CN113370085A - Environment-friendly sandblast machine people - Google Patents
Environment-friendly sandblast machine people Download PDFInfo
- Publication number
- CN113370085A CN113370085A CN202110694953.2A CN202110694953A CN113370085A CN 113370085 A CN113370085 A CN 113370085A CN 202110694953 A CN202110694953 A CN 202110694953A CN 113370085 A CN113370085 A CN 113370085A
- Authority
- CN
- China
- Prior art keywords
- gear
- environment
- friendly
- frame
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
- B24C5/04—Nozzles therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
- B24C9/003—Removing abrasive powder out of the blasting machine
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an environment-friendly sand blasting robot, which comprises an upper frame, wherein the upper frame is connected with an annular frame through an oblique beam, the oblique beam is connected with a suspension outer frame, the environment-friendly sand blasting robot also comprises an adsorption and walking driving mechanism, the adsorption and walking driving mechanism comprises an annular gear disc, a gear of a vertical shaft on a driving wheel is meshed on the gear disc through a gear, a steering gear is further meshed on the gear disc through a gear, an outer fork frame is connected on the gear of the vertical shaft on the driving wheel, the outer fork frame is connected with the driving wheel, the gear of the vertical shaft on the driving wheel is connected to the suspension outer frame, a magnetic isolation plate is connected on the gear disc, the environment-friendly sand blasting robot also comprises a sand blasting head, the sand blasting head is connected with a sand blasting nozzle isolation shield, a dust recovery cover is further covered on the sand blasting nozzle isolation shield, the dust recovery cover is connected. The advantages are that: the robot takes permanent magnetism as the main part and electromagnetic adsorption as the auxiliary part. The environment-friendly dust hood can better achieve the environment-friendly and dust-free state.
Description
Technical Field
The invention belongs to a robot, and particularly relates to an environment-friendly sand blasting robot.
Background
With the great construction of large-scale storage tanks in China and the increasing attention on the problem of environmental protection, manual operation does not meet the objective requirements of environment and development, the elimination of manual operation is historically inevitable, the corrosion prevention work of the surfaces of large-scale carbon steel products such as large-scale storage tanks (such as oil tanks and spherical tanks) and ships is also an important link, the manual operation is related to the safe use and the effective service life of equipment, the sand blasting is the only mode with the highest rust removal grade in corrosion prevention, but the manual operation mode has low efficiency, long cycle time and high operation strength, brings serious harm to physical and mental health of workers, and is mostly not in accordance with the green environmental protection concept.
At present, robots are widely applied in modern society, and particularly in working environments which challenge the working limits of human beings, the robots play an extremely important role. The wall-climbing robot as an important robot family is also widely applied to the fields of nuclear power industry, chemical industry, building industry and the like.
The existing wall-climbing rust removal robot has the following defects and shortcomings:
sand material: steel shots and steel grits cannot be selected, because the steel grits can generate some iron dust after impacting a processing surface, and the iron dust is adsorbed by the permanent magnet to reduce the magnetic force of the permanent magnet.
The robot is only limited to the processing of the metal surface of carbon steel, but cannot process the surfaces of stainless steel and glass fiber reinforced plastic, because the robot is attached to the metal surface by the principle of magnetic force adsorption.
Disclosure of Invention
The invention aims to provide an environment-friendly sand blasting robot, which is additionally provided with a dust recovery system, avoids dust flying and environmental pollution, and plays a role in environmental protection and no dust.
The technical scheme of the invention is as follows: an environment-friendly sand blasting robot comprises a main frame, wherein the main frame comprises an upper frame, the upper frame is connected with a lower annular frame through an oblique beam, a suspension outer frame is connected to the oblique beam, a lifting lug is connected to the upper frame, and a camera is arranged on the upper frame; still including adsorbing and walking actuating mechanism, adsorbing and walking actuating mechanism include annular toothed disc, the gear of going up the vertical scroll through gear engagement drive wheel on the toothed disc, there is the steering wheel gear still through gear engagement on the toothed disc, be connected with the steering wheel on the steering wheel gear, be connected with the outer crotch on the gear of vertical scroll on the drive wheel, outer crotch is connected with the drive wheel, is provided with driving motor in the drive wheel, on the gear connection of vertical scroll to hanging outer frame on the drive wheel, be connected with the magnetic shield on the toothed disc, still include the sandblast head, the sandblast head with sandblast mouth separate the guard shield and be connected, still be covered with dust recovery cover on the sandblast mouth separate the guard shield, dust recovery cover is connected with dust recovery joint, the sub-unit connection of dust recovery cover has dust recovery cover brush.
The main frame is made of aluminum alloy or stainless steel.
The upper frame is of a rectangular structure.
The upper frame is connected with the lower annular frame through 4 oblique beams.
The lifting lugs are symmetrically arranged on the upper frame.
The gear disc is meshed with 4 gears of a vertical shaft on the driving wheel which are symmetrically arranged through gears.
The sand blast nozzle separating shield is of a horn-shaped structure.
And the gear of the vertical shaft on the driving wheel is connected to the suspension outer frame through a suspension spring and a nut.
The dust recovery cover is connected with two dust recovery joints which are symmetrically arranged.
The gear disc is connected with a magnetic isolation plate through a gap adjusting screw.
The invention has the beneficial effects that: the four-wheel-drive walking machine comprises a main frame and an adsorption and walking driving mechanism, wherein four-drive all-wheel wheels are adopted as walking power, a servo motor is arranged in each wheel, and the walking is not influenced particularly under the condition of unevenness. A ring-shaped fluted disc is inlaid in a main frame of the steering engine, and a pinion on the steering engine is meshed with the fluted disc to rotate, so that gears on four driving wheels are driven to form steering of the driving wheels, the steering can be performed on site without turning half-diameter during turning, and the steering engine is more flexible and has no dead angle during movement. The robot takes permanent magnetism as the main part and electromagnetic adsorption as the auxiliary part. The environment-friendly dust hood can better achieve the environment-friendly and dust-free state. When the machine starts to work, the dust suction device is firstly opened to form negative pressure in the cover of the dust suction device, so that the adsorption force between the robot and the metal surface is increased, then the spray gun is opened, the spray gun starts to work, the ore sand is impacted on the surface of the steel plate at a high speed by using compressed air of 0.4-0.6MPa, the corrosion layer is quickly removed, and the rust dust is completely sucked by the peripheral negative pressure.
Drawings
FIG. 1 is a front view of an environment-friendly blasting robot provided by the present invention;
FIG. 2 is a schematic view of a main frame;
FIG. 3 is a schematic view of a drive chassis;
FIG. 4 is a schematic view of a magnetic adsorption structure;
FIG. 5 is a schematic view of the structure of the blast head and the recovery cover;
FIG. 6 is a cross-sectional view of the blast head and recovery hood;
fig. 7 is an assembly view of the main frame and the drive chassis.
In the figure, 1 camera, 2 steering engine, 3 main frame, 4 steering engine gear, 5 gear disc, 6 driving wheel vertical shaft gear, 7 outer fork frame, 8 driving wheel, 9 driving motor, 10 dust recovery cover brush, 11 dust recovery cover, 12 permanent magnet, 13 electromagnet, 14 adjusting gap screw, 15 magnetic isolation plate, 16 driving wheel vertical shaft, 17 suspension spring, 18 suspension outer frame, 19 nut, 20 dust recovery joint, 21 upper frame, 22 sandblast nozzle isolation shield, 23 sandblast head, 24 lifting lug, 121 first permanent magnet, 122 second permanent magnet, 123 third permanent magnet, 124 fourth permanent magnet, 131 first electromagnet, 132 second electromagnet, 133 third electromagnet, 134 fourth electromagnet.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
An environment-friendly sandblast robot includes: the device comprises a camera 1, a steering engine 2, a main frame 3, a steering engine gear 4, a gear disc 5, a gear 6 of an upper vertical shaft of a driving wheel, an outer fork 7, a driving wheel 8, a driving motor 9, a dust recovery cover brush 10, a dust recovery cover 11, a permanent magnet 12, an electromagnet 13, an adjusting gap screw 14, a magnetic shield 15, a vertical shaft 16 of the driving wheel, a suspension spring 17, a suspension outer frame 18, a nut 19, a dust recovery joint 20, an upper frame 21, a sand blasting nozzle shield 22, a sand blasting head 23 and a lifting lug 24.
As shown in fig. 2, the main frame 3 includes an upper rectangular frame 21, the upper frame 21 is connected to a lower annular frame through 4 oblique beams, a suspension outer frame 18 is connected to the oblique beams, a connecting lifting lug 24 is connected to the upper frame 21, the lifting lugs 24 are symmetrically arranged on the upper frame 21, and the upper frame 21 is further connected to the camera 1, wherein the connecting manner is welding.
As shown in fig. 3, the environment-friendly sand blasting robot comprises an adsorption and walking driving mechanism, wherein the adsorption and walking driving mechanism comprises an annular gear disc 5, 4 gears 6 of vertical shafts on driving wheels which are symmetrically arranged are meshed on the gear disc 5 through gears, a steering gear 4 is further meshed on the gear disc 5 through gears, a steering gear 2 is connected onto the steering gear 4, an outer fork frame 7 is connected onto the gear 6 of the vertical shaft on the driving wheels, the outer fork frame 7 is connected with a driving wheel 8, a driving motor 9 is arranged in the driving wheel 8, and the gear 6 of the vertical shaft on the driving wheel is connected onto a suspension outer frame 18 through a suspension spring 17 and a nut 19.
As shown in fig. 1, 5 and 6, the blast head 23 is connected to a horn-shaped blast nozzle shield 22, the blast nozzle shield 22 is further covered with a dust recovery cover 11, the dust recovery cover 11 is connected to two symmetrically arranged dust recovery connectors 20, and the lower portion of the dust recovery cover 11 is connected to a dust recovery cover brush 10.
As shown in fig. 1, the magnetic shield 15 is connected to the gear plate 5 by a gap adjusting screw 14.
The camera 1 mainly collects image information and transmits the image information to a controller terminal, the steering engine 2 rotates and drives a fluted disc to play a role in steering through a control instruction, the main frame 3 is formed by welding an upper frame and the fluted disc, the material is aluminum alloy or stainless steel, so that the steering engine gear 4 conducts power, the gear disc 5 conducts power, 4 gears 6 of a vertical shaft on the driving wheel are totally 4, 4 outer fork frames 7 are totally 4, 4 driving wheels 8 are totally built-in motors, 4 driving motors 9 are totally 4, 4 neodymium iron boron permanent magnets 12 are totally neodymium iron boron permanent magnets, the magnetic isolation plates 15 are made of stainless steel, 4 suspension springs 17 are totally, 2 lifting lug recovery joints 20 are totally, and 2 lifting lug recovery joints 24 are totally.
As shown in fig. 4, the first permanent magnet 121, the second permanent magnet 122, the third permanent magnet 123, the fourth permanent magnet 124, the first electromagnet 131, the second electromagnet 132, the third electromagnet 133, and the fourth electromagnet 134 are arranged symmetrically at intervals.
The invention relates to a wall-climbing robot with a dry sand blasting and dust recycling system, which is mainly applied to rust removal and cleaning work of large-scale carbon steel metal surfaces of petrochemical large-scale storage tanks (such as oil tanks and spherical tanks) and ships.
The working process comprises the following steps: adsorption-walking (climbing wall) -recovery-sand blasting.
1. The adsorption device adopts a device combining permanent magnets and electromagnetism (dust adsorption also plays a certain adsorption role in the working process), because the self weight of the wall climbing robot is about more than 20 kilograms, and the total weight of the sand blasting pipe and the dust collecting pipe is about more than 30 kilograms, when the robot climbs, the higher the weight is, the larger the load is, the adsorption of the permanent magnets is reduced, and at the moment, the electromagnet can be started to work through a computer sensor, so that the phenomena of insufficient magnetic force and the like are compensated, and the robot is prevented from falling from high altitude.
2. The steering device is characterized in that the steering engine is arranged on the main frame, a pinion on a steering engine shaft drives a big fluted disc on the frame through rotation of the steering engine, and the rotation of the big fluted disc drives the pinions on the four wheels to realize simultaneous rotation of the four wheels, so that steering motion is formed.
3. The driving walking device is characterized in that mounting vertical shafts of four wheels are mounted on a lower frame, and the adopted wheels are wheel hubs with servo motors, and a control system can control forward and reverse rotation to form walking motion.
4. As shown in figure 6, when the sand blasting machine works, compressed air with 0.4-0.6MPa is used for sand blasting, so that the ore sand impacts the surface of the steel plate at a high speed of dozens of meters per second, and the rust layer is quickly removed. The dust sprayed by the sand blasting method is completely sucked by the negative pressure in the dust hood, and the sprayed sand and the rusty dust are recovered by the negative pressure, so that the environment-friendly and dust-free state is achieved.
5. Control system has the input of environment initial value for intelligent control module control both can realize autonomic operation in order to guarantee the robot, can carry out manual control again, thereby improve its practicality and reliability, can realize human-computer interface interaction on the PC industrial computer, the operation task is appointed, the state of robot shows, robot and auxiliary system's action coordination grade function, it includes the switch board, a display, the power supply unit, adopt 48V power supply to provide power for drive robot walking and sandblast operation, the hoist device is along with sandblast robot's upper and lower walking in time receive and release protection hawser (prevent it to fall) and control cable: the display displays the working environment in real time by means of a camera installed on the sandblasting robot body.
Claims (10)
1. The utility model provides an environment-friendly sandblast machine people which characterized in that: the device comprises a main frame, wherein the main frame comprises an upper frame, the upper frame is connected with a lower annular frame through an oblique beam, a suspension outer frame is connected to the oblique beam, a lifting lug is connected to the upper frame, and a camera is arranged on the upper frame; still including adsorbing and walking actuating mechanism, adsorbing and walking actuating mechanism include annular toothed disc, the gear of going up the vertical scroll through gear engagement drive wheel on the toothed disc, there is the steering wheel gear still through gear engagement on the toothed disc, be connected with the steering wheel on the steering wheel gear, be connected with the outer crotch on the gear of vertical scroll on the drive wheel, outer crotch is connected with the drive wheel, is provided with driving motor in the drive wheel, on the gear connection of vertical scroll to hanging outer frame on the drive wheel, be connected with the magnetic shield on the toothed disc, still include the sandblast head, the sandblast head with sandblast mouth separate the guard shield and be connected, still be covered with dust recovery cover on the sandblast mouth separate the guard shield, dust recovery cover is connected with dust recovery joint, the sub-unit connection of dust recovery cover has dust recovery cover brush.
2. The environment-friendly sandblasting robot as recited in claim 1, wherein: the main frame is made of aluminum alloy or stainless steel.
3. The environment-friendly sandblasting robot as recited in claim 1, wherein: the upper frame is of a rectangular structure.
4. The environment-friendly sandblasting robot as recited in claim 1, wherein: the upper frame is connected with the lower annular frame through 4 oblique beams.
5. The environment-friendly sandblasting robot as recited in claim 1, wherein: the lifting lugs are symmetrically arranged on the upper frame.
6. The environment-friendly sandblasting robot as recited in claim 1, wherein: the gear disc is meshed with 4 gears of a vertical shaft on the driving wheel which are symmetrically arranged through gears.
7. The environment-friendly sandblasting robot as recited in claim 1, wherein: the sand blast nozzle separating shield is of a horn-shaped structure.
8. The environment-friendly sandblasting robot as recited in claim 1, wherein: and the gear of the vertical shaft on the driving wheel is connected to the suspension outer frame through a suspension spring and a nut.
9. The environment-friendly sandblasting robot as recited in claim 1, wherein: the dust recovery cover is connected with two dust recovery joints which are symmetrically arranged.
10. The environment-friendly sandblasting robot as recited in claim 1, wherein: the gear disc is connected with a magnetic isolation plate through a gap adjusting screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110694953.2A CN113370085A (en) | 2021-06-23 | 2021-06-23 | Environment-friendly sandblast machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110694953.2A CN113370085A (en) | 2021-06-23 | 2021-06-23 | Environment-friendly sandblast machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113370085A true CN113370085A (en) | 2021-09-10 |
Family
ID=77578466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110694953.2A Pending CN113370085A (en) | 2021-06-23 | 2021-06-23 | Environment-friendly sandblast machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113370085A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114147630A (en) * | 2021-10-27 | 2022-03-08 | 上海中船临港船舶装备有限公司 | Circulating type automatic surface cleaning device and using method thereof |
-
2021
- 2021-06-23 CN CN202110694953.2A patent/CN113370085A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114147630A (en) * | 2021-10-27 | 2022-03-08 | 上海中船临港船舶装备有限公司 | Circulating type automatic surface cleaning device and using method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215433233U (en) | Environment-friendly sandblast machine people | |
| WO2018006547A1 (en) | System for removing rust from hull surface of ship | |
| CN106240664B (en) | A kind of towed metal wall surface work climbing robot | |
| CN108500997B (en) | Curved surface wall climbing robot for surface cleaning | |
| CN104648512A (en) | Three-degree-of-freedom climbing parallel robot with swinging traction legs | |
| CN113370085A (en) | Environment-friendly sandblast machine people | |
| CN113021375B (en) | Oil tank rust cleaning wall climbing robot | |
| CN105945894B (en) | Crawler-type wall climbing robot capable of steering randomly | |
| CN208021687U (en) | A kind of underwater cleaning robot | |
| CN215617243U (en) | Surface cleaning operation wall-climbing robot suitable for large-scale steel structure | |
| CN114850141B (en) | Steel construction welding slag self-cleaning equipment | |
| CN111516771A (en) | Magnetic wall climbing equipment for ship cleaning | |
| CN106394714A (en) | Sucker type climbing robot | |
| CN210793397U (en) | Magnetic wheel adsorption type lightweight wall-climbing robot capable of being combined in multiple sections | |
| CN112478078A (en) | Novel boats and ships rust cleaning robot | |
| WO2024055643A1 (en) | Crane maintenance robot | |
| CN108466179A (en) | Wall-climbing shot blasting and polishing robot | |
| CN207943098U (en) | The wheeled climbing robot of magnetic gap | |
| CN215043238U (en) | Strong-adsorption wall-climbing robot | |
| CN212709719U (en) | Crawler-type magnetic adsorption wall-climbing robot | |
| CN210810823U (en) | Wall surface flexible wall climbing cleaning trolley | |
| CN115246026A (en) | Intelligent ship rust removal robot and using method thereof | |
| CN217170852U (en) | Crawler-type magnetic adsorption wall-climbing robot chassis | |
| Du et al. | Research on the Outer Wall Grinding Robot for Spherical Tanks Based on High-Pressure Waterjet | |
| CN205675124U (en) | A kind of rotary climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |