust removal robot system according to any one of claims 1 to 4, characterized in that: The identification component (4) comprises an identification plate, wherein the identification plate is provided with an identification background portion (4-2) and an identification portion (4-1), and the identification background portion (4-2) and the identification portion (4-1) have different colors.

6. The wall-climbing rust removal robot system according to claim 5, characterized in that: It also includes a marking installation bracket (4-3), the marking plate is detachably installed on the marking installation bracket (4-3), and the marking installation bracket (4-3) is installed on the rack (1).

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