CN108908137B - Semi-closed space auxiliary sand blasting robot - Google Patents
Semi-closed space auxiliary sand blasting robot Download PDFInfo
- Publication number
- CN108908137B CN108908137B CN201810965495.XA CN201810965495A CN108908137B CN 108908137 B CN108908137 B CN 108908137B CN 201810965495 A CN201810965495 A CN 201810965495A CN 108908137 B CN108908137 B CN 108908137B
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- Prior art keywords
- rod
- sand blasting
- support
- connecting rod
- semi
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- 238000005488 sandblasting Methods 0.000 title claims abstract description 59
- 229910000831 Steel Inorganic materials 0.000 claims description 25
- 239000010959 steel Substances 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 description 9
- 238000005422 blasting Methods 0.000 description 6
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005536 corrosion prevention Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
Abstract
The invention provides a semi-enclosed space auxiliary sand blasting robot, which comprises: a sand blasting device; a rigid connecting rod connected with the tubular main body of the sand blasting device through a first connecting mechanism; the support device comprises a base, a first support rod and a second support rod, and annular bodies used for supporting and limiting the rigid connecting rods are arranged at the tops of the first support rod and the second support rod; and the traction device pulls the rigid connecting rod to drive the sand blasting device to move in the semi-enclosed space. Compared with the prior art, the support device is arranged outside the semi-closed space to support and limit the rigid connecting rod, so that the sand blasting device at one end of the rigid connecting rod stretches into the semi-closed space.
Description
Technical Field
The invention relates to a sand blasting device, in particular to a semi-closed space auxiliary sand blasting robot.
Background
Steel structures play an important role in ships and buildings, the steel structures need to be coated for corrosion prevention, and if the coating is incomplete, the coating missing part can generate serious corrosion. Effective surface treatment such as sand blasting and polishing is required before coating, good sand blasting is a powerful guarantee of steel structure coating quality, most positions of the steel structure are easy to sand, but semi-closed spaces of the steel structure are difficult to sand because of complex structures or narrow spaces. As shown in fig. 1, in order to perform effective sand blasting on a semi-enclosed space, a sand blasting device for a pipe inner wall specially used for a steel pipe with a circular cross section appears in the market, and mainly comprises a main body part 91, a traveling mechanism 92 and a sand blasting device 93, wherein the traveling mechanism 92 ensures the stable movement of the whole device on the pipe inner wall, and the device can perform effective sand blasting on a regular pipe inner wall, and has high efficiency and high sand blasting quality. However, the sand blasting device is mainly applicable to pipelines with circular cross sections, is barely applicable to pipelines with square cross sections, and is not applicable to steel structures with cross sections with other shapes; some steel structures are additionally provided with reinforcing plates in order to stabilize the structure and the like, so that the travelling mechanism is difficult to be applied.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a semi-enclosed space auxiliary sand blasting robot.
In order to achieve the above purpose, the technical scheme adopted by the invention for solving the technical problems is as follows: a semi-enclosed space assisted blast robot comprising:
the sand blasting device comprises a spray head, a sand blasting pipe and a tubular main body, wherein the spray head is connected with the sand blasting pipe and fixed on the tubular main body;
a rigid connecting rod connected with the tubular main body of the sand blasting device through a first connecting mechanism;
the support device comprises a base, a first support rod and a second support rod, wherein the first support rod and the second support rod are vertically arranged on the base, and annular bodies for supporting and limiting the rigid connecting rods are arranged at the tops of the first support rod and the second support rod;
and the traction device is connected with one end, far away from the sand blasting device, of the rigid connecting rod, and the traction device pulls the rigid connecting rod to drive the sand blasting device to move in the semi-closed space.
Compared with the prior art, the support device is arranged outside the semi-closed space to support and limit the rigid connecting rod, so that the sand blasting device at one end of the rigid connecting rod stretches into the semi-closed space.
Further, the first connecting mechanism comprises a first flange plate arranged at the tail end of the tubular main body, a second flange plate connected with the head end of the rigid connecting rod, and a connecting rod connected between the first flange plate and the second flange plate.
By adopting the preferable scheme, the connection between the sand blasting device and the rigid connecting rod can be conveniently and stably realized.
Further, the head of tubular main part is equipped with first range finding sensor group, first range finding sensor group includes a plurality of infrared range finding sensors of circumference range finding, first ring flange is fixed on tubular main part, connecting rod quantity between first ring flange and the second ring flange is 3, and 3 connecting rods are equidistant setting with the circumference, the one end of connecting rod passes through ball joint structure and connects on first ring flange, be equipped with the external screw thread on the other end body of rod of connecting rod, the external screw thread part of connecting rod is connected with adjusting nut, adjusting nut rotationally blocks and establishes on the second ring flange, adjusting nut's periphery cover is equipped with the clutch, and the clutch periphery is equipped with first driving tooth, and the clutch is connected with driving motor's drive gear transmission through the intermediate gear.
According to the preferable scheme, according to the distance data, detected by each infrared ranging sensor in the first ranging sensor group, from the side wall of the semi-closed space, the center offset state of the semi-closed space where the head of the sand blasting device is located is obtained, and the micro adjustment of the angle of the sand blasting device is carried out by adjusting the lengths of the 3 connecting rods between the first flange plate and the second flange plate, so that the compensation of the center offset is realized, and the uniform and stable sand blasting quality is ensured.
Further, the first support rod and the second support rod are of a multi-rod structure with adjustable height.
By adopting the preferable scheme, the heights of the first support rod and the second support rod can be adjusted, so that the rigid connecting rod can be adapted to different application occasions, and the rigid connecting rod can be conveniently adjusted to the central position of the semi-closed space.
Further, a second distance measuring sensor group and a third distance measuring sensor group are arranged on the rigid connecting rod at intervals, and each of the second distance measuring sensor group and the third distance measuring sensor group comprises a plurality of infrared distance measuring sensors which are circumferentially arranged; the bottom of the second support rod is provided with an up-and-down movement driving mechanism and a left-and-right translation driving mechanism, the up-and-down movement driving mechanism comprises a guide cylinder body, a first screw rod nut and a first driving motor, the bottom of the second support rod is connected with the first screw rod nut, the first screw rod nut is clamped in a guide groove vertically arranged on the guide cylinder body, and the first driving motor can drive the first screw rod to rotate so as to drive the second support rod to move up and down along the guide groove of the guide cylinder body along with the first screw rod nut; the left-right translation driving mechanism comprises a translation guide rail, a second screw rod nut and a second driving motor, wherein the translation guide rail and the second screw rod are horizontally arranged on the base along the left-right direction, the second screw rod nut is arranged on the translation guide rail, the guide cylinder body is vertically fixed on the second screw rod nut, and the second driving motor can drive the second screw rod to rotate so as to drive the second supporting rod to horizontally move along the translation guide rail along the left-right direction.
By adopting the preferable scheme, the center offset state of the rigid connecting rod in the semi-closed space is respectively obtained through the second ranging sensor group and the third ranging sensor group, and the vertical and horizontal small adjustment of the second supporting rod is performed through the vertical movement driving mechanism and the horizontal movement driving mechanism according to the inclined state of the rigid connecting rod, so that the rigid connecting rod is kept in the center of the semi-closed space as much as possible, and interference with the semi-closed space is prevented.
Further, the base is provided with a plurality of rollers, and the rollers can be retracted to enable the bottom surface of the base to be in contact with the ground.
By adopting the preferable scheme, the roller can be pressed down to facilitate the movement of the supporting device, the roller can be retracted to ensure the contact between the base and the ground, and the stability of the supporting device is improved.
Further, the rigid connecting rod is formed by combining a plurality of rod bodies, and all the rod bodies are connected through threads.
By adopting the preferable scheme, the portable electric heating device can be conveniently placed and carried.
Further, draw gear includes lower support, telescopic link, upper bracket, motor, reduction gear, pivot, wire rope and controlling means, the telescopic link is installed on the lower support, the upper bracket is installed at the telescopic link top, the motor drives the pivot through reduction gear and rotates, realizes the pulling of wire rope to the rigid connection pole, controlling means and motor signal connection.
By adopting the preferable scheme, the control device is provided with the liquid crystal display, the key board and the USB interface, and an operator can input a program according to the requirement to enable the motor to rotate according to the preset program, so that the sand blasting device on the inner wall of the pipeline is driven to move in the semi-enclosed space of the steel structure according to the requirement set by the program, different moving speeds are ensured to be adopted in the areas with different structural characteristics of the steel structure, and the sand blasting quality is improved.
Further, the traction device comprises a tractor, a telescopic rod, a steel wire rope and a control device, one end of the steel wire rope is connected to the rigid connecting rod, and the other end of the steel wire rope is fixed to the top end of the telescopic rod; the control device is in signal connection with the tractor; as the tractor moves, the steel wire rope pulls the rigid connecting rod and the sand blasting device to move in the semi-enclosed space.
Further, the tractor wheels are provided with tracks.
By adopting the preferable scheme, the tractor is more flexible and convenient to move.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a prior art pipe inner wall blasting apparatus for round cross section steel pipe;
FIG. 2 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 3 is a schematic view of another embodiment of the present invention;
FIG. 4 is a schematic view of another embodiment of the present invention;
FIG. 5 is a schematic view of another embodiment of the present invention;
FIG. 6 is a schematic diagram of another embodiment of the present invention;
FIG. 7 is a schematic view of another embodiment of the present invention;
FIG. 8 is a schematic view of another embodiment of the present invention;
FIG. 9 is a schematic diagram of another embodiment of the present invention;
FIG. 10 is a schematic view of another embodiment of the present invention;
FIG. 11 is a schematic view of another embodiment of the present invention;
FIG. 12 is a schematic view of another embodiment of the present invention;
FIG. 13 is a schematic view of another embodiment of the present invention;
fig. 14 is a schematic view of another embodiment of the present invention.
Names of the corresponding parts indicated by numerals and letters in the drawings:
1-a sand blasting device; 11-a spray head; 12-sand blasting tube; 13-a tubular body; 14-a first distance measuring sensor group; 2-a rigid connecting rod; 21-a second distance measuring sensor group; 22-a third distance measuring sensor group; 3-a first connection mechanism; 31-a first flange; 32-a second flange; 33-connecting rod; 34-adjusting the nut; 35-clutch; 36-an intermediate gear; 37-a drive motor; 4-supporting means; 41-a base; 411-roller; 42-a first support bar; 43-a second support bar; 44-torus; 45-an up-and-down movement driving mechanism; 451-guide cylinder; 452-first lead screw; 453-first lead screw nut; 454-a first drive motor; 46-a left-right translation driving mechanism; 461-a translation rail; 462-a second screw; 463-a second lead screw nut; 464-a second drive motor; 5-traction means; 51-a lower support; 52-a telescopic rod; 53-upper support; 54-motor; 55-a reduction gear; 56-rotating shaft; 57-wire rope; 58-control means; 61-towing vehicle; 62-telescoping rod; 63-wire rope; 64-control means; 91-a body portion; 92-a travelling mechanism; 93-sand blasting device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 2-4 and 7, a semi-enclosed space assisted blasting robot, comprising:
the sand blasting device 1 comprises a spray head 11, a sand blasting pipe 12 and a tubular main body 13, wherein the spray head 11 is connected with the sand blasting pipe 12, and the spray head 11 is fixed on the tubular main body 13;
a rigid connection rod 2 connected to a tubular body 13 of the blasting apparatus 1 by a first connection mechanism 3;
the support device 4 comprises a base 41, a first support rod 42 and a second support rod 43, wherein the first support rod 42 and the second support rod 43 are vertically arranged on the base 41, and a ring body 44 for supporting and limiting the rigid connecting rod 2 is arranged at the top of the first support rod 42 and the second support rod 43;
and the traction device 5 is connected with one end, far away from the sand blasting device, of the rigid connecting rod 2, and the traction device 5 pulls the rigid connecting rod 2 so as to drive the sand blasting device 1 to move in the semi-closed space.
The beneficial effects of adopting above-mentioned technical scheme are: the support device 4 outside the semi-closed space is used for supporting and limiting the rigid connecting rod 2, so that the sand blasting device 1 at one end of the rigid connecting rod 2 stretches into the semi-closed space, and the sand blasting device 1 and the rigid connecting rod 2 are slender, so that the reinforcement blocking inside the semi-closed space can be effectively avoided, and the effective sand blasting operation is realized.
In other embodiments of the invention, the blasting apparatus 1 may be used to remove the associated running gear 92 from the prior art pipe inner wall blasting apparatus dedicated to round cross section steel pipe, with the necessary components added or other necessary modifications as required.
In other embodiments of the invention, as shown in fig. 4, the first connection means 3 comprises a first flange 31 provided at the tail end of the tubular body 13, a second flange 32 connected to the head end of the rigid connection rod 2, and a connecting rod 33 connected between the first flange 31 and the second flange 32. The beneficial effects of adopting above-mentioned technical scheme are: the connection between the blasting apparatus 1 and the rigid connection rod 2 can be realized easily and stably.
In other embodiments of the present invention, as shown in fig. 4, 5 and 6, a first distance measuring sensor group 14 is provided on the head of the tubular body 13, the first distance measuring sensor group 14 includes a plurality of infrared distance measuring sensors arranged circumferentially, the first flange 31 is fixed on the tubular body 13, the number of links 33 between the first flange 31 and the second flange 32 is 3, the 3 links are equally spaced circumferentially, one end of each link 33 is connected to the first flange 31 through a ball joint structure, an external thread is provided on the other end rod body of each link 33, an adjusting nut 34 is connected to an external thread portion of each link 33, the adjusting nut 34 is rotatably clamped on the second flange 32, a clutch 35 is sleeved on the outer circumference of the adjusting nut 34, a first transmission tooth is provided on the outer circumference of the clutch 35, and the clutch 35 is in transmission connection with a driving gear of the driving motor 37 through an intermediate gear 36. The beneficial effects of adopting above-mentioned technical scheme are: obtaining the center offset state of the semi-enclosed space where the head of the sand blasting device 1 is positioned according to the distance data, detected by each infrared ranging sensor in the first ranging sensor group 14, from the side wall of the semi-enclosed space; when the center offset exceeds the specification, the driving motor 37 rotates, the connecting rod 33 with the length required to be adjusted is selected according to the offset state, the clutch 35 corresponding to the connecting rod 33 is electrified to drive the adjusting nut 34 to rotate, further the length adjustment of the connecting rod 33 between the first flange 31 and the second flange 32 is realized, the micro adjustment of the angle of the sand blasting device 1 is performed, the compensation of the center offset is realized, and the uniform and stable sand blasting quality is ensured.
In other embodiments of the present invention, as shown in fig. 7, the first support bar 42 and the second support bar 43 are each of a height-adjustable multi-bar type structure. The beneficial effects of adopting above-mentioned technical scheme are: the heights of the first support rod 42 and the second support rod 43 are adjustable, so that the rigid connecting rod 2 can be conveniently adjusted to the central position of the semi-closed space in different application occasions.
9-11, in other embodiments of the present invention, the rigid connection rod 2 is provided with a second ranging sensor group 21 and a third ranging sensor group 22 at intervals, and each of the second ranging sensor group 21 and the third ranging sensor group 22 includes a plurality of infrared ranging sensors arranged circumferentially; the bottom of the second support rod 43 is provided with an up-and-down movement driving mechanism 45 and a left-and-right translation driving mechanism 46, the up-and-down movement driving mechanism 45 comprises a guide cylinder 451, a first screw rod 452, a first screw rod nut 453 and a first driving motor 454, the bottom of the second support rod 43 is connected with the first screw rod nut 453, the first screw rod nut 453 is clamped in a guide groove vertically arranged on the guide cylinder 451, and the first driving motor 454 can drive the first screw rod 452 to rotate so as to drive the second support rod 43 to move up and down along the guide groove of the guide cylinder 451 along with the first screw rod nut 453; the left-right translation driving mechanism 46 includes a translation guide rail 461, a second screw rod 462, a second screw rod nut 463 and a second driving motor 464, the translation guide rail 461 and the second screw rod 462 are horizontally arranged on the base 41 along the left-right direction, the second screw rod nut 463 is arranged on the translation guide rail 461, the guide cylinder 451 is vertically fixed on the second screw rod nut 463, and the second driving motor 464 can drive the second screw rod 462 to rotate, so as to drive the second support rod 43 to translate left-right along the translation guide rail 461 along with the second screw rod nut 463. The beneficial effects of adopting above-mentioned technical scheme are: the center offset state of the rigid connection rod 2 in the semi-enclosed space is obtained by the second distance measuring sensor group 21 and the third distance measuring sensor 22 respectively, and the vertical and horizontal small adjustment of the second support rod 43 is performed by the vertical movement driving mechanism 45 and the horizontal translation driving mechanism 46 according to the inclined state of the rigid connection rod 2, so that the rigid connection rod 2 is kept in the center of the semi-enclosed space as much as possible, and interference with the semi-enclosed space is prevented.
In other embodiments of the present invention, as shown in fig. 7 and 8, a plurality of rollers 411 are provided on the base 41, and the rollers 411 can be retracted to make the bottom surface of the base 41 contact with the ground. The beneficial effects of adopting above-mentioned technical scheme are: the roller 411 can be pushed down to facilitate the movement of the supporting device, the roller 411 can be retracted to ensure the contact between the base and the ground, and the stability of the supporting device 4 is improved.
In other embodiments of the present invention, as shown in fig. 12, the rigid connecting rod 2 is formed by combining multiple rod bodies, and the rod bodies are connected by threads. The beneficial effects of adopting above-mentioned technical scheme are: can be conveniently placed and carried.
As shown in fig. 13, in other embodiments of the present invention, the traction device 5 includes a lower support 51, a telescopic rod 52, an upper support 53, a motor 54, a reduction transmission device 55, a rotating shaft 56, a wire rope 57 and a control device 58, wherein the telescopic rod 52 is installed on the lower support 51, the upper support 53 is installed on the top of the telescopic rod 52, the motor 54 drives the rotating shaft 56 to rotate through the reduction transmission device 55, so that the wire rope 57 pulls the rigid connection rod 2, and the control device 58 is in signal connection with the motor 54. The beneficial effects of adopting above-mentioned technical scheme are: the control device 58 is provided with a liquid crystal display, a key board and a USB interface, and an operator can input a program according to the requirement to enable the motor to rotate according to the preset program, so that the sand blasting device on the inner wall of the pipeline is driven to move in the semi-enclosed space of the steel structure according to the requirement set by the program, different moving speeds are ensured to be adopted in areas with different structural characteristics of the steel structure, and the sand blasting quality is improved.
As shown in fig. 14, in other embodiments of the present invention, the traction device 5 includes a tractor 61, a telescopic rod 62, a wire rope 63 and a control device 64, one end of the wire rope 63 is connected to the rigid connection rod 2, and the other end of the wire rope 63 is fixed to the top end of the telescopic rod 62; the control device 64 is in signal connection with the tractor 61; as the tractor 61 moves, the steel wire rope 63 pulls the rigid connecting rod 2 and the sand blasting device 1 to move in the semi-enclosed space; the wheels of the tractor 61 are provided with tracks. The beneficial effects of adopting above-mentioned technical scheme are: the movement of the tractor is more flexible and convenient.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, but not limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A semi-enclosed space assisted blast robot, comprising:
the sand blasting device comprises a spray head, a sand blasting pipe and a tubular main body, wherein the spray head is connected with the sand blasting pipe and fixed on the tubular main body;
a rigid connecting rod connected with the tubular main body of the sand blasting device through a first connecting mechanism;
the support device comprises a base, a first support rod and a second support rod, wherein the first support rod and the second support rod are vertically arranged on the base, and annular bodies for supporting and limiting the rigid connecting rods are arranged at the tops of the first support rod and the second support rod;
the traction device is connected with one end, far away from the sand blasting device, of the rigid connecting rod, and the traction device pulls the rigid connecting rod to drive the sand blasting device to move in the semi-closed space; wherein,
the first connecting mechanism comprises a first flange plate arranged at the tail end of the tubular main body, a second flange plate connected with the head end of the rigid connecting rod, and a connecting rod connected between the first flange plate and the second flange plate;
the head of the tubular main body is provided with a first ranging sensor group, the first ranging sensor group comprises a plurality of infrared ranging sensors which are circumferentially arranged, the first flange plate is fixed on the tubular main body, the number of connecting rods between the first flange plate and the second flange plate is 3, the 3 connecting rods are arranged at equal intervals along the circumference, one end of each connecting rod is connected to the first flange plate through a ball joint structure, the other end rod body of each connecting rod is provided with an external thread, the external thread part of each connecting rod is connected with an adjusting nut, the adjusting nut is rotatably clamped on the second flange plate, the periphery of each adjusting nut is sleeved with a clutch, the periphery of each clutch is provided with first transmission teeth, and each clutch is in transmission connection with a driving gear of a driving motor through an intermediate gear;
the first support rod and the second support rod are of a multi-rod structure with adjustable height;
the rigid connecting rod is provided with a second distance measuring sensor group and a third distance measuring sensor group at intervals, and the second distance measuring sensor group and the third distance measuring sensor group comprise a plurality of infrared distance measuring sensors which are circumferentially arranged; the bottom of the second support rod is provided with an up-and-down movement driving mechanism and a left-and-right translation driving mechanism, the up-and-down movement driving mechanism comprises a guide cylinder body, a first screw rod nut and a first driving motor, the bottom of the second support rod is connected with the first screw rod nut, the first screw rod nut is clamped in a guide groove vertically arranged on the guide cylinder body, and the first driving motor can drive the first screw rod to rotate so as to drive the second support rod to move up and down along the guide groove of the guide cylinder body along with the first screw rod nut; the left-right translation driving mechanism comprises a translation guide rail, a second screw rod nut and a second driving motor, wherein the translation guide rail and the second screw rod are horizontally arranged on the base along the left-right direction, the second screw rod nut is arranged on the translation guide rail, the guide cylinder body is vertically fixed on the second screw rod nut, and the second driving motor can drive the second screw rod to rotate so as to drive the second supporting rod to horizontally move along the translation guide rail along the left-right direction.
2. The robot of claim 1, wherein the base is provided with a plurality of rollers that are retractable to bring the bottom surface of the base into contact with the ground.
3. The robot as claimed in claim 2, wherein the rigid connection rod is formed by combining a plurality of rod bodies, and the rod bodies are connected through threads.
4. The semi-enclosed space auxiliary sandblasting robot according to claim 1, wherein the traction device comprises a lower support, a telescopic rod, an upper support, a motor, a reduction transmission device, a rotating shaft, a steel wire rope and a control device, wherein the telescopic rod is arranged on the lower support, the upper support is arranged at the top of the telescopic rod, the motor drives the rotating shaft to rotate through the reduction transmission device, the steel wire rope pulls the rigid connecting rod, and the control device is in signal connection with the motor.
5. The semi-enclosed space assisted sandblasting robot according to claim 1, wherein the traction device comprises a tractor, a telescopic rod, a steel wire rope and a control device, wherein one end of the steel wire rope is connected to a rigid connecting rod, and the other end of the steel wire rope is fixed at the top end of the telescopic rod; the control device is in signal connection with the tractor; as the tractor moves, the steel wire rope pulls the rigid connecting rod and the sand blasting device to move in the semi-enclosed space.
6. A semi-enclosed space assisted sandblasting robot according to claim 5, wherein said tractor wheels are mounted with tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810965495.XA CN108908137B (en) | 2018-08-22 | 2018-08-22 | Semi-closed space auxiliary sand blasting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810965495.XA CN108908137B (en) | 2018-08-22 | 2018-08-22 | Semi-closed space auxiliary sand blasting robot |
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| CN108908137A CN108908137A (en) | 2018-11-30 |
| CN108908137B true CN108908137B (en) | 2023-11-17 |
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| CN201810965495.XA Active CN108908137B (en) | 2018-08-22 | 2018-08-22 | Semi-closed space auxiliary sand blasting robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111678442B (en) * | 2020-06-15 | 2021-11-19 | 南通理工学院 | Detection device for thickness of wet film of coating on inner wall of semi-closed space |
| CN113770924B (en) * | 2021-08-30 | 2023-05-12 | 南京航空航天大学 | Metal bond grinding wheel controllable sand blasting dressing device and dressing method |
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