Electric power tower foot rust removal and spraying integrated device and working method thereof

Abstract

The present invention belongs to the technical field of rust removal and spraying of power tower feet, and proposes an integrated rust removal and spraying device for power tower feet and a working method thereof. By arranging a mechanical arm on a connecting platform, and arranging a cleaning head and a spray head on the mechanical arm, the purpose of flexibly rust removal and spraying paint on the power tower feet in a narrow working space is achieved at the same time; a first telescopic component, a third telescopic component, a first rotating component and a first angle adjustment component are arranged between the mechanical arm and the cleaning head, and a second telescopic component, a fourth telescopic component, a second rotating component and a second angle adjustment component are arranged between the mechanical arm and the spray head, thereby achieving independent multi-angle operation control and linkage control between the cleaning head and the spray head, allowing the cleaning head to independently transfer to the back of the turning point for operation after the operation before the turning point is completed at the turning point, and the spray head can continuously follow the cleaning head for tracking operation at the turning point, without the need for the cleaning head or the spray head to stop and change direction, thereby ensuring operation efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of rust removal and spraying of power tower feet, and in particular relates to an integrated rust removal and spraying device for power tower feet and a working method thereof. Background Art

[0002] After long-term operation, the feet of the power tower are prone to severe rust. Therefore, the feet of the power tower need to be reinforced and anti-corrosion treated. The traditional rust removal method uses a mechanical angle grinder to grind and remove rust, and then spray preservatives. The tower feet are narrow and the grinding wheel is not removed thoroughly, which results in low efficiency and high labor intensity.

[0003] Based on the requirements of rust removal and spraying operations, some ideas and equipment for integrated rust removal and spraying operations have been proposed in the current technology. However, they have not been well applied in the field of reinforcement and anti-corrosion treatment of power tower feet. The main reason is that the tower feet are narrow and have a special structure, which is not conducive to the simultaneous operation of rust removal and spraying equipment. For example, the angle steels in various directions of the power tower feet are short and have many directions, resulting in many turning points. The operation direction of rust removal and spraying needs to be constantly changed, affecting the equipment operation efficiency. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an integrated device for rust removal and spraying of power tower feet and a working method thereof, a first telescopic assembly, a third telescopic assembly, a first rotating assembly and a first angle adjustment assembly are arranged between the mechanical arm and the cleaning head, and a second telescopic assembly, a fourth telescopic assembly, a second rotating assembly and a second angle adjustment assembly are arranged between the mechanical arm and the nozzle, thereby realizing independent multi-angle operation control and linkage control between the cleaning head and the nozzle, allowing the cleaning head to independently transfer to the back of the turning point for operation after the operation before the turning point is completed at the turning point, and the nozzle can continuously follow the cleaning head for tracking operation at the turning point, without the need for the cleaning head or the nozzle to stop and change direction, thereby ensuring operation efficiency.

[0005] In order to achieve the above-mentioned purpose, in the first aspect, the present invention provides an integrated rust removal and spraying device for power tower feet, which adopts the following technical solutions:

[0006] An integrated rust removal and spraying device for a power tower foot comprises a base, a connecting platform arranged on the base through a supporting part, and a mechanical arm arranged on the connecting platform;

[0007] A connecting frame is provided at one end of the mechanical arm away from the connecting platform; the two ends of the connecting frame are connected with a first crank arm and a second crank arm through a first telescopic assembly and a second telescopic assembly respectively; the first crank arm and the second crank arm are connected with a first straight arm and a second straight arm through a third telescopic assembly and a fourth telescopic assembly respectively; the first straight arm and the second straight arm are connected with a first rotating connecting arm and a second rotating connecting arm through a first rotating assembly and a second rotating assembly respectively; the first rotating connecting arm and the second rotating connecting arm are respectively provided with a first angle adjustment arm and a second angle adjustment arm through a first angle adjustment assembly and a second angle adjustment assembly respectively;

[0008] A cleaning head and a spray head are respectively arranged on the first angle adjustment arm and the second angle adjustment arm.

[0009] Furthermore, stable seats are installed on both sides of the base, connecting ribs are arranged on one side of each stable seat, and the ends of the two connecting ribs away from the stable seats are connected to a bottom plate; the supporting part is installed on the bottom plate, a cross bar is arranged on the supporting part, and a connecting platform is arranged on the lower side of the cross bar through a clamp; the robotic arm is arranged on the connecting platform.

[0010] Further, the first telescopic assembly includes a first power source arranged on the connecting frame, a first telescopic rod arranged on the first power source, a first slide rail mechanism arranged between the connecting frame and the first crank arm, a first limit block arranged on the connecting frame, and a first protrusion arranged on the first crank arm;

[0011] The second telescopic assembly includes a second power source arranged on the connecting frame, a second telescopic rod arranged on the second power source, a second slide rail mechanism arranged between the connecting frame and the second crank arm, a second limit block arranged on the connecting frame, and a second protrusion arranged on the second crank arm.

[0012] Further, the third telescopic assembly includes a third power source arranged on the first crank arm, a third telescopic rod arranged on the third power source, a third slide rail mechanism arranged between the first crank arm and the first straight arm, a third limit block arranged on the first crank arm, and a third protrusion arranged on the first straight arm;

[0013] The fourth telescopic assembly includes a fourth power source arranged on the second crank arm, a fourth telescopic rod arranged on the fourth power source, a fourth slide rail mechanism arranged between the second crank arm and the second straight arm, a fourth limit block arranged on the second crank arm, and a fourth protrusion arranged on the second straight arm.

[0014] Further, the first rotating assembly includes a first motor arranged on the first straight arm, and a first rotating shaft arranged on the first motor; one end of the first rotating shaft away from the first motor is connected to the first rotating connecting arm; a first transition plate is arranged between the first straight arm and the first rotating connecting arm, two first arc-shaped sliders are arranged on the first transition plate, and two first arc-shaped sliders are arranged on the first rotating connecting arm;

[0015] The second rotating assembly includes a second motor arranged on the second straight arm and a second rotating shaft arranged on the second motor; one end of the second rotating shaft away from the second motor is connected to the second rotating connecting arm; a second transition plate is arranged between the second straight arm and the second rotating connecting arm, two second arc-shaped sliders are arranged on the second transition plate, and two second arc-shaped sliders are arranged on the second rotating connecting arm.

[0016] Furthermore, the first angle adjustment component includes two first angle adjustment drive sources arranged on both sides of the end of the first rotating connecting arm, a first angle adjustment telescopic rod arranged on the first angle adjustment drive source, a second angle adjustment drive source arranged at the middle position of the end of the first angle adjustment arm, and a second angle adjustment telescopic rod arranged on the second angle adjustment drive source; the end of the first angle adjustment telescopic rod is connected to the first angle adjustment arm through a first hinge, and the end of the second angle adjustment telescopic rod is connected to the first rotating connecting arm through a second hinge; the second angle adjustment telescopic rod is located between the two first angle adjustment telescopic rods, and the first angle adjustment telescopic rod and the second angle adjustment telescopic rod are cross-arranged.

[0017] Furthermore, the second angle adjustment component includes two third angle adjustment drive sources arranged on both sides of the end of the second rotating connecting arm, a third angle adjustment telescopic rod arranged on the third angle adjustment drive source, a fourth angle adjustment drive source arranged at the middle position of the end of the second angle adjustment arm, and a fourth angle adjustment telescopic rod arranged on the fourth angle adjustment drive source; the end of the third angle adjustment telescopic rod is connected to the second angle adjustment arm through a third hinge, and the end of the fourth angle adjustment telescopic rod is connected to the second rotating connecting arm through a fourth hinge; the fourth angle adjustment telescopic rod is located between the two third angle adjustment telescopic rods, and the third angle adjustment telescopic rod and the fourth angle adjustment telescopic rod are cross-arranged.

[0018] Furthermore, a first auxiliary angle adjustment member is provided between the first angle adjustment arm and the cleaning machine head; and a second auxiliary angle adjustment member is provided between the second angle adjustment arm and the nozzle.

[0019] Furthermore, a camera is arranged in the middle of the connecting frame.

[0020] In order to achieve the above-mentioned purpose, in a second aspect, the present invention also provides a working method of a rust removal and spraying integrated device for a power tower foot, which adopts the following technical scheme:

[0021] A working method of a rust removal and spraying integrated device for power tower feet, using the rust removal and spraying integrated device for power tower feet as described in the first aspect, comprising:

[0022] After the cleaning head has finished rust removal on the angle steel before the turning point, the cleaning head is controlled to complete the rust removal at the turning point and to remove rust on another angle steel after entering the turning point through the cooperation of the first telescopic assembly, the third telescopic assembly, the first rotating assembly and the first angle adjustment assembly; at this time, the spray head sprays the angle steel before the turning point;

[0023] After the spray head has completed rust removal on the angle steel before the turning point, the spray head is controlled to complete the spraying action at the turning point and to spray another angle steel after entering the turning point through the cooperation of the second telescopic assembly, the fourth telescopic assembly, the second rotating assembly and the second angle adjustment assembly.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention achieves the purpose of flexibly removing rust and spraying paint on the power tower foot in the narrow working space of the tower foot by arranging a mechanical arm on a connecting platform, and arranging a cleaning head and a nozzle on the mechanical arm; a first telescopic component, a third telescopic component, a first rotating component and a first angle adjustment component are arranged between the mechanical arm and the cleaning head, and a second telescopic component, a fourth telescopic component, a second rotating component and a second angle adjustment component are arranged between the mechanical arm and the nozzle, thereby realizing independent multi-angle operation control and linkage control between the cleaning head and the nozzle, allowing the cleaning head to independently transfer to the back of the turning point for operation after the operation before the turning point is completed at the turning point, and the nozzle can continuously follow the cleaning head for tracking operation at the turning point, without the need for the cleaning head or the nozzle to stop and change direction, thereby ensuring operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0027] Figure 1 This is a schematic diagram of the structure of the device according to Embodiment 1 of the present invention;

[0028] Figure 2 A top view of the device of embodiment 1 of the present invention;

[0029] Figure 3 For Example 1 of the present invention Figure 1 A magnified view of part A;

[0030] Figure 4 This is a schematic diagram of a first telescopic assembly according to Embodiment 1 of the present invention;

[0031] Figure 5 This is a schematic diagram of a second telescopic assembly according to Embodiment 1 of the present invention;

[0032] Figure 6 This is a schematic diagram of a third telescopic assembly according to Embodiment 1 of the present invention;

[0033] Figure 7 This is a schematic diagram of a fourth telescopic assembly according to Embodiment 1 of the present invention;

[0034] Figure 8 This is a schematic diagram of a first rotating assembly according to Embodiment 1 of the present invention;

[0035] Fig. 9 This is a schematic diagram of a first arc-shaped slide groove in Example 1 of the present invention;

[0036] Fig.10 This is a schematic diagram of a first arc-shaped slider according to Embodiment 1 of the present invention;

[0037] Fig.11 This is a schematic diagram of a second rotating assembly according to Embodiment 1 of the present invention;

[0038] Fig.12 This is a schematic diagram of a second arc-shaped slide groove in Example 1 of the present invention;

[0039] Fig.13 This is a schematic diagram of a second arc-shaped slider according to Embodiment 1 of the present invention;

[0040] Fig.14 The first angle adjustment component of embodiment 1 of the present invention;

[0041] Fig.15 The second angle adjustment component of embodiment 1 of the present invention;

[0042] Among them, 1. base; 2. stable seat; 3. connecting rib; 4. bottom plate; 5. support part; 6. cross bar; 7. connecting platform; 8. clamp; 9. pad; 10. mechanical arm; 11. connecting frame; 12. camera; 13. first telescopic assembly; 1301. first power source; 1302. first telescopic rod; 1303. first slide rail mechanism; 1304. first limit block; 1305. first protrusion; 14. second telescopic assembly; 1401. second power source; 1402. second telescopic rod; 1403. second slide rail mechanism; 1404. second limit block; 1405. first protrusion; 5. second projection; 15. first crank arm; 16. second crank arm; 17. third telescopic assembly; 1701. third power source; 1702. third telescopic rod; 1703. third slide rail mechanism; 1704. third stop block; 1705. third projection; 18. fourth telescopic assembly; 1801. fourth power source; 1802. fourth telescopic rod; 1803. fourth slide rail mechanism; 1804. fourth stop block; 1805. fourth projection; 19. first straight arm; 20. second straight arm; 21. first rotating assembly; 2101. first motor; 2102. first rotating shaft ; 2103, first transition plate; 2104, first arc chute; 2105, first arc slider; 22, second rotating assembly; 2201, second motor; 2202, second rotating shaft; 2203, second transition plate; 2204, second arc chute; 2205, second arc slider; 23, first rotating connecting arm; 24, second rotating connecting arm; 25, first angle adjustment assembly; 2501, first angle adjustment driving source; 2502, first angle adjustment telescopic rod; 2503, first hinge; 2504, second angle adjustment driving source; 2505, second Angle adjustment telescopic rod; 2506, second hinge; 26, second angle adjustment assembly; 2601, third angle adjustment drive source; 2602, third angle adjustment telescopic rod; 2603, third hinge; 2604, fourth angle adjustment drive source; 2605, fourth angle adjustment telescopic rod; 2606, fourth hinge; 27, first angle adjustment arm; 28, second angle adjustment arm; 29, first auxiliary angle adjustment member; 30, second auxiliary angle adjustment member; 31, cleaning machine head; 32, nozzle; 33, cleaning machine; 34, paint storage pressure tank; 35, control box. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0045] Embodiment 1:

[0046] As an important part of the power tower, the power tower foot plays a key role in firmly fixing the tower on the foundation. After the power tower has been running for a long time, the power tower foot is prone to severe rust. For this reason, the power tower foot needs to be derusted and the derusted area needs to be painted to slow down the subsequent rusting of the power tower foot.

[0047] Based on this, Figure 1 and Figure 2 As shown, this embodiment provides an integrated rust removal and spraying device for the foot of an electric power tower, including a base 1, a stabilizing seat 2 is installed on both sides of the top of the base 1 by screws, a connecting rib 3 is arranged on one side of the stabilizing seat 2, a bottom plate 4 is welded on the top of the connecting rib 3, a supporting portion 5 is installed on the top of the bottom plate 4 by screws, a cross bar 6 is welded on the upper side of the supporting portion 5, a connecting platform 7 is arranged on the lower side of the cross bar 6, a clamp 8 is connected to the top of the connecting platform 7 by screws, a cushion block 9 is arranged on the top of the connecting platform 7, and the connecting platform 7 is connected to the cross bar 6 by the clamp 8 and the cushion block 9; a mechanical arm 10 is connected to the bottom of the supporting platform by screws, and a rust removal spraying assembly is connected to one end of the mechanical arm 10. The supporting portion 5 can be set as a triangular support frame.

[0048] Specifically, firstly, the stabilizing seat 2, the connecting ribs 3 and the bottom plate 4 are connected to the base 1; then, according to the shape of the bottom of the supporting part 5, holes are drilled and tapped on the top of the bottom plate 4, and the supporting part 5 is installed with screws, and then the connecting platform 7 with the mechanical arm 10 is placed on the lower side of the cross bar 6, and the connecting platform 7 is connected to the cross bar 6 by the cooperation of the clamp 8 and the pad 9, so as to complete the installation of the mechanical arm 10. At this time, the mechanical arm 10 is in an inverted state, with a large activity space, which is convenient for cleaning and spraying every corner of the power tower foot. The clamp 8 can be realized by conventional technology, and the mechanical arm 10 adopts a multi-axis mechanical arm.

[0049] The rust removal spraying assembly includes a connecting frame 11 arranged at one end of the mechanical arm 10 away from the connecting platform 7; the two ends of the connecting frame 11 are connected to a first crank arm 15 and a second crank arm 16 through a first telescopic assembly 13 and a second telescopic assembly 14 respectively; the first crank arm 15 and the second crank arm 16 are connected to a first straight arm 19 and a second straight arm 20 through a third telescopic assembly 17 and a fourth telescopic assembly 18 respectively; the first straight arm 19 and the second straight arm 20 are connected to a first rotating connecting arm 23 and a second rotating connecting arm 24 through a first rotating assembly 21 and a second rotating assembly 22 respectively; the first rotating connecting arm 23 and the second rotating connecting arm 24 are respectively provided with a first angle adjustment arm 27 and a second angle adjustment arm 28 through a first angle adjustment assembly 25 and a second angle adjustment assembly 26 respectively; the first angle adjustment arm 27 and the second angle adjustment arm 28 are respectively provided with a cleaning machine head 31 and a spray head 32 through a first auxiliary angle adjustment member 29 and a second auxiliary angle adjustment member 30. A camera 12 is provided in the middle of the connecting frame 11.

[0050] It can be understood that the cleaning head 31 and the nozzle 32 are connected in cooperation, and the nozzle 32 is connected in cooperation with the paint storage pressure tank 34 through the sprayer. The above connection methods are all existing technologies and will not be repeated. When the rust removal operation is performed on the foot of the power tower, the control box 35 with an internal controller is first used to control the operation of the mechanical arm 10, and the mechanical arm 10 is used to drive the connecting frame 11, the cleaning head 31 and the nozzle 32 to move at multiple angles. Then, the control box 35 is used to control the operation of the intermediate relay, and the sprayer and the cleaning machine 33 are controlled to operate respectively. With the cooperation of the mechanical arm 10, the rust removal operation and the painting operation can be performed at multiple angles on the foot of the power tower at the same time. Compared with the existing technology, the rust removal operation is performed by grinding with an angle grinder, which has the advantages of high rust removal spraying efficiency and good rust removal effect. The control box 35 is equipped with a mains interface and a main power switch; the cleaning machine 33 is a laser cleaning device.

[0051] Optionally, the robotic arm 10 adopts a collaborative 6-axis robot that is easy to move and drag, model DR10, with a load-bearing capacity of 10 kg at the end and can move at multiple angles; the cleaning machine 33 uses a 2000-watt laser, model SY-2000; the nozzle 32 adopts a machine spray gun, model WA-101; the paint storage pressure tank 34 is made of stainless steel, and the base plate 4 is made of aluminum plate; the clamp 8 is made of aluminum alloy, which has good corrosion resistance and low quality and high strength; the connecting frame 11 adopts a double-head design, using 30MM thick aluminum plate material, and uses wire cutting to cut the required shape and size, and opens the end mounting hole connected to the robotic arm 10, the mounting hole of the cleaning head 31 and the mounting hole of the nozzle 32. After the above-mentioned mounting holes are opened, the connecting frame 11, the robotic arm 10, the cleaning head 31 and the nozzle 32 are connected with screws.

[0052] In some embodiments, laser rust removal and painting operations can be optionally performed on the power tower feet. At the same time, in conjunction with the mobile, lightweight, drag-programmed collaborative robotic arm 10, multi-angle and efficient rust removal and spraying operations can be achieved, with high overall operating efficiency.

[0053] Specifically, after the cleaning head 31 has completed rust removal on the angle steel before the turning point, the cleaning head 31 is controlled to complete the rust removal at the turning point and to remove rust from another angle steel after entering the turning point through the cooperation of the first telescopic component 13, the third telescopic component 17, the first rotating component 21 and the first angle adjustment component 25; at this time, the nozzle 32 sprays the angle steel before the turning point; after the nozzle 32 has completed rust removal on the angle steel before the turning point, the second telescopic component 14, the fourth telescopic component 18, the second rotating component 22 and the second angle adjustment component 26 are operated. In cooperation, the nozzle 32 is controlled to complete the spraying action at the turning point, and another angle steel is sprayed after entering the turning point, thereby realizing independent multi-angle operation control and linkage control between the cleaning head 31 and the nozzle 32, and allowing the cleaning head 31 to independently transfer to the back of the turning point for operation after the operation before the turning point is completed at the turning point, and the nozzle 32 can continuously follow the cleaning head 31 at the turning point for tracking operation, without the need for the cleaning head 31 or the nozzle 32 to stop and change direction, thereby ensuring the continuity of rust removal and spraying at the turning point and improving operation efficiency.

[0054] like Figure 3 , Figure 4 and Figure 5As shown, the first telescopic assembly 13 includes a first power source 1301 arranged on the connecting frame 11, a first telescopic rod 1302 arranged on the first power source 1301, a first slide rail mechanism 1303 arranged between the connecting frame 11 and the first crank arm 15, a first limit block 1304 arranged on the connecting frame 11, and a first protrusion 1305 arranged on the first crank arm 15.

[0055] Optionally, the first power source 1301 and the first telescopic rod 1302 are pneumatic telescopic devices, electric telescopic devices or hydraulic telescopic devices. A receiving cavity is provided on the connecting frame 11, and the first power source 1301 and the first telescopic rod 1302 are arranged in the receiving cavity. One end of the first crank arm 15 is slidably arranged in the receiving cavity of the first telescopic rod 1302 through the first slide rail mechanism 1303. The first slide rail mechanism 1303 may include components such as a slide groove and a slide rail respectively arranged on the inner wall of the receiving cavity and the first crank arm 15. The arrangement and cooperation of the first limit block 1304 and the first protrusion 1305 prevent the first crank arm 15 from excessive movement in the receiving cavity, thereby improving stability.

[0056] The second telescopic assembly 14 includes a second power source 1401 arranged on the connecting frame 11, a second telescopic rod 1402 arranged on the second power source 1401, a second slide rail mechanism 1403 arranged between the connecting frame 11 and the second crank arm 16, a second limit block 1404 arranged on the connecting frame 11, and a second protrusion 1405 arranged on the second crank arm 16.

[0057] Optionally, the second power source 1401 and the second telescopic rod 1402 are pneumatic telescopic devices, electric telescopic devices or hydraulic telescopic devices. A receiving cavity is provided on the connecting frame 11, and the second power source 1401 and the second telescopic rod 1402 are arranged in the receiving cavity. One end of the second crank arm 16 is slidably arranged in the receiving cavity of the second telescopic rod 1402 through the second slide rail mechanism 1403. The second slide rail mechanism 1403 may include components such as a slide groove and a slide rail respectively arranged on the inner wall of the receiving cavity and the second crank arm 16. The arrangement and cooperation of the second limit block 1404 and the second protrusion 1405 prevent the second crank arm 16 from excessive movement in the receiving cavity, thereby improving stability.

[0058] Specifically, the configuration of the first telescopic component 13 and the second telescopic component 14 can mainly change the distance between the cleaning head 31 and the nozzle 32. In addition to improving the inflection point structure suitable for multiple sizes and multiple angles at the turning point, the operation quality can also be improved by controlling the distance between the cleaning head 31 and the nozzle 32; for example, when the rust removal area per unit time of the cleaning head 31 is large and the effect is good, the operation efficiency can be improved on the basis of ensuring the spraying quality by increasing the distance between the cleaning head 31 and the nozzle 32 and increasing the flow rate of the nozzle 32; on the contrary, when the rust removal area per unit time of the cleaning head 31 is small and the effect is poor, the spraying quality can be ensured by reducing the distance between the cleaning head 31 and the nozzle 32.

[0059] like Figure 6 and Figure 7 As shown, the third telescopic assembly 17 includes a third power source 1701 arranged on the first crank arm 15, a third telescopic rod 1702 arranged on the third power source 1701, a third slide rail mechanism 1703 arranged between the first crank arm 15 and the first straight arm 19, a third limit block 1704 arranged on the first crank arm 15, and a third protrusion 1705 arranged on the first straight arm 19.

[0060] Optionally, the third power source 1701 and the third telescopic rod 1702 are pneumatic telescopic devices, electric telescopic devices or hydraulic telescopic devices. A receiving cavity is provided on the first crank arm 15, and the third power source 1701 and the third telescopic rod 1702 are arranged in the receiving cavity. One end of the first straight arm 19 is slidably arranged in the receiving cavity of the third telescopic rod 1702 through the third slide rail mechanism 1703. The third slide rail mechanism 1703 may include components such as a slide groove and a slide rail respectively arranged on the inner wall of the receiving cavity and the first straight arm 19. The arrangement and cooperation of the third limit block 1704 and the third protrusion 1705 prevent the first straight arm 19 from excessive movement in the receiving cavity, thereby improving stability.

[0061] The fourth telescopic assembly 18 includes a fourth power source 1801 arranged on the second crank arm 16, a fourth telescopic rod 1802 arranged on the fourth power source 1801, a fourth slide rail mechanism 1803 arranged between the second crank arm 16 and the second straight arm 20, a fourth limit block 1804 arranged on the second crank arm 16, and a fourth protrusion 1805 arranged on the second straight arm 20.

[0062] Optionally, the fourth power source 1801 and the fourth telescopic rod 1802 are pneumatic telescopic devices, electric telescopic devices or hydraulic telescopic devices. A receiving cavity is provided on the second crank arm 16, and the fourth power source 1801 and the fourth telescopic rod 1802 are arranged in the receiving cavity. One end of the second straight arm 20 is slidably arranged in the receiving cavity of the fourth telescopic rod 1802 through the fourth slide rail mechanism 1803. The fourth slide rail mechanism 1803 may include components such as a slide groove and a slide rail respectively arranged on the inner wall of the receiving cavity and the second straight arm 20. The arrangement and cooperation of the fourth limit block 1804 and the fourth protrusion 1805 prevent the second straight arm 20 from excessive movement in the receiving cavity, thereby improving stability.

[0063] Specifically, the setting of the third telescopic component 17 and the fourth telescopic component 18 can mainly change the distance from the cleaning head 31 to the surface of the angle steel, and the distance from the nozzle 32 to the surface of the angle steel; the cooperation of the third telescopic component 17, the fourth telescopic component 18, the first telescopic component 13 and the second telescopic component 14 can realize two degrees of freedom of the cleaning head 31 and the nozzle 32 in mutually perpendicular directions, providing the possibility of changing the independent angle control of the cleaning head 31 and the nozzle 32. In addition to realizing two degrees of freedom of the cleaning head 31 and the nozzle 32 in mutually perpendicular directions, the flexibility can also be improved and the quality can be ensured by controlling the distance between the cleaning head 31 and the nozzle 32 and the angle steel; for example, when the rust removal area per unit time of the cleaning head 31 is large and the effect is good, the distance between the nozzle 32 and the surface of the angle steel can be increased, and the flow rate of the nozzle 32 can be increased to improve the working efficiency on the basis of ensuring the spraying quality; on the contrary, when the rust removal area per unit time of the cleaning head 31 is small and the effect is poor, the spraying quality can be ensured by reducing the distance between the nozzle 32 and the surface of the angle steel.

[0064] like Figure 8 , Fig. 9 and Fig.10 As shown, the first rotating component 21 includes a first motor 2101 arranged on the first straight arm 19, and a first rotating shaft 2102 arranged on the first motor 2101; the end of the first rotating shaft 2102 away from the first motor 2101 is connected to the first rotating connecting arm 23; a first transition plate 2103 is arranged between the first straight arm 19 and the first rotating connecting arm 23, two first arc-shaped sliding grooves 2104 are arranged on the first transition plate 2103, and two first arc-shaped sliding blocks 2105 are arranged on the first rotating connecting arm 23.

[0065] Optionally, through holes are provided on the first straight arm 19 and the first transition plate 2103, and the first rotating shaft 2102 passes through the through holes and is fixedly connected to the first rotating connecting arm 23. The first arc-shaped sliding block 2105 cooperates with the first arc-shaped sliding groove 2104 to ensure the rotation stability of the first rotating connecting arm 23.

[0066] like Fig.11 , Fig.12 and Fig.13 As shown, the second rotating assembly 22 includes a second motor 2201 arranged on the second straight arm 20, and a second rotating shaft 2202 arranged on the second motor 2201; the end of the second rotating shaft 2202 away from the second motor 2201 is connected to the second rotating connecting arm 24; a second transition plate 2203 is arranged between the second straight arm 20 and the second rotating connecting arm 24, two second arc-shaped sliding grooves 2204 are arranged on the second transition plate 2203, and two second arc-shaped sliding blocks 2205 are arranged on the second rotating connecting arm 24.

[0067] Optionally, through holes are provided on the second straight arm 20 and the second transition plate 2203, and the second rotating shaft 2202 passes through the through holes and is fixedly connected to the second rotating connecting arm 24. The second arc-shaped slider 2205 cooperates with the second arc-shaped sliding groove 2204 to ensure the rotation stability of the second rotating connecting arm 24.

[0068] Specifically, the cooperation of the first telescopic assembly 13, the second telescopic assembly 14, the third telescopic assembly 17, the fourth telescopic assembly 18, the first rotating assembly 21 and the second rotating assembly 22 makes it possible to control the operating angle of the cleaning head 31 and the nozzle 32 at the turning point.

[0069] like Fig.14 and Fig.15As shown, the first angle adjustment component 25 includes two first angle adjustment driving sources 2501 arranged on both sides of the end of the first rotating connecting arm 23, a first angle adjustment telescopic rod 2502 arranged on the first angle adjustment driving source 2501, a second angle adjustment driving source 2504 arranged at the middle position of the end of the first angle adjustment arm 27, and a second angle adjustment telescopic rod 2505 arranged on the second angle adjustment driving source 2504; the end of the first angle adjustment telescopic rod 2502 is connected to the first angle adjustment arm 27 through a first hinge 2503, and the end of the second angle adjustment telescopic rod 2505 is connected to the first rotating connecting arm 23 through a second hinge 2506; the second angle adjustment telescopic rod 2505 is located between the two first angle adjustment telescopic rods 2502, and the first angle adjustment telescopic rod 2502 and the second angle adjustment telescopic rod 2505 are cross-arranged.

[0070] The second angle adjustment assembly 26 includes two third angle adjustment drive sources 2601 arranged on both sides of the end of the second rotating connecting arm 24, a third angle adjustment telescopic rod 2602 arranged on the third angle adjustment drive source 2601, a fourth angle adjustment drive source 2604 arranged at the middle position of the end of the second angle adjustment arm 28, and a fourth angle adjustment telescopic rod 2605 arranged on the fourth angle adjustment drive source 2604; the end of the third angle adjustment telescopic rod 2602 is connected to the second angle adjustment arm 28 through a third hinge 2603, and the end of the fourth angle adjustment telescopic rod 2605 is connected to the second rotating connecting arm 24 through a fourth hinge 2606; the fourth angle adjustment telescopic rod 2605 is located between the two third angle adjustment telescopic rods 2602, and the third angle adjustment telescopic rod 2602 and the fourth angle adjustment telescopic rod 2605 are cross-arranged.

[0071] The setting of the first angle adjustment component 25 and the second angle adjustment component 26 can change the angle between the cleaning head 31 and the nozzle 32; cooperate with the first rotating component 21 and the second rotating component 22 to achieve adjustment of all angles; and cooperate with the first telescopic component 13, the second telescopic component 14, the third telescopic component 17 and the fourth telescopic component 18 to achieve the distance between the cleaning head 31 and the nozzle 32, the distance from the angle steel surface, and the angle adjustment, thereby ensuring the continuous operation of the transition at the inflection point and the processing of details, thereby improving efficiency and quality.

[0072] In this embodiment, a camera 12 is provided in the middle of the connecting frame 11, and the camera 12 is connected to the controller to receive the image after rust removal, and judge the rust removal quality through image processing technology to ensure that the rust removal quality of the surface to be sprayed meets the requirements. The device is also equipped with an environmental sensing device for real-time collection of information about the robot's surrounding environment, including obstacle locations, target point locations, etc.; it can be understood that the controller in this embodiment is connected to the environmental sensing device, all power sources and other devices for control implementation.

[0073] Embodiment 2:

[0074] This embodiment provides a working method of a rust removal and spraying integrated device for power tower feet, using the rust removal and spraying integrated device for power tower feet as described in Example 1, including:

[0075] After the cleaning head has finished rust removal on the angle steel before the turning point, the cleaning head is controlled to complete the rust removal at the turning point and to remove rust on another angle steel after entering the turning point through the cooperation of the first telescopic assembly, the third telescopic assembly, the first rotating assembly and the first angle adjustment assembly; at this time, the spray head sprays the angle steel before the turning point;

[0076] After the spray head has completed rust removal on the angle steel before the turning point, the spray head is controlled to complete the spraying action at the turning point and to spray another angle steel after entering the turning point through the cooperation of the second telescopic assembly, the fourth telescopic assembly, the second rotating assembly and the second angle adjustment assembly.

[0077] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. An integrated device for rust removal and spraying of power tower feet, characterized in that: It includes a base, a connecting platform arranged on the base through a supporting part, and a mechanical arm arranged on the connecting platform; A connecting frame is provided at one end of the mechanical arm away from the connecting platform; the two ends of the connecting frame are connected with a first crank arm and a second crank arm through a first telescopic assembly and a second telescopic assembly respectively; the first crank arm and the second crank arm are connected with a first straight arm and a second straight arm through a third telescopic assembly and a fourth telescopic assembly respectively; the first straight arm and the second straight arm are connected with a first rotating connecting arm and a second rotating connecting arm through a first rotating assembly and a second rotating assembly respectively; the first rotating connecting arm and the second rotating connecting arm are respectively provided with a first angle adjustment arm and a second angle adjustment arm through a first angle adjustment assembly and a second angle adjustment assembly respectively; A cleaning head and a spray head are respectively arranged on the first angle adjustment arm and the second angle adjustment arm; The first telescopic assembly includes a first power source arranged on the connecting frame, a first telescopic rod arranged on the first power source, a first slide rail mechanism arranged between the connecting frame and the first crank arm, a first limit block arranged on the connecting frame, and a first protrusion arranged on the first crank arm; The second telescopic assembly includes a second power source arranged on the connecting frame, a second telescopic rod arranged on the second power source, a second slide rail mechanism arranged between the connecting frame and the second crank arm, a second limit block arranged on the connecting frame, and a second protrusion arranged on the second crank arm; The first rotating assembly includes a first motor arranged on the first straight arm, and a first rotating shaft arranged on the first motor; an end of the first rotating shaft away from the first motor is connected to the first rotating connecting arm; a first transition plate is arranged between the first straight arm and the first rotating connecting arm, two first arc-shaped sliders are arranged on the first transition plate, and two first arc-shaped sliders are arranged on the first rotating connecting arm; The second rotating assembly includes a second motor arranged on the second straight arm and a second rotating shaft arranged on the second motor; one end of the second rotating shaft away from the second motor is connected to the second rotating connecting arm; a second transition plate is arranged between the second straight arm and the second rotating connecting arm, two second arc-shaped sliders are arranged on the second transition plate, and two second arc-shaped sliders are arranged on the second rotating connecting arm.

2. The integrated rust removal and spraying device for power tower feet according to claim 1, characterized in that: Stable seats are installed on both sides of the base, connecting ribs are arranged on one side of each stable seat, and the ends of the two connecting ribs away from the stable seats are connected to a bottom plate; the supporting part is installed on the bottom plate, a cross bar is arranged on the supporting part, and a connecting platform is arranged on the lower side of the cross bar through a clamp; the robotic arm is arranged on the connecting platform.

3. The integrated rust removal and spraying device for power tower feet according to claim 1, characterized in that: The third telescopic assembly includes a third power source arranged on the first crank arm, a third telescopic rod arranged on the third power source, a third slide rail mechanism arranged between the first crank arm and the first straight arm, a third limit block arranged on the first crank arm, and a third protrusion arranged on the first straight arm; The fourth telescopic assembly includes a fourth power source arranged on the second crank arm, a fourth telescopic rod arranged on the fourth power source, a fourth slide rail mechanism arranged between the second crank arm and the second straight arm, a fourth limit block arranged on the second crank arm, and a fourth protrusion arranged on the second straight arm.

4. The integrated rust removal and spraying device for power tower feet according to claim 1, characterized in that: The first angle adjustment component includes two first angle adjustment driving sources arranged on both sides of the end of the first rotating connecting arm, a first angle adjustment telescopic rod arranged on the first angle adjustment driving source, a second angle adjustment driving source arranged at the middle position of the end of the first angle adjustment arm, and a second angle adjustment telescopic rod arranged on the second angle adjustment driving source; the end of the first angle adjustment telescopic rod is connected to the first angle adjustment arm through a first hinge, and the end of the second angle adjustment telescopic rod is connected to the first rotating connecting arm through a second hinge; the second angle adjustment telescopic rod is located between the two first angle adjustment telescopic rods, and the first angle adjustment telescopic rod and the second angle adjustment telescopic rod are arranged crosswise.

5. The integrated rust removal and spraying device for power tower feet according to claim 1, characterized in that: The second angle adjustment assembly includes two third angle adjustment drive sources arranged on both sides of the end of the second rotating connecting arm, a third angle adjustment telescopic rod arranged on the third angle adjustment drive source, a fourth angle adjustment drive source arranged at the middle position of the end of the second angle adjustment arm, and a fourth angle adjustment telescopic rod arranged on the fourth angle adjustment drive source; the end of the third angle adjustment telescopic rod is connected to the second angle adjustment arm through a third hinge, and the end of the fourth angle adjustment telescopic rod is connected to the second rotating connecting arm through a fourth hinge; the fourth angle adjustment telescopic rod is located between the two third angle adjustment telescopic rods, and the third angle adjustment telescopic rod and the fourth angle adjustment telescopic rod are cross-arranged.

6. The integrated rust removal and spraying device for power tower feet according to claim 1, characterized in that: A first auxiliary angle adjustment member is arranged between the first angle adjustment arm and the cleaning machine head; and a second auxiliary angle adjustment member is arranged between the second angle adjustment arm and the spray head.

7. The integrated rust removal and spraying device for power tower feet according to claim 1, characterized in that: A camera is arranged at the middle position of the connecting frame.

8. A working method of a rust removal and spraying device for power tower feet, characterized in that: The rust removal and spraying integrated device for the foot of a power tower as described in any one of claims 1 to 7 is used, comprising: After the cleaning head has finished rust removal on the angle steel before the turning point, the cleaning head is controlled to complete the rust removal at the turning point and to remove rust on another angle steel after entering the turning point through the cooperation of the first telescopic assembly, the third telescopic assembly, the first rotating assembly and the first angle adjustment assembly; at this time, the spray head sprays the angle steel before the turning point; After the spray head has completed rust removal on the angle steel before the turning point, the spray head is controlled to complete the spraying action at the turning point and to spray another angle steel after entering the turning point through the cooperation of the second telescopic assembly, the fourth telescopic assembly, the second rotating assembly and the second angle adjustment assembly.

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