Rust removal work machine

Abstract

The application relates to the field of engineering machinery and discloses a rust removal operation machine, which comprises a main arm frame, a slewing support arranged at the end of the main arm frame and driven to rotate by a slewing reduction mechanism, a cleaning mechanism comprising a cleaning disc connected to the slewing support through a cleaning connecting rod, an angle sensor for detecting the real-time rotating angle of the slewing support, a compensation oil cylinder hydraulic circuit comprising a compensation oil cylinder and an electric proportional overflow valve arranged in the working oil path of the rodless cavity of the compensation oil cylinder, one end of the compensation oil cylinder being hinged to the slewing support and the other end being hinged to the cleaning connecting rod to support the cleaning connecting rod in luffing, and a controller for adjusting the current size of the electric proportional overflow valve according to the size of the detected real-time rotating angle of the slewing support in a cleaning operation mode. The rust removal operation machine can automatically maintain the cleaning disc in a state of adhesion to a wall surface to be cleaned, thereby improving the rust removal effect.

Description

Technical Field

[0001] This application pertains to engineering machinery, specifically rust removal machinery. Background Technology

[0002] Ultra-high pressure water rust and paint removal technology is a process that uses high-pressure water jets to remove rust, paint, or other coatings from the surface of objects. This technology is widely used in the industrial cleaning and surface treatment industries due to its high efficiency, environmental friendliness, and lack of damage to the substrate. Traditional ultra-high pressure water rust removal typically employs wall-climbing robots or aerial rust removal vehicles, utilizing a cleaning disc that adheres to the surface to be cleaned. However, in actual operation, the cleaning disc does not always clean a completely flat surface; it encounters surfaces with varying inclinations, such as the surface of a ship's hull. During the process, the cleaning disc must be able to adjust its tilt angle as needed to conform to the surface at the corresponding angle. Therefore, how to effectively maintain contact between the cleaning disc and the surface to be cleaned is a problem that needs to be solved and a direction for research and development. Summary of the Invention

[0003] In view of at least one of the above-mentioned defects or deficiencies in the prior art, this application provides a rust removal machine that can accurately adjust the tilt angle of the cleaning disc and automatically maintain the cleaning disc in contact with the wall surface to be cleaned, thereby effectively improving the rust removal effect.

[0004] To achieve the above objectives, this application provides a rust removal machine, the rust removal machine comprising:

[0005] Main boom;

[0006] A slewing support is located at the end of the main boom and is driven to rotate by a slewing reduction mechanism;

[0007] The cleaning mechanism includes a cleaning disc connected to the rotary support via a cleaning linkage;

[0008] An angle sensor is used to detect the real-time rotation angle of the slewing support;

[0009] The hydraulic circuit for the compensating cylinder includes a compensating cylinder and an electro-proportional relief valve disposed in the rodless chamber working oil circuit of the compensating cylinder. One end of the compensating cylinder is hinged to the slewing support, and the other end is hinged to the cleaning connecting rod to provide variable amplitude support for the cleaning connecting rod; and

[0010] The controller is used to adjust the current of the electro-proportional overflow valve according to the detected real-time rotation angle of the rotary support during the cleaning operation mode.

[0011] In some embodiments, the magnitude of the current in the electro-proportional relief valve is inversely proportional to the magnitude of the real-time rotation angle of the rotary support.

[0012] In some implementations, the controller is configured to:

[0013] In the cleaning operation mode, it is determined that the detected real-time rotation angle is not greater than a preset angle threshold.

[0014] The current of the electro-proportional relief valve is maintained at a first current value.

[0015] The detected real-time rotation angle is determined to be no less than a preset angle threshold.

[0016] The current of the electro-proportional relief valve is maintained at a second current value.

[0017] Wherein, the first current value is greater than the second current value.

[0018] In some implementations, the controller is further configured to:

[0019] The detected real-time rotation angle is determined to be between the preset lower threshold angle and the preset upper threshold angle;

[0020] Based on the detected real-time rotation angle, the current of the electro-proportional relief valve is controlled in real-time inversely proportionally.

[0021] In some embodiments, the main boom is a telescopic boom, and the controller is further configured to:

[0022] In the cleaning preparation mode, the main boom is extended and retracted to bring the cleaning disc closer to the wall surface to be cleaned.

[0023] The rotary reduction mechanism is controlled to drive the rotary support to rotate, thereby causing the cleaning disc to fit against the wall surface to be cleaned.

[0024] The hydraulic circuit of the compensation cylinder is activated by control, so that the compensation cylinder supports the cleaning mechanism.

[0025] In some embodiments, the control to activate the hydraulic circuit of the compensating cylinder, causing the compensating cylinder to support the cleaning mechanism, includes:

[0026] The current of the electro-proportional relief valve is maintained at the initial current value.

[0027] In the cleaning preparation mode and when the cleaning disc is attached to the wall surface to be cleaned, the real-time rotation angle of the rotary support is the initial rotation angle; the initial current value is greater than the current of the electro-proportional overflow valve corresponding to the initial rotation angle in the cleaning operation mode.

[0028] In some embodiments, the hydraulic circuit of the compensation cylinder includes a balance valve assembly, which is disposed in the working oil circuit of the compensation cylinder, and the electro-proportional relief valve is disposed in the side return oil circuit of the working oil circuit of the rodless chamber between the balance valve assembly and the rodless chamber.

[0029] In some embodiments, the electro-proportional relief valve acts on a compression spring at one end of the valve core and on a control port and a proportional electromagnet at the other end of the valve core, with the pilot oil circuit of the control port hydraulically connected to the rodless chamber.

[0030] In some embodiments, the rust removal machinery includes a cleaning device hydraulic system, which includes a multi-way valve and hydraulic circuits for adjusting cylinders, nozzle rotating motors, attachment rotating motors, and compensation cylinders respectively connected to the multi-way valve.

[0031] In some embodiments, the cleaning disc is connected to the cleaning link in a direction perpendicular to the axis of rotation of the rotary support.

[0032] In some embodiments, the rust removal machinery includes a mounting bracket disposed between the end of the main boom and the slewing support, and a slewing limiting structure is provided between the slewing support and the mounting bracket, the slewing limiting structure including:

[0033] The slewing block is fixedly mounted on the mounting bracket; and

[0034] The first slewing limit block and the second slewing limit block are circumferentially spaced at the periphery of the slewing part of the slewing support;

[0035] The first slewing limit block, the slewing stop block, and the second slewing limit block are distributed sequentially along the circumference.

[0036] Through the above technical solution, the rust removal machinery of this application can drive the rotary support to rotate via a rotary reduction mechanism, thereby driving the cleaning disc connected to the rotary support via a cleaning linkage to rotate and adjust the tilt angle of the cleaning disc. This achieves precise adjustment of the cleaning disc tilt angle, meeting the needs of cleaning and rust removal operations on walls with large tilt angle variations. More importantly, in cleaning operation mode, the rust removal machinery of this application can detect the real-time rotation angle of the rotary support via an angle sensor. Simultaneously, it drives the cleaning linkage to swing via a compensation cylinder controlled by an electro-proportional overflow valve, and adjusts the current of the electro-proportional overflow valve according to the real-time rotation angle. This allows the compensation cylinder to provide corresponding support force according to the tilt angle of the cleaning disc, ensuring that the cleaning disc remains in contact with the wall surface to be cleaned. This effectively improves the cleaning and rust removal effect and achieves automated control of the cleaning disc contact adjustment with higher precision.

[0037] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0039] Figure 1 This is a schematic diagram of the structure of a cleaning device for rust removal machinery according to a specific embodiment of this application;

[0040] Figure 2 for Figure 1 A top view of the cleaning device;

[0041] Figure 3 for Figure 1 Right view of the cleaning device;

[0042] Figure 4 This is a schematic diagram of the hydraulic circuit of the hydraulic system of a cleaning device for a rust removal machine according to a specific embodiment of this application;

[0043] Figure 5 for Figure 4 A schematic diagram of the hydraulic circuit of the compensation cylinder in the hydraulic system of the cleaning device.

[0044] Figure 6 This is a flowchart illustrating the control steps of the controller of the rust removal machinery in the cleaning operation mode according to a specific embodiment of this application.

[0045] Explanation of reference numerals in the attached figures

[0046] 1. Cleaning device

[0047] 101 Mounting support 102 Slewing support

[0048] 103 Cleaning disc 104 Cleaning linkage

[0049] 105 Rotary speed reduction mechanism; 106 Angle sensor

[0050] 107 Linkage drive device 108 Lighting assembly

[0051] 109 Anti-collision bracket 1011 Slewing block

[0052] 1021 First slewing limit block 1022 Second slewing limit block

[0053] 1051 Rotary reducer; 1052 Rotary motor

[0054] 2. Vehicle Hydraulic System

[0055] 201 Compensating cylinder hydraulic circuit 202 Leveling cylinder hydraulic circuit

[0056] 203 Hydraulic circuit for nozzle rotary motor; 204 Hydraulic circuit for attachment rotary motor.

[0057] 2011 Compensating cylinder; 2012 Electro-proportional relief valve

[0058] 2013 Balance Valve Assembly 20121 Control Port

[0059] 20122 Proportional Electromagnet 20123 Compression Spring Detailed Implementation

[0060] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0061] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0062] When using high-pressure water jet rust removal technology to remove rust from large objects such as ships, chemical tanks, and buildings, it is necessary to install cleaning devices capable of spraying ultra-high-pressure water on relatively large aerial machinery. This creates rust removal machinery suitable for high-altitude operations, such as aerial rust removal vehicles designed based on aerial work platforms. These types of rust removal machinery are generally equipped with telescopic booms that can move the cleaning devices to meet the needs of rust removal operations on large object surfaces. Currently, the cleaning discs equipped with these devices mostly rely on the swinging or rotating of the telescopic boom of the rust removal machinery to adjust the tilt angle of the cleaning discs. The rotation control is relatively crude, resulting in poor cleaning effects.

[0063] Because the telescopic boom is relatively long, it's impossible to precisely adjust the tilt angle of the cleaning disc. This makes it difficult for the disc to adapt to cleaning surfaces at different angles, resulting in poor rust removal. Specifically, such as... Figures 1 to 3As shown, the first exemplary embodiment of this application provides a cleaning device for rust removal machinery. The cleaning device includes a mounting support 101, a slewing support 102, a cleaning mechanism, and a slewing reduction mechanism 105. The mounting support 101 is used to connect the head of the main boom of the rust removal machinery, i.e., the telescopic end of the telescopic boom. The slewing support 102 is mounted on the mounting support 101 and has a slewing adjustment function. The cleaning mechanism includes a cleaning disc 103 and a cleaning connecting rod 104. The cleaning disc 103 is connected to the slewing support 102 via the cleaning connecting rod 104, and the cleaning disc 103 is connected to the cleaning connecting rod 4 in a direction perpendicular to the slewing axis of the slewing support 102. The slewing reduction mechanism 105 is disposed on the mounting support 101 and is used to drive the slewing support 102 to rotate the cleaning disc 103 to adjust the tilt angle of the cleaning disc 103.

[0064] In this invention, see Figure 2 The cleaning disc 103 can spray high-pressure water towards one side of the cleaning link 104. By adjusting the tilt angle of the cleaning disc, the cleaning disc 103 can conform to inclined surfaces with different inclinations to carry out cleaning operations.

[0065] To achieve precise adjustment of the cleaning disc 103, the cleaning device of this application is specially designed with a rotary reduction mechanism 105 and a rotary support 102 working in tandem. The rotary reduction mechanism 105 drives the rotary support 102 to rotate the cleaning disc 103. Since the rotary reduction mechanism 105 can achieve a high reduction ratio, the adjustable range of the output speed is wider and the precision is higher. At the same time, the rotary reduction mechanism 105 amplifies the torque. Compared with direct drive, small changes in power output have a greater impact on the load, thereby achieving precise adjustment of the cleaning disc 103. This allows the cleaning disc 103 to be adjusted in real time to fit with different inclined surfaces, and can continuously exert a good cleaning and rust removal effect during continuous operation.

[0066] In this embodiment, the cleaning device also includes an angle sensor 106. The angle sensor 106 can be installed on the slewing support 102 to detect the real-time rotation angle of the slewing support 102. The tilt angle of the cleaning disc can be measured in real time through calculation. Furthermore, based on the tilt angle of the cleaning disc, the spray direction of the water flow and the degree of contact between the cleaning disc 103 and the wall surface to be cleaned can be determined, so as to enable more precise control of the cleaning disc 103 and improve the rust removal effect.

[0067] Considering that the cleaning disc 103 needs to be connected to a high-pressure water pump through one or more pipelines, in order to avoid damage caused by excessive entanglement of pipelines in the cleaning mechanism, a rotation limit structure is provided between the rotation support 102 and the mounting support 101 to limit the rotation angle of the rotation support 102 during the rotation reduction mechanism 105 drives the rotation support 102 to rotate the cleaning disc 103.

[0068] For a concrete example, see Figure 2 and Figure 3 The rotation limiting structure may include a rotation stop 1011, a first rotation limiting block 1021, and a second rotation limiting block 1022. The rotation stop 1011 is fixedly mounted on the mounting support 101, and the first rotation limiting block 1021 and the second rotation limiting block 1022 are circumferentially spaced around the periphery of the rotating portion of the rotation support 102. Generally, the first rotation limiting block 1021, the rotation stop 1011, and the second rotation limiting block 1022 are sequentially distributed circumferentially. When the rotation support 102 rotates to a preset minimum angle, the first rotation limiting block 1021 abuts against the rotation stop 1011, causing the rotation support 102 to stop rotating. Similarly, when the rotation support 102 rotates to a preset maximum angle, the second rotation limiting block 1022 also abuts against the rotation stop 1011, causing the rotation support 102 to stop rotating. For example, see... Figure 3 When the slewing support 102 rotates clockwise, the real-time rotation angle of the slewing support 102 gradually decreases until the first slewing limit block 1021 abuts against the slewing stop block 1011, at which point the real-time rotation angle is equal to the preset minimum angle; conversely, when the slewing support 102 rotates counterclockwise, the real-time rotation angle of the slewing support 102 gradually increases until the second slewing limit block 1022 abuts against the slewing stop block 1011, at which point the real-time rotation angle is equal to the preset maximum angle.

[0069] As can be seen, by setting the first rotation limit block 1021, the rotation stop block 1011 and the second rotation limit block 1022 distributed sequentially along the circumference, the rotation angle of the rotation support 102 can be limited between the preset maximum angle and the preset minimum angle, effectively preventing the rotation angle from being too large or too small, which would cause the pipeline in the cleaning mechanism to interfere with the rotation of the rotation support 102. At the same time, it can also effectively protect the pipeline from damage.

[0070] In the illustrated embodiment, the cleaning mechanism includes a linkage drive device 107. One end of the cleaning linkage 104 is hinged to the rotary support 102, and the other end is connected to the cleaning disc 103. The linkage drive device 107 can drive the cleaning linkage 104 to swing relative to the rotary support 102, causing the cleaning linkage 104 to move the cleaning disc 103 closer to or further away from the wall surface to be cleaned, thereby adjusting the distance between the cleaning disc 103 and the wall surface to be cleaned. It can be understood that the smaller the distance between the cleaning disc 103 and the wall surface to be cleaned, the better the impact of the sprayed water on the wall surface to be cleaned, i.e., the better the rust removal effect.

[0071] Preferably, the linkage drive device 107 is a compensating cylinder 2011, i.e., a hydraulic cylinder. This compensating cylinder 2011 can drive the cleaning linkage 104 to swing through its extension and retraction movements, and automatically rebound after the cleaning disc 103 is in contact with the surface to be cleaned, preventing damage to the cleaning disc 103 and the cleaning device. Crucially, when the cleaning disc 103 performs spraying operations, it generates a certain recoil force. At this time, the compensating cylinder 2011 applies a certain force to support the cleaning disc 103, thereby maintaining its stability. See also... Figure 3 When the cleaning linkage 104 drives the cleaning disc 103 to rotate to a certain tilt angle, the compensating cylinder 2011 can also support the cleaning linkage 104 and the cleaning disc 103.

[0072] For a concrete example, see Figure 1 The rotary reduction mechanism 105 includes a rotary reducer 1051 and a rotary motor 1052. Specifically, the output end of the rotary motor 1052 is connected to the input end of the rotary reducer 1051, and the rotary support 102 is connected to the output end of the rotary reducer 1051. During operation, the rotary motor 1052 drives the rotary reducer 1051 to rotate, which in turn drives the rotary support 102 to rotate, thereby driving the cleaning disc 103 to rotate to adjust the cleaning disc tilt angle of the cleaning disc 103.

[0073] The rotary motor 1052 can be a hydraulic motor, a pneumatic motor, or an electric motor; this embodiment does not limit the type of motor.

[0074] Further, see Figure 1 The cleaning device also includes a lighting assembly 108 mounted on top of the mounting bracket 101. The lighting assembly 108 includes a lamp and its holder. By setting up the lighting assembly 108, operators can accurately locate the surface to be removed even in low light conditions, ensuring the smooth progress of the rust removal operation.

[0075] In addition, see Figure 1 The cleaning device may also include an anti-collision bracket 109 sleeved on the outside of the mounting bracket 101. Under the protection of the anti-collision bracket 109, the cleaning device can be prevented from being damaged by impacting the wall surface to be cleaned laterally.

[0076] The cleaning device described above for rust removal machinery can be applied to rust removal machinery. Obviously, the rust removal machinery has all the technical effects brought about by the cleaning device described above, so it will not be described in detail here.

[0077] In the specific embodiments described above, the linkage drive device 107, acting as a compensating cylinder 2011, can drive the cleaning linkage 104 to swing through its extension and retraction movements, thereby causing the cleaning disc 103 to move closer to or further away from the wall to be cleaned. This serves to adjust the distance between the cleaning disc 103 and the wall to be cleaned. Crucially, the compensating cylinder 2011 can also apply a certain force to the cleaning disc 103 to overcome the reaction force of the sprayed water flow. Especially when the cleaning disc 103 sprays upward at a certain angle, the cleaning disc 103 can be supported and maintained in a state of contact with the wall to be cleaned.

[0078] However, it is worth noting that during the above adjustment process, the power applied by the compensating cylinder 2011 to the cleaning linkage 104 needs to be controlled according to the real-time tilt angle of the cleaning disc 103. Otherwise, the cleaning disc 103 will not fit the wall surface to be cleaned too much or too little, which will affect the operation effect. If manual adjustment is relied upon, it is difficult to ensure that the extension and retraction of the compensating cylinder 2011 can meet the operation requirements, and the efficiency is low.

[0079] Therefore, this application also protects a rust removal machine, in one specific embodiment, referring to Figures 1 to 4 The rust removal machinery includes at least a main boom (not shown in the figure), a slewing support 102, a cleaning mechanism, an angle sensor 106, a compensating cylinder hydraulic circuit 201, and a controller. The slewing support 102 is located at the end of the main boom and is driven to rotate by a slewing reduction mechanism 105. The cleaning mechanism includes a cleaning disc 103 connected to the slewing support 102 via a cleaning link 104. The angle sensor 106 detects the real-time rotation angle α of the slewing support 102. The compensating cylinder hydraulic circuit 201 includes a compensating cylinder 2011 and an electro-proportional relief valve 2012 located in the rodless chamber working oil circuit of the compensating cylinder 2011. One end of the compensating cylinder 2011 is hinged to the slewing support 102, and the other end is hinged to the cleaning link 104 to provide variable amplitude support for the cleaning link 104. In cleaning operation mode, the controller can adjust the current of the electro-proportional relief valve 2012 according to the detected real-time rotation angle α of the slewing support 102.

[0080] The cleaning disc 103 extends along a direction perpendicular to the rotation axis of the slewing support 102 and is connected to the cleaning connecting rod 104. Thus, in the cleaning operation mode, the rust removal machinery of this application can use the angle sensor 106 to detect the real-time rotation angle α of the slewing support 102. Simultaneously, the cleaning connecting rod 104 is driven to swing by the compensation cylinder 2011 controlled by the electro-proportional overflow valve 2012. The current of the electro-proportional overflow valve 2012 is adjusted according to the real-time rotation angle α, allowing the compensation cylinder 2011 to provide corresponding support force according to the tilt angle of the cleaning disc 103. This ensures that the cleaning disc 103 remains in contact with the wall surface to be cleaned, effectively improving the cleaning and rust removal effect. Furthermore, it achieves automated control of the cleaning disc's contact adjustment, resulting in higher precision and efficiency.

[0081] In this embodiment, please refer to the specific details. Figure 4 and Figure 5 The hydraulic circuit 201 of the compensating cylinder includes a balance valve assembly 2013, which is installed in the working oil circuit of the compensating cylinder 2011. In practical applications, it can be integrated into the cylinder barrel. The electro-proportional relief valve 2012 is installed in the bypass return oil circuit of the working oil circuit of the rodless chamber between the balance valve assembly 2013 and the rodless chamber.

[0082] like Figure 5 As shown, in the normally closed electro-proportional relief valve 2012, the compression spring 20123 at the left end determines the set relief pressure of the electro-proportional relief valve 2012. When the oil pressure in the rodless chamber or the working oil circuit of the rodless chamber and the combined force of the proportional electromagnet 20122 are greater than the spring force of the compression spring 20123, the oil in the rodless chamber can return through the electro-proportional relief valve 2012. It can be seen that the set relief pressure of the electro-proportional relief valve 2012 is fixed. The greater the current of the proportional electromagnet 20122 in the electro-proportional relief valve 2012, the greater the thrust of the proportional electromagnet 20122 on the valve core, and the smaller the required pilot oil pressure in the rodless chamber, thus achieving relief, corresponding to the maximum pressure of the rodless chamber at this time.

[0083] Specifically, as an example, the electro-proportional relief valve 2012 includes a compression spring 20123 acting on one end of the valve core and a control port 20121 and a proportional electromagnet 20212 acting on the other end of the valve core. The pilot oil circuit of the control port 20121 is hydraulically connected to the rodless chamber. When the sum of the magnetic force of the proportional electromagnet 20122 at the right end and the force exerted by the oil in the rodless chamber on the valve core is greater than the spring force of the compression spring 20123 at the left end, the illustrated electro-proportional relief valve 2012 can switch to the right valve position, i.e., the relief conduction position.

[0084] When the controller applies a first current to the proportional electromagnet 20122, the electro-proportional relief valve 2012 is energized, and the electric thrust acts on the right end of the valve core of the electro-proportional relief valve 2012. At this time, the pumped hydraulic oil flows to the rodless chamber, causing the oil pressure in the rodless chamber to continuously increase. The oil pressure in the rodless chamber also acts as a pilot oil pressure on the right end of the valve core of the electro-proportional relief valve 2012. When the oil pressure in the rodless chamber increases to the first relief pressure value, the sum of the magnetic force of the proportional electromagnet 20122 on the right end and the force exerted by the oil in the rodless chamber on the valve core begins to exceed the spring force of the compression spring 20123 on the left end. The valve core of the electro-proportional relief valve 2012 gradually switches to the right position, i.e., the relief conduction position. At this time, the oil pressure in the rodless chamber no longer increases. This maximum value of the oil pressure in the rodless chamber (i.e., the relief pressure of the rodless chamber) is set as the first rodless chamber oil pressure.

[0085] When a second current is applied to the proportional electromagnet 20122, the electro-proportional relief valve 2012 is energized, and the electric thrust acts on the right end of the valve core of the electro-proportional relief valve 2012. At this time, when the oil pressure in the rodless chamber increases to the second relief pressure value, the sum of the magnetic force of the proportional electromagnet 20122 at the right end and the force exerted by the oil in the rodless chamber on the valve core begins to exceed the spring force of the compression spring 20123 at the left end. The valve core of the electro-proportional relief valve 2012 gradually switches to the relief conduction position. At this time, the oil pressure in the rodless chamber no longer increases. The maximum value of this rodless chamber oil pressure is set as the second rodless chamber oil pressure.

[0086] If the first current is less than the second current, then the oil pressure in the first rodless chamber is greater than the oil pressure in the second rodless chamber. It is evident that the two are inversely proportional. Therefore, it is also evident that the larger the current applied to the proportional electromagnet 20122, the smaller the oil pressure in the rodless chamber under overflow conditions.

[0087] When current is applied to the proportional electromagnet 20122, and pressure is built up in the rodless chamber, the combined force of the oil pressure in the rodless chamber drives the valve core of the electro-proportional relief valve 2012 to achieve relief. At this time, the maximum oil pressure in the rodless chamber is the relief pressure, which can drive the piston rod to extend and push the cleaning connecting rod 104 to swing forward, thereby causing the cleaning disc 103 to move closer to the cleaning disc 103, or to increase the supporting force of the cleaning disc 103 to overcome the reaction force of the jet water flow and the component force of the gravity of the cleaning connecting rod 104 and the cleaning disc 103.

[0088] If, during the cleaning process, the tilt angle of the cleaning disc 103 increases, leading to an increased load on the piston rod and a tendency to retract, the supporting force of the piston rod should be increased, which means increasing the overflow pressure of the rodless chamber. This can be achieved by reducing the current applied to the proportional electromagnet 20122, thereby increasing the overflow pressure of the rodless chamber and increasing the thrust of the piston rod on the cleaning connecting rod 104, thus providing stronger support for the cleaning disc 103 with its increased tilt angle. Conversely, if the unevenness of the cleaning surface causes the tilt angle of the cleaning disc 103 to decrease, resulting in a decreased load on the piston rod and a tendency to extend, the supporting force of the piston rod can be reduced, i.e., the current applied to the proportional electromagnet 20122 can be increased. This reduces the overflow pressure of the rodless chamber, decreases the thrust of the piston rod on the cleaning connecting rod 104, and stabilizes the cleaning disc 103 with its decreased tilt angle in contact with the wall surface to be cleaned.

[0089] Those skilled in the art will understand that in other embodiments, other types of electro-proportional relief valves may be used, which may also make the current of the proportional electromagnet 20122 proportional to the oil pressure in the rodless chamber. That is, the greater the current applied to the proportional electromagnet 20122, the greater the oil pressure in the rodless chamber in the overflow state. The specific working principle is similar to that above, and will not be described in detail here.

[0090] exist Figure 3 In the embodiment shown, when the slewing support 102 rotates counterclockwise, the real-time rotation angle α of the slewing support 102 increases, and the tilt angle of the cleaning disc 103 increases accordingly (the component of the gravity of the cleaning disc 103 acting on the compensating cylinder 2011 increases accordingly). At this time, the current applied to the electro-proportional overflow valve 2012 can be reduced to increase the supporting force of the compensating cylinder 2011 on the cleaning disc 103, so that the cleaning disc 103 can be kept in contact with the wall surface to be cleaned, thereby achieving the desired rust removal effect.

[0091] Conversely, when the slewing support 102 rotates clockwise, the real-time rotation angle α of the slewing support 102 decreases, and the tilt angle of the cleaning disc 103 decreases accordingly (the component of the gravity of the cleaning disc 103 acting on the compensating cylinder 2011 decreases accordingly). At this time, the current applied to the electro-proportional overflow valve 2012 can be increased to reduce the supporting force of the compensating cylinder 2011 on the cleaning disc 103, so that the cleaning disc 103 can maintain a state of contact with the wall surface to be cleaned.

[0092] Therefore, in this embodiment, the magnitude of the current of the electro-proportional relief valve 2012 is inversely proportional to the magnitude of the real-time rotation angle α of the rotary support 102.

[0093] Of course, in other embodiments, it can be configured such that when the slewing support 102 rotates counterclockwise, the real-time rotation angle α of the slewing support 102 decreases accordingly, and when it rotates clockwise, it increases accordingly. In this case, the magnitude of the current of the electro-proportional relief valve 2012 should be directly proportional to the magnitude of the real-time rotation angle α of the slewing support 102. Therefore, the relationship between the magnitude of the current of the electro-proportional relief valve 2012 and the magnitude of the real-time rotation angle α of the slewing support 102 can be determined according to the measurement method and positive / negative definition of the real-time rotation angle α, and this application does not limit it in this regard.

[0094] In an optional or preferred embodiment, refer to Figure 6 The controller is configured as follows:

[0095] S100: In the cleaning operation mode, the detected real-time rotation angle a is determined to be no greater than the preset angle threshold.

[0096] S200: The current of the control electro-proportional relief valve 2012 is maintained at the first current value;

[0097] S300: Determine that the detected real-time rotation angle a is not less than the preset angle threshold;

[0098] S400: The current of the control electro-proportional relief valve 2012 is maintained at the second current value;

[0099] Among them, the first current value is greater than the second current value, the threshold at the preset angle is greater than the aforementioned preset minimum angle, and the threshold at the preset angle is less than the aforementioned preset maximum angle.

[0100] Specifically, when the angle sensor 106 measures that the real-time rotation angle α of the rotary support 102 is not greater than the preset lower threshold angle, that is, when the tilt angle of the cleaning disc 10 decreases to a certain angle range, the controller can control the current of the electro-proportional relief valve 2012 to maintain a first current value, so that the overflow pressure of the rodless chamber of the compensation cylinder 2011 decreases to the lower threshold overflow pressure and remains constant, thus keeping the supporting force of the compensation cylinder 2011 on the cleaning disc 103 constant. Conversely, when the angle sensor 106 measures that the real-time rotation angle α of the rotary support 102 is not less than the preset upper threshold angle, that is, when the tilt angle of the cleaning disc 10 increases to a certain angle range, the controller can control the current of the electro-proportional relief valve 2012 to maintain a second current value, so that the overflow pressure of the rodless chamber of the compensation cylinder 2011 increases to the upper threshold overflow pressure and remains constant, thereby keeping the supporting force of the compensation cylinder 2011 on the cleaning disc 103 constant.

[0101] In this embodiment, the controller may be further configured as follows:

[0102] S500: Determine that the detected real-time rotation angle a is between the preset lower threshold angle and the preset upper threshold angle;

[0103] S600: Based on the detected real-time rotation angle 'a', the current of the electro-proportional relief valve 2012 is controlled in real-time inversely proportionally.

[0104] Specifically, when the angle sensor 106 detects that the real-time rotation angle 'a' of the rotary support 102 is between a preset lower threshold and a preset upper threshold, the controller can, based on the detected real-time rotation angle 'a', control the current of the electro-proportional relief valve 2012 in real-time inversely proportionally. This increases the supporting force of the compensation cylinder 2011 on the cleaning disc 103 when the real-time rotation angle 'a' of the rotary support 102 increases, allowing the cleaning disc 103 to remain in contact with the wall surface to be cleaned. Conversely, when the real-time rotation angle 'a' of the rotary support 102 decreases, the supporting force of the compensation cylinder 2011 on the cleaning disc 103 decreases, similarly allowing the cleaning disc 103 to remain in contact with the wall surface to be cleaned.

[0105] In practical applications, the first and second current values ​​are determined not only based on the real-time rotation angle α, but also based on the specific model of the electro-proportional relief valve 2012 and the oil pressure of the compensating cylinder 2011.

[0106] Referring to Table 1, the parameter relationships determined by the working conditions of the specific compensation cylinder hydraulic circuit 201 in practical applications are obtained from the test results of a specific experiment. As can be seen from Table 1, the threshold value at the preset angle can be set to -20°, the first current value can be set to 1194mA, the threshold value at the preset angle can be set to 68°, and the second current value can be set to 700mA. Therefore, in the cleaning operation mode, when the measured real-time rotation angle 'a' satisfies 'a≤-20°', by maintaining the current I of the electro-proportional overflow valve 2012 at 1194mA, the overflow pressure P of the rodless chamber of the compensating cylinder 2011 can be maintained at 20bar, which can meet the support requirements of the cleaning disc 103 when the tilt angle is reduced to or below the lower threshold, without further reducing the support force of the compensating cylinder 2011; similarly, when the measured real-time rotation angle 'a' satisfies 'a≥68°', by maintaining the current I of the electro-proportional overflow valve 2012 at 700mA, the overflow pressure P of the rodless chamber of the compensating cylinder 2011 can be maintained at 130bar, which can meet the support requirements of the cleaning disc 103 when the tilt angle is increased to or below the upper threshold, without further increasing the support force of the compensating cylinder 2011. Furthermore, when the measured real-time rotation angle a satisfies -20° < a < 68°, the current of the electro-proportional relief valve 2012 can be controlled inversely according to the real-time rotation angle a, so that the current I of the electro-proportional relief valve 2012 satisfies I = -5.6*a + 1082, thereby satisfying the overflow pressure P of the rodless chamber of the compensating cylinder 2011 to satisfy P = 1.3167*a + 42.5.

[0107] Table 1. Parameter Relationship Comparison Table

[0108] Real-time rotation angle a (°) Overflow pressure P (bar) in the rodless chamber CurrentI(mA) a≤-20 20 1194 -20＜a＜68 1.3167*a+42.5 -5.6*a+1082 a≥68 130 700

[0109] Based on the parameters and relationships shown in the table, the compensation cylinder 2011 can be controlled to achieve adaptive adjustment of the cleaning disc 103, so that the cleaning disc 103 remains in contact with the wall to be cleaned during operation, thereby improving the rust removal effect.

[0110] In an optional or preferred embodiment, the main boom is a telescopic boom, and the controller is further configured to:

[0111] In the cleaning preparation mode, control the extension and retraction of the main boom so that the cleaning disc 103 is close to the wall surface to be cleaned;

[0112] The control rotary reduction mechanism 105 drives the rotary support 102 to rotate, causing the cleaning disc 103 to fit against the wall surface to be cleaned.

[0113] Control the start of the hydraulic circuit 201 of the compensation cylinder, so that the compensation cylinder 2011 supports the cleaning mechanism.

[0114] It should be noted that the above-mentioned cleaning operation mode can be the state in which the rust removal machinery is moving as a whole and the cleaning disc 103 is spraying water, while the cleaning preparation mode is the state in which the cleaning disc 103 is close to the wall to be cleaned but has not started spraying water.

[0115] Therefore, in the cleaning preparation mode, by controlling the extension of the main boom, the cleaning disc 103 can be brought closer to the wall to be cleaned. After the cleaning disc 103 is close to the wall, the rotary reduction mechanism 105 drives the rotary support 102 to rotate, causing the cleaning disc 103 to fit against the wall, so that the cleaning disc 103 can be adjusted to be parallel to the wall. Then, by controlling the start of the compensation cylinder hydraulic circuit 201, the compensation cylinder 2011 supports the cleaning mechanism, thereby offsetting the gravity generated by the tilt of the cleaning disc 103 on the compensation cylinder 2011, and offsetting the reaction force generated by the subsequent water jet of the cleaning disc 103.

[0116] In this embodiment, controlling the start of the compensation cylinder hydraulic circuit 201, so that the compensation cylinder 2011 supports the cleaning mechanism, includes:

[0117] The current of the control proportional relief valve 2012 is kept at the initial current value;

[0118] In the cleaning preparation mode, when the cleaning disc 103 is in contact with the wall to be cleaned, the real-time rotation angle α of the rotary support 102 is the initial rotation angle; the initial current value is greater than the current of the electro-proportional overflow valve 2012 corresponding to the initial rotation angle in the cleaning operation mode.

[0119] Therefore, by controlling the current of the electro-proportional overflow valve 2012 to maintain its initial current value, the cleaning disc 103 can remain stably in contact with the wall surface to be cleaned even when no water flow is being sprayed. Overall, using the controller to put the rust removal machinery into the cleaning preparation mode can improve the overall work efficiency, provide a good foundation for the precise adjustment of the cleaning disc 103 in the subsequent cleaning operation mode, and improve the rust removal quality.

[0120] Furthermore, such as Figure 4 As shown, the rust removal machinery includes a cleaning device hydraulic system 2 as a power source. The cleaning device hydraulic system 2 includes a multi-way valve and various hydraulic circuits connected to the multi-way valve, including a leveling cylinder hydraulic circuit 202, a nozzle rotation motor hydraulic circuit 203, an attachment rotation motor hydraulic circuit 204, and a compensation cylinder hydraulic circuit 201. The leveling cylinder hydraulic circuit 202 includes a leveling cylinder (not shown in the attached figure) for adjusting the overall pitch angle of the cleaning device 1. The nozzle rotation motor hydraulic circuit 203 includes a nozzle rotation motor for adjusting the rotation angle of the nozzles in the cleaning disc 103. The attachment rotation motor hydraulic circuit 204 includes a rotation motor 1052 for driving a rotary reducer 1051. The control principles of these hydraulic circuits are well known to those skilled in the art and are not part of the core improvement of this application; therefore, they will not be described in detail here. Based on this, the controller can at least control the rust removal machinery to switch to the aforementioned cleaning preparation mode and cleaning operation mode, thereby improving the automation level and overall operation effect of the machinery.

[0121] In the description of this application, it should be understood that 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0122] 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 components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0123] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0124] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A rust removal machine, characterized in that, The rust removal machinery includes: Main boom; A slewing support (102) is provided at the end of the main boom and is driven to rotate by a slewing reduction mechanism (105); The cleaning mechanism includes a cleaning disc (103) connected to the slewing support (102) via a cleaning link (104). An angle sensor (106) is used to detect the real-time rotation angle of the slewing support (102); The hydraulic circuit (201) for the compensating cylinder includes a compensating cylinder (2011) and an electro-proportional relief valve (2012) disposed in the rodless chamber working oil circuit of the compensating cylinder (2011). One end of the compensating cylinder (2011) is hinged to the slewing support (102), and the other end is hinged to the cleaning connecting rod (104) to provide variable amplitude support for the cleaning connecting rod (104); and The controller is configured to, in the cleaning operation mode, adjust the current of the electro-proportional relief valve (2012) according to the detected real-time rotation angle of the rotary support (102). The controller is configured to, in the cleaning operation mode, determine that the detected real-time rotation angle is not greater than a preset lower threshold, control the current of the electro-proportional relief valve (2012) to maintain a first current value; determine that the detected real-time rotation angle is not less than a preset upper threshold, control the current of the electro-proportional relief valve (2012) to maintain a second current value; determine that the detected real-time rotation angle is between the preset lower threshold and the preset upper threshold, and control the current of the electro-proportional relief valve (2012) in real-time inversely proportionally according to the detected real-time rotation angle. Wherein, the first current value is greater than the second current value.

2. The rust removal machinery according to claim 1, characterized in that, The main boom is a telescopic boom, and the controller is further configured to: In the cleaning preparation mode, the main boom is extended and retracted so that the cleaning disc (103) is close to the wall surface to be cleaned; The rotary deceleration mechanism (105) is controlled to drive the rotary support (102) to rotate, thereby causing the cleaning disc (103) to fit against the wall surface to be cleaned; The hydraulic circuit (201) of the compensation cylinder is activated, so that the compensation cylinder (2011) supports the cleaning mechanism.

3. The rust removal machinery according to claim 2, characterized in that, The control activates the hydraulic circuit (201) of the compensation cylinder, causing the compensation cylinder (2011) to support the cleaning mechanism, including: The current of the electro-proportional relief valve (2012) is maintained at the initial current value. In the cleaning preparation mode and when the cleaning disc (103) is attached to the wall surface to be cleaned, the real-time rotation angle of the rotary support (102) is the initial rotation angle; the initial current value is greater than the current of the electro-proportional overflow valve (2012) corresponding to the initial rotation angle in the cleaning operation mode.

4. The rust removal machinery according to any one of claims 1 to 3, characterized in that, The hydraulic circuit (201) of the compensation cylinder includes a balance valve group (2013), which is located in the working oil circuit of the compensation cylinder (2011). The electro-proportional relief valve (2012) is located in the side return oil circuit of the working oil circuit of the rodless chamber between the balance valve group (2013) and the rodless chamber.

5. The rust removal machinery according to claim 4, characterized in that, The electro-proportional relief valve (2012) includes a compression spring (20123) acting on one end of the valve core and a control port (20121) and a proportional electromagnet (20122) acting on the other end of the valve core. The pilot oil circuit of the control port (20121) is hydraulically connected to the rodless chamber.

6. The rust removal machinery according to claim 4, characterized in that, The rust removal machinery includes a cleaning device hydraulic system (2), which includes a multi-way valve and a leveling cylinder hydraulic circuit (202), a nozzle rotary motor hydraulic circuit (203), an attachment rotary motor hydraulic circuit (204), and a compensation cylinder hydraulic circuit (201) connected to the multi-way valve.

7. The rust removal machinery according to any one of claims 1 to 3, characterized in that, The cleaning disc (103) is connected to the cleaning link (104) in a direction perpendicular to the axis of rotation of the rotary support (102).

8. The rust removal machinery according to any one of claims 1 to 3, characterized in that, The rust removal machinery includes a mounting bracket (101) disposed between the end of the main boom and the slewing support (102), and a slewing limiting structure is provided between the slewing support (102) and the mounting bracket (101), the slewing limiting structure including: A slewing stop (1011) is fixedly mounted on the mounting bracket (101); and The first slewing limit block (1021) and the second slewing limit block (1022) are circumferentially spaced at the periphery of the slewing part of the slewing support (102); The first slewing limit block (1021), the slewing stop block (1011), and the second slewing limit block (1022) are distributed sequentially along the circumference.

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