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CN-122008084-A - Large-scale water jet rust removing vehicle based on double-degree-of-freedom spin-orbit spin nozzle

CN122008084ACN 122008084 ACN122008084 ACN 122008084ACN-122008084-A

Abstract

The invention relates to the technical field of water jet rust removal, in particular to a large-range water jet rust removal vehicle based on a double-degree-of-freedom spin-on-spin spray head, wherein a mounting plate is arranged in a vehicle body, a water tank is fixed below the mounting plate, a high-pressure water pump is arranged on the side of the water tank, a connecting assembly is connected with the output end of a motor in a transmission manner, a horizontal guide rail is arranged at the top end of the connecting assembly, a vertical guide rail group is connected onto the horizontal guide rail in a sliding manner through a guide rail connecting sliding block, the vertical guide rail group comprises a translation vertical guide rail and an adjustment vertical guide rail which are parallel and fixedly connected with each other, a spray connecting sliding block is arranged on the adjustment vertical guide rail in a sliding manner, a connecting bent pipe is fixed onto the spray connecting sliding block through a bent pipe connecting piece, the inlet end of the connecting bent pipe is connected with the output end of the high-pressure water pump through a hose, a water distributor is arranged at the outlet end of the connecting bent pipe, and a water outlet of the water distributor is connected with the spray assembly through a hose.

Inventors

  • QIANG CHIHENG
  • Zhang Hushen
  • SHEN GANG
  • CUI SONG
  • TENG WENXIANG
  • WANG YIFAN
  • CHEN JINCHENG

Assignees

  • 安徽理工大学

Dates

Publication Date
20260512
Application Date
20260313

Claims (10)

  1. 1. A large-range water jet rust removing vehicle based on a double-freedom spin-orbit spin nozzle, which comprises a vehicle body (1) with a driving wheel (101), and is characterized in that, The novel water tank is characterized in that a mounting plate (102) is arranged in the vehicle body (1), a water tank (2) is fixed below the mounting plate (102), a high-pressure water pump (3) is arranged on the side of the water tank (2), and a water outlet of the water tank (2) is connected with a water inlet of the high-pressure water pump (3) through a hose (4); A motor (5) is arranged above the mounting plate (102), the output end of the motor (5) is in transmission connection with a connecting component (6), and the top end of the connecting component (6) is provided with a horizontal guide rail (7); The horizontal guide rail (7) is connected with a vertical guide rail group through a guide rail connecting sliding block (701), and the vertical guide rail group comprises a translation vertical guide rail (8) and an adjustment vertical guide rail (9) which are parallel to each other and fixedly connected; A jet connection sliding block (10) is slidably arranged on the adjusting vertical guide rail (9), and a connection bent pipe (12) is fixed on the jet connection sliding block (10) through a bent pipe connecting piece (11); The inlet end of the connecting bent pipe (12) is connected with the output end of the high-pressure water pump (3) through a hose (4), and the outlet end of the connecting bent pipe (12) is provided with a water separator (13); the water separator (13) is connected with a spraying assembly (14) through a hose (4).
  2. 2. The large-scale water jet rust removing vehicle based on the double-degree-of-freedom spin head of claim 1, wherein the connecting assembly (6) comprises a connecting shaft (601), the connecting shaft (601) is located in a connecting bracket (602) arranged on the mounting plate (102), one end of the connecting shaft (601) is connected with the motor (5), the other end of the connecting shaft (601) is connected with a fixing plate (603) in a key manner, and the fixing plate (603) is fixedly arranged on the back face of the horizontal guide rail (7).
  3. 3. The large-scale water jet rust removing vehicle based on the double-degree-of-freedom spin-on-rail spin nozzle according to claim 1, further comprising a guide rail motor (15) and a guide rail screw (16), wherein the guide rail motor (15) and the guide rail screw (16) are installed in the horizontal guide rail (7), the translation vertical guide rail (8) and the adjustment vertical guide rail (9), two sides of the guide rail connecting sliding block (701) are respectively connected to the horizontal guide rail (7) and the guide rail screw (16) of the translation vertical guide rail (8), and the guide rail screw (16) installed on the adjustment vertical guide rail (9) is connected to the jet connecting sliding block (10).
  4. 4. The large-scale water jet rust removing vehicle based on the double-freedom spin-orbit spin nozzle as set forth in claim 1, wherein the bent pipe connecting piece (11) comprises an upper clamping plate (1101) and a lower clamping plate (1102), the upper clamping plate (1101) and the lower clamping plate (1102) are arranged on the upper surface and the lower surface of a sliding block connecting plate (1103), a circular hollow part is formed between the upper clamping plate (1101) and the lower clamping plate (1102), and the sliding block connecting plate (1103) is arranged on the side surface of the jet connecting sliding block (10).
  5. 5. The large-scale water jet rust removing vehicle based on the double-degree-of-freedom spin-orbit spin nozzle is characterized in that the water separator (13) is arranged in a spindle shape, one end of the water separator (13) is clamped with a connecting bent pipe (12), and a bearing (17) is arranged between the connecting bent pipe (12) and the water separator (13).
  6. 6. The large-scale water jet rust removing vehicle based on the double-degree-of-freedom spin nozzle is characterized in that a transition flow passage (1301) is formed in the water separator (13), the transition flow passage (1301) is located in the middle of the water separator (13), the upper end of the transition flow passage (1301) is communicated with a connecting bent pipe (12), a plurality of water separation flow passages (1302) are formed in the bottom end of the transition flow passage (1301), a plurality of mounting grooves (1303) are formed in the other surface of the water separator (13), and the other end of the water separation flow passage (1302) is communicated with the mounting grooves (1303).
  7. 7. The large-scale water jet rust removing vehicle based on the double-freedom-degree spin-orbit spin nozzle of claim 6, wherein a supporting spring (1304) is arranged in the mounting groove (1303), a piston block (1305) is clamped at the top end of the supporting spring (1304), and a limit ring (1306) with threads is arranged at the opening of the mounting groove (1303).
  8. 8. The large-scale water jet rust removing vehicle based on the double-degree-of-freedom spin nozzle of claim 7, wherein one end of a hose (4) used for connecting the water separator (13) is provided with a quick connector (18), threads matched with a limit ring (1306) are arranged on the surface of the quick connector (18) close to the hose (4), a water supply groove (1801) is formed in the quick connector (18), and a plurality of strip water supply ports (1802) are formed in the side face of the water supply groove (1801).
  9. 9. The large-scale water jet rust removing vehicle based on the double-freedom spin-orbit spin spray head as set forth in claim 1, wherein the spray assembly (14) comprises a spray support (1402) with a mounting rod (1401), a plurality of direct current spray heads (1403) are arranged on the spray support (1402), and at least one bevel spray head (1404) is arranged on the outermost side of the direct current spray heads (1403).
  10. 10. The large scale water jet rust remover vehicle based on double degree of freedom spin-orbit spin nozzle as set forth in claim 9, wherein the oblique angle of the oblique angle nozzle (1404) is set to 30-60 °.

Description

Large-scale water jet rust removing vehicle based on double-degree-of-freedom spin-orbit spin nozzle Technical Field The invention relates to the technical field of water jet rust removal, in particular to a large-range water jet rust removal vehicle based on a double-degree-of-freedom spin-orbit spin nozzle. Background At present, rust removal operation of metal components such as ships, bridge steel structures, large storage tanks and the like is mainly performed in a manual high-pressure water gun mode. An operator approaches the surface to be treated through a hanging basket or an overhead working platform, and the rust layer and the old coating are stripped by utilizing the impact force of the ultra-high pressure water jet. This approach, while relatively simple in device construction, has significant limitations in practical applications. On one hand, the spray distance, the incidence angle and the relative position with the surface of the workpiece are controlled by manual experience, so that the rust removing effect is uneven due to the fact that the spray distance, the incidence angle and the relative position with the surface of the workpiece are difficult to keep constant in long-time operation, and on the other hand, the spray angle is limited in adjusting range and can only swing slightly in a single plane, the coverage area is small, the operation range can be enlarged only by frequently adjusting the operation gesture, the labor intensity is high, and the efficiency is low. Meanwhile, high safety risks exist in manual high-altitude operation, and particularly when large-area ship bodies or high-rise steel structure outer walls are operated, operation stability and continuity are difficult to guarantee. The root cause of the problems is that the prior device lacks a multi-degree-of-freedom motion mechanism and an automatic control system, and the spray head can not realize large-angle and multi-direction continuous coverage, so that the whole rust removing range and the angle are limited. In order to improve the automation level of the operation, part of the prior art adopts a wall climbing robot or a high-altitude platform robot carrying an ultrahigh-pressure water jet device, and is attached to the surface of a vertical or even inverted ship body to move in a permanent magnet adsorption or vacuum negative pressure adsorption mode. However, most of such devices adopt a fixed or single-degree-of-freedom swing spray head structure, and the spray nozzles are usually arranged at the front end of the robot, have single spraying direction, lack spin or multi-axis linkage capability, have limited single coverage area, and can realize area expansion by depending on the movement of the whole machine. In addition, because the adsorption mechanism needs to bear the weight of the robot body and the high-pressure water supply pipeline, the whole weight of the adsorption mechanism is strictly limited, and a large-range swinging or rotating mechanism is difficult to arrange, so that the spraying angle and the working radius are further restricted. In the bulb, bilge or welding seam corner area that the camber change is great, robot gesture adjustment ability is not enough, and the shower nozzle is difficult to realize the multi-angle laminating and sprays, causes the problem of clearance dead angle. At the end, the existing rust removing device has structural defects in the degree of freedom of movement of the spray head and the track covering mode, and cannot realize large-scale, multi-angle and high-efficiency water jet covering, so that the overall quality and efficiency of the rust removing operation are limited. Therefore, a large-scale water jet rust removing vehicle based on a dual-degree-of-freedom spin-orbit spin nozzle structure is needed to break through the limitation of the prior art in the rust removing range and angle. In view of the above, in order to overcome the technical problems, the invention designs a large-scale water jet rust removing vehicle based on a double-degree-of-freedom spin-orbit spin nozzle, which solves the technical problems. Disclosure of Invention The invention aims to design a large-range water jet rust removing vehicle based on a double-degree-of-freedom spin-orbit spin nozzle, and provides a larger range and a wider angle in the rust removing process, so that the overall quality and efficiency of the rust removing operation are improved. In order to achieve the technical purpose, the invention provides the following technical scheme: A large-range water jet rust removing vehicle based on a double-degree-of-freedom spin-orbit spin nozzle, wherein a mounting plate is arranged in the vehicle body, a water tank is fixed below the mounting plate, a high-pressure water pump is arranged on the side of the water tank, and a water outlet of the water tank is connected with a water inlet of the high-pressure water pump through a hose; a motor is arranged above the mounting pla