A ring-shaped wall-climbing robot and a cleaning method thereof

Abstract

The application discloses a ring-shaped wall-climbing robot and a cleaning method thereof. The robot comprises a frame, a wall-climbing robot, a cleaning module, a sealing module, a switching module, a laser module and a spraying module. The application softens bird droppings in advance by pre-spraying a cleaning agent on the surface of a circular pipe structure, and then fully cleans and sucks in and recycles the softened bird droppings and other impurities, so that the subsequent laser rust removal and protective layer spraying are not disturbed, and the impurities are prevented 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 pipe structure.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ocean engineering, and in particular relates to a ring-shaped wall-climbing robot and a cleaning method thereof. BACKGROUND

[0002] In the engineering field, circular pipe 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, rusting inevitably occurs, and many in-service circular pipe-shaped metal structures have faced or will face the problem of over-service. Due to the remote environment and the need for offshore operations, the labor cost is high, and there is still a lack of unmanned repair technology.

[0003] In the existing circular pipe rust removal, a pipeline laser rust removal device is usually used, which is usually composed of a ring-shaped mounting member, a circumferential driving assembly, a laser rust removal assembly, and an axial driving assembly. When applied, the ring-shaped mounting member is coaxially sleeved and installed to the pipeline, the circumferential driving assembly on the ring-shaped mounting member drives the ring-shaped mounting member to rotate one revolution around the axis of the ring-shaped mounting member, and the rust removal laser of the laser rust removal assembly is on the ring-shaped mounting member. The rust removal laser rotates on the ring-shaped mounting member to remove rust from the pipeline.

[0004] However, the existing technology 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. The laser of the existing technology needs to ensure that the rusted area is completely exposed under the laser when performing laser rust removal, and there cannot be any obstruction between the rusted area and the laser. Therefore, impurities such as bird droppings can greatly interfere with the rust removal effect, and the above-mentioned existing technology has no targeted response measures for the case of possible falling impurities 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] Therefore, there is still room for improvement in the existing technology. SUMMARY

[0006] In order to clean the surface of the circular pipe structure and prevent impurities from existing on the surface of the circular pipe structure to affect the laser rust removal effect, the present application proposes a ring-shaped wall-climbing robot and a cleaning method thereof, which realizes the integration of cleaning, rust removal, and spraying of the surface of the circular pipe structure.

[0007] The present application is implemented by adopting the following technical solutions:

[0008] Propose a kind of ring wall-climbing robot, including frame, wall-climbing robot, cleaning module, sealing module, switching module, laser module and spraying module;Frame is circular ring structure as a whole;Wall-climbing robot is arranged in the inner periphery of frame;Cleaning module is evenly arranged in the inner periphery of frame, for the surface of circular tube structure is cleaned by dirt remover spraying;Sealing module is arranged in the inner ring of frame, for the cleaning module below is closed to recycle dirt remover in real time;Switching module is evenly arranged in the inside of frame, for controlling the structure transformation of frame;Laser module and spraying module are installed in the outer periphery of frame;When the surface of circular tube structure is cleaned, the two cooperate to carry out laser derusting and protective layer spraying on the surface of circular tube structure in turn.

[0009] Preferably, the frame includes an inner frame, a middle frame, a connecting frame and an outer frame;The inner frame is circular ring, and the wall-climbing robot is arranged in the inner periphery thereof;The middle frame is rotatably arranged on the outer periphery of the inner frame by a motorized turntable;The connecting frame is slidably arranged on the bottom of the middle frame, and a tension spring is connected between the connecting frame and the middle frame;The outer frame is slidably arranged on the outer periphery of the middle frame, and a telescopic spring is connected between the outer frame and the middle frame, and an annular track is arranged on the outer periphery of the outer frame.

[0010] Preferably, the cleaning module includes a housing, a cleaning roller, a multifunctional pumping mechanism and a deformation mechanism;The housing is mounted on the connecting frame and has a circular arc shape, and a spraying port and a dirt suction port are formed in the inner periphery of the housing;The cleaning roller is slidably arranged in a groove formed in the inner periphery of the housing through a mounting bracket, and a return spring is connected between the mounting bracket and the groove;The multifunctional pumping mechanism is arranged in the interior of the housing and is used for dirt remover spraying through the spraying port and dirt suction through the dirt suction port;The deformation mechanism is arranged in the interior of the housing and is used for adjusting the position of the cleaning roller and switching the working mode of the multifunctional pumping mechanism.

[0011] Preferably, the multifunctional pumping mechanism includes a pump body, a cleaning tank, a dirt storage tank, an inlet switching valve and an outlet switching valve;The pump body is mounted in the housing;The cleaning tank is mounted in the housing;The dirt storage tank is mounted in the housing;The inlet switching valve is mounted at the inlet of the pump body and is communicated with the cleaning tank and the dirt suction port through inlet pipe one and inlet pipe two respectively;The outlet switching valve is mounted at the outlet of the pump body and is communicated with the dirt storage tank and the spraying port through outlet pipe one and outlet pipe two respectively.

[0012] Preferably, the deformation mechanism includes a pushing member, a pressing member, a gear one, a gear two, a rack one and a rack two;The pushing member is slidably arranged on the middle frame and is connected with the middle frame through a compression spring, and an avoidance groove corresponding to the position of the pushing member is formed in the housing;The pressing member is slidably arranged in the interior of the housing;The gear one is mounted at the bottom of the inlet switching valve;The gear two is mounted at the bottom of the outlet switching valve;The rack one is mounted on the pressing member and corresponds to the gear one in position;The rack two is mounted on the pressing member and is engaged with the gear two.

[0013] Preferably, the sealing module comprises 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 the connecting frame and is provided with a recycling groove; the sliding plate is slidably arranged on the upper surface of the sealing plate and is connected with the sealing plate through a return spring; the sponge ring is in a whole annular structure and is provided with a dirt containing groove in the inner periphery; the sponge ring is slidably arranged in the opening groove arranged in the inner periphery of the sealing plate and is communicated with the recycling groove through a communication groove; the blocking piece is slidably arranged in the communication groove and is connected with the communication groove through a flexible spring; the transition piece is slidably arranged in the recycling groove and corresponds to the position of the blocking piece; one end of the traction piece is connected with the transition piece and the other end is connected with the sliding plate after passing through a rotating pulley; the rotating pulley is rotatably arranged on the sealing plate.

[0014] Preferably, the switching module comprises a switching cylinder, a pressing piece, a pressure receiving 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 has a sharp corner structure on the inner side; the pressure receiving piece is slidably arranged in the sealing plate and has an inclined structure on the left end for matching the pressing piece; the right end of the pressure receiving piece is in contact with the transition piece; the locking mechanism is used for locking the position between the connecting frame and the outer frame.

[0015] Preferably, the locking mechanism comprises a locking plate, a column piece, a locking pin, an unlocking piece and a connecting rope; the locking plate is installed on the bottom inner periphery of the outer frame; the column piece is installed on the bottom of the connecting frame and has a hollow structure with an open upper end; the locking plate is provided with a cylindrical hole corresponding to the column piece, and the upper end of the cylindrical hole has an inclined corner structure; the locking pin is horizontally slidably arranged in the side wall of the column piece and has an inclined corner structure on the inner and outer sides; the locking pin is connected with the column piece through a balance spring; the side wall of the cylindrical hole is provided with a locking hole corresponding to the locking pin; the unlocking piece is slidably arranged in the inside of the column piece and is connected with the column piece through a pressure receiving spring; the lower end of the unlocking piece has an inclined corner structure; one end of the connecting rope is connected to the top end of the unlocking piece, and the other end is connected to the take-up roller in a loop; the take-up roller is rotatably arranged in the inside of the middle frame.

[0016] Preferably, the spraying module is composed of a spraying box and a spray head; the spraying box is slidably arranged on the annular track through an electric sliding block; the bottom of the spraying box is provided with the spray head.

[0017] Compared with the prior art, the advantages and positive effects of the present application are: the annular wall climbing robot proposed in the present application softens bird droppings and other impurities in advance by spraying cleaning agent on the surface of the circular pipe structure, then fully cleans and sucks in the softened bird droppings and other impurities for recycling, ensures that the subsequent laser rust removal machine protective layer spraying will not be disturbed, and prevents impurities from falling and causing pollution, so that the design of cleaning, rust removal and spraying integration improves the work efficiency and facilitates offshore personnel to maintain the circular pipe structure.

[0018] The application further provides a cleaning method applied to the annular wall-climbing robot.

[0019] S1, the frame (1) is sleeved and installed on the outer periphery of the circular pipe structure, and a cleaning process is started;

[0020] S2, the wall-climbing robot (12) ascends along the circular pipe structure, and the sealing module (3) seals the lower part of the cleaning module (2) and stores the cleaning agent during the spraying of the cleaning agent on the surface of the circular pipe structure through the spraying port during the ascending;

[0021] S3, the wall-climbing robot (12) stops after climbing a set distance, and the switching module (4) is started to deform the sealing module (3), so that the stored cleaning agent is re-applied to the surface of the circular pipe structure;

[0022] S4, the switching module (4) continues to act to lower the cleaning module (2), and the surface of the circular pipe structure is cleaned and the dirt is stored after the cleaning module (2) is lowered below the wall-climbing robot (12);

[0023] S5, the cleaning module (2) is raised to reset, the laser module (5) performs laser rust removal on the rusted area of the cleaned surface of the circular pipe structure, and the spraying module (6) sprays a protective layer on the surface of the circular pipe structure after the rust removal;

[0024] S6, return to step S1 to implement cleaning, rust removal and spraying until the surface treatment of the circular pipe structure is completed.

[0025] Compared with the prior art, the advantages and positive effects of the annular wall-climbing robot cleaning method are that the wall-climbing robot sprays cleaning agent on the surface of the circular pipe structure during climbing, the cleaning module is lowered under the action of the switching module to clean the surface of the circular pipe structure and store the dirt after climbing a set distance, the cleaning module is raised to reset after cleaning, the laser module performs laser rust removal on the rusted area of the cleaned surface of the circular pipe structure, and the spraying module sprays a protective layer on the surface of the circular pipe structure after the rust removal, and then the wall-climbing robot continues to climb and repeats the above operation until the surface of the circular pipe structure is cleaned, so that the integrated design of cleaning, rust removal and spraying improves the work efficiency and facilitates the maintenance of the personnel on the sea.

[0026] Other features and advantages of the application will become more apparent after reading the detailed description of the embodiments of the application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0028] Figure 1 is the overall structure schematic diagram of the annular wall-climbing robot of the present application;

[0029] Figure 2 is the overall structure bottom view of the annular wall-climbing robot of the present application;

[0030] Figure 3 is the front cross-sectional view of the annular wall-climbing robot of the present application;

[0031] Figure 4 is the partial enlarged view of A shown in the present application; Figure 3

[0032] Figure 5 is the partial enlarged view of B shown in the present application; Figure 3

[0033] Figure 6 is the structure schematic diagram of the cleaning module of the annular wall-climbing robot of the present application;

[0034] Figure 7 is the structure schematic diagram of the deformation mechanism of the annular wall-climbing robot of the present application;

[0035] Figure 8 is the use schematic diagram of the annular wall-climbing robot of the present application;

[0036] Figure 9 is the cleaning step schematic diagram of the annular wall-climbing robot of the present application;

[0037] ​​Explanation of reference signs: 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, annular track; 231, pump body; 232, cleaning tank; 233, sewage storage tank; 234, inlet switching valve; 235, outlet switching valve; 241, pushing piece; 242, extruding piece; 243, gear one; 244, gear two; 245, rack one; 246, rack two; 31, sealing plate; 32, sliding plate; 33, sponge ring; 34, blocking piece; 35, transition piece; 36, traction piece; 41, switching cylinder; 42, pressing piece; 43, pressure receiving piece; 44, locking mechanism; 441, locking plate; 442, column piece; 443, locking pin; 444, unlocking piece; 445, connecting rope; a, spraying port; b, sewage suction port; c, recycling groove. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0040] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the 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.

[0041] The terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as implying or suggesting relative importance or an indicated number of the technical features. Thus, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0042] The annular wall-climbing robot pre-sprays a cleaning agent on the surface of the circular pipe structure to soften the bird droppings, and then fully cleans and sucks in the softened bird droppings and other impurities for recycling, so that the subsequent laser rust removal and protective layer spraying are not disturbed, the integrated design of cleaning, rust removal and spraying improves the work efficiency, and the offshore personnel can conveniently maintain the circular pipe structure.

[0043] The annular wall-climbing robot pre-sprays a cleaning agent on the surface of the circular pipe structure to soften the bird droppings, and then fully cleans and sucks in the softened bird droppings and other impurities for recycling, so that the subsequent laser rust removal and protective layer spraying are not disturbed, the integrated design of cleaning, rust removal and spraying improves the work efficiency, and the offshore personnel can conveniently maintain the circular pipe structure. Figures 1-8 The annular wall-climbing robot pre-sprays a cleaning agent on the surface of the circular pipe structure to soften the bird droppings, and then fully cleans and sucks in the softened bird droppings and other impurities for recycling, so that the subsequent laser rust removal and protective layer spraying are not disturbed, the integrated design of cleaning, rust removal and spraying improves the work efficiency, and the offshore personnel can conveniently maintain the circular pipe structure.

[0044] Referring to FIG. 1, Figure 1 Figure 3 As shown in the drawings, the annular wall-climbing robot comprises 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 in the shape of a circular ring, and the wall-climbing robot 12 is arranged at the inner periphery of the frame 1. The cleaning module 2 is uniformly arranged at the inner periphery of the frame 1, and is used for spraying a cleaning agent on the surface of the circular pipe structure for cleaning. The sealing module 3 is arranged at the inner ring of the frame 1, and is used for sealing the lower part of the cleaning module 2 to recycle the cleaning agent in real time and avoid the pollution caused by the random falling of the dirt. The switching module 4 is uniformly arranged inside the frame 1, and is used for controlling the structure transformation of the frame 1. The laser module 5 is installed at the outer periphery of the frame 1. The spraying module 6 is installed at the outer periphery of the frame 1. After the surface of the circular pipe structure is cleaned, the laser module 5 and the spraying module 6 cooperate to perform laser rust removal and protective layer spraying on the surface of the circular pipe structure in sequence.

[0045] ​In the actual working process, after the frame 1 is installed on the outer periphery of the circular pipe structure, the built-in cleaning process is started, the wall climbing robot 12 continuously rises along the circular pipe structure and sprays cleaning agent on the surface of the circular pipe structure through the cleaning module 2, and the sealing module 3 seals the lower part of the cleaning module 2, thereby collecting the cleaning agent sprayed by the cleaning module 2 and the impurities falling from the surface of the circular pipe structure, preventing the cleaning agent and the impurities from randomly falling and causing environmental pollution. After rising by a set distance, the wall climbing robot 12 temporarily stops upward movement, and then the switching module 4 makes the cleaning module 2, the sealing module 3, the laser module 5 and the spraying module 6 collectively descend. The structure inside the sealing module 3 is transformed and the previously collected cleaning agent is re-applied to the surface of the circular pipe structure. Then, the structure inside the cleaning module 2 is transformed to clean the surface of the circular pipe structure and collect the dirt. When the cleaning module 2 and the sealing module 3 move upward by a set distance, the laser module 5 and the spraying module 6 move upward slowly and return to the working state. The laser module 5 performs laser rust removal work on the surface of the circular pipe structure, and the spraying module 6 sprays a protective layer on the rust-removed part. When the laser module 5 and the spraying module 6 move upward and return to the working state, the wall climbing robot 12 continues to move upward, and the above steps are repeated until the circular pipe structure is processed. The present application maintains the circular pipe structure working at sea through the integrated design of cleaning, rust removal and spraying, prolonging the service life of the circular pipe structure.

[0046] Referring to Figure 3 As shown in the figure, 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 application is provided with a frame 1, which comprises an inner frame 11, a middle frame 13, a connecting frame 14 and an outer frame 15. The inner frame 11 is circular ring-shaped, and the inner periphery is provided with a wall climbing robot 12. The middle frame 13 is rotatably arranged on the outer periphery of the inner frame 11 through an electric turntable. The connecting frame 14 is slidably arranged at the bottom of the middle frame 13 and connected with the middle frame 13 through a tension spring, which serves as a reset function. The outer frame 15 is slidably arranged on the outer periphery of the middle frame 13 and connected with the middle frame 13 through a telescopic spring, which serves as a reset function, and the outer periphery is provided with an annular track 151. In addition, the outer frame 15 is loaded with a visual system for detecting the corrosion degree of the circular pipe. The inner frame 11, the middle frame 13, the connecting frame 14 and the outer frame 15 are all spliced structures, thereby facilitating installation on the circular pipe structure.

[0047] In the actual working process, the wall climbing robot 12 is attached to the surface of the circular pipe structure and drives the annular wall climbing robot to continuously rise. The wall climbing robot 12 drives the robot as a whole to clean and remove rust on the surface of the circular pipe structure through multiple distance setting movement modes. The distance of single rise is the cleaning area at a time.

[0048] Referring to Figure 3As shown, before laser rust removal, the surface of the circular tube structure needs to be cleaned to prevent incomplete rust removal due to the interference of impurities such as bird droppings, and for this purpose, the cleaning module 2 is provided, which includes a housing 21, a cleaning roller 22, a multifunctional pumping mechanism 23 and a deformation mechanism 24; the housing 21 is installed on the connecting frame 14 and has a circular arc shape, and a spray opening a and a dirt suction opening b are sequentially arranged on the inner periphery of the housing 21; the spray opening a sprays cleaning agent to the surface of the circular tube structure for cleaning preparation, and the dirt suction opening b absorbs dirt during the cleaning process; the cleaning roller 22 is horizontally slidably arranged in the groove on the inner periphery of the housing 21 through a mounting bracket, and a return spring is connected between the mounting bracket and the groove, which plays a return role; the multifunctional pumping mechanism 23 is arranged in the interior of the housing 21 and sprays the cleaning agent through the spray opening a and performs the dirt suction operation through the dirt suction opening b; the deformation mechanism 24 is arranged in the interior of 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.

[0049] In the actual cleaning process, the upwardly moving multifunctional pumping mechanism 23 sprays cleaning agent to the surface of the circular tube structure through the spray opening a, and 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 are lowered, so that the deformation mechanism 24 pushes the cleaning roller 22 inward to contact the surface of the circular tube structure, and at the same time, the multifunctional pumping mechanism 23 is transformed inside to start the dirt suction operation through the dirt suction opening b; when the housing 21 is lowered below the wall climbing robot 12, the middle frame 13 starts to rotate under the drive of the electric turntable, and the cleaning roller 22 continuously rubs the surface of the circular tube structure to perform comprehensive cleaning work, and the dirt suction opening b continuously absorbs dirt.

[0050] Referring to Figure 6As shown, the annular wall-climbing robot of the present application needs to be sprayed with cleaning agent and then to suck up dirt, for this purpose, the present application is provided with a multifunctional pump suction mechanism 23, which comprises a pump body 231, a cleaning tank 232, a dirt storage tank 233, an inlet switching valve 234 and an outlet switching valve 235; the pump body 231 is installed in the shell 21, the cleaning tank 232 is installed in the shell 21, the cleaning tank 232 stores cleaning agent, the dirt storage tank 233 is installed in the shell 21, the dirt storage tank 233 serves as a dirt storage container, the inlet switching valve 234 is installed at the inlet of the pump body 231, the inlet switching valve 234 is communicated with the cleaning tank 232 and the dirt suction port b through inlet pipe one and inlet pipe two respectively, the outlet switching valve 235 is installed at the outlet of the pump body 231, the outlet switching valve 235 is communicated with the dirt storage tank 233 and the spraying port a through outlet pipe one and outlet pipe two 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 communication pipeline, the cleaning agent in the cleaning tank 232 flows through the entire pipeline and is finally sprayed out of the spraying port a, realizing the cleaning agent spraying work on the surface of the circular pipe structure, when the dirt 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 communication pipeline, the dirt generated during the cleaning of the circular pipe structure is finally sucked into the dirt storage tank 233 through the dirt suction port b.

[0051] When the cleaning agent spraying operation is performed, the wall-climbing robot 12 moves upward, at this time, 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 communication pipeline, the cleaning agent in the cleaning tank 232 flows through the entire pipeline and is finally sprayed out of the spraying 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, the cleaning tank 232, the inlet switching valve 234, the pump body 231, the outlet switching valve 235 and the dirt storage tank 233 form a communication pipeline, the cleaning agent in the cleaning tank 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, the dirt 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 communication pipeline, the dirt is sucked into the dirt storage tank 233 through the dirt suction port b, when the dirt suction work is completed, the inlet switching valve 234 is triggered before the outlet switching valve 235, at this time, the cleaning tank 232, the inlet switching valve 234, the pump body 231, the outlet switching valve 235 and the dirt storage tank 233 form a communication pipeline, the cleaning agent 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 dirt storage tank 233, then the outlet switching valve 235 is triggered, the multifunctional pump suction mechanism 23 returns to the initial state.

[0052] Referring to Figure 6 ,Figure 7 As shown, the ring-shaped wall-climbing robot is provided with a deformation mechanism 24 for performing deformation operation on the inside of the cleaning module 2; the deformation mechanism 24 comprises a pushing piece 241, an extruding piece 242, a gear one 243, a gear two 244, a rack one 245 and a rack two 246; the pushing piece 241 is slidably arranged on the middle frame 13 and is connected with the middle frame 13 through a compression spring which always keeps a tendency of pushing the pushing piece 241 inward; the shell 21 is provided with an avoiding slot corresponding to the position of the pushing piece 241, the inside of the pushing piece 241 in the initial state is in contact with the shell 21, and the pushing piece 241 is dislocated with the avoiding slot in the height direction; as the shell 21 descends, the avoiding slot gradually corresponds to the position of the pushing piece 241, and the pushing piece 241 enters the inside of the shell 21 through the avoiding slot under the action of the compression spring, thereby playing a pushing role on the extruding piece 242; the extruding piece 242 is slidably arranged in the inside of the shell 21, the gear one 243 is installed at the bottom of the inlet switching valve 234, the gear two 244 is installed at the bottom of the outlet switching valve 235, the rack one 245 is installed on the extruding piece 242, the position of the rack one 245 corresponds to the gear one 243, the rack one 245 in the initial state is not in contact with the gear one 243, the rack two 246 is installed on the extruding piece 242, and the rack two 246 is engaged with the gear two 244; when the pushing piece 241 is displaced, the rack two 246 and the gear two 244 are instantaneously engaged and rotated, and because the rack one 245 in the initial state is not in contact with the gear one 243, the pushing piece 241 needs to move a certain distance to make the rack one 245 and the gear one 243 engaged and rotated, thereby achieving the effect that the gear two 244 rotates before the gear one 243, i.e. the outlet switching valve 235 is triggered before the inlet switching valve 234.

[0053] In the actual deformation work, the shell 21 moves downward to make the avoiding slot gradually correspond to the position of the pushing piece 241, the pushing piece 241 enters the inside of the shell 21 through the avoiding slot under the action of the compression spring and extrudes the extruding piece 242 to move inward, the extruding piece 242 gradually pushes out the cleaning roller 22, and the extruding piece 242 pushes the rack one 245 and the rack two 246 to move inward, the rack two 246 drives the gear two 244 to rotate to trigger the outlet switching valve 235, and then the rack one 245 is in contact with and engaged with the gear one 243 to drive the gear one 243 to rotate, thereby triggering the inlet switching valve 234.

[0054] Referring to 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 the falling of part of the cleaning agent from polluting the environment, the application is provided with a sealing module 3, the sealing module 3 includes a sealing plate 31, a sliding plate 32, a sponge ring 33, a blocking piece 34, a transition piece 35 and a traction piece 36; the sealing plate 31 is installed on the connecting frame 14, and the recycling groove c is formed in the sealing plate 31; the sliding plate 32 is slidingly arranged on the upper surface of the sealing plate 31, and the initial state of the sliding plate 32 is annular and the inner periphery is attached to the circular tube structure, the cooperation between the sliding plate 32 and the sealing plate 31 seals the lower part of the cleaning module 2, avoids the random falling of impurities and cleaning agent sprayed by the cleaning module 2 from causing environmental pollution, and temporarily stores the falling cleaning agent in the recycling groove c; the 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 slidingly arranged in the opening groove formed in the inner periphery of the sealing plate 31, the sponge ring 33 (final state) is attached between the innermost sponge ring 33 and the circular tube structure, and the sponge ring 33 absorbs the cleaning agent in the recycling groove c and re-applies it to the surface of the circular tube structure; the opening groove and the recycling groove c are communicated through the communication groove, the sponge ring 33 is annular in structure, the inner periphery of the sponge ring 33 is provided with a dirt storage groove, the blocking piece 34 is slidingly arranged in the communication groove, the initial state of the blocking piece 34 blocks the communication groove so that the opening groove and the recycling groove c are not communicated, the flexible spring is connected between the blocking piece 34 and the communication groove, and the flexible spring plays a resetting role, the transition piece 35 is slidingly arranged in the recycling groove c, the position of the transition piece 35 corresponds to that of the blocking piece 34, one end of the traction piece 36 is connected with the transition piece 35, and the other end of the traction piece 36 is connected with the sliding plate 32 after surrounding the rotating pulley, and the rotating pulley is rotatably arranged on the sealing plate 31; when the transition piece 35 moves inward, the cooperation between the rotating pulley and the traction piece 36 makes the sliding plate 32 move outward.

[0055] In the actual sealing process, the sliding plate 32 is attached to the surface of the circular tube structure when the sealing module 3 rises, and the cooperation between the sliding plate 32 and the sealing plate 31 seals the lower part of the cleaning module 2, so that the cleaning agent, dirt and impurities falling therefrom are intercepted, and the cleaning agent is flowed into the recovery tank c under the action of gravity. When the wall-climbing robot 12 temporarily stops moving upward, the transition piece 35 is pushed inward under the action of the switching module 4, the transition piece 35 pushes the blocking piece 34 out of the communication groove, the communication groove is opened, and the sponge ring 33 is pushed to the state of being attached to the surface of the circular tube structure. Since the communication groove is opened, the cleaning agent flows from the recovery tank c into the opening groove, the sponge ring 33 adsorbs and re-applies the cleaning agent on the surface of the circular tube structure, deepens the cleaning effect, and realizes real-time recovery of the cleaning agent. When the transition piece 35 moves inward, the cooperation between the rotating pulley and the traction piece 36 causes the sliding plate 32 to move outward, and the sliding plate 32 is no longer attached to the surface of the circular tube structure, thereby avoiding the situation that the sliding plate 32 of the rigid structure directly pushes the bird droppings and other impurities during the descending process (at this time, these impurities contain cleaning agent, and falling into the sea will cause pollution).

[0056] Referring to Figure 3 As shown, the annular wall-climbing robot needs to work in sequence among the plurality of modules, and for this purpose, the present application is provided with a switching module 4; the switching module 4 comprises a switching cylinder 41, a pressing piece 42, a pressure receiving piece 43 and a locking mechanism 44, the switching cylinder 41 is installed in the middle frame 13, 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 sharp corner structure, the pressure receiving piece 43 is slidingly arranged in the sealing plate 31, the left end of the pressure receiving piece 43 is an inclined structure cooperating with the pressing piece 42, the right end of the pressure receiving piece 43 is in contact with the transition piece 35, and the locking mechanism 44 locks the position between the connecting frame 14 and the outer frame 15.

[0057] Referring to Figure 2 , Figure 3 , Figure 4As shown, the locking mechanism 44 comprises 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 in the bottom inner periphery of the outer frame 15, and the column 442 is installed in the bottom of the connecting frame 14; the column 442 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 inclined angle structure; the locking pin 443 is horizontally slidably arranged in the side wall of the column 442, and the inner and outer sides thereof are both inclined angle structures; a balance spring is connected between the locking pin 443 and the column 442, and the balance spring in the initial state keeps a tendency to push the locking pin 443 into the column 442; the side wall of the cylindrical hole is provided with a locking hole corresponding to the locking pin 443; the unlocking member 444 is slidably arranged in the interior of the column 442, and a compression spring is connected between the unlocking member 444 and the column 442, which plays a resetting role; the lower end of the unlocking member 444 is an inclined angle structure, and the inclined angle structure of the lower end of the unlocking member 444 in the initial state is pressed between the locking pin 443, and the locking pin 443 extends into the locking hole to lock the position between the column 442 and the locking plate 441; one end of the connecting rope 445 is connected to the top end of the unlocking member 444, and the other end is looped around the take-up roller, which is rotatably arranged in the interior of the middle frame 13; with the continuous falling of the locking plate 441, the connecting rope 445 looped around the take-up roller is continuously released, and when the locking plate 441 falls by a set distance, the connecting rope 445 looped around the take-up roller is released, and then the locking plate 441 continues to fall, the unlocking member 444 is separated from the locking pin 443 under the pulling action of the connecting rope 445, and the locking pin 443 is retracted into the interior of the column 442 under the action of the balance spring to unlock the position between the column 442 and the locking plate 441.

[0058] In the actual switching process, the output end of the switching cylinder 41 is pushed down, the pressing piece 42 moves down and contacts and presses the pressed piece 43, the pressed piece 43 is pressed and moves inward to push the transition piece 35 to move inward to make the sealing module 3 deform, the pressing piece 42 continues to move down and contacts the locking plate 441 and pushes the locking plate 441 to move down, at this time, the column piece 442 and the locking plate 441 are in a locked state, so the connecting frame 14 and the outer frame 15 move down together, the shell 21 moves down with the connecting frame 14 to make the avoiding groove gradually correspond to the position of the pushing piece 241, the pushing piece 241 makes the inside of the cleaning module 2 deform, and the cleaning module 2 starts to clean the surface of the circular pipe structure, when the output end of the switching cylinder 41 is pushed down by a set distance, the connecting rope 445 around the take-up roller is released, then the locking plate 441 continues to drop, the unlocking piece 444 is separated from the locking pin 443 under the pulling action of the connecting rope 445, the locking pin 443 is retracted into the inside of the column piece 442 under the action of the balance spring to unlock the position between the column piece 442 and the locking plate 441, and the connecting frame 14 moves upward quickly under the action of the stretching spring to move away from the laser module 5, so as to avoid interference with the laser module 5; then, the output end of the switching cylinder 41 slowly moves upward to reset, under the action of the stretching spring, the outer frame 15 slowly moves upward to reset with the output end of the switching cylinder 41, at the same time, the laser module 5 performs laser rust removal on the cleaned surface of the circular pipe structure, and the spraying module 6 sprays a protective layer on the rust-removed surface of the circular pipe structure, when the outer frame 15 moves upward to reset, the wall climbing robot 12 moves upward by a set distance again, and the above steps are repeated until the surface of the circular pipe structure is processed.

[0059] Referring to Figure 1 As shown in the figure, the laser module 5 is composed of a continuous laser of the prior art, an optical fiber and a laser head, and the continuous laser is slidably arranged on the annular track 151 by the motorized slider two.

[0060] Referring to Figure 1 As shown in the figure, the spraying module 6 is composed of a spraying box and a spray head, the spraying box is slidably arranged on the annular track 151 by the motorized slider one, the spraying box is uniformly provided with the spray head at the bottom, and the position of the spray head in the vertical direction is lower than that of the laser head.

[0061] In the process of moving upward to reset the outer frame 15, the visual system observes and scans the surface of the circular pipe structure, when rust area is found, the motorized slider two drives the laser module 5 to move to the rust area along the annular track 151, the laser head emits laser to remove rust at the rust area, the motorized slider one drives the spraying module 6 to move to the rust area along the annular track 151, and the spray head sprays a protective layer on the rust-removed area.

[0062] As Figure 9The cleaning process of the wall-climbing robot of the embodiment is shown as follows:

[0063] S1: The frame sleeve is installed on the outer periphery of the circular pipe structure, and the cleaning process is started.

[0064] S2: The wall-climbing robot ascends along the surface of the circular pipe structure, and the spray port a sprays the cleaning agent on the surface of the circular pipe structure during the ascending process. The sealing module seals the lower part of the cleaning module and stores the cleaning agent.

[0065] In this step, the annular wall-climbing robot is in a structure deformation state. The output end of the switching cylinder 41 is pushed out downward, and the pressing piece 42 moves downward to contact and press the pressure receiving piece 43, so that the structure of the sealing module 3 is deformed. The sealing module 3 re-applies the previously stored cleaning agent to the surface of the circular pipe structure.

[0066] S3: The wall-climbing robot stops after climbing a set distance, and the switching module is started to deform the structure of the sealing module, so that the stored cleaning agent is re-applied to the surface of the circular pipe structure.

[0067] In this step, the annular wall-climbing robot is in a structure deformation state. The output end of the switching cylinder 41 is pushed out downward, and the pressing piece 42 moves downward to contact and press the pressure receiving piece 43, so that the structure of the sealing module 3 is deformed. The sealing module 3 re-applies the previously stored cleaning agent to the surface of the circular pipe structure.

[0068] S4: The switching module continues to act to lower the cleaning module. When the cleaning module is lowered below the wall-climbing robot, the surface of the circular pipe structure is cleaned and the dirt is stored.

[0069] 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 out downward, and the locking plate 441 is pushed downward. The cleaning module 2 is deformed. When the cleaning module 2 is lowered below the wall-climbing robot 12, the electric rotating disc drives the middle frame 13 to rotate, and the cleaning module 2 rotating with the middle frame 13 fully cleans the surface of the circular pipe structure and stores the dirt.

[0070] S5: The cleaning module is raised to reset, the laser module performs laser rust removal on the rusted area of the cleaned surface of the circular pipe structure, and the spraying module sprays a protective layer on the surface of the circular pipe structure after the rust removal.

[0071] In this step, the annular wall-climbing robot is in a rust removal and spraying state. The output end of the switching cylinder 41 is extended to a specified value to unlock the locking mechanism 44, the middle frame 13 is quickly reset upward, and the outer frame 15 slowly moves upward to reset following the output end of the switching cylinder 41. At the same time, the laser module 5 performs laser rust removal on the rusted area of the cleaned surface of the circular pipe structure, and the spraying module 6 sprays a protective layer on the surface of the circular pipe structure after the rust removal.

[0072] S6: Return to step S1 to implement cleaning, rust removal and spraying until the surface treatment of the circular pipe structure is completed.

[0073] After the outer frame is reset, rust removal and spraying are completed, the ring-shaped 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 pipe structure is completed.

[0074] It should be noted that the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present application should also be within the scope of the present application.

Claims

1. A ring-shaped wall-climbing robot, characterized in that, The utility model relates to a wall climbing robot for circular pipe structure surface cleaning device, including: Frame (1), it is circular as a whole structure; Wall climbing robot (12), it sets up in the inner periphery of frame (1); Cleaning module (2), it is evenly arranged in the inner periphery of frame (1) and is used for the surface of circular pipe structure to carry out the decontamination agent spray cleaning; Sealing module (3), it sets up in the inner circle of frame (1), is used for the below cleaning module (2) to carry out the closed so as to carry out real-time recycling to decontamination agent; Switching module (4), it is evenly arranged in the inside of frame (1) and is used for controlling frame (1) to carry out structure transformation; Laser module (5) and spraying module (6), it is installed in the outer periphery of frame (1);When circular pipe structure surface cleaning is completed, the both cooperation is carried out laser rust removal and protective layer spraying to circular pipe structure surface in succession; The frame (1) includes: Inner frame (11), it is circular, the wall climbing robot (12) sets up in its inner periphery; Middle frame (13), it rotates through electric turntable and sets up in the outer periphery of inner frame (11); Connecting frame (14), it is slidably arranged in the bottom of middle frame (13) and is connected with middle frame (13) between the stretch spring; Outer frame (15), it is slidably arranged in the outer periphery of middle frame (13) and is connected with middle frame (13) between the stretch spring, and the outer periphery is provided with annular track (151); The cleaning module (2) includes: Housing (21), it is installed on connecting frame (14), and the shape is circular arc, and the inner periphery is provided with spray opening (a) and suction opening (b); Cleaning roller (22), it is slidably arranged in the groove of housing (21) inner periphery through mounting bracket, and the mounting bracket is connected with the recess between the reset spring; Multifunctional pump suction mechanism (23), it is arranged in the inside of housing (21), is used for carrying out decontamination agent spray operation through spray opening (a) and carrying out suction operation through suction opening (b); Deformation mechanism (24), it is arranged in the inside of housing (21), is used for adjusting the position of cleaning roller (22) and switching the working mode of multifunctional pump suction mechanism (23); The multifunctional pump suction mechanism (23) includes: Pump body (231), it is installed in housing (21); Cleaning tank (232), it is installed in housing (21); Sewage storage tank (233), it is installed in housing (21); Inlet switching valve (234), it is installed at the inlet of pump body (231), and is communicated with cleaning tank (232) and suction opening (b) through inlet pipe one and inlet pipe two respectively; Outlet switching valve (235), it is installed at the outlet of pump body (231), and outlet switching valve (235) is communicated with sewage storage tank (233) and spray opening (a) through outlet pipe one and outlet pipe two respectively; The deformation mechanism (24) includes: Pushing part (241), it is slidably arranged on middle frame (13), and is connected with middle frame (13) between the compression spring, and the housing (21) is provided with the avoidance slot corresponding with the position of pushing part (241); Extrusion part (242), it is slidably arranged in the inside of housing (21); Gear one (243) is installed at the bottom of the inlet switch valve (234); Gear two (244) is installed at the bottom of the outlet switch valve (235); Rack one (245) is installed on the extrusion (242), corresponding to the position of gear one (243); Rack two (246) is installed on the extrusion (242), meshing with gear two (244).

2. The ring-shaped wall-climbing robot according to claim 1, wherein The sealing module (3) comprises: The sealing plate (31) is installed on the connecting frame (14) and has a recycling groove (c); The sliding plate (32) is slidably arranged on the upper surface of the sealing plate (31), and a return spring is connected between the sealing plate (31) and the sliding plate (32); The sponge ring (33) is a circular structure, and a dirt storage groove is formed in the inner circumference of the sponge ring (33), which is slidably arranged in the opening groove formed in the inner circumference of the sealing plate (31), and the opening groove and the recycling groove (c) are communicated through the communication groove; The blocking piece (34) is slidably arranged in the communication groove, and a flexible spring is connected between the blocking piece (34) and the communication groove; The transition piece (35) is slidably arranged in the recycling groove (c) and corresponds to the position of the blocking piece (34); The traction piece (36) is connected to the transition piece (35) at one end and connected to the sliding plate (32) after passing around the rotating pulley, and the rotating pulley is rotatably arranged on the sealing plate (31).

3. The ring-shaped wall-climbing robot according to claim 2, wherein The switch module (4) comprises: The switch cylinder (41) is installed in the middle frame (13); The pressing piece (42) is installed on the output end of the switch cylinder (41), and the inner side is a sharp corner structure; The pressure receiving piece (43) is slidably arranged in the sealing plate (31), and the left end is an inclined structure matched with the pressing piece (42), and the right end contacts the transition piece (35); The locking mechanism (44) locks the position between the connecting frame (14) and the outer frame (15).

4. The ring-shaped wall-climbing robot according to claim 3, wherein The locking mechanism (44) comprises: The locking plate (441) is installed on the inner circumference of the bottom of the outer frame (15); The column piece (442) is installed on the bottom of the connecting frame (14) and has a hollow structure with the upper end open, and a cylindrical hole corresponding to the column piece (442) is formed in the locking plate (441), and the upper end of the cylindrical hole is an inclined corner structure; The locking pin (443) is horizontally slidably arranged in the side wall of the column piece (442), and the inner and outer sides are inclined corner structures, and a balance spring is connected between the column piece (442) and the locking pin (443), and a locking hole corresponding to the locking pin (443) is formed in the side wall of the cylindrical hole; The unlocking piece (444) is slidably arranged in the inside of the column piece (442), and a pressure spring is connected between the column piece (442) and the unlocking piece (444), and the lower end is an inclined corner structure; The connecting rope (445) is connected to the top end of the unlocking piece (444) at one end and is connected to the take-up roller at the other end, and the take-up roller is rotatably arranged in the inside of the middle frame (13).

5. The ring-shaped wall-climbing robot according to claim 1, wherein The spraying module (6) is composed of a spraying box and a spray head, and the spraying box is slidably arranged on the annular track (151) through the electric sliding block one, and the bottom of the spraying box is provided with the spray head.

6. A cleaning method of a ring-shaped wall-climbing robot, applied to the ring-shaped wall-climbing robot according to any one of claims 1-5, characterized in that, It comprises: S1, the frame (1) is installed on the outer circumference of the circular pipe structure and the cleaning process is started; S2, the wall-climbing robot (12) ascends along the circular tube structure, and the sealing module (3) seals the lower part of the cleaning module (2) and stores the cleaning agent during the ascending process; S3, the wall-climbing robot (12) stops after climbing a set distance, and the switching module (4) is started to deform the sealing module (3) to reapply the stored cleaning agent to the surface of the circular tube structure; S4, the switching module (4) continues to act to lower the cleaning module (2), and the surface of the circular tube structure is cleaned and the dirt is stored after the cleaning module (2) is lowered below the wall-climbing robot (12); S5, the cleaning module (2) is raised to reset, the laser module (5) performs laser rust removal on the rusted area of 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; S6, return to step S1 to implement cleaning, rust removal and spraying until the surface treatment of the circular tube structure is completed.

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