Cylindrical automatic climbing multifunctional robot

Abstract

The embodiment of the application provides a cylindrical surface automatic climbing multifunctional robot, which comprises an arc-shaped framework sleeved on one side of a stand column, a main wheel frame, a first auxiliary wheel frame and a second auxiliary wheel frame are vertically installed on the arc-shaped framework, a moving mechanism is installed in the middle part of the main wheel frame, the first auxiliary wheel frame and the second auxiliary wheel frame respectively, the output end of the moving mechanism is close to the surface of the stand column, a clamping mechanism is arranged on the other side of the stand column, the moving mechanism and the clamping mechanism are used in cooperation, the robot is clamped on the surface of the stand column by using a mechanical clamp, a work ring is connected to the main wheel frame, the first auxiliary wheel frame and the second auxiliary wheel frame, a plurality of executing mechanisms are installed on the work ring, different executing mechanisms can be used according to requirements to perform various operations such as cleaning, polishing, rust removal and spraying on the surface of the stand column, various stand column working conditions can be adapted, the problems of low cleaning, rust removal and spraying efficiency, high cost and personnel safety hazards of the steel column can be solved, and the robot is suitable for the field of mechanical automation engineering.

Description

Technical Field

[0001] This application relates to the field of mechanical automation engineering, and in particular to maintenance equipment for large-diameter, high-height cylindrical surfaces, specifically a multi-functional robot for automatic cylindrical climbing. Background Technology

[0002] In recent years, the columns of high-speed railway stations have mostly used steel structures. Due to various reasons such as design, construction, and maintenance, the surface of these columns has developed varying degrees of corrosion. This not only seriously affects the overall aesthetics of the station building but also significantly shortens the lifespan of the materials and poses a safety hazard to the main load-bearing structure. Currently, corrosion prevention and rust removal for the platform canopy columns are mostly done manually, either by erecting scaffolding on the outside of the columns or using a "spider-man" approach to rust removal. This requires the cooperation of one or more people, resulting in high costs, high labor intensity for operators, low construction efficiency, and significant safety hazards associated with working at heights. Wall-climbing robots can replace manual labor in these dangerous tasks, offering high efficiency, significantly reduced costs compared to manual labor, and improved working conditions for workers. From the current technological status both domestically and internationally, similar steel structure wall rust removal often utilizes wall-climbing robots, capable of operating on walls with zero or small radii of curvature, such as ship-climbing rust removal robots. However, wall-climbing machinery and equipment specifically designed for rust removal on steel cylindrical walls with large radii of curvature are rare or almost nonexistent. Summary of the Invention

[0003] To address one of the aforementioned technical deficiencies, this application provides a multi-functional robot for automatic climbing on a cylindrical surface, comprising an arc-shaped frame fitted onto one side of a column, a main wheel frame vertically mounted on the arc-shaped frame, a first auxiliary wheel frame and a second auxiliary wheel frame vertically mounted on both sides of the main wheel frame, a moving mechanism mounted in the middle of the main wheel frame, the output end of the moving mechanism being in close contact with the surface of the column, a clamping mechanism being provided on the other side of the column, and a working ring connected to the main wheel frame, the first auxiliary wheel frame and the second auxiliary wheel frame, with multiple actuators mounted on the working ring.

[0004] Furthermore, the clamping mechanism includes a guide wheel link. The bottom of the main wheel frame is hinged to the bottom of the hydraulic cylinder via a hydraulic cylinder support. The bottom of the second auxiliary wheel frame is hinged to the middle section of the guide wheel link via a link support. One end of the guide wheel link is hinged to the hydraulic rod of the hydraulic cylinder. The other end of the guide wheel link is connected to a guide wheel via a servo motor. The guide wheel link rotates around the link support under the drive of the hydraulic rod, causing the guide wheel to press tightly against the surface of the column.

[0005] Furthermore, the moving mechanism includes a mounting bracket, which is vertically erected on the side of the main wheel frame, the first auxiliary wheel frame, and the second auxiliary wheel frame. One end of the mounting bracket is rotatably connected to a drive sprocket, and the other end of the mounting bracket is rotatably connected to a driven sprocket. A chain is wrapped around the drive sprocket and the driven sprocket, and a track is fitted on the outer surface of the chain through a connecting lug. A first motor is installed in the cavity of the main wheel frame, the first auxiliary wheel frame, and the second auxiliary wheel frame, respectively, and the output end of the first motor is connected to the drive sprocket for transmission.

[0006] Furthermore, a working ring is connected to the top and bottom of the main wheel frame, the first auxiliary wheel frame, and the second auxiliary wheel frame, respectively. The bottom or top of the working ring is provided with an arc-shaped groove. The top and bottom of the main wheel frame, the first auxiliary wheel frame, and the second auxiliary wheel frame are all provided with sliders that are adapted to the arc-shaped grooves. The arc-shaped grooves and sliders are slidably connected. A rack is provided on the outer side of the working ring. A second motor is installed on the arc-shaped frame. The output shaft of the second motor is connected to a gear, and the gear meshes with the rack.

[0007] Furthermore, the actuator includes a base, which is mounted on the working ring via a connector. A third motor is mounted on one side of the base, and a lead screw is installed inside the base. The output end of the third motor is connected to the lead screw drive. A lead screw nut is threaded onto the lead screw. A base slide cover is slidably connected above the base. The lead screw nut is connected to the base slide cover. The third motor drives the base slide cover to move forward or backward toward or away from the column surface via the lead screw and lead screw nut. A fourth motor is mounted on the base slide cover. The output shaft of the fourth motor is drive-connected to an actuator, and the working surface of the actuator faces the column surface.

[0008] Furthermore, the actuator includes a base, which is mounted on the working ring via a connector. A nozzle is mounted on the base, and the working area of ​​the nozzle is arranged in a 90° fan shape. The working areas of multiple actuators equipped with nozzles overlap each other.

[0009] Furthermore, three pinhole cameras are installed on the inner side of the working ring. The three pinhole cameras are arranged in a 90° array along the circumference of the working ring, and the viewing angle of each pinhole camera is 90°-120°.

[0010] Furthermore, the working ring is a three-quarters open-loop structure, with limit blocks installed at the bottom of the working ring and at both ends of the arc-shaped groove.

[0011] Furthermore, a moving mechanism is installed on both sides of the main wheel frame, and a moving mechanism is installed on the right side of the first auxiliary wheel frame and the left side of the second auxiliary wheel frame.

[0012] The multi-functional automatic column-climbing robot provided in this application embodiment can climb on column walls to replace manual labor. It uses a moving mechanism and a clamping mechanism, employing mechanical clamps to hold the robot to the column surface. The moving mechanism is tracked, allowing the robot to better adapt to the column surface. A working ring that can rotate circumferentially around the column axis allows the actuator to treat the column surface without blind spots. Different actuators can be used to perform various operations on the column surface, such as cleaning, grinding, rust removal, and spraying, adapting to various column working conditions. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0014] Figure 1 A schematic diagram of the overall structure of a multi-functional robot for automatic climbing of cylindrical surfaces provided in this application embodiment;

[0015] Figure 2 A top view of a multi-functional robot that automatically climbs a cylindrical surface, provided in an embodiment of this application;

[0016] Figure 3 This is a schematic diagram of the rack assembly provided in an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of the structure of the moving mechanism provided in the embodiments of this application;

[0018] Figure 5 A top view of the clamping mechanism provided in the embodiments of this application;

[0019] Figure 6 An isometric view of the working ring provided in an embodiment of this application;

[0020] Figure 7 This is a schematic diagram of the structure of the mobile actuator provided in the embodiments of this application;

[0021] Figure 8 This is a schematic diagram of the actuator provided in an embodiment of this application;

[0022] Figure 9 This is a schematic diagram of the structure of the fixed actuator provided in the embodiments of this application;

[0023] Figure 10 This is a schematic diagram of the structure of a pinhole camera provided in an embodiment of this application;

[0024] In the diagram, 10 is the column, 20 is the arc-shaped frame, 201 is the second motor, 202 is the gear, 203 is the connecting plate, 30 is the main wheel frame, 301 is the hydraulic cylinder support, 302 is the hydraulic cylinder, 303 is the cylinder bottom, 304 is the hydraulic rod, 40 is the first auxiliary wheel frame, 50 is the second auxiliary wheel frame, 501 is the connecting rod support, 60 is the moving mechanism, 601 is the mounting bracket, 602 is the driving sprocket, 603 is the driven sprocket, 604 is the chain, 605 is the track, and 606 is the tension adjustment mechanism. The device consists of the following components: 70 is the clamping mechanism, 701 is the guide wheel connecting rod, 702 is the servo motor, 703 is the guide wheel, 80 is the working ring, 801 is the arc-shaped slide groove, 802 is the pinhole camera, 803 is the connecting bolt hole, 804 is the camera's viewing area, 90 is the actuator, 901 is the base, 902 is the third motor, 903 is the lead screw, 904 is the base sliding cover, 905 is the fourth motor, 906 is the actuator, 907 is the nozzle, 908 is the connector, and 909 is the spraying coverage area. Detailed Implementation

[0025] To make the technical solutions and advantages in the embodiments of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-10 The exemplary embodiments of this application will be described in further detail below. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0026] In the process of developing this application, the inventors discovered that current anti-corrosion and rust removal operations for column structures mostly rely on manual labor, either by erecting scaffolding on the outside of the column or using a "spider-man" rust removal method. This requires the cooperation of one or more people, resulting in high costs, high labor intensity for operators, low construction efficiency, and significant safety hazards associated with working at heights. Looking at the current state of technology both domestically and internationally, similar rust removal of steel structure walls often utilizes wall-climbing robots, capable of operating on walls with zero or small radii of curvature. However, practical wall-climbing rust removal machinery for steel cylindrical walls with large radii of curvature is rare or almost nonexistent.

[0027] To address the aforementioned issues, this application provides a multi-functional robot for automatic column climbing, comprising an arc-shaped frame 20 fitted onto one side of a column 10. The arc-shaped frame 20 is made of reinforced aluminum and is designed to accommodate the circular structure of the column 10, while also facilitating the movement and handling of the robot by construction personnel. A main wheel frame 30 is vertically mounted on the arc-shaped frame 20, and a first auxiliary wheel frame 40 and a second auxiliary wheel frame 50 are vertically mounted on both sides of the main wheel frame 30. The main wheel frame 30, the first auxiliary wheel frame 40, and the second auxiliary wheel frame 50 are all bolted to the arc-shaped frame 20 via a connecting plate 203. On the frame 20, the wheel frame is welded from 10mm ordinary carbon structural steel plate. The main wheel frame 30, the first auxiliary wheel frame 40 and the second auxiliary wheel frame 50 are at the same horizontal height and are all located on a horizontal circumference coaxial with the column 10. The middle part of the main wheel frame 30, the first auxiliary wheel frame 40 and the second auxiliary wheel frame 50 are respectively equipped with a moving mechanism 60. The output end of the moving mechanism 60 is close to the surface of the column 10. The other side of the column 10 is provided with a clamping mechanism 70. The main wheel frame 30, the first auxiliary wheel frame 40 and the second auxiliary wheel frame 50 are connected to a working ring 80. Multiple actuators 90 are installed on the working ring 80.

[0028] As a preferred embodiment, the clamping mechanism 70 includes a guide wheel link 701. The bottom of the main wheel frame 30 is hinged to the cylinder bottom 303 of the hydraulic cylinder 302 via a hydraulic cylinder support 301. The bottom of the second auxiliary wheel frame 50 is hinged to the middle section of the guide wheel link 701 via a connecting rod support 501. One end of the guide wheel link 701 is hinged to the hydraulic rod 304 of the hydraulic cylinder 302. The other end of the guide wheel link 701 is connected to the guide wheel 703 via a servo motor 702. The guide wheel link 701 is driven by the hydraulic rod 304 to rotate around the connecting rod support 501, causing the guide wheel 703 to be in close contact with the surface of the column 10. The hydraulic cylinder support 301, the hydraulic cylinder 302, the connecting rod support 501 and the clamping mechanism 70 are located on the same horizontal plane.

[0029] In practice, when the hydraulic rod 304 extends, it pushes the guide wheel connecting rod 701 to rotate in a fan-shaped motion around the middle hinge point of the guide wheel. When it rotates to a certain angle, the guide wheel 703 and the moving mechanism 60 will be in close contact with the wall of the column 10. As the oil pressure of the hydraulic cylinder 302 continues to increase, the stroke of the hydraulic rod 304 continues to increase, and the guide wheel 703 and the moving mechanism 60 will be in closer contact with the wall of the column 10, thereby achieving mechanical clamping, and the robot will be held on the wall of the column 10.

[0030] The multi-functional robot for automatic column climbing provided in this application embodiment is used in conjunction with a moving mechanism and a clamping mechanism respectively set on both sides of the column. The clamping mechanism uses hydraulic cylinders and guide wheel linkages to press the output end of the moving mechanism against the column surface by means of mechanical clamping. This breakthrough realizes the robot's ability to climb the wall of a steel cylinder with a large radius of curvature, avoiding the defects of high construction cost, high labor intensity of operators, high safety hazards of high-altitude operation, and low construction efficiency caused by manual operation.

[0031] As a preferred embodiment, the moving mechanism 60 includes a mounting bracket 601, which is vertically mounted on the side of the main wheel frame 30, the first auxiliary wheel frame 40, and the second auxiliary wheel frame 50 via a flange. One end of the mounting bracket 601 is rotatably connected to a drive sprocket 602, and the other end is rotatably connected to a driven sprocket 603. A chain 604 is wound around both the drive sprocket 602 and the driven sprocket 603, and both the drive sprocket 602 and the driven sprocket 603 mesh with the chain 604. The outer surface of the chain 604... Tracks 605 are fitted through connecting ear plates. Each wheel frame has a mounting bracket for the first motor of the moving mechanism 60 inside. The steel plates on the front and rear sides of the wheel frame have a hollow structure, which facilitates the installation of the power drive components of the moving mechanism 60 and reduces the weight of the frame. The first motor is installed in the cavity of the main wheel frame 30, the first auxiliary wheel frame 40 and the second auxiliary wheel frame 50 through mounting brackets. This arrangement saves space and makes the robot structure more compact. The output end of the first motor is connected to the drive sprocket 602 for transmission.

[0032] Specifically, the drive sprocket 602 is powered to rotate by the first motor, and drives the driven sprocket 603 to rotate circumferentially in sync via the chain 604. While the chain 604 rotates circumferentially, it drives the track 605 to move. The track 605 overcomes the friction with the cylindrical surface, enabling the robot to move vertically.

[0033] Furthermore, the track 605 can be made of rubber. Rubber tracks are chosen because they have greater plasticity, allowing them to better adapt to the surface of the column 10 through compression. This increased contact area and friction between the track and the column 10 increases the robot's gripping ability, ensuring better wall-gripping characteristics. While maintaining normal movement, a certain degree of maneuverability is also considered, with controllable movement speed, achieving a balance between construction speed and quality. To improve the stability of the sprocket drive, a chain guard is designed on the chain 604 to ensure that the chain 604 and the sprocket remain engaged at all times, effectively preventing chain derailment.

[0034] Furthermore, a tension adjustment device 606 is provided on the outer side of the mounting bracket 601. The distance between the driven sprocket 603 and the driving sprocket 602 can be adjusted by the tension adjustment device 606, thereby adjusting the tension of the chain 604 and the track 605.

[0035] Chain drive systems, which rotate tracks, offer high transmission efficiency, reaching up to 98%. They fully utilize motor power, provide a uniform transmission ratio, ensure reliable operation, require minimal tension during transmission to prevent slippage, and are cost-effective. Their compact size and efficient design make them ideal for tracked systems. Chain drive performance directly impacts the load-bearing capacity and stability of a wall-climbing robot. To ensure optimal performance, selecting appropriate chains and master / slave sprockets is crucial. Chain pitch is a key factor affecting performance. A larger pitch increases load-bearing capacity but negatively impacts stability. Furthermore, chain pitch directly affects the number of teeth on the sprockets; a smaller pitch results in a more compact and smoother transmission.

[0036] As a preferred embodiment, to improve the robot's working efficiency, a working ring 80 is connected to the top and bottom of the main wheel frame 30, the first auxiliary wheel frame 40, and the second auxiliary wheel frame 50, respectively. The two working rings 80 are symmetrically arranged along the horizontal center line of the frame assembly and can work independently or simultaneously. The bottom or top of the working ring 80 is provided with an arc-shaped sliding groove 801. Bolt holes are pre-drilled at the top and bottom of the wheel frame for connecting the sliding groove-slider device of the working ring 80, allowing the working ring 80 to anchor itself to the frame via the sliding groove-slider, ensuring the operation of the actuator 90. The main wheel frame 30, the first auxiliary wheel frame 40, and the second auxiliary wheel frame 50... The top and bottom of the auxiliary wheel frame 40 and the second auxiliary wheel frame 50 are equipped with sliders that are adapted to the arc-shaped slide groove 801. The arc-shaped slide groove 801 is slidably connected to the slider. The outer side of the working ring 80 is equipped with a rack. The arc-shaped frame 20 is equipped with a second motor 201. The output shaft of the second motor 201 is connected to a gear 202. The gear 202 meshes with the rack. By controlling the rotation of the second motor 201 through gear transmission, the working ring 80 can rotate around the column 10. The rotation angle is between 0° and 150°, so that it can work around the column 10 360° without dead angles during operation.

[0037] Specifically, the radius of the working ring can be determined according to the diameter of different sections of the steel structure column. To facilitate the quick replacement and installation of the cleaning, rust removal, grinding, and spraying mechanisms, seven sets of connecting bolt holes 803 are provided at the upper and lower ends of the working ring 80 for connecting the actuator 90.

[0038] As a preferred embodiment, this embodiment provides a mobile actuator. The actuator 90 includes a base 901, which is an open-source connection interface that can be aligned and installed with cleaning, rust removal, grinding, and spraying mechanisms. During installation, the working parts of the previous actuator need to be removed. In addition to fixing the actuator 90, the base 901 also enables the actuator 90 to move radially along the steel column to accommodate steel columns of different diameters. The base 901 is mounted on the working ring 80 via the connector 908. A third motor 902 is mounted on one side of the base 901. A lead screw 903 is installed inside the base 901. The output end of the third motor 902 is connected to the lead screw 903. A lead screw nut is threaded onto the lead screw 903. A base slide cover 904 is slidably connected above the base 901. The lead screw nut is connected to the base slide cover 904. The third motor 902 drives the base slide cover 904 to move forward or backward toward or away from the surface of the column 10 via the lead screw 903 and the lead screw nut. A fourth motor 905 is mounted on the base slide cover 904. An actuator 906 is connected to the output shaft of the fourth motor 905. The working surface of the actuator 906 faces the surface of the column 10.

[0039] Specifically, the rotation of the fourth motor 905 drives the lead screw 903 to rotate, which in turn moves the lead screw nut along the axial direction of the lead screw 903, simultaneously causing the base slide cover 904 to move radially along the steel column. When the robot is cleaning, removing rust, and grinding, the forward rotation of the fourth motor 905 brings the cleaning, rust removal, and grinding mechanism closer to the steel column surface. When the robot is simply moving up and down along the steel column surface, the reverse rotation of the fourth motor 905 moves the rust removal and grinding mechanism away from the steel column surface, enabling rapid robot movement.

[0040] Furthermore, actuator 906 can be a nylon brush used to clean the column surface, removing dust or paint residue left after applying paint remover. Actuator 906 can also be a bladed abrasive wheel used to grind, polish, and remove rust from the putty layer on the steel column surface, forming a rust and paint removal working ring assembly / cleaning and grinding working ring assembly together with the working ring. This ensures more even and thorough cleaning and grinding of the column surface and greatly improves the robot's adaptability to various working conditions.

[0041] The rotation of the second motor 201 drives the gear 202 connected to the second motor 201 to rotate. The gear 202 drives the working ring 80 to rotate around the column axis through meshing with the rack on the outer wall of the working ring 80, thereby achieving 360° cleaning and rust removal without dead angles.

[0042] As a preferred embodiment, this embodiment provides a fixed actuator 90, which includes a base 901. The base 901 is mounted on a working ring 80 via a connector 908. A nozzle 907 is mounted on the base 901 for spraying paint remover, paint, or other liquid protective film. The working area of ​​the nozzle 907 is arranged in a 90° fan shape. The working areas of multiple actuators 90 equipped with nozzles 907 overlap each other to form a spraying coverage area 909, which, together with the working ring, constitutes a spraying / painting / removing working ring assembly.

[0043] Specifically, the three independent nozzles 907 can work individually or simultaneously. All three nozzles 907 have overlapping coverage areas, which can effectively cover the surface of the steel structure. If there are areas that cannot be covered, simply control the working ring 80 to rotate an angle to aim the nozzle 907 at the surface for direct spraying, or rotate the working ring 80 to a certain angle to achieve full coverage of the steel column.

[0044] It can utilize existing mature technology spraying equipment on the market, giving the robot a powerful and continuous output system (the output system is versatile and can be adapted to various equipment on the market). The spraying width is large and stable, and the atomized paint is evenly sprayed within the spray width. The sprayed paint particles are of uniform size, and the adjustment and setting of the spraying device are simple and quick. It truly achieves uniform 360° spraying of the cylindrical surface without any omissions.

[0045] Furthermore, this type of fixed actuator can also be equipped with a laser rust removal component. When using laser rust removal, the nozzle 907 can be removed, and the laser rust removal component can be installed on the base 901 to form a laser rust removal ring, thereby realizing the laser rust removal function of the column.

[0046] For laser cleaning and rust removal, the STQX-1100F laser cleaning equipment from Shengtong Intelligent Machinery Equipment (Shanghai) Co., Ltd. is recommended. The equipment's dimensions are 300×180×420mm, and the nozzle diameter is 75mm×300mm. This equipment utilizes a laser, laser optics system, and control system to achieve efficient laser cleaning. It is easy to install, operate, and automate. Operation is simple: just connect the power and turn on the equipment to begin cleaning without chemical reagents, media, dust, or water. It features automatic focusing, conforms to curved surfaces, and achieves high surface cleanliness, effectively removing rust from objects. The automatic spray gun can be the Japanese Iwata WA-101 automatic spray gun, with dimensions of 148×75×86mm. Various nozzle diameters are available: 0.8, 1.0, and 1.3mm. The spray width is between 140 and 230 mm, and the total weight is 400g. The open-source installation interface can be used in combination with automatic sprayers, reciprocating sprayers and spraying robots. It has good stability and industry reputation. Its small size and weight are also more suitable for spraying robots.

[0047] As a preferred embodiment, three pinhole cameras 802 are installed on the inner side of the working ring 80. The three pinhole cameras 802 are arranged in a 90° array along the circumference of the working ring. The viewing angle of each pinhole camera 802 is 90°-120°. The three pinhole cameras 802 together form a camera viewing angle area 804 that can cover the entire surface of the column 10. The pinhole cameras 802 are variable focus pinhole cameras. When working, the three cameras transmit the real-time working image to the control display screen. The working status of the equipment and the condition of the steel structure can be monitored in real time through the display screen. When no load is attached, the steel column structure can be inspected through the camera ring, or other instruments can be used to inspect the steel column (such as routine inspections for rust, peeling paint, and gaps in welds).

[0048] As a preferred design, the working ring 80 is a three-quarters open-loop structure. This open-loop design allows the robot to easily fit onto the column 10 before operation, adapting to the column's circular structure. Simultaneously, it allows the working ring 80 to effectively avoid special branch structures within the steel structure during operation, ensuring the robot always moves vertically along the axis of the column 10 in a straight line. To prevent excessive rotation of the working ring 80, limit blocks are provided at the bottom of the working ring 80 and at both ends of the arc-shaped slide groove 801.

[0049] As a preferred embodiment, the moving mechanism 60 is symmetrically arranged and installed on the frame. Mounting holes for the moving mechanism 60 are reserved on both sides of the main wheel frame 30, one side of the first auxiliary wheel frame 40, and one side of the second auxiliary wheel frame 50. The moving mechanism 60 is installed on both sides of the main wheel frame 30, and one moving mechanism 60 is installed on the right side of the first auxiliary wheel frame 40 and the left side of the second auxiliary wheel frame 50.

[0050] This embodiment also provides a working method for the multi-functional robot that automatically climbs columns. Using this robot for rust removal, rust cleaning, and painting on existing columns is relatively simple. It enables a streamlined operation of rust and paint removal, cleaning, grinding, and painting / spraying on steel columns. The main personnel required for the construction process are trained technicians. The entire construction process can be completed by a minimum of three people. The main tasks of the construction personnel are transporting the robot to the site, mounting it on the column, connecting the actuator (which can be done before arrival), debugging the equipment, and starting the construction with a single button. The main labor-intensive steps are in the transportation and mounting of the robot; the overall construction requires minimal personnel.

[0051] The main process for rust removal and painting of the steel structure of high-speed railway station canopies consists of three steps: rust and paint removal, cleaning and sanding, and painting / spraying. The specific work process is as follows:

[0052] 1) Rust and paint removal process (This rust removal process involves spraying rust remover. If the nozzle is replaced with a steel brush, physical rust removal can also be performed. The second step of cleaning and polishing is essentially a form of physical rust removal.)

[0053] S10. Determine the shape, size, quantity, and other data of the steel structure to be worked on;

[0054] S20. Based on the data, rationally and scientifically arrange the work sequence and formulate corresponding work plans;

[0055] S30, Arrange rust and paint removal work ring components and pinhole cameras;

[0056] S40. Relevant personnel enter the designated position and send the robot to the steel column that needs to be processed. The robot is then secured to the steel column. At the same time, the air compressor of the spraying system starts working, so that the air tank reaches the working pressure.

[0057] S50: Based on the image seen by the camera, automatically fine-tune the working ring assembly to make the working ring assembly contact the surface of the steel structure main body;

[0058] S60. After setting the working parameters (moving speed, rust removal speed, number of working ring rotation cycles), you can start the rust removal and paint removal work.

[0059] S70. Open the high-pressure air of the spray ring control valve to spray the rust remover at high speed and evenly adhere it to the steel structure surface.

[0060] S80. After the robot reaches the end point, it stops spraying and the working ring rotates 90° to spray the back of the steel structure. This spraying process is from the end point to the starting point.

[0061] S90. After the robot reaches the starting point, it stops spraying. The spraying of paint and rust remover is completed. At this time, the operator controls the robot to inspect from the starting point to the end point. The high-definition camera observes the steel structure surface in real time. If any missed spraying or uneven spraying is found, the spraying ring can be controlled to directly re-spray these positions.

[0062] S100. After the above work has been checked and found to meet the standards, separate the robot from the steel column. The rust removal and paint removal work is now complete.

[0063] 2) Cleaning and grinding process (This process is essentially physical rust removal, which also makes the surface roughness of the steel structure meet the requirements for spraying and serves to clean and prevent rusting. Manual cleaning is done by using an angle grinder or a hand scrubber.)

[0064] S10. After the paint and rust removal work is completed, adjust the corresponding size of the cleaning / grinding ring according to the steel structure size;

[0065] S20. Install the cleaning / grinding working ring assembly;

[0066] S30. Relevant personnel enter the designated position and send the robot to the steel column that needs to be processed, and then lock the robot onto the steel column.

[0067] S40. Based on the image seen by the camera, automatically fine-tune the working ring assembly to make the working ring assembly contact the surface of the steel structure main body;

[0068] S50. After setting the working parameters (moving speed, grinding speed, number of working ring rotation cycles), you can start the rust and paint removal work.

[0069] S60: Open the cleaning ring to control the motor, nylon brush or blade abrasive wheel to run at high speed to remove paint debris adhering to the steel structure surface.

[0070] S70: After the robot reaches the end point, it stops cleaning and rotates its working ring 90° to clean the back of the steel structure. This cleaning process is from the end point to the starting point.

[0071] S80. After the robot reaches the starting point, it stops cleaning and the cleaning and polishing work is completed. At this time, the operator controls the robot to inspect from the starting point to the end point. The high-definition camera can be used to observe the surface of the steel structure in real time. If any uncleaned areas are found, the cleaning / polishing ring can be controlled to clean these areas again.

[0072] S90. After the above work has been checked and found to meet the standards, separate the robot from the steel column. The cleaning and polishing work is now complete.

[0073] 3) Painting process flow (This process is for painting steel structure surfaces, which is essentially a machine replacing manual labor)

[0074] S10. After cleaning and sanding are completed, proceed with the painting operation;

[0075] S20. Install the paint spraying ring assembly;

[0076] S30. Relevant personnel enter the designated position and send the robot to the steel column that needs to be processed, and then lock the robot onto the steel column.

[0077] S40. Based on the image seen by the camera, automatically fine-tune the working ring assembly to make the working ring assembly contact the surface of the steel structure main body;

[0078] S50. After setting the working parameters (moving speed, painting speed, number of working ring rotation cycles), you can start the painting work.

[0079] S60. Open the high-pressure air of the spray ring control valve to spray the paint at high speed and evenly adhere it to the surface of the steel structure.

[0080] S70. After the robot reaches the end point, it stops painting and the working ring rotates 90° to paint the back of the steel structure. This painting process is from the end point to the starting point.

[0081] S80. After the robot reaches the starting point, it stops spraying. After the spraying work is completed and dried, the operator controls the robot to inspect from the starting point to the end point. The operator observes the steel structure surface in real time through the high-definition camera. If any missed areas or uneven or unclean areas are found, the operator can control the spraying ring to spray these areas a second time.

[0082] S90. After the above work has been checked and found to meet the standards, separate the robot from the steel column. The painting work is now complete.

[0083] Using a rust removal and spraying robot to remove rust from existing columns can effectively improve the efficiency of construction time in the section and reduce the safety risks for construction personnel (manual construction requires ropes to be suspended at high altitudes or scaffolding to be erected). It can achieve multiple uses for one machine. The construction time in the section can be roughly divided into three stages: the first stage is the preparation before construction, the second stage is the construction within the specified time, and the third stage is the retrieval of the robot after construction.

[0084] The first phase takes approximately 30 minutes, though this may vary depending on the number of personnel on-site and the proficiency of the relevant technicians in operating the robot. The actuator can be installed before arrival on site. During transport, the robot, spraying system air compressor, and paint / rust remover containers must be transported together as a whole, which may affect transport speed. After arrival, the robot needs to be mounted on the column and debugged. The first debugging will take a little longer. The robot has a memory storage function, allowing for repeated operations by directly reviewing the usage records, eliminating the need for further debugging and saving construction time. According to research, manual operation takes about one hour for preparation; using a rust removal and spraying robot can reduce preparation time by 50%, demonstrating a significant advantage. If transportation goes smoothly and the operators are skilled, the time reduction may be even greater.

[0085] The second stage is the core and key of the rust removal and spraying operation. After pressing the start button, the robot will automatically remove rust, grind and spray the column. During this period, the operator needs to pay attention to the robot's movement status at all times. If there is any abnormal noise or other special situation, the robot should be stopped and inspected immediately to ensure the utilization rate of the skylight point during the robot's construction. Ideally, excluding the time for entering and leaving the site, the robot will always be in an effective working state, which can effectively utilize the construction time of the interval.

[0086] The third phase takes about 20 minutes. Work will stop 20 minutes before the end of the construction period, the robot will be shut down and retrieved, and relevant personnel will be organized to transport the construction equipment off the site.

[0087] This application provides a multi-functional robot for automatically climbing cylindrical surfaces. It innovatively incorporates a moving mechanism and a clamping mechanism on both sides of the column. The clamping mechanism, through hydraulic cylinders and guide wheel linkages, uses a mechanical clamp to press the output end of the moving mechanism against the column surface, achieving a breakthrough in the robot's ability to climb steel cylindrical walls with large curvature radii. The moving mechanism uses a chain drive system to rotate the tracks, allowing the robot to better adapt to the column surface. A working ring that can rotate circumferentially around the column axis allows the actuator to treat the column surface without blind spots. Different actuators can be used to perform various tasks such as cleaning, grinding, rust removal, and spraying on the column surface, adapting to various column working conditions. This wall-climbing robot can automatically clean, remove rust, grind, and spray the surface of steel columns, reducing manual labor. It can climb and work on steel cylindrical walls, solving problems such as low efficiency, high cost, and personnel safety hazards in steel column cleaning, rust removal, and spraying, demonstrating strong practicality.

[0088] The above description is only one specific embodiment. For example, the driving method of the moving mechanism does not necessarily have to be chain drive, and other transmission methods can also be used; the specific equipment for cleaning, rust removal, and spraying is not unique and can be changed according to the specific situation and the function to be achieved; the gear transmission method used to achieve rotation is not unique and other transmission methods can also be used; the hydraulic and screw telescopic methods are not unique and other telescopic methods can also be used; the motor drive method is not unique and other drive methods can also be used; the bolt connection is not unique and other connection methods can also be used; the dimensions, quantities, and angles involved are not unique and can be freely adjusted in specific circumstances.

[0089] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0091] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0092] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0093] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A multi-functional robot for automatic cylindrical climbing, characterized in that, The system includes an arc-shaped frame (20) fitted onto one side of the column (10). A main wheel frame (30) is vertically mounted on the arc-shaped frame (20). A first auxiliary wheel frame (40) and a second auxiliary wheel frame (50) are vertically mounted on both sides of the main wheel frame (30). A moving mechanism (60) is installed in the middle of the main wheel frame (30), the first auxiliary wheel frame (40) and the second auxiliary wheel frame (50). The output end of the moving mechanism (60) is close to the surface of the column (10). A clamping mechanism (70) is provided on the other side of the column (10). A working ring (80) is connected to the main wheel frame (30), the first auxiliary wheel frame (40) and the second auxiliary wheel frame (50). Multiple actuators (90) are installed on the working ring (80). The top and bottom of the main wheel frame (30), the first auxiliary wheel frame (40), and the second auxiliary wheel frame (50) are respectively connected to a working ring (80). The bottom or top of the working ring (80) is provided with an arc-shaped groove (801). The top and bottom of the main wheel frame (30), the first auxiliary wheel frame (40), and the second auxiliary wheel frame (50) are all provided with sliders that are adapted to the arc-shaped groove (801). The arc-shaped groove (801) is slidably connected to the slider. The outer ring of the working ring (80) is provided with a rack. The arc-shaped frame (20) is equipped with a second motor (201). The output shaft of the second motor (201) is connected to a gear (202). The gear (202) meshes with the rack. The working ring (80) is a three-quarters open-loop structure, and limit blocks are respectively provided at the bottom of the working ring (80) and at the beginning and end of the arc-shaped slide groove (801).

2. The multi-functional robot for automatic cylindrical climbing according to claim 1, characterized in that, The clamping mechanism (70) includes a guide wheel link (701). The bottom of the main wheel frame (30) is hinged to the cylinder bottom (303) of the hydraulic cylinder (302) via a hydraulic cylinder support (301). The bottom of the second auxiliary wheel frame (50) is hinged to the middle section of the guide wheel link (701) via a connecting rod support (501). One end of the guide wheel link (701) is hinged to the hydraulic rod (304) of the hydraulic cylinder (302). The other end of the guide wheel link (701) is connected to the guide wheel (703) via a servo motor (702). The guide wheel link (701) is driven by the hydraulic rod (304) to rotate around the connecting rod support (501) so that the guide wheel (703) is in close contact with the surface of the column (10).

3. The multi-functional robot for automatic cylindrical climbing according to claim 1, characterized in that, The moving mechanism (60) includes a mounting bracket (601), which is vertically erected on the side of the main wheel frame (30), the first auxiliary wheel frame (40), and the second auxiliary wheel frame (50). One end of the mounting bracket (601) is rotatably connected to a drive sprocket (602), and the other end of the mounting bracket (601) is rotatably connected to a driven sprocket (603). A chain (604) is wrapped around the drive sprocket (602) and the driven sprocket (603). A track (605) is fitted on the outer surface of the chain (604) through a connecting lug. A first motor is installed in the cavity of the main wheel frame (30), the first auxiliary wheel frame (40), and the second auxiliary wheel frame (50). The output end of the first motor is connected to the drive sprocket (602) for transmission.

4. The multi-functional robot for automatic cylindrical climbing according to claim 1, characterized in that, The actuator (90) includes a base (901), which is mounted on the working ring (80) via a connector (908). A third motor (902) is mounted on one side of the base (901), and a lead screw (903) is installed inside the base (901). The output end of the third motor (902) is connected to the lead screw (903) for transmission. A lead screw nut is threaded onto the lead screw (903). A base cover (903) is slidably connected above the base (901). 04), the lead screw nut is connected to the base slide cover (904), the third motor (902) drives the base slide cover (904) to move forward or backward toward or away from the surface of the column (10) through the lead screw (903) and the lead screw nut, the base slide cover (904) is equipped with a fourth motor (905), the output shaft of the fourth motor (905) is connected to an actuator (906), the working surface of the actuator (906) faces the surface of the column (10).

5. The multi-functional robot for automatic cylindrical climbing according to claim 1, characterized in that, The actuator (90) includes a base (901), which is mounted on the working ring (80) via a connector (908). A nozzle (907) is mounted on the base (901), and the working area of ​​the nozzle (907) is arranged in a 90° fan shape. The working areas of multiple actuators (90) equipped with nozzles (907) overlap each other.

6. The multi-functional robot for automatic cylindrical climbing according to claim 1, characterized in that, Three pinhole cameras (802) are installed on the inner side of the working ring (80). The three pinhole cameras (802) are arranged in a 90° angle array along the circumference of the working ring, and the viewing angle of each pinhole camera (802) is 90°-120°.

7. The multi-functional robot for automatic cylindrical climbing according to claim 1, characterized in that, A moving mechanism (60) is installed on both sides of the main wheel frame (30), and a moving mechanism (60) is installed on the right side of the first auxiliary wheel frame (40) and the left side of the second auxiliary wheel frame (50).

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