Ball-track composite permanent magnet adsorption type derusting wall-climbing robot

Abstract

The invention relates to the technical field of robots, and discloses a ball-track composite permanent magnet adsorption type derusting wall-climbing robot which comprises a permanent magnet adsorption type track, a driving unit, a supporting unit, a mounting unit, a liquid storage unit, a derusting cleaning unit and a dismounting unit. The mounting unit comprises a mounting plate, and the outer wall of the bottom of the mounting plate is fixedly connected with an annular plate; the two sides of the top of the mounting plate are fixedly connected with guide plates which are symmetrically arranged and are of an arc-shaped structure, through holes which are symmetrically formed are formed in the mounting plate, and ejector rods are slidably connected to the inner walls of the through holes. When the wall-climbing robot climbs to the wall surface through the permanent magnet adsorption type crawler belt and the driving unit for rust removal work, the cleaning brush makes contact with the wall surface, then a gear motor is started to drive a rotating shaft to rotate, the rotating shaft drives a mounting plate and a liquid guide pipe to rotate, and the liquid guide pipe drives a mounting shell and the cleaning brush to rotate; and the cleaning brush can conduct rust removal work on the wall face, and the efficient rust removal effect on the wall face is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a ball-and-shoe composite permanent magnetic adsorption type rust removal wall-climbing robot. Background Art

[0002] A wall-climbing robot is an automated robot that can climb and complete tasks on vertical walls. It is used for rust removal operations on the walls of ships and petrochemical tanks. Due to the large load and high requirements for adsorption reliability, wall-climbing robots generally adopt a wheeled permanent magnetic adsorption structure or a crawler permanent magnetic adsorption structure.

[0003] A search of CN115973304A discloses a ball-shoe composite permanent magnetic adsorption rust removal and climbing robot, in which a cleaning disc is arranged in a cleaning disc fixing seat, and the cleaning disc fixing seat is connected to a cleaning disc connecting frame. A ball-shoe composite permanent magnetic adsorption track is connected to each side of the cleaning disc connecting frame, and a self-spinning high-pressure nozzle is installed in the cleaning disc; the ball-shoe composite permanent magnetic adsorption track includes a front driving sprocket, a rear driven sprocket, a chain link, a chain link connecting rod, a servo motor and a harmonic reducer, and the chain link is formed by alternating magnetic chain links and universal ball chain links through chain link connecting rods, and the chain links are installed on the front driving sprocket and the rear driven sprocket through the chain link connecting rod, and the servo motor drives the sprocket to rotate through the harmonic reducer and the sprocket shaft.

[0004] However, the inventors have discovered through exploration that this technical solution still has at least the following defects: the wall-climbing robot in the above invention installs a self-spinning high-pressure nozzle in the cleaning tray, and uses the high-pressure water sprayed from the self-spinning high-pressure nozzle to perform rust removal operations. If the rust marks on the wall surface are heavy, the high-pressure water still cannot effectively remove the rust, and the rust removal effect is not significant enough. Summary of the Invention

[0005] In order to solve the problem that when a self-spinning high-pressure nozzle is installed in a cleaning tray and high-pressure water is sprayed from the self-spinning high-pressure nozzle for rust removal, if the rust marks on the wall are heavy, the high-pressure water cannot effectively remove the rust marks and the rust removal effect is not significant enough, the basic concept of the technical solution adopted by the present invention is:

[0006] A ball-and-track composite permanent magnetic adsorption rust removal wall-climbing robot, comprising a permanent magnetic adsorption track, a drive unit, a support unit, an installation unit, a liquid storage unit, a rust removal and cleaning unit, and a disassembly unit:

[0007] The mounting unit includes a mounting plate, an annular plate is fixedly connected to the outer wall of the bottom of the mounting plate, and symmetrically arranged arc-shaped guide plates are fixedly connected on both sides of the top of the mounting plate. The mounting plate is provided with symmetrically arranged through holes, and the inner walls of the through holes are slidably connected to the push rods;

[0008] The top of the rotary shaft is provided with a liquid inlet, and the bottom of the rotary shaft is fixedly mounted on the inner wall of the fixing hole, and the fixing hole is fixed on the bottom of the rotary shaft. The rotary shaft is provided with a cavity inside the rotary shaft, and symmetrical liquid inlets are provided on both sides of the rotary shaft. The liquid inlet and the cavity are communicated with the liquid inlet and the cavity. The outer walls of the rotary shaft are symmetrically connected to the sealing plates, and the top of the push rod is fixedly connected to the outer wall of the bottom of the sealing plate. The sealing plate is located on one side of the liquid inlet, and a liquid guide hole is provided in the middle of the bottom of the rotary shaft. The liquid guide hole and the cavity are communicated with the cavity. The bottom of the rotary shaft is provided with symmetrical mounting grooves on both sides of the bottom of the rotary shaft. The inner wall of the mounting groove is slidably provided with a wedge-shaped clamping block, and the inner wall of one side of the mounting groove is fixedly connected with a compression spring. A connecting groove is provided on one side of the wedge clamping block, and one end of the compression spring is fixedly connected to the inner wall of one side of the connecting groove.

[0009] The rust removal and cleaning unit includes a mounting shell, a liquid passage groove is provided at the bottom of the mounting shell, and a cleaning brush is installed on the inner wall of the bottom of the liquid passage groove by bolts, a liquid guide tube is installed on the top of the mounting shell, the top of the liquid guide tube is slidably arranged on the outer wall of the bottom end of the rotating shaft, the liquid guide hole and the liquid guide tube are connected, symmetrical clamping notches are provided on both sides of the top of the liquid guide tube, the wedge-shaped clamping block is slidably arranged on the inner wall of the clamping notch, and the bottom end of the push rod is in contact with the outer wall of the top of the liquid guide tube;

[0010] The cam is fixedly mounted on the support frame, and the guide rail is fixedly mounted on the support frame, and the guide rail is installed in a fixed manner.

[0011] As a preferred embodiment of the present invention, the permanent magnetic adsorption track is provided with two groups, and the permanent magnetic adsorption track is composed of a track body, a permanent magnet, a universal ball mounting seat, a universal ball, an outer plate and an inner plate, the universal ball is mounted on the universal ball mounting seat, the permanent magnet and the universal ball mounting seat are equidistantly and alternately mounted on the outer side wall of the track body, and the outer plate and the inner plate are symmetrically mounted on both sides of the track body.

[0012] As a preferred embodiment of the present invention, the drive unit consists of a fixed bracket, a drive motor, a drive shaft, a transmission rod, a driving sprocket and a driven sprocket, the driving sprocket and the driven sprocket are symmetrically installed on the front and rear sides of the track body, the inner side wall of the track body is provided with equidistantly distributed tooth grooves, the driving sprocket and the driven sprocket are both engaged with the tooth grooves, the drive shaft is connected to the driving sprocket, the transmission rod is connected to the driven sprocket, the output shaft of the drive motor is connected to the end position of the drive shaft through a coupling, and the drive motor is fixedly mounted on the fixed bracket.

[0013] As a preferred embodiment of the present invention, the support unit consists of a fixed support rod, a fixed seat and an arc-shaped support seat, and two fixed support rods are symmetrically arranged, and the fixed support rods are fixedly connected to the outer wall of the opposite side of the inner plate, the fixed bracket is fixedly connected to the bottom position of the fixed support rod, the fixed seat is fixedly installed on the fixed support rod, the arc-shaped support seat is fixedly arranged on the top outer wall of the fixed seat, and two arc-shaped support seats are symmetrically arranged, the top of the arc-shaped support seat is provided with an arc groove, the annular plate is slidably arranged on the inner wall of the arc groove, the inner wall of the arc groove is provided with an anti-slip groove, the outer wall of the annular plate is fixedly connected with an anti-slip strip, and the anti-slip strip is slidably connected to the inner wall of the anti-slip groove.

[0014] As a preferred embodiment of the present invention, a liquid storage cavity is provided on the inner side of the liquid storage box, the rotating shaft, the sealing plate and the push rod are all located on the inner side of the liquid storage cavity, the liquid inlet and the liquid storage cavity are communicated, a liquid inlet pipe is installed on the top of the liquid storage box, a sealing cover is provided on the top of the liquid inlet pipe, and the liquid inlet pipe and the liquid storage cavity are communicated.

[0015] As a preferred embodiment of the present invention, a reduction motor is fixedly installed on the top of the liquid storage box, and the output shaft of the reduction motor is connected to the top end of the rotating shaft through a coupling.

[0016] As a preferred embodiment of the present invention, the top outer wall of the mounting shell is fixedly connected to a symmetrically arranged support rod, the top end of the support rod is in contact with the outer wall of one side of the sliding plate, a positioning slot is provided at the top position of the support rod, and the end position of the positioning rod is an inclined structure at one end which is slidably arranged on the inner wall of the positioning slot.

[0017] As a preferred embodiment of the present invention, a rectangular movable opening is opened in the middle of the fixing seat, and the liquid guide tube and the support rod are both located inside the rectangular movable opening.

[0018] As a preferred embodiment of the present invention, the inner wall of the sliding sleeve is provided with symmetrically arranged guide grooves, the outer wall of the mounting rod is fixedly connected with symmetrically arranged slide bars, and the slide bars are slidably arranged on the inner wall of the guide grooves.

[0019] As a preferred embodiment of the present invention, a return spring is fixedly connected to the inner wall of one side of the sliding sleeve, one end of the return spring is fixedly connected to the end position of the mounting rod, a push-pull frame is fixedly provided at the end position of the sliding sleeve, and the end position of the push-pull frame is fixedly connected to the outer wall of one side of the mounting bracket.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] When the cam is in the closed position, the cam is in the closed position, and the cam is in the closed position, so that the cam is in the closed position and the cam is in the closed position, thereby the cam is in the closed position and the cam is in the closed position.

[0022] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the attached figure:

[0024] Figure 1 This is a schematic diagram of the overall structure of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0025] Figure 2 This is a schematic diagram of the connection structure of the permanent magnetic adsorption crawler, the drive unit and the support unit of a ball-and-track composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0026] Figure 3 This is a side structural diagram of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to the present invention;

[0027] Figure 4 This is a schematic diagram of the cross-sectional structure of the rust removal cleaning unit and the fixing seat of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0028] Figure 5 This is a schematic diagram of the cross-sectional structure of a liquid storage box of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0029] Figure 6 This is a schematic cross-sectional structural diagram of the connection between the mounting plate and the liquid storage box of a ball-and-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0030] Figure 7 This is a schematic side cross-sectional structural diagram of a liquid storage box of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to the present invention;

[0031] Figure 8 This is a schematic diagram of the bottom structure of the mounting plate of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0032] Figure 9 This is a schematic diagram of the cross-sectional structure of the rotating shaft of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0033] Figure 10 This is a schematic cross-sectional structural diagram of the connection between the rotating shaft and the liquid guide tube of a ball-and-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention;

[0034] Figure 11 This invention is a ball-shoe composite permanent magnetic adsorption type rust removal wall climbing robot Figure 8 A in the middle is an enlarged structural diagram;

[0035] Figure 12 This is a schematic diagram of the sliding sleeve cross-sectional structure of a ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of the present invention.

[0036] In the picture:

[0037] 100. Permanent magnetic adsorption crawler; 101. Crawler body; 102. Permanent magnet; 103. Universal ball mount; 104. Universal ball; 105. Outer plate; 106. Inner plate;

[0038] 200, drive unit; 201, fixed bracket; 202, drive motor; 203, drive shaft; 204, transmission rod; 205, driving sprocket; 206, driven sprocket;

[0039] 300, support unit; 301, fixed support rod; 302, fixed seat; 303, arc-shaped support seat; 304, rectangular movable opening; 305, arc-shaped groove;

[0040] 400, mounting unit; 401, mounting plate; 402, annular plate; 403, movable groove; 404, guide plate;

[0041] 500, liquid storage unit; 501, liquid storage box; 502, liquid storage chamber; 503, liquid inlet pipe; 504, rotating shaft; 5041, liquid inlet; 5042, mounting groove; 5043, wedge-shaped block; 5044, compression spring; 5045, liquid guide hole; 505, reduction motor; 506, sealing plate; 507, annular groove;

[0042] 600, rust removal and cleaning unit; 601, mounting housing; 602, liquid guide tube; 603, support rod; 604, cleaning brush; 605, clamping notch; 606, positioning notch; 607, ejector rod;

[0043] 700, disassembly unit; 701, mounting rod; 7011, slide bar; 702, sliding sleeve; 7021, guide groove; 703, sliding plate; 704, guide rod; 705, connecting rod; 706, mounting bracket; 707, guide bracket; 708, positioning rod; 709, guide block; 710, push-pull frame; 711, return spring. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0045] like Figures 1 to 12 shown

[0046] A ball-and-shoe composite permanent magnetic adsorption rust removal wall-climbing robot includes a permanent magnetic adsorption track 100, a drive unit 200, a support unit 300, an installation unit 400, a liquid storage unit 500, a rust removal and cleaning unit 600, and a disassembly unit 700.

[0047] The mounting unit 400 includes a mounting plate 401, with an annular plate 402 fixedly connected to the outer wall of the bottom of the mounting plate 401. Symmetrically arranged arc-shaped guide plates 404 are fixedly connected to both sides of the top of the mounting plate 401. The mounting plate 401 is provided with symmetrically arranged through holes, and the inner walls of the through holes are slidably connected to the ejector rods 607.

[0048] The liquid storage unit 500 includes a liquid storage box 501, an annular groove 507 is provided at the bottom of the liquid storage box 501, and the guide plate 404 is slidably arranged on the inner wall of the annular groove 507. The bottom of the liquid storage box 501 contacts the top of the mounting plate 401. A movable hole is provided in the middle of the top of the liquid storage box 501, and a rotating shaft 504 is rotatably installed inside the movable hole. A fixing hole is provided in the middle of the mounting plate 401, and the bottom of the rotating shaft 504 is fixedly installed on the inner wall of the fixing hole. A cavity is provided inside the rotating shaft 504, and symmetrical liquid inlets 5041 are provided on both sides of the rotating shaft 504. The liquid inlet 5041 is communicated with the cavity, and the outer walls on both sides of the rotating shaft 504 A symmetrically arranged sealing plate 506 is slidably connected, and the top end of the ejector rod 607 is fixedly connected to the outer wall of the bottom of the sealing plate 506. The sealing plate 506 is located on one side of the liquid inlet 5041. A liquid guide hole 5045 is opened in the middle of the bottom of the rotating shaft 504. The liquid guide hole 5045 is connected to the cavity. Symmetrically arranged mounting grooves 5042 are opened on both sides of the bottom of the rotating shaft 504. A wedge-shaped block 5043 is slidably provided on the inner wall of the mounting groove 5042. A compression spring 5044 is fixedly connected to the inner wall of one side of the mounting groove 5042. A connecting groove is opened on one side of the wedge-shaped block 5043. One end of the compression spring 5044 is fixedly connected to the inner wall of one side of the connecting groove.

[0049] The rust removal and cleaning unit 600 includes a mounting housing 601. A liquid passage groove is defined at the bottom of the mounting housing 601, and a cleaning brush 604 is mounted to the inner wall of the bottom of the liquid passage groove via bolts. A liquid guide tube 602 is mounted on the top of the mounting housing 601. The top of the liquid guide tube 602 is slidably mounted on the outer wall of the bottom end of the rotating shaft 504. A liquid guide hole 5045 communicates with the liquid guide tube 602. Symmetrically arranged clamping notches 605 are defined on both sides of the top of the liquid guide tube 602. Wedge-shaped clamping blocks 5043 are slidably mounted on the inner walls of the clamping notches 605. The bottom end of the ejector rod 607 contacts the outer wall of the top of the liquid guide tube 602.

[0050] The disassembly unit 700 includes a mounting rod 701, a sliding sleeve 702, a sliding plate 703, a guide rod 704, a connecting rod 705, a mounting bracket 706, a guide bracket 707, a positioning rod 708 and a guide block 709. The sliding plate 703, the guide rod 704, the connecting rod 705, the mounting bracket 706, the guide bracket 707, the positioning rod 708 and the guide block 709 are symmetrically arranged in two. The mounting rod 701 is fixedly connected to the outer wall of one side of the mounting plate 401, the sliding sleeve 702 is slidably sleeved on the outer wall of the mounting rod 701, and symmetrical movable grooves 403 are opened on both sides of the bottom of the mounting plate 401. The sliding plate 70 The guide rod 704 is fixedly connected to the outer wall of the sliding plate 703, the positioning rod 708 is fixedly connected to the bottom of the sliding plate 703, the guide block 709 is fixedly connected to the end of the positioning rod 708, the guide block 709 is in contact with the outer wall of one side of the wedge-shaped block 5043, the end of the positioning rod 708 away from the guide block 709 is an inclined structure, the mounting bracket 706 is fixedly set on the outer wall of the sliding sleeve 702, the guide bracket 707 is fixedly set at the end of the guide rod 704, and the two ends of the connecting rod 705 are respectively hinged on the mounting bracket 706 and the guide bracket 707.

[0051] In a specific embodiment, two groups of permanent magnetic adsorption crawlers 100 are provided, and the permanent magnetic adsorption crawler 100 is composed of a crawler body 101, a permanent magnet 102, a universal ball mounting seat 103, a universal ball 104, an outer plate 105 and an inner plate 106. The universal ball 104 is mounted on the universal ball mounting seat 103, the permanent magnet 102 and the universal ball mounting seat 103 are equidistantly and alternately mounted on the outer wall of the crawler body 101, the outer plate 105 and the inner plate 106 are symmetrically mounted on both sides of the crawler body 101, and the drive unit 200 is composed of a fixed bracket 201, a drive motor 202, a drive motor 203, a drive motor 204, a drive motor 205, a drive motor 206, a drive motor 207, a drive motor 208, a drive motor 209, a drive motor 210, a drive motor 211, a drive motor 212, a drive motor 213, a drive motor 214, a drive motor 215, a drive motor 216, a drive motor 217, a drive motor 218, a drive motor 219, a drive motor 220, a drive motor 221, a drive motor 222, a drive motor 223, a drive motor 224, a drive motor 225, a drive motor 226, a drive motor 227, a drive motor 228, a drive motor 229, a drive motor 230, a drive motor 231, a drive motor 232, a drive motor 233, a drive motor 234, a drive motor 235, a drive motor 236, a drive motor 237, a drive motor 238, a drive motor 239, a drive motor 24 The driving shaft 203, the transmission rod 204, the driving sprocket 205 and the driven sprocket 206 are symmetrically mounted on the front and rear sides of the crawler body 101. The inner wall of the crawler body 101 is provided with equidistantly distributed tooth grooves. The driving sprocket 205 and the driven sprocket 206 are engaged with the tooth grooves. The driving shaft 203 is connected to the driving sprocket 205, the transmission rod 204 is connected to the driven sprocket 206, and the output shaft of the driving motor 202 is connected to the end position of the driving shaft 203 through a coupling. The driving motor 202 is fixedly mounted on the fixed bracket 201. When When the wall-climbing robot climbs onto the wall to perform rust removal work through the permanent magnetic adsorption crawler 100 and the drive unit 200, the cleaning brush 604 contacts the wall surface. The universal ball 104 provided can convert the sliding friction of some chain links when the wall-climbing robot moves into rolling friction. Since the rolling friction coefficient of the universal ball 104 is much smaller than the sliding friction coefficient of the permanent magnet 102, the movement flexibility of the wall-climbing robot is improved. The support unit 300 is composed of a fixed support rod 301, a fixed seat 302 and an arc-shaped support seat 303. There are two fixed support rods 301 symmetrically provided. The fixed support rod 301 is fixed. It is fixedly connected to the outer wall on the opposite side of the inner plate 106, the fixed bracket 201 is fixedly connected to the bottom position of the fixed support rod 301, the fixed seat 302 is fixedly installed on the fixed support rod 301, the arc-shaped support seat 303 is fixedly set on the outer wall of the top of the fixed seat 302, and two arc-shaped support seats 303 are symmetrically arranged. An arc-shaped groove 305 is provided on the top of the arc-shaped support seat 303, and the annular plate 402 is slidably set on the inner wall of the arc-shaped groove 305. An anti-slip groove is provided on the inner wall of the arc-shaped groove 305, and an anti-slip strip is fixedly connected to the outer wall of the annular plate 402, and the anti-slip strip is slidably connected to the inner wall of the anti-slip groove.

[0052] Furthermore, a liquid storage chamber 502 is provided inside the liquid storage box 501, the rotating shaft 504, the sealing plate 506 and the top rod 607 are all located inside the liquid storage chamber 502, the liquid inlet 5041 is communicated with the liquid storage chamber 502, a liquid inlet pipe 503 is installed on the top of the liquid storage box 501, a sealing cover is provided on the top of the liquid inlet pipe 503, the liquid inlet pipe 503 is communicated with the liquid storage chamber 502, and the rust removal liquid is injected into the liquid storage chamber 502 through the provided liquid inlet pipe 503. During installation, the liquid guide tube 602 moves upward, so that the liquid guide tube 602 and the bottom end of the rotating shaft 504 are connected. At this time, under the action of the compression spring 5044, the wedge-shaped clamping block 5043 can be pushed into the clamping groove 605, thereby achieving a fixed connection effect between the liquid guide tube 602 and the rotating shaft 504. At the same time, the liquid guide tube 602 pushes the push rod 607 to move upward, so that the push rod 607 drives the sealing plate 506 to move upward, so that the liquid inlet 5041 is opened, so that The rust removing liquid in the liquid storage chamber 502 can enter the rotating shaft 504 through the liquid inlet 5041 and flow into the liquid guide tube 602 through the liquid guide hole 5045, and then the rust removing liquid is transported to the mounting shell 601 through the liquid guide tube 602, so that the rust removing liquid can be distributed to the cleaning brush 604. A reduction motor 505 is fixedly installed on the top of the liquid storage box 501, and the output shaft of the reduction motor 505 is connected to the top position of the rotating shaft 504 through a coupling. When the wall-climbing robot climbs onto the wall through the permanent magnetic adsorption crawler 100 and the drive unit 200 to perform rust removal, the cleaning brush 604 contacts the wall, and the reduction motor 505 is started at the same time to drive the rotating shaft 504 to rotate. The rotating shaft 504 drives the mounting plate 401 and the liquid guide tube 602 to rotate, and the liquid guide tube 602 drives the mounting shell 601 and the cleaning brush 604 to rotate, so that the cleaning brush 604 can remove rust from the wall, thereby achieving an efficient rust removal effect on the wall.

[0053] Furthermore, a symmetrically arranged support rod 603 is fixedly connected to the outer wall of the top of the mounting shell 601. The top of the support rod 603 contacts the outer wall of one side of the sliding plate 703. A positioning notch 606 is provided at the top of the support rod 603. One end of the positioning rod 708 is slidably provided on the inner wall of the positioning notch 606 at the end position of the inclined structure. A rectangular movable opening 304 is provided in the middle of the fixed seat 302. The liquid guide tube 602 and the support rod 603 are both located inside the rectangular movable opening 304. A symmetrically arranged guide groove is provided on the inner wall of the sliding sleeve 702. 7021, the outer wall of the mounting rod 701 is fixedly connected with a symmetrically arranged slide 7011, the slide 7011 is slidably arranged on the inner wall of the guide groove 7021, the inner wall of one side of the sliding sleeve 702 is fixedly connected with a return spring 711, one end of the return spring 711 is fixedly connected to the end position of the mounting rod 701, the end position of the sliding sleeve 702 is fixedly provided with a push-pull frame 710, the end position of the push-pull frame 710 is fixedly connected to the outer wall of one side of the mounting bracket 706, when the rust removal work is completed, pull the push-pull frame 710 to move horizontally, the push-pull frame 706 is fixedly connected to the outer wall of the mounting bracket 706, and the push-pull frame 706 is fixedly connected to the outer wall of the mounting bracket 706. 10 drives the sliding sleeve 702 to move horizontally, and the sliding sleeve 702 drives the mounting bracket 706 to move horizontally, and the guide bracket 707 provided in conjunction with it changes the inclination angle of the connecting rod 705. When the inclination angle of the connecting rod 705 changes, the guide bracket 707 provided in conjunction with it can drive the guide rod 704 to move relative to it, so that the guide rod 704 drives the sliding plate 703 to move relative to it, and the sliding plate 703 drives the positioning rod 708 to move relative to it, so that the positioning rod 708 can be moved out of the positioning slot 606. When the positioning rod 708 drives the guide block 709 to move relative to each other, the guide block 709 can push the wedge block 5043 to move relative to each other until the wedge block 5043 is disengaged from the clamping groove 605, and then the mounting shell 601 is pulled to move. The mounting shell 601 drives the liquid guide tube 602 and the support rod 603 to move, so that the liquid guide tube 602 can be removed from the bottom end of the rotating shaft 504. After the disassembly is completed, the mounting shell 601 and the cleaning brush 604 are taken to one side to facilitate people to clean the cleaning brush 604.

[0054] The implementation principle of the ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot of this embodiment is as follows:

[0055] When in use, the rust removal liquid is injected into the liquid storage chamber 502 through the provided liquid inlet pipe 503, and the mounting shell 601 is mounted at the bottom position of the fixing base 302. When the mounting shell 601 is mounted, the liquid guide tube 602 moves upward so that the liquid guide tube 602 and the bottom end of the rotating shaft 504 are docked. At this time, under the action of the compression spring 5044, the wedge-shaped clamping block 5043 can be pushed into the clamping groove 605, thereby achieving the effect of fixing the liquid guide tube 602 and the rotating shaft 504. At the same time, the liquid guide tube 602 pushes the push rod 607 to move upward, so that the push rod 607 drives the sealing plate 506 to move upward, so as to facilitate the opening of the liquid inlet 5041, so that the rust removal liquid in the liquid storage chamber 502 can enter through the liquid inlet 5041. The rust removal liquid flows into the rotating shaft 504 and flows into the liquid guide pipe 602 through the liquid guide hole 5045. Then, the rust removal liquid is transported to the installation shell 601 through the liquid guide pipe 602, so that the rust removal liquid can be distributed to the cleaning brush 604. When the wall-climbing robot climbs onto the wall through the permanent magnetic adsorption crawler 100 and the drive unit 200 to perform rust removal, the cleaning brush 604 contacts the wall. The universal ball 104 provided can convert the sliding friction of some chain links when the wall-climbing robot moves into rolling friction. Since the rolling friction coefficient of the universal ball 104 is much smaller than the sliding friction coefficient of the permanent magnet 102, the movement flexibility of the wall-climbing robot is improved. Then, the reduction motor 505 is started to drive the rotating shaft 504 to rotate. The rotating shaft 504 The mounting plate 401 and the liquid guide tube 602 are driven to rotate, and the liquid guide tube 602 drives the mounting shell 601 and the cleaning brush 604 to rotate, so that the cleaning brush 604 can remove rust from the wall surface, thereby achieving an efficient rust removal effect on the wall surface. When the rust removal work is completed and the cleaning brush 604 needs to be cleaned, the push-pull frame 710 is pulled to move horizontally, and the push-pull frame 710 drives the sliding sleeve 702 to move horizontally, and the sliding sleeve 702 drives the mounting bracket 706 to move horizontally, and the guide bracket 707 provided in conjunction with the connection rod 705 changes the inclination angle. When the inclination angle of the connection rod 705 changes, the guide bracket 707 provided in conjunction with the connection rod 705 can drive the guide rod 704 to do relative movement, so that the guide The forward rod 704 drives the sliding plate 703 to move relative to each other, and the sliding plate 703 drives the positioning rod 708 to move relative to each other, so that the positioning rod 708 is moved out of the positioning slot 606. At the same time, the positioning rod 708 drives the guide block 709 to move relative to each other, so that the guide block 709 can push the wedge block 5043 to move relative to each other until the wedge block 5043 is disengaged from the clamping slot 605. Then, the mounting shell 601 is pulled to move, and the mounting shell 601 drives the liquid guide tube 602 and the support rod 603 to move, so that the liquid guide tube 602 is removed from the bottom end of the rotating shaft 504. After the disassembly is completed, the mounting shell 601 and the cleaning brush 604 are taken to one side for people to clean the cleaning brush 604.

Claims

1. A ball-and-shoe composite permanent magnetic adsorption rust removal wall-climbing robot, comprising a permanent magnetic adsorption track (100), a drive unit (200), a support unit (300), an installation unit (400), a liquid storage unit (500), a rust removal cleaning unit (600) and a disassembly unit (700), characterized in that: The mounting unit (400) comprises a mounting plate (401), a ring plate (402) being fixedly connected to the outer wall of the bottom of the mounting plate (401), guide plates (404) of symmetrically arranged arc structures being fixedly connected to both sides of the top of the mounting plate (401), and symmetrically arranged through holes being opened on the mounting plate (401), and a push rod (607) being slidably connected to the inner wall of the through hole; The liquid storage unit (500) comprises a liquid storage box (501), the bottom of the liquid storage box (501) is provided with an annular groove (507), the guide plate (404) is slidably arranged on the inner wall of the annular groove (507), the bottom of the liquid storage box (501) is in contact with the top of the mounting plate (401), a movable hole is provided in the middle of the top of the liquid storage box (501), and a rotating shaft (504) is rotatably installed inside the movable hole, a fixing hole is provided in the middle of the mounting plate (401), and the bottom of the rotating shaft (504) is fixedly installed on the inner wall of the fixing hole, a cavity is provided inside the rotating shaft (504), and symmetrically arranged liquid inlets (5041) are provided on both sides of the rotating shaft (504), the liquid inlet (5041) is communicated with the cavity, and the two sides of the rotating shaft (504) The outer wall is slidably connected to a symmetrically arranged sealing plate (506); the top end of the push rod (607) is fixedly connected to the outer wall at the bottom of the sealing plate (506); the sealing plate (506) is located on one side of the liquid inlet (5041); a liquid guide hole (5045) is opened in the middle of the bottom of the rotating shaft (504); the liquid guide hole (5045) is communicated with the cavity; symmetrically arranged mounting grooves (5042) are opened on both sides of the bottom of the rotating shaft (504); a wedge-shaped clamping block (5043) is slidably arranged on the inner wall of the mounting groove (5042); a compression spring (5044) is fixedly connected to the inner wall of one side of the mounting groove (5042); a connecting groove is opened on one side of the wedge-shaped clamping block (5043); one end of the compression spring (5044) is fixedly connected to the inner wall of one side of the connecting groove; The rust removal cleaning unit (600) comprises a mounting shell (601), a liquid passage groove is provided at the bottom of the mounting shell (601), and a cleaning brush (604) is installed on the inner wall of the bottom of the liquid passage groove by bolts, a liquid guide tube (602) is installed at the top of the mounting shell (601), the top of the liquid guide tube (602) is slidably arranged on the outer wall of the bottom end of the rotating shaft (504), the liquid guide hole (5045) and the liquid guide tube (602) are connected, and symmetrically arranged clamping notches (605) are provided on both sides of the top of the liquid guide tube (602), the wedge-shaped clamping block (5043) is slidably arranged on the inner wall of the clamping notch (605), and the bottom end of the push rod (607) is in contact with the outer wall of the top of the liquid guide tube (602); The disassembly unit (700) comprises a mounting rod (701), a sliding sleeve (702), a sliding plate (703), a guide rod (704), a connecting rod (705), a mounting bracket (706), a guide bracket (707), a positioning rod (708) and a guide block (709), wherein two of the sliding plate (703), the guide rod (704), the connecting rod (705), the mounting bracket (706), the guide bracket (707), the positioning rod (708) and the guide block (709) are symmetrically arranged, wherein the mounting rod (701) is fixedly connected to an outer wall of one side of the mounting plate (401), the sliding sleeve (702) is slidably sleeved on the outer wall of the mounting rod (701), and symmetrically arranged movable grooves (403) are provided on both sides of the bottom of the mounting plate (401), and the sliding plate (703) is slidably connected to the inner wall of the movable groove (403), the guide rod (704) is fixedly connected to the outer wall of one side of the sliding plate (703), the positioning rod (708) is fixedly connected to the bottom position of the sliding plate (703), the guide block (709) is fixedly connected to the end position of the positioning rod (708), the guide block (709) is in contact with the outer wall of one side of the wedge-shaped block (5043), the end of the positioning rod (708) away from the guide block (709) is an inclined structure, the mounting bracket (706) is fixedly set on the outer wall of the sliding sleeve (702), the guide bracket (707) is fixedly set at the end position of the guide rod (704), and the two ends of the connecting rod (705) are respectively hinged on the mounting bracket (706) and the guide bracket (707).

2. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 1, characterized in that: The permanent magnetic adsorption crawler (100) is provided with two groups, and the permanent magnetic adsorption crawler (100) is composed of a crawler body (101), a permanent magnet (102), a universal ball mounting seat (103), a universal ball (104), an outer plate (105) and an inner plate (106), wherein the universal ball (104) is mounted on the universal ball mounting seat (103), the permanent magnet (102) and the universal ball mounting seat (103) are equidistantly and alternately mounted on the outer side wall of the crawler body (101), and the outer plate (105) and the inner plate (106) are symmetrically mounted on both sides of the crawler body (101).

3. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 2, characterized in that: The driving unit (200) comprises a fixed bracket (201), a driving motor (202), a driving shaft (203), a transmission rod (204), a driving sprocket (205) and a driven sprocket (206); the driving sprocket (205) and the driven sprocket (206) are symmetrically mounted on the front and rear sides of the crawler body (101); the inner wall of the crawler body (101) is provided with tooth grooves distributed at equal intervals; the driving sprocket (205) and the driven sprocket (206) are both meshed with the tooth grooves; the driving shaft (203) is connected to the driving sprocket (205); the transmission rod (204) and the driven sprocket (206) are connected; the output shaft of the driving motor (202) is connected to the end position of the driving shaft (203) through a coupling; and the driving motor (202) is fixedly mounted on the fixed bracket (201).

4. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 3 is characterized in that: The support unit (300) is composed of a fixed support rod (301), a fixed seat (302) and an arc-shaped support seat (303). Two fixed support rods (301) are symmetrically arranged. The fixed support rod (301) is fixedly connected to the outer wall on the opposite side of the inner plate (106). The fixed bracket (201) is fixedly connected to the bottom position of the fixed support rod (301). The fixed seat (302) is fixedly installed on the fixed support rod (301). The support seat (303) is fixedly arranged on the top outer wall of the fixed seat (302), and two arc-shaped support seats (303) are symmetrically arranged. An arc-shaped groove (305) is opened on the top of the arc-shaped support seat (303), and the annular plate (402) is slidably arranged on the inner wall of the arc-shaped groove (305). An anti-slip groove is opened on the inner wall of the arc-shaped groove (305), and an anti-slip strip is fixedly connected to the outer wall of the annular plate (402), and the anti-slip strip is slidably connected to the inner wall of the anti-slip groove.

5. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 1, characterized in that: A liquid storage chamber (502) is arranged inside the liquid storage box (501); the rotating shaft (504), the sealing plate (506) and the push rod (607) are all located inside the liquid storage chamber (502); the liquid inlet (5041) is communicated with the liquid storage chamber (502); a liquid inlet pipe (503) is installed on the top of the liquid storage box (501); a sealing cover is arranged on the top of the liquid inlet pipe (503); and the liquid inlet pipe (503) is communicated with the liquid storage chamber (502).

6. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 1, characterized in that: A reduction motor (505) is fixedly mounted on the top of the liquid storage box (501), and the output shaft of the reduction motor (505) is connected to the top position of the rotating shaft (504) through a coupling.

7. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 1, characterized in that: The top outer wall of the mounting shell (601) is fixedly connected to a symmetrically arranged support rod (603), the top of the support rod (603) is in contact with the outer wall of one side of the sliding plate (703), a positioning notch (606) is provided at the top of the support rod (603), and the end of the positioning rod (708) is an inclined structure and is slidably arranged on the inner wall of the positioning notch (606).

8. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 4, characterized in that: A rectangular movable opening (304) is provided in the middle of the fixing seat (302), and the liquid guiding tube (602) and the supporting rod (603) are both located inside the rectangular movable opening (304).

9. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 1, characterized in that: The inner wall of the sliding sleeve (702) is provided with a symmetrically arranged guide groove (7021), and the outer wall of the mounting rod (701) is fixedly connected with a symmetrically arranged slide bar (7011), and the slide bar (7011) is slidably arranged on the inner wall of the guide groove (7021).

10. The ball-shoe composite permanent magnetic adsorption rust removal wall-climbing robot according to claim 1, characterized in that: A return spring (711) is fixedly connected to the inner wall of one side of the sliding sleeve (702), one end of the return spring (711) is fixedly connected to the end position of the mounting rod (701), a push-pull frame (710) is fixedly provided at the end position of the sliding sleeve (702), and the end position of the push-pull frame (710) is fixedly connected to the outer wall of one side of the mounting bracket (706).

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