Large outer wall laser rust removal wall climbing device

Abstract

The invention belongs to the field of mobile wall climbing devices, and particularly relates to a large outer wall laser rust removal wall climbing device which comprises a main controller, a laser device, a laser head, a negative pressure adsorption device, a motion driving device, a base and a camera. The laser is connected with the laser head through optical fibers. The bottom of the laser head is fixedly connected with the top face of the base through a supporting rod. The laser output end of the laser head is consistent with the advancing direction; the bottom of the camera is fixedly connected with the top face of the base through a supporting rod, and the camera is arranged on one side of the laser head. The motion driving devices are arranged on the two sides of the base so as to drive the outer wall laser rust removal wall climbing device to advance. The negative pressure adsorption device is used for providing a wall climbing adsorption effect for the motion driving device; the laser, the negative pressure adsorption device, the anti-collision probe, the motion driving device and the camera are all connected with the main controller; according to the built negative pressure adsorption device, the surface of the outer wall can be cleaned through laser, the device moves on the side wall of the adsorption outer wall, and laser rust removal work is independently completed on the side wall.

Description

Technical Field

[0001] The present invention belongs to the field of mobile wall-climbing devices, and more particularly to a large-scale outer-wall laser rust-removing wall-climbing device. Background Art

[0002] Currently, all the rust-removing work on the outer walls of trucks is completed manually. The daily workload is large, and as the equipment runs for a long time and the number of rust-removing operations increases, the workload also increases accordingly. The existing workers can no longer meet the gradually increasing workload, and there are problems such as poor working environment for workers, unstable maintenance quality, low production efficiency, potential safety hazards during operations, and time-consuming and laborious production management fees.

[0003] At present, the main methods for outer-wall cleaning are manual cleaning, sandblasting, shot peening, high-pressure water cleaning, chemical cleaning, etc. Moreover, a single method cannot thoroughly clean, and usually multiple means need to be combined. These cleaning methods have complex processes, low efficiency, consume a large amount of water resources, produce a large amount of waste liquid, and seriously pollute the environment.

[0004] With the development of laser technology, the technology of laser rust-removing devices has been gradually popularized and applied. However, the existing lasers for outer-wall rust removal still use the method of a large robotic arm carrying a laser cleaning device to replace manual rust removal. However, the robotic arm carrying the laser cleaning device first occupies a large space area, and for narrow areas or high-altitude areas that cannot be touched, the rust-removing task cannot be completed. Therefore, designing a device that can climb the wall for rust removal has become an important goal to promote the development of this field. Summary of the Invention

[0005] The purpose of the present invention is to provide a large-scale outer-wall laser rust-removing wall-climbing device with high laser rust-removing efficiency, green environmental protection, high precision, strong controllability, wide application range, low requirements for the working environment, and small damage, so as to overcome the defects of the above-mentioned laser rust-removing wall-climbing devices.

[0006] The technical solution adopted by the present invention to achieve the above purpose is: a large-scale outer-wall laser rust-removing wall-climbing device, including: a main controller, a laser, a laser head, a negative pressure adsorption device, a motion driving device, a base, and a camera;

[0007] The laser is connected to the laser head through an optical fiber; the bottom of the laser head is fixedly connected to the top surface of the base through a support rod; the laser output end of the laser head is in the same direction as the advancing direction;

[0008] The bottom of the camera is fixedly connected to the top surface of the base through a support rod, and the camera is arranged on one side of the laser head;

[0009] The motion driving device is arranged on both sides of the base to drive the outer-wall laser rust-removing wall-climbing device to move forward;

[0010] The negative pressure adsorption device is arranged on the motion driving device and is used to provide the adsorption effect for the motion driving device to climb the wall;

[0011] The laser, the negative pressure adsorption device, the anti-collision probe, the motion driving device and the camera are all connected to the main controller;

[0012] The main controller sends control instructions to the laser to control the laser, the negative pressure adsorption device, the motion driving device, and the centrifugal pump to perform corresponding actions. At the same time, it receives the obstacle state in front of the outer wall laser rust removal wall-climbing device feedback by the anti-collision probe and the image information in front of the outer wall laser rust removal wall-climbing device sent by the camera, and controls the motion driving device to bypass or controls the negative pressure adsorption device to perform wall-climbing adsorption actions.

[0013] The negative pressure adsorption device includes: a main suction cup, an auxiliary suction cup, a centrifugal pump, and an air pipe;

[0014] There are multiple main suction cups, which are respectively arranged at the four corners of the bottom of the base;

[0015] An auxiliary suction cup is arranged on the motion driving device, and an air port is arranged at the inner edge of the auxiliary suction cup; the centrifugal pump is connected to the air port through an air pipe to realize the positive and negative pressure cyclic loading of the auxiliary suction cup.

[0016] The main suction cup includes: a main suction cup bracket, a sealing sleeve, a sealing ring, and a suction cup body;

[0017] The main suction cup bracket is arranged along the four corners of the bottom of the base. One end of the main suction cup bracket is fixedly installed at the bottom of the base, and the other end is provided with a sealing sleeve. The sealing ring and the sealing sleeve are sleeved with each other; the sealing ring is connected to the suction cup body;

[0018] The suction cup body is used to fix-point adsorb the outer wall laser rust removal wall-climbing device on the side wall surface. A support rotor (7) is arranged inside the suction cup body. The support rotor (7) is installed at the bottom of the robot body through a support frame, and the connection line between a point on the plane where the support rotor (7) is located and the center point of the plane where the two driving rollers of the front-end motion driving device are located forms a triangle to play the role of the outer wall laser rust removal wall-climbing device.

[0019] The height dimension of the sealing ring is higher than the bottom of the driver of the motion driving device to prevent the driver from touching the side wall.

[0020] The motion driving device includes: driving rollers, a motion track, and a driver connected to the main controller;

[0021] The driver is arranged on the base on the left and right sides of the laser head and is connected to the driving rollers. The driving rollers are arranged on the outer sides of both sides of the base; there are multiple driving rollers, and two driving rollers are arranged on each side of the base;

[0022] The drive rollers on each side of the corresponding base are symmetrically arranged along the central axis, and the two drive rollers are drivingly connected through a moving track.

[0023] Auxiliary suction cups are fixedly arranged in a line at set intervals on the moving track. The auxiliary suction cups move with the moving track to achieve forward crawling.

[0024] There are a total of four drive rollers. The two drive rollers at the front end of the base are the first drive group, and the two drive rollers at the rear end of the base are the second drive. When the drive of the first drive group encounters a movement obstacle, the second drive group at the rear end of the main controller starts to ensure the stability and reliability of the movement.

[0025] It also includes an anti-collision probe. The anti-collision probe is arranged at the center directly in front of the base and is connected to the main controller. It is used to sense the information of obstacles in front of the outer wall laser rust removal wall-climbing device and send it to the main controller.

[0026] The laser direction of the laser head is the same as the field of view direction of the camera, and the included angles between the laser optical axis of the laser head and the camera and the central axis of the camera field of view and the horizontal line are both 30° - 45°.

[0027] The selected process parameters of the laser are as follows: laser wavelength 1064nm, power 500W, spot diameter 0.1mm, pulse width less than 120nm, maximum repetition frequency 200kHz. After the main controller sends a control instruction, the laser output by the laser is transmitted to the laser head through an optical fiber.

[0028] A control method for a large-scale outer wall laser rust removal wall-climbing device includes the following steps:

[0029] 1) The main controller sends control instructions to the laser to control the laser, the negative pressure adsorption device, the movement drive device, the camera, and the centrifugal pump.

[0030] 2) The driver of the movement drive device receives the control instruction to control the rotation of the drive rollers. At the same time, the auxiliary suction cups arranged on the drive rollers alternately crawl forward. The centrifugal pump controls the auxiliary suction cups and the main suction cup in the negative pressure adsorption device to alternately inhale and exhale according to the forward speed of the moving track, realizing the adsorption and release of the suction cup body. The laser output by the laser is transmitted to the laser head through an optical fiber. The camera takes pictures of the front image information and real-time feeds back the front image information of the outer wall laser rust removal wall-climbing device to the main controller.

[0031] 3) The main controller receives the front image information of the outer wall laser rust removal wall-climbing device fed back by the camera and at the same time receives the front obstacle state of the outer wall laser rust removal wall-climbing device fed back by the anti-collision probe, and selects to control the movement drive device to bypass or control the negative pressure adsorption device to perform wall-climbing adsorption actions.

[0032] 4) If the main controller selects to control the negative pressure adsorption device to perform the wall climbing and adsorption action, step 2) is repeatedly executed.

[0033] The present invention has the following beneficial effects and advantages:

[0034] 1. The negative pressure adsorption device constructed by the present invention can realize laser cleaning on the outer wall surface, enabling the device to move on the side wall of the outer wall and independently complete the laser rust removal work when there is no obstacle on the side wall.

[0035] 2. Compared with the traditional cleaning method, laser rust removal of the present invention has the characteristics of high efficiency, environmental friendliness, high precision, strong controllability, wide application range, low requirements for the working environment, and small damage.

[0036] 3. The layout of the motion driving device and the main suction cup of the present invention forms a stable structure of the whole device. At the same time, with the help of the auxiliary suction cup, stable climbing on the outer wall can be realized, and the suction cup adopts the structure of a sealing ring and a sealing sleeve, without damaging the outer wall to be rust removed.

[0037] 4. The auxiliary suction cup of the present invention is fixedly arranged on the moving track, achieving the effect of climbing and adsorbing upward along with the track movement, with a simple structural principle and a more stable wall climbing effect.

[0038] 5. The outer wall laser rust removal wall climbing device of the present invention realizes full automation of outer wall rust removal, and corresponding devices can also be set on the base to correspondingly complete the corresponding sandblasting, shot peening, high-pressure water cleaning, and chemical cleaning work. Brief Description of the Drawings

[0039] Figure 1 Overall structural schematic diagram of the wall climbing laser cleaning device of the present invention;

[0040] Figure 2 Schematic connection diagram of the auxiliary suction cup and the centrifugal pump;

[0041] Among them, 1 is a laser, 2 is an optical fiber, 3 is a laser head, 4 is a negative pressure adsorption device, 5 is an anti-collision probe, 6 is a driver, 7 is a support rotor, 8 is a base, 9 is a moving track, 10 is a main suction cup, 11 is an auxiliary suction cup, 13 is a centrifugal pump, and 14 is an air pipe. Detailed Embodiment

[0042] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0043] As Figure 1 shown, a large-scale outer wall laser rust removal wall climbing device of the present invention includes: a main controller, a laser 1, a laser head 3, a negative pressure adsorption device 4, a motion driving device, a base 8, and a camera 12;

[0044] The laser 1 is connected to the laser head 3 through the optical fiber 2; the bottom of the laser head 3 is fixedly connected to the top surface of the base 8 through a support rod; the laser output end of the laser head 3 is in the same direction as the forward direction;

[0045] The bottom of the camera 12 is fixedly connected to the top surface of the base 8 through a support rod, and the camera 12 is arranged on one side of the laser head 3;

[0046] The motion driving device is arranged on both sides of the base 8 to drive the outer wall laser rust removal wall-climbing device to move forward;

[0047] The negative pressure adsorption device 4 is arranged on the motion driving device and is used to provide an adsorption effect for the motion driving device to climb the wall;

[0048] The laser 1, the negative pressure adsorption device 4, the anti-collision probe 5, the motion driving device and the camera 12 are all connected to the main controller;

[0049] The laser 1 has main parameters of laser wavelength 1064 nm, power 500 W, spot diameter 0.1 mm, pulse width less than 120 nm, and maximum repetition frequency 200 kHz. The laser output by the laser is transmitted to the laser head through the optical fiber.

[0050] The main controller sends control instructions to the laser to control the laser 1, the negative pressure adsorption device 4, the motion driving device, and the centrifugal pump 13 to perform corresponding actions. At the same time, it receives the obstacle state in front of the outer wall laser rust removal wall-climbing device feedback by the anti-collision probe 5 and the image information in front of the outer wall laser rust removal wall-climbing device sent by the camera 12, and controls the motion driving device to bypass or controls the negative pressure adsorption device 4 to perform wall-climbing adsorption actions.

[0051] The laser generated by the laser 1 is transmitted to the beam shaping system in the laser head 3 through the optical fiber 2, and is expanded and focused in the beam shaping system;

[0052] In this embodiment, the size of the laser head 3 is not greater than 300 mm × 300 mm × 100 mm, and the weight is not greater than 7.5 kg;

[0053] The negative pressure adsorption device 4 includes a centrifugal pump 13, a main suction cup 10, etc.; the main suction cup 10 is installed at both ends of the device for fixing the device. The driver 6 is installed above the crawler for driving the crawler. The driving crawler 9 is driven by the driver 6 (driving motor) to provide driving force to drive the crawler to move forward and backward. The negative pressure adsorption device 4 can realize laser cleaning on the outer wall surface, enable the device to move on the side wall of the adsorption outer wall, and independently complete laser rust removal work when there is no obstacle on the side wall;

[0054] As Figure 1 and Figure 2 shown, the negative pressure adsorption device 4 includes: a main suction cup 10, an auxiliary suction cup 11, a centrifugal pump 13, and an air pipe 14;

[0055] There are multiple main suction cups 10, which are respectively arranged at the four corners of the bottom of the base 8;

[0056] The motion driving device is provided with an auxiliary suction cup 11, and an air port is arranged at the inner edge of the auxiliary suction cup 11; a centrifugal pump 13 is connected to the air port through an air pipe 15, so as to realize positive and negative pressure cycle loading of the auxiliary suction cup.

[0057] The main suction cup 10 includes: a main suction cup bracket, a sealing sleeve and a sealing ring. The main suction cup bracket is arranged along the four corners of the bottom of the base 8. One side of the main suction cup bracket is installed at the bottom of the wall climbing device, and the other end is a sealing sleeve. The sealing ring and the sealing sleeve are fitted together.

[0058] The sealing ring needs to be higher than the bottom of the driver to prevent the driver from touching the side wall. The main function of the main suction cup is to adsorb the device on the side wall surface, with a built-in support rotor, which is installed at the bottom of the robot body through a support frame;

[0059] The suction cup body is used to fix the outer wall laser rust removal and climbing device on the side wall surface. A supporting rotor 7 is provided inside the suction cup body. The supporting rotor 7 is installed at the bottom of the robot body through a supporting frame, and a line connecting a point on the plane where the supporting rotor 7 is located and the center point of the plane where the two transmission rollers of the front end motion driving device are located forms a triangle, so as to play the role of the outer wall laser rust removal and climbing device.

[0060] like Figure 1 and Figure 2 As shown, the motion driving device includes: a transmission roller, a motion crawler 9 and a driver 9 connected to a main controller;

[0061] The driver is arranged on the base 8 on the left and right sides of the laser head 6 and is connected to the transmission rollers, which are arranged on both sides outside the base 8; there are multiple transmission rollers, and two transmission rollers are arranged on each side of the base;

[0062] The transmission rollers on each side of the corresponding base 8 are symmetrically arranged along the central axis, and the two transmission rollers are connected by a moving track 9;

[0063] Auxiliary suction cups 11 are fixedly arranged in a line at set intervals on the moving crawler 9, and the auxiliary suction cups 11 move with the moving crawler 9 to achieve forward crawling.

[0064] The driver 6 is arranged on the base 8 on the left and right sides of the laser head 3 and is connected to the main controller. There are four transmission rollers in total, which are respectively placed at the four corners of the base. The two transmission rollers at the front end are the first drive group, and the two transmission rollers at the rear end are the second drive. If there is a problem with the driving of the first drive group or there is a movement obstacle, the second drive group at the rear end is started to ensure the stability and reliability of the movement.

[0065] The crawler on the wall-climbing cleaning device is provided with auxiliary suction cups. An air port is arranged at the inner edge of the auxiliary suction cup. The centrifugal pump is connected to the air port through an air pipe to realize the positive and negative pressure cyclic loading of the auxiliary suction cup.

[0066] In this embodiment, a set of moving crawlers 9 are installed on both sides of the bottom of the device. Each set of crawlers is evenly distributed with 8 auxiliary suction cups. The main suction cup alternately inhales and exhales according to the advancing speed of the crawler, ensuring the smooth advancement of the crawler and the adsorption of the auxiliary suction cup. The crawler, as the motion execution structure of the wall-climbing device, the auxiliary suction cups on its surface ensure that the device can be adsorbed on the side wall surface during the movement process.

[0067] Above the laser head 3, there are an anti-collision probe 5 and a camera 12. The anti-collision probe 5 can effectively prevent the laser head from being collided by obstacles, and the camera 12 can monitor the whole process of laser cleaning in real time.

[0068] The working principle of a large-scale outer wall laser rust removal wall-climbing device of the present invention is as follows:

[0069] 1) The main controller sends control instructions to the laser to control the laser 1, the negative pressure adsorption device 4, the motion drive device, the camera 12, and the centrifugal pump 13;

[0070] 2) The driver of the motion drive device receives the control instruction to control the transmission roller to rotate. At the same time, the auxiliary suction cups 11 arranged on the transmission roller alternately crawl forward. The centrifugal pump 13 controls the auxiliary suction cups 11 and the main suction cup 10 in the negative pressure adsorption device 4 to alternately inhale and exhale according to the advancing speed of the moving crawler 9, realizing the adsorption and release of the suction cup body; the laser output by the laser 1 is transmitted to the laser head 3 through the optical fiber 2. The camera 12 takes pictures of the front image information and real-time feeds back the front image information of the outer wall laser rust removal wall-climbing device to the main controller;

[0071] 3) The main controller receives the front image information of the outer wall laser rust removal wall-climbing device fed back by the camera 12, and at the same time receives the front obstacle state of the outer wall laser rust removal wall-climbing device fed back by the anti-collision probe 5, and selects to control the motion drive device to bypass or control the negative pressure adsorption device 4 to perform the wall-climbing adsorption action.

[0072] 4) If the main controller selects to control the negative pressure adsorption device 4 to perform the wall-climbing adsorption action, step 2) is repeated.

Claims

1. A large-scale wall-climbing device for laser rust removal on the outer wall, characterized in that, it includes: a main controller, a laser (1), a laser head (3), a negative pressure adsorption device (4), a motion driving device, a base (8) and a camera (12); The laser (1) is connected to the laser head (3) through an optical fiber (2); the bottom of the laser head (3) is fixedly connected to the top surface of the base (8) through a support rod; the laser output end of the laser head (3) is in the same direction as the advancing direction; The bottom of the camera (12) is fixedly connected to the top surface of the base (8) through a support rod, and the camera (12) is arranged on one side of the laser head (3); The motion driving device is arranged on both sides of the base (8) to drive the wall-climbing device for laser rust removal on the outer wall to travel; The negative pressure adsorption device (4) is arranged on the motion driving device and is used to provide an adsorption effect for the motion driving device to climb the wall; The laser (1), the negative pressure adsorption device (4), the anti-collision probe (5), the motion driving device and the camera (12) are all connected to the main controller; The main controller sends control instructions to the laser to control the laser (1), the negative pressure adsorption device (4), the motion driving device, and the centrifugal pump (13) to perform corresponding actions. At the same time, it receives the obstacle state in front of the wall-climbing device for laser rust removal on the outer wall feedback by the anti-collision probe (5), as well as the image information in front of the wall-climbing device for laser rust removal on the outer wall sent by the camera (12), and controls the motion driving device to bypass or controls the negative pressure adsorption device (4) to perform wall-climbing adsorption actions.

2. A large-scale wall-climbing device for laser rust removal on the outer wall according to claim 1, characterized in that, the negative pressure adsorption device (4) includes: a main suction cup (10), an auxiliary suction cup (11), a centrifugal pump (13) and an air pipe (14); There are multiple main suction cups (10), which are respectively arranged at the four corners of the bottom of the base (8); An auxiliary suction cup (11) is arranged on the motion driving device, and an air port is arranged at the inner edge of the auxiliary suction cup (11); the centrifugal pump (13) is connected to the air port through the air pipe (14) to realize the positive and negative pressure cyclic loading of the auxiliary suction cup.

3. A large-scale wall-climbing device for laser rust removal on the outer wall according to claim 2, characterized in that, the main suction cup (10) includes: a main suction cup support, a sealing sleeve, a sealing ring and a suction cup body; The main suction cup support is arranged along the four corners of the bottom of the base (8). One end of the main suction cup support is fixedly installed at the bottom of the base (8), and the other end is provided with a sealing sleeve. The sealing ring and the sealing sleeve are sleeved with each other; the sealing ring is connected to the suction cup body; The suction cup body is used to fix-point adsorb the wall-climbing device for laser rust removal on the outer wall on the side wall surface. A support rotor (7) is arranged inside the suction cup body. The support rotor (7) is installed at the bottom of the robot body through a support frame, and the connection line between a point on the plane where the support rotor (7) is located and the center point of the plane where the two driving rollers of the front motion driving device form a triangle to play the role of the wall-climbing device for laser rust removal on the outer wall.

4. A large-scale wall-climbing device for laser rust removal on the outer wall according to claim 3, characterized in that, The height dimension of the sealing ring is higher than the bottom of the driver (6) of the motion driving device, preventing the driver from touching the side wall.

5. A large-scale outer wall laser rust removal wall-climbing device according to claim 1, characterized in that the motion driving device includes: a transmission roller, a motion track (9), and a driver (6) connected to the main controller; the driver is arranged on the bases (8) on the left and right sides of the laser head (3) and is connected to the transmission roller, and the transmission roller is arranged on the outer sides of the bases (8); there are multiple transmission rollers, and two transmission rollers are arranged on each side of the base; the transmission rollers on each side of the base (8) are symmetrically arranged along the central axis, and the two transmission rollers are drivingly connected through the motion track (9); auxiliary suction cups (11) are fixedly arranged in a line at a set interval on the motion track (9), and the auxiliary suction cups (11) move with the motion track (9) to achieve forward crawling.

6. A large-scale outer wall laser rust removal wall-climbing device according to claim 5, characterized in that there are a total of four transmission rollers. The two transmission rollers at the front end of the base (8) are the first driving group, and the two transmission rollers at the rear end of the base (8) are the second driving group. When the driving of the first driving group encounters a motion obstacle, the second driving group at the rear end of the main controller is started to ensure the stability and reliability of the motion.

7. A large-scale outer wall laser rust removal wall-climbing device according to claim 1, characterized in that it further includes a collision prevention probe (5). The collision prevention probe (5) is arranged at the center directly in front of the base (8) and is connected to the main controller, and is used for sensing the information of obstacles in front of the outer wall laser rust removal wall-climbing device and sending it to the main controller.

8. A large-scale outer wall laser rust removal wall-climbing device according to claim 1, characterized in that the laser direction of the laser head (3) is the same as the field of view direction of the camera (12), and the included angles between the laser optical axis of the laser head (3) and the camera (12) and the camera field of view central axis and the horizontal line are both 30° to 45°.

9. A large-scale outer wall laser rust removal wall-climbing device according to claim 1, characterized in that the laser used has process parameters: laser wavelength 1064nm, power 500W, spot diameter 0.1mm, pulse width less than 120nm, maximum repetition frequency 200kHz. After the main controller sends a control instruction, the laser output by the laser (1) is transmitted to the laser head (3) through the optical fiber (2).

10. A control method for a large-scale outer wall laser rust removal wall-climbing device according to claim 1, characterized in that it includes the following steps: 1) The main controller sends a control instruction to the laser to control the laser (1), the negative pressure adsorption device (4), the motion driving device, the camera (12), and the centrifugal pump (13); 2) The driver of the motion drive device receives a control instruction to control the rotation of the transmission roller. At the same time, the auxiliary suction cups (11) arranged on the transmission roller crawl forward alternately. The centrifugal pump (13) controls the auxiliary suction cups (11) and the main suction cup (10) in the negative pressure adsorption device (4) to inhale and exhale alternately according to the forward speed of the moving track (9), so as to realize the adsorption and release of the suction cup body. The laser output by the laser (1) is transmitted to the laser head (3) through the optical fiber (2). The camera (12) takes pictures of the front image information and feeds back the front image information of the outer wall laser rust removal wall-climbing device to the main controller in real time. 3) The main controller receives the front image information of the outer wall laser rust removal wall-climbing device fed back by the camera (12). At the same time, it receives the front obstacle state of the outer wall laser rust removal wall-climbing device fed back by the anti-collision probe (5), and selects to control the motion drive device to bypass or control the negative pressure adsorption device (4) to perform the wall-climbing adsorption action. 4) If the main controller selects to control the negative pressure adsorption device (4) to perform the wall-climbing adsorption action, repeat step 2).

Images