Rust removal device, method and system for interior of U-shaped rib

Abstract

The invention provides a device, method and system for derusting the interior of a U-shaped rib, and the device comprises a light emitter which emits a light beam; the reflecting mirror changes the light path of the light beam; the control center receives related information, analyzes the related information and then sends an angle instruction signal; and the control assembly receives the angle instruction signal and is used for adjusting the rotating angle of the illuminator and / or the reflecting mirror, so that the light beams reflected by the reflecting mirror are adjusted to the to-be-derusted area in the U rib. When the derusting device, method and system are used for derusting, through combined use of the control center and the control assembly, by taking the bridge field as an example, the to-be-derusted area in the U rib can be effectively and accurately cleaned, the derusting efficiency is improved, and the derusting operation quality is ensured. And a good welding environment is provided for welding and repairing the steel bridge by applying a U-rib upward position inner welding repairing technology, so that the quality of the upward position inner welding repaired steel bridge is effectively ensured, and an important role is played in prolonging the service life of the bridge.

Description

Technical Field

[0001] The invention belongs to the field of engineering, and in particular relates to a rust removal device, method and system for the inside of a U-rib. Background Art

[0002] U-ribs are widely used in the fields of construction, bridges, and ships due to their strong bearing capacity, light and stable structure, and convenient and efficient construction. Taking the bridge field as an example, U-ribs are specifically used in large orthotropic steel structure bridges in service. However, many old bridges were built before the emergence of U-rib internal welding technology, and the U-ribs were not welded inside. Long-term use can easily cause cracks, which affects the strength and reduces the service life, requiring regular maintenance. The use of U-rib upward internal welding repair technology can be used to repair the inside of the U-rib and strengthen the overall structure of the steel bridge, which can greatly improve the strength of the bridge and increase the service life of the bridge.

[0003] For old bridges that have been in service for many years, rust is inevitable inside the U-rib. The presence of rust will directly affect the quality of welding repair of steel bridges using the U-rib upward internal welding repair technology. Therefore, before applying the U-rib upward internal welding repair technology, it is of utmost importance to remove the rust attached to the weld position inside the U-rib. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is how to effectively remove rust from the area to be removed rust inside the U rib.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A rust removal device for the inside of a U-rib, comprising:

[0007] A light emitter, for emitting a light beam;

[0008] A reflector, used to change the optical path of the light beam by reflection;

[0009] The control center receives the angle information of the light emitter and / or the reflector and the position information of the area to be derusted inside the U-rib, and sends an angle command signal after analysis;

[0010] The control component receives the angle command signal sent by the control center and is used to adjust the rotation angle of the light emitter and / or the reflector so that the light beam reflected by the reflector is adjusted to the area to be derusted inside the U rib.

[0011] Furthermore, the light beam emitted by the light emitter is laser, infrared or ultraviolet.

[0012] Furthermore, the rust removal device also includes a first guide rail, a first walking mechanism and a second walking mechanism. The first guide rail is provided at the opening of the U-rib and along the extension direction of the U-rib. The first guide rail is sequentially connected to the first walking mechanism and the second walking mechanism through its guide rod along the extension direction of the U-rib. The first walking mechanism is rotatably connected to the reflector, and the second walking mechanism is rotatably connected to the light emitter.

[0013] Furthermore, a first servo motor is provided at one end of the first guide rail for rotating a guide rod of the first guide rail to drive the light emitter and the reflector.

[0014] Furthermore, the rust removal device also includes a second guide rail, a third guide rail, a third walking mechanism and a fourth walking mechanism. The second guide rail and the third guide rail are arranged side by side at the opening of the U-rib and along the extension direction of the U-rib. The second guide rail is connected to the third walking mechanism through its guide rod, and the third guide rail is connected to the fourth walking mechanism through its guide rod. The third walking mechanism is rotatably connected to the reflector, and the fourth walking mechanism is rotatably connected to the light emitter.

[0015] Furthermore, a second servo motor is provided at one end of the second guide rail for rotating the guide rod of the second guide rail to drive the reflector; and a third servo motor is provided at one end of the third guide rail for rotating the guide rod of the third guide rail to drive the light emitter.

[0016] Furthermore, the control component also includes a first displacement sensor arranged on the third walking mechanism and a second displacement sensor arranged on the fourth walking mechanism, which are used to move the position of the light emitter and / or the reflector so that the light beam after reflection by the reflector is adjusted to the area to be derusted inside the U rib.

[0017] A method for removing rust from the inside of a U-rib, using the above-mentioned rust removal device to remove rust from the inside of the U-rib, comprises the following steps:

[0018] S1, receiving the angle information of the light emitter and / or the reflector and the position information of the area to be derusted inside the U-rib, and sending an angle command signal after analysis;

[0019] S2, receiving the angle command signal sent by the control center in step S1, adjusting the rotation angle of the light emitter and / or the reflector, and illuminating the rust-removing area inside the U-rib after the light beam emitted by the light emitter is reflected by the reflector to remove the rust.

[0020] Further, the method further comprises the following steps:

[0021] S3, receiving the position information of the light emitter and / or the reflector from the opening of the U-rib, and sending a displacement command signal after analysis;

[0022] S4, receiving the displacement command signal sent by the control center in step S3, adjusting the distance between the light emitter and / or the reflector and the opening of the U-rib, and illuminating the rust-removing area inside the U-rib after the light beam emitted by the light emitter is reflected by the reflector to remove the rust.

[0023] Further, the method further comprises the following steps:

[0024] S0. Before step S1, the position information of the area to be derusted inside the U rib is collected and transmitted to the control center.

[0025] Further, the method further comprises the following steps:

[0026] S5. After the rust removal operation is completed, the rust removal effect inside the U rib is checked, and it is analyzed whether it is necessary to perform rust removal again on the area inside the U rib where the rust removal operation has been completed.

[0027] A rust removal system for the inside of a U-rib, comprising a light emitter and a reflector, the rust removal system is used to implement the above-mentioned rust removal method for the inside of a U-rib, the rust removal system also comprising:

[0028] The control center receives the position information of the area to be rust-removed inside the U-rib, receives the angle information of the light emitter and / or the reflector, and / or receives the position information of the light emitter and / or the reflector from the opening of the U-rib, and sends an angle command signal and / or a displacement command signal after analysis.

[0029] Further, the rust removal system also includes:

[0030] The control component includes a reflector angle sensor and a light emitter angle sensor, which receives an angle command signal sent by a control center and is used to adjust the rotation angle of the light emitter and / or the reflector, so that the light beam emitted by the light emitter is reflected by the reflector and illuminates the rust-removing area inside the U-rib.

[0031] Furthermore, the control component also includes:

[0032] The first displacement sensor and the second displacement sensor are used for receiving the displacement command signal sent by the control center, and are used for adjusting the distance between the light emitter and / or the reflector and the opening of the U-rib, so that the light beam emitted by the light emitter is reflected by the reflector and illuminates the rust-removing area inside the U-rib.

[0033] Further, the rust removal system also includes:

[0034] A second guide rail is arranged at the opening of the U rib along the extension direction of the U rib;

[0035] A third guide rail, arranged side by side with the second guide rail and disposed at the opening of the U rib along the extension direction of the U rib;

[0036] A third walking mechanism, one end of which is connected to the second guide rail and the other end of which is rotatably connected to the reflector;

[0037] The fourth walking mechanism has one end connected to the third guide rail and the other end rotatably connected to the light emitter.

[0038] Further, the rust removal system also includes:

[0039] A second servo motor is connected to one end of the second guide rail and is used to rotate a guide rod of the second guide rail to drive the reflector;

[0040] The third servo motor is connected to one end of the third guide rail and is used for rotating the guide rod of the third guide rail to drive the light emitter.

[0041] Further, the rust removal system also includes:

[0042] The detection and collection equipment is used to collect the position information of the area to be derusted inside the U rib and transmit it to the control center.

[0043] Further, the rust removal system also includes:

[0044] The inspection equipment is used to check the rust removal effect inside the U-rib after the rust removal operation is completed, and to analyze whether it is necessary to perform rust removal again on the area inside the U-rib where the rust removal operation has been completed.

[0045] The rust removal device for the inside of a U-rib provided by the present invention comprises a light emitter, a reflector, a control center and a control component. The light emitter emits a light beam, and changes the optical path of the light beam after being reflected by the reflector. The control center receives the angle information of the light emitter and / or the reflector and the position information of the area to be rusted inside the U-rib, and sends an angle command signal to the control component after comprehensive analysis. After receiving the angle command signal, the control component changes the path of the light emitted by the light emitter by adjusting the rotation angle of the light emitter and / or the reflector until the light beam after being reflected by the reflector falls on the area to be rusted inside the U-rib. Start the light emitter to accurately remove rust from the area to be rusted inside the U-rib.

[0046] The rust removal device, method and system provided by the present invention are used for rust removal. By using the control center and the control components in combination, taking the bridge field as an example, the rust removal area in the U rib can be effectively and accurately cleaned, thereby improving the efficiency of rust removal and ensuring the quality of rust removal. This provides a good welding environment for welding and repairing steel bridges using the U rib internal welding repair technology, thereby effectively ensuring the quality of the internal welding repaired steel bridges, and plays an important role in extending the service life of the bridges. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the rust removal device used for the inside of the U rib of the present invention;

[0048] Figure 2 A schematic diagram of a U-rib for rust removal of the rust removal device provided by the present invention;

[0049] Figure 3 The first guide rail of the rust removal device of the present invention;

[0050] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0051] 1. U rib, 2. first guide rail, 3. light emitter, 4. reflector. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Throughout this article, unless otherwise specified, the U-rib mentioned in this article can be a U-rib used in any scenario in the construction field, bridge field, and ship field. In order to facilitate the description of the rust removal device, method and system for the inside of the U-rib provided by the present invention, the rust removal inside the bridge U-rib 1 is taken as an example for description below.

[0054] like Figures 1 to 3 As shown, the first technical solution provided by the present invention is specifically a device for removing rust from the inside of a U-rib, including a light emitter 3, a reflector 4, a control center (not shown in the figure) and a control component (not shown in the figure). The light emitter emits a light beam, which changes the light path of the light beam after being reflected by the reflector 4. The control center receives the angle information of the light emitter 3 and / or the reflector 4 and the position information of the area to be removed from the inside of the U-rib 1, and sends an angle command signal to the control component after comprehensive analysis. After receiving the angle command signal, the control component changes the path of the light emitted by the light emitter 3 by adjusting the rotation angle of the light emitter 3 and / or the reflector 4, until the light beam reflected by the reflector 4 falls on the area to be removed from the inside of the U-rib 1. Start the light emitter 3 to accurately remove rust from the area to be removed from the inside of the U-rib 1.

[0055] By using the rust removal device provided by the present invention to remove rust, the control center and the control components are used in combination. Taking the bridge field as an example, the rust removal area in the U rib 1 can be effectively and accurately cleaned, thereby improving the efficiency of rust removal and ensuring the quality of rust removal. This provides a good welding environment for welding and repairing steel bridges using the U rib upward internal welding repair technology, thereby effectively ensuring the quality of the upward internal welding repaired steel bridge, and plays an important role in extending the service life of the bridge.

[0056] In the present embodiment, the light emitter 3 is preferably a laser, and the emitted light beam is a laser. The laser beam can concentrate high energy on the metal surface in a very short time, so that the rust layer can be quickly vaporized or peeled off, greatly improving the rust removal efficiency. Compared with traditional mechanical rust removal and chemical rust removal methods, the laser rust remover can complete the cleaning of a large number of rust layers in a short time. No chemical agents are required during the laser rust removal process, which avoids the generation and treatment of chemical waste liquids and is environmentally friendly and pollution-free. The laser rust remover can achieve accurate cleaning of rust layers of different thicknesses and materials by adjusting the focal length and power of the laser beam. It has higher flexibility and will not cause damage to the object itself.

[0057] In a specific embodiment, the light beam generated by the light emitter 3 can also be infrared or ultraviolet. Infrared has a strong thermal effect and can evenly heat the metal surface, so that the rust layer expands due to heat and separates from the metal substrate, thereby achieving the purpose of rust removal. This heating method can avoid metal deformation or damage caused by local overheating. Infrared rust removal equipment is relatively simple and easy to operate, and does not require professional technicians to operate.

[0058] In this embodiment, a first guide rail 2 is provided at the opening of the U rib 1 and along the extension direction of the U rib 1. The first guide rail 2 is sequentially connected with a first running mechanism and a second running mechanism through its guide rod along the extension direction of the U rib 1. The first running mechanism is rotatably connected to the reflector 4, and the second running mechanism is rotatably connected to the light emitter 3. The arrangement of the first guide rail 2, the first running mechanism, and the second running mechanism is conducive to limiting the relative position and movement path of the light emitter 3 and the reflector 4, enhancing the stability of the light emitter 3 and the reflector 4, and effectively preventing the light path of the light beam from deviating too much from the rust removal area, so that a small range adjustment can reach the landing point of the light beam to the rust removal area. The first guide rail 2 and the U rib 1 can be detachably connected or independently arranged. The first guide rail 2 carries the first running mechanism and the second running mechanism, the first running mechanism carries the reflector 4, and the second running mechanism carries the light emitter 3. Through manual operation, the distance between the first running mechanism and the second running mechanism and the opening of the U rib 1 can be moved respectively, thereby adjusting the light path of the emitted light beam. During manual operation, the distance between the first running mechanism and the second running mechanism can also be adjusted, thereby adjusting the light path of the emitted light beam. It should be noted that, due to the attenuation of laser, the power density of the laser beam during the rust removal process can be better controlled by adjusting the distance between the light emitter 3 and the reflector 4, thereby ensuring that the laser power is sufficient to remove rust during long-distance laser irradiation.

[0059] In this embodiment, a first servo motor is provided at one end of the first guide rail 2 near the opening of the U rib 1 to replace manual operation, reduce labor costs and increase accuracy. The first servo motor can be used to rotate the guide rod of the first guide rail 2 to drive the light emitter 3 and the reflector 4, and synchronously move the distance between the first walking mechanism, the second walking mechanism and the opening of the U rib 1, thereby adjusting the optical path of the emitted light beam. However, at this time, the optical path of the light beam cannot be changed by adjusting the distance between the first walking mechanism and the second walking mechanism. It should be noted that the driving device can be a servo motor, or it can be a driving device such as a hydraulic motor or a progressive motor.

[0060] To optimize the above scheme, in a specific embodiment, the rust removal device may also include a second guide rail, a third guide rail, a third running mechanism and a fourth running mechanism. The second guide rail and the third guide rail are arranged side by side at the opening of the U rib 1 and along the extension direction of the U rib 1. The second guide rail is connected to the third running mechanism through its guide rod, and the third guide rail is connected to the fourth running mechanism through its guide rod. The third running mechanism is rotatably connected to the reflector 4, and the fourth running mechanism is rotatably connected to the light emitter 3. A second servo motor is arranged at one end of the second guide rail, which is used to rotate the guide rod of the second guide rail to drive the reflector 4; a third servo motor is arranged at one end of the third guide rail, which is used to rotate the guide rod of the third guide rail to drive the light emitter 3. This arrangement replaces manual operation, and at the same time, the first running mechanism and the second running mechanism can be moved independently, so as to change the optical path of the light speed by adjusting the distance between the first running mechanism and the second running mechanism.

[0061] In this embodiment, the control component includes a reflector angle sensor, a light emitter angle sensor, a first displacement sensor and a second displacement sensor. The reflector angle sensor and the light emitter angle sensor receive angle command signals sent by the control center, and are used to adjust the rotation angle of the light emitter 3 and / or the reflector 4, so that the light beam emitted by the light emitter 3 is reflected by the reflector 4 and illuminates the rust-removed area inside the U rib 1. The first displacement sensor and the second displacement sensor receive displacement command signals sent by the control center, and are used to adjust the distance between the light emitter 3 and / or the reflector 4 and the opening of the U rib 1, so that the light beam emitted by the light emitter 3 is reflected by the reflector 4 and illuminates the rust-removed area inside the U rib 1. Specifically, the reflector angle sensor is arranged on the reflector 4, the light emitter angle sensor is arranged on the light emitter 3, the first displacement sensor is arranged on the third walking mechanism, and the second displacement sensor is arranged on the fourth walking mechanism.

[0062] According to the second technical solution provided by the present invention, the present invention provides a method for removing rust from the inside of a U-rib, using the above-mentioned rust removal device to remove rust from the inside of the U-rib 1, specifically comprising the following steps:

[0063] S1, receiving the angle information of the light emitter 3 and / or the reflector 4 and the position information of the area to be derusted inside the U rib 1, and sending an angle command signal after analysis;

[0064] S2, receiving the angle command signal sent by the control center in step S1, adjusting the rotation angle of the light emitter 3 and / or the reflector 4, and reflecting the light beam emitted by the light emitter 3 through the reflector 4 to illuminate the rust-removed area inside the U rib 1 and perform rust removal.

[0065] The rust removal method provided by the present invention is used for rust removal. By using the control center and the control components in combination, taking the bridge field as an example, the rust removal area in the U rib 1 can be effectively and accurately cleaned, thereby improving the efficiency of rust removal and ensuring the quality of rust removal. This provides a good welding environment for welding and repairing steel bridges using the U rib upward internal welding repair technology, thereby effectively ensuring the quality of the upward internal welding repaired steel bridge, and plays an important role in extending the service life of the bridge.

[0066] In the present invention, there are three main methods for changing the optical path of the light beam emitted by the light emitter 3. Method 1: by adjusting the rotation angle of the light emitter 3 and / or the reflector 4, the light beam reflected by the reflector 4 is adjusted to the area to be rust-removed inside the U rib 1. Method 2: by moving the position of the light emitter 3 and / or the reflector 4, the light beam reflected by the reflector 4 is adjusted to the area to be rust-removed inside the U rib 1. Method 3: by combining method 1 and method 2, the light beam reflected by the reflector 4 is adjusted to the area to be rust-removed inside the U rib 1.

[0067] As a preferred embodiment, the rust removal method provided by the present invention further comprises the following steps:

[0068] S3, receiving the position information of the light emitter 3 and / or the reflector 4 from the opening of the U rib 1, and sending a displacement command signal after analysis;

[0069] S4, receiving the displacement command signal sent by the control center in step S3, adjusting the distance between the light emitter 3 and / or the reflector 4 and the opening of the U rib 1, and reflecting the light beam emitted by the light emitter 3 through the reflector 4 to illuminate the rust-removed area inside the U rib 1 and perform rust removal.

[0070] As a preferred embodiment, the rust removal method provided by the present invention further comprises the following steps:

[0071] S0, before step S1, collecting the position information of the area to be derusted inside the U rib 1 and transmitting it to the control center;

[0072] S5. After the rust removal operation is completed, the rust removal effect inside the U rib is checked, and it is analyzed whether it is necessary to perform rust removal again on the area inside the U rib where the rust removal operation has been completed.

[0073] In a specific embodiment, the rust removal operation inside the U rib 1 may be performed in the following steps:

[0074] 1) Preparation work: fix the second guide rail and the third guide rail to the U rib 1, and set them side by side at the opening of the U rib 1 along the extension direction of the U rib 1. One end of the third walking mechanism is connected to the guide rod of the second guide rail, and the other end is rotatably connected to the reflector 4. One end of the fourth walking mechanism is connected to the guide rod of the third guide rail, and the other end is rotatably connected to the laser. One end of the second guide rail is provided with a second servo motor, and one end of the third guide rail is provided with a third servo motor. The reflector angle sensor is set on the reflector 4, the light emitter angle sensor is set on the laser, the first displacement sensor is set on the third walking mechanism, and the second displacement sensor is set on the fourth walking mechanism. Place and connect the control center and control components, and turn on the power;

[0075] 2) Collect information, start the detection and collection equipment, collect the position information of the area to be derusted inside the U rib 1 and transmit it to the control center;

[0076] 3) receiving, analyzing, and processing information, starting the control center, receiving angle information of the laser and / or the reflector 4, receiving position information of the laser and / or the reflector 4 from the opening of the U-rib 1, and position information of the area to be derusted inside the U-rib 1, and sending angle command signals and displacement command signals after analysis;

[0077] 4) adjusting the optical path of the laser beam, starting the control component, receiving the angle command signal and the displacement command signal sent by the control center, adjusting the rotation angle of the laser and / or the reflector 4, and adjusting the distance between the laser and / or the reflector 4 and the opening of the U rib 1, until the light beam emitted by the laser is reflected by the reflector 4 and illuminates the rust removal area inside the U rib 1;

[0078] 5) Perform rust removal, start the laser, perform rust removal, and repeat step 4) during the rust removal process, and adjust the optical path of the laser beam in time until the rust removal operation of the area to be rusted inside the U rib 1 is completed;

[0079] 6) Check the rust removal effect, start the inspection equipment, check the rust removal effect inside the U rib 1, and analyze whether it is necessary to perform rust removal again on the area inside the U rib that has completed the rust removal operation.

[0080] According to the third technical solution provided by the present invention, the rust removal method for the inside of the U rib removes rust from the inside of the U rib 1 through the rust removal system provided by the present invention, and uses the reflector 4, the light emitter 3, the control center, the control component, the first displacement sensor, the second displacement sensor, the reflector angle sensor, the light emitter angle sensor, the second guide rail, the third guide rail, the third walking mechanism, the fourth walking mechanism, the second servo motor, the third servo motor, the detection and collection equipment, the inspection equipment and other equipment. Taking the bridge field as an example, the area to be rusted in the U rib 1 can be effectively and accurately cleaned, the efficiency of rust removal is improved, and the quality of rust removal is ensured. Further, a good welding environment is provided for welding and repairing steel bridges using the U rib upward position internal welding repair technology, thereby effectively ensuring the quality of the upward position internal welding repair steel bridge, which plays an important role in extending the service life of the bridge.

[0081] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

[0082] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0083] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0086] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A rust removal device for the inside of a U-rib, characterized in that: include: A light emitter, for emitting a light beam; A reflector, used to change the optical path of the light beam by reflection; The control center receives the angle information of the light emitter and / or the reflector and the position information of the area to be derusted inside the U-rib, and sends an angle command signal after analysis; The control component receives the angle command signal sent by the control center and is used to adjust the rotation angle of the light emitter and / or the reflector so that the light beam reflected by the reflector is adjusted to the area to be derusted inside the U rib.

2. The rust removal device for the inside of a U-rib according to claim 1, characterized in that: The light beam emitted by the light emitter is laser, infrared or ultraviolet.

3. The rust removal device for the inside of a U-rib according to claim 1, characterized in that: The rust removal device also includes a first guide rail, a first walking mechanism and a second walking mechanism. The first guide rail is provided at the opening of the U-rib and along the extension direction of the U-rib. The first guide rail is sequentially connected to the first walking mechanism and the second walking mechanism through its guide rod along the extension direction of the U-rib. The first walking mechanism is rotatably connected to the reflector, and the second walking mechanism is rotatably connected to the light emitter.

4. The rust removal device for the inside of a U-rib according to claim 3, characterized in that: A first servo motor is provided at one end of the first guide rail, which is used to rotate the guide rod of the first guide rail to drive the light emitter and the reflector.

5. The rust removal device for the inside of a U-rib according to claim 1, characterized in that: The rust removal device also includes a second guide rail, a third guide rail, a third traveling mechanism and a fourth traveling mechanism. The second guide rail and the third guide rail are arranged side by side at the opening of the U-rib and along the extension direction of the U-rib. The second guide rail is connected to the third traveling mechanism through its guide rod, and the third guide rail is connected to the fourth traveling mechanism through its guide rod. The third traveling mechanism is rotatably connected to the reflector, and the fourth traveling mechanism is rotatably connected to the light emitter.

6. The rust removal device for the inside of a U-rib according to claim 5, characterized in that: A second servo motor is provided at one end of the second guide rail for rotating the guide rod of the second guide rail to drive the reflector; a third servo motor is provided at one end of the third guide rail for rotating the guide rod of the third guide rail to drive the light emitter.

7. The rust removal device for the inside of a U-rib according to claim 6, characterized in that: The control component also includes a first displacement sensor arranged on the third walking mechanism and a second displacement sensor arranged on the fourth walking mechanism, which are used to move the position of the light emitter and / or the reflector so that the light beam reflected by the reflector is adjusted to the area to be derusted inside the U rib.

8. A method for removing rust from the inside of a U-rib, characterized in that: The rust removal device according to any one of claims 1 to 7 is used to remove rust from the inside of the U rib, comprising the following steps: S1, receiving the angle information of the light emitter and / or the reflector and the position information of the area to be derusted inside the U-rib, and sending an angle command signal after analysis; S2, receiving the angle command signal sent by the control center in step S1, adjusting the rotation angle of the light emitter and / or the reflector, and illuminating the rust-removing area inside the U-rib after the light beam emitted by the light emitter is reflected by the reflector to remove the rust.

9. The method for removing rust from the inside of a U-rib according to claim 8, characterized in that: The following steps are also included: S3, receiving the position information of the light emitter and / or the reflector from the opening of the U-rib, and sending a displacement command signal after analysis; S4, receiving the displacement command signal sent by the control center in step S3, adjusting the distance between the light emitter and / or the reflector and the opening of the U-rib, and illuminating the rust-removing area inside the U-rib after the light beam emitted by the light emitter is reflected by the reflector to remove the rust.

10. The rust removal method for the inside of a U-rib according to claim 8, characterized in that: The following steps are also included: S0. Before step S1, the position information of the area to be derusted inside the U rib is collected and transmitted to the control center.

11. The rust removal method for the inside of a U-rib according to claim 8 or 9, characterized in that: The following steps are also included: S5. After the rust removal operation is completed, the rust removal effect inside the U rib is checked, and it is analyzed whether it is necessary to perform rust removal again on the area inside the U rib where the rust removal operation has been completed.

12. A rust removal system for the inside of a U-rib, characterized in that: The rust removal system comprises a light emitter and a reflector, and is used to implement the rust removal method for the inside of a U-rib according to any one of claims 8 to 11, and the rust removal system further comprises: The control center receives the position information of the area to be rust-removed inside the U-rib, receives the angle information of the light emitter and / or the reflector, and / or receives the position information of the light emitter and / or the reflector from the opening of the U-rib, and sends an angle command signal and / or a displacement command signal after analysis.

13. The rust removal system for the inside of a U-rib according to claim 12, characterized in that: The rust removal system also includes: The control component includes a reflector angle sensor and a light emitter angle sensor, which receives an angle command signal sent by a control center and is used to adjust the rotation angle of the light emitter and / or the reflector, so that the light beam emitted by the light emitter is reflected by the reflector and illuminates the rust-removing area inside the U-rib.

14. The rust removal system for the inside of a U-rib according to claim 13, characterized in that: The control component also includes: The first displacement sensor and the second displacement sensor are used for receiving the displacement command signal sent by the control center, and are used for adjusting the distance between the light emitter and / or the reflector and the opening of the U-rib, so that the light beam emitted by the light emitter is reflected by the reflector and illuminates the rust-removing area inside the U-rib.

15. The rust removal system for the inside of a U-rib according to claim 14, characterized in that: The rust removal system also includes: A second guide rail is arranged at the opening of the U rib along the extension direction of the U rib; A third guide rail, arranged side by side with the second guide rail and disposed at the opening of the U rib along the extension direction of the U rib; A third walking mechanism, one end of which is connected to the second guide rail and the other end of which is rotatably connected to the reflector; The fourth walking mechanism has one end connected to the third guide rail and the other end rotatably connected to the light emitter.

16. The rust removal system for the inside of a U-rib according to claim 15, characterized in that: The rust removal system also includes: A second servo motor is connected to one end of the second guide rail and is used to rotate a guide rod of the second guide rail to drive the reflector; The third servo motor is connected to one end of the third guide rail and is used for rotating the guide rod of the third guide rail to drive the light emitter.

17. The rust removal system for the inside of a U-rib according to claim 12, characterized in that: The rust removal system also includes: The detection and collection equipment is used to collect the position information of the area to be derusted inside the U rib and transmit it to the control center.

18. The rust removal system for the inside of a U-rib according to claim 12, characterized in that: The rust removal system also includes: The inspection equipment is used to check the rust removal effect inside the U-rib after the rust removal operation is completed, and to analyze whether it is necessary to perform rust removal again on the area inside the U-rib where the rust removal operation has been completed.

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