CN110861004A - Wall-climbing type shot blasting robot - Google Patents
Wall-climbing type shot blasting robot Download PDFInfo
- Publication number
- CN110861004A CN110861004A CN201911243981.1A CN201911243981A CN110861004A CN 110861004 A CN110861004 A CN 110861004A CN 201911243981 A CN201911243981 A CN 201911243981A CN 110861004 A CN110861004 A CN 110861004A
- Authority
- CN
- China
- Prior art keywords
- adsorption
- shot blasting
- assembly
- wall
- chassis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B24C9/003—Removing abrasive powder out of the blasting machine
-
- 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
- B24C9/006—Treatment of used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall-climbing type shot blasting robot which comprises a crawler-type magnetic suction travelling mechanism and a shot blasting mechanism, wherein the crawler-type magnetic suction travelling mechanism comprises a chassis travelling assembly and magnetic suction synchronous crawler components arranged on two sides of the chassis travelling assembly, an assembly port is formed in the chassis travelling assembly, the shot blasting mechanism is arranged at the assembly port in the chassis travelling assembly and used for vertical shot blasting, an installation groove for integrating electrical components is formed in the chassis travelling assembly, the installation groove is circumferentially arranged around the shot blasting mechanism and is positioned above the magnetic suction synchronous crawler components, and at least one of the front side and the rear side of the chassis travelling assembly is provided with a power-assisted adsorption mechanism. The invention can ensure that the shot blasting machine can pass through a narrow passage on the premise of high integration level of the whole machine, can also keep better stability during steering, and meets the requirements of vertical face shot blasting treatment of complex working conditions on the surfaces of steel structures at home and abroad.
Description
Technical Field
The invention relates to the technical field of steel structure surface shot blasting treatment, in particular to a wall-climbing type shot blasting robot.
Background
At present, the vertical surface shot blasting treatment operation aiming at the similar planes such as large ships, large oil storage tanks and the like is generally carried out through a shot blasting mechanism which can climb or walk on the vertical surface. In the prior art, as disclosed in the chinese patent application No. 201910469670.0, a vertical shot blasting machine mainly comprises a traveling mechanism and a shot blasting mechanism, wherein the traveling mechanism is a magnetic walking mechanism and is installed on both sides of the shot blasting mechanism, the shot blasting mechanism comprises a shot blasting device, a reflection channel and a separator, the shot blasting device comprises a shot inlet pipe and a shot outlet pipe, the separator comprises a feed inlet and a discharge outlet on the lower part, and the reflection channel is a V-shaped channel and comprises an incident port, a reflection port and an exit port; the shot inlet pipe of the shot blasting device is connected with the feed opening of the separator, the incident port and the emergent port of the reflection channel are respectively connected with the shot outlet pipe and the feed opening, and the reflection port of the reflection channel faces the processing surface.
The technical scheme is that the magnetic attraction walking mechanism is movably adsorbed on the vertical surface and drives the shot blasting mechanism to advance, and shot blasting treatment is carried out on the surface of a steel structure passing by; although the vertical shot blasting machine realizes vertical shot blasting treatment, the vertical shot blasting machine can only perform shot blasting treatment on some simple working conditions, such as the working conditions that the surface of a steel structure is flat or the vertical height of the surface to be treated is higher, and the vertical shot blasting machine can perform vertical surface processing for many times along the vertical direction of the surface of the steel structure, so that shot blasting treatment on the whole surface of the steel structure is finally completed.
In a real processing environment, working conditions on the surface of a steel structure to be processed are complex, for example, a plurality of reinforcing ribs are often welded on the surface of the outer wall of a large-scale oil storage tank or the surface of the inner wall of a ship, reinforcing ribs in the direction of an annular surface, reinforcing ribs in the direction of a vertical surface or some crossed reinforcing ribs are distributed on the surface of the steel structure to form a plurality of complex working conditions, and in addition, some narrow channels (channels with the width of less than 450 mm) can be encountered, so that the shot blasting machine with the walking mechanism can move forwards on the vertical surface and also pass through the obstacles or avoid and bypass the obstacles when the obstacles (reinforcing ribs and narrow channels) are encountered, on one hand, a navigation function or a remote control function needs to be added on the shot blasting machine with the walking mechanism, and the walking mechanism can select a proper shot blasting walking path to avoid; on the other hand needs to guarantee that the complete machine width satisfies the requirement through narrow passageway, in order to realize corresponding navigation or control function, can increase corresponding hardware structure on the complete machine afterwards to lead to the complete machine weight to aggravate, have to inhale the running gear with magnetism and improve, increase the quantity of structure of inhaling magnetism, thereby widened the width on whole chassis, can't pass through narrow passageway, make the complete machine can only carry out the surface treatment of some simple operating modes.
Aiming at the defect that shot blasting treatment cannot be carried out under different complex working conditions of the vertical surface of the steel structure, the defect is always the key for breaking through the bottleneck of domestic technology, and not only is the suction of the chassis insufficient after the self weight is increased required to be considered, but also the inclination and falling risks exist; meanwhile, after some electrical components are integrated, the upper part extension body is wider than the chassis, so that the upper part extension body is inconvenient to pass through some narrow channels; still consider the chassis and can't pass through some narrow gaps after the increase magnetism expands extensively, lead to the processing operation unsmooth or increased the processing degree of difficulty or cycle, in addition, make the chassis bigger to steel construction surface adsorption affinity after the chassis increases magnetism expands extensively, lead to turning to more difficult, suitably reduce the magnetic attraction on chassis, magnetic force is not enough and lead to the appearance possibility that inclines and weighs down when turning to again appearing, consequently, how guarantee under the prerequisite of complete machine high integration, can pass through narrow passageway, can also keep better stability when turning to be the place that present domestic technology needs to break through.
Disclosure of Invention
The invention aims to provide a wall-climbing type shot blasting robot which can pass through a narrow passage on the premise of ensuring high integration of the whole machine, can keep better stability during steering and meets the requirements of vertical face shot blasting treatment of complex working conditions on the surfaces of steel structures at home and abroad.
The purpose of the invention is realized by the following technical scheme: wall-climbing type shot blasting robot comprises a crawler-type magnetic suction walking mechanism and a shot blasting mechanism, wherein the crawler-type magnetic suction walking mechanism comprises a chassis walking assembly and magnetic suction synchronous crawler components arranged on two sides of the chassis walking assembly, an assembly port is arranged on the chassis walking assembly, the assembly port arranged on the chassis walking assembly and used for vertical face shot blasting treatment are arranged on the shot blasting mechanism, a mounting groove used for integrating electrical components is arranged on the chassis walking assembly, the mounting groove is arranged around the circumferential direction of the shot blasting mechanism and located above the magnetic suction synchronous crawler components, and a power-assisted adsorption mechanism is arranged on at least one side of the front side and the rear side of the chassis walking.
Further, the mounting groove includes well groove section and connects the side groove section in well groove section both sides, well groove section is located chassis walking assembly directly over, and the side groove section of both sides is located both sides magnetism respectively and inhales synchronous track subassembly directly over.
Furthermore, two ends of the middle groove section are communicated with the side groove sections on two sides respectively, the groove surface of the middle groove section is a settlement surface, and the middle groove section and the side groove sections on two sides of the middle groove section are distributed in the horizontal circumferential direction around a shot blasting motor of the shot blasting mechanism.
Further, processing has at least one louvre on the lateral wall of mounting groove, and it has the shield to seal on the mounting groove, and the shield includes mounting groove sealing and shot blasting mechanism sealing, the notch shape adaptation of mounting groove sealing and mounting groove is used for the notch of activity sealing mounting groove, shot blasting mechanism sealing connects in mounting groove sealing one side and is used for coveing shot blasting mechanism's feed back storehouse.
Furthermore, a weight-reducing support screen plate is installed at an assembling port of the chassis walking assembly, and a through hole for allowing the shot blasting mechanism to pass through is formed in the weight-reducing support screen plate.
Furthermore, the power-assisted adsorption mechanism comprises a connecting substrate, an adsorption substrate and at least one group of connecting pieces, the connecting substrate is fixedly connected with the chassis walking assembly, a plurality of adsorption magnets are arranged on the lower surface of the adsorption substrate, and the at least one group of connecting pieces are connected between the adsorption substrate and the connecting substrate and are used for enabling the adsorption substrate to rotate relative to the connecting substrate.
Further, the connecting piece includes upper junction plate and an at least lower connecting plate, upper junction plate one end is articulated with the connection base plate, and processing has the via hole that equals with lower connecting plate quantity on the upper junction plate, all alternate in every via hole has locking screw, at least one lower connecting plate is vertical to be fixed at absorption base plate upper surface, all processing has the bar hole on every lower connecting plate, and the via hole that corresponds the position on every lower connecting plate on bar hole and the upper junction plate just links in series through locking screw, locking screw one end cooperation has the stop nut.
Further, the lower surface of the adsorption substrate is provided with a plurality of partition plates, an installation gap matched with the shape of the adsorption magnet is formed between every two adjacent partition plates, and the single adsorption magnet is arranged in the single installation gap.
Furthermore, a plurality of partition plates are uniformly arranged on the lower surface of the adsorption base plate, inserting protrusions are formed on one side of each partition plate, a plurality of inserting holes are formed in the adsorption base plate, the partition plates are inserted into the inserting holes through the inserting protrusions and movably inserted between the adjacent adsorption base plates, and the adsorption magnets are detachably fixed on the lower surface of the adsorption base plate between the adjacent partition plates through bolts.
Further, a plurality of power-assisted sliding parts are detachably mounted on the lower surface of the adsorption substrate, and the bottoms of the power-assisted sliding parts are lower than the lower surface of the adsorption magnet by 1-8 mm.
Further, the power-assisted sliding piece is a universal ball bearing.
Further, a protection plate is installed on at least one side of the adsorption substrate.
Furthermore, at least one threaded hole is processed on the adsorption substrate, and a support screw is matched in the threaded hole.
Furthermore, a collecting mechanism for collecting a small amount of leaked steel shots is arranged on the lower surface of the chassis walking assembly.
Further, the collecting mechanism comprises a collecting plate and side wing plates located on two sides of the collecting plate, the side wing plates on two sides are respectively fixed on two sides of the lower surface of the chassis walking assembly in the walking direction and used for preventing steel shots from being adsorbed on the magnetic attraction synchronous crawler belt assembly, the collecting plate is detachably fixed on the lower surface of the chassis walking assembly, and at least one collecting groove communicated with the side wing plates on two sides is processed on the collecting plate.
Furthermore, the collecting mechanism is provided with two collecting grooves, one ends of the two collecting grooves are respectively communicated with the side wing plates on two sides, and the collecting mechanism further comprises an empennage magnetic suction plate which is communicated with the other ends of the two collecting grooves.
The invention has the beneficial effects that:
1. the installation groove for integrating the electrical components is arranged above the magnetic attraction synchronous crawler assembly, the U-shaped or C-shaped shape of the installation groove not only can well utilize the space above the magnetic attraction crawler, so that the whole body integrates the corresponding electrical components in the installation groove under the requirement of specific width, and the problems that the whole body is wider than the width of the chassis and can not pass through narrow channels due to the fact that the electrical components are placed in irregular positions in the prior art are avoided, and the installation groove can also integrally coat the shot blasting mechanism, so that on one hand, wiring is facilitated, on the other hand, the electrified mechanism is cut off and certain magnetic interference is prevented;
2. the installation groove is fixed on the chassis walking assembly, so that the overall stability of the installation groove is improved, the dustproof cover arranged on the installation groove can be better attached to the shot blasting mechanism, and certain shielding protection is formed for the shot blasting mechanism on the premise of high integration;
3. the front side and the rear side of the chassis walking assembly are provided with the power-assisted adsorption mechanisms, so that the adsorption force of the whole chassis is not increased on the premise of widening the chassis, structural conditions are provided for the whole machine to pass through a narrow passage or a gap, the power-assisted adsorption mechanisms provide a layer of stable adsorption force guarantee when the whole machine turns, the risk of the whole machine inclining and falling is greatly reduced, the power-assisted adsorption mechanisms are arranged on the front side and the rear side, the turning action with a small turning radius can be realized under the guarantee of the stable adsorption force, and the condition that only a large turning radius can be adopted to guarantee enough adsorption force in the prior art is avoided;
4. by arranging the collecting mechanism on the lower surface of the chassis walking assembly, a small amount of steel shots which cannot enter the recovery channel in operation can be collected in time in an ingenious mode, and the influence of the steel shots on the magnetic synchronous crawler assembly is avoided;
5. the invention has compact structure, high integration level, stable adsorption and small turning radius, can meet the requirements of vertical face shot blasting treatment of most of steel structure surfaces under complex working conditions at home and abroad, and is a milestone development of domestic technology towards international stages in the technical field of shot blasting treatment.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the present invention with the dust cap removed;
FIG. 3 is a schematic structural view of a crawler-type magnetic attraction traveling mechanism according to the present invention;
FIG. 4 is a schematic bottom view of the present invention;
FIG. 5 is a schematic structural view of a power-assisted adsorption mechanism according to the present invention;
fig. 6 is a schematic structural view of another perspective of the power-assisted adsorption mechanism of the present invention.
The labels in the figure are: 1-chassis walking assembly; 2-magnetic attraction of the synchronous crawler belt assembly; 3-mounting grooves; 4-dust cover; 5-assisting the adsorption mechanism; 6-shot blasting mechanism; 7-weight reduction supporting net plates; 8-an assembly port; 9-side wing plate; 10-a collection plate; 11-a collection tank; 12-tail magnetic attraction board; 13-a power-assisted slider; 14-a threaded hole; 31-a middle groove section; 32-side groove section; 33-settling surface; 34-heat dissipation holes; 51-a connection substrate; 52-an adsorption substrate; 53-upper connecting plate; 54-a lower connecting plate; 55-strip-shaped holes; 56-locking screw rod; 57-a separator; 58-attracting magnet; 59-protective plate.
Detailed Description
As shown in fig. 1 to 6, the wall-climbing type blasting robot provided in this embodiment includes a crawler-type magnetic attraction traveling mechanism and a blasting mechanism 6, the crawler-type magnetic attraction traveling mechanism includes a chassis traveling assembly 1 and magnetic attraction synchronous crawler assemblies 2 installed on two sides of the chassis traveling assembly 1, an assembly port 8 is provided on the chassis traveling assembly 1, the blasting mechanism 6 is installed at the assembly port 8 on the chassis traveling assembly 1 and is used for performing blasting treatment on a vertical surface of a steel structure, and a general composition structure or a general design concept of the entire machine is similar to that of the vertical blasting machine disclosed in the chinese patent application No. 201910469670.0. But this perpendicular shot-blasting machine uses the limitation too strong, can't handle to some steel construction surfaces that the operating mode is complicated, and this perpendicular shot-blasting machine chassis adsorption stability is relatively poor simultaneously, has a great deal of drawback in the in-service use. Consequently, this application has changed the structural style who adsorbs the chassis, and chinese utility model patent as application number 201721690096.4 discloses a wall climbing robot chassis is adsorbed to magnetism, and the magnetism that this patent was disclosed adsorbs the hold-in range and has stronger adsorption stability, can realize the wall climbing operation that basis weight required. The product is designed and improved on the basis of the two existing schemes, and finally developed and better applied to actual operation through numerous modifications and test checks.
Because in order to adapt to working conditions such as narrow passages or gaps, the whole machine of the application needs high integration level and smaller whole machine width, after corresponding navigation or control functions are added, some electric appliance hardware does not plan proper installation positions or connection positions, so that the corresponding connection supports or support rods of the upper part of the whole machine are more, the shape structure of the upper part of the whole machine seems to be disordered and dispersed, and the channels or gaps with specific shapes, specific heights and specific widths cannot pass through, therefore, the application makes corresponding improvement on the shape of the whole machine in order to overcome the defect. Specifically, be provided with mounting groove 3 that is used for integrated electrical components on chassis walking assembly 1, mounting groove 3 arranges and is located magnetism around 6 circumference of shot blasting mechanism and inhales the top of synchronous crawler component 2, has not only utilized the space of reserving between 6 upper portions of shot blasting mechanism and the magnetism and has inhaled between the synchronous crawler component 2 top, makes overall structure compacter and the integrated level higher moreover. In this embodiment, mounting groove 3 adopts the syllogic connection form, and it includes well groove section 31 and connects the side groove section 32 in well groove section 31 both sides, and well groove section 31 is located chassis walking assembly 1 front end directly over, and the side groove section 32 of both sides is located both sides magnetism respectively and inhales synchronous track subassembly 2 front side directly over, make full use of chassis walking assembly 1 anterior space. The two ends of the middle groove section 31 are communicated with the side groove sections 32 on the two sides respectively and are combined into a C shape or a U shape, the connection mode of the middle groove section 31 and the side groove sections 32 can adopt an integrated forming mode or a detachable splicing mode, and the whole combination is fixed on the chassis walking assembly 1 through a plurality of connecting steel plates. The groove surface of the middle groove section 31 is a settlement surface 33, so that the height difference between the chassis walking assembly 1 and the magnetic-attraction synchronous crawler belt component 2 can be better utilized, and the usable space in the middle groove section 31 is further enlarged. Of course, the space of use can also be increased by increasing the length of the side slot segments 32.
Because shot blasting motor department line in the mechanism 6 of throwing the ball is more (motor and sand valve line are more), the C type groove of the combination of side groove section 32 of well groove section 31 and both sides is around the horizontal circumference distribution of shot blasting motor of the mechanism 6 of throwing the ball, can make the connecting wire or the cable of corresponding electrical components directly penetrate to mounting groove 3 and link to each other with corresponding electrical control spare, directly reduced the thread of wire or cable, not only avoided appearing the winding condition of mistake, can also reduce the electromagnetic interference that the wire produced as far as possible.
In order to prevent dust to electrical components and shot blasting mechanism 6 in the mounting groove 3, it has shield 4 to seal on the mounting groove 3, and this shield 4 includes mounting groove sealing and the shot blasting mechanism sealing, the C type notch shape adaptation of mounting groove sealing and mounting groove 3 is used for the notch of activity seal mounting groove 3, the shot blasting mechanism sealing is preferred to be T type form, and it can be inserted to the C type breach of mounting groove sealing and be used for coveing the feed back storehouse of shot blasting mechanism 6. The shape of shield 4 is various, and the connected mode of mounting groove sealing and shot blasting mechanism sealing also can be integrated into one piece or can dismantle the concatenation, but its central theory has higher integrated level between dustproof while and the complete machine, prevents too wide and can't pass through corresponding passageway or breach. In this embodiment, the side groove sections 32 on both sides in the mounting groove 3 are all processed with heat dissipation holes 34, which facilitates to improve the heat dissipation effect of the corresponding electrical components.
In order to correspondingly reduce part of the weight of the whole machine, an assembly opening 8 of the chassis walking assembly 1 is a rectangular notch, the size area of the rectangular notch is two thirds to three fourths of the size area of a horizontal base plane of the chassis walking assembly 1, a weight-reducing support screen plate 7 is arranged at the assembly opening 8, a through hole for a shot blasting mechanism 6 to pass through an impact bin is formed in the middle of the weight-reducing support screen plate 7, weight-reducing holes are formed in the rest positions, a certain weight is reduced by the structure of a solid steel plate between the weight-reducing support screen plate and the weight-reducing support screen plate, and the adsorption.
Because in the complete machine operation process, can't avoid a small amount of shot can't get into from strikeing the recovery passageway that the storehouse got into smoothly, these shot can stop in strikeing the mouth department and exist and be inhaled the possibility that synchronous belt adsorbs by magnetism among the synchronous track subassembly 2 of inhaling by magnetism, in case exceed the shot of corresponding quantity by the absorption on the synchronous belt of inhaling magnetism, not only can cause the influence to the normal walking of synchronous track subassembly 2 of inhaling magnetism, these shots are difficult to collect moreover. In the previous test and inspection, although the baffle is simply added to prevent the steel shots from being sucked away by the magnetic-attraction synchronous track assembly 2, when the whole machine is separated from the vertical surface, the steel shots can be scattered to the ground, and the collection difficulty is increased. Therefore in this application, 1 lower surface of chassis walking assembly is provided with the collection mechanism that is used for collecting a small amount of steel shots that leak, collects the mechanism and includes collecting plate 10 and be located the flank board 9 of collecting plate 10 both sides and be located the fin magnetism suction disc 12 of collecting plate 10 caudal side, and the flank board 9 of both sides is fixed respectively in the lower surface both sides of 1 walking direction of chassis walking assembly and is used for preventing to inhale on synchronous crawler assembly 2 from the steel shots that the impact mouth department revealed are inhaled by the magnetism, collecting plate 10 fixes on 1 lower surface of chassis walking assembly through many bolt detachably, fin magnetism suction disc 12 adopts permanent magnetic material preparation and fixes the lower surface caudal side at 1 walking direction of chassis walking assembly. In this embodiment, the symmetry processing has two collecting grooves 11 on the collecting plate 10, and collecting groove 11 one end and the switch-on of the side wing board 9 that corresponds the side, the other end and fin magnetic suction board 12 switch-on, in steel shot striking the direction entering collecting groove 11 of side wing board 9 back edge side wing board to finally by the steady absorption on fin magnetic suction board 12 so that concentrate the collection.
The high integration level of the whole machine is guaranteed, the width requirement is met, the whole machine can adapt to the working conditions of narrow and small channels or gaps, the traditional crawler-type magnetic attraction walking mechanism cannot meet the working conditions of small turning radius at present, the reason is that the walking mechanism turns to after the turning radius is reduced, the attraction force of the walking mechanism needs to be greatly reduced, the risk of inclination and falling is caused, and therefore the walking mechanism can only turn to with a relatively large turning radius. In order to overcome the defect, in the application, at least one of the front side and the rear side of the chassis walking assembly 1 is provided with the power-assisted adsorption mechanism 5, and when the weight of the whole machine is larger (more than 200kg), the front side and the rear side of the chassis walking assembly 1 are provided with the power-assisted adsorption mechanism 5. Helping hand adsorption apparatus constructs 5 and can provide certain adsorption affinity when turning to at little turning radius to can adapt to the curved surface of certain angle and adsorb, specifically, helping hand adsorption apparatus constructs 5 and includes connection substrate 51, adsorb base plate 52 and two sets of connecting pieces, connection substrate 51 and chassis walking assembly 1's preceding lateral wall or back lateral wall fixed connection, adsorb base plate 52 lower surface and be provided with a plurality of absorption magnet 58, two sets of connecting pieces are connected between adsorption substrate 52 and connection substrate 51 and are used for realizing adsorbing base plate 52 and rotate relatively connecting substrate 51, thereby adapt to the curved surface of certain angle and adsorb.
In the embodiment, the two groups of connecting pieces not only realize the hinging function, but also ensure the corresponding connection stability, the connecting piece comprises an upper connecting plate 53 and three lower connecting plates 54, the upper connecting plate 53 is in a U-shaped plate form, one side of the middle part of the upper connecting plate 53 is hinged with a hinge seat arranged on the connecting base plate 51 and realizes the relative rotation with the connecting base plate 51, three through holes are processed on the same positions of the two end parts of the upper connecting plate 53, a locking screw 56 is inserted into each through hole, three lower connecting plates 54 are sequentially and vertically fixed on the upper surface of the adsorption base plate 52, and a strip-shaped hole 55 is processed on each lower connecting plate 54, the upper end of each lower connecting plate 54 penetrates between the two end parts of the upper connecting plate 53, the strip-shaped hole 55 on each lower connecting plate 54 is opposite to the via hole at the corresponding position on the upper connecting plate 53 and is connected in series through a locking screw 56, and one end of the locking screw 56 is matched with a limiting nut. The structural form of the connecting piece not only can enable the adsorption substrate 52 to rotate relative to the connection substrate 51, but also can enable the adsorption substrate 52 to move up and down for a small distance relative to the connection substrate 51, so that the connecting piece can adapt to a curved surface with an uneven surface.
In order to facilitate the installation or removal of the plurality of adsorption magnets 58 on the lower surface of the adsorption substrate 52, a plurality of partition plates 57 are disposed on the lower surface of the adsorption substrate 52, a mounting gap matched with the adsorption magnet 58 in shape is formed between adjacent partition plates 57, a single adsorption magnet 58 is disposed in the single mounting gap, specifically, the plurality of partition plates 57 are uniformly arranged on the lower surface of the adsorption substrate 52 in a rectangular array, and one side of the partition 57 is formed with an insertion projection, the adsorption base plate 52 is processed with a plurality of insertion holes, the partition plate 57 is inserted into the jack through the insertion projection to realize movable insertion with the adsorption base plate 52, the adsorption magnet 58 is detachably fixed to the lower surface of the adsorption base plate 52 between the adjacent partition plates 57 by means of a countersunk bolt, therefore, the installation position of each adsorption magnet 58 can be positioned, the magnetic attraction force between the corresponding adsorption magnets 58 can be reduced, and the installation and the disassembly are convenient.
Because adsorption magnet 58 direct adsorption is on steel structure surface, not only there is suction great and be difficult to control, when advancing the unevenness curved surface moreover, adsorption magnet 58 receives the easy cracked condition of fragility that appears of external force extrusion, therefore, a plurality of helping hand sliders 13 are installed to adsorption substrate 52 lower surface detachably, in this embodiment, helping hand slider 13 is universal ball bearing, and its ball bottom surface is less than adsorption magnet 58 lower surface 1 ~ 8mm, preferably 5mm, not only can do benefit to adsorption substrate 52 and walk on unevenness curved surface, can also guarantee not direct contact under the controllable prerequisite of magnetic force between adsorption magnet 58 and the steel structure surface, reduced the possibility of adsorption magnet 58 collision damage. In addition, the complete machine is when the steel construction vertical plane breaks away from after the work finishes, owing to there is great magnetic force, needs a plurality of auxiliary personnel to assist the completion jointly, in order to avoid appearing hindering the hand and providing outer the support that draws, protection plate 59 is all installed to adsorption substrate 52 left and right sides and front side to the staff's hand power provides the support, prevents to appear the phenomenon that adsorption substrate 52 directly pressed the hand, and simultaneously, processing has three screw hole 14 on the adsorption substrate 52, all cooperates the jack-up screw rod (not shown) in the three screw hole 14, through rotatory jack-up screw rod, makes adsorption substrate 52 break away from the steel construction surface, and this kind breaks away from dismantlement mode safety and laborsaving.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the scope of the present invention. It should be noted that structures or components illustrated in the drawings are not necessarily drawn to scale, and descriptions of well-known components and processing techniques and procedures are omitted to avoid unnecessarily limiting the invention.
Claims (14)
1. Wall-climbing type shot blasting robot comprises a crawler-type magnetic suction walking mechanism and a shot blasting mechanism, wherein the crawler-type magnetic suction walking mechanism comprises a chassis walking assembly and magnetic suction synchronous crawler components arranged on two sides of the chassis walking assembly, an assembly port is arranged on the chassis walking assembly, the assembly port arranged on the chassis walking assembly of the shot blasting mechanism is used for performing shot blasting treatment on a vertical face, and the wall-climbing type shot blasting robot is characterized in that: the chassis walking assembly is provided with a mounting groove for integrating electrical components, the mounting groove is circumferentially arranged around the shot blasting mechanism and is positioned above the magnetic attraction synchronous crawler assembly, and the power-assisted adsorption mechanism is mounted on at least one of the front side and the rear side of the chassis walking assembly.
2. The wall-climbing type blasting robot according to claim 1, wherein: the mounting groove comprises a middle groove section and side groove sections connected to two sides of the middle groove section, the middle groove section is located right above the chassis walking assembly, and the side groove sections on two sides are respectively located right above the magnetic-attraction synchronous crawler belt components on two sides.
3. The wall-climbing type blasting robot according to claim 2, wherein: the two ends of the middle groove section are communicated with the side groove sections on the two sides respectively, the groove surface of the middle groove section is a settlement surface, and the middle groove section and the side groove sections on the two sides of the middle groove section are distributed around the shot blasting motor of the shot blasting mechanism in the horizontal circumferential direction.
4. The wall-climbing type blasting robot according to claim 1, wherein: processing has at least one louvre on the lateral wall of mounting groove, and it has the shield to seal on the mounting groove, and the shield includes mounting groove sealing and throws ball mechanism sealing, the notch shape adaptation of mounting groove sealing and mounting groove and be used for the notch of activity sealing mounting groove, throw ball mechanism sealing and connect in mounting groove sealing one side and be used for coveing the feed back storehouse of throwing ball mechanism.
5. The wall-climbing type blasting robot according to claim 1, wherein: and a weight-reducing support screen plate is arranged at the assembly port of the chassis walking assembly, and a through hole for the shot blasting mechanism to pass through is formed in the weight-reducing support screen plate.
6. The wall-climbing type blasting robot according to any one of claims 1 to 5, wherein: the power-assisted adsorption mechanism comprises a connecting substrate, an adsorption substrate and at least one group of connecting pieces, the connecting substrate is fixedly connected with the chassis walking assembly, a plurality of adsorption magnets are arranged on the lower surface of the adsorption substrate, and the at least one group of connecting pieces are connected between the adsorption substrate and the connecting substrate and used for realizing the rotation of the adsorption substrate relative to the connecting substrate.
7. The wall-climbing type blasting robot according to claim 6, wherein: the connecting piece includes upper junction plate and an at least lower connecting plate, upper junction plate one end is articulated with connection substrate, and processing has the via hole that equals with lower connecting plate quantity on the upper junction plate, all alternate in every via hole has locking screw, at least one lower connecting plate is vertical to be fixed at absorption substrate upper surface, all process on every lower connecting plate has the bar hole, and the via hole that corresponds the position on bar hole on every lower connecting plate and the upper junction plate just concatenates through locking screw, locking screw one end cooperation is limited nut.
8. The wall-climbing type blasting robot according to claim 6, wherein: the adsorption base plate lower surface is provided with the polylith baffle, forms the installation clearance with adsorption magnet shape adaptation between the adjacent baffle, and single adsorption magnet sets up in single installation clearance.
9. The wall-climbing type blasting robot of claim 8, wherein: the multi-block partition board is evenly arranged on the lower surface of the adsorption base board, the insertion protrusions are formed on one side of the partition board, a plurality of insertion holes are formed in the adsorption base board, the partition board is inserted into the insertion holes through the insertion protrusions and movably inserted between the adsorption base board, and the adsorption magnet is detachably fixed on the lower surface of the adsorption base board between the adjacent partition boards through bolts.
10. The wall-climbing type blasting robot according to claim 6, wherein: a plurality of power-assisted sliding parts are detachably mounted on the lower surface of the adsorption substrate, and the bottoms of the power-assisted sliding parts are lower than the lower surface of the adsorption magnet by 1-8 mm.
11. The wall-climbing type blasting robot according to claim 6, wherein: at least one threaded hole is processed on the adsorption substrate, and a support screw rod is matched in the threaded hole.
12. The wall-climbing type blasting robot according to any one of claims 1 to 5, wherein: and a collecting mechanism for collecting a small amount of leaked steel shots is arranged on the lower surface of the chassis walking assembly.
13. The wall-climbing type blasting robot of claim 12, wherein: the collecting mechanism comprises a collecting plate and side wing plates located on two sides of the collecting plate, the side wing plates on two sides are respectively fixed on two sides of the lower surface of the walking direction of the chassis walking assembly and used for preventing steel shots from being adsorbed on the magnetic attraction synchronous crawler belt assembly, the collecting plate is detachably fixed on the lower surface of the chassis walking assembly, and at least one collecting groove communicated with the side wing plates on two sides is processed on the collecting plate.
14. The wall-climbing type blasting robot of claim 13, wherein: the collecting mechanism is characterized by comprising two collecting grooves, wherein one ends of the two collecting grooves are respectively communicated with the side wing plates on two sides, and the collecting mechanism further comprises an empennage magnetic suction plate which is communicated with the other ends of the two collecting grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911243981.1A CN110861004A (en) | 2019-12-06 | 2019-12-06 | Wall-climbing type shot blasting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911243981.1A CN110861004A (en) | 2019-12-06 | 2019-12-06 | Wall-climbing type shot blasting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110861004A true CN110861004A (en) | 2020-03-06 |
Family
ID=69658687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911243981.1A Pending CN110861004A (en) | 2019-12-06 | 2019-12-06 | Wall-climbing type shot blasting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110861004A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112377511A (en) * | 2020-11-04 | 2021-02-19 | 广州力多机器人智能科技有限公司 | Adsorption mechanism and operating system |
-
2019
- 2019-12-06 CN CN201911243981.1A patent/CN110861004A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112377511A (en) * | 2020-11-04 | 2021-02-19 | 广州力多机器人智能科技有限公司 | Adsorption mechanism and operating system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206700980U (en) | A kind of filter cylinder cleaning device of filter drum type precipitator | |
| CN211163552U (en) | Wall-climbing type shot blasting robot | |
| CN110861004A (en) | Wall-climbing type shot blasting robot | |
| CN106735395A (en) | A kind of dedusting drilling machine | |
| CN208526100U (en) | Mobile type dust collector in a kind of subway station | |
| CN112588441A (en) | Air purification degerming equipment | |
| CN210003325U (en) | underground dust removal device for coal mine | |
| CN207641656U (en) | The cleaning apparatus for self that dust collect plant is connected in a kind of cleaning equipment with electrostatic air | |
| CN207680784U (en) | A kind of equipment for removing ferric ion with collecting mechanism | |
| CN106836961B (en) | A kind of environmental treatment power plant coal dust automatic absorbing protecting wall | |
| CN111774840B (en) | Automatic assembly device for aluminum alloy frame and corner connector of solar cell panel | |
| CN207493387U (en) | A kind of bridge tunnel air deduster | |
| CN216726386U (en) | Dust collector is used in building engineering construction | |
| CN105498392B (en) | A kind of haze filter with precision sealing device | |
| CN115301319A (en) | Dust suction device of jaw crusher | |
| CN114405193A (en) | Road and bridge construction sprays dust device | |
| CN107552242A (en) | A kind of electric dust collector | |
| CN102119842B (en) | Floor brush device for dust cleaner | |
| CN208734331U (en) | The dust-extraction unit of development machine | |
| CN205477717U (en) | Tunnel dust collector | |
| CN211465301U (en) | Welding device with protection architecture | |
| CN206823454U (en) | A kind of dense shallow hole dust catcher for coal mines | |
| CN206508719U (en) | Suitable for the bispin purifier on absorption tower | |
| CN107096349A (en) | A kind of dense shallow hole dust catcher for coal mines | |
| CN214108243U (en) | Environment-friendly device of tire type slag removing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |