A magnetic laser cleaning robot

Abstract

This utility model discloses a magnetic laser cleaning robot, including a device body and flexible magnetic wheels disposed at the four corners of the device body; a lithium battery mechanism is disposed on the top of the device body, a laser generating mechanism is disposed on the top of the lithium battery mechanism, and a swing arm support is disposed on the top of the device body and on one side of the lithium battery mechanism; a mechanical swing arm is hinged to the top of the swing arm support, and a focal length compensation mechanism is hinged to the end of the mechanical swing arm; a binocular camera is disposed on one side of the focal length compensation mechanism, and a laser cleaning head is connected to the top of the mechanical swing arm; the flexible magnetic wheels allow the cleaning device to be firmly attached to a steel bridge, and the binocular camera takes pictures of the surface of the steel bridge to analyze the location and type of dirt on the surface of the steel bridge, thereby accurately adjusting the cleaning parameters of the laser cleaning head, controlling the laser cleaning head to clean the dirt, and improving the cleaning accuracy and cleaning effect.

Description

Technical Field

[0001] This utility model relates to the field of steel bridge cleaning technology, specifically to a magnetic laser cleaning robot. Background Technology

[0002] Currently, sandblasting is the primary method for cleaning the surface of steel beams in long-span railway bridges. This method suffers from environmental pollution, high energy consumption, and significant labor costs. Laser technology cleaning devices for railway bridge steel structures can be used to remove rust and aging from railway steel beams.

[0003] The existing steel bridge surface cleaning device does not have flexible magnetic rollers, which makes it easy for the cleaning device to fall off when moving on the steel bridge. In addition, the existing cleaning device cannot work with the binocular camera and laser cleaning head to accurately analyze the location and type of dirt during the cleaning process, thus making it impossible to accurately adjust the cleaning parameters of the laser cleaning head, resulting in poor cleaning effect. Utility Model Content

[0004] The purpose of this utility model is to provide a magnetic laser cleaning robot, including: a device body and flexible magnetic wheels disposed at the four corners of the device body;

[0005] The device body is provided with a lithium battery mechanism on the top, a laser generating mechanism is provided on the top of the lithium battery mechanism, and a swing arm support is provided on the top of the device body and on one side of the lithium battery mechanism.

[0006] A mechanical swing arm is hinged to the top of the swing arm support, and a focal length compensation mechanism is hinged to the end of the mechanical swing arm.

[0007] A binocular camera is installed on one side of the focal length compensation mechanism, and a laser cleaning head is connected to the top of the mechanical swing arm.

[0008] In a preferred embodiment, the mechanical swing arm has a multi-segment structure, with adjacent segments hinged together by pivots.

[0009] In one preferred embodiment, protective plates are provided on both sides of the device body, and the protective plates are positioned above two flexible magnetic wheels on the same side of the device body. A swing arm control unit and a vision analysis unit are provided on the top of one of the protective plates.

[0010] In one preferred embodiment, the swing arm control unit is electrically connected to the mechanical swing arm, and the visual analysis unit is electrically connected to the binocular camera.

[0011] In a preferred embodiment, a laser transmission fiber is provided on one side of the laser cleaning head, and one end of the laser transmission fiber is connected to the laser generating mechanism.

[0012] In one preferred embodiment, the lithium battery mechanism is a lithium iron phosphate battery, which provides power to the laser cleaning head and the mechanical swing arm.

[0013] In one preferred embodiment, the flexible magnetic chuck includes a soft iron and a magnetic ring disposed on the outside of the soft iron, wherein the outside of the magnetic ring is coated with rubber.

[0014] In one preferred embodiment, an inspection door is provided on one side of the laser generating mechanism.

[0015] In one preferred embodiment, a power switch and a charging socket are provided on one side of the protective plate.

[0016] Due to the application of the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows:

[0017] This utility model discloses a magnetic laser cleaning robot. The cleaning device can be firmly attached to a steel bridge by using flexible magnetic wheels. In addition, the surface of the steel bridge is photographed by a binocular camera to analyze the location and type of dirt on the surface of the steel bridge. This allows for precise adjustment of the cleaning parameters of the laser cleaning head, controlling the laser cleaning head to clean the dirt and improving the cleaning accuracy and effect. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below.

[0019] Obviously, the accompanying drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the magnetic laser cleaning robot of this utility model.

[0021] Figure 2 This is another schematic diagram of the magnetic laser cleaning robot of this utility model.

[0022] In the diagram: 1. Laser generating mechanism, 2. Inspection door, 3. Mechanical swing arm, 4. Rotating shaft, 5. Laser transmission fiber, 6. Laser cleaning head, 7. Binocular camera, 8. Focal length compensation mechanism, 9. Visual analysis unit, 10. Swing arm control unit, 11. Swing arm support, 12. Charging socket, 13. Power switch, 14. Flexible magnetic wheel, 15. Protective plate, 16. Lithium battery mechanism. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0026] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0027] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0028] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] Example 1

[0030] Figures 1-2 The present invention relates to a magnetic laser cleaning robot, comprising: a device body and flexible magnetic wheels 14 disposed at the four corners of the device body;

[0031] A lithium battery mechanism 16 is provided on the top of the device body, a laser generating mechanism 1 is provided on the top of the lithium battery mechanism 16, and a swing arm support 11 is provided on the top of the device body and on one side of the lithium battery mechanism 16.

[0032] A mechanical swing arm 3 is hinged to the top of the swing arm support 11, and a focal length compensation mechanism 8 is hinged to the end of the mechanical swing arm 3.

[0033] A binocular camera 7 is installed on one side of the focal length compensation mechanism 8, and a laser cleaning head 6 is connected to the top of the mechanical swing arm 3.

[0034] It should be noted that during the cleaning process, if the surface being cleaned has unevenness or corners, the laser cleaning head 6 will finely adjust the elevation angle of the laser cleaning head 6 and the focal length between the laser cleaning head 6 and the surface being cleaned by the focal length compensation mechanism 8 to ensure that the cleaning point is always in the optimal position. The binocular camera 7 will capture photos of the surface being cleaned for subsequent analysis of the location and type of dirt.

[0035] Furthermore, the swing arm control unit 10 analyzes the dirt on the surface of the steel bridge through the vision analysis unit 9 to generate a cleaning path and swing parameters (number of reciprocations, swing speed, and amount of movement).

[0036] According to an embodiment of the present invention, the mechanical swing arm 3 has a multi-segment structure, and the adjacent segments are hinged by a pivot 4.

[0037] According to the embodiment of this utility model, protective plates 15 are provided on both sides of the device body. The protective plates 15 are located above two flexible magnetic wheels 14 on the same side of the device body. A swing arm control unit 10 and a vision analysis unit 9 are provided on the top of one of the protective plates 15.

[0038] According to an embodiment of the present invention, the swing arm control unit 10 is electrically connected to the mechanical swing arm 3, and the visual analysis unit 9 is electrically connected to the binocular camera 7.

[0039] Specifically, the visual analysis unit 9 analyzes the surface condition of the surface to be cleaned by taking photos with the binocular camera 7 and matches the cleaning parameters of the laser cleaning head 6.

[0040] According to an embodiment of the present invention, a laser transmission fiber 5 is provided on one side of the laser cleaning head 6, and one end of the laser transmission fiber 5 is connected to the laser generating mechanism 1.

[0041] According to an embodiment of the present invention, the lithium battery mechanism 16 is a lithium iron phosphate battery, and the lithium battery mechanism 16 provides power to the laser cleaning head 6 and the mechanical swing arm 3.

[0042] According to an embodiment of the present invention, the flexible magnetic chuck 14 includes a soft iron and a magnetic ring disposed on the outside of the soft iron. The magnetic ring is coated with rubber to prevent the magnetic ring from directly contacting the wall surface and causing breakage, thereby increasing the friction.

[0043] According to an embodiment of the present invention, a maintenance door 2 is provided on one side of the laser generating mechanism 1.

[0044] According to an embodiment of the present invention, a power switch 13 and a charging socket 12 are provided on one side of the protective plate 15.

[0045] In summary, this utility model uses the flexible magnetic suction wheel 14 to firmly attach the cleaning device to the steel bridge. In addition, the binocular camera 7 takes pictures of the surface of the steel bridge to analyze the location and type of dirt on the surface of the steel bridge, thereby accurately adjusting the cleaning parameters of the laser cleaning head 6 and controlling the laser cleaning head 6 to clean the dirt, thus improving the cleaning accuracy and cleaning effect.

[0046] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A magnetic laser cleaning robot, comprising: The device body and flexible magnetic wheels disposed at the four corners of the device body; characterized in that, The device body is provided with a lithium battery mechanism on the top, a laser generating mechanism is provided on the top of the lithium battery mechanism, and a swing arm support is provided on the top of the device body and on one side of the lithium battery mechanism. A mechanical swing arm is hinged to the top of the swing arm support, and a focal length compensation mechanism is hinged to the end of the mechanical swing arm. A binocular camera is installed on one side of the focal length compensation mechanism, and a laser cleaning head is connected to the top of the mechanical swing arm.

2. The magnetic laser cleaning robot as described in claim 1, characterized in that, The mechanical swing arm has a multi-segment structure, with adjacent segments hinged together by pivots.

3. The magnetic laser cleaning robot as described in claim 1, characterized in that, The device body has protective plates on both sides, and the protective plates are located above two flexible magnetic wheels on the same side of the device body. The top of one of the protective plates is equipped with a swing arm control unit and a vision analysis unit.

4. The magnetic laser cleaning robot as described in claim 3, characterized in that, The swing arm control unit is electrically connected to the mechanical swing arm, and the visual analysis unit is electrically connected to the binocular camera.

5. A magnetic laser cleaning robot as described in claim 4, characterized in that, A laser transmission fiber is provided on one side of the laser cleaning head, and one end of the laser transmission fiber is connected to the laser generating mechanism.

6. The magnetic laser cleaning robot as described in claim 5, characterized in that, The lithium battery mechanism is a lithium iron phosphate battery, which provides power to the laser cleaning head and the mechanical swing arm.

7. A magnetic laser cleaning robot as described in claim 1, characterized in that, The flexible magnetic chuck includes a soft iron and a magnetic ring disposed on the outside of the soft iron, and the outside of the magnetic ring is coated with rubber.

8. A magnetic laser cleaning robot as described in claim 1, characterized in that, A maintenance door is provided on one side of the laser generating mechanism.

9. A magnetic laser cleaning robot as described in claim 3, characterized in that, A power switch and a charging socket are provided on one side of the protective plate.

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