Cleaning device for rust removal operation machine and rust removal operation machine

Abstract

The utility model relates to the field of engineering machinery, and discloses a cleaning device for a rust removal operation machine and the rust removal operation machine.The cleaning device comprises a mounting support, a rotary support, a cleaning mechanism and a rotary speed reducing mechanism, the mounting support is used for being connected with the head of a main arm frame of the rust removal operation machine, the rotary support is mounted on the mounting support, and the cleaning mechanism is mounted on the rotary speed reducing mechanism; the cleaning mechanism comprises a cleaning disc connected to the rotary support through a cleaning connecting rod, and the rotary speed reducing mechanism is arranged on the mounting support and used for driving the rotary support to drive the cleaning disc to rotate so as to adjust the inclination angle of the cleaning disc. According to the cleaning device for the rust removal operation machine and the rust removal operation machine, accurate adjustment of the inclination angle of the cleaning disc can be achieved, so that a basis is provided for accurate control over rust removal cleaning operation, and the rust removal effect is improved.

Description

Technical Field

[0001] The present application relates to engineering machinery, and in particular to a cleaning device for rust removal machinery and a rust removal machinery. Background Art

[0002] Ultra-high pressure water rust and paint removal equipment uses specially designed nozzles to pressurize water to ultra-high pressure levels, forming high-speed water jets that physically strike the surface of objects to remove rust, old paint, etc. This technology is widely used in shipbuilding, petrochemical tank maintenance, historical building restoration and other industries because of its high efficiency, environmental friendliness and no damage to the substrate.

[0003] Existing ultra-high pressure water rust and paint removal equipment can increase the cleaning area and improve the cleaning efficiency by setting the nozzle in the cleaning disc. However, in the actual operation process, the cleaning disc does not always clean the completely flat surface of the object, but will encounter the surface of the object with changing inclination. The process requires the cleaning disc to change the inclination angle in time to fit the surface of the corresponding angle for cleaning. So how to better control the inclination angle of the cleaning disc is an urgent problem to be solved and a research and development direction. Summary of the invention

[0004] In view of at least one of the above-mentioned defects or shortcomings of the prior art, the present application provides a cleaning device and a rust removal machine for a rust removal machine, which is conducive to achieving precise adjustment of the inclination angle of the cleaning disc and improving the rust removal effect.

[0005] In order to achieve the above-mentioned purpose, the present application provides, on one hand, a cleaning device for a rust removal machine, the cleaning device comprising:

[0006] An installation support is used to connect the head of the main boom of the rust removal operation machine;

[0007] A slewing support, mounted on the mounting support;

[0008] A cleaning mechanism, comprising a cleaning disc, wherein the cleaning disc is connected to the swivel support via a cleaning connecting rod;

[0009] The rotary speed reduction mechanism is arranged on the mounting support and is used to drive the rotary support to drive the cleaning disc to rotate so as to adjust the inclination angle of the cleaning disc.

[0010] In some embodiments, the cleaning device further comprises:

[0011] The angle sensor is used to detect the real-time rotation angle of the slewing support.

[0012] In some embodiments, a rotation limiting structure is provided between the rotation support and the mounting support.

[0013] In some embodiments, the rotation limiting structure includes:

[0014] A slewing stopper fixedly disposed on the mounting support; and

[0015] A first swivel limit block and a second swivel limit block are circumferentially spaced and arranged on the periphery of the swivel portion of the swivel support;

[0016] Wherein, the first rotation limit block, the rotation stop block and the second rotation limit block are sequentially distributed along the circumferential direction.

[0017] In some embodiments, the cleaning mechanism comprises:

[0018] A connecting rod driving device, one end of the cleaning connecting rod is hinged to the swivel support and the other end is connected to the cleaning disk, and the connecting rod driving device is used to drive the cleaning connecting rod to swing with variable amplitude relative to the swivel support.

[0019] In some embodiments, the connecting rod driving device is a hydraulic cylinder.

[0020] In some embodiments, the rotary speed reduction mechanism includes:

[0021] A slewing reducer, drivingly connected to the slewing support; and

[0022] The rotary motor drives the rotary reducer to rotate.

[0023] In some embodiments, the swing motor is a hydraulic motor, a pneumatic motor, or an electric motor.

[0024] In some embodiments, the cleaning device further comprises:

[0025] a lighting assembly disposed on top of the mounting support; and / or

[0026] The anti-collision bracket is sleeved on the outer side of the mounting support.

[0027] A second aspect of the present application provides a rust removal machine, which includes the above-mentioned cleaning device for rust removal machine.

[0028] Through the above technical scheme, the cleaning device for rust removal machinery of the present application can drive the slewing support to rotate through the slewing reduction mechanism, thereby driving the cleaning disc connected to the slewing support through the cleaning connecting rod to rotate to adjust the inclination angle of the cleaning disc. The slewing reduction mechanism can achieve a higher reduction ratio, so that the adjustable speed range of the output end is wider and the accuracy is higher. At the same time, the torque is amplified by the slewing reducer. Compared with direct drive, the influence of small power output changes on the load is greater, thereby realizing precise adjustment of the inclination angle of the cleaning disc, so that the cleaning disc can always be kept in a state of contact with the surface to be cleaned, maintaining a good cleaning and rust removal effect.

[0029] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0031] Figure 1 This is a structural schematic diagram of a cleaning device for rust removal machinery in a specific embodiment of the present application;

[0032] Figure 2 for Figure 1 A top view of a cleaning device;

[0033] Figure 3 for Figure 1 A right side view of the cleaning device;

[0034] Figure 4 A schematic diagram of a hydraulic circuit of a hydraulic system of a cleaning device of a rust removal machine in a specific embodiment of the present application;

[0035] Figure 5 for Figure 4 A schematic diagram of a hydraulic circuit of a compensating cylinder disposed in a hydraulic system of a cleaning device;

[0036] Figure 6 This is a flow chart of the control steps of the controller of the rust removal machine in the specific implementation mode of the present application in the cleaning operation mode.

[0037] Description of Reference Numerals

[0038] 1 Cleaning device

[0039] 101 Mounting support 102 Swivel support

[0040] 103 cleaning plate 104 cleaning connecting rod

[0041] 105 Rotation speed reduction mechanism 106 Angle sensor

[0042] 107 Connecting rod drive device 108 Lighting assembly

[0043] 109 Anti-collision bracket 1011 Rotation stopper

[0044] 1021 First rotation limit block 1022 Second rotation limit block

[0045] 1051 Rotary reducer 1052 Rotary motor

[0046] 2 Vehicle hydraulic system

[0047] 201 Compensation cylinder hydraulic circuit 202 Leveling cylinder hydraulic circuit

[0048] 203 Nozzle rotation motor hydraulic circuit 204 Attachment rotation motor hydraulic circuit

[0049] 2011 Compensation Cylinder 2012 Electric Proportional Relief Valve

[0050] 2013 Balancing valve group 20121 Control oil port

[0051] 20122 Proportional solenoid 20123 Compression spring DETAILED DESCRIPTION

[0052] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0053] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0054] Due to the long length of the telescopic arm, it is impossible to accurately adjust the inclination angle of the cleaning disc, which makes it difficult for the cleaning disc to adapt to the surface of objects with different inclination angles for cleaning, and the rust removal effect is poor. Figures 1 to 3As shown, the first exemplary embodiment of the present application provides a cleaning device for a rust removal machine, the cleaning device comprising a mounting support 101, a slewing support 102, a cleaning mechanism and a slewing speed reduction mechanism 105. The mounting support 101 is used to connect the head of the main boom of the rust removal machine, that is, the telescopic end of the telescopic boom; the slewing support 102 is mounted on the mounting support 101 and has a slewing adjustment function; the cleaning mechanism comprises a cleaning disc 103 and a cleaning connecting rod 104, the cleaning disc 103 is connected to the slewing support 102 through the cleaning connecting rod 104, and the cleaning disc 103 is connected to the cleaning connecting rod 4 in a direction perpendicular to the slewing center axis of the slewing support 102; the slewing speed reduction mechanism 105 is arranged on the mounting support 101 and is used to drive the slewing support 102 to drive the cleaning disc 103 to rotate so as to adjust the inclination angle of the cleaning disc 103.

[0055] In this utility model, see Figure 2 The cleaning disc 103 can spray high-pressure water toward one side of the cleaning connecting rod 104. By adjusting the inclination angle of the cleaning disc, the cleaning disc 103 can fit the inclined surfaces with different inclinations to perform cleaning operations.

[0056] In order to achieve precise adjustment of the cleaning disc 103, the cleaning device of the present application is specially designed with a cooperatively operating rotary reduction mechanism 105 and a rotary support 102. The rotary reduction mechanism 105 drives the rotary support 102 to drive the cleaning disc 103 to rotate. Since the rotary reduction mechanism 105 can achieve a higher reduction ratio, the adjustable speed range of the output end is wider and the precision is higher. At the same time, the torque is amplified by the rotary reduction mechanism 105. Compared with direct drive, the impact of slight power output changes on the load is greater, thereby achieving precise adjustment of the cleaning disc 103, so that the cleaning disc 103 can be adjusted in real time to a state of fitting with different inclined surfaces, and in the continuous operation process, it can continuously exert a good cleaning and rust removal effect.

[0057] In this embodiment, the cleaning device further includes an angle sensor 106. The angle sensor 106 can be installed on the swivel support 102 to detect the real-time rotation angle of the swivel support 102, and the inclination angle of the cleaning disc can be measured in real time by conversion. Furthermore, the spray direction of the water flow and the fit between the cleaning disc 103 and the wall surface to be cleaned can be determined according to the inclination angle of the cleaning disc, so as to further accurately control the cleaning disc 103 and improve the rust removal effect.

[0058] Taking into account that the cleaning disc 103 needs to be connected to the high-pressure water pump through one or more pipelines, in the process of the rotary reduction mechanism 105 driving the rotary support 102 to drive the cleaning disc 103 to rotate, in order to avoid excessive entanglement of the pipeline with the cleaning mechanism and causing damage, a rotary limit structure is provided between the rotary support 102 and the mounting support 101 for limiting the rotatable angle of the rotary support 102.

[0059] As a specific example, see Figure 2 and Figure 3 The rotation limit structure may include a rotation stopper 1011, a first rotation limiter 1021, and a second rotation limiter 1022. The rotation stopper 1011 is fixedly disposed on the mounting support 101, and the first rotation limiter 1021 and the second rotation limiter 1022 are circumferentially spaced and disposed on the periphery of the rotation portion of the rotation support 102. In general, the first rotation limiter 1021, the rotation stopper 1011, and the second rotation limiter 1022 are sequentially distributed along the circumferential direction. When the rotation support 102 rotates to a preset minimum angle, the first rotation limiter 1021 can press against the rotation stopper 1011, so that the rotation support 102 stops rotating. Similarly, when the rotation support 102 rotates to a preset maximum angle, the second rotation limiter 1022 can also press against the rotation stopper 1011, so that the rotation support 102 stops rotating. For example, referring to Figure 3 When the swivel support 102 rotates clockwise, the real-time rotation angle of the swivel support 102 gradually decreases until the first swivel limit block 1021 abuts against the swivel stop block 1011, at which time the real-time rotation angle is equal to the preset minimum angle; conversely, when the swivel support 102 rotates counterclockwise, the real-time rotation angle of the swivel support 102 gradually increases until the second swivel limit block 1022 abuts against the swivel stop block 1011, at which time the real-time rotation angle is equal to the preset maximum angle.

[0060] It can be seen that by setting the first rotation limit block 1021, the rotation stop block 1011 and the second rotation limit block 1022 distributed in sequence along the circumferential direction, the rotation angle of the swivel support 102 can be limited between the preset maximum angle and the preset minimum angle, effectively preventing the rotation angle from being too large or too small, causing the pipeline in the cleaning mechanism to interfere with the rotation of the swivel support 102, and at the same time effectively protecting the pipeline to avoid damage.

[0061] In the illustrated embodiment, the cleaning mechanism includes a connecting rod driving device 107, one end of the cleaning connecting rod 104 is hinged to the swivel support 102 and the other end is connected to the cleaning disc 103. The connecting rod driving device 107 can drive the cleaning connecting rod 104 to swing with respect to the swivel support 102, so that the cleaning connecting rod 104 drives the cleaning disc 103 to approach or move away from the wall to be cleaned, thereby adjusting the distance between the cleaning disc 103 and the wall to be cleaned. It can be understood that when the distance between the cleaning disc 103 and the wall to be cleaned is smaller, the sprayed water flow has a better impact effect on the wall to be cleaned, that is, the rust removal effect is better.

[0062] Preferably, the connecting rod driving device 107 is a compensating oil cylinder 2011, i.e., a hydraulic oil cylinder. The compensating oil cylinder 2011 can drive the cleaning connecting rod 104 to swing through telescopic action, and automatically rebound after the cleaning disc 103 is close to the surface to be cleaned, thereby preventing the cleaning disc 103 and the cleaning device from being damaged. The key is that when the cleaning disc 103 is spraying, a certain recoil force will be generated. At this time, a certain force is applied by the compensating oil cylinder 2011 to support the cleaning disc 103, so that it can maintain stability. In addition, see Figure 3 When the cleaning connecting rod 104 drives the cleaning disc 103 to rotate to a certain inclination angle, the compensation cylinder 2011 can also play a role in supporting the cleaning connecting rod 104 and the cleaning disc 103.

[0063] As a specific example, see Figure 1 The rotary speed reduction mechanism 105 includes a rotary speed reducer 1051 and a rotary motor 1052. Specifically, the output end of the rotary motor 1052 is connected to the input end of the rotary speed reducer 1051, and the rotary support 102 is connected to the output end of the rotary speed reducer 1051. During operation, the rotary motor 1052 drives the rotary speed reducer 1051 to rotate, thereby driving the rotary support 102 to rotate, and then driving the cleaning disc 103 to rotate to adjust the cleaning disc inclination angle of the cleaning disc 103.

[0064] The rotary motor 1052 may be a hydraulic motor, a pneumatic motor or an electric motor, which is not limited in this embodiment.

[0065] Further, see Figure 1 The cleaning device further comprises a lighting assembly 108 disposed on the top of the mounting support 101, and the lighting assembly 108 comprises a lighting lamp and a lamp holder. The lighting assembly 108 can help the operator to find the surface to be derusted when the light is insufficient, thereby ensuring the smooth progress of the derusting operation.

[0066] In addition, see Figure 1 The cleaning device may further include an anti-collision bracket 109 sleeved on the outer side of the mounting support 101. Under the protection of the anti-collision bracket 109, the cleaning device can be prevented from colliding with the wall to be cleaned in the lateral direction and causing damage.

[0067] The above-mentioned cleaning device for rust removal machinery can be applied to rust removal machinery. Obviously, the rust removal machinery has all the technical effects brought by the above-mentioned cleaning device, so it will not be repeated here.

[0068] In the specific embodiment described above, the connecting rod driving device 107 is used as the compensation cylinder 2011, which can drive the cleaning connecting rod 104 to swing through the telescopic action, thereby driving the cleaning disc 103 to approach or move away from the wall to be cleaned, thereby adjusting the distance between the cleaning disc 103 and the wall to be cleaned. The key is that a certain force can also be applied to the cleaning disc 103 through the compensation cylinder 2011 to overcome the reaction force of the spraying water flow, especially when the cleaning disc 103 is sprayed upward at a certain inclination angle, so that the cleaning disc 103 can be supported and maintained in a state of being in contact with the wall to be cleaned.

[0069] However, it is worth noting that in the above-mentioned adjustment process, the power applied by the compensation cylinder 2011 to the cleaning connecting rod 104 needs to be controlled according to the real-time inclination angle of the cleaning disc 103. Otherwise, the cleaning disc 103 will be too close or insufficient to the wall surface to be cleaned, thereby affecting the operation effect. If manual adjustment is relied upon, it is difficult to ensure that the extension and retraction amount of the compensation cylinder 2011 can meet the operation requirements, and the efficiency is low.

[0070] To this end, the present application also protects a rust removal machine. In a specific embodiment, referring to Figures 1 to 4 The rust removal machine at least includes a main boom (not shown in the figure), a slewing support 102, a cleaning mechanism, an angle sensor 106, a compensating cylinder hydraulic circuit 201 and a controller. The slewing support 102 is arranged at the end of the main boom and is driven to rotate by a slewing speed reduction mechanism 105; the cleaning mechanism includes a cleaning disc 103 connected to the slewing support 102 through a cleaning connecting rod 104; the angle sensor 106 is used to detect the real-time rotation angle a of the slewing support 102; the compensating cylinder hydraulic circuit 201 includes a compensating cylinder 2011 and an electric proportional overflow valve 2012 arranged in the rodless chamber working oil circuit of the compensating cylinder 2011, one end of the compensating cylinder 2011 is hinged to the slewing support 102, and the other end is hinged to the cleaning connecting rod 104 to support the cleaning connecting rod 104 with variable amplitude; in the cleaning operation mode, the controller can adjust the current of the electric proportional overflow valve 2012 according to the detected real-time rotation angle a of the slewing support 102.

[0071] The cleaning disc 103 is connected to the cleaning link 104 in a direction perpendicular to the rotation axis of the slewing support 102. Therefore, in the cleaning operation mode, the rust removal operation machine of the present application can detect the real-time rotation angle a of the slewing support 102 by using the angle sensor 106, and at the same time drive the cleaning link 104 to swing by the compensation oil cylinder 2011 controlled by the electric proportional relief valve 2012, and adjust the current of the electric proportional relief valve 2012 according to the size of the real-time rotation angle a, so that the compensation oil cylinder 2011 can provide corresponding supporting force according to the inclination angle of the cleaning disc 103, thereby ensuring that the cleaning disc 103 is maintained in a state of being in contact with the wall to be cleaned, effectively improving the effect of cleaning and rust removal, and realizing the automatic control of the adjustment of the cleaning disc contact degree, with higher accuracy and efficiency.

[0072] In this embodiment, please refer to Figure 4 and Figure 5 The compensation cylinder hydraulic circuit 201 includes a balancing valve group 2013, which is arranged in the working oil circuit of the compensation cylinder 2011 and can be integrated on the cylinder barrel in practical applications. The electric proportional relief valve 2012 is arranged in the branch return oil circuit of the rodless chamber working oil circuit between the balancing valve group 2013 and the rodless chamber.

[0073] like Figure 5 As shown, in the normally closed electric proportional relief valve 2012 shown in the figure, the compression spring 20123 at the left end determines the set relief pressure of the electric proportional relief valve 2012. When the oil pressure of the rodless chamber or the rodless chamber working oil circuit and the combined force of the proportional electromagnet 20122 are greater than the spring force of the compression spring 20123, the oil in the rodless chamber can return through the electric proportional relief valve 2012. It can be seen that the set relief pressure of the electric proportional relief valve 2012 is fixed. The greater the current of the proportional electromagnet 20122 of the electric proportional relief valve 2012, the greater the thrust of the proportional electromagnet 20122 on the valve core, and the smaller the pressure of the rodless chamber pilot oil required, the overflow can be achieved, corresponding to the maximum pressure of the rodless chamber at this time.

[0074] Specifically, as an example, the electric proportional relief valve 2012 includes a compression spring 20123 acting on one end of the valve core and a control oil port 20121 and a proportional solenoid 20212 acting on the other end of the valve core, and the pilot oil circuit of the control oil port 20121 is hydraulically connected to the rodless chamber. When the sum of the magnetic force of the proportional solenoid 20122 at the right end and the force of the oil in the rodless chamber on the valve core is greater than the spring force of the compression spring 20123 at the left end, the electric proportional relief valve 2012 shown in the figure can be switched to the right valve position, that is, the overflow conduction position.

[0075] When the controller controls the proportional solenoid 20122 to apply a first current, the electric proportional relief valve 2012 is energized, and the electric thrust acts on the right end of the valve core of the electric proportional relief valve 2012. At this time, the pumped hydraulic oil flows to the rodless chamber and causes the oil pressure of the rodless chamber to increase continuously. The rodless chamber oil pressure also acts on the right end of the valve core of the electric proportional relief valve 2012 as a pilot oil pressure. When the rodless chamber oil pressure increases to the first overflow pressure value, the sum of the magnetic force of the proportional solenoid 20122 at the right end and the force of the rodless chamber oil on the valve core begins to be greater than the spring force of the compression spring 20123 at the left end, and the valve core of the electric proportional relief valve 2012 gradually switches to the right position, that is, the overflow conduction position. At this time, the rodless chamber oil pressure no longer increases, and the maximum value of the rodless chamber oil pressure (that is, the overflow pressure of the rodless chamber) is set to the first rodless chamber oil pressure.

[0076] When a second current is applied to the proportional solenoid 20122, the electric proportional relief valve 2012 is energized, and the electric thrust acts on the right end of the valve core of the electric proportional relief valve 2012. At this time, when the rodless chamber oil pressure increases to the second relief pressure value, the sum of the magnetic force of the proportional solenoid 20122 at the right end and the force of the rodless chamber oil on the valve core begins to be greater than the spring force of the compression spring 20123 at the left end, and the valve core of the electric proportional relief valve 2012 gradually switches to the relief conduction position. At this time, the rodless chamber oil pressure no longer increases, and the maximum value of the rodless chamber oil pressure is set to the second rodless chamber oil pressure.

[0077] If the first current is less than the second current, the first rodless chamber oil pressure is greater than the second rodless chamber oil pressure. It can be seen that the two are inversely proportional. It can be seen that the greater the current applied to the proportional electromagnet 20122, the smaller the rodless chamber oil pressure in the overflow state.

[0078] When current is applied to the proportional electromagnet 20122, the rodless chamber can build up pressure, so that when the oil pressure in the rodless chamber is large enough, the valve core of the electric proportional relief valve 2012 can be driven by the combined force to achieve overflow. At this time, the maximum oil pressure in the rodless chamber is the overflow pressure, which can drive the piston rod to extend and push the cleaning connecting rod 104 to swing forward, thereby driving the cleaning disc 103 to approach the cleaning disc 103, or increasing the supporting force for the cleaning disc 103 to overcome the reaction force of the spray water flow and the component force of the gravity of the cleaning connecting rod 104 and the cleaning disc 103.

[0079] If during the cleaning process, it is found that the inclination angle of the cleaning disc 103 becomes larger, resulting in an increase in the piston rod load and a tendency to retract, the supporting force of the piston rod should be increased, that is, the overflow pressure of the rodless chamber needs to be increased. The overflow pressure of the rodless chamber can be increased by reducing the current applied by the proportional electromagnet 20122, and the thrust of the piston rod on the cleaning connecting rod 104 increases accordingly, thereby more effectively supporting the cleaning disc 103 with an increased inclination angle; on the contrary, if the unevenness of the cleaning surface causes the inclination angle of the cleaning disc 103 to decrease, resulting in a decrease in the piston rod load and a tendency to extend, the supporting force of the piston rod can be reduced at this time, that is, the current applied by the proportional electromagnet 20122 is increased, thereby reducing the overflow pressure of the rodless chamber, reducing the thrust of the piston rod on the cleaning connecting rod 104, and stabilizing the cleaning disc 103 with a reduced inclination angle in a position that fits the wall surface to be cleaned.

[0080] Those skilled in the art will appreciate that, in other embodiments, other structural forms of electric proportional overflow valves may be used, and the current of the proportional solenoid 20122 may be made proportional to the oil pressure in the rodless chamber, that is, the greater the current applied to the proportional solenoid 20122, the greater the oil pressure in the rodless chamber in the overflow state. The specific working principle is similar to the above and will not be described in detail here.

[0081] exist Figure 3 In the illustrated embodiment, when the swivel support 102 rotates counterclockwise, the real-time rotation angle a of the swivel support 102 increases, and the inclination angle of the cleaning disc 103 increases accordingly (the component force of the gravity of the cleaning disc 103 acting on the compensating cylinder 2011 increases accordingly). At this time, the current applied to the electric proportional relief valve 2012 can be reduced to increase the supporting force of the compensating cylinder 2011 on the cleaning disc 103, so that the cleaning disc 103 can be maintained in a state of being in contact with the wall surface to be cleaned, thereby exerting the desired rust removal effect.

[0082] Vice versa, when the cleaning disc 103 rotates clockwise when the swivel support 102, the real-time rotation angle a of the swivel support 102 decreases, and the inclination angle of the cleaning disc 103 decreases accordingly (the component force of the gravity of the cleaning disc 103 acting on the compensation cylinder 2011 decreases accordingly). At this time, the current applied to the electric proportional relief valve 2012 can be increased to reduce the supporting force of the compensation cylinder 2011 on the cleaning disc 103, so that the cleaning disc 103 can be maintained in a state of being in contact with the wall to be cleaned.

[0083] To this end, in the present embodiment, the magnitude of the current of the electric proportional relief valve 2012 is inversely proportional to the magnitude of the real-time rotation angle a of the swivel support 102 .

[0084] Of course, in other embodiments, it can be set that when the swivel support 102 rotates counterclockwise, the real-time rotation angle a of the swivel support 102 decreases accordingly, and when it rotates clockwise, it increases accordingly. At this time, the current of the electric proportional relief valve 2012 should be proportional to the real-time rotation angle a of the swivel support 102. Therefore, the relationship between the current of the electric proportional relief valve 2012 and the real-time rotation angle a of the swivel support 102 can be determined according to the measurement method and definition of the real-time rotation angle a, and this application does not limit this.

[0085] In an optional or preferred embodiment, the controller is configured to:

[0086] S100: In the cleaning operation mode, determining that the detected real-time rotation angle a is not greater than a preset angle lower threshold;

[0087] S200: controlling the current of the electric proportional relief valve 2012 to maintain a first current value;

[0088] S300: Determine whether the detected real-time rotation angle a is not less than a preset upper angle threshold;

[0089] S400: controlling the current of the electric proportional relief valve 2012 to maintain a second current value;

[0090] The first current value is greater than the second current value, the preset angle lower threshold is greater than the aforementioned preset minimum angle, and the preset angle upper threshold is less than the aforementioned preset maximum angle.

[0091] Specifically, when the angle sensor 106 measures that the real-time rotation angle a of the swivel support 102 is not greater than the preset angle lower threshold, that is, the inclination angle of the cleaning disk 10 decreases to a certain angle, the controller can be used to control the current of the electric proportional relief valve 2012 to remain at the first current value, so that the supporting force of the compensation oil cylinder 2011 on the cleaning disk 103 remains constant. Vice versa, when the angle sensor 106 measures that the real-time rotation angle a of the swivel support 102 is not less than the preset angle upper threshold, that is, the inclination angle of the cleaning disk 10 increases to a certain angle, the controller can be used to control the current of the electric proportional relief valve 2012 to remain at the second current value, so that the supporting force of the compensation oil cylinder 2011 on the cleaning disk 103 remains constant.

[0092] In an optional or preferred embodiment, the controller may be further configured to:

[0093] S500: Determine that the detected real-time rotation angle a is between a preset angle lower threshold and a preset angle upper threshold;

[0094] S600: According to the detected real-time rotation angle a, the current of the electric proportional relief valve 2012 is controlled in real-time inverse proportion.

[0095] Specifically, when the angle sensor 106 measures that the real-time rotation angle a of the swivel support 102 is between a preset angle lower threshold and a preset angle upper threshold, the controller can control the current of the electric proportional relief valve 2012 in real time inverse proportion according to the detected real-time rotation angle a, so that when the real-time rotation angle a of the swivel support 102 increases, the supporting force of the compensation cylinder 2011 on the cleaning disc 103 can be increased, so that the cleaning disc 103 can be maintained in a state of being in contact with the wall surface to be cleaned; conversely, when the real-time rotation angle a of the swivel support 102 decreases, the supporting force of the compensation cylinder 2011 on the cleaning disc 103 can be reduced, so that the cleaning disc 103 can be maintained in a state of being in contact with the wall surface to be cleaned.

[0096] In practical applications, the first current value and the second current value are determined not only based on the real-time rotation angle a, but also need to be determined based on the specific model of the electric proportional relief valve 2012, the oil pressure of the compensation cylinder 2011, etc.

[0097] Referring to Table 1, in the test results of a specific test, a parameter relationship comparison determined by the working conditions of a specific compensation cylinder hydraulic circuit 201 in actual application is obtained. As can be seen from Table 1, the lower threshold of the preset angle can be set to -20°, the first current value can be set to 1194mA, the upper threshold of the preset angle can be set to 68°, and the second current value can be set to 700mA. Therefore, in the cleaning operation mode, when the real-time rotation angle a is measured to satisfy a≤-20°, by maintaining the current I of the electric proportional overflow valve 2012 at 1194mA, the overflow pressure P of the rodless chamber of the compensating cylinder 2011 can be maintained at 20bar, which can meet the support demand of the cleaning disk 103 when the inclination angle is reduced to the lower threshold or below the lower threshold, and there is no need to further reduce the supporting force of the compensating cylinder 2011; similarly, when the real-time rotation angle a is measured to satisfy a≥68°, by maintaining the current I of the electric proportional overflow valve 2012 at 700mA, the overflow pressure P of the rodless chamber of the compensating cylinder 2011 can be maintained at 130bar, which can meet the support demand of the cleaning disk 103 when the inclination angle is increased to the upper threshold or below the upper threshold, and there is no need to further increase the supporting force of the compensating cylinder 2011. In addition, when the real-time rotation angle a is measured to satisfy -20°<a<68°, the current of the electric proportional relief valve 2012 can be inversely controlled according to the real-time rotation angle a, so that the current I of the electric proportional relief valve 2012 satisfies I=-5.6*a+1082, thereby making the overflow pressure P of the rodless chamber of the compensating cylinder 2011 satisfy P=1.3167*a+42.5.

[0098] Table 1 Parameter relationship comparison table

[0099] Real-time rotation angle a(°) Overflow pressure of rodless chamber P(bar) CurrentI(mA) a≤-20 20 1194 -20＜a＜68 1.3167*a+42.5 -5.6*a+1082 a≥68 130 700

[0100] By controlling the compensation cylinder 2011 according to the parameters and relationships shown in the table, adaptive adjustment of the cleaning disc 103 can be achieved, so that the cleaning disc 103 can maintain contact with the wall surface to be cleaned during operation, thereby improving the rust removal effect.

[0101] In an optional or preferred embodiment, the main boom is a telescopic boom, and the controller is further configured to:

[0102] In the cleaning preparation mode, the main arm is controlled to extend and retract so that the cleaning plate 103 is close to the wall surface to be cleaned;

[0103] Control the rotary speed reduction mechanism 105 to drive the rotary support 102 to rotate, and drive the cleaning disc 103 to fit the wall surface to be cleaned;

[0104] The hydraulic circuit 201 of the compensation cylinder 2011 is controlled to start so that the compensation cylinder 2011 supports the cleaning mechanism.

[0105] It should be noted that the above-mentioned cleaning operation mode can be a state where the rust removal operation machine is moving as a whole and the cleaning disc 103 is spraying water, and the cleaning preparation mode is a state where the cleaning disc 103 is close to the wall surface to be cleaned but has not started to spray water.

[0106] Therefore, in the cleaning preparation mode, by controlling the extension of the main boom, the cleaning disc 103 can be controlled to approach the wall to be cleaned; after the cleaning disc 103 approaches the wall to be cleaned, the rotary support 102 is driven to rotate by controlling the rotary reduction mechanism 105, so as to drive the cleaning disc 103 to fit the wall to be cleaned, so that the cleaning disc 103 can be adjusted to a state parallel to the wall to be cleaned; and then the hydraulic circuit 201 of the compensation cylinder 2011 can be controlled to start, so that the compensation cylinder 2011 supports the cleaning mechanism, thereby offsetting the gravity generated by the tilt of the cleaning disc 103 on the compensation cylinder 2011, and offsetting the reaction force generated by the subsequent cleaning disc 103 when spraying water.

[0107] In this embodiment, the control starts the compensation cylinder hydraulic circuit 201 so that the compensation cylinder 2011 supports the cleaning mechanism, including:

[0108] The current of the control electric proportional relief valve 2012 is maintained at the initial current value;

[0109] Among them, in the cleaning preparation mode and when the cleaning disc 103 is in contact with the wall to be cleaned, the real-time rotation angle a of the swivel support 102 is the initial rotation angle; the initial current value is greater than the current of the electric proportional overflow valve 2012 corresponding to the initial rotation angle in the cleaning operation mode.

[0110] Therefore, by controlling the current of the electric proportional relief valve 2012 to maintain the initial current value, the cleaning disc 103 can be stabilized in a state of being in contact with the wall surface to be cleaned when no water is sprayed. In general, using the controller to control the rust removal operation machine to enter the cleaning preparation mode can improve the overall operation efficiency, provide a good foundation for the subsequent precise adjustment of the cleaning disc 103 in the cleaning operation mode, and improve the rust removal quality.

[0111] Furthermore, if Figure 4 As shown, the rust removal operation machine includes a cleaning device hydraulic system 2 as a power source, and the cleaning device hydraulic system 2 includes a multi-way valve and a leveling cylinder hydraulic circuit 202, a nozzle rotating motor hydraulic circuit 203, an accessory rotating motor hydraulic circuit 204 and a compensation cylinder hydraulic circuit 201 respectively connected to the multi-way valve, wherein the leveling cylinder hydraulic circuit 202 includes a leveling cylinder (not shown in the drawings) for adjusting the overall pitch angle of the cleaning device 1, the nozzle rotating motor hydraulic circuit 203 includes a nozzle rotating motor for adjusting the rotation angle of the nozzle in the cleaning disk 103, and the accessory rotating motor hydraulic circuit 204 includes a rotary motor 1052 for driving a rotary reducer 1051. The control principle of realizing each hydraulic circuit is well known to those skilled in the art, and does not belong to the core improvement part of the present application, so it is not repeated here. Based on this, the controller can at least control the rust removal operation machine to switch to the above-mentioned cleaning preparation mode and cleaning operation mode, thereby improving the automation degree and overall operation effect of the operation machine.

[0112] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0113] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0115] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A cleaning device for rust removal machinery, characterized in that: The cleaning device comprises: A mounting support (101) for connecting the head of the main boom of the rust removal machine; A swivel support (102) mounted on the mounting support (101); A cleaning mechanism comprises a cleaning disc (103), wherein the cleaning disc (103) is connected to the swivel support (102) via a cleaning connecting rod (104); The rotary speed reduction mechanism (105) is arranged on the mounting support (101) and is used to drive the rotary support (102) to drive the cleaning disc (103) to rotate so as to adjust the inclination angle of the cleaning disc.

2. The cleaning device for rust removal machinery according to claim 1, characterized in that: The cleaning device also includes: The angle sensor (106) is used to detect the real-time rotation angle of the swivel support (102).

3. The cleaning device for rust removal machinery according to claim 1, characterized in that: A rotation limiting structure is provided between the rotation support (102) and the installation support (101).

4. The cleaning device for rust removal machinery according to claim 3, characterized in that: The rotation limiting structure comprises: A rotary stopper (1011) is fixedly mounted on the mounting support (101); and A first rotation limit block (1021) and a second rotation limit block (1022) are arranged at intervals in the circumferential direction on the periphery of the rotation part of the rotation support (102); Wherein, the first rotation limit block (1021), the rotation stop block (1011) and the second rotation limit block (1022) are sequentially distributed along the circumferential direction.

5. The cleaning device for rust removal machinery according to claim 1, characterized in that: The cleaning mechanism comprises: A connecting rod driving device (107), wherein one end of the cleaning connecting rod (104) is hinged to the swivel support (102) and the other end is connected to the cleaning disk (103), and the connecting rod driving device (107) is used to drive the cleaning connecting rod (104) to swing with variable amplitude relative to the swivel support (102).

6. The cleaning device for rust removal machinery according to claim 5, characterized in that: The connecting rod driving device (107) is a hydraulic cylinder.

7. The cleaning device for rust removal machinery according to any one of claims 1 to 6, characterized in that: The rotary speed reduction mechanism (105) comprises: A rotary reducer (1051) drivingly connected to the rotary support (102); and The rotary motor (1052) drives the rotary reducer (1051) to rotate.

8. The cleaning device for rust removal machinery according to claim 7, characterized in that: The rotary motor (1052) is a hydraulic motor, a pneumatic motor or an electric motor.

9. The cleaning device for rust removal machinery according to any one of claims 1 to 6, characterized in that: The cleaning device also includes: a lighting assembly (108) disposed on top of the mounting support (101); and / or The anti-collision bracket (109) is sleeved on the outer side of the mounting support (101).

10. A rust removal machine, characterized in that: The rust removal machine comprises a cleaning device for rust removal machines according to any one of claims 1 to 9.

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