Back gouging robot

Abstract

The utility model provides a back gouging robot which is used for carrying out back gouging treatment on a structural member, the structural member comprises an outer wall, a web plate and a panel, the outer wall and the panel are oppositely arranged and are welded and connected through the web plate, the back gouging robot comprises a frame structure, a milling device and a supporting device, and the supporting device comprises an upper rolling part and a side rolling part. The back gouging robot has a running state, a first obstacle crossing state and a second obstacle crossing state, and when the back gouging robot is in the running state, the upper rolling part is in rolling fit with the upper side of the web, and the side rolling part is in rolling fit with the outer wall; when the back gouging robot is in the first obstacle crossing state, the upper rolling part is spaced from the upper side of the web, so that the upper rolling part crosses an obstacle on the upper side of the web; and when the frame structure is in the second obstacle crossing state, the side rolling parts are spaced from the outer wall, so that the side rolling parts cross obstacles on the outer wall. By the adoption of the scheme, the problem that in the prior art, a back gouging robot is difficult in obstacle crossing, time-consuming and labor-consuming, and then the back gouging efficiency is affected can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of welding equipment, in particular to a root cleaning robot. Background Art

[0002] Rib welded parts (structural parts) are mostly used to meet the underwater hull support that requires higher rib strength. When making the hull, it is usually necessary to weld the ribs. After the internal weld (that is, the base weld) is welded, the external weld is welded after the external weld is cleaned. In this way, the welding quality required by the technology can be achieved. In order to ensure the welding quality, the most basic work is weld cleaning. At present, most manufacturers use mechanical cleaning to manufacture corresponding cleaning robots to achieve the cleaning of fillet welds.

[0003] Although the current corner weld root cleaning robot can complete the root cleaning of corner welds very well, when the root cleaning robot encounters obstacles such as welds on the outer wall and belly of the cylinder, it cannot directly cross over. Workers are required to use lifting tools such as cranes to lift the root cleaning robot and cross the obstacles. It often requires more than two people to cooperate with each other to complete the operation, which is very inconvenient, time-consuming and labor-intensive, and greatly reduces the work efficiency of the corner weld root cleaning robot. Utility Model Content

[0004] The utility model provides a root cleaning robot to solve the problem in the prior art that the root cleaning robot has difficulty in overcoming obstacles and is time-consuming and labor-intensive, thus affecting the root cleaning efficiency.

[0005] In order to solve the above problems, the utility model provides a root cleaning robot for performing root cleaning on structural members, the structural members include an outer wall, a web and a panel, the outer wall and the panel are arranged relatively to each other and connected by welding of the web, the root cleaning robot includes a frame structure, a milling device and a supporting device, the milling device and the supporting device are both arranged on the frame structure, the supporting device includes an upper rolling part and a side rolling part, the root cleaning robot has a driving state, a first obstacle crossing state and a second obstacle crossing state, when the root cleaning robot is in the driving state, the upper rolling part rolls with the upper side of the web, and the side rolling part rolls with the outer wall; when the root cleaning robot is in the first obstacle crossing state, the upper rolling part is spaced from the upper side of the web so that the upper rolling part passes over the obstacles on the upper side of the web; when the root cleaning robot is in the second obstacle crossing state, the side rolling part is spaced from the outer wall so that the side rolling part passes over the obstacles on the outer wall.

[0006] Furthermore, the upper rolling part includes a mounting seat and an upper roller, the mounting seat is arranged on the frame structure, the upper roller is arranged on the mounting seat, the distance of the upper roller relative to the mounting seat is adjustable and has a first driving position and a first obstacle crossing position, wherein, when the root cleaning robot is in a driving state, the upper roller is located at the first driving position and rolls with the upper side of the web; when the root cleaning robot is in the first obstacle crossing state, the upper roller is located at the first obstacle crossing position and is spaced from the upper side of the web.

[0007] Furthermore, the upper rolling part also includes a first locking member, which is used to limit the upper roller to a first driving position or a first obstacle crossing position. When the root cleaning robot is in the first obstacle crossing state, the first locking member limits the upper roller to the first obstacle crossing position, and the upper roller is spaced or rolled with the obstacle on the upper side of the web.

[0008] Furthermore, the mounting seat includes a seat body and a guide sleeve arranged on the seat body, the upper rolling part also includes a transfer rod, the upper roller is installed on the mounting seat through the transfer rod, the transfer rod passes through the seat body and the guide sleeve, the guide sleeve has a first through-hole that penetrates radially, the transfer rod is axially spaced with a first positioning hole and a second positioning hole that penetrate radially, the first positioning hole is located on the side of the second positioning hole away from the seat body, the first locking member includes a first positioning pin, when the first positioning pin is pulled out, the position of the transfer rod in the guide sleeve is adjustable, when the first positioning pin is inserted into the first through-hole and the first positioning hole, the upper roller is in the first driving position, when the first positioning pin is inserted into the first through-hole and the second positioning hole, the upper roller is in the first obstacle crossing position.

[0009] Furthermore, the mounting seat includes a seat body and a guide sleeve arranged on the seat body, and the upper rolling part also includes a transfer rod. The upper roller is installed on the mounting seat through the transfer rod. The transfer rod passes through the seat body and the guide sleeve. The guide sleeve has a guide slot extending along the axial direction. A limit pin is pluggably penetrated on the transfer rod. The limit pin passes through the guide slot and cooperates with the inner wall of the guide slot to limit the position.

[0010] Furthermore, the side rolling part includes a roller bracket and a cylinder roller rotatably arranged on the roller bracket, the roller bracket is arranged on the frame structure, the distance between the cylinder roller and the roller bracket is adjustable and has a second driving position and a second obstacle crossing position, wherein, when the root cleaning robot is in a driving state, the roller bracket is installed in the second driving position and cooperates with the cylinder roller and the outer wall in rolling, and when the root cleaning robot is in the second obstacle crossing state, the roller bracket is installed in the second obstacle crossing position and is spaced from the cylinder roller and the outer wall.

[0011] Furthermore, the side rolling portion also includes a second locking member, which is used to limit the barrel roller to a second driving position or a second obstacle crossing position. When the root cleaning robot is in the second obstacle crossing state, the second locking member limits the barrel roller to the second obstacle crossing position, and the barrel roller is spaced or rolled in cooperation with the obstacle on the outer wall.

[0012] Furthermore, the frame structure has a limiting groove on the side facing the outer wall, the roller bracket has an insertion protrusion, the inner wall of the limiting groove has a second through hole, the insertion protrusion is provided with a third positioning hole and a fourth positioning hole that are spaced apart along the plugging and unplugging direction, the third positioning hole is located on the side of the fourth positioning hole away from the cylinder roller, the second locking member includes a second positioning pin, when the second positioning pin is pulled out, the insertion protrusion can be plugged in the limiting groove, when the second positioning pin is inserted into the second through hole and the third positioning hole, the roller bracket is in the second driving position, when the second positioning pin is inserted into the second through hole and the fourth positioning hole, the roller bracket is in the second obstacle crossing position.

[0013] Furthermore, the frame structure is provided with upper rolling parts on both sides in the extension direction of the structural member, any upper rolling part includes at least two upper rollers arranged at intervals along the extension direction of the structural member, and the multiple upper rollers of the multiple upper rolling parts are parallel to each other; there are multiple side rolling parts, and the multiple side rolling parts are distributed in at least two rows and two columns, each row includes at least two side rolling parts, and each column includes at least two side rolling parts, and the multiple side rolling parts are parallel to each other. In the forward direction of the root cleaning robot, the multiple upper rolling parts are converted between the first obstacle crossing state and the driving state from front to back in sequence and cross the obstacles on the upper side of the web, and the multiple side rolling parts are converted between the second obstacle crossing state and the driving state from front to back in sequence and cross the obstacles on the outer wall.

[0014] Furthermore, the root cleaning robot also includes a jacking device movably arranged on the frame structure and / or the supporting device, and the jacking device is detachably abutted against the upper side and / or the outer wall of the web to separate the upper rolling part and the upper side of the web when the root cleaning robot is converted from a driving state to a first obstacle crossing state, and / or to separate the side rolling part and the outer wall when the root cleaning robot is converted from a driving state to a second obstacle crossing state.

[0015] Furthermore, the frame structure includes a traveling frame and an operating frame, the milling device is arranged on the operating frame, the traveling frame includes an upper frame body and a lower frame body, the end of the upper frame body away from the operating frame and the end of the lower frame body away from the operating frame are movably connected, the operating frame and the end of the upper frame body close to the structural member are connected, the upper rolling part is installed on the operating frame, and the side rolling part is installed on the lower frame body and / or the operating frame; the upper rolling part and the lower frame body are both provided with a lifting device, the lifting device includes a pad, a screw and a ratchet wrench, the screw is threadedly connected to the lower frame body and the upper rolling part, the ratchet wrench is used to rotate the screw and make the pad move, and the pad is detachably abutted against the upper side and outer wall of the web.

[0016] Furthermore, the root cleaning robot also includes a walking device, which includes an adjusting component and a walking drive unit. The adjusting component is arranged on the frame structure and extends along the width direction of the web. The walking drive unit is installed on the adjusting component and its position on the adjusting component is adjustable. The walking drive unit is detachably abutted against the panel to drive the frame structure to move along the extension direction of the structural member. Before the root cleaning robot is converted to the second obstacle crossing state, the walking drive unit is separated from the panel.

[0017] Furthermore, the supporting device also includes a lower rolling part, which includes a fixed seat, a lower roller, a lifting structure and an elastic structure. The fixed seat is installed on the frame structure, the lifting structure can be lifted on the fixed seat, and the lower roller is installed on the upper end of the lifting structure through the elastic structure.

[0018] By applying the technical solution of the utility model, a root cleaning robot is provided for performing root cleaning on structural members, wherein the structural members include an outer wall, a web and a panel, the outer wall and the panel are arranged opposite to each other and are connected by welding of the web, the root cleaning robot includes a frame structure, a milling device and a supporting device, the milling device and the supporting device are both arranged on the frame structure, the supporting device includes an upper rolling part and a side rolling part, the root cleaning robot has a driving state, a first obstacle crossing state and a second obstacle crossing state, when the root cleaning robot is in the driving state, the upper rolling part rolls with the upper side of the web, and the side rolling part rolls with the outer wall; when the root cleaning robot is in the first obstacle crossing state, the upper rolling part is spaced from the upper side of the web so that the upper rolling part passes over obstacles on the upper side of the web; when the frame structure is in the second obstacle crossing state, the side rolling part is spaced from the outer wall so that the side rolling part passes over obstacles on the outer wall.

[0019] By adopting this scheme, the operator can switch the state of the root cleaning robot by separating the upper rolling part and the structural part, and the side rolling part and the structural part, so that the root cleaning robot can overcome obstacles on the upper side of the belly plate and obstacles on the outer wall according to actual obstacle crossing conditions. Compared with the prior art that requires the use of lifting tools to lift the root cleaning robot as a whole to overcome obstacles, the root cleaning robot of this scheme has a switchable obstacle crossing state, which improves the convenience of the obstacle crossing operation of the root cleaning robot, helps to reduce the workload of the operator and helps to improve the root cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0021] Figure 1 A schematic diagram of the structure of a root cleaning robot provided by an embodiment of the utility model is shown;

[0022] Figure 2 Shows Figure 1 A front view of the root cleaning robot;

[0023] Figure 3 Shows Figure 1 Schematic diagram of the application of the root cleaning robot;

[0024] Figure 4 Shows Figure 1 A schematic diagram of the structure of the upper rolling part and the lifting device of the root cleaning robot;

[0025] Figure 5 Shows Figure 4 A front view of an upper rolling portion;

[0026] Figure 6 Shows Figure 4 A schematic diagram of the structure of the guide sleeve in the upper rolling part;

[0027] Figure 7 Shows Figure 4 A schematic diagram of the structure of the transfer rod in the upper rolling part;

[0028] Figure 8 Shows Figure 1 A schematic diagram of the partial structure of the frame structure, side rolling part and lifting device of the root cleaning robot;

[0029] Fig. 9 Shows Figure 8 A partial enlarged view of

[0030] Fig.10 Shows Fig. 9 Schematic diagram of the structure with the side rolling part removed;

[0031] Fig.11 Shows Figure 8 A schematic diagram of the structure of the middle rolling part;

[0032] Fig.12 Shows Fig.11 sectional view of .

[0033] The above drawings include the following reference numerals:

[0034] 10. Frame structure; 101. Limiting groove; 11. Traveling frame; 111. Upper frame; 112. Lower frame; 12. Operating frame;

[0035] 20. Milling device;

[0036] 30. Support device; 301. First penetration hole; 302. Guide notch; 303. First positioning hole; 304. Second positioning hole; 305. Second penetration hole; 306. Third positioning hole; 307. Fourth positioning hole; 308. Limit pin hole;

[0037] 31. upper rolling part; 311. mounting seat; 3111. seat body; 3112. guide sleeve; 312. upper roller; 313. first positioning pin; 314. transfer rod; 315. limit pin;

[0038] 32, side rolling part; 321, roller bracket; 3211, insertion protrusion; 322, second positioning pin; 323, cylinder roller; 324, rolling bearing; 325, rolling shaft;

[0039] 33. lower rolling part; 331. fixed seat; 332. lower roller; 333. lifting structure; 334. elastic structure;

[0040] 40. Lifting device; 41. Spacer; 42. Lead screw; 43. Ratchet wrench;

[0041] 50. Travel device; 51. Adjustment component; 52. Travel drive unit. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0043] like Figures 1 to 12As shown, an embodiment of the utility model provides a root cleaning robot for performing root cleaning on a structural member, wherein the structural member comprises an outer wall, a web and a panel, wherein the outer wall and the panel are arranged opposite to each other and connected by welding of the web, the root cleaning robot comprises a frame structure 10, a milling device 20 and a supporting device 30, wherein the milling device 20 and the supporting device 30 are both arranged on the frame structure 10, the supporting device 30 comprises an upper rolling portion 31 and a side rolling portion 32, the root cleaning robot has a driving state, a first obstacle crossing state and a second obstacle crossing state, when the root cleaning robot is in the driving state, the upper rolling portion 31 rolls with the upper side of the web, and the side rolling portion 32 rolls with the outer wall; when the root cleaning robot is in the first obstacle crossing state, the upper rolling portion 31 is spaced from the upper side of the web so that the upper rolling portion 31 passes over the obstacle on the upper side of the web; when the root cleaning robot is in the second obstacle crossing state, the side rolling portion 32 is spaced from the outer wall so that the side rolling portion 32 passes over the obstacle on the outer wall.

[0044] In this embodiment, the operator can switch the state of the root cleaning robot by connecting the upper rolling part 31 and the structural part, and the side rolling part 32 and the structural part, so that the root cleaning robot can overcome obstacles on the upper side of the web and obstacles on the outer wall according to actual obstacle crossing needs. Compared with the prior art that requires the use of lifting tools to lift the root cleaning robot as a whole to cross obstacles, the root cleaning robot of this scheme has a switchable obstacle crossing state, which improves the convenience of the obstacle crossing operation of the root cleaning robot, helps to reduce the workload of the operator and helps to improve the root cleaning efficiency.

[0045] Among them, the root cleaning robot can be in the first obstacle crossing state and the second obstacle crossing state at the same time. The obstacles located on the upper side of the belly plate and the obstacles on the outer wall are generally welds with a height of about 9 mm and a width of about 35 mm. It can be understood that the upper rolling part 31 and the side rolling part 32 will not cross the obstacle when encountering a weld obstacle that does not affect driving.

[0046] like Figures 1 to 7 As shown, the upper rolling part 31 includes a mounting seat 311 and an upper roller 312, the mounting seat 311 is arranged on the frame structure 10, the upper roller 312 is arranged on the mounting seat 311, the distance of the upper roller 312 relative to the mounting seat 311 is adjustable and has a first driving position and a first obstacle crossing position, wherein, when the root cleaning robot is in a driving state, the upper roller 312 is located in the first driving position and rolls with the upper side of the web; when the root cleaning robot is in a first obstacle crossing state, the upper roller 312 is located in the first obstacle crossing position and is spaced from the upper side of the web. In this way, the root cleaning robot can be switched between the driving state and the first obstacle crossing state by adjusting the position of the upper roller 312, thereby improving the convenience of the operator in adjusting the obstacle crossing of the root cleaning robot.

[0047] Specifically, the upper rolling part 31 also includes a first locking member, which is used to limit the upper roller 312 to a first driving position or a first obstacle crossing position. When the root cleaning robot is in the first obstacle crossing state, the first locking member limits the upper roller 312 to the first obstacle crossing position, and the upper roller 312 is spaced or rollingly matched with the obstacle on the upper side of the web. In this way, the position of the upper roller 312 relative to the mounting seat 311 is limited by the first locking member, so as to avoid the situation where the position of the upper roller 312 relative to the mounting seat 311 changes automatically, thereby causing the state conversion of the root cleaning robot to fail, and ensure the reliability of the root cleaning robot to cross the obstacles on the web. It can be understood that the upper roller 312 can roll with the surface of the obstacle during the obstacle crossing process, or directly cross over the obstacle without contacting the obstacle.

[0048] Optionally, in another embodiment not shown in the figure, the upper rolling portion 31 also includes a first elastic component, and the upper roller 312 is elastically connected to the mounting seat 311 through the first elastic component. When the root cleaning robot is in the first obstacle crossing state, the upper roller 312 is located in the first obstacle crossing position and cooperates with the obstacle rolling on the upper side of the belly plate.

[0049] With this arrangement, there is no need to lock the position of the upper roller 312. When the upper rolling part 31 encounters an obstacle during driving, the upper roller 312 will gradually climb from one side of the obstacle to the upper surface of the obstacle and compress the first elastic component. After the upper roller 312 rolls over the upper surface of the obstacle, it will automatically reset to roll with the upper side of the web under the elastic action of the first elastic component to complete the obstacle crossing. It can be understood that this obstacle crossing design is mainly aimed at obstacles such as welds with low heights. When the obstacle encountered by the upper rolling part 31 is too high and the upper roller 312 cannot achieve elastic obstacle crossing by itself, the operator is required to assist in obstacle crossing.

[0050] like Figures 4 to 7As shown, the mounting seat 311 includes a seat body 3111 and a guide sleeve 3112 arranged on the seat body 3111, and the upper rolling part 31 also includes a transfer rod 314. The upper roller 312 is mounted on the mounting seat 311 through the transfer rod 314. The transfer rod 314 passes through the seat body 3111 and the guide sleeve 3112. The guide sleeve 3112 has a first through hole 301 that penetrates radially. The transfer rod 314 is provided with a first positioning hole 303 and a second positioning hole 304 that penetrate radially along the axial direction at intervals. The first positioning hole 303 is located at The second positioning hole 304 is on the side away from the seat body 3111, and the first locking member includes a first positioning pin 313. When the first positioning pin 313 is pulled out, the position of the transfer rod 314 in the guide sleeve 3112 is adjustable. When the first positioning pin 313 is inserted into the first through hole 301 and the first positioning hole 303, the upper roller 312 is in the first driving position. When the first positioning pin 313 is inserted into the first through hole 301 and the second positioning hole 304, the upper roller 312 is in the first obstacle crossing position.

[0051] In this embodiment, the guide sleeve 3112 is used to guide the movement of the upper roller 312, ensuring the reliability and stability of the adjustment. The root cleaning robot of this embodiment is normally in the driving state, at which time the first positioning pin 313 is inserted into the first penetration hole 301 and the first positioning hole 303, and the upper roller 312 is in the first driving position. When an obstacle appears on the front web in the direction of movement of the root cleaning robot, the operator can pull out the first positioning pin 313 and adjust the positions of the interconnected transfer rod 314 and the upper roller 312 in the vertical direction until the first penetration hole 301 and the second positioning hole 304 are directly opposite. The operator passes the first positioning pin 313 through the first penetration hole 301 and the second positioning hole 304 to limit the upper roller 312 to the first obstacle crossing position and complete the conversion of the root cleaning robot from the driving state to the first obstacle crossing state. After the upper roller 312 passes over the obstacle on the web in the driving direction, the root cleaning robot is converted back to the driving state according to the above adjustment principle. Such an arrangement facilitates the adjustment of the position of the upper roller 312 and helps to ensure the reliability and accuracy of the adjustment and limitation of the position of the upper roller 312 .

[0052] Among them, in other embodiments not shown in the figure, the first through hole 301 can also be set on the transfer rod 314, and the first positioning hole 303 and the second positioning hole 304 can be set on the guide sleeve 3112. In this embodiment, when the first positioning pin 313 is inserted into the first through hole 301 and the first positioning hole 303, the upper roller 312 is in the first obstacle avoidance position, and when the first positioning pin 313 is inserted into the first through hole 301 and the second positioning hole 304, the upper roller 312 is in the first driving position. Optionally, the structure for adjusting and limiting the position of the upper roller 312 is not limited to the above embodiment; the position of the upper roller 312 is not limited to the first driving position and the first obstacle crossing position in this embodiment (different obstacle crossing positions can be set according to different heights of obstacles), and no examples are given here.

[0053] It can be understood that when the upper roller 312 is in the first obstacle crossing position, the spacing height between the upper roller 312 and the upper side of the web is greater than the height of the obstacle located on the web, so as to ensure the reliability of obstacle crossing.

[0054] Specifically, the mounting seat 311 includes a seat body 3111 and a guide sleeve 3112 disposed on the seat body 3111. The upper rolling portion 31 also includes a transfer rod 314. The upper roller 312 is mounted on the mounting seat 311 through the transfer rod 314. The transfer rod 314 passes through the seat body 3111 and the guide sleeve 3112. The guide sleeve 3112 has a guide slot 302 extending along the axial direction. A limit pin 315 is pluggably inserted through the transfer rod 314. The limit pin 315 passes through the guide slot 302 and is limitedly matched with the inner wall of the guide slot 302. Figure 7 As shown, the transfer rod 314 has a limit pin hole 308 for inserting the limit pin 315 to ensure the reliability of the insertion.

[0055] In this arrangement, the relative rotation of the transfer rod 314 and the guide sleeve 3112 is limited by the cooperation between the limit pin 315 and the guide slot 302, further improving the guiding effect of adjusting the transfer rod 314, which is conducive to improving the reliability of the first positioning hole 303 and the second positioning hole 304 aligning with the first penetration hole 301 and the convenience of adjustment. It can be understood that the insertion position of the limit pin 315 on the transfer rod 314 is spaced from the first positioning hole 303 and the second positioning hole 304 in the circumferential direction of the transfer rod 314.

[0056] like Figures 1 to 3 as well as Figures 8 to 12As shown, the side rolling part 32 includes a roller bracket 321, a second locking member and a barrel roller 323 rotatably arranged on the roller bracket 321. The roller bracket 321 is arranged on the frame structure 10. The distance between the barrel roller 323 and the roller bracket 321 is adjustable and has a second driving position and a second obstacle crossing position. When the root cleaning robot is in the driving state, the roller bracket 321 is installed in the second driving position and cooperates with the barrel roller 323 and the outer wall in rolling. When the root cleaning robot is in the second obstacle crossing state, the roller bracket 321 is installed in the second obstacle crossing position and is spaced apart from the barrel roller 323 and the outer wall. Fig.12 As shown, the cylindrical roller 323 in this embodiment is rotatably arranged in the roller bracket 321 through the rolling shaft 325 and the rolling bearing 324.

[0057] With this arrangement, the root cleaning robot can be switched between the driving state and the second obstacle crossing state by adjusting the installation position of the drum roller 323, thereby improving the convenience of the operator in adjusting the obstacle crossing of the root cleaning robot.

[0058] Furthermore, the side rolling part 32 also includes a second locking member, which is used to limit the barrel roller 323 to the second driving position or the second obstacle crossing position. When the root cleaning robot is in the second obstacle crossing state, the second locking member limits the barrel roller 323 to the second obstacle crossing position, and the barrel roller 323 is spaced or rollingly matched with the obstacle on the outer wall. The second locking member is used to limit the position of the barrel roller 323 relative to the roller bracket 321, so as to avoid the situation where the position of the barrel roller 323 relative to the roller bracket 321 changes automatically, thereby causing the state conversion of the root cleaning robot to fail, and ensure the reliability of the root cleaning robot to cross the obstacles on the outer wall. It can be understood that the barrel roller 323 can roll with the surface of the obstacle during the obstacle crossing process, or directly pass over the obstacle without contacting the obstacle.

[0059] Optionally, in another embodiment not shown in the figure, the side rolling part 32 further includes a second elastic component, and the cylinder roller 323 is elastically connected to the roller bracket 321 through the second elastic component. When the root cleaning robot is in the second obstacle crossing state, the cylinder roller 323 is located at the second obstacle crossing position and rolls with the obstacle on the outer wall. Specifically, the side rolling part 32 further includes a second adjustment component, which can be lifted or telescopically arranged on the roller bracket 321, and the cylinder roller 323 is installed at the end of the second adjustment component away from the roller bracket 321 through the second elastic component.

[0060] With this arrangement, there is no need to lock the position of the cylinder roller 323. When the side rolling part 32 encounters an obstacle during driving, the cylinder roller 323 will gradually climb from one side of the obstacle to the upper surface of the obstacle and compress the second elastic component. After the cylinder roller 323 rolls over the upper surface of the obstacle, it will automatically reset to roll with the outer wall under the elastic action of the second elastic component to complete the obstacle crossing. It can be understood that this obstacle crossing design is mainly aimed at obstacles such as welds with low heights. When the obstacle encountered by the side rolling part 32 is too high and the cylinder roller 323 cannot achieve elastic obstacle crossing by itself, the operator is required to assist in the obstacle crossing.

[0061] like Figures 8 to 12 As shown, the frame structure 10 has a limiting groove 101 on the side facing the outer wall, the roller bracket 321 has an insertion protrusion 3211, the inner wall of the limiting groove 101 has a penetrating second through hole 305, and the insertion protrusion 3211 is provided with a penetrating third positioning hole 306 and a fourth positioning hole 307 at intervals along the plugging and unplugging direction, the third positioning hole 306 is located on the side of the fourth positioning hole 307 away from the cylinder roller 323, the second locking member includes a second positioning pin 322, when the second positioning pin 322 is pulled out, the insertion protrusion 3211 can be plugged in the limiting groove 101, when the second positioning pin 322 is inserted into the second through hole 305 and the third positioning hole 306, the roller bracket 321 is in the second driving position, when the second positioning pin 322 is inserted into the second through hole 305 and the fourth positioning hole 307, the roller bracket 321 is in the second obstacle crossing position.

[0062] In this embodiment, the movement of the cylinder roller 323 is guided by the limiting cooperation of the limiting groove 101 and the insertion protrusion 3211. The root cleaning robot of this embodiment is normally in the driving state, at which time the second positioning pin 322 is inserted into the second penetration hole 305 and the third positioning hole 306, and the cylinder roller 323 is in the second driving position. When an obstacle appears on the front outer wall in the direction of movement of the root cleaning robot, the operator can pull out the second positioning pin 322 and horizontally adjust the positions of the roller bracket 321 and the cylinder roller 323 connected to each other in the horizontal direction until the second penetration hole 305 is directly opposite to the fourth positioning hole 307. The operator passes the second positioning pin 322 through the second penetration hole 305 and the fourth positioning hole 307 to limit the cylinder roller 323 in the second obstacle crossing position and complete the conversion of the root cleaning robot from the driving state to the second obstacle crossing state. After the cylinder roller 323 passes over the obstacle on the outer wall in the forward direction, the root cleaning robot is converted back to the driving state according to the above adjustment principle. Such an arrangement facilitates the adjustment of the position of the drum roller 323 and helps to ensure the reliability and accuracy of the adjustment and limitation of the position of the drum roller 323.

[0063] Among them, in other embodiments not shown in the figure, the second penetration hole 305 can also be set on the insertion protrusion 3211, and the third positioning hole 306 and the fourth positioning hole 307 are set through the limiting groove 101. In this embodiment, when the second positioning pin 322 is inserted into the second penetration hole 305 and the third positioning hole 306, the cylinder roller 323 is in the second obstacle avoidance position, and when the second positioning pin 322 is inserted into the second penetration hole 305 and the fourth positioning hole 307, the cylinder roller 323 is in the second driving position. It can be understood that the structure for adjusting and limiting the position of the cylinder roller 323 is not limited to the above-mentioned embodiment, and the position of the cylinder roller 323 is not limited to the second driving position and the second obstacle crossing position in this embodiment (different obstacle crossing positions can be set according to different heights of obstacles), and no examples are given here.

[0064] It can be understood that, when the drum roller 323 is in the second obstacle crossing position, the spacing distance between the drum roller 323 and the outer wall is greater than the height of the obstacle located on the outer wall, so as to ensure the reliability of obstacle crossing.

[0065] like Figures 1 to 3 as well as Figure 8 As shown, the frame structure 10 is provided with upper rolling parts 31 on both sides in the extension direction of the structural member, any upper rolling part 31 includes at least two upper rollers 312 arranged at intervals along the extension direction of the structural member, and the multiple upper rollers 312 of the multiple upper rolling parts 31 are parallel to each other; there are multiple side rolling parts 32, and the multiple side rolling parts 32 are distributed in at least two rows and two columns, each row includes at least two side rolling parts 32, and each column includes at least two side rolling parts 32, and the multiple side rolling parts 32 are parallel to each other. In the forward direction of the root cleaning robot, the multiple upper rolling parts 31 are switched between the first obstacle crossing state and the driving state from front to back in turn and cross the obstacles on the upper side of the web, and the multiple side rolling parts 32 are switched between the second obstacle crossing state and the driving state from front to back in turn and cross the obstacles on the outer wall.

[0066] In this embodiment, the frame structure 10 is provided with an upper rolling portion 31 on both sides in the extension direction of the structural member, and each upper rolling portion 31 includes two upper rollers 312 arranged at intervals along the extension direction of the structural member. When encountering an obstacle on the upper side of the web, the operator performs obstacle avoidance adjustment and reset adjustment on the multiple upper rollers 312 from front to back in turn to achieve obstacle crossing while ensuring the supporting effect of the multiple upper rolling portions 31, and the same applies to the side rolling portions 32.

[0067] Among them, taking the obstacle crossing of multiple upper rolling parts 31 as an example, the upper rolling part 31 located on the front side will first encounter the obstacle on the upper side of the web. At this time, the upper roller 312 on the front side of the upper rolling part 31 is first adjusted to cross the obstacle and cross the obstacle. The remaining three upper rollers 312 are still rolling with the upper side of the web. After the upper roller 312 on the front side completes the obstacle crossing, the next upper roller 312 is adjusted to cross the obstacle and the previous upper roller 312 is reset until all upper rollers 312 have completed the obstacle crossing. It can be understood that, while ensuring that the root cleaning robot as a whole will not flip or deflect due to the reduction of support points, the two upper rollers 312 of the upper rolling part 31 on the front side can also be adjusted to cross the obstacle at the same time, and reset together after the two upper rollers 312 have completed the obstacle crossing. This is conducive to reducing the operating frequency and improving the obstacle crossing efficiency. The side rolling part 32 is the same.

[0068] like Figure 1 , Figure 4 , Figure 5 as well as Figure 8 As shown, the root cleaning robot also includes a lifting device 40 movably arranged on the frame structure 10 and / or the supporting device 30, and the lifting device 40 is detachably abutted against the upper side and / or the outer wall of the web to separate the upper rolling portion 31 and the upper side of the web when the root cleaning robot is converted from a driving state to a first obstacle crossing state, and / or to separate the side rolling portion 32 from the outer wall when the root cleaning robot is converted from a driving state to a second obstacle crossing state.

[0069] In this way, before adjusting the positions of the upper roller 312 and the barrel roller 323, the upper roller 312 is pre-separated from the upper side of the web and the barrel roller 323 is pre-separated from the outer wall by the lifting device 40, so as to avoid the situation where the first positioning pin 313 and the second positioning pin 322 are pressed to death and difficult to be pulled out when the upper roller 312 and the barrel roller 323 are pressed against the structural member. It is understandable that when the lifting device 40 assists the upper roller 312 and the barrel roller 323 in position adjustment, the root cleaning robot stops moving.

[0070] Specifically, the frame structure 10 includes a traveling frame 11 and an operating frame 12, the milling device 20 is arranged on the operating frame 12, the traveling frame 11 includes an upper frame body 111 and a lower frame body 112, the upper frame body 111 is movably connected to one end of the operating frame 12 away from the operating frame 12 and the lower frame body 112 is movably connected, the operating frame 12 and the end of the upper frame body 111 close to the structural member are connected, the upper rolling part 31 is installed on the operating frame 12, and the side rolling part 32 is installed on the lower frame body 112 and / or the operating frame 12; the upper rolling part 31 and the lower frame body 112 are both provided with a lifting device 40, the lifting device 40 includes a cushion block 41, a screw 42 and a ratchet wrench 43, the screw 42 is threadedly connected to the lower frame body 112 and the upper rolling part 31, the ratchet wrench 43 is used to rotate the screw 42 and make the cushion block 41 move, and the cushion block 41 is detachably abutted against the upper side and outer wall of the web.

[0071] In this embodiment, an upper rolling part 31 is installed on both sides of the operating frame 12 along the forward direction of the root cleaning robot, and the mounting seat 311 of the upper rolling part 31 is arranged on the operating frame 12 by fasteners such as bolts. The side rolling parts 32 are distributed in two rows and two columns, wherein two side rolling parts 32 are arranged on the side of the lower frame 112 facing the outer wall along the forward direction of the root cleaning robot, and the other two side rolling parts 32 are arranged on the side of the operating frame 12 facing the outer wall along the forward direction of the root cleaning robot. Such an arrangement is conducive to ensuring the supporting effect of multiple upper rolling parts 31 and multiple side rolling parts 32 on the root cleaning robot as a whole. On the other hand, in this embodiment, two lifting devices 40 are arranged corresponding to the number of upper rolling parts 31, and the two lifting devices 40 are respectively arranged on the mounting seats 311 of the two upper rolling parts 31, and a lifting device 40 is arranged on the lower frame 112 for lateral lifting. Taking the pre-separation of the upper roller 312 as an example, before adjusting the position of the upper roller 312, the operator first rotates the screw 42 through the ratchet wrench 43 so that the screw 42 descends relative to the mounting seat 311 and rests against the upper side of the web, so as to lift up the entirety of the root cleaning robot except the lifting device 40, thereby achieving the pre-separation of the upper roller 312 and the upper side of the web, and the same applies to the side rolling part 32.

[0072] like Figures 1 to 3As shown, the root cleaning robot also includes a walking device 50, which includes an adjusting component 51 and a walking drive unit 52. The adjusting component 51 is arranged on the frame structure 10 and extends along the width direction of the web. The walking drive unit 52 is installed on the adjusting component 51 and its position on the adjusting component 51 is adjustable. The walking drive unit 52 is detachably abutted against the panel to drive the frame structure 10 to move along the extension direction of the structural member. Before the root cleaning robot is converted to the second obstacle crossing state, the walking drive unit 52 is separated from the panel; the supporting device 30 also includes a lower rolling part 33, the lower rolling part 33 includes a fixed seat 331, a lower roller 332, a lifting structure 333 and an elastic structure 334, the fixed seat 331 is installed on the frame structure 10, the lifting structure 333 is liftably arranged on the fixed seat 331, and the lower roller 332 is installed on the upper end of the lifting structure 333 through the elastic structure 334.

[0073] In this embodiment, the walking device 50 is used to drive the root cleaning robot to move along the extension direction of the structural member. When the root cleaning robot is in the driving state, the walking drive unit 52 rolls with the panel, the upper rolling unit 31 and the lower rolling unit 33 clamp the web in the middle and both roll with the web, and the side rolling unit 32 rolls with the outer wall. Before the root cleaning robot makes obstacle crossing adjustments for obstacles on the outer wall, it is necessary to first separate the walking drive unit 52 from the panel to avoid the jacking device 40 on the lower frame 112 being blocked during lateral jacking, resulting in the inability to achieve pre-separation of the side rolling unit 32 from the outer wall.

[0074] On the other hand, the elastic structure 334 can provide a buffer for the vertical lifting of the lifting device 40 on the mounting seat 311, thereby avoiding the situation in which the lifting of the entire device is obstructed due to the stopper between the lower rolling part 33 and the lower side of the web when the upper rolling part 31 and the upper side of the web are pre-separated, thereby ensuring the reliability of the adjustment.

[0075] In summary, the utility model provides a root cleaning robot, whose working principle and obstacle crossing principle include:

[0076] The frame structure 10 of the root cleaning robot and other components arranged on the frame structure 10 are supported on the structural member through the cooperation of the upper rolling part 31, the lower rolling part 33, the side rolling part 32 and the walking drive part 52. The walking drive part 52 provides power so that the corner weld root cleaning robot can perform circular contouring motion on the structural member, and can complete the root cleaning of the corner weld of the structural member when equipped with a milling device.

[0077] The upper roller 312 on the upper side of the web is divided into two positions (a first driving position and a first obstacle crossing position). When the root cleaning robot is operating normally, the upper roller 312 is in the first driving position. When encountering an obstacle on the upper side of the web, the upper roller 312 is pre-separated from the upper side of the web by the lifting device 40, and then the first positioning pin 313 is pulled out, the upper roller 312 is lifted, and the first through hole 301 corresponds to the second positioning hole 304, and then the first positioning pin 313 is inserted, so that the upper roller 312 is located in the first obstacle crossing position; after the upper roller 312 passes the obstacle, the first positioning pin 313 is pulled out, the upper roller 312 is lowered, and the first through hole 301 corresponds to the first positioning hole 303, and then the first positioning pin 313 is inserted, so that the upper roller 312 is reset to the first driving position; the cylinder roller 323 is divided into two positions (a second driving position and a second obstacle crossing position). When the root cleaning robot is operating normally, the cylinder roller 323 is in the second driving position. When encountering an obstacle on the outer wall, the walking drive unit 52 is first spaced apart from the panel, and then the cylinder roller 323 is pre-separated from the outer wall by the lifting device 40. Then, the second positioning pin 322 is pulled out and the cylinder roller 323 is pushed inward to make the second penetration hole 305 correspond to the third positioning hole 306, and then the second positioning pin 322 is inserted to make the cylinder roller 323 located in the second obstacle crossing position; when the cylinder roller 323 passes over the obstacle on the outer wall, the second positioning pin 322 is pulled out again, and the cylinder roller 323 is pulled outward to make the second penetration hole 305 correspond to the fourth positioning hole 307, and then the second positioning pin 322 is inserted to reset the cylinder roller 323 to the second driving position.

[0078] In this way, using the obstacle crossing structure provided in this embodiment, when the root cleaning robot crosses an obstacle, only one person is needed to complete the obstacle crossing operation, and the operation is simple, time-saving and labor-saving, thereby improving the work efficiency of the fillet weld root cleaning robot. At the same time, the upper roller 312 and the cylinder roller 323 are both matched with the lifting device 40, and the corresponding roller is lifted and loosened by the lifting device 40, so that the corresponding positioning pins (the first positioning pin 313 and the second positioning pin 322) can be smoothly inserted and removed, thereby preventing the positioning pins from getting stuck.

[0079] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0080] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0081] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0082] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0083] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0084] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A root cleaning robot for performing root cleaning on a structural member, wherein the structural member comprises an outer wall, a web and a panel, wherein the outer wall and the panel are arranged opposite to each other and are welded and connected via the web, and wherein: The root cleaning robot comprises a frame structure (10), a milling device (20) and a supporting device (30), wherein the milling device (20) and the supporting device (30) are both arranged on the frame structure (10), and the supporting device (30) comprises an upper rolling portion (31) and a side rolling portion (32). The root cleaning robot has a driving state, a first obstacle crossing state and a second obstacle crossing state. When the root cleaning robot is in the driving state, the upper rolling portion (31) is in rolling cooperation with the upper side of the web, and the side rolling portion (32) is in rolling cooperation with the outer wall; when the root cleaning robot is in the first obstacle crossing state, the upper rolling portion (31) is spaced from the upper side of the web so that the upper rolling portion (31) can cross the obstacle on the upper side of the web; when the root cleaning robot is in the second obstacle crossing state, the side rolling portion (32) is spaced from the outer wall so that the side rolling portion (32) can cross the obstacle on the outer wall.

2. The root cleaning robot according to claim 1, characterized in that: The upper rolling portion (31) comprises a mounting seat (311) and an upper roller (312); the mounting seat (311) is arranged on the frame structure (10); the upper roller (312) is arranged on the mounting seat (311); the distance of the upper roller (312) relative to the mounting seat (311) is adjustable and has a first driving position and a first obstacle crossing position; wherein, when the root cleaning robot is in the driving state, the upper roller (312) is located at the first driving position and is in rolling cooperation with the upper side of the web; when the root cleaning robot is in the first obstacle crossing state, the upper roller (312) is located at the first obstacle crossing position and is spaced from the upper side of the web.

3. The root cleaning robot according to claim 2, characterized in that: The upper rolling portion (31) further comprises a first locking member, which is used to limit the upper roller (312) in the first driving position or the first obstacle crossing position. When the root cleaning robot is in the first obstacle crossing state, the first locking member limits the upper roller (312) in the first obstacle crossing position, and the upper roller (312) is spaced or rollingly matched with the obstacle on the upper side of the web.

4. The root cleaning robot according to claim 3, characterized in that: The mounting seat (311) comprises a seat body (3111) and a guide sleeve (3112) arranged on the seat body (3111); the upper rolling portion (31) further comprises a transfer rod (314); the upper roller (312) is mounted on the mounting seat (311) via the transfer rod (314); the transfer rod (314) passes through the seat body (3111) and the guide sleeve (3112); the guide sleeve (3112) has a first through hole (301) extending radially therethrough; the transfer rod (314) is provided with a first positioning hole (303) and a second positioning hole (304) extending radially therethrough at intervals along the axial direction; the first positioning hole (303) is located at the position of the first positioning hole (303); The second positioning hole (304) is on a side away from the seat body (3111), and the first locking member includes a first positioning pin (313). When the first positioning pin (313) is pulled out, the position of the transfer rod (314) in the guide sleeve (3112) is adjustable. When the first positioning pin (313) is inserted into the first through-hole (301) and the first positioning hole (303), the upper roller (312) is in the first driving position. When the first positioning pin (313) is inserted into the first through-hole (301) and the second positioning hole (304), the upper roller (312) is in the first obstacle crossing position.

5. The root cleaning robot according to claim 3, characterized in that: The mounting seat (311) comprises a seat body (3111) and a guide sleeve (3112) arranged on the seat body (3111); the upper rolling portion (31) further comprises a transfer rod (314); the upper roller (312) is mounted on the mounting seat (311) via the transfer rod (314); the transfer rod (314) passes through the seat body (3111) and the guide sleeve (3112); the guide sleeve (3112) has a guide slot (302) extending in the axial direction; a limit pin (315) is pluggably inserted into the transfer rod (314); the limit pin (315) passes through the guide slot (302) and is limitedly matched with the inner wall of the guide slot (302).

6. The root cleaning robot according to claim 1, characterized in that: The side rolling part (32) comprises a roller bracket (321) and a cylindrical roller (323) rotatably arranged on the roller bracket (321); the roller bracket (321) is arranged on the frame structure (10); the distance between the cylindrical roller (323) and the roller bracket (321) is adjustable and has a second driving position and a second obstacle crossing position; wherein, when the root cleaning robot is in the driving state, the roller bracket (321) is installed in the second driving position and is in rolling cooperation with the cylindrical roller (323) and the outer wall; and when the root cleaning robot is in the second obstacle crossing state, the roller bracket (321) is installed in the second obstacle crossing position and is spaced apart from the cylindrical roller (323) and the outer wall.

7. The root cleaning robot according to claim 6, characterized in that: The side rolling portion (32) also includes a second locking member, which is used to limit the barrel roller (323) to the second driving position or the second obstacle crossing position. When the root cleaning robot is in the second obstacle crossing state, the second locking member limits the barrel roller (323) to the second obstacle crossing position, and the barrel roller (323) is spaced or rollingly matched with the obstacle on the outer wall.

8. The root cleaning robot according to claim 7, characterized in that: The frame structure (10) has a limiting groove (101) on one side facing the outer wall, the roller bracket (321) has an insertion protrusion (3211), the inner wall of the limiting groove (101) has a second through hole (305) penetrating therethrough, the insertion protrusion (3211) is provided with a third positioning hole (306) and a fourth positioning hole (307) penetrating therethrough at intervals along the plugging and unplugging direction, the third positioning hole (306) is located on a side of the fourth positioning hole (307) away from the barrel roller (323), and the second locking member includes a second positioning pin ( When the second positioning pin (322) is pulled out, the insertion protrusion (3211) can be inserted and removed in the limiting groove (101); when the second positioning pin (322) is inserted into the second through hole (305) and the third positioning hole (306), the roller bracket (321) is in the second driving position; when the second positioning pin (322) is inserted into the second through hole (305) and the fourth positioning hole (307), the roller bracket (321) is in the second obstacle crossing position.

9. The root cleaning robot according to claim 1, characterized in that: The frame structure (10) is provided with upper rolling parts (31) on both sides in the extension direction of the structural member, any one of the upper rolling parts (31) includes at least two upper rollers (312) arranged at intervals along the extension direction of the structural member, and the upper rollers (312) of the plurality of upper rolling parts (31) are parallel to each other; there are a plurality of side rolling parts (32), and the plurality of side rolling parts (32) are distributed in at least two rows and two columns, each row includes at least two side rolling parts (32), and each column includes at least two side rolling parts (32), and the plurality of side rolling parts (32) are parallel to each other. In the forward direction of the root cleaning robot, the plurality of upper rolling parts (31) are switched between the first obstacle crossing state and the driving state from front to back in turn and cross the obstacles on the upper side of the web, and the plurality of side rolling parts (32) are switched between the second obstacle crossing state and the driving state from front to back in turn and cross the obstacles on the outer wall.

10. The root cleaning robot according to claim 1, characterized in that: The root cleaning robot further comprises a lifting device (40) movably arranged on the frame structure (10) and / or the supporting device (30), wherein the lifting device (40) is detachably abutted against the upper side of the web and / or the outer wall so as to separate the upper rolling portion (31) and the upper side of the web when the root cleaning robot is switched from the driving state to the first obstacle crossing state, and / or to separate the side rolling portion (32) and the outer wall when the root cleaning robot is switched from the driving state to the second obstacle crossing state.

11. The root cleaning robot according to claim 10, characterized in that: The frame structure (10) comprises a walking frame (11) and an operating frame (12), the milling device (20) is arranged on the operating frame (12), the walking frame (11) comprises an upper frame body (111) and a lower frame body (112), one end of the upper frame body (111) away from the operating frame (12) and one end of the lower frame body (112) away from the operating frame (12) are movably connected, the operating frame (12) and one end of the upper frame body (111) close to the structural member are connected, the upper rolling part (31) is installed on the operating frame (12), and the side rolling part (32) is installed on the lower frame body (112) and / or the operating frame (12); The lifting device (40) is provided on both the upper rolling part (31) and the lower frame (112), and the lifting device (40) includes a cushion block (41), a lead screw (42) and a ratchet wrench (43). The lead screw (42) is threadedly connected to the lower frame (112) and the upper rolling part (31), and the ratchet wrench (43) is used to rotate the lead screw (42) and move the cushion block (41). The cushion block (41) is detachably abutted against the upper side of the web and the outer wall.

12. The root cleaning robot according to claim 1, characterized in that: The root cleaning robot further comprises a walking device (50), wherein the walking device (50) comprises an adjusting component (51) and a walking drive unit (52), wherein the adjusting component (51) is arranged on the frame structure (10) and extends along the width direction of the web, and the walking drive unit (52) is mounted on the adjusting component (51) and its position on the adjusting component (51) is adjustable, and the walking drive unit (52) is detachably abutted against the panel to drive the frame structure (10) to move along the extension direction of the structural member, and before the root cleaning robot is switched to the second obstacle crossing state, the walking drive unit (52) is separated from the panel.

13. The root cleaning robot according to claim 1, characterized in that: The supporting device (30) further comprises a lower rolling portion (33), wherein the lower rolling portion (33) comprises a fixed seat (331), a lower roller (332), a lifting structure (333) and an elastic structure (334), wherein the fixed seat (331) is mounted on the frame structure (10), the lifting structure (333) is liftably arranged on the fixed seat (331), and the lower roller (332) is mounted on the upper end of the lifting structure (333) via the elastic structure (334).

Images