阅读说明：本技术 一种基于超高压水的除锈机器人 (Derusting robot based on ultrahigh pressure water ) 是由 章斌 于 2021-09-06 设计创作，主要内容包括：本发明属于机器人领域,尤其是一种基于超高压水的除锈机器人,针对现有的除锈机器人由于喷头的喷射面积有限,导致除锈的效率较低,且通过高压水喷射除锈后往往还会留下锈蚀产生的斑迹影响美观的问题,现提出如下方案,其包括移动机器人主体,所述移动机器人主体的顶部固定连接有防护壳体,防护壳体内固定安装有电机,移动机器人主体的前端设置有高压水除锈机构,本发明在使用时可以有效增大高压水的喷射面积,提升除锈的效率,且可以同步对高压除锈后的部位再进行一次抛光打磨,有效的提升金属表面的除锈效果和光泽,且利用环绕的超声波雷达探头进行探测和导航,使用安全性更高。(The invention belongs to the field of robots, in particular to a rust removal robot based on ultrahigh pressure water, which aims at solving the problems that the existing rust removal robot has lower rust removal efficiency due to the limited spray area of a spray head and often leaves spots generated by rust after rust removal by high pressure water spray to affect the appearance, and provides the following scheme, the rust removal robot comprises a mobile robot main body, the top of the mobile robot main body is fixedly connected with a protective shell, a motor is fixedly arranged in the protective shell, and the front end of the mobile robot main body is provided with a high pressure water rust removal mechanism. The use safety is higher.)

1. A rust removing robot based on ultrahigh pressure water comprises a mobile robot main body (1) and is characterized in that the top of the mobile robot main body (1) is fixedly connected with a protective shell (2), a motor (3) is fixedly installed in the protective shell (2), a high pressure water rust removing mechanism is arranged at the front end of the mobile robot main body (1), a polishing mechanism is arranged at the rear end of the mobile robot main body (1), an ultrasonic radar navigation mechanism is arranged at the top of the protective shell (1), the motor (3) is matched with the high pressure water rust removing mechanism, the polishing mechanism and the ultrasonic radar navigation mechanism, a first rotating shaft (4) is welded on an output shaft of the motor (3), a worm (5) is fixedly sleeved on the outer side of the first rotating shaft (4), one end of the first rotating shaft (4) is fixedly connected with a large bevel gear (6), two first bearings (7) are arranged in the protective shell (2), be provided with same first rotary rod (8) on two first bearings (7), one end fixedly connected with worm wheel (9) of first rotary rod (8), worm wheel (9) and worm (5) mesh mutually, first rotary rod (8) cooperate with high pressure water rust cleaning mechanism and ultrasonic radar navigation mechanism, be provided with two second bearings (10) in protective housing (2), be provided with same second rotary rod (11) in two second bearings (10), the one end fixedly connected with little bevel gear (12) of second rotary rod (11), little bevel gear (12) mesh with big bevel gear (6), second rotary rod (11) cooperate with polishing mechanism.

2. The rust removing robot based on the ultrahigh-pressure water is characterized by comprising a rectangular frame (13), wherein two sliding blocks (14) are arranged in the rectangular frame (13) in a sliding mode, a bidirectional lead screw (15) is rotatably arranged in the rectangular frame (13), threaded holes are formed in the two sliding blocks (14), the bidirectional lead screw (15) is rotatably arranged in the two threaded holes, mounting holes are formed in the two sliding blocks (14), high-pressure water pipes (16) are arranged in the two mounting holes, and a high-pressure spray head (17) is arranged at one end of each of the two high-pressure water pipes (16).

3. The rust removing robot based on the ultrahigh pressure water is characterized in that a first bevel gear (18) and a second bevel gear (19) are fixedly sleeved on the outer side of the first rotating rod (8), two bearing seats (20) are arranged in the protective shell (2), a third rotating rod (21) and a fourth rotating rod (22) are respectively arranged on the two bearing seats (20), one end of the third rotating rod (21) and one end of the fourth rotating rod (22) are respectively and fixedly connected with a third bevel gear (23) and a fourth bevel gear (24), the first bevel gear (18) is meshed with the third bevel gear (23), and the second bevel gear (19) is meshed with the fourth bevel gear (24).

4. The rust removing robot based on the ultrahigh pressure water is characterized in that the first half gear (25) and the second half gear (26) are fixedly sleeved on the outer sides of the third rotating rod (21) and the fourth rotating rod (22) respectively, a speed increaser (47) is fixedly installed on the protective shell (2), a second rotating shaft (27) is welded on an input shaft of the speed increaser (47), a rotating gear (28) is fixedly connected to one end of the second rotating shaft (27), and the rotating gear (28) is matched with the first half gear (25) and the second half gear (26).

5. The rust removing robot based on ultrahigh pressure water is characterized in that a third rotating shaft (29) is welded on an output shaft of the speed increaser (47), a fifth bevel gear (30) is fixedly connected to one end of the third rotating shaft (29), a sixth bevel gear (31) is fixedly sleeved on the outer side of the bidirectional screw (15), and the sixth bevel gear (31) is meshed with the fifth bevel gear (30).

6. The derusting robot based on ultrahigh pressure water as per claim 1, wherein the polishing mechanism comprises a transverse plate (32), a plurality of rotating rods (33) are rotatably mounted on the transverse plate (32), and polishing plates (34) are fixedly connected to the bottom ends of the rotating rods (33).

7. The derusting robot based on ultrahigh pressure water is characterized in that two rotating seats are arranged at the top of the transverse plate (32), the same fifth rotating rod (35) is rotatably arranged on the two rotating seats, a first belt pulley (36) is fixedly sleeved on the outer side of the second rotating rod (11), a second belt pulley (37) is fixedly sleeved on the outer side of the fifth rotating rod (35), and the same belt (38) is sleeved on the outer sides of the second belt pulley (37) and the first belt pulley (36).

8. The rust removing robot based on the ultrahigh pressure water as claimed in claim 7, wherein a plurality of seventh bevel gears (39) are fixedly sleeved on the outer side of the fifth rotating rod (35), eighth bevel gears (40) are fixedly connected to the top ends of the plurality of rotating rods (33), and the eighth bevel gears (40) are meshed with the seventh bevel gears (39).

9. The rust removing robot based on the ultrahigh-pressure water is characterized in that the ultrasonic radar navigation mechanism comprises a rotating plate (41) rotatably mounted at the top of the protective shell (2), a horizontal arm (42) is connected to the rotating plate (41), and an ultrasonic radar probe (43) is arranged at one end of the horizontal arm (42).

10. The rust removing robot based on ultrahigh pressure water as claimed in claim 9, wherein a sixth rotating rod (44) is fixedly connected to the bottom of the rotating plate (41), the sixth rotating rod (44) is rotatably mounted at the top of the protective housing (2), a ninth bevel gear (45) is fixedly sleeved on the outer side of the first rotating rod (8), one end of the sixth rotating rod (44) extends into the protective housing (2) and is fixedly connected with a tenth bevel gear (46), and the tenth bevel gear (46) is meshed with the ninth bevel gear (45).

Technical Field

The invention relates to the technical field of robots, in particular to a derusting robot based on ultrahigh pressure water.

Background

The high-pressure water jet rust removal is an environment-friendly and economic novel surface treatment means, rust and the like generated by corrosion of the metal surface are removed by utilizing the high-speed flow of water flow, and the rust removal of a large area can be realized automatically by matching with a movable robot, so that the manual labor is effectively removed;

however, the existing rust removing robot has low rust removing efficiency due to the limited spray area of the spray head, and the spot generated by rust is often left after rust removal through high-pressure water spraying to affect the appearance.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, the rust removing efficiency is low due to the limited spray area of a spray head of a rust removing robot, and the appearance is affected by the speckles generated by rust often left after rust removing through high-pressure water spraying.

In order to achieve the purpose, the invention adopts the following technical scheme:

a rust removing robot based on ultrahigh pressure water comprises a mobile robot main body, wherein the top of the mobile robot main body is fixedly connected with a protective shell, a motor is fixedly installed in the protective shell, a high pressure water rust removing mechanism is arranged at the front end of the mobile robot main body, a polishing mechanism is arranged at the rear end of the mobile robot main body, an ultrasonic radar navigation mechanism is arranged at the top of the protective shell, the motor is matched with the high pressure water rust removing mechanism, the polishing mechanism and the ultrasonic radar navigation mechanism, a first rotating shaft is welded on an output shaft of the motor, a worm is fixedly sleeved on the outer side of the first rotating shaft, one end of the first rotating shaft is fixedly connected with a large bevel gear, two first bearings are arranged in the protective shell, the same first rotating rod is arranged on the two first bearings, one end of the first rotating rod is fixedly connected with a worm wheel which is meshed with the worm, and the first rotating rod is matched with the high pressure water rust removing mechanism and the ultrasonic radar navigation mechanism, two second bearings are arranged in the protective shell, the same second rotating rod is arranged in the two second bearings, a small bevel gear is fixedly connected to one end of the second rotating rod, the small bevel gear is meshed with a large bevel gear, and the second rotating rod is matched with the polishing mechanism.

Preferably, water under high pressure rust cleaning mechanism includes the rectangle frame, and slidable mounting has two sliders in the rectangle frame, and the rectangle frame internal rotation installs two-way lead screw, all sets up threaded hole on two sliders, and two-way lead screw rotates to be installed in two threaded hole, has all seted up the mounting hole on two sliders, all is provided with high-pressure water pipe in two mounting holes, and the one end of two high-pressure water pipe all is provided with the high-pressure injector head, and two-way lead screw can drive the slider displacement through the threaded hole.

Preferably, the fixed cover in the outside of first rotary rod is equipped with first bevel gear and second bevel gear, be provided with two bearing frames in the protecting sheathing, be provided with third rotary rod and fourth rotary rod on two bearing frames respectively, the one end of third rotary rod and the one end of fourth rotary rod are fixedly connected with third bevel gear and fourth bevel gear respectively, first bevel gear meshes with third bevel gear mutually, second bevel gear meshes with fourth bevel gear mutually, first bevel gear can drive third bevel gear and rotate, second bevel gear can drive fourth bevel gear and rotate.

Preferably, the fixed cover respectively in the outside of third rotary rod and fourth rotary rod is equipped with first half gear and second half gear, and fixed mounting has the increaser on the protective housing, and the welding has the second rotation axis on the input shaft of increaser, and the one end fixedly connected with swing pinion of second rotation axis, swing pinion and first half gear and second half gear cooperate, and first half gear and second half gear can drive swing pinion forward and backward in turn.

Preferably, a third rotating shaft is welded on an output shaft of the speed increaser, a fifth bevel gear is fixedly connected to one end of the third rotating shaft, a sixth bevel gear is fixedly sleeved on the outer side of the bidirectional screw rod and meshed with the fifth bevel gear, and the fifth bevel gear can drive the sixth bevel gear to rotate.

Preferably, polishing mechanism includes the diaphragm, rotates on the diaphragm and installs a plurality of dwang, and the equal fixedly connected with in bottom of a plurality of dwang polishes the board, and the dwang can drive and polish the board and rotate and polish.

Preferably, the top of diaphragm is provided with two roating seats, rotates on two roating seats and installs same fifth rotary rod, and the fixed cover in the outside of second rotary rod is equipped with first belt pulley, and the fixed cover in the outside of fifth rotary rod is equipped with the second belt pulley, and the outside cover of second belt pulley and first belt pulley is equipped with same belt, and first belt pulley can drive the second belt pulley through the belt and rotate.

Preferably, the fixed cover in the outside of fifth rotary rod is equipped with a plurality of seventh bevel gears, and the equal fixedly connected with eighth bevel gear in top of a plurality of dwang, eighth bevel gear and seventh bevel gear mesh mutually, and seventh bevel gear can drive eighth bevel gear and rotate.

Preferably, ultrasonic radar navigation mechanism installs the rotor plate at protective housing top including rotating, is connected with the horizontal arm on the rotor plate, and the one end of horizontal arm is provided with ultrasonic radar probe, and the rotor plate can drive ultrasonic radar probe circular motion through the horizontal arm.

Preferably, the bottom fixedly connected with sixth rotary rod of rotor plate, the sixth rotary rod rotates and installs in the top of protective housing, and the fixed cover in the outside of first rotary rod is equipped with ninth bevel gear, and the one end of sixth rotary rod extends to in the protective housing and fixedly connected with tenth bevel gear, and tenth bevel gear meshes with the ninth bevel gear mutually, and the ninth bevel gear can drive the rotation of tenth bevel gear.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the scheme, the fifth bevel gear is matched with the sixth bevel gear, and the bidirectional screw rod is matched with the sliding blocks through the threaded holes, so that the two sliding blocks can synchronously drive the two high-speed water pipes and the high-pressure injector head to move, the injection area of high-pressure water is increased, and the rust removal efficiency is improved;

2. according to the scheme, the large bevel gear is matched with the small bevel gear, the first belt pulley is matched with the second belt pulley through the belt, and the seventh bevel gear is matched with the eighth bevel gear and the rotating rod, so that the rotating rod can drive the polishing plate to rotate at a high speed, the part subjected to high-pressure rust removal is polished and polished again, and the rust removal effect and the luster of the metal surface are effectively improved;

3. according to the scheme, the ninth bevel gear is matched with the tenth bevel gear, and the sixth rotary rod is matched with the rotary plate, so that the rotary plate can drive the ultrasonic radar probe to slowly rotate around the mobile robot main body through the horizontal arm and detect the surrounding environment, the aim of navigating the mobile robot main body is fulfilled, no person observes and controls the mobile robot main body in time, the mobile robot main body can also automatically avoid obstacles and grooves, and the use safety is improved;

when the ultrasonic rust removal device is used, the spraying area of high-pressure water can be effectively increased, the rust removal efficiency is improved, the part subjected to high-pressure rust removal can be polished and polished again synchronously, the rust removal effect and luster of the metal surface are effectively improved, the surrounding ultrasonic radar probe is used for detection and navigation, and the use safety is higher.

Drawings

FIG. 1 is a schematic top view of a derusting robot based on ultrahigh pressure water according to the present invention;

FIG. 2 is a schematic sectional structure view of a protective shell of the derusting robot based on ultrahigh pressure water, which is provided by the invention;

FIG. 3 is a schematic structural diagram of a high-pressure water derusting mechanism of a derusting robot based on ultrahigh-pressure water, which is provided by the invention;

fig. 4 is an enlarged structural schematic diagram of a part a in fig. 2 of the rust removing robot based on the ultrahigh pressure water provided by the invention;

FIG. 5 is a schematic structural diagram of a polishing mechanism of a derusting robot based on ultrahigh pressure water, which is provided by the invention;

fig. 6 is a schematic view of a three-dimensional structure of a slide block of the derusting robot based on the ultrahigh pressure water.

In the figure: 1 mobile robot main body, 2 protective shell, 3 motor, 4 first rotating shaft, 5 worm, 6 big bevel gear, 7 first bearing, 8 first rotating rod, 9 worm wheel, 10 second bearing, 11 second rotating rod, 12 small bevel gear, 13 rectangular frame, 14 slider, 15 two-way screw, 16 high pressure water pipe, 17 high pressure spray head, 18 first bevel gear, 19 second bevel gear, 20 bearing seat, 21 third rotating rod, 22 fourth rotating rod, 23 third bevel gear, 24 fourth bevel gear, 25 first half gear, 26 second half gear, 27 second rotating shaft, 28 rotating gear, 29 third rotating shaft, 30 fifth bevel gear, 31 sixth bevel gear, 32 transverse plate, 33 rotating rod, 34 polishing plate, 35 fifth rotating rod, 36 first belt pulley, 37 second belt pulley, 38 belt, 39 seventh bevel gear, 40 eighth bevel gear, 41 rotating plate, 42 horizontal arm, 9 worm gear, 9 worm, 9 second rotating rod, 9 worm wheel, 10 second rotating rod, 11 second rotating rod, 25 second half gear, 41 rotating plate, 42 horizontal arm, and the like, 43 ultrasonic radar probe, 44 sixth rotating rod, 45 ninth bevel gear, 46 tenth bevel gear, 47 speed increasing machine.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example one

Referring to fig. 1-6, a derusting robot based on ultrahigh pressure water comprises a mobile robot main body 1, the top of the mobile robot main body 1 is fixedly connected with a protective shell 2 through bolts, a motor 3 is fixedly installed in the protective shell 2 through bolts, the front end of the mobile robot main body 1 is provided with a high pressure water derusting mechanism, the rear end of the mobile robot main body 1 is provided with a polishing mechanism, the top of the protective shell 1 is provided with an ultrasonic radar navigation mechanism, the motor 3 is matched with the high pressure water derusting mechanism, the polishing mechanism and the ultrasonic radar navigation mechanism, a first rotating shaft 4 is welded on an output shaft of the motor 3, the outer side of the first rotating shaft 4 is sleeved with a worm 5 through welding, one end of the first rotating shaft 4 is fixedly connected with a large bevel gear 6 through welding, two first bearings 7 are arranged in the protective shell 2, the two first bearings 7 are provided with the same first rotating rod 8, one end of the first rotary rod 8 is fixedly connected with a worm wheel 9 through welding, the worm wheel 9 is meshed with the worm 5, the first rotary rod 8 is matched with the high-pressure water rust removal mechanism and the ultrasonic radar navigation mechanism, two second bearings 10 are arranged in the protective shell 2, the same second rotary rod 11 is arranged in the two second bearings 10, one end of the second rotary rod 11 is fixedly connected with a small bevel gear 12 through welding, the small bevel gear 12 is meshed with the large bevel gear 6, and the second rotary rod 11 is matched with the polishing mechanism.

In this embodiment, high pressure water rust cleaning mechanism includes rectangle frame 13, slidable mounting has two sliders 14 in rectangle frame 13, and the two-way lead screw 15 is installed to rectangle frame 13 internal rotation, all set up threaded hole on two sliders 14, two-way lead screw 15 rotates and installs in two threaded hole, all set up the mounting hole on two sliders 14, all be provided with high pressure water pipe 16 in two mounting holes, the one end of two high pressure water pipe 16 all is provided with high pressure injector head 17, two-way lead screw 15 can drive the displacement of slider 14 through the screw hole.

In this embodiment, the outer side of the first rotating rod 8 is provided with a first bevel gear 18 and a second bevel gear 19 through a welding fixing sleeve, two bearing seats 20 are provided in the protective housing 2, the two bearing seats 20 are provided with a third rotating rod 21 and a fourth rotating rod 22 respectively, one end of the third rotating rod 21 and one end of the fourth rotating rod 22 are respectively connected with a third bevel gear 23 and a fourth bevel gear 24 through welding fixing, the first bevel gear 18 is engaged with the third bevel gear 23, the second bevel gear 19 is engaged with the fourth bevel gear 24, the first bevel gear 18 can drive the third bevel gear 23 to rotate, and the second bevel gear 19 can drive the fourth bevel gear 24 to rotate.

In this embodiment, the outer sides of the third rotating rod 21 and the fourth rotating rod 22 are respectively provided with a first half gear 25 and a second half gear 26 through welding and fixing sleeves, a speed increaser 47 is fixedly installed on the protective shell 2 through bolts, a second rotating shaft 27 is welded on an input shaft of the speed increaser 47, one end of the second rotating shaft 27 is fixedly connected with a rotating gear 28 through welding, the rotating gear 28 is matched with the first half gear 25 and the second half gear 26, and the first half gear 25 and the second half gear 26 can alternately drive the rotating gear 28 to rotate forward and backward.

In this embodiment, the output shaft of the speed increaser 47 is welded with the third rotating shaft 29, one end of the third rotating shaft 29 is fixedly connected with the fifth bevel gear 30 by welding, the outer side of the bidirectional screw 15 is sleeved with the sixth bevel gear 31 by welding, the sixth bevel gear 31 is meshed with the fifth bevel gear 30, and the fifth bevel gear 30 can drive the sixth bevel gear 31 to rotate.

In this embodiment, polishing mechanism includes diaphragm 32, rotates on diaphragm 32 and installs a plurality of dwang 33, and the bottom of a plurality of dwang 33 all is through welding fixedly connected with polishing board 34, and dwang 33 can drive polishing board 34 and rotate and polish.

In this embodiment, the top of diaphragm 32 is provided with two roating seats, and same fifth rotary rod 35 is installed in the rotation on two roating seats, and the outside of second rotary rod 11 is equipped with first belt pulley 36 through the fixed cover of welding, and the outside of fifth rotary rod 35 is equipped with second belt pulley 37 through the fixed cover of welding, and second belt pulley 37 is equipped with same belt 38 with the outside cover of first belt pulley 36, and first belt pulley 36 can drive second belt pulley 37 through belt 38 and rotate.

In this embodiment, the outer side of the fifth rotating rod 35 is provided with a plurality of seventh bevel gears 39 through welded fastening, the top ends of the rotating rods 33 are all connected with eighth bevel gears 40 through welded fastening, the eighth bevel gears 40 are meshed with the seventh bevel gears 39, and the seventh bevel gears 39 can drive the eighth bevel gears 40 to rotate.

In this embodiment, ultrasonic radar navigation mechanism is including rotating the rotor plate 41 who installs in protective housing 2 top, is connected with horizontal arm 42 on the rotor plate 41, and the one end of horizontal arm 42 is provided with ultrasonic radar probe 43, and rotor plate 41 can drive ultrasonic radar probe 43 circular motion through horizontal arm 42.

In this embodiment, the bottom of the rotating plate 41 is fixedly connected with a sixth rotating rod 44, the sixth rotating rod 44 is rotatably installed at the top of the protective housing 2, the outer side of the first rotating rod 8 is provided with a ninth bevel gear 45 through a welding fixing sleeve, one end of the sixth rotating rod 44 extends into the protective housing 2 and is fixedly connected with a tenth bevel gear 46 through welding, the tenth bevel gear 46 is meshed with the ninth bevel gear 45, and the ninth bevel gear 45 can drive the tenth bevel gear 46 to rotate.

In the embodiment, when in use, firstly, the mobile robot body 1 is placed on the surface of an object needing large-area rust removal, such as a large-scale mail steamer or a large-scale oil tank, etc., the magnetic block and the like arranged in the mobile robot body 1 can enable the mobile robot body 1 to move on the surface of the object without falling off, then the motor 3 is started, the output shaft of the motor 3 drives the first rotating shaft 4 to rotate, the first rotating shaft 4 synchronously drives the worm 5 and the large bevel gear 6 to rotate, the worm 5 drives the worm wheel 9 to rotate and reduce the speed, the worm wheel 9 drives the first rotating rod 8 to rotate, the first rotating rod 8 synchronously drives the first bevel gear 18, the second bevel gear 19 and the ninth bevel gear 45 to rotate, the first bevel gear 18 and the second bevel gear 19 respectively drive the third bevel gear 23 and the fourth bevel gear 24 to rotate, so that the third bevel gear 23 and the fourth bevel gear 24 respectively drive the third rotating rod 21 and the fourth rotating rod 22 to rotate, and the rotation directions of the third rotating rod 21 and the fourth rotating rod 22 are opposite, so that the third rotating rod 21 and the fourth rotating rod 22 respectively drive the rotating gear 28 to rotate forward and backward alternately through the first half gear 25 and the second half gear 26, the rotating gear 28 drives the fifth bevel gear 30 to rotate forward and backward alternately through the second rotating shaft 27, the speed increaser 47 and the third rotating shaft 29, the fifth bevel gear 30 drives the bidirectional screw rod 15 to rotate forward and backward alternately through the sixth bevel gear 31, the bidirectional screw rod 15 further drives the two sliding blocks 14 to move back and forth through threaded holes, the sliding blocks 14 can drive the high-pressure water pipe 16 and the high-pressure spray head 17 to move back and forth, the rust removal area is increased, the rust removal efficiency is further improved, meanwhile, the large bevel gear 6 drives the small bevel gear 12 to rotate and increase the speed, the small bevel gear 12 drives the second rotating rod 11 to rotate, and the second rotating rod 11 drives the first belt pulley 36 to rotate, the first belt pulley 36 drives the second belt pulley 37 to rotate through the belt 38, the second belt pulley 37 drives the fifth rotating rod 35 to rotate, the fifth rotating rod 35 drives the seventh bevel gear 39 to rotate, the seventh bevel gear 39 drives the eighth bevel gear 40 to rotate, the eighth bevel gear 40 drives the polishing plate 34 to rotate through the rotating rod 33, so that the polishing plate 34 further polishes and polishes the rust remained after rust removal, the rust removal effect and the metal luster are improved, meanwhile, the ninth bevel gear 45 drives the tenth bevel gear 46 to rotate, the tenth bevel gear 46 drives the rotating plate 41 to rotate through the sixth rotating rod 44, the rotating plate 41 drives the ultrasonic radar probe 43 through the horizontal arm 42 to detect the surrounding environment of the mobile robot main body 1, and the purpose of navigating the mobile robot main body 1 is achieved.

Example two

The difference from the first embodiment is that: the ultrasonic cleaning robot comprises a mobile robot main body 1, a protective shell 2 is fixedly connected to the top of the mobile robot main body 1, a motor 3 is fixedly installed in the protective shell 2, a high-pressure water rust removing mechanism is arranged at the front end of the mobile robot main body 1, a polishing mechanism is arranged at the rear end of the mobile robot main body 1, an ultrasonic radar navigation mechanism is arranged at the top of the protective shell 1, the motor 3 is matched with the high-pressure water rust removing mechanism, the polishing mechanism and the ultrasonic radar navigation mechanism, a first rotating shaft 4 is welded on an output shaft of the motor 3, a second small bevel gear is fixedly sleeved on the outer side of the first rotating shaft 4, a large bevel gear 6 is fixedly connected to one end of the first rotating shaft 4, two first bearings 7 are arranged in the protective shell 2, the same first rotating rods 8 are arranged on the two first bearings 7, and one end of the first rotating rods 8 is fixedly connected to the second large bevel gear, the second big bevel gear is meshed with the second small bevel gear, the first rotary rod 8 is matched with the high-pressure water rust removal mechanism and the ultrasonic radar navigation mechanism, two second bearings 10 are arranged in the protective shell 2, the same second rotary rod 11 is arranged in the two second bearings 10, one end of the second rotary rod 11 is fixedly connected with the small bevel gear 12, the small bevel gear 12 is meshed with the big bevel gear 6, and the second rotary rod 11 is matched with the polishing mechanism.

In this embodiment, when in use, first, the mobile robot body 1 is placed on the surface of an object requiring large-area rust removal, such as a large-scale mail steamer or a large-scale oil tank, etc., the magnetic block and the like arranged in the mobile robot body 1 can make the mobile robot body 1 move on the surface of the object without falling, then the motor 3 is started, the output shaft of the motor 3 drives the first rotating shaft 4 to rotate, the first rotating shaft 4 synchronously drives the second small bevel gear and the large bevel gear 6 to rotate, the second small bevel gear drives the second large bevel gear to rotate and reduce the speed, the second large bevel gear drives the first rotating rod 8 to rotate, the first rotating rod 8 synchronously drives the first bevel gear 18, the second bevel gear 19 and the ninth bevel gear 45 to rotate, the first bevel gear 18 and the second bevel gear 19 respectively drive the third bevel gear 23 and the fourth bevel gear 24 to rotate, so that the third bevel gear 23 and the fourth bevel gear 24 respectively drive the third rotating rod 21 and the fourth rotating rod 22 to rotate, and the rotation directions of the third rotating rod 21 and the fourth rotating rod 22 are opposite, so that the third rotating rod 21 and the fourth rotating rod 22 respectively drive the rotating gear 28 to rotate forward and backward alternately through the first half gear 25 and the second half gear 26, the rotating gear 28 drives the fifth bevel gear 30 to rotate forward and backward alternately through the second rotating shaft 27, the speed increaser 47 and the third rotating shaft 29, the fifth bevel gear 30 drives the bidirectional screw rod 15 to rotate forward and backward alternately through the sixth bevel gear 31, the bidirectional screw rod 15 further drives the two sliding blocks 14 to move back and forth through threaded holes, the sliding blocks 14 can drive the high-pressure water pipe 16 and the high-pressure spray head 17 to move back and forth, the rust removal area is increased, the rust removal efficiency is further improved, meanwhile, the large bevel gear 6 drives the small bevel gear 12 to rotate and increase the speed, the small bevel gear 12 drives the second rotating rod 11 to rotate, and the second rotating rod 11 drives the first belt pulley 36 to rotate, the first belt pulley 36 drives the second belt pulley 37 to rotate through the belt 38, the second belt pulley 37 drives the fifth rotating rod 35 to rotate, the fifth rotating rod 35 drives the seventh bevel gear 39 to rotate, the seventh bevel gear 39 drives the eighth bevel gear 40 to rotate, the eighth bevel gear 40 drives the polishing plate 34 to rotate through the rotating rod 33, so that the polishing plate 34 further polishes and polishes the rust remained after rust removal, the rust removal effect and the metal luster are improved, meanwhile, the ninth bevel gear 45 drives the tenth bevel gear 46 to rotate, the tenth bevel gear 46 drives the rotating plate 41 to rotate through the sixth rotating rod 44, the rotating plate 41 drives the ultrasonic radar probe 43 through the horizontal arm 42 to detect the surrounding environment of the mobile robot main body 1, and the purpose of navigating the mobile robot main body 1 is achieved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.