Defrosting spider robot

Abstract

The utility model discloses a defrosting spider robot, which relates to the technical field of defrosting equipment, is used for solving the technical problems of limited manual defrosting operation range and high dangerousness, and comprises a body, spider legs, a high-pressure spray head, a camera and a hook, the body comprises a welding frame, a joint motor, a controller, an electromagnetic valve plate assembly, a PLC, a wireless IP module, a battery and a vacuum generator assembly. The spider legs are connected with the body through the joint motor. The first spider leg arm is hinged to the second spider leg arm, the second spider leg arm is hinged to the third spider leg arm, and joint motors are arranged at the hinged positions. The defrosting spider robot can replace manual work to achieve efficient and stable defrosting operation, meanwhile, the remote control and real-time monitoring functions are achieved, the operation safety and efficiency are improved, and the technical problems that the manual defrosting operation range is limited, and the danger is high are well solved.

Description

Technical Field

[0001] This utility model relates to the field of defrosting equipment technology, and in particular to a defrosting spider robot. Background Technology

[0002] Defrosting, cleaning, or maintenance work on high-altitude or complex surfaces (such as building exteriors, bridges, and large equipment) is mostly done manually. Traditional manual operations are prone to high risks, have limited operating range (poor flexibility, and many locations are inconvenient to clean), and are inefficient over the long term. Existing automated equipment is often complex in structure and poorly adaptable, making it difficult to operate stably on complex surfaces. There is an urgent need for an automated defrosting device that can adapt to complex surfaces, operate flexibly, and is highly safe.

[0003] Therefore, in view of the shortcomings of the above-mentioned solutions in actual production and implementation, modifications and improvements have been made. At the same time, in the spirit and concept of seeking excellence, with the assistance of professional knowledge and experience, and after much ingenuity and experimentation, a defrosting spider robot is specially provided to solve the technical problems of limited scope and high risk of manual defrosting operations. Utility Model Content

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The defrosting spider robot includes the main body, spider legs, high-pressure nozzles, cameras, and hooks.

[0006] The robot body includes a welded frame, articulated motors, a controller, a solenoid valve plate assembly, a PLC, a wireless IP module, a battery, and a vacuum generator assembly. The spider legs are connected to the robot body via the articulated motors. The welded frame serves as the main support structure for the robot. The articulated motors drive the movement of the spider legs. The controller and PLC work together to control various operations of the robot. The solenoid valve plate assembly controls the movement of pneumatic components. The wireless IP module enables remote communication. The battery provides power to the robot. The vacuum generator assembly generates negative pressure to adhere to the work surface.

[0007] The spider leg comprises a first segment, a second segment, articulated motors, a third segment, and a buffer vacuum suction cup. The first and second segments are hinged together by articulated motors, as are the second and third segments. Articulated motors are located at each hinge point to enable flexible movement of the spider leg. The buffer vacuum suction cup adheres to the work surface using negative pressure generated by a vacuum generator assembly, ensuring the robot's stability on complex surfaces.

[0008] The solenoid valve plate assembly includes a first valve plate and multiple three-position five-way center-sealed valves. The three-position five-way center-sealed valves are pneumatically connected to the vacuum generator assembly and the joint motor through the first valve plate, and are used to control the extension, retraction, and adsorption actions of the spider legs.

[0009] The vacuum generator assembly includes multiple vacuum generators, a second valve plate, and a vacuum switch. The vacuum generators are connected to the buffer vacuum suction cup via the valve plate, and the vacuum switch is used to monitor the vacuum status of the suction cup and feed it back to the controller to ensure the reliability of adsorption.

[0010] Furthermore, the high-pressure nozzle is integrated into the end of the third arm of the spider leg and is used to spray high-pressure fluid to clean or cut the working surface, suitable for various working scenarios such as defrosting and cleaning.

[0011] Furthermore, the camera has a rotatable structure and is communicatively connected to the controller. It is used to acquire images of the working environment in real time and transmit them to an external terminal via a wireless IP module to achieve remote monitoring and operation.

[0012] Furthermore, the vacuum generator assembly includes multiple vacuum generators, each corresponding to a multiple buffer vacuum suction cups, and the adsorption state of each suction cup is independently controlled by a second valve plate to ensure the stability and adaptability of the robot on complex surfaces.

[0013] The beneficial effects of this utility model are:

[0014] The purpose of this invention is to provide a defrosting spider robot that, through hardware design and with the aid of necessary intelligent control (not the focus of innovation), can replace manual labor in achieving efficient and stable defrosting operations. It also has remote control and real-time monitoring functions, improving operational safety and efficiency, and effectively solving the technical problems of limited range and high risk of manual defrosting operations.

[0015] Specifically, this utility model, through modular design and intelligent control, can adapt to defrosting, cleaning and maintenance operations on complex surfaces, and has the characteristics of high efficiency, flexibility and stability.

[0016] Vacuum adsorption technology is used to ensure the stability of the robot on vertical or inclined surfaces. At the same time, the adsorption status is monitored in real time through a vacuum switch, which replaces manual operation and improves the safety of operation.

[0017] The integrated design of the high-pressure nozzle and camera enables multi-functional operation and remote monitoring, improving work efficiency and quality while reducing the labor intensity of workers. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model;

[0020] Figure 2 This is a partial structural diagram of the main body of an embodiment of the present invention. Figure 1 ;

[0021] Figure 3 This is a partial structural diagram of the main body of an embodiment of the present invention. Figure 2 ;

[0022] Figure 4 This is a schematic diagram of the structure of a spider leg according to an embodiment of the present invention.

[0023] In the diagram, 1-body; 11-welded frame; 12-joint motor; 13-controller; 14-magnetic valve plate assembly; 141-first valve plate; 142-three-position five-way center-sealed valve; 15-PLC; 16-wireless IP module; 17-battery; 18-vacuum generator assembly; 181-vacuum generator; 182-second valve plate; 183-vacuum switch; 2-spider leg; 21-first segment of spider leg; 22-second segment of spider leg; 23-third segment of spider leg; 24-buffered vacuum suction cup; 3-high-pressure nozzle; 4-camera; 5-hook. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0025] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0026] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0027] In the description of the embodiments, unless otherwise expressly specified and limited, the terms "set," "connect," etc., should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or a connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] like Figures 1-4 As shown, the defrosting spider robot includes a body 1, spider legs 2, a high-pressure nozzle 3, a camera 4, and a hook 5. The body 1 includes a welded frame 11, articulated motors 12, a controller 13, a solenoid valve plate assembly 14, a PLC 15, a wireless IP module 16, a battery 17, and a vacuum generator assembly 18. The spider legs 2 are connected to the body 1 via the articulated motors 12. The welded frame 11 serves as the main support structure for the robot. The articulated motors 12 drive the movement of the spider legs 2. The controller 13 and PLC 15 work together to control various operations of the robot. The solenoid valve plate assembly 14 controls the movement of pneumatic components. The wireless IP module 16 enables remote communication. The battery 17 provides power to the robot. The vacuum generator assembly 18 generates negative pressure to adhere to the work surface.

[0029] Spider Leg 2 includes a first arm 21, a second arm 22, a joint motor 12, a third arm 23, and a buffer vacuum suction cup 24. The first arm 21 and the second arm 22 are hinged together by the joint motor 12, and the second arm 22 and the third arm 23 are also hinged together by the joint motor 12. Joint motors 12 are installed at each hinge point to enable flexible movement of Spider Leg 2. The buffer vacuum suction cup 24 adheres to the working surface through the negative pressure generated by the vacuum generator assembly 18, ensuring the robot's stability on complex surfaces.

[0030] The solenoid valve plate assembly 14 includes a first valve plate 141 and a plurality of three-position five-way center-sealed valves 142. The three-position five-way center-sealed valves 142 are pneumatically connected to the vacuum generator assembly 18 and the joint motor 12 through the first valve plate 141, and are used to control the extension, retraction and adsorption actions of the spider leg 2.

[0031] The vacuum generator assembly 18 includes multiple vacuum generators 181, a second valve plate 182, and a vacuum switch 183. The vacuum generators 181 are connected to the buffer vacuum suction cup 24 via the valve plate 182, and the vacuum switch 183 is used to monitor the vacuum status of the suction cup and feed it back to the controller 13 to ensure the reliability of adsorption.

[0032] The high-pressure nozzle 3 is integrated into the end of the third arm 23 of the spider leg and is used to spray high-pressure fluid to clean or cut the working surface. It is suitable for various working scenarios such as defrosting and cleaning.

[0033] Camera 4 is a rotatable structure that communicates with controller 13. It is used to collect images of the working environment in real time and transmit them to an external terminal via wireless IP module 16 to achieve remote monitoring and operation.

[0034] The vacuum generator assembly 18 includes multiple vacuum generators 181, each corresponding to a multiple buffer vacuum suction cups 24, and independently controls the adsorption state of each suction cup through a second valve plate 182 to ensure the stability and adaptability of the robot on complex surfaces.

[0035] When using this solution, it needs to be used in conjunction with an external de-icing agent tank and an air compressor, both of which are existing technologies and can be applied directly. This solution only provides the design of the robot.

[0036] In actual use, they are usually equipped with an alarm device.

[0037] Taking the defrosting operation of wind turbine blades as an example: the robot's solenoid valve connects to the de-icing agent tank and the air compressor (the de-icing agent tank and air compressor can be carried by drones, and can be placed on a ship for offshore operations), and connects to the high-pressure nozzle 3. The six solenoid valves connect the air compressor and the vacuum generator 181. The vacuum generator 181 generates a vacuum and connects to the suction cup 24, so that the spider legs 2 can be attached to the blade surface, and can also overcome gravity to be attached to the blade surface, just like a gecko climbing a wall. It can crawl at any position on the blade to spray de-icing agent.

[0038] Vacuum generator 181 controls suction cup 24 to generate negative pressure. There is a vacuum pressure switch 183 on generator 181. Pressure switch 183 checks the vacuum level of suction cup 24. If suction cup 24 is attached to the blade and the vacuum level is insufficient, an alarm will be triggered to remind the remote operator to pay attention to the robot's attachment status. The operation can only continue after the vacuum level is adjusted.

[0039] Taking the defrosting of the exterior wall of a high-rise building as an example, the operator hoists the robot to the work position and controls the robot to adhere to the exterior wall surface through an external terminal. Camera 4 identifies and transmits images of the exterior wall in real time, and the operator adjusts the position and posture of the robot according to the images. Controller 13 controls the high-pressure nozzle 3 to spray high-pressure hot water to quickly remove frost.

[0040] The application process of this solution can be basically summarized as follows:

[0041] (1) Start the robot and send instructions through the external terminal. The controller controls the joint motor and solenoid valve plate assembly to make the spider legs unfold and adhere to the working surface.

[0042] (2) The camera collects images of the working environment in real time and transmits them to an external terminal. The operator adjusts the position and posture of the robot according to the images.

[0043] (3) The controller controls the high-pressure nozzle to spray high-pressure fluid for defrosting or cleaning operations.

[0044] The beneficial effects of this utility model are:

[0045] The purpose of this invention is to provide a defrosting spider robot that, through hardware design and with the aid of necessary intelligent control (not the focus of innovation), can replace manual labor in achieving efficient and stable defrosting operations. It also has remote control and real-time monitoring functions, improving operational safety and efficiency, and effectively solving the technical problems of limited range and high risk of manual defrosting operations.

[0046] Specifically, this utility model, through modular design and intelligent control, can adapt to defrosting, cleaning and maintenance operations on complex surfaces, and has the characteristics of high efficiency, flexibility and stability.

[0047] Vacuum adsorption technology is used to ensure the stability of the robot on vertical or inclined surfaces. At the same time, the adsorption status is monitored in real time through vacuum switch 183, which replaces manual operation and improves the safety of operation.

[0048] The integrated design of the high-pressure nozzle 3 and camera 4 enables multi-functional operation and remote monitoring, improving work efficiency and quality while reducing the labor intensity of workers.

[0049] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope claimed by this utility model.

Claims

1. A defrosting spider robot, characterized in that, Includes the main body (1), spider legs (2), high-pressure nozzle (3), camera (4), and hook (5); The main body (1) includes a welded frame (11), a joint motor (12), a controller (13), a solenoid valve plate assembly (14), a PLC (15), a wireless IP module (16), a battery (17), and a vacuum generator assembly (18). The spider leg (2) is connected to the main body (1) via the joint motor (12). The spider leg (2) includes a first segment (21), a second segment (22), a joint motor (12), a third segment (23), and a buffer vacuum suction cup (24). The first segment (21) and the second segment (22) are hinged together, and the second segment (22) and the third segment (23) are hinged together. A joint motor (12) is provided at each hinge point. The solenoid valve plate assembly (14) includes a first valve plate (141) and a plurality of three-position five-way center-sealing valves (142); The vacuum generator assembly (18) includes multiple vacuum generators (181), a second valve plate (182), and a vacuum switch (183).

2. The defrosting spider robot according to claim 1, characterized in that, The welding frame (11) of the main body (1) integrates a controller (13), a PLC (15) and a solenoid valve plate assembly (14). The PLC (15) is electrically connected to the joint motor (12) and the solenoid valve plate assembly (14) through the controller (13).

3. The defrosting spider robot according to claim 1, characterized in that, The buffer vacuum suction cup (24) is adsorbed onto the working surface by the negative pressure generated by the vacuum generator assembly (18), and the vacuum switch (183) is used to feed back the vacuum status of the suction cup to the controller (13).

4. The defrosting spider robot according to claim 1, characterized in that, The three-position five-way center-sealed valve (142) of the solenoid valve plate assembly (14) is pneumatically connected to the vacuum generator assembly (18) and the joint motor (12) through the first valve plate (141) to control the extension and adsorption action of the spider leg (2).

5. The defrosting spider robot according to claim 1, characterized in that, The high-pressure nozzle (3) is integrated into the end of the third arm (23) of the spider leg and is used to spray high-pressure fluid to clean or cut the working surface.

6. The defrosting spider robot according to claim 1, characterized in that, The camera (4) is a rotatable structure and is connected to the controller (13) for real-time acquisition of images of the working environment and transmission to an external terminal via a wireless IP module (16).

7. The defrosting spider robot according to claim 1, characterized in that, The vacuum generator assembly (18) includes multiple vacuum generators (181), each of which corresponds to a buffer vacuum suction cup (24), and the adsorption state of each suction cup is independently controlled by a second valve plate (182).

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