Annular wall-climbing robot and cleaning method thereof

Abstract

The invention discloses an annular wall-climbing robot and a cleaning method thereof. The robot comprises a frame, a wall-climbing robot body, a cleaning module, a sealing module, a switching module, a laser module and a spraying module. Bird droppings are softened in advance in a manner of pre-spraying a cleaning agent on the surface of the circular tube structure, and then the softened bird droppings and other impurities are comprehensively cleaned, sucked and recycled, so that the subsequent laser rust removal and protective layer spraying are not interfered, and pollution caused by falling of the impurities is also prevented; and due to the integrated design of cleaning, derusting and spraying, the working efficiency is improved, and offshore personnel can conveniently maintain the circular pipe structure.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering, and in particular relates to an annular wall-climbing robot and a cleaning method thereof. Background Art

[0002] In the engineering field, circular tube structures are common structural forms, such as offshore mine platform structural columns, offshore crane support columns and deep-sea risers. As the service time increases, rust damage is inevitable. Many in-service circular tubular metal structures have or will face the problem of over-service. Due to the remote environment and the need to operate at sea, the labor cost is high and there is still a lack of unmanned repair technology.

[0003] In the existing round tube rust removal, pipeline laser rust removal equipment is usually used, which is usually composed of an annular mounting part, a circumferential drive component, a laser rust removal component and an axial drive component. When used, the annular mounting part is coaxially mounted on the pipeline, and the circumferential drive component on the annular mounting part drives the annular mounting part to rotate around the axis of the annular mounting part. The rust removal laser of the laser rust removal component is on the annular mounting part, and the rust removal laser rotates on the annular mounting part to remove rust from the pipeline.

[0004] However, the prior art does not take into account that the surface of the pipeline exposed to the outside world may be covered with many impurities, such as bird droppings, etc. The laser of the prior art must ensure that the rusted area is completely exposed to the laser during laser rust removal, and there must be no obstruction between the rusted area and the laser. Therefore, impurities such as bird droppings will greatly interfere with the rust removal effect, and the above-mentioned prior art has no targeted response measures for the possibility of impurities falling during the rust removal process. Various impurities may fall during the rust removal process, which may cause pollution if they fall into the ocean.

[0005] Based on this, there is still room for improvement in the existing technology. Summary of the invention

[0006] In order to clean the surface of the circular tube structure and prevent impurities from existing on the surface of the circular tube structure and thus affecting the laser rust removal effect, the present invention proposes a circular wall-climbing robot and a cleaning method thereof, so as to realize the integrated unmanned operation of cleaning, rust removal and spraying on the surface of the circular tube structure.

[0007] The present invention is implemented by the following technical solutions: A ring-shaped wall-climbing robot is proposed, comprising a frame, a wall-climbing robot, a cleaning module, a sealing module, a switching module, a laser module and a spraying module; the frame as a whole is a circular ring structure; the wall-climbing robot is arranged on the inner circumference of the frame; the cleaning modules are evenly arranged on the inner circumference of the frame, and are used to spray and clean the surface of the circular tube structure with a decontaminant; the sealing module is arranged on the inner circle of the frame, and is used to seal the bottom of the cleaning module so as to recycle the decontaminant in real time; the switching modules are evenly arranged inside the frame, and are used to control the structural transformation of the frame; the laser module and the spraying module are both installed on the outer circumference of the frame; when the surface of the circular tube structure is cleaned, the two cooperate to successively perform laser rust removal and protective layer spraying on the surface of the circular tube structure.

[0008] Preferably, the frame includes an inner frame, a middle frame, a connecting frame and an outer frame; the inner frame is in a circular ring shape, and the wall-climbing robot is arranged on its inner circumference; the middle frame is arranged on the outer circumference of the inner frame by rotating an electric turntable; the connecting frame is slidably arranged at the bottom of the middle frame, and a tension spring is connected to the middle frame; the outer frame is slidably arranged on the outer circumference of the middle frame, and a telescopic spring is connected to the middle frame, and a circular track is arranged on the outer circumference.

[0009] Preferably, the cleaning module includes a shell, a cleaning roller, a multifunctional pumping mechanism and a deformation mechanism; the shell is installed on a connecting frame, has an arc-shaped appearance, and has a spray port and a sewage suction port on the inner circumference; the cleaning roller can be horizontally slidably arranged in a groove opened on the inner circumference of the shell through an installation bracket, and a return spring is connected between the installation bracket and the groove; the multifunctional pumping mechanism is arranged inside the shell, and is used for spraying a decontaminant through the spray port, and for sucking sewage through the sewage suction port; the deformation mechanism is arranged inside the shell, and is used for adjusting the position of the cleaning roller and switching the working mode of the multifunctional pumping mechanism.

[0010] Preferably, the multifunctional pump suction mechanism includes a pump body, a cleaning box, a sewage storage box, an inlet switching valve and an outlet switching valve; the pump body is installed in the shell; the cleaning box is installed in the shell; the sewage storage box is installed in the shell; the inlet switching valve is installed at the inlet of the pump body, and is connected to the cleaning box and the sewage suction port through inlet pipe 1 and inlet pipe 2 respectively; the outlet switching valve is installed at the outlet of the pump body, and is connected to the sewage storage tank and the spray port through outlet pipe 1 and outlet pipe 2 respectively.

[0011] Preferably, the deformation mechanism includes a pushing member, an extruding member, gear 1, gear 2, rack 1 and rack 2; the pushing member is slidably arranged on the middle frame, a compression spring is connected between the pushing member and the middle frame, and an avoidance groove corresponding to the position of the pushing member is opened on the shell; the extruding member is slidably arranged inside the shell; gear 1 is installed at the bottom of the inlet switching valve; gear 2 is installed at the bottom of the outlet switching valve; rack 1 is installed on the extruding member, and its position corresponds to gear 1; rack 2 is installed on the extruding member and meshes with gear 2.

[0012] Preferably, the sealing module includes a sealing plate, a sliding plate, a sponge ring, a blocking piece, a transition piece and a traction piece; the sealing plate is installed on a connecting frame and is provided with a recovery groove; the sliding plate is slidably arranged on the upper surface of the sealing plate, and a return spring is connected between the sliding plate and the sealing plate; the sponge ring is an annular structure as a whole, and a dirt storage groove for accommodating dirt is arranged on the inner periphery, and the sponge ring is slidably arranged in an open groove arranged on the inner periphery of the sealing plate, and the open groove is connected to the recovery groove through a connecting groove; the blocking piece is slidably arranged in the connecting groove, and a flexible spring is connected between the blocking piece and the connecting groove; the transition piece is slidably arranged in the recovery groove, corresponding to the position of the blocking piece; one end of the traction piece is connected to the transition piece, and the other end is connected to the sliding plate after passing through a rotating pulley, and the rotating pulley is rotatably arranged on the sealing plate.

[0013] Preferably, the switching module includes a switching cylinder, a pressing piece, a pressure piece and a locking mechanism; the switching cylinder is installed in the middle frame; the pressing piece is installed on the output end of the switching cylinder, and the inner side is a pointed structure; the pressure piece is slidably arranged in the sealing plate, the left end is an inclined structure cooperating with the pressing piece, and the right end is in contact with the transition piece; the locking mechanism locks the position between the connecting frame and the outer frame.

[0014] Preferably, the locking mechanism includes a locking plate, a column, a locking pin, an unlocking piece and a connecting rope; the locking plate is installed on the inner periphery of the bottom of the outer frame; the column is installed on the bottom of the connecting frame, and is a hollow structure with an open upper end, and a cylindrical hole corresponding to the column is provided on the locking plate, and the upper end of the cylindrical hole is an angled structure; the locking pin is horizontally slidably arranged in the side wall of the column, and both the inner and outer sides are angled structures, and a balancing spring is connected between the column, and a locking hole corresponding to the locking pin is provided on the side wall of the cylindrical hole; the unlocking piece is slidably arranged inside the column, and a compression spring is connected between the column, and the lower end is an angled structure; one end of the connecting rope is connected to the top of the unlocking piece, and the other end is connected to the take-up roller, and the take-up roller is rotatably arranged inside the middle frame.

[0015] Preferably, the spraying module consists of a spraying box and a spray head. The spraying box is slidably arranged on a circular track by an electric slider, and the spray head is installed at the bottom of the spraying box.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows: the annular wall-climbing robot proposed in the present invention softens bird droppings and other impurities in advance by spraying a detergent on the surface of the circular tube structure, and then thoroughly cleans and sucks in the softened bird droppings and other impurities for recovery, ensuring that the subsequent laser rust removal machine protective layer spraying will not be disturbed, and preventing impurities from falling and causing pollution. The integrated design of cleaning, rust removal and spraying improves work efficiency and facilitates offshore personnel to maintain the circular tube structure.

[0017] The present invention further proposes a cleaning method applied to the above-mentioned annular wall-climbing robot, which is applied to the above-mentioned annular wall-climbing robot and comprises: S1, installing the frame (1) on the outer circumference of the circular tube structure and starting the cleaning process; S2, the wall-climbing robot (12) ascends along the circular tube structure, and during the ascent, a cleaning agent is sprayed on the surface of the circular tube structure through a spray port, and a sealing module (3) seals the bottom of the cleaning module (2) and stores the cleaning agent; S3, the wall-climbing robot (12) stops after climbing a set distance, and the switching module (4) is started to cause the sealing module (3) to undergo structural deformation, so that the sealing module (3) can re-apply the stored cleaning agent to the surface of the circular tube structure; S4, the switching module (4) continues to function to allow the cleaning module (2) to descend, and when the cleaning module (2) descends below the wall-climbing robot (12), the surface of the circular tube structure is cleaned and dirt is sucked and stored; S5, the cleaning module (2) rises and resets, the laser module (5) performs laser rust removal on the rusted area on the surface of the cleaned circular tube structure, and the spraying module (6) sprays a protective layer on the surface of the rust-removed circular tube structure; S6, return to step S1 to perform cleaning, rust removal and spraying until the surface treatment of the round tube structure is completed.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are: in the cleaning method of the annular wall-climbing robot proposed in the present invention, the cleaning agent is sprayed on the surface of the circular tube structure during the climbing of the wall-climbing robot, and after climbing a set distance, the cleaning module descends under the action of the switching module to clean the surface of the circular tube structure and absorb and store dirt. After cleaning is completed, the cleaning module rises and resets, and the laser module performs laser rust removal on the rusted area on the surface of the cleaned circular tube structure, and the spraying module sprays a protective layer on the surface of the rust-removed circular tube structure, and then the wall-climbing robot continues to climb and repeats the above operations until the surface of the circular tube structure is cleaned. The integrated design of cleaning, rust removal and spraying improves work efficiency and facilitates offshore personnel to maintain the circular tube structure.

[0019] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of the annular wall-climbing robot of the present invention; Figure 2 This is a bottom view of the overall structure of the annular wall-climbing robot of the present invention; Figure 3 is a front cross-sectional view of the annular wall-climbing robot of the present invention; Figure 4 The present invention Figure 3 A partial enlarged view of point A shown; Figure 5 The present invention Figure 3 A partial enlarged view of point B shown; Figure 6 It is a structural schematic diagram of a cleaning module of the annular wall-climbing robot of the present invention; Figure 7 It is a structural schematic diagram of the deformation mechanism of the annular wall-climbing robot of the present invention; Figure 8 Schematic diagram of the use of the annular wall-climbing robot of the present invention; Fig. 9 Schematic diagram of the cleaning steps of the annular wall-climbing robot of the present invention; Description of reference numerals: 1. frame; 2. cleaning module; 3. sealing module; 4. switching module; 5. laser module; 6. spraying module; 11. inner frame; 12. wall-climbing robot; 13. middle frame; 14. connecting frame; 15. outer frame; 21. shell; 22. cleaning roller; 23. multifunctional pumping mechanism; 24. deformation mechanism; 151. circular track; 231. pump body; 232. cleaning box; 233. dirt storage box; 234. inlet switching valve; 235. outlet switching valve; 241. Pushing member; 242, extruding member; 243, gear one; 244, gear two; 245, rack one; 246, rack two; 31, sealing plate; 32, sliding plate; 33, sponge ring; 34, blocking member; 35, transition member; 36, traction member; 41, switching cylinder; 42, pressing member; 43, pressure member; 44, locking mechanism; 441, locking plate; 442, column member; 443, locking pin; 444, unlocking member; 445, connecting rope; a, spray port; b, sewage suction port; c, recovery tank. DETAILED DESCRIPTION

[0022] 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.

[0023] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0026] The annular wall-climbing robot proposed in the present invention softens the bird droppings in advance by pre-spraying a cleaning agent on the surface of the circular tube structure, and then thoroughly cleans and sucks in the softened bird droppings and other impurities for recovery, ensuring that subsequent laser rust removal and protective layer spraying will not be disturbed. The integrated design of cleaning, rust removal and spraying improves work efficiency and facilitates offshore personnel to maintain the circular tube structure.

[0027] The following is combined with Figure 1-Figure 8 The annular wall-climbing robot proposed in the present invention is described in detail.

[0028] Reference Figure 1 , Figure 3As shown, the annular wall-climbing robot includes a frame 1, a wall-climbing robot 12, a cleaning module 2, a sealing module 3, a switching module 4, a laser module 5 and a spraying module 6; the frame 1 is an annular structure as a whole, and the wall-climbing robot 12 is arranged on the inner periphery of the frame 1; the cleaning module 2 is evenly arranged on the inner periphery of the frame 1, and is used to spray and clean the surface of the circular tube structure operating at sea with a decontaminant; the sealing module 3 is arranged on the inner ring of the frame 1, and is used to seal the bottom of the cleaning module 2 so as to recycle the decontaminant in real time and avoid pollution caused by random falling of dirt; the switching module 4 is evenly arranged inside the frame 1, and is used to control the structural transformation of the frame 1; the laser module 5 is installed on the outer periphery of the frame 1; the spraying module 6 is installed on the outer periphery of the frame 1; when the surface of the circular tube structure is cleaned, the laser module 5 cooperates with the spraying module 6 to perform laser rust removal and protective layer spraying on the surface of the circular tube structure in succession.

[0029] In the actual working process, the frame 1 is installed on the periphery of the circular tube structure and the built-in cleaning process is started. The wall-climbing robot 12 continuously rises along the circular tube structure and sprays the cleaning agent on the surface of the circular tube structure through the cleaning module 2. The sealing module 3 seals the bottom of the cleaning module 2, thereby collecting the cleaning agent sprayed by the cleaning module 2 and the impurities dropped on the surface of the circular tube structure to prevent them from being scattered randomly and causing environmental pollution. After rising a set distance, the wall-climbing robot 12 temporarily stops moving upward, and then switches the module 4 to make the cleaning module 2, the sealing module 3, the laser module 5, and the spraying module 6 descend as a whole. The sealing module 3 undergoes a structural change inside and re-applies the previously stored cleaning agent to the surface of the circular tube structure. Subsequently, the cleaning module 2 undergoes a structural change inside, and the surface of the circular tube structure is fully cleaned and the dirt is sucked and stored. After descending a set distance, the cleaning module 2 and the sealing module 3 move upward quickly to reset, the laser module 5 and the spray module 6 move upward slowly to reset and enter a working state, the laser module 5 performs laser rust removal on the surface of the circular tube structure, and the spray module 6 sprays a protective layer on the rust-removed portion, and after the laser module 5 and the spray module 6 move upward to reset, the wall-climbing robot 12 continues to move upward, and the above steps are repeated until the circular tube structure is processed. The present invention maintains the circular tube structure working at sea through an integrated design of cleaning, rust removal and spraying, thereby extending the service life of the circular tube structure.

[0030] Reference Figure 3As shown, the annular wall-climbing robot is provided with a plurality of modules. In order to ensure that the modules can reasonably cooperate to work, the present invention is provided with a frame 1, and the frame 1 includes an inner frame 11, a middle frame 13, a connecting frame 14 and an outer frame 15; the inner frame 11 is annular, and a wall-climbing robot 12 is arranged on the inner periphery; the middle frame 13 is arranged on the outer periphery of the inner frame 11 by rotating through an electric turntable; the connecting frame 14 is slidably arranged at the bottom of the middle frame 13, and a tension spring is connected between the middle frame 13, and the tension spring plays a resetting role; the outer frame 15 is slidably arranged on the outer periphery of the middle frame 13, and a telescopic spring is connected between the middle frame 13, and the telescopic spring plays a resetting role, and a circular track 151 is arranged on its outer periphery; in addition, the outer frame 15 is equipped with a visual system for detecting the degree of rust of the round tube; the inner frame 11, the middle frame 13, the connecting frame 14, and the outer frame 15 are all spliced ​​structures, so as to facilitate installation on the round tube structure.

[0031] In the actual working process, the wall-climbing robot 12 is in contact with the surface of the circular tube structure and drives the annular wall-climbing robot to rise continuously as a whole. The wall-climbing robot 12 drives the entire robot to clean and remove rust on the surface of the circular tube structure by moving at set distances multiple times. The distance of a single rise is a cleaning area.

[0032] Reference Figure 3 As shown, before laser rust removal, the surface of the circular tube structure needs to be cleaned to prevent incomplete rust removal due to interference from impurities such as bird droppings. For this purpose, the present invention provides a cleaning module 2 including a shell 21, a cleaning roller 22, a multifunctional pumping mechanism 23 and a deformation mechanism 24; the shell 21 is installed on the connecting frame 14, and its outer shape is an arc shape. The inner circumference is sequentially provided with a spraying port a and a suction port b. The spraying port a sprays a cleaning agent to the surface of the circular tube structure for pre-cleaning preparation, and the suction port b absorbs dirt during the cleaning process; the cleaning roller 22 is horizontally slidably arranged in a groove opened on the inner circumference of the shell 21 through an installation bracket, and a reset spring is connected between the installation bracket and the groove, and the reset spring plays a reset role; the multifunctional pumping mechanism 23 is arranged inside the shell 21, and the cleaning agent is sprayed through the spraying port a, and the dirt is sucked through the suction port b; the deformation mechanism 24 is arranged inside the shell 21, and is used to adjust the position of the cleaning roller 22 and switch the working mode of the multifunctional pumping mechanism 23.

[0033] During the actual cleaning process, the upward-moving multifunctional pump-suction mechanism 23 sprays cleaning agent onto the surface of the circular tube structure through the spray port a. At this time, the cleaning roller 22 does not contact the surface of the circular tube structure. When the wall-climbing robot 12 temporarily stops moving upward, under the action of the switching module 4, the connecting frame 14 and the outer frame 15 descend, so that the deformation mechanism 24 pushes the cleaning roller 22 inward to contact the surface of the circular tube structure. At the same time, the internal part of the multifunctional pump-suction mechanism 23 changes and starts to suck dirt through the sewage suction port b. When the shell 21 descends to the bottom of the wall-climbing robot 12, the electric turntable drives the middle frame 13 to start rotating, and the cleaning roller 22 continuously rubs against the surface of the circular tube structure to perform comprehensive cleaning work, and the sewage suction port b continues to absorb the dirt.

[0034] Reference Figure 6 As shown, the annular wall-climbing robot of the present invention needs to spray detergent and perform subsequent dirt absorption work. For this purpose, the present invention is provided with a multifunctional pump suction mechanism 23, which includes a pump body 231, a cleaning box 232, a dirt storage box 233, an inlet switching valve 234 and an outlet switching valve 235; the pump body 231 is installed in the shell 21, the cleaning box 232 is installed in the shell 21, the cleaning box 232 stores detergent, the dirt storage box 233 is installed in the shell 21, the dirt storage box 233 serves as a storage container for dirt, and the inlet switching valve 234 is installed at the inlet of the pump body 231. The inlet switching valve 234 is connected to the cleaning box 232 and the dirt suction port b through the inlet pipe 1 and the inlet pipe 2, respectively. The outlet switching valve 235 is connected to each other, and the outlet switching valve 235 is installed at the outlet of the pump body 231. The outlet switching valve 235 is connected to the dirt storage tank 233 and the spraying port a through the outlet pipe 1 and the outlet pipe 2 respectively. When the cleaning tank 232, the inlet switching valve 234, the pump body 231, the outlet switching valve 235, and the spraying port a form a connecting pipeline, the detergent in the cleaning tank 232 flows through the entire pipeline and is finally sprayed out from the spraying port a, thereby realizing the cleaning agent spraying work on the surface of the circular tube structure. When the sewage suction port b, the inlet switching valve 234, the pump body 231, the outlet switching valve 235, and the dirt storage tank 233 form a connecting pipeline, the dirt generated on the surface of the cleaning circular tube structure is finally absorbed into the dirt storage tank 233 through the sewage suction port b.

[0035] When performing the cleaning agent spraying operation, the present invention moves upward through the wall-climbing robot 12. At this time, a connecting pipeline is formed between the cleaning box 232, the inlet switching valve 234, the pump body 231, the outlet switching valve 235, and the spray port a. The cleaning agent in the cleaning box 232 flows through the entire pipeline and is finally sprayed out from the spray port a. When the wall-climbing robot 12 temporarily stops moving upward and the deformation mechanism 24 is triggered, the outlet switching valve 235 is triggered. At this time, a connecting pipeline is formed between the cleaning box 232, the inlet switching valve 234, the pump body 231, the outlet switching valve 235, and the dirt storage tank 233. The cleaning agent in the cleaning box 232 flows through the entire pipeline and finally enters the dirt storage tank 233. Then the inlet switching valve 234 is triggered. At this time, a connecting pipeline is formed between the sewage suction port b, the inlet switching valve 234, the pump body 231, the outlet switching valve 235, and the sewage storage tank 233, and the clean sewage is finally absorbed into the sewage storage tank 233 through the sewage suction port b. When the sewage suction work is completed, the inlet switching valve 234 is triggered before the outlet switching valve 235. At this time, a connecting pipeline is formed between the cleaning tank 232, the inlet switching valve 234, the pump body 231, the outlet switching valve 235, and the sewage storage tank 233. The detergent in the cleaning tank 232 flushes the inlet switching valve 234, the pump body 231, and the outlet switching valve 235 and finally enters the sewage storage tank 233. Then the outlet switching valve 235 is triggered, and the multifunctional pump suction mechanism 23 returns to its initial state.

[0036] Reference Figure 6 , Figure 7As shown, the annular wall-climbing robot is provided with a deformation mechanism 24 for performing deformation operations on the inside of the cleaning module 2; the deformation mechanism 24 includes a pushing member 241, an extruding member 242, a gear 1 243, a gear 244, a rack 1 245 and a rack 2 246; the pushing member 241 is slidably arranged on the middle frame 13, and a compression spring is connected between the pushing member 241 and the middle frame 13, and the compression spring always maintains a tendency to push the pushing member 241 inward; an avoidance groove corresponding to the position of the pushing member 241 is provided on the shell 21, and the inner side of the pushing member 241 in the initial state is in contact with the shell 21, and the pushing member 241 and the avoidance groove are misaligned in the height direction; as the shell 21 descends, the avoidance groove gradually corresponds to the position of the pushing member 241, and the pushing member 241 passes through the avoidance groove under the action of the compression spring and enters the inside of the shell 21, thereby pushing the extruding member 242; the extruding member 242 is slidably arranged Inside the shell 21, gear 1 243 is installed at the bottom of the inlet switching valve 234, gear 244 is installed at the bottom of the outlet switching valve 235, and rack 1 245 is installed on the extrusion 242. The position of rack 1 245 corresponds to gear 1 243. In the initial state, rack 1 245 and gear 1 243 are not in contact. Rack 2 246 is installed on the extrusion 242, and rack 2 246 and gear 2 244 are meshed. When the pusher 241 is displaced, rack 2 246 and gear 2 244 are instantly meshed and rotated. Since rack 1 245 and gear 1 243 are not in contact in the initial state, the pusher 241 needs to move a certain distance before rack 1 245 and gear 1 243 are meshed and rotated, thereby achieving the effect that gear 2 244 rotates before gear 1 243, that is, the outlet switching valve 235 is triggered before the inlet switching valve 234.

[0037] During the actual deformation process, the shell 21 moves downward so that the avoidance groove gradually corresponds to the position of the pushing member 241. Under the action of the compression spring, the pushing member 241 passes through the avoidance groove and enters the interior of the shell 21 and squeezes the extrusion member 242 to move inward. The extrusion member 242 gradually pushes the cleaning roller 22 out, and the extrusion member 242 pushes the rack 1 245 and the rack 2 246 to move inward. The rack 2 246 drives the gear 2 244 to rotate, thereby triggering the outlet switching valve 235. Subsequently, the rack 1 245 contacts and meshes with the gear 1 243, thereby driving the gear 1 243 to rotate, and the inlet switching valve 234 is triggered.

[0038] Reference Figure 3 , Figure 5As shown, the cleaning agent sprayed by the cleaning module 2 cannot be completely attached to the surface of the circular tube structure. In order to prevent part of the cleaning agent from falling and polluting the environment, the present invention is provided with a sealing module 3, which includes a sealing plate 31, a sliding plate 32, a sponge ring 33, a blocking member 34, a transition member 35 and a traction member 36; the sealing plate 31 is installed on the connecting frame 14, and a recovery groove c is opened on the sealing plate 31; the sliding plate 32 is slidably set on the upper surface of the sealing plate 31, and the sliding plate 32 in the initial state is annular and the inner circumference is in contact with the circular tube structure. The sliding plate 32 cooperates with the sealing plate 31 to perform a sealed operation on the bottom of the cleaning module 2 to prevent impurities and the cleaning agent sprayed by the cleaning module 2 from falling randomly and causing environmental pollution. The fallen cleaning agent flows into the recovery groove c for temporary storage; a return spring is connected between the sliding plate 32 and the sealing plate 31, and the return spring plays a resetting role; the sponge ring 33 is slidably set in the open groove opened on the inner circumference of the sealing plate 31, and moves to the innermost The sponge ring 33 (final state) on the side fits with the circular tube structure, and the sponge ring 33 absorbs the detergent in the recovery groove c and re-applies it to the surface of the circular tube structure; the open groove and the recovery groove c are connected through the connecting groove, the sponge ring 33 is an annular structure as a whole, and a dirt storage groove for accommodating dirt is opened on the inner circumference of the sponge ring 33, and the blocking member 34 is slidably arranged in the connecting groove. The blocking member 34 in the initial state blocks the connecting groove so that the open groove and the recovery groove c are not connected. A flexible spring is connected between the blocking member 34 and the connecting groove, and the flexible spring plays a reset role. The transition member 35 is slidably arranged in the recovery groove c, and the position of the transition member 35 corresponds to that of the blocking member 34. One end of the traction member 36 is connected to the transition member 35, and the other end of the traction member 36 is connected to the sliding plate 32 after passing through the rotating pulley. The rotating pulley is rotatably arranged on the sealing plate 31. When the transition member 35 moves inward, the rotating pulley and the traction member 36 cooperate to make the sliding plate 32 move outward.

[0039] In the actual sealing process, when the sealing module 3 rises, the sliding plate 32 fits with the surface of the circular tube structure, and the sliding plate 32 cooperates with the sealing plate 31 to perform a sealing operation on the bottom of the cleaning module 2, and the cleaning agent, dirt and impurities are intercepted after falling. After being intercepted, the cleaning agent flows into the recovery tank c under the action of gravity. When the wall-climbing robot 12 temporarily stops moving upward, under the action of the switching module 4, the transition piece 35 is pushed inward, and the transition piece 35 pushes the blocking piece 34 out of the connecting groove, the connecting groove is opened, and the blocking piece 34 pushes the sponge ring 33 to the surface of the circular tube structure. In the state of surface adhesion, since the connecting groove is opened, the detergent flows from the recovery groove c into the open groove, and the sponge ring 33 absorbs the detergent and re-applies it to the surface of the circular tube structure, which deepens the cleaning effect and realizes the real-time recovery of the detergent; when the transition piece 35 moves inward, the rotating pulley and the traction piece 36 cooperate to make the sliding plate 32 move outward, and the sliding plate 32 no longer adheres to the surface of the circular tube structure, thereby avoiding the situation where the sliding plate 32 with a rigid structure directly pushes down impurities such as bird droppings during the descent process (at this time, these impurities contain detergents, which will cause pollution if they fall into the sea).

[0040] Reference Figure 3 As shown, multiple modules of the annular wall-climbing robot need to work in sequence. For this purpose, the present invention is provided with a switching module 4; the switching module 4 includes a switching cylinder 41, a pressing piece 42, a pressure piece 43 and a locking mechanism 44. The switching cylinder 41 is installed in the middle frame 13, and the pressing piece 42 is installed on the output end of the switching cylinder 41. The inner side of the pressing piece 42 is a pointed structure, and the pressure piece 43 is slidably arranged in the sealing plate 31. The left end of the pressure piece 43 is an inclined structure matched with the pressing piece 42, and the right end of the pressure piece 43 is in contact with the transition piece 35. The locking mechanism 44 locks the position between the connecting frame 14 and the outer frame 15.

[0041] Reference Figure 2 , Figure 3 , Figure 4As shown, the locking mechanism 44 includes a locking plate 441, a column 442, a locking pin 443, an unlocking member 444 and a connecting rope 445; the locking plate 441 is installed on the inner periphery of the bottom of the outer frame 15, and the column 442 is installed on the bottom of the connecting frame 14; the column 442 is a hollow structure with an open upper end; a cylindrical hole corresponding to the column 442 is provided on the locking plate 441, and the upper end of the cylindrical hole is an oblique structure; the locking pin 443 is horizontally slidably arranged in the side wall of the column 442, and both the inner and outer sides thereof are oblique structures, and a balance spring is connected between the column 442, and the balance spring in the initial state maintains the tendency to push the locking pin 443 into the interior of the column 442; a locking hole corresponding to the locking pin 443 is provided on the side wall of the cylindrical hole; the unlocking member 444 is slidably arranged inside the column 442 up and down, and a compression spring is connected between the unlocking member 444 and the column 442, and the compression spring plays a reset role The locking pin 443 is inserted into the locking hole to lock the position between the column 442 and the locking plate 441.

[0042] The pressing member 42 moves downward and contacts with the pressure-receiving member 43 and squeezes the pressure-receiving member 43. The pressure-receiving member 43 is squeezed and moves inward, thereby pushing the transition member 35 to move inward, causing the sealing module 3 to deform. The pressing member 42 continues to move downward and contacts with the locking plate 441 and pushes the locking plate 441 to move downward together. At this time, the column 442 and the locking plate 441 are in a locked state. Therefore, the connecting frame 14 and the outer frame 15 move downward together, and the shell 21 moves downward with the connecting frame 14 so that the avoidance groove gradually corresponds to the position of the pushing member 241. The pushing member 241 causes the inside of the cleaning module 2 to deform, and the cleaning module 2 begins to clean the surface of the circular tube structure. When the output end of the switching cylinder 41 is pushed downward by a set distance, the connecting rope 445 wrapped around the take-up roller is released. Then the locking plate 44 1 continues to descend, and the unlocking member 444 is disengaged from the locking pin 443 under the pulling action of the connecting rope 445. The locking pin 443 is retracted into the interior of the column 442 under the action of the balance spring, thereby unlocking the position between the column 442 and the locking plate 441. Under the action of the tension spring, the connecting frame 14 quickly moves upward and resets, thereby moving away from the laser module 5 to avoid interference with the laser module 5; thereafter, the output end of the switching cylinder 41 slowly moves upward and resets, and under the action of the telescopic spring, the outer frame 15 follows the output end of the switching cylinder 41 and slowly moves upward and resets, while the laser module 5 performs laser rust removal on the cleaned surface of the circular tube structure, and the spraying module 6 sprays a protective layer on the surface of the circular tube structure after rust removal. When the outer frame 15 moves upward and resets, the wall-climbing robot 12 moves upward again by a set distance, and the above steps are repeated until the surface of the circular tube structure is processed.

[0043] Reference Figure 1 As shown, the laser module 5 is composed of a continuous laser, an optical fiber, and a laser head in the prior art. The continuous laser is slidably arranged on the annular track 151 through an electric slider 2.

[0044] Reference Figure 1 As shown, the spray module 6 consists of a spray box and a spray head. The spray box is slidably arranged on a circular track 151 by an electric slider. The spray heads are evenly installed at the bottom of the spray box, and the position of the spray heads in the vertical direction is lower than that of the laser head.

[0045] During the process of the outer frame 15 moving upward and resetting, the visual system observes and scans the surface of the circular tube structure. When a rusted area is found, the electric slider 2 drives the laser module 5 to move along the circular track 151 to the rusted area, and the laser head emits a laser to remove rust from the rusted area. The electric slider 1 drives the spray module 6 to move along the circular track 151 to the rusted area, and the nozzle sprays a protective layer on the rust-removed area.

[0046] like Fig. 9As shown, the cleaning process of the wall-climbing robot in this embodiment is: S1: After the frame is installed on the outer periphery of the circular tube structure, the cleaning process is started.

[0047] S2: The wall-climbing robot ascends along the surface of the circular tube structure. During the ascent, the cleaning agent is sprayed on the surface of the circular tube structure through the spray port a. The sealing module seals the bottom of the cleaning module and stores the cleaning agent.

[0048] This step is intended to soften bird droppings and other impurities. The annular wall-climbing robot rises along the circular tube structure under the action of the wall-climbing robot 12. During the ascent, the spray port a sprays the cleaning agent on the surface of the circular tube structure, and the sealing module 3 seals the bottom of the cleaning module 2 so that the cleaning agent can be collected and will not flow down along the surface of the circular tube structure.

[0049] S3: The wall-climbing robot stops after climbing a set distance, and the switching module is started to cause the sealing module to deform its structure, so that it re-applies the stored cleaning agent to the surface of the circular tube structure.

[0050] In this step, the annular wall-climbing robot is in a structural deformation state, the output end of the switching cylinder 41 is pushed downward, and the pressing piece 42 moves downward and contacts and squeezes the pressure-receiving piece 43, causing structural deformation inside the sealing module 3. The sealing module 3 re-applies the previously stored cleaning agent to the surface of the circular tube structure.

[0051] S4: The switching module continues to function to allow the cleaning module to descend. When the cleaning module descends to the bottom of the wall-climbing robot, it cleans the surface of the circular tube structure and absorbs and collects dirt.

[0052] In this step, the annular wall-climbing robot is in a cleaning state, the output end of the switching cylinder 41 continues to be pushed downward, the locking plate 441 is pushed downward, and the inside of the cleaning module 2 is deformed. When the cleaning module 2 descends to the bottom of the wall-climbing robot 12, the electric turntable drives the middle frame 13 to rotate, and the cleaning module 2 that rotates with the middle frame 13 comprehensively cleans the surface of the circular tube structure and absorbs and stores the dirt.

[0053] S5: The cleaning module rises and resets, the laser module performs laser rust removal on the rusted area on the surface of the cleaned circular tube structure, and the spraying module sprays a protective layer on the surface of the rust-removed circular tube structure.

[0054] In this step, the annular wall-climbing robot is in a rust removal and spraying state, the output end of the switching cylinder 41 extends to a specified value so that the locking mechanism 44 is unlocked, the middle frame 13 quickly resets upward, and the outer frame 15 follows the output end of the switching cylinder 41 and slowly moves upward to reset. At the same time, the laser module 5 performs laser rust removal on the rusted area on the surface of the cleaned circular tube structure, and the spraying module 6 sprays a protective layer on the surface of the circular tube structure after rust removal.

[0055] S6: Return to step S1 to perform cleaning, rust removal and spraying until the surface treatment of the round tube structure is completed.

[0056] After the outer frame is reset and the rust removal and spraying are completed, the annular wall-climbing robot continues to move upward under the action of the wall-climbing robot 12, and the above steps are repeated until the surface treatment of the circular tube structure is completed.

[0057] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A ring-shaped wall-climbing robot, characterized in that: include: The frame (1) is a circular ring structure as a whole; A wall-climbing robot (12) arranged on the inner periphery of the frame (1); A cleaning module (2) is evenly arranged on the inner periphery of the frame (1) and is used to spray a decontaminant on the surface of the circular tube structure for cleaning; A sealing module (3) is arranged on the inner ring of the frame (1) and is used to seal the bottom of the cleaning module (2) so as to recycle the decontamination agent in real time; Switching modules (4) are evenly arranged inside the frame (1) and are used to control the frame (1) to perform structural transformation; The laser module (5) and the spraying module (6) are both installed on the outer periphery of the frame (1); after the surface of the circular tube structure is cleaned, the two modules cooperate to successively perform laser rust removal and protective layer spraying on the surface of the circular tube structure.

2. The ring-shaped wall-climbing robot according to claim 1, characterized in that: The framework (1) comprises: An inner frame (11) is in the shape of a ring, and the wall-climbing robot (12) is arranged on its inner periphery; A middle frame (13) which is rotatably arranged on the outer periphery of the inner frame (11) via an electric turntable; A connecting frame (14) is slidably disposed at the bottom of the middle frame (13) and is connected to the middle frame (13) via a tension spring; The outer frame (15) is slidably arranged on the outer periphery of the middle frame (13) up and down, a telescopic spring is connected between the outer frame (15) and the outer periphery is provided with an annular track (151).

3. The annular wall-climbing robot according to claim 2, characterized in that: The cleaning module (2) comprises: The housing (21) is mounted on the connecting frame (14) and has an arc shape. A spraying port (a) and a sewage suction port (b) are provided on the inner circumference. A cleaning roller (22) is horizontally slidably arranged in a groove formed on the inner periphery of the housing (21) via a mounting bracket, wherein a return spring is connected between the mounting bracket and the groove; A multifunctional pumping mechanism (23) is arranged inside the housing (21) and is used for spraying a decontaminant through the spraying port (a) and for sucking dirt through the dirt suction port (b); The deformation mechanism (24) is arranged inside the housing (21) and is used to adjust the position of the cleaning roller (22) and switch the working mode of the multifunctional pumping mechanism (23).

4. The annular wall-climbing robot according to claim 3, characterized in that: The multifunctional pumping mechanism (23) comprises: A pump body (231) installed in the housing (21); A cleaning box (232) installed in the housing (21); A dirt storage box (233) installed in the housing (21); An inlet switching valve (234) is installed at the inlet of the pump body (231) and is connected to the cleaning box (232) and the sewage suction port (b) through the inlet pipe 1 and the inlet pipe 2 respectively; The outlet switching valve (235) is installed at the outlet of the pump body (231). The outlet switching valve (235) is connected to the dirt storage tank (233) and the spray port (a) through the outlet pipe 1 and the outlet pipe 2 respectively.

5. The annular wall-climbing robot according to claim 4, characterized in that: The deformation mechanism (24) comprises: A pusher (241) is slidably disposed on the middle frame (13), a compression spring is connected to the middle frame (13), and a avoidance groove corresponding to the position of the pusher (241) is provided on the housing (21); An extrusion member (242) slidably disposed inside the housing (21); Gear 1 (243), which is installed at the bottom of the inlet switching valve (234); Gear 2 (244), which is installed at the bottom of the outlet switching valve (235); Rack 1 (245), which is mounted on the extrusion member (242) and is located corresponding to gear 1 (243); Rack 2 (246) is mounted on the extrusion member (242) and meshes with gear 2 (244).

6. The ring-shaped wall-climbing robot according to claim 2, characterized in that: The sealing module (3) comprises: A sealing plate (31) is mounted on the connecting frame (14) and is provided with a recovery groove (c); A sliding plate (32) is slidably disposed on the upper surface of the sealing plate (31) and a return spring is connected between the sliding plate (32) and the sealing plate (31); The sponge ring (33) is an annular structure as a whole, and has a dirt storage groove for accommodating dirt on its inner circumference, and is slidably arranged in an open groove on the inner circumference of the sealing plate (31), and the open groove is connected to the recovery groove (c) through a connecting groove; A blocking member (34) is slidably disposed in the communicating groove, and a flexible spring is connected between the blocking member (34) and the communicating groove; A transition piece (35) slidably disposed in the recovery groove (c) and corresponding to the position of the blocking piece (34); The traction member (36) has one end connected to the transition member (35) and the other end connected to the sliding plate (32) after passing around the rotating pulley, and the rotating pulley is rotatably arranged on the sealing plate (31).

7. The ring-shaped wall-climbing robot according to claim 6, characterized in that: The switching module (4) comprises: A switching cylinder (41) mounted in the middle frame (13); A pressing member (42) is mounted on the output end of the switching cylinder (41) and has a sharp angle structure on the inner side; A pressure-bearing member (43) is slidably disposed in the sealing plate (31), the left end of which is an inclined structure matched with the pressing member (42), and the right end of which is in contact with the transition member (35); A locking mechanism (44) is used to lock the position between the connecting frame (14) and the outer frame (15).

8. The ring-shaped wall-climbing robot according to claim 7, characterized in that: The locking mechanism (44) comprises: A locking plate (441) mounted on the inner periphery of the bottom of the outer frame (15); The column (442) is installed at the bottom of the connecting frame (14) and is a hollow structure with an open upper end. The locking plate (441) is provided with a cylindrical hole corresponding to the column (442), and the upper end of the cylindrical hole is an oblique angle structure; A locking pin (443) is horizontally slidably arranged in the side wall of the column (442), with both inner and outer sides being beveled structures, a balancing spring is connected between the column (442), and a locking hole corresponding to the locking pin (443) is opened in the side wall of the cylindrical hole; An unlocking member (444) is slidably disposed inside the column member (442) and is connected to the column member (442) by a compression spring, and has an oblique angle structure at its lower end; A connecting rope (445) has one end connected to the top end of the unlocking member (444) and the other end connected around a wire-receiving roller, which is rotatably arranged inside the middle frame (13).

9. The ring-shaped wall-climbing robot according to claim 2, characterized in that: The spraying module (6) is composed of a spraying box and a spray head. The spraying box is slidably arranged on a circular track (151) through an electric slider, and the spray head is installed at the bottom of the spraying box.

10. A cleaning method for an annular wall-climbing robot, applied to the annular wall-climbing robot as claimed in any one of claims 1 to 9, characterized in that: include: S1, installing the frame (1) on the outer circumference of the circular tube structure and starting the cleaning process; S2, the wall-climbing robot (12) ascends along the circular tube structure, and during the ascent, a cleaning agent is sprayed on the surface of the circular tube structure through the spray port (a), and the sealing module (3) seals the bottom of the cleaning module (2) and stores the cleaning agent; S3, the wall-climbing robot (12) stops after climbing a set distance, and the switching module (4) is started to cause the sealing module (3) to undergo structural deformation so that the stored cleaning agent is re-applied to the surface of the circular tube structure; S4, the switching module (4) continues to function to allow the cleaning module (2) to descend, and when the cleaning module (2) descends below the wall-climbing robot (12), the surface of the circular tube structure is cleaned and dirt is sucked in; S5, the cleaning module (2) rises and resets, the laser module (5) performs laser rust removal on the rusted area on the surface of the cleaned circular tube structure, and the spraying module (6) sprays a protective layer on the surface of the rust-removed circular tube structure; S6, return to step S1 to perform cleaning, rust removal and spraying until the surface treatment of the round tube structure is completed.

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