Cleaning paint sprayer

Abstract

The utility model provides a cleaning paint sprayer, and belongs to the technical field of cleaning equipment. The cleaning and paint spraying machine comprises a walking mechanism, a lifting mechanism, a cleaning mechanism and a paint spraying mechanism. The lifting mechanism comprises lifting modules arranged on the two sides of the upper portion of the walking mechanism and a lifting table arranged between the two lifting modules. The cleaning mechanism comprises a rotor surface cleaning assembly and a rotor gap cleaning assembly. The rotor surface cleaning assembly and the rotor gap cleaning assembly are installed on the lifting table. The paint spraying mechanism comprises a mechanical arm and a paint spraying gun, the mechanical arm is installed on the lifting table, and the paint spraying gun is installed on the mechanical arm. According to the cleaning and paint spraying machine, planar movement and vertical movement are achieved through the walking mechanism and the lifting mechanism, cleaning and paint spraying of the generator rotor are achieved through the cleaning mechanism and the paint spraying mechanism, scaffold building and manual cleaning are not needed, the operation risk is greatly reduced, and the cleaning and paint spraying efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning equipment, and particularly relates to a cleaning paint spraying machine. Background Art

[0002] The generator rotor, the rotating part of the generator, rotates at high speed during normal operation, making it susceptible to contamination from oil and dust. The most common contamination is caused by grease escaping from the generator during high-speed rotation, mixing with airborne dust and forming sludge on the rotor surface and in its gaps. This sludge increases the thermal resistance of the main insulation, making it difficult for heat generated by copper conductor losses to be dissipated through the electrical insulation and the sludge layer, leading to overheating. It can also cause discharges, creating current paths that can affect the main insulation.

[0003] Currently, the cleaning and painting of large hydro-turbine generator rotors is mostly done manually. This requires the construction of a scaffolding, where workers stand to spray cleaning agents and scrub with brushes. This is dangerous, and manual cleaning is inefficient. Utility Model Content

[0004] In view of this, in order to solve the problems in the prior art, the present invention proposes a cleaning paint sprayer. The technical problem to be solved by the present invention is: how to conveniently clean the rotor and improve the cleaning efficiency.

[0005] The utility model solves the above problems through the following technical means:

[0006] A paint spraying machine for cleaning, comprising:

[0007] Traveling mechanism;

[0008] A lifting mechanism, comprising lifting modules disposed on both sides above the walking mechanism and a lifting platform disposed between the two lifting modules;

[0009] A cleaning mechanism, the cleaning mechanism comprising a rotor surface cleaning component and a rotor gap cleaning component, the rotor surface cleaning component and the rotor gap cleaning component being mounted on the lifting platform;

[0010] The paint spraying mechanism includes a manipulator and a paint spraying gun. The manipulator is installed on the lifting platform, and the paint spraying gun is installed on the manipulator.

[0011] In the above-mentioned cleaning and paint spraying machine, the walking mechanism is an AGV trolley.

[0012] In the above-mentioned cleaning and paint spraying machine, the rotor surface cleaning assembly includes a first mounting seat, a first connecting seat, a first driving motor, a first roller brush and a first spray gun. The first mounting seat is installed on the lifting platform. A cylinder is provided on the first mounting seat. One side of the first connecting seat is rotatably connected to the first mounting seat. The output end of the cylinder is hinged to the first connecting seat. The first driving motor is installed on the first connecting seat. The first roller brush is rotatably connected to the side of the first connecting seat away from the first mounting seat. The first driving motor is connected to the first roller brush for transmission. The first spray gun is installed at the bottom of the first connecting seat.

[0013] In the above-mentioned paint spraying cleaning machine, a first connecting block is provided on the first mounting seat, a second connecting block is provided on the first connecting seat, and the second connecting block is rotatably connected to the first connecting block.

[0014] In the above-mentioned paint spraying cleaning machine, a rotating shaft is provided on the first connecting block, and the second connecting block is rotatably connected to the rotating shaft.

[0015] In the above-mentioned paint spraying cleaning machine, a first pulley is provided at the output end of the first driving motor, a second pulley is provided at the end of the first roller brush, and the first pulley and the second pulley are connected by belt transmission.

[0016] In the above-mentioned cleaning and paint spraying machine, the rotor gap cleaning assembly includes a second mounting seat, a second drive motor, a second roller brush and a second spray gun. The second mounting seat is installed on the lifting platform, the second drive motor and the second roller brush are both installed on the second mounting seat, the output end of the second drive motor is transmission-connected to the second roller brush, and the second spray gun is installed on the second mounting seat.

[0017] In the above-mentioned paint cleaning machine, the rotor gap cleaning assembly also includes a coupling and a connecting shaft, the coupling is installed on the second mounting seat, one end of the connecting shaft is transmission connected to the second drive motor, the other end of the connecting shaft is transmission connected to the coupling, and one end of the second roller brush is transmission connected to the coupling.

[0018] In the above-mentioned paint spraying cleaning machine, a third pulley is provided at the output end of the second drive motor, a fourth pulley is provided at the end of the rotating shaft away from the coupling, and the third pulley is connected to the fourth pulley via a belt transmission.

[0019] In the above-mentioned cleaning paint sprayer, the paint spraying mechanism further includes a paint bucket, and the paint bucket is installed on the lifting platform.

[0020] Compared with the prior art, the advantages of the present invention are as follows:

[0021] This cleaning and painting machine realizes plane movement and up and down movement through the walking mechanism and the lifting mechanism, and realizes cleaning and painting of the generator rotor through the cleaning mechanism and the painting mechanism. There is no need to build scaffolding or manual cleaning, which greatly reduces the operation risk and improves the cleaning and painting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of the cleaning and paint spraying machine;

[0023] Figure 2 It is a schematic diagram of the structure of the rotor surface cleaning component;

[0024] Figure 3 It is a schematic diagram showing the internal structure of the rotor surface cleaning component;

[0025] Figure 4 It is a schematic diagram of the structure of the rotor gap cleaning assembly;

[0026] Figure 5 It is a schematic diagram showing the internal structure of the rotor gap cleaning component;

[0027] Figure 6 It is a structural schematic diagram showing another perspective of the interior of the rotor gap cleaning component.

[0028] In the figure, 1. walking mechanism; 2. lifting mechanism; 3. lifting module; 4. lifting platform; 5. rotor surface cleaning assembly; 6. rotor gap cleaning assembly; 7. paint spraying mechanism; 8. manipulator; 9. paint spray gun; 11. first mounting seat; 12. first connecting seat; 13. first drive motor; 14. first roller brush; 15. first spray gun; 16. cylinder; 17. first connecting block; 18. second connecting block; 19. rotating shaft; 20. first pulley; 21. second pulley; 22. second mounting seat; 23. second drive motor; 24. second roller brush; 25. second spray gun; 26. coupling; 27. connecting shaft; 28. third pulley; 29. ​​fourth pulley; 30. paint bucket. DETAILED DESCRIPTION

[0029] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0030] The generator rotor is the rotating part of the generator. During normal operation, it rotates at high speeds and can be contaminated by oil or dust. The most common contamination is caused by grease escaping from the generator during high-speed rotation, mixing with airborne dust and forming sludge on the rotor surface and in its gaps. Sludge on the rotor surface and in its gaps increases the thermal resistance of the main insulation, making it difficult for heat generated by copper conductor losses to be dissipated through the electrical insulation and the dirt layer, which can easily lead to overheating. It can also cause discharges, creating current paths that can affect the main insulation. Currently, cleaning and painting large hydro-turbine generator rotors is still mostly done manually. This requires erecting a scaffolding, where workers stand to spray cleaning agents and scrub with brushes. This poses a risk to workers working on the scaffolding, and manual cleaning is inefficient. In light of these issues, the present invention provides a cleaning and painting machine to facilitate rotor cleaning, reduce operational risks, and improve cleaning efficiency.

[0031] like Figure 1 As shown, the cleaning and painting machine includes: a walking mechanism 1, a lifting mechanism 2, a cleaning mechanism and a paint spraying mechanism 7; the lifting mechanism 2 includes a lifting module 3 arranged on both sides above the walking mechanism 1 and a lifting platform 4 arranged between the two lifting modules 3; the cleaning mechanism includes a rotor surface cleaning component 5 and a rotor gap cleaning component 6, and the rotor surface cleaning component 5 and the rotor gap cleaning component 6 are installed on the lifting platform 4; the paint spraying mechanism 7 includes a manipulator 8 and a paint spray gun 9, the manipulator 8 is installed on the lifting platform 4, and the paint spray gun 9 is installed on the manipulator 8.

[0032] In this cleaning and painting machine, the traveling mechanism 1 is an AGV trolley. In other embodiments, the traveling mechanism 1 can also be other types of trolleys, which are not limited here. The traveling mechanism 1 is used to realize the planar movement of the cleaning and painting machine, so that it can conveniently reach the place that needs to be cleaned. The lifting mechanism 2 includes a lifting module 3 arranged on both sides above the traveling mechanism 1. The lifting platform 4 is located between the two lifting modules 3 and is installed at the output end of the two lifting modules 3. The lifting platform 4 is driven up and down by the lifting module 3. Since the rotor surface cleaning component 5 and the rotor gap cleaning component 6 are installed on the lifting platform 4, the manipulator 8 is installed on the lifting platform 4, and the paint gun 9 is installed on the manipulator 8, the rotor surface cleaning component 5 and the rotor gap cleaning component 6 clean the surface and gap of the rotor respectively, and the paint gun 9 sprays paint on the cleaned rotor for protection, thereby completing the cleaning and painting of the generator rotor. This cleaning and painting machine realizes planar movement and up and down movement through the walking mechanism 1 and the lifting mechanism 2, and realizes cleaning and painting of the generator rotor through the cleaning mechanism and the painting mechanism 7. There is no need to build scaffolding or manual cleaning, which greatly reduces the operation risk and improves the cleaning and painting efficiency.

[0033] like Figure 2 and 3 As shown, in this embodiment, the rotor surface cleaning assembly 5 includes a first mounting base 11, a first connecting base 12, a first drive motor 13, a first roller brush 14, and a first spray gun 15. The first mounting base 11 is mounted on the lifting platform 4. A cylinder 16 is provided on the first mounting base 11. One side of the first connecting base 12 is rotatably connected to the first mounting base 11. The output end of the cylinder 16 is hinged to the first connecting base 12. The first drive motor 13 is mounted on the first connecting base 12. The first roller brush 14 is rotatably connected to the side of the first connecting base 12 away from the first mounting base 11. The first drive motor 13 is in transmission connection with the first roller brush 14. The first spray gun 15 is mounted at the bottom of the first connecting base 12. In this structure, the first spray gun 15 is used to spray solvent. The solvent is sprayed onto the surface of the rotor through the first spray gun. Since the output end of the cylinder 16 is hinged to the first connecting seat 12, the first drive motor 13 is installed on the first connecting seat 12, and the first roller brush 14 is rotatably connected to the side of the first connecting seat 12 away from the first mounting seat 11. The first drive motor 13 is connected to the first transmission of the roller brush. The cylinder 16 drives the first connecting seat 12 to move up and down, and the first drive motor 13 drives the first roller brush 14 to rotate, thereby scrubbing the rotor surface and cleaning the rotor surface.

[0034] like Figure 2 and 3 As shown, in this embodiment, a first connecting block 17 is provided on the first mounting seat 11, and a second connecting block 18 is provided on the first connecting seat 12. The second connecting block 18 is rotatably connected to the first connecting block 17. A rotating shaft 19 is provided on the first connecting block 17, and the second connecting block 18 is rotatably connected to the rotating shaft 19. A first pulley 20 is provided at the output end of the first drive motor 13, and a second pulley 21 is provided at the end of the first roller brush 14. The first pulley 20 and the second pulley 21 are connected by a belt drive.

[0035] like Figure 4-6As shown, in this embodiment, the rotor gap cleaning assembly 6 includes a second mounting base 22, a second drive motor 23, a second roller brush 24, and a second spray gun 25. The second mounting base 22 is mounted on the lifting platform 4. The second drive motor 23 and the second roller brush 24 are both mounted on the second mounting base 22. The output end of the second drive motor 23 is in driving connection with the second roller brush 24. The second spray gun 25 is mounted on the second mounting base 22. In this structure, the second spray gun 25 sprays solvent into the rotor gap, inserting the slender second roller brush 24 into the gap. The second drive motor 23 drives the second roller brush 24 to rotate, and the rotating second roller brush 24 can clean the rotor gap, thereby achieving rotor gap cleaning.

[0036] like Figure 4-6 As shown, in this embodiment, the rotor gap cleaning assembly 6 further includes a coupling 26 and a connecting shaft 27. The coupling 26 is mounted on the second mounting seat 22. One end of the connecting shaft 27 is transmission-connected to the second drive motor 23, and the other end of the connecting shaft 27 is transmission-connected to the coupling 26. One end of the second roller brush 24 is transmission-connected to the coupling 26. A third pulley 28 is provided at the output end of the second drive motor 23, and a fourth pulley 29 is provided at the end of the rotating shaft 19 away from the coupling 26. The third pulley 28 and the fourth pulley 29 are connected via a belt drive.

[0037] like Figure 1 As shown, in this embodiment, the paint spraying mechanism 7 further includes a paint bucket 30, which is mounted on the lifting platform 4. In another embodiment, a paint bucket 30 is mounted on both sides of the manipulator 8. The manipulator 8 drives the paint spray gun 9 to spray paint and protect the rotor. The paint bucket 30 is used to store paint. In this embodiment, the manipulator 8 is a GCR manipulator 8.

[0038] This cleaning and spraying machine also includes a visual mechanism that navigates and locates the working environment, allowing the cleaning and spraying machine to reach the working area accurately and quickly. The visual mechanism has a high pixel resolution and strong image processing capability defect recognition system, which enables it to identify common defects and achieve rapid online detection of common defects. The specific operation process is as follows:

[0039] Mapping: Build a map of the surrounding environment through visual mechanisms, and use intelligent algorithms (such as feature extraction and matching) to identify and describe features in the environment.

[0040] Positioning: Use sensors (such as lidar, cameras, etc.) to obtain environmental information, and use positioning algorithms (probabilistic positioning: Kalman filter, particle filter) to determine the robot's position in the environment.

[0041] Path Planning: Based on the current and target locations of the paint sprayer, the path planning algorithm generates a collision-free path for the paint sprayer. It uses search algorithms (such as AI algorithms and Dijkstra's algorithm) to search for possible paths, and optimization algorithms (such as genetic algorithms and simulated annealing algorithms) to select the optimal path.

[0042] Motion control: Based on the results of path planning, the motion control algorithm controls the movement of the cleaning sprayer to ensure that the cleaning sprayer can move along the planned path as much as possible. Control theory (such as PID control, fuzzy control, etc.) is used to control the speed and direction of the cleaning sprayer to ensure that the motion trajectory of the cleaning sprayer meets expectations.

[0043] Perception and decision-making: The visual mechanism obtains information about the surrounding environment through perception technology and makes decisions based on the environmental information. When the cleaning and spraying machine encounters an obstacle, it needs to use perception data to determine whether it needs to detour or stop.

[0044] This paint sprayer can also manage battery charge and discharge: it selects the appropriate charging current and charging voltage according to the battery characteristics and usage scenarios to avoid overcharging or undercharging; uses battery management software to control the battery's discharge rate and depth of discharge to avoid over-discharge or too-fast discharge, and monitors the battery's temperature and state of charge to avoid overheating or overcharging.

[0045] Design of multifunctional end-effector: In order to enable the robot to quickly switch between cleaning and painting functions and realize multi-purpose use of one machine, a multifunctional actuator is designed at the end of the robot to enable the robot to quickly switch the execution device under different tasks.

[0046] Multi-axis motion control system and algorithm design: A multi-axis robot that can be raised or lowered needs to achieve coordinated motion of multiple axes. Appropriate motion control algorithms are designed to enable collaborative work between the axes. Based on the robot's own kinematic and dynamic models, classical control methods such as fuzzy control, adaptive control, and neural network control are used to achieve collision avoidance between the robot and the generator rotor, trajectory planning, and optimal control of the position and posture of the end effector.

[0047] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A paint spraying machine cleaning, characterized in that, include: Walking mechanism (1); A lifting mechanism (2), the lifting mechanism (2) comprising lifting modules (3) arranged on both sides above the walking mechanism (1) and a lifting platform (4) arranged between the two lifting modules (3); A cleaning mechanism, the cleaning mechanism comprising a rotor surface cleaning assembly (5) and a rotor gap cleaning assembly (6), the rotor surface cleaning assembly (5) and the rotor gap cleaning assembly (6) being mounted on the lifting platform (4); A paint spraying mechanism (7), the paint spraying mechanism (7) comprising a manipulator (8) and a paint spraying gun (9), the manipulator (8) being mounted on the lifting platform (4), and the paint spraying gun (9) being mounted on the manipulator (8).

2. A paint spraying machine according to claim 1, characterized in that: The walking mechanism (1) is an AGV trolley.

3. A paint spraying machine according to claim 1, characterized in that: The rotor surface cleaning assembly (5) comprises a first mounting seat (11), a first connecting seat (12), a first driving motor (13), a first rolling brush (14) and a first spray gun (15), wherein the first mounting seat (11) is mounted on the lifting platform (4), a cylinder (16) is provided on the first mounting seat (11), one side of the first connecting seat (12) is rotatably connected to the first mounting seat (11), an output end of the cylinder (16) is hinged to the first connecting seat (12), the first driving motor (13) is mounted on the first connecting seat (12), the first rolling brush (14) is rotatably connected to a side of the first connecting seat (12) away from the first mounting seat (11), the first driving motor (13) is transmission-connected to the first rolling brush (14), and the first spray gun (15) is mounted on the bottom of the first connecting seat (12).

4. A paint spraying machine according to claim 3, characterized in that: A first connecting block (17) is provided on the first mounting seat (11), a second connecting block (18) is provided on the first connecting seat (12), and the second connecting block (18) is rotatably connected to the first connecting block (17).

5. A paint spraying machine according to claim 4, characterized in that: The first connecting block (17) is provided with a rotating shaft (19), and the second connecting block (18) is rotatably connected to the rotating shaft (19).

6. A paint spraying machine according to claim 3, characterized in that: The output end of the first driving motor (13) is provided with a first pulley (20), the end of the first roller brush (14) is provided with a second pulley (21), and the first pulley (20) and the second pulley (21) are connected via a belt transmission.

7. A paint spraying machine according to claim 1, characterized in that: The rotor gap cleaning assembly (6) comprises a second mounting seat (22), a second drive motor (23), a second roller brush (24) and a second spray gun (25); the second mounting seat (22) is mounted on the lifting platform (4); the second drive motor (23) and the second roller brush (24) are both mounted on the second mounting seat (22); the output end of the second drive motor (23) is transmission-connected to the second roller brush (24); and the second spray gun (25) is mounted on the second mounting seat (22).

8. A paint spraying machine according to claim 7, characterized in that: The rotor gap cleaning assembly (6) further includes a coupling (26) and a connecting shaft (27), wherein the coupling (26) is mounted on the second mounting seat (22), one end of the rotating shaft (19) is transmission-connected to the second drive motor (23), the other end of the rotating shaft (19) is transmission-connected to the coupling (26), and one end of the second rolling brush (24) is transmission-connected to the coupling (26).

9. A paint spraying machine according to claim 8, characterized in that: The output end of the second drive motor (23) is provided with a third pulley (28), and the end of the rotating shaft (19) away from the coupling (26) is provided with a fourth pulley (29), and the third pulley (28) and the fourth pulley (29) are connected through a belt transmission.

10. A paint spraying machine according to any one of claims 1 to 9, characterized in that: The paint spraying mechanism (7) further comprises a paint bucket (30), and the paint bucket (30) is mounted on the lifting platform (4).

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