CN111843842A

CN111843842A - Running gear and operation equipment

Info

Publication number: CN111843842A
Application number: CN202010527155.6A
Authority: CN
Inventors: 汪冬
Original assignee: Guangzhou Liduo Robot Intelligent Technology Co ltd
Current assignee: Guangzhou Liduo Robot Intelligent Technology Co ltd
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2020-10-30

Abstract

The invention relates to a walking device and operation equipment, wherein the walking device comprises a first walking device, the first walking device comprises a fixing frame, a power device, a driving wheel, a crawler and a fixed sucker, the driving wheel comprises a first wheel set and a second wheel set, the first wheel set is fixed at one end of the fixing frame, the second wheel set is fixed at the other end of the fixing frame, and the first wheel set and the second wheel set are in transmission connection through the crawler; the power device is fixed on the fixing frame and drives the first wheel set and the second wheel set to rotate; the plurality of fixed suckers are fixed on the crawler and rotate along with the crawler; the walking device and the operation equipment can walk on the vertical surface for operation, and are convenient and high in operation efficiency.

Description

Running gear and operation equipment

Technical Field

The invention relates to the field of rust removal machinery, in particular to automatic rust removal equipment.

Background

At present, the rust removal modes in the market can be mainly divided into shot blasting rust removal, sand blasting rust removal and pickling-free wire drawing rust removal.

The shot blasting rust removal mainly comprises the steps of throwing steel shots with certain particle sizes out by utilizing the high-speed operation of mechanical equipment through the centrifugal force of a head throwing mechanism, and violently colliding the thrown steel shots with an object to be rust removed so as to remove the rust of the object to be rust removed; the automatic derusting equipment for shot blasting is mainly composed of a shot blasting device, a wear-resistant rubber ring belt, a packing auger, a lifting device, a separator, a feeding conveyer, a dust remover and an electric appliance. The sand blasting is a rust removing method which is achieved by utilizing high-pressure air to bring out quartz sand and spray the quartz sand on the surface of a component; a complete suction dry sander generally consists of six systems, namely a structural system, a medium power system, a piping system, a dust removal system, a control system and an auxiliary system. The pickling-free wire drawing rust removal mainly aims at the rust removal of the wire; the pickling-free shelling and rust removing machine mainly comprises a gearbox five-wheel shelling mechanism, an adjustable cross parabola steel wire brush wheel, a totally-closed rust removing chamber, a forced lubricating device, a wire drawing die frame and an electrical control system. Therefore, whether the rust removing machine is a shot blasting rust removing machine, a sand blasting rust removing machine or a pickling-free wire drawing device, the rust removing machine has a large number of devices required during rust removing, is large in size and not easy to move, can perform rust removing operation only by moving a piece to be removed to the automatic rust removing device, and cannot remove rust on an immovable object.

Disclosure of Invention

The invention provides a traveling device and a working machine capable of automatically traveling on a vertical surface.

The technical scheme adopted by the invention is that the walking device comprises a first walking device, wherein the first walking device comprises a fixing frame, a power device, a driving wheel, a crawler and a fixed sucker, the driving wheel comprises a first wheel set and a second wheel set, the first wheel set is fixed at one end of the fixing frame, the second wheel set is fixed at the other end of the fixing frame, and the first wheel set and the second wheel set are in transmission connection through the crawler; the power device is fixed on the fixing frame and drives the first wheel set and the second wheel set to rotate; the fixed suckers are arranged in a plurality of numbers, and the fixed suckers are all fixed on the crawler belt and rotate along with the crawler belt.

Preferably, the first wheel set comprises a first gear and a second gear, the second wheel set comprises a third gear and a fourth gear, and the power device comprises a first power device and a second power device; the first power device is positioned between the first gear and the second gear and drives the first gear and the second gear to synchronously rotate; the second power device is positioned between the third gear and the fourth gear and drives the third gear and the fourth gear to synchronously rotate; the crawler belt comprises a first chain and a second chain, the first chain is in meshed connection with the first gear and the third gear, and the second chain is in meshed connection with the second gear and the fourth gear.

Preferably, the fixed sucker comprises a sucker body and a vacuum pump, the vacuum pump is fixedly connected with the sucker body, and an air exhaust port of the vacuum pump is communicated with the sucker body; the fixed sucker is fixedly connected with a balance piece, the first end of the balance piece is connected with the fixed sucker, and the second end of the balance piece extends towards the fixed frame; in the first condition, the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame; in the second case, the balance member does not apply a pulling force to the fixed suction cup.

Preferably, the balance member is electrically connected to the vacuum pump, a conductive strip is fixedly connected to the fixing frame, and when the balance member applies a pulling force to the fixing suction cup in a direction of the fixing frame, the balance member contacts and conducts electricity with the conductive strip; when the balance piece does not apply pulling force to the fixed sucker, the balance piece is not conducted with the conductive strip.

Preferably, the balance member includes a first connecting rod and a second connecting rod connected to each other, the first connecting rod is fixedly connected to the fixed chuck, a free end of the second connecting rod is connected to a conductive roller, and when the balance member applies a tensile force to the fixed chuck in a direction of the fixed frame, the conductive roller contacts a conductive strip on the fixed frame.

Preferably, the fixing frame is provided with a guide groove, the conductive strip is positioned in the guide groove, and the conductive roller rolls in the guide groove; the first connecting rod is also provided with an auxiliary roller which slides on the side wall of the fixing frame; alternatively, the first and second electrodes may be,

the first guide rod is sleeved with a buffer spring, and when the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame, the buffer spring applies a force opposite to the pulling force to the fixed sucker.

Preferably, each fixed suction cup is provided with at least two balance pieces, two balance pieces are arranged in parallel, two reinforcing pieces are arranged on the two balance pieces, and the two balance pieces are fixedly connected with the reinforcing pieces.

Preferably, the walking device further comprises a second walking device and a support frame, and the support frame is fixedly connected to the first walking device and the second walking device.

Preferably, the fixed suction cup has a suction capability when it is in contact with a suction surface of an external object; when the fixed sucker is separated from the sucking surface of an external object, the fixed sucker has no sucking capacity.

The invention also provides a working device comprising a working device and a walking device as claimed in any one of claims 1 to 8, wherein the working device is connected with the fixing frame, and the working device walks along with the walking device.

Preferably, the operation equipment is knocking equipment, the knocking device comprises a plurality of rust removal units and a gas distribution mechanism, each rust removal unit comprises a rust removal unit body and a bullet, an air cavity is formed in each rust removal unit body, each bullet is movably embedded in the air cavity, and the gas distribution mechanism is communicated with the air cavity and used for introducing compressed gas into the air cavity and driving the bullet to reciprocate relative to the air cavity; the air cavity comprises a guide through hole and a piston cavity, the guide through hole is connected and communicated with the piston cavity, the warhead is movably embedded in the guide through hole, and the side wall of the warhead abuts against the inner wall of the guide through hole, so that the piston cavity is a closed cavity; and a pressurizing station and a pressure relief station are arranged on the wall of the air cavity, the gas distribution mechanism can introduce gas into the piston cavity through the pressurizing station, and the gas in the piston cavity can be released into the atmosphere through the pressure relief station.

Preferably, the bullet comprises a bullet inner cavity, a first air hole and a second air hole are formed in the side wall of the bullet, a pressurizing station and a pressure releasing station are arranged on the side wall of the air cavity, the first air hole is matched with the pressure releasing station, and the second air hole is matched with the pressurizing station; the rust removal unit body is also provided with a buffer cavity, the buffer cavity is communicated with the pressurization station, and an air outlet of the air distribution mechanism is communicated with the buffer cavity; when the gas distribution mechanism pressurizes the buffer cavity, the second gas hole is aligned with the pressurizing station, gas enters from the second gas hole and fills the inner cavity of the bullet, and the bullet is driven by the gas pressure of the piston cavity to advance along the guide through hole; when the bullet advances to the first air hole and corresponds to the pressure relief station, air pressure is released through the pressure relief station, and the bullet resets after colliding with a rust-removed object.

Preferably, the knocking device comprises a plurality of rust removal units and a gas distribution mechanism, each rust removal unit comprises a rust removal unit body and a bullet, each rust removal unit body comprises a piston cylinder, an inner cover and an outer cover, a piston cavity, a buffer cavity and a guide through hole are all located in the piston cylinder, the outer cover is fixed on the piston cylinder, the buffer cavity is defined by the outer cover, the inner cover and the piston cylinder, and the inner cover is located between the piston cavity and the buffer cavity; when the warhead extends out, the warhead and the inner cover seal the piston cavity, and the inner cover and the outer cover seal the buffer cavity; when the warhead resets, the warhead presses the inner cover to the buffer cavity.

Preferably, the rust removal unit body comprises a first body and a second body, the first body is connected with the second body, a pressurization station is formed on the first body, a pressure relief station is formed on the second body, an air cavity is formed between the first body and the second body, and a bullet outlet through which a knocking part of a bullet passes is further formed on the second body; when the warhead is in an extending state, the air cavity is communicated with the pressure relief station, and the air cavity is not communicated with the pressurization station; when the warhead is in a retraction state, the air cavity is not communicated with the pressure relief station, and the air cavity is communicated with the pressurization station; the first body is made of a metal material, and the second body is made of a plastic material; at least part of the second bodies of the rust removing units are connected with each other into a whole.

Preferably, the operation equipment is a knocking device, the knocking device comprises a rust removal module, the rust removal module comprises a plurality of rust removal units, the rust removal units on each rust removal module are distributed in multiple rows and multiple columns, and the centers of knocking parts of at least part of the rust removal units in different rows are arranged in a staggered manner in the direction of a knocking surface; on the knocking surface of the rust removing device, the centers of at least part of the knocking parts of the rust removing units are distributed in a parallelogram lattice manner, and the connecting lines of the centers of the knocking parts of the rust removing units in the same row are obliquely arranged relative to the feeding direction of the rust removing device.

Preferably, the operation equipment further comprises a control module, and the walking device, the knocking device and the fixed suction cup are all connected with the control module; the automatic rust removing equipment also comprises a wireless transmission module, wherein the wireless transmission module is electrically connected with the control module; and/or the presence of a gas in the gas,

the operation equipment is a spraying device or an aluminum spraying device.

The walking device can automatically walk on the vertical surface, drives the operation device to work while walking, and has convenient use and high efficiency.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is an overall configuration diagram of a working apparatus according to a preferred embodiment of the present invention;

FIG. 2 is an enlarged view of portion A of the traveling mechanism of FIG. 1;

FIG. 3 is an overall configuration view of a traveling mechanism according to another embodiment of the present invention;

FIG. 4 is an enlarged view of portion B of FIG. 3;

fig. 5 is an overall configuration diagram of a working device according to another preferred embodiment of the present invention;

FIG. 6 is an exploded view of the rust removal module;

FIG. 7 is a cross-sectional view taken along direction AA in FIG. 6;

FIG. 8 is a sectional view of the knocking device in an assembled state;

FIG. 9 is a sectional view of the knocking device body according to the preferred embodiment of the present invention in an assembled state;

FIG. 10 is a partial cross-sectional view of a rapping device in accordance with another embodiment of the present invention

FIG. 11 is an exploded view of a section of a knocking device in accordance with another preferred embodiment of the present invention;

fig. 12 is a cross-sectional view of a bullet according to another preferred embodiment of the present invention;

FIG. 13 is a cross-sectional view of a rapping device in accordance with another preferred embodiment of the present invention;

fig. 14-1 to 14-5 are overall structural views of various warheads.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1-5, the technical solution adopted by the present invention is a walking device 2, which comprises a first walking device 2, wherein the first walking device comprises a fixed frame 23, a power device 21, a transmission wheel 24, a track 22 and a fixed suction cup 3. The drive wheel includes first wheelset and second wheelset, and first wheelset is fixed in the one end of mount 23, and the other end at mount 23 is fixed to the second wheelset, connects through the track transmission between first wheelset and the second wheelset, and specifically, this track is chain 22 or belt. The power device 21 is fixed on the fixing frame 23, and the power device 21 drives the first wheel set and the second wheel set to rotate, so as to drive the caterpillar track to rotate. The fixed suckers 3 are all fixed on the track and rotate along with the track, and the suckers can be adsorbed on the adsorption surface 100 of an object, so that the walking mechanism can walk on a vertical surface. Specifically, this sucking disc is good, wear-resisting and have elastic material by the gas tightness such as foaming sponge, plastic and makes, and fixed sucking disc 3 is provided with 3, 4, five or more, and a plurality of fixed sucking discs 3 even distribution is on the track.

In the preferred embodiment, the first set of wheels includes a first gear and a second gear, the second set of wheels includes a third gear and a fourth gear, and the power means 21 includes a first power means and a second power means. The first power device is positioned between the first gear and the second gear and drives the first gear and the second gear to synchronously rotate. The second power device is positioned between the third gear and the fourth gear and drives the third gear and the fourth gear to synchronously rotate. One motor drives two gears 24 simultaneously, and the synchronization performance is better. The two motors also rotate synchronously, and the synchronous performance of the two motors is controlled by the control device 5. Further, the track comprises a first chain and a second chain, the first chain is in meshed connection with the first gear and the third gear, and the second chain is in meshed connection with the second gear and the fourth gear.

In the preferred embodiment, the fixed suction cup 3 comprises a suction cup body 31 and a vacuum pump 32, the vacuum pump 32 is fixedly connected with the suction cup body 31, and the suction opening of the vacuum pump 32 is communicated with the suction cup body 31. Of course, in other embodiments, the suction cup body 31 may be communicated with an external vacuum generating device, and air in the suction cup body 31 is sucked by the vacuum generating device, so as to generate vacuum. The fixed sucker 3 is also fixedly connected with a balance piece 7, the first end of the balance piece 7 is connected with the fixed sucker 3, and the second end of the balance piece 7 extends towards the fixed frame 23; in the first case, the balance member 7 applies a pulling force to the fixed suction cup 3 in the direction of the fixed frame 23, and at this time, the fixed suction cup 3 is sucked to the object suction surface. In the second case, the balance member 7 does not apply a pulling force to the fixed suction cup 3, and at this time, the fixed suction cup 3 does not suck the object suction surface 100, that is, the fixed suction cup 3 rotates to the side away from the object suction surface. The fixed suction cup 3 rotates along with the track, and the fixed suction cup 3 contacting the object suction surface 100 is sucked on the suction surface of the object. Since the weight of the traveling device 2 and other devices mounted on the upper portion thereof is large, the suction force of the fixed suction cup 3 needs to overcome the weight. According to practical experience, the force applied to the suckers adsorbed by the object adsorption surface is different, the sucker at the middle position generally needs to overcome larger force, when a gap is formed between the sucker at the middle position and the object adsorption surface, the sucker loses adsorption capacity, and other suckers need to bear more gravity and lose adsorption capacity; by doing so, the running gear 2 risks falling. In order to overcome the problem, the invention adopts the balancing piece 7 to enable the gravity borne by the fixed suckers 3 to be even, and the problem that the suckers are gradually separated from the object adsorption surface can not occur due to the balanced stress of the fixed sucker 3 in the middle and the fixed sucker 3 on one side.

In the preferred embodiment, the balance member 7 is electrically connected to the vacuum pump 32, the conductive strip 70 is fixedly connected to the fixing frame 23, when the balance member 7 applies a pulling force to the fixed suction cup 3 in a direction toward the fixing frame 23, the balance member 7 contacts the conductive strip 70 and conducts electricity, the vacuum pump 32 is activated, and the fixed suction cup 3 has a suction force. When the balance member 7 does not apply a pulling force to the fixing suction cup 3, the balance member 7 is not conducted with the conductive strip 70, the vacuum pump 32 is turned off, and the fixing suction cup 3 loses vacuum, so that the suction force is used.

In the preferred embodiment, the balancing member 7 includes a first connecting rod 71 and a second connecting rod 72 connected to each other, the first connecting rod and the second connecting rod are connected and fixed to form a "7" shape, the first connecting rod 71 is fixedly connected to the fixed suction cup 3, a conductive roller 74 is connected to a free end of the second connecting rod 72, and when the balancing member 7 applies a pulling force to the fixed suction cup 3 in a direction toward the fixing frame 23, the conductive roller 74 contacts the conductive strip 70 on the fixing frame 23. Specifically, the conductive body is a conductive copper bar, and the conductive bar 70 is insulated from the fixing frame 23.

In the preferred embodiment, the fixing frame 23 is provided with a guide groove, the conductive strip 70 is located in the guide groove, the conductive roller 74 rolls in the guide groove, and the guide groove plays a role of guiding and can also effectively protect the conductive strip 70. In other embodiments, a thin plate perpendicular to the fixing frame 23 is fixed on the fixing frame 23, and the conductive strip 70 is fixed on the thin plate.

In a preferred embodiment, the first connecting rod 71 is also provided with an auxiliary roller 73, and the auxiliary roller 73 slides on the side wall of the fixing frame 23. In other embodiments, the first guide rod is provided with a reinforcing member 75, and the first guide rod is further sleeved with a buffer spring. The buffer spring is located between the reinforcement 75 and the fixed suction cup 3, and further, one end of the spring is connected with the fixed suction cup 3, and the other end is connected with the reinforcement 75. When the balance piece 7 applies a pulling force to the fixed sucker 3 in the direction of the fixed frame 23, the buffer spring applies a force opposite to the pulling force to the fixed sucker 3; the force exerted by the balance member 7 on the fixing frame 23 is more moderate, and the service life of the conductive strip 70 and the conductive roller 74 can be longer.

In the preferred embodiment, each fixed suction cup 3 is provided with at least two balance pieces 7, the two balance pieces 7 are arranged in parallel, the two balance pieces 7 are provided with reinforcing members 75, and the two balance pieces 7 are fixedly connected with the reinforcing members 75, so that the structure is more stable.

In a preferred embodiment, the walking device 2 further comprises a second walking device and a supporting frame 6, wherein the supporting frame 6 is fixedly connected to the second walking device of the first walking device 2. The first running gear 2 and the second running gear run synchronously and carry the supporting frame 6 to move together.

In a preferred embodiment, the fixed suction cup 3 is sucked on a suction surface of an external object, the fixed suction cup 3 contacting with the suction surface of the external object has a suction capability, and the fixed suction cup 3 separated from the suction surface of the external object has no suction capability; energy and cost are saved.

Referring to fig. 1 and 5, the present invention further provides a working apparatus including a working device 1 and a traveling device 2 according to any one of the above, wherein the working device 1 is connected to the fixed frame 23, and the working device 1 travels along with the traveling device 2.

In a preferred embodiment, the working device is a spraying device or an aluminum spraying device or a knocking device.

Referring to fig. 6-14, the work apparatus is a rapping device, and the power unit 21 rotates the road wheels, thereby driving the rapping device to travel. The fixed sucker fixed on the crawler can be fixedly adsorbed on the adsorption surface (surface to be derusted), so that the automatic derusting equipment can walk on the vertical surface to derust the adsorption surface of a vertical object.

In a preferred embodiment, the walking device 2 further comprises a support frame 6, and the walking device 2 comprises a first walking device and a second walking device, which are respectively connected to two ends of the support frame 6. The knocking device is fixed on the supporting frame 6 and is positioned between the first walking device and the second walking device. The first walking device and the second walking device carry the knocking device together to advance, the balance performance is better, if the fixed sucker 3 on one picture advancing device 2 loses the adsorption force, other fixed suckers 3 have adsorption capacity, and the safety performance is better. Furthermore, the support frame 6 is also provided with a hook, and when the safety rope is used, the safety rope is tied on the hook, so that the safety performance of the safety rope is further improved. Knocking device includes sliding rail 4 and strikes the module, strikes the module and can follow sliding rail and remove, and sliding rail 4's extending direction is perpendicular mutually with 2 advancing direction of running gear.

Referring to fig. 1 and 5, in a preferred embodiment, the road wheels include a first gear (i.e., first road wheel 22), a second gear (i.e., second road wheel 24), a third gear, and a fourth gear, the crawler includes a first chain and a second chain, the first chain surrounds the first gear and the third gear, the second chain surrounds the second gear and the fourth gear, and the fixed suction cups 3 are fixed on the first chain and the second chain. The first chain and the second chain are transmission chains, connecting pieces for fixing objects are arranged on the chains, and the fixed suckers 3 are fixed on the chains.

In a preferred embodiment, a telescopic mechanism is arranged between the knocking device and the support frame 6, one end of the telescopic mechanism is fixedly connected with the support frame 6, and the other end of the telescopic mechanism is fixedly connected with the knocking device. The telescopic device can adjust the distance between the knocking part of the knocking device and the surface to be derusted through stretching.

In a preferred embodiment, the knocking device comprises a plurality of rust removing units and a valve mechanism, and the rust removing units comprise rust removing unit bodies. Referring to fig. 8 and 9, an air cavity 10 is arranged on the rust removing unit body, a bullet 12 is movably embedded in the air cavity 10, and a gas distribution mechanism is communicated with the air cavity 10 and used for introducing compressed gas into the air cavity 10 to drive the bullet 12 to reciprocate relative to the air cavity 10. Specifically, each air distribution mechanism is communicated with the plurality of rust removing units through pipelines. In another preferred embodiment, each air distribution mechanism is communicated with one rust removal unit through a pipeline. The air cavity 10 comprises a guide through hole 101 and a piston cavity 102, the guide through hole 101 is connected and communicated with the piston cavity 102, the warhead 12 is movably embedded in the guide through hole 101, and the side wall of the warhead 12 abuts against the inner wall of the guide through hole 101, so that the piston cavity 102 becomes a closed cavity. The wall of the air cavity 10 is provided with a pressurizing station 104 and a pressure relief station 105, the gas distribution mechanism can introduce gas into the piston cavity 102 through the pressurizing station 104, and after the air pressure in the piston cavity 102 is enough, the bullet 12 can be pressed outwards, so that the bullet 12 can knock on an object to be derusted. The air in the piston cavity 102 can be discharged into the atmosphere through the pressure relief station 105, the pressure in the piston cavity 102 is lowered, the bullet 12 knocks the object to be derusted, and the object to be derusted generates reverse acting force on the bullet 12, so that the bullet 12 retracts and resets.

Referring to fig. 11, in the preferred embodiment, the bullet 12 includes a bullet cavity 120, and the top of the bullet cavity 120 is open and is in communication with the piston cavity 102. A first air hole 121 and a second air hole 122 are formed in the side wall of the bullet 12, a pressurizing station 104 and a pressure releasing station 105 are arranged on the side wall of the air cavity 10, the first air hole 121 is matched with the pressure releasing station 105, and the second air hole 122 is matched with the pressurizing station 104. The rust removal unit body is also provided with a buffer cavity 103, the buffer cavity 103 is communicated with a pressurization station 104, and an air outlet of the air distribution mechanism is communicated with the buffer cavity 103. When the valve train pressurizes the buffer chamber 103, the second air hole 122 is aligned with the pressurizing station 104, air enters from the second air hole 122 and fills the bullet inner chamber 120, and the bullet 12 is driven by the air pressure of the piston chamber 102 to advance along the guide through hole 101. When the bullet 12 advances to the first air hole 121 corresponding to the pressure relief station 105, air pressure is released through the pressure relief station 105, and the bullet 12 is reset after being collided with a rust-removed object. When the bullet 12 is not actuated, the second air hole 122 corresponds to the pressurization station 104, and the first air hole 121 is sealed by the side wall of the guide through hole 101 in the guide through hole 101, so that the bullet inner cavity 120 and the piston cavity 102 are isolated from the external atmosphere, therefore, when the air distribution mechanism injects air to the buffer cavity 103 for pressurization, the air enters the pressurization station 104 from the buffer cavity 103 through the air passage 107 of the piston cavity 102, the air in the pressurization station 104 enters the bullet inner cavity 120 from the second air hole 122, so that the air pressure of the bullet inner cavity 120 is equal to the pressure of the piston cavity 102, and at the moment, the piston cavity 102 has a pressure difference with the external atmosphere, so that the bullet 12 is pushed towards the guide through hole 101. The bullet 12 is pushed by the air pressure to be away from the piston cavity 102 until the first air hole 121 corresponds to the pressure relief station 105, so that the air in the bullet inner cavity 120 is released to the external atmosphere. Referring to fig. 9, further, the buffer cavity 103 is a part of the piston cavity 102, and a cavity enclosed by the connection end (i.e., the end located in the piston cavity 102) of the bullet 12 and a part of the side wall of the piston cavity 102 is the buffer cavity 103. The side wall of the piston cavity 102 is formed with a pressurizing station 104, the pressurizing station 104 is communicated with the buffer cavity 103 through an air channel 107, and the gas distribution mechanism guides high-pressure gas into the buffer cavity 103 and then enters the pressurizing station 104. The second body 112 is formed with a guiding through hole 101, a pressure relief station 105 is disposed on a side wall of the guiding through hole 101, and a striking portion 1200 of the bullet 12 can pass through the guiding through hole 101 (a portion of the bullet 12 for striking an object to be struck is the striking portion 1200) and can extend out of the guiding through hole 101. The bullet 12 is formed with a bullet cavity 120, a first air hole 121 and a second air hole 122, and the first air hole 121 and the second air hole 122 are both communicated with the bullet cavity 120. When the bullet 12 is in a retraction state, the second air hole 122 is communicated with the pressurizing station 104, the first air hole 121 is closed by the side wall of the guide through hole 101, high-pressure air flows into the bullet inner cavity 120 through the buffer cavity 103, the pressurizing station 104 and the second air hole 122, so that the pressures of the bullet inner cavity 120 and the buffer cavity 103 are kept balanced and higher than atmospheric pressure, when the pressure is higher and higher, the bullet 12 can be pressed downwards, and the bullet 12 extends out and strikes on an object to be struck. When warhead 12 stretched out the state, first gas pocket 121 was linked together with pressure release station 105, second gas pocket 122 is sealed by the lateral wall of piston chamber 102, after first gas pocket 121 and the pressure release station 105 on the second body 112 communicate, high pressure in warhead inner chamber 120 is let out from pressure release station 105, warhead 12 strikes and also can form a very strong bounce after waiting to strike the thing, make warhead 12 rebound rapidly and reset, because the pressure in the cushion chamber 103 still exists, gas in the cushion chamber 103 forms an air cushion, can cushion warhead 12's bounce, reduce and even avoid warhead 12's link and piston chamber 102 striking, reduce wearing and tearing, prolong this knocking device's life. Referring to fig. 13, in addition, in order to ensure that the bullet 12 can return to the initial position at each rebound, i.e. the position of the first air hole 121 corresponding to the pressurizing station 104, and simultaneously avoid the rebound bullet 12 from hitting the buffer chamber 103, a damping spring 14 facing the bullet 12 is arranged in the buffer chamber 103, and the bullet 12 hits the damping spring 14 to decelerate when rebounding, so that the second air hole 122 can correspond to the pressurizing station 104 for a longer time, and enough time is provided for inflating the piston chamber 102.

Referring to fig. 8 and 9, in a preferred embodiment, the rust removing unit body includes a piston cylinder 1111, an inner cover 1113, and an outer cover 1112, the piston chamber 102, the buffer chamber 103, and the guide through hole 101 are located in the piston cylinder 1111, the outer cover 1112 is fixed to the piston cylinder 1111, the buffer chamber 103 is defined by the outer cover 1112, the inner cover 1113, and the piston cylinder 1111, and the inner cover 1113 is located between the piston chamber 102 and the buffer chamber 103. When the warhead 12 extends, the warhead 12 and the inner cover 1113 seal the piston cavity 102, and the inner cover 1113 and the outer cover 1112 seal the buffer cavity 103; when the bullet 12 is reset, the bullet 12 presses the inner cap 1113 toward the buffer chamber 103. An inner cover 1113 is arranged between the piston cavity 102 and the buffer cavity 103, the piston cavity 102 and the buffer cavity 103 are separated by the inner cover 1113, the inner cover 1113 can move in the buffer cavity 103, when the warhead 12 rebounds, the warhead first collides with the inner cover 1113, high-pressure gas exists in the buffer cavity 103, and when the buffer moves in the buffer cavity 103, the high-pressure gas plays a role in buffering, so that the warhead 12 is not damaged by collision. A pressurizing station 104 and a pressure relief station 105 are arranged in the piston cylinder 1111. When the warhead 12 is in a retraction state, the piston cavity 102 is not communicated with the pressure relief station 105, and the buffer cavity 103, the piston cavity 102 and the pressurization station 104 are communicated with each other; high-pressure gas firstly enters the buffer cavity 103, then enters the pressurizing station 104 from the air passage 107, and then enters the piston cavity 102 from the pressurizing station 104, when the pressure in the piston cavity 102 is large enough, the bullet 12 can be pressed out of the piston cavity 102, and the knocking part 1200 of the bullet 12 is made to hit on materials for removing rust, smashing the materials and the like. When the warhead 12 is in an extending state, the piston cavity 102 is communicated with the pressure relief station 105, and the piston cavity 102 is not communicated with the pressurization station 104; after the piston cavity 102 is communicated with the pressure relief station 105, the gas in the piston cavity 102 can be released, the air pressure in the piston cavity 102 is reduced, and the bullet 12 rebounds rapidly due to the rebound force formed after the bullet 12 collides with an object to be derusted, and then extends out again, so that the cycle is performed. In a further preferred embodiment, the second end surface of the inner cover 1113 is provided with a pressing air groove 11130, the pressing air groove 11130 is communicated with the buffer cavity 103, and the pressing air groove 11130 is arranged, so that the inner cover 1113 can be tightly abutted against the end part of the side wall of the piston cavity 102, and the sealing effect is better. In another embodiment, referring to fig. 10, the diameter of the buffer chamber 103 is equal to or smaller than the diameter of the piston chamber 102, an annular convex ring 11110 is disposed between the piston chamber 102 and the buffer chamber 103, a first end of the inner cover 1113 is engaged with the inner wall of the convex ring 11110, a second end of the inner cover 1113 is engaged with the buffer chamber 103, and the inner cover 1113 extends into the piston chamber 102.

Referring to fig. 6, in a preferred embodiment, the rust removing unit body includes a first body 111 and a second body 112, the first body 111 and the second body 112 are connected, a pressurizing station 104 is formed on the first body 111, a pressure releasing station 105 is formed on the second body 112, an air chamber 10 is formed between the first body 111 and the second body 112, and an outlet of the bullet 12 through which a striking portion 1200 of the bullet 12 passes is further formed on the second body 112; when the warhead 12 is in an extending state, the air cavity 10 is communicated with the pressure relief station 105, and the air cavity 10 is not communicated with the pressurization station 104; when the bullet 12 is in a retraction state, the air cavity 10 is not communicated with the pressure relief station 105, and the air cavity 10 is communicated with the pressurization station 104. Further, the first body 111 is made of a metal material, and the second body 112 is made of a plastic material; at least part of the second bodies 112 of the rust removing units are integrally connected to each other. The material specific gravity of the second body 112 is lower than that of the first body 111, and the rust removing unit body is divided into the first body 111 and the second body 112, so that the weight of the knocking device can be reduced without affecting the performance of the knocking device, and the cost is saved. Specifically, the first body 111 is made of stainless steel, and the second body 112 is made of plastic, aluminum alloy, or the like. The first body 111 includes a piston cylinder 1111 in which the piston chamber 102 is located, an inner cap 1113 and an outer cap 1112, the bullet 12 passes through the piston chamber 102, and the other end of the bullet 12 is caught in the piston chamber 102. Outer cover 1112 is secured to piston barrel 1111 and buffer chamber 103 is defined by outer cover 1112, inner cover 1113 and piston barrel 1111 with inner cover 1113 positioned between piston chamber 102 and buffer chamber 103. When the warhead 12 extends out, the warhead 12 and the inner cover 1113 seal the piston cavity 102, the inner cover 1113 and the outer cover 1112 seal the buffer cavity 103, the buffer cavity 103 is inflated, gas enters the piston cavity 102 through the air passage 107 and further enters the warhead inner cavity 120, when the air pressure is sufficiently high, the warhead 12 is pressed out, and the warhead 12 is beaten on the material; after receiving the impact, warhead 12 resets, and warhead 12 presses inner cup 1113 to cushion chamber 103, and the gas in cushion chamber 103 forms the air cushion, and cushion warhead 12 and inner cup 1113 reduce the impact force, increase of service life.

Referring to fig. 9, in a further preferred embodiment, a first end of the bullet 12 is formed with a first position-limiting portion 123, the diameter of the first position-limiting portion 123 is larger than that of the bullet 12, a second position-limiting portion 106 matched with the first position-limiting portion 123 is provided on a side wall of the piston cylinder 1111, the diameter of the second position-limiting portion 106 is matched with that of the bullet 12, and the pressing station 104 is located on the second position-limiting portion 106 and opens toward the first position-limiting portion 123. Before the material is knocked for the first time, high-pressure gas is not filled in the buffer cavity 103 and the piston cavity 102, but the bullet 12 is in a suspended state due to the gravity of the bullet 12. After the buffer chamber 103 is filled with high-pressure gas, the high-pressure gas applies pressure to the second limiting portion 106 through the pressurizing station 104, so that the bullet 12 is forced to retract into the piston chamber 102 until the pressurizing station 104 is communicated with the buffer chamber 103. In a further preferred embodiment, the second limiting portion 106 is provided with a second air groove 1060, and the air passage 107 and the pressurization station 104 are communicated with the second air groove 1060. The first position-limiting portion 123 is provided with a first air groove 1230, and an opening of the first air groove 1230 faces the second position-limiting portion 106. That is, the first air groove 1230 and the second air groove 1060 communicate with each other.

Referring to fig. 6 and 7, in a preferred embodiment, the knocking device includes a rust removing module including a plurality of rust removing units and a module bracket 20, and the plurality of rust removing units are fixedly connected through the module bracket 20. The rust cleaning unit on every rust cleaning module is the multirow multiseriate and distributes, and in the direction of the face of strikeing (the face that a plurality of warheads 12 strikeed the point and formed), the center dislocation set of the portion 1200 that strikes of the rust cleaning unit of at least part difference line, and the projection of a plurality of warheads 12 in the direction of this face of strikeing of perpendicular to is different promptly, and the point that warheads 12 strikeed on treating the rust cleaning thing links into the slice, and the effect of strikeing is better. The knocking device further comprises a plurality of positioning rollers 5, the rolling direction of the positioning rollers 5 is consistent with that of the knocking device, and at least part of the positioning rollers are distributed on two sides of the knocking device. When the bullet machine works, the positioning roller 5 presses an object to be knocked, and when the bullet head 12 reciprocates to the highest point, a certain distance is reserved between the positioning roller 5 and the object to be knocked.

In a preferred embodiment, on the knocking surface of the rust removing device, the centers of the knocking parts 1200 of at least part of the rust removing units are distributed in a parallelogram lattice form, and the connecting lines of the centers of the knocking parts 1200 of the rust removing units in the same row are obliquely arranged relative to the feeding direction of the rust removing device. That is, after the plurality of knocking devices are arranged, the edges of the knocking devices are approximately shaped like a parallelogram, and the corners formed by the adjacent edges of the parallelogram are not right angles.

In a preferred embodiment, the automatic rust removing equipment further comprises a control module, and the walking device 2, the knocking device and the fixed suction cup are all connected with the control module. The automatic rust removing equipment further comprises a wireless transmission module, and the wireless transmission module is electrically connected with the control module. The wireless transmission module is connected with the control terminal, the control terminal can be a mobile phone, a computer or other electronic equipment, the wireless transmission module transmits information to the control terminal, and meanwhile the control terminal can control the automatic rust removing equipment. The control module and the wireless transmission module are arranged in the control box 5. Be provided with travel switch on this automatic rust cleaning equipment, travel switch control fixed suction cup 3 start or close, and during the start-up, fixed suction cup 3 has the adsorption efficiency, and during closing, fixed suction cup 3 loses the adsorption efficiency.

The automatic rust removing equipment comprises a walking device, a knocking device and a fixed sucker, wherein the walking device can drive the knocking device and the fixed sucker to move to a position needing rust removal, after the fixed sucker fixes the automatic rust removing equipment, the knocking device knocks a surface to be rust removed to remove rust, and automatic rust removal of an immovable object to be rust removed can be realized.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express the specific embodiments of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A walking device is characterized by comprising a first walking device, wherein the first walking device comprises a fixing frame, a power device, a driving wheel, a track and a fixed sucker, the driving wheel comprises a first wheel set and a second wheel set, the first wheel set is fixed at one end of the fixing frame, the second wheel set is fixed at the other end of the fixing frame, and the first wheel set and the second wheel set are in transmission connection through the track; the power device is fixed on the fixing frame and drives the first wheel set and the second wheel set to rotate; the fixed suckers are arranged in a plurality of numbers, and the fixed suckers are all fixed on the crawler belt and rotate along with the crawler belt.

2. The walking device of claim 1, wherein the first set of wheels comprises a first gear and a second gear, the second set of wheels comprises a third gear and a fourth gear, and the power device comprises a first power device and a second power device; the first power device is positioned between the first gear and the second gear and drives the first gear and the second gear to synchronously rotate; the second power device is positioned between the third gear and the fourth gear and drives the third gear and the fourth gear to synchronously rotate; the crawler belt comprises a first chain and a second chain, the first chain is in meshed connection with the first gear and the third gear, and the second chain is in meshed connection with the second gear and the fourth gear.

3. The walking device according to claim 1, wherein the fixed sucker comprises a sucker body and a vacuum pump, the vacuum pump is fixedly connected with the sucker body, and an air suction port of the vacuum pump is communicated with the sucker body; the fixed sucker is fixedly connected with a balance piece, the first end of the balance piece is connected with the fixed sucker, and the second end of the balance piece extends towards the fixed frame; in the first condition, the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame; in the second case, the balance member does not apply a pulling force to the fixed suction cup.

4. The walking device as claimed in claim 3, wherein the balancing member is electrically connected to the vacuum pump, a conductive strip is fixedly connected to the fixing frame, and when the balancing member applies a pulling force to the fixing suction cup in a direction of the fixing frame, the balancing member contacts and conducts electricity with the conductive strip; when the balance piece does not apply pulling force to the fixed sucker, the balance piece is not conducted with the conductive strip.

5. The walking device as claimed in claim 3, wherein the balancing member comprises a first connecting rod and a second connecting rod connected to each other, the first connecting rod is fixedly connected to the fixed sucker, and a free end of the second connecting rod is connected to a conductive roller, and when the balancing member applies a pulling force to the fixed sucker in a direction toward the fixed frame, the conductive roller contacts a conductive strip on the fixed frame.

6. The walking device of claim 5, wherein the fixing frame is provided with a guide groove, the conductive strip is positioned in the guide groove, and the conductive roller rolls in the guide groove; the first connecting rod is also provided with an auxiliary roller which slides on the side wall of the fixing frame; alternatively, the first and second electrodes may be,

7. The walking device as claimed in claim 3, wherein each of the fixed suckers is provided with at least two balance members, the two balance members are arranged in parallel, the two balance members are provided with reinforcing members, and the two balance members are fixedly connected with the reinforcing members.

8. The walking device of claim 1, further comprising a second walking device and a support frame, wherein the support frame is fixedly connected to the first walking device and the second walking device.

9. The walking device according to claim 1, wherein the fixed suction cup has a suction capability when it is in contact with a suction surface of an external object; when the fixed sucker is separated from the sucking surface of an external object, the fixed sucker has no sucking capacity.

10. A working apparatus comprising a working device and a traveling device according to any one of claims 1 to 8, wherein the working device is connected to the fixed frame, and the working device travels with the traveling device.

11. The working equipment as claimed in claim 1, wherein the working equipment is knocking equipment, the knocking device comprises a plurality of rust removal units and a gas distribution mechanism, each rust removal unit comprises a rust removal unit body and a bullet, an air cavity is formed in each rust removal unit body, each bullet is movably embedded in the air cavity, and the gas distribution mechanism is communicated with the air cavity and used for introducing compressed gas into the air cavity and driving the bullets to reciprocate relative to the air cavity; the air cavity comprises a guide through hole and a piston cavity, the guide through hole is connected and communicated with the piston cavity, the warhead is movably embedded in the guide through hole, and the side wall of the warhead abuts against the inner wall of the guide through hole, so that the piston cavity is a closed cavity; and a pressurizing station and a pressure relief station are arranged on the wall of the air cavity, the gas distribution mechanism can introduce gas into the piston cavity through the pressurizing station, and the gas in the piston cavity can be released into the atmosphere through the pressure relief station.

12. The operating equipment according to claim 11, wherein the bullet comprises a bullet inner cavity, a first air hole and a second air hole are formed in the side wall of the bullet, a pressurizing station and a pressure releasing station are arranged on the side wall of the air cavity, the first air hole is matched with the pressure releasing station, and the second air hole is matched with the pressurizing station; the rust removal unit body is also provided with a buffer cavity, the buffer cavity is communicated with the pressurization station, and an air outlet of the air distribution mechanism is communicated with the buffer cavity; when the gas distribution mechanism pressurizes the buffer cavity, the second gas hole is aligned with the pressurizing station, gas enters from the second gas hole and fills the inner cavity of the bullet, and the bullet is driven by the gas pressure of the piston cavity to advance along the guide through hole; when the bullet advances to the first air hole and corresponds to the pressure relief station, air pressure is released through the pressure relief station, and the bullet resets after colliding with a rust-removed object.

13. The working equipment as claimed in claim 11, wherein the knocking device comprises a plurality of rust removal units and a gas distribution mechanism, each rust removal unit comprises a rust removal unit body and a bullet, the rust removal unit body comprises a piston cylinder, an inner cover and an outer cover, the piston cavity, the buffer cavity and the guide through hole are all located in the piston cylinder, the outer cover is fixed on the piston cylinder, the buffer cavity is defined by the outer cover, the inner cover and the piston cylinder, and the inner cover is located between the piston cavity and the buffer cavity; when the warhead extends out, the warhead and the inner cover seal the piston cavity, and the inner cover and the outer cover seal the buffer cavity; when the warhead resets, the warhead presses the inner cover to the buffer cavity.

14. The working equipment according to claim 13, wherein the rust removing unit body comprises a first body and a second body, the first body and the second body are connected, a pressurizing station is formed on the first body, a pressure releasing station is formed on the second body, an air cavity is formed between the first body and the second body, and a bullet outlet through which a knocking part of a bullet passes is further formed on the second body; when the warhead is in an extending state, the air cavity is communicated with the pressure relief station, and the air cavity is not communicated with the pressurization station; when the warhead is in a retraction state, the air cavity is not communicated with the pressure relief station, and the air cavity is communicated with the pressurization station; the first body is made of a metal material, and the second body is made of a plastic material; at least part of the second bodies of the rust removing units are connected with each other into a whole.

15. The operating equipment according to claim 10, wherein the operating equipment is a knocking device, the knocking device comprises a derusting module, the derusting module comprises a plurality of derusting units, the derusting units on each derusting module are distributed in a plurality of rows and columns, and the centers of the knocking parts of at least part of the derusting units in different rows are arranged in a staggered manner in the direction of a knocking surface; on the knocking surface of the rust removing device, the centers of at least part of the knocking parts of the rust removing units are distributed in a parallelogram lattice manner, and the connecting lines of the centers of the knocking parts of the rust removing units in the same row are obliquely arranged relative to the feeding direction of the rust removing device.

16. The work apparatus according to claim 10, further comprising a control module, wherein the walking device, the knocking device and the fixed suction cup are connected to the control module; the automatic rust removing equipment also comprises a wireless transmission module, wherein the wireless transmission module is electrically connected with the control module; and/or the presence of a gas in the gas,

the operation equipment is a spraying device or an aluminum spraying device.