CN112441151B

CN112441151B - Sucking disc, running gear and operation equipment

Info

Publication number: CN112441151B
Application number: CN202011158493.3A
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: 2020-10-26
Filing date: 2020-10-26
Publication date: 2023-11-07
Anticipated expiration: 2040-10-26
Also published as: CN112441151A

Abstract

The invention relates to a sucker, a traveling device and operation equipment, wherein the sucker comprises a sucker body and an air inlet valve, a vacuum cavity is arranged in the sucker body, a first end of the air inlet valve is communicated with the vacuum cavity, and a second end of the air inlet valve is communicated with the outside; the sucker, the travelling device and the operation equipment can quickly restore normal pressure; the walking device using the sucker has higher walking speed of the working equipment.

Description

Sucking disc, running gear and operation equipment

Technical Field

The invention relates to the field of rust removing machinery, in particular to a sucker, a travelling device and operation equipment.

Background

At present, 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 mainly uses the high-speed operation of mechanical equipment to throw out steel shots with certain granularity by the centrifugal force of a shot blasting head mechanism, and the shot blasted steel shots are collided with the object to be derusted violently so as to remove the rust of the object to be derusted; the automatic shot blasting equipment mainly comprises a shot blasting device, a wear-resistant rubber ring belt, a packing auger, a lifting device, a separator, a feeding and conveying device, a dust remover and an electric appliance. The sand blasting rust removal is a rust removal method achieved by spraying quartz sand to the surface of a component by using high-pressure air; a complete suction dry blasting machine is generally composed of six systems, namely a structural system, a medium power system, a pipeline system, a dust removal system, a control system and an auxiliary system. The rust removal of the wire drawing without acid washing is mainly aimed at the rust removal of the wire rod; the pickling-free shelling derusting machine mainly comprises a five-wheel shelling mechanism of a gearbox, an adjustable crossed parabolic steel wire brush wheel, a totally-enclosed derusting chamber, a forced lubrication device, a wire drawing die carrier and an electrical control system. Therefore, no matter the shot blasting rust remover, the sand blasting rust remover or the pickling-free wire drawing equipment, the equipment required during rust removal is large in size and not easy to move, the rust removal operation can be performed only by moving the rust removed piece to the automatic rust removal equipment, and the rust removal operation cannot be performed on an object which cannot be moved.

To this problem, research and invent running gear and operation equipment that can walk on the facade voluntarily, this running gear includes the running gear of similar tank track, sets up the sucking disc on the running gear, and the sucking disc adsorbs on the facade, just can walk when only the vacuum in the afterbody sucking disc reduces, but current sucking disc advances the air very slowly, and the vacuum reduces to influence running gear's walking speed slowly.

Disclosure of Invention

Based on the above, the invention provides the sucker, the walking device and the operation equipment which can quickly restore normal pressure.

The technical scheme adopted by the invention is that the sucker comprises a sucker body and an air inlet valve, wherein a vacuum cavity is arranged in the sucker body, the first end of the air inlet valve is communicated with the vacuum cavity, and the second end of the air inlet valve is communicated with the outside.

Preferably, the sucker body comprises a shell and a connecting sealing member, an adsorption surface is arranged on the shell, a plurality of adsorption holes are formed in the adsorption surface, the connecting sealing member is fixedly connected to the adsorption surface, and through holes corresponding to the adsorption holes are formed in the connecting sealing member.

Preferably, the sucker is also a vacuum pump, the air inlet valve is a normally open electronic valve, the air inlet valve is connected with the vacuum pump in series, when the vacuum pump is powered off, the air inlet valve is powered off, and when the vacuum pump is powered off, the external atmosphere rapidly enters the vacuum cavity.

Preferably, the suction cup further comprises a balancing piece, a first end of the balancing piece is connected with the suction cup body, a second end of the balancing piece extends away from the suction cup body, and a first auxiliary wheel and a second auxiliary wheel are arranged at the second end of the balancing piece.

Preferably, the sucking disc is also a vacuum pump, the first auxiliary wheel and the second auxiliary wheel are conductive wheels, and the balancing piece is electrically connected with the vacuum pump; or,

the sucker also comprises a conductive wheel and a vacuum pump, wherein the conductive wheel is fixedly connected to the sucker body, and the conductive wheel is electrically connected with the vacuum pump.

The invention also provides a walking device, which comprises a first walking device, wherein the first walking device comprises a fixed frame, a power device, a driving wheel, a crawler belt and a 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 fixed frame, the second wheel set is fixed at the other end of the fixed frame, and the first wheel set and the second wheel set are in transmission connection through the crawler belt; 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 suction cups are arranged, the plurality of suction cups are all fixed on the track and rotate along with the track, and the suction cup is any suction cup.

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; the fixing frame is provided with a guide groove and a conductive strip, the conductive strip is positioned in the guide groove, and the conductive wheel rolls in the guide groove; the conductive strip is arranged on only one side close to the sucker.

Preferably, the walking device further comprises a second walking device, and the fixing frame is fixed on the first walking device and the second walking device.

The invention also provides operation equipment which comprises an operation device and any one of the walking devices, wherein the operation device is connected with the fixing frame and walks along with the walking device.

Preferably, the operation device is a knocking device, the knocking device comprises a plurality of rust removing units and a gas distribution mechanism, the rust removing units comprise a rust removing unit body and a warhead, the rust removing unit body is provided with a gas cavity, the warhead is movably embedded in the gas cavity, and the gas distribution mechanism is communicated with the gas cavity and is used for introducing compressed gas into the gas cavity to drive the warhead to reciprocate relative to the gas cavity; the air cavity comprises a guide through hole and a piston cavity, the guide through hole is connected with and communicated with the piston cavity, the warhead is movably embedded in the guide through hole, and the side wall of the warhead is propped against the inner wall of the guide through hole, so that the piston cavity is a closed cavity; the air cavity wall is provided with a pressurizing station and a pressure releasing station, the air distribution mechanism can be used for introducing air into the piston cavity through the pressurizing station, and the air in the piston cavity can be released into the atmosphere through the pressure releasing station; 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 removing unit body is also provided with a buffer cavity, the buffer cavity is communicated with the pressurizing station, and an air outlet of the air distribution mechanism is communicated with the buffer cavity; when the valve mechanism pressurizes the buffer cavity, the second air hole is aligned with the pressurizing station, air enters from the second air hole and fills the inner cavity of the warhead, and the warhead is driven by the air pressure of the piston cavity to advance along the guide through hole; when the warhead moves to the pressure relief station corresponding to the first air hole, air pressure is released through the pressure relief station, and the warhead is reset after being impacted by a rust-removed object; the knocking device comprises a plurality of rust removing units and a valve mechanism, wherein each rust removing unit comprises a rust removing unit body and a warhead, each rust removing unit body comprises a piston cylinder, an inner cover and an outer cover, each piston cavity, each buffer cavity and each guide through hole are positioned in each piston cylinder, each outer cover is fixed on each piston cylinder, each buffer cavity is formed by the corresponding outer cover, each inner cover and each piston cylinder in a surrounding mode, and each inner cover is positioned between each piston cavity and each buffer cavity; when the warhead stretches out, the warhead seals the piston cavity with the inner cover, and the inner cover seals the buffer cavity with the outer cover; when the warhead is reset, the warhead presses the inner cover to the buffer cavity; the rust removing unit body comprises a first body and a second body, the first body is connected with the second body, 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 warhead outlet for allowing a knocking part of a warhead to pass through is also formed on the second body; when the warhead is in an extending state, the air cavity and the pressure relief station are conducted, and the air cavity and the pressure application station are not conducted; when the warhead is in a retracted state, the air cavity and the pressure relief station are not conducted, and the air cavity and the pressurizing station are conducted; 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.

The sucker can quickly restore normal pressure, and the travelling device applying the sucker can also have faster travelling speed and is more convenient to use.

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 intentionally drawn to scale on actual size or the like, with emphasis on illustrating the principles of the invention.

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

FIG. 2 is an enlarged view of portion A of the running gear of FIG. 1;

FIG. 3 is an overall block diagram of a running gear 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 block diagram of a work machine in accordance with another preferred embodiment of the present invention;

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

FIG. 7 is a cut-away view of the AA in FIG. 6;

FIG. 8 is a cut-away view of the rapping device in an assembled state;

fig. 9 is a sectional view showing an assembled state of a tapping device body according to a preferred embodiment of the present invention;

FIG. 10 is a partial cross-sectional view of a tapping device according to another embodiment of the present invention

FIG. 11 is a cut-away exploded view of a tapping device according to another preferred embodiment of the present invention;

FIG. 12 is a cross-sectional view of a warhead in accordance with another preferred embodiment of the present invention;

FIG. 13 is a cross-sectional view of a tapping device according to another preferred embodiment of the present invention;

FIGS. 14-1 to 14-5 are overall construction views of various warheads;

FIG. 15 is an overall construction view of the suction cup of the preferred embodiment of the present invention;

FIG. 16 is a front view of the suction cup of the preferred embodiment of the present invention;

figure 17 is a cross-sectional view of a suction cup of a preferred embodiment of the present invention.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to and integrated with the other element 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. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

15-17, the technical scheme adopted by the invention is that the sucker comprises a sucker body 31 and an air inlet valve, a vacuum cavity 310 is arranged in the sucker body 31, the vacuum cavity 310 is communicated with a vacuum pump 32, and the vacuum pump 32 pumps out air in the vacuum cavity 310, so that a vacuum state can be formed in the vacuum cavity 310. The air inlet assembly 33 comprises an air inlet pipe 331 and an air inlet valve 332, a first end of the air inlet pipe 331 is communicated with the vacuum cavity 310, a second end of the air inlet pipe 331 is communicated with the outside, the air inlet valve 332 is arranged on the air inlet pipe 331, the vacuum cavity 310 is communicated with the outside through the air inlet valve 332, and air can enter the vacuum cavity 310 through the air inlet pipe quickly, so that the sucking disc can lose the adsorption force quickly. Vacuum pump or large-sized vacuum equipment can be used for vacuumizing the vacuum cavity 310, and the vacuum equipment is communicated with the vacuum cavity 310 of the sucker through a pipeline.

In a preferred embodiment, the chuck further includes a vacuum pump 32 and an air intake assembly 33. The sucker body 31 comprises a shell 311 and a connecting sealing member 312, wherein an adsorption surface is arranged on the shell 311, a plurality of adsorption holes 313 are formed in the adsorption surface, the connecting sealing member 312 is fixedly connected to the adsorption surface, and through holes corresponding to the adsorption holes 313 are formed in the connecting sealing member 312. The connecting seal 312 may be made of a material having good air tightness, wear resistance and elasticity, such as foam sponge, plastic, etc., and is connected with the seal. When the suction cup is sucked to the material, the connection sealing member 312 seals the suction hole 313 so that the vacuum chamber 310 is not communicated with the outside.

In the preferred embodiment, the air inlet valve 332 is a normally open electronic valve, the air inlet valve 332 is connected in series with the vacuum pump 32, when the vacuum pump 32 is powered off, the air inlet valve 332 is powered off, and when the power is off, the outside atmosphere rapidly enters the vacuum chamber 310, and the air rapidly enters the vacuum chamber 310, so that the suction cup rapidly loses the suction capability. When the vacuum pump 32 draws a vacuum, the air inlet valve 332 closes, isolating the vacuum chamber 310 from the outside. The housing 311 is also provided with heat dissipation holes 314 for dissipating heat from the vacuum chuck.

Referring to fig. 15-17, in a preferred embodiment, the chuck further includes a conductive wheel 74, the conductive wheel 74 being fixedly attached to the chuck body 31, the conductive wheel 74 being electrically connected to the vacuum pump 32. When the conductive wheel 74 contacts an external conductive member, the vacuum pump 32 is energized to draw vacuum in the vacuum chamber 310, and at the same time, the air intake valve 332 is energized to close, isolating the vacuum chamber 310 from the outside. Further, the sucker further comprises a balance piece 7, a first end of the balance piece 7 is connected with the sucker body 31, and a second end of the balance piece 7 extends in a direction away from the sucker body 31; specifically, the balancing piece 7 comprises a T-shaped connecting frame, one end of the connecting frame is fixedly connected with the sucker body 31, the other end of the connecting frame is connected with two rollers, and the rollers are in rolling connection with an external device. The balance piece 7 is sleeved with a spring, and when the balance piece 7 applies a pulling force to the sucker body 31, the spring applies a force opposite to the pulling force to the sucker body 31; the force exerted by the balance 7 on the fixing frame is more gentle.

Referring to fig. 4, in another preferred embodiment, the suction cup further comprises a balancing member 7, a first end of the balancing member 7 is connected to the suction cup body 31, a second end of the balancing member 7 extends away from the suction cup body, and the second end of the balancing member is provided with a first auxiliary wheel and a second auxiliary wheel. The first auxiliary wheel and the second auxiliary wheel are conductive wheels, and the balance piece 7 is electrically connected with the vacuum pump 32.

Referring to fig. 1-5, the present embodiment further provides a walking device 2, which includes a first walking device 2, and the first walking device includes a fixing frame 23, a power device 21, a driving wheel 24, a track 22, and a suction cup 3. 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 23, the second wheel set is fixed at the other end of the fixing frame 23, the first wheel set and the second wheel set are connected through crawler belt transmission, and specifically, the crawler belt is a chain 22 or a belt. The power device 21 is fixed on the fixed frame 23, and the power device 21 drives the first wheel set and the second wheel set to rotate, so that the crawler belt is driven to rotate. The suction cups 3 are provided with a plurality of suction cups 3, and the suction cups 3 are fixed on the caterpillar tracks and rotate along with the caterpillar tracks, so that the suction cups can be adsorbed on the adsorption surface 100 of an object, and the travelling mechanism can travel on the vertical surface. Specifically, the sucking disc is made of materials with good air tightness, wear resistance and elasticity such as foaming sponge, plastic and the like, 3 sucking discs are provided with 3, 4, five or more sucking discs 3, and a plurality of sucking discs 3 are uniformly distributed on the track. The suction cup is any one of the suction cups.

In a preferred embodiment, 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 means 21 comprises 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 motors is controlled by the control device 5. Further, the crawler belt comprises a first chain and a second chain, wherein 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 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 an extraction opening of the vacuum pump 32 is communicated with the suction cup body 31. Of course, in other embodiments, the sucker body 31 may also be in communication with an external vacuum generating device, through which air within the sucker body 31 is sucked away, thereby generating a vacuum. The sucker 3 is also fixedly connected with a balance piece 7, a first end of the balance piece 7 is connected with the sucker 3, and a second end of the balance piece 7 extends to the fixing frame 23; in the first case, the balancing member 7 applies a pulling force to the suction cup 3 in the direction of the fixing frame 23, and at this time, the suction cup 3 is attracted to the object attracting surface. In the second case, the balance 7 does not apply a pulling force to the suction cup 3, and at this time, the suction cup 3 is not sucked with the object sucking surface 100, i.e., the suction cup 3 is turned to a side away from the object sucking surface. The suction cup 3 rotates along with the crawler belt, and the suction cup 3 contacted with the object adsorption surface 100 can be adsorbed on the object adsorption surface. Since the weight of the walking device 2 and other devices mounted on the upper portion thereof is large, the suction force of the suction cup 3 needs to overcome the weight. According to practical experience, the sizes of the plurality of suction cups adsorbed on the object adsorption surface are different, the suction cups at the middle position generally need to overcome larger force, when gaps are generated between the suction cups at the middle position and the object adsorption surface, the suction capability is lost, other suction cups need to bear more gravity, and the phenomenon of losing the suction capability can also occur; as such, the running gear 2 is at risk of falling. In order to overcome the problem, the invention adopts the balancing piece 7 to average the weight force born by the plurality of suckers 3, and the middle sucker 3 and the sucker 3 on one side are stressed evenly, so that the problem that the suckers are gradually separated from the object adsorption surface can not occur.

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

In the preferred embodiment, the balance member 7 includes a first connecting rod 71 and a second connecting rod 72 which are connected to each other, the first connecting rod 71 is fixedly connected to the suction cup 3, the free end of the second connecting rod 72 is connected to a conductive wheel 74, and when the balance member 7 applies a pulling force to the suction cup 3 in the direction of the fixing frame 23, the conductive wheel 74 contacts with the conductive strip 70 on the fixing frame 23. Specifically, the conductor is a conductive copper bar, and the conductive bar 70 and the fixing frame 23 are insulated from each other.

In the preferred embodiment, the fixing frame 23 is provided with a guide groove, the conductive strip 70 is positioned in the guide groove, the conductive wheel 74 rolls in the guide groove, and the guide groove plays a role in guiding and can also effectively protect the conductive strip 70. In other embodiments, a sheet perpendicular to the mount 23 is secured to the mount 23, and the conductive strip 70 is secured to the sheet.

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 bar is provided with a reinforcement 75, and the first guide bar is further sleeved with a buffer spring. The buffer spring is located between the reinforcement 75 and the suction cup 3, and further, one end of the spring is connected with the suction cup 3, and the other end is connected with the reinforcement 75. When the balance member 7 applies a pulling force to the suction cup 3 in the direction of the fixing frame 23, the buffer spring applies a force opposite to the pulling force to the suction cup 3; the balance member 7 is made to exert a more gentle force on the fixing frame 23, and the service lives of the conductive bars 70 and the conductive wheels 74 can be longer.

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

In a preferred embodiment, the running gear 2 further comprises a second running gear and a support frame 6, the support frame 6 being fixedly connected to the second running gear of the first running gear 2. The first travelling device 2 and the second travelling device run synchronously and jointly move along with the support frame 6.

In the preferred embodiment, the suction cup 3 is sucked on the suction surface of the external object, the suction cup 3 contacted with the suction surface of the external object has suction capacity, and the suction cup 3 separated from the suction surface of the external object has no suction capacity; saving energy and cost.

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

In a preferred embodiment, the working device is a spraying device or an aluminium spraying device or a tapping device.

Referring to fig. 6-14, the working device is a knocking device, and the power device 21 drives the travelling wheel to rotate, so that the knocking device is driven to travel. The sucking disc fixed on the track can be adsorbed and fixed 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 the vertical object.

In the preferred embodiment, the running gear 2 further comprises a support frame 6, and the running gear 2 comprises a first running gear and a second running gear, 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 running gear and the second running gear travel together with the knocking device, balance performance is better, and if sucking discs 3 on one picture traveling device 2 lose adsorption force, other sucking discs 3 have adsorption capacity, and safety performance is better. Further, the supporting 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. The knocking device comprises a sliding rail 4 and a knocking module, the knocking module can move along the sliding rail, and the extending direction of the sliding rail 4 is perpendicular to the advancing direction of the travelling device 2.

Referring to fig. 1 and 5, in a preferred embodiment, the road wheels include a first gear (i.e., a first road wheel 22), a second gear (i.e., a second road wheel 24), a third gear, and a fourth gear, the track includes a first chain surrounding the first gear and the third gear, and a second chain surrounding the second gear and the fourth gear, and the suction cup 3 is fixed to 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 sucker 3 is fixed on the chains.

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

In a preferred embodiment, the knocking device comprises a plurality of rust removing units and a valve gear, and the rust removing units comprise rust removing unit bodies. Referring to fig. 8 and 9, an air cavity 10 is provided on the derusting unit body, a warhead 12 is movably embedded in the air cavity 10, and a valve mechanism is communicated with the air cavity 10 for introducing compressed gas into the air cavity 10 to drive the warhead 12 to reciprocate relative to the air cavity 10. Specifically, each valve train is communicated with a plurality of rust removing units through pipelines. In another preferred embodiment, each valve train is in communication with one of the rust removing units via a conduit. The air cavity 10 comprises a guide through hole 101 and a piston cavity 102, the guide through hole 101 is connected with the piston cavity 102 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 is a closed cavity. The wall of the air cavity 10 is provided with a pressurizing station 104 and a pressure releasing station 105, and the air distribution mechanism can be used for introducing air into the piston cavity 102 through the pressurizing station 104, so that after the air pressure in the piston cavity 102 is large enough, the warhead 12 can be pressed outwards, and the warhead 12 can be knocked to an object to be derusted. The gas in the piston cavity 102 can be discharged to the atmosphere through the pressure relief station 105, the pressure in the piston cavity 102 becomes low, the warhead 12 knocks the object to be derusted, and the object to be derusted generates a reverse acting force on the warhead 12, so that the warhead 12 is retracted and reset.

Referring to fig. 11, in the preferred embodiment, the warhead 12 includes a warhead interior cavity 120, with the top of the warhead interior cavity 120 being open and in communication with the piston chamber 102. The side wall of the warhead 12 is provided with a first air hole 121 and a second air hole 122, the side wall of the air cavity 10 is provided with a pressurizing station 104 and a pressure releasing station 105, 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 removing unit body is also provided with a buffer cavity 103, the buffer cavity 103 is communicated with a pressurizing 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 cavity 120, and the bullet 12 is driven by the air pressure of the piston chamber 102 to advance along the guiding through hole 101. When the warhead 12 moves forward to the pressure relief station 105 corresponding to the first air hole 121, air pressure is released through the pressure relief station 105, and the warhead 12 is reset after being impacted by the rust-removed object. When the warhead 12 is not actuated, the second air hole 122 corresponds to the pressurizing station 104, and the first air hole 121 is closed by the side wall of the guiding through hole 101 in the guiding through hole 101, so that the warhead inner cavity 120 and the piston cavity 102 are isolated from the external atmosphere, when the air distribution mechanism jets air to the buffer cavity 103 for pressurizing, the air enters the pressurizing station 104 from the buffer cavity 103 through the air passage 107 of the piston cavity 102, the air of the pressurizing station 104 enters the warhead inner cavity 120 from the second air hole 122, so that the air pressure of the warhead inner cavity 120 is equal to the air pressure of the piston cavity 102, and at the moment, the pressure difference exists between the piston cavity 102 and the external atmosphere, so that the warhead 12 is pushed towards the guiding through hole 101. The warhead 12 is forced by the air pressure all the way away from the piston chamber 102 until the first air vent 121 corresponds to the pressure relief station 105, allowing the air from the warhead interior 120 to vent to the outside atmosphere. Further, referring to fig. 9, the buffer chamber 103 is a part of the piston chamber 102, and the chamber enclosed by the connecting end of the warhead 12 (i.e. the end located in the piston chamber 102) and part of the side wall of the piston chamber 102 is the buffer chamber 103. A pressurizing station 104 is formed on the side wall of the piston cavity 102, the pressurizing station 104 is communicated with the buffer cavity 103 through an air passage 107, and the air distribution mechanism guides high-pressure air into the buffer cavity 103 and then enters the pressurizing station 104. The second body 112 is formed with a guide through hole 101, a pressure relief station 105 is disposed on a side wall of the guide through hole 101, and the striking portion 1200 of the warhead 12 can pass through the guide through hole 101 (the striking portion 1200 is a portion of the warhead 12 for striking the object to be struck) and can extend out of the guide through hole 101. The warhead 12 is formed with a warhead inner 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 communicated with the warhead inner cavity 120. When the warhead 12 is in a retracted state, the second air hole 122 is communicated with the pressurizing station 104, the first air hole 121 is sealed by the side wall of the guide through hole 101, high-pressure air flows enter the warhead inner cavity 120 through the buffer cavity 103, the pressurizing station 104 and the second air hole 122, so that the pressure of the warhead inner cavity 120 and the buffer cavity 103 is kept balanced and higher than the atmospheric pressure, and when the pressure is larger and larger, the warhead 12 can be pressed downwards, and the warhead 12 stretches out and is knocked on an object to be knocked. When the warhead 12 stretches out, the first air hole 121 is communicated with the pressure relief station 105, the second air hole 122 is closed by the side wall of the piston cavity 102, after the first air hole 121 is communicated with the pressure relief station 105 on the second body 112, high pressure in the warhead inner cavity 120 is released from the pressure relief station 105, and strong resilience force is formed after the warhead 12 knocks the object to be knocked, so that the warhead 12 quickly rebounds and returns. Referring to fig. 13, in addition, in order to ensure that the warhead 12 can return to the initial position each time rebound, that is, the position of the first air hole 121 corresponding to the pressurizing station 104, and at the same time avoid that the rebound warhead 12 impacts the buffer cavity 103, a damping spring 14 facing the warhead 12 is arranged in the buffer cavity 103, and the warhead 12 is decelerated by striking the damping spring 14 when rebounding, so that the second air hole 122 can correspond to the pressurizing station 104 for a longer time, and enough time is available for inflating the piston cavity 102.

Referring to fig. 8 and 9, in the preferred embodiment, the rust removing unit body includes a piston cylinder 1111, an inner cap 1113 and an outer cap 1112, the piston chamber 102, the buffer chamber 103 and the guide through hole 101 are all located in the piston cylinder 1111, the outer cap 1112 is fixed on the piston cylinder 1111, the buffer chamber 103 is surrounded by the outer cap 1112, the inner cap 1113 and the piston cylinder 1111, and the inner cap 1113 is located between the piston chamber 102 and the buffer chamber 103. When the warhead 12 is extended, the warhead 12 seals the piston cavity 102 with the inner cover 1113, and the inner cover 1113 seals the buffer cavity 103 with the outer cover 1112; when the warhead 12 is reset, the warhead 12 presses the inner cover 1113 toward the buffer chamber 103. An inner cover 1113 is arranged between the piston cavity 102 and the buffer cavity 103, the inner cover 1113 separates the piston cavity 102 from the buffer cavity 103, the inner cover 1113 can move in the buffer cavity 103, when the warhead 12 rebounds, the inner cover 1113 is firstly collided, high-pressure gas exists in the buffer cavity 103, and when the buffer piece moves in the buffer cavity 103, the high-pressure gas plays a role of buffering, so that the warhead 12 is not damaged. A pressurizing station 104 and a pressure releasing station 105 are arranged in the piston cylinder 1111. When the warhead 12 is in the retracted state, the piston cavity 102 and the pressure relief station 105 are not communicated, and the buffer cavity 103, the piston cavity 102 and the pressurizing station 104 are communicated with each other; the 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, and when the pressure in the piston cavity 102 is large enough, the warhead 12 can be pressed out of the piston cavity 102, so that the knocking part 1200 of the warhead 12 is impacted on the material for removing rust, breaking up the material and the like. When the warhead 12 is in the extending state, the piston cavity 102 is communicated with the pressure relief station 105, and the piston cavity 102 is not communicated with the pressurizing station 104; after the piston cavity 102 and the pressure relief station 105 are conducted, the gas in the piston cavity 102 can be released, the air pressure in the piston cavity 102 is reduced, and the warhead 12 is quickly rebounded by the rebound force formed after the warhead 12 collides with the object to be derusted, and then the action of re-extending is performed, 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 provided to tightly abut the inner cover 1113 against the end part of the side wall of the piston cavity 102, so that 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 provided between the piston chamber 102 and the buffer chamber 103, a first end of the inner cap 1113 is engaged with an inner wall of the convex ring 11110, a second end of the inner cap 1113 is engaged with the buffer chamber 103, and the inner cap 1113 extends into the piston chamber 102.

Referring to fig. 6, in a preferred embodiment, the derusting 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 cavity 10 is formed between the first body 111 and the second body 112, and a bullet 12 outlet for passing through a striking portion 1200 of a bullet 12 is also formed on the second body 112; when the warhead 12 is in the extending state, the air cavity 10 and the pressure relief station 105 are conducted, and the air cavity 10 and the pressurizing station 104 are not conducted; when the warhead 12 is in the retracted state, the air chamber 10 and the pressure relief station 105 are not conductive, and the air chamber 10 and the pressurization station 104 are conductive. Further, the first body 111 is made of a metal material, and the second body 112 is made of a plastic material; the second bodies 112 of at least part 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 and the cost can be saved under the condition that the performance of the knocking device is not affected. 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, an inner cover 1113, and an outer cover 1112, the piston chamber 102 is located in the piston cylinder 1111, the warhead 12 passes through the piston chamber 102, and the other end of the warhead 12 is caught in the piston chamber 102. The outer cover 1112 is fixed to the piston cylinder 1111, and the cushion chamber 103 is surrounded by the outer cover 1112, the inner cover 1113, and the piston cylinder 1111, with the inner cover 1113 being located between the piston chamber 102 and the cushion chamber 103. When the warhead 12 stretches 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 then enters the warhead inner cavity 120, and when the air pressure is high enough, the warhead 12 is extruded, and the warhead 12 is beaten on a material; after the impact, the warhead 12 is reset, the warhead 12 presses the inner cover 1113 to the buffer cavity 103, air in the buffer cavity 103 forms an air cushion, and the warhead 12 and the inner cover 1113 are buffered, so that the impact force is reduced, and the service life is prolonged.

Referring to fig. 9, in a further preferred embodiment, the first end of the warhead 12 is formed with a first limiting portion 123, the diameter of the first limiting portion 123 is larger than the diameter of the warhead 12, the side wall of the piston cylinder 1111 is provided with a second limiting portion 106 matched with the first limiting portion 123, the diameter of the second limiting portion 106 is matched with the diameter of the warhead 12, and the pressing station 104 is located on the second limiting portion 106 with the opening facing the first limiting portion 123. Before the first material beating, the buffer chamber 103 and the piston chamber 102 are not filled with high-pressure gas, but the warhead 12 is in a suspended state due to the gravity of the warhead 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, forcing the warhead 12 to retract into the piston chamber 102 until the pressurizing station 104 is in communication 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 pressurizing station 104 are both in communication with the second air groove 1060. The first limiting portion 123 is provided with a first air groove 1230, and an opening of the first air groove 1230 faces the second limiting portion 106. I.e., the first air tank 1230 and the second air tank 1060 communicate with each other.

Referring to fig. 6 and 7, in a preferred embodiment, the tapping device includes a derusting module including a plurality of derusting units and a module holder 20, the plurality of derusting units being fixedly connected by the module holder 20. The rust removing units on each rust removing module are distributed in a plurality of rows and a plurality of columns, in the direction of a knocking surface (the surface formed by knocking points of the warheads 12), the centers of the knocking parts 1200 of the rust removing units in at least part of different rows are arranged in a staggered mode, namely, the projections of the warheads 12 in the direction perpendicular to the knocking surface are different, and the knocking points of the warheads 12 on the object to be derusted are connected into a sheet shape, so that the knocking effect is better. The knocking device further comprises positioning rollers 5, the rolling direction of the positioning rollers 5 is consistent with that of the knocking device, the positioning rollers 5 are arranged in a plurality, and at least part of the positioning rollers are distributed on two sides of the knocking device. When the positioning roller 5 presses the object to be knocked in operation, and the warhead 12 reciprocates to the highest point, a certain interval is reserved between the positioning roller 5 and the object to be knocked.

In a preferred embodiment, on the striking surface of the derusting device, at least part of the centers of the striking parts 1200 of the derusting units are distributed in a parallelogram lattice, and the connecting lines of the centers of the striking parts 1200 of the derusting units in the same column are obliquely arranged relative to the feeding direction of the derusting device. That is, after the plurality of knocking devices are arranged, the edges of the knocking devices are approximately in a parallelogram shape, and the angles formed by the adjacent sides of the parallelogram are non-right angles.

In a preferred embodiment, the automatic rust removing device further comprises a control module, and the walking device 2, the knocking device and the sucker 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 sucking disc 3's start-up or close, during the start-up, sucking disc 3 has adsorption capacity, and during the close, sucking disc 3 loses adsorption capacity.

The automatic rust removing equipment comprises the running device, the knocking device and the sucker, wherein the running device can drive the knocking device and the sucker to move to the position where rust removal is required, and after the sucker fixes the automatic rust removing equipment, the knocking device knocks the surface to be subjected to rust removal to remove rust, so that the automatic rust removal of an object to be subjected to rust removal, which cannot be moved, can be realized.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent specific embodiments of the invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The walking device is characterized by comprising a first walking device, wherein the first walking device comprises a fixed frame, a power device, a driving wheel, a crawler belt and a 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 fixed frame, the second wheel set is fixed at the other end of the fixed frame, and the first wheel set and the second wheel set are in transmission connection through the crawler belt; 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 suction cups are fixed on the crawler belt and rotate along with the crawler belt;

the sucker comprises a sucker body and an air inlet valve, a vacuum cavity is arranged in the sucker body, a first end of the air inlet valve is communicated with the vacuum cavity, and a second end of the air inlet valve is communicated with the outside;

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;

at least two balance pieces are arranged on each sucker, the two balance pieces are arranged in parallel, reinforcing pieces are arranged on the two balance pieces, and the two balance pieces are fixedly connected with the reinforcing pieces; the buffer spring is positioned between the reinforcement and the sucker, one end of the buffer spring is connected with the sucker, and the other end of the buffer spring is connected with the reinforcement;

the sucking disc body comprises a shell and a connecting sealing piece, an adsorption surface is arranged on the shell, a plurality of adsorption holes are formed in the adsorption surface, the connecting sealing piece is fixedly connected to the adsorption surface, and through holes corresponding to the adsorption holes are formed in the connecting sealing piece.

2. The running gear of claim 1, wherein the suction cup further comprises a vacuum pump, the air inlet valve is a normally open electronic valve, the air inlet valve is connected in series with the vacuum pump, when the vacuum pump is powered off, the air inlet valve is powered off, and when the vacuum pump is powered off, the external atmosphere rapidly enters the vacuum cavity.

3. The running gear of claim 1 further comprising a second running gear, wherein the mount is secured to the first running gear and the second running gear.

4. A working device comprising a working device and a travelling device according to any one of claims 1 to 3, wherein the working device is connected to the mount and the working device travels with the travelling device.

5. The working device according to claim 4, wherein the working device is a knocking device, the knocking device comprises a plurality of rust removing units and a gas distribution mechanism, the rust removing units comprise a rust removing unit body and a warhead, the rust removing unit body is provided with an air cavity, the warhead is movably embedded in the air cavity, and the gas distribution mechanism is communicated with the air cavity and is used for introducing compressed gas into the air cavity to drive the warhead 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 with and communicated with the piston cavity, the warhead is movably embedded in the guide through hole, and the side wall of the warhead is propped against the inner wall of the guide through hole, so that the piston cavity is a closed cavity; the air cavity wall is provided with a pressurizing station and a pressure releasing station, the air distribution mechanism can be used for introducing air into the piston cavity through the pressurizing station, and the air in the piston cavity can be released into the atmosphere through the pressure releasing station; 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 removing unit body is also provided with a buffer cavity, the buffer cavity is communicated with the pressurizing station, and an air outlet of the air distribution mechanism is communicated with the buffer cavity; when the valve mechanism pressurizes the buffer cavity, the second air hole is aligned with the pressurizing station, air enters from the second air hole and fills the inner cavity of the warhead, and the warhead is driven by the air pressure of the piston cavity to advance along the guide through hole; when the warhead moves to the pressure relief station corresponding to the first air hole, air pressure is released through the pressure relief station, and the warhead is reset after being impacted by a rust-removed object; the knocking device comprises a plurality of rust removing units and a valve mechanism, wherein each rust removing unit comprises a rust removing unit body and a warhead, each rust removing unit body comprises a piston cylinder, an inner cover and an outer cover, each piston cavity, each buffer cavity and each guide through hole are positioned in each piston cylinder, each outer cover is fixed on each piston cylinder, each buffer cavity is formed by the corresponding outer cover, each inner cover and each piston cylinder in a surrounding mode, and each inner cover is positioned between each piston cavity and each buffer cavity; when the warhead stretches out, the warhead seals the piston cavity with the inner cover, and the inner cover seals the buffer cavity with the outer cover; when the warhead is reset, the warhead presses the inner cover to the buffer cavity; the rust removing unit body comprises a first body and a second body, the first body is connected with the second body, 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 warhead outlet for allowing a knocking part of a warhead to pass through is also formed on the second body; when the warhead is in an extending state, the air cavity and the pressure relief station are conducted, and the air cavity and the pressure application station are not conducted; when the warhead is in a retracted state, the air cavity and the pressure relief station are not conducted, and the air cavity and the pressurizing station are conducted; 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.