WO2020192502A1 - 除锈模组及除锈装置 - Google Patents

除锈模组及除锈装置 Download PDF

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Publication number
WO2020192502A1
WO2020192502A1 PCT/CN2020/079805 CN2020079805W WO2020192502A1 WO 2020192502 A1 WO2020192502 A1 WO 2020192502A1 CN 2020079805 W CN2020079805 W CN 2020079805W WO 2020192502 A1 WO2020192502 A1 WO 2020192502A1
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WO
WIPO (PCT)
Prior art keywords
rust
warhead
bullet
rust removal
cavity
Prior art date
Application number
PCT/CN2020/079805
Other languages
English (en)
French (fr)
Inventor
汪冬
Original Assignee
广州力多机器人智能科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201910239650.4A external-priority patent/CN109909890A/zh
Priority claimed from CN201910650545.XA external-priority patent/CN110284380A/zh
Priority claimed from CN202010022454.4A external-priority patent/CN111250484A/zh
Priority claimed from CN202020223242.8U external-priority patent/CN211638551U/zh
Priority claimed from CN202010131297.0A external-priority patent/CN111216821B/zh
Application filed by 广州力多机器人智能科技有限公司 filed Critical 广州力多机器人智能科技有限公司
Priority to EP20778774.8A priority Critical patent/EP3936243A4/en
Publication of WO2020192502A1 publication Critical patent/WO2020192502A1/zh

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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
    • B24C1/006—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods using material without particles or pellets for deburring, removal of extended surface areas or jet milling of local recessions, e.g. grooves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D9/00—Portable percussive tools with fluid-pressure drive, i.e. driven directly by fluids, e.g. having several percussive tool bits operated simultaneously
    • B25D9/02—Portable percussive tools with fluid-pressure drive, i.e. driven directly by fluids, e.g. having several percussive tool bits operated simultaneously of the tool-carrier piston type, i.e. in which the tool is connected to an impulse member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D17/00—Details of, or accessories for, portable power-driven percussive tools
    • B25D17/02—Percussive tool bits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/275—Tools having at least two similar components
    • B25D2250/285—Tools having three or more similar components, e.g. three motors
    • B25D2250/291—Tools having three or more parallel bits, e.g. needle guns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D9/00—Portable percussive tools with fluid-pressure drive, i.e. driven directly by fluids, e.g. having several percussive tool bits operated simultaneously
    • B25D9/06—Means for driving the impulse member
    • B25D9/08—Means for driving the impulse member comprising a built-in air compressor, i.e. the tool being driven by air pressure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/45—Scale remover or preventor
    • Y10T29/4572—Mechanically powered operator
    • Y10T29/4583—Hammer

Definitions

  • the invention relates to the field of rust removal equipment, and particularly relates to a rust removal module and a rust removal device.
  • the rust removal methods on the market can be mainly divided into shot blasting, sandblasting, and pickling-free wire drawing.
  • Shot blasting rust removal mainly uses the high-speed operation of mechanical equipment to throw steel shots of a certain size by the centrifugal force of the blasting head mechanism.
  • the thrown steel shots violently collide with the object to be rusted to remove the rust of the object to be removed;
  • Shot blasting equipment is mainly composed of shot blasting device, wear-resistant rubber ring belt, screw auger, lifting, separator, feeding conveyor, dust removal machine, and electrical appliances.
  • Sand blasting and rust removal is a rust removal method that uses high-pressure air to bring out the quartz sand and spray it on the surface of the component;
  • a complete suction dry sand blasting machine generally consists of six systems, namely structural system, medium power system, and pipeline System, dust removal system, control system and auxiliary system.
  • the pickling-free wire drawing rust removal is mainly for wire rod rust removal;
  • the pickling-free peeling and rust removal machine is mainly composed of a gearbox five-wheel shelling mechanism, an adjustable cross-parabolic wire brush wheel, a fully enclosed rust removal room, a forced lubrication device, and wire drawing Formwork and electrical control system. It can be seen that whether it is a shot blasting derusting machine, a sandblasting derusting machine or a pickling-free wire drawing equipment, the derusting process requires a variety of equipment groups to form a complete derusting production line. The equipment is bulky.
  • our company has developed a brand new rust removal device that installs multiple rust removal units on the frame, and uses the warhead of the rust removal unit to hit the material to remove rust and rust; but During production, the process of assembling the rust removal unit is cumbersome.
  • the present invention provides a rust removal module and a rust removal device, which are more convenient for production, assembly and maintenance.
  • the present invention provides a rust removal module, which includes a plurality of warhead rust removal mechanisms and a module bracket. A plurality of warhead rust removal mechanisms are fixed on the module bracket.
  • the warhead rust removal mechanism includes A warhead with a rust surface that reciprocates linearly, and an end of the warhead facing the rust removal surface forms a knocking portion.
  • At least part of the warhead rust removal mechanism is distributed in multiple rows and multiple columns, and in a direction perpendicular to the feeding direction of the rust removal device, at least part of the center of the striking part of the warhead rust removal mechanism of different rows Misplaced settings.
  • At least part of the centers of the percussion parts of the warhead rust removal mechanism are distributed in a parallelogram dot matrix, and the centers of the percussion parts of the warhead rust removal mechanism in the same row
  • the connecting line is inclined to the feeding direction of the rust removing device.
  • the module bracket includes a first fixing member, a second fixing member and a telescopic device, a plurality of the bullet-head rust removing mechanisms are fixed on the first fixing member, the first fixing member and the second fixing member
  • the two fixed parts are connected by the telescopic device, and the telescopic device drives the bullet rust removing mechanism on the first fixed part to extend or retract.
  • the second fixing member includes a first housing and a second housing, an accommodating space is formed between the first housing and the second housing, and the second housing is formed with A through hole adapted to the bullet, the first fixing member and the bullet rust removing mechanism are both located in the accommodating space, the telescopic device is fixed on the first housing, and the bullet can pass through the through hole Reach out.
  • the warhead descaling mechanism further comprises a warhead descaling mechanism body, the warhead descaling mechanism body is provided with an air cavity, the warhead can be movably embedded in the air cavity, and an external air distribution mechanism It is connected with the air cavity and is used to pass compressed gas into the air cavity to drive the warhead to reciprocate relative to the air cavity.
  • the warhead derusting mechanism further includes a buffer chamber;
  • the air chamber includes a guide hole and a piston chamber, the guide hole and the piston chamber are connected and communicated, the warhead can be movably embedded in the guide hole, and the side wall of the warhead Abut against the inner wall of the guide hole, so that the piston cavity is not communicated with the atmospheric pressure;
  • the side wall of the guide hole is provided with a pressure relief station, the bullet includes a bullet cavity, and the side of the bullet is provided with an air hole communicating with the bullet cavity After the bullet is ejected, the air hole is connected with the pressure relief station, and the air pressure in the air cavity is leaked; the air distribution mechanism rebounds to the initial position after it has knocked on the surface to be derusted.
  • the warhead rust removing mechanism further includes a first limit part and a second limit part, the first limit part is arranged on the warhead, and the second limit part is arranged on the side wall of the air cavity
  • the first limiting portion and the second limiting portion are used for resisting each other when the bullet moves toward the air cavity mouth to the extreme position, so as to prevent the bullet from slipping out of the air cavity.
  • the first limiting portion is an annular protrusion on the bullet; the inner diameter of the piston cavity is larger than the inner diameter of the guide hole, and the guide hole and the piston cavity are connected by a connecting portion ,
  • the connecting portion is the second limiting portion.
  • the bullet includes a bullet inner cavity, a first air hole and a second air hole are opened on the side wall of the bullet, and the side wall of the air cavity is provided with a pressurization station and a pressure relief station.
  • An air hole is matched with the pressure relief station, and the second air hole is matched with the pressurizing station.
  • the warhead derusting mechanism further includes a buffer cavity, and the air outlet of the air distribution mechanism communicates with the buffer cavity; when the air distribution mechanism pressurizes the buffer cavity, the second air hole The pressurizing stations are aligned, the gas enters from the second air hole and fills the inner cavity of the bullet, and the bullet is driven by the air pressure of the piston chamber to advance along the guide hole; when the bullet advances to the pressure relief station corresponding to the first air hole , The air pressure in the warhead cavity leaks to the pressure relief station, and the warhead is reset.
  • the first end of the bullet is formed with a first limiting portion, the diameter of the first limiting portion is larger than the diameter of the bullet, and the side wall of the piston cavity is provided with a first limiting portion.
  • the second limiting portion is matched with the positioning portion, the diameter of the second limiting portion matches the diameter of the bullet, the pressurizing station is located on the second limiting portion, and the opening faces the The first limit part.
  • a second air groove is provided on the second limiting portion, and the pressurizing stations are all communicated with the second air groove.
  • a first air groove is provided on the first limiting portion, and an opening of the first air groove faces the second limiting portion.
  • the body of the bullet rust removing mechanism includes 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, and the second body is formed on the There is a pressure relief station, an air cavity is formed between the first body and the second body, the bullet is movably embedded in the air cavity, and the second body is also formed with an air cavity for the bullet The bullet exit through which the percussion part passes.
  • the air cavity and the pressure relief station are connected, the air cavity and the pressurizing station are not connected, and the bullet is in the retracted state.
  • the air cavity and the pressure relief station are not connected, and the air cavity and the pressurizing station are connected.
  • the bullet rust removing mechanism further includes a bullet rust removing mechanism body, the bullet rust removing mechanism body includes a first body and a second body, the first body and the second body are connected, the first body The piston cavity and the buffer cavity are formed inside; the second body is formed with a guide hole, the side wall of the guide hole is provided with a pressure relief station, and the striking part of the bullet can pass through the guide Hole and can extend out of the guide hole.
  • an air passage is further formed on the first body, a pressurizing station is formed on the side wall of the piston cavity, and the pressurizing station is communicated with the buffer cavity through the air passage, so
  • the bullet head is formed with a bullet head cavity and an air hole, and the air hole can communicate with the pressure relief station, so that the pressure in the air cavity can leak.
  • the air hole includes a first air hole and a second air hole, and both the first air hole and the second air hole communicate with the inner cavity of the bullet; when the bullet is retracted, the second air hole is connected to the The pressurizing station is connected, and the first air hole is closed by the side wall of the guide hole; when the bullet is extended, the first air hole is connected to the pressure relief station, and the second air hole is blocked.
  • the side wall of the piston chamber is closed.
  • the material specific gravity of the second body is lower than the material specific gravity of the first body.
  • the first body includes a piston barrel, an inner cover and an outer cover
  • the piston cavity is located in the piston barrel, the bullet passes through the piston cavity, and the other end of the bullet is stuck in the piston cavity
  • the outer cover is fixed on the piston barrel; the inner cover is located between the piston cavity and the buffer cavity, the bullet and the inner cover seal the piston cavity, the inner cover
  • the buffer cavity is sealed with the outer cover; when the bullet is extended, the inner cover is pressed toward the piston cavity by air pressure, and when the bullet is reset, the bullet presses the inner cover to the buffer cavity.
  • the diameter of the buffer chamber is larger than the diameter of the piston chamber, and the buffer chamber and the piston chamber are coaxial, the first end of the inner cover matches the piston chamber, and the inner cover The second end of the inner cover is matched with the buffer cavity, and a compressed air groove is provided on the second end surface of the inner cover, and the compressed air groove is communicated with the buffer cavity.
  • the first body is made of metal material
  • the second body is made of plastic material.
  • At least part of the second bodies of the warhead rust removing mechanism are connected to each other as a whole.
  • the present invention also provides a rust removal device, which includes a mounting bracket and a plurality of the above-mentioned rust removal modules, and the rust removal module is installed on the installation bracket.
  • the rust removing device further includes a supporting bracket, the plurality of bullet-head rust removing mechanisms are installed on the mounting bracket, the mounting bracket is installed on the supporting bracket, and the mounting bracket is connected to the supporting bracket.
  • a lifting assembly is arranged between the brackets, and the lifting assembly is used to drive the mounting bracket to lift relative to the support bracket.
  • the descaling device includes a first descaling array and a second descaling array, a feed channel is formed between the first descaling array and the second descaling array, the first descaling array and
  • the second descaling arrays each include a plurality of warhead descaling mechanisms arranged side by side, the warheads of the first descaling array and the warheads of the second descaling array are in opposite directions, and in the feeding direction of the descaling device, The first descaling array and the second descaling array are arranged oppositely or staggered.
  • the descaling device includes a front descaling array and a rear descaling array, the front descaling array and the rear descaling array are arranged at intervals along the feeding direction of the descaling device, and the rear descaling array It is arranged on the discharge side of the front descaling array, and a rust detection device is also arranged between the front descaling array and the rear descaling array.
  • a rust detection device is also provided on the discharge side of the post rust removal array.
  • the mounting bracket includes an orbital robot
  • the bullet-head rust removal mechanism is installed on the orbital robot
  • the orbital robot drives the bullet-head rust removal mechanism to move.
  • the orbital robot includes a first driving mechanism and a rail for passage of the bullet-head rust removing mechanism, and the orbital robot can travel under the driving of the first driving mechanism.
  • the track member includes a first track and a second track, and the second track is in communication with the first track.
  • the track member further includes a third drive mechanism and a rotary joint member, the end of the second track and the end of the first track are rotatably connected by the rotary joint member; in the first state, the first track The second track can swing relative to the first track under the drive of the third driving mechanism; in the second state, the second track is fixedly connected to the first track.
  • the rust removal device further includes an anchoring mechanism that anchors the orbital robot when the orbital robot stops moving.
  • the track member includes a flexible tension line and a sliding table
  • the sliding table includes a pulley and a driving mechanism
  • the flexible tension line is wound around the pulley
  • the driving mechanism drives the pulley to rotate
  • the pulley moves along the flexible tension line
  • the pulley is stationary relative to the flexible tension line.
  • the rust removing device further includes a first track, the flexible tension line extends along the length of the first track, and the sliding table is connected to the first track and moves along the first track.
  • the rust removal device further includes a second track
  • the flexible tension line includes a lock release station
  • the second track is used for the movement of the warhead rust removal mechanism
  • the second track includes a suspension station
  • the suspension station is set On one side of the lock release station, the rust removal mechanism of the bullet head stationary at the suspension station can be locked/unlocked with the sliding table staying at the lock release station.
  • the rust removing device further includes a first track and a second track, the first track and the second track are rotatably connected, and a lockable positioning mechanism is provided between the two.
  • the mechanism can be locked after the second track and the first track are relatively rotated, so that the second track and the first track are relatively fixed.
  • the mounting bracket includes a lifting mechanism, the bullet-head rust removing mechanism is connected to the lifting mechanism, the lifting mechanism is provided with an elastic member, one end of the elastic member is fixed on the lifting mechanism, and the other One end is connected with the warhead rust removing device; when the lifting mechanism drives the warhead rust removing mechanism to move to the surface to be rusted, the reaction force of the warhead rust removing mechanism to be derusted faces the elastic member to contract .
  • the rust removal device includes a plurality of bullet-head rust-removing mechanisms and at least two fixing parts, and the multiple bullet-head rust-removing mechanisms are respectively fixed on the two fixing parts, and the positions where the two fixing parts are close to each other are arranged.
  • the rust removing device includes a fixing member arranged on the lifting device, the bullet rust removing mechanism is connected to the fixing member, and a self-propelled rust removing mechanism is provided between the bullet rust removing mechanism and the fixing member.
  • the adaptive mechanism includes a floating member, a guide pole, and a fixing member.
  • the elastic member is a spring sleeved on the guide pole.
  • the fixing member is provided with a reserved hole. The guide One end of the vertical rod passes through the reserved hole, and the other end is fixedly connected to the warhead rust removal mechanism through the floating piece; the reaction force generated when the warhead rust removal mechanism is against the surface to be derusted can reduce the The spring is compressed.
  • the mounting bracket includes a deforming mechanism on which the warhead rust removing mechanism is installed, and the deforming mechanism can drive the warhead rust removing mechanism to move.
  • the deformation mechanism includes a fixed part, a deformation power device, a driving arm and a first driven arm, the deformation power device is fixed on the fixed part, and the deformation power device is opposite to one end of the driving arm. Hinged, the other end of the driving arm is connected to the first driven arm to be hinged, and the deformation power device can drive the first driven arm to approach or move away from the fixing member.
  • the deformation power device includes a motor, a screw rod, and a nut, the nut is fixedly connected to the active arm, and the motor drives the screw rod to rotate, thereby driving the nut to move in the direction of the screw rod .
  • the deformation mechanism further includes a second driven arm, the second driven arm is hinged with the fixing member, and the bullet rust removing device is simultaneously connected to the first driven arm and the second driven arm.
  • the slave arm is connected.
  • the mounting bracket further includes a slide rail, the deformation mechanism is arranged on the slide rail, and the deformation mechanism can slide along the slide rail.
  • the rust removing device further includes a first suction cup and a second suction cup
  • the first suction cup includes a first suction member and a first telescopic device
  • the first telescopic device drives the first suction member to move
  • the second suction cup includes a second suction member and a second telescopic device
  • the second telescopic device drives the second suction member to move; in the first state, the first suction member and the second suction member extend simultaneously Out; In the second state, the first suction member and the second suction member alternately extend.
  • the present invention integrates multiple rust removal units into one rust removal module.
  • the rust removal device When the rust removal device is produced, only the rust removal module needs to be installed.
  • the rust removal unit needs to be installed one by one, and the assembly is more convenient.
  • Figure 1 is an overall structure diagram of a descaling device according to a preferred embodiment of the present invention.
  • Figure 2 is an overall structure diagram of a rust removing device according to another preferred embodiment of the present invention.
  • Figure 3 is an exploded view of the initial module
  • Figure 4 is a cross-sectional view in the AA direction in Figure 3;
  • Figure 5 is a cross-sectional view of the warhead derusting mechanism in Figure 4 in an assembled state
  • Figure 6 is an exploded view of the refill module
  • Figure 7 is a cross-sectional view of the BB direction of the rust removal module in Figure 6
  • Fig. 8 is an overall structure diagram of a warhead rust removing mechanism according to a preferred embodiment of the present invention.
  • Figure 9 is an exploded view of the warhead derusting mechanism of the preferred embodiment of the present invention.
  • Figure 10 is a cross-sectional view of the warhead derusting mechanism of the preferred embodiment of the present invention in an explosive state
  • Figure 11 is a cross-sectional view of the warhead of the preferred embodiment of the present invention.
  • Figure 13 is another perspective view of the overall structure of the warhead derusting mechanism of the embodiment of the present invention.
  • Figure 14 is a bottom view of the descaling system of the preferred embodiment of the present invention.
  • Figure 15 is a cross-sectional view of the rust removal system of the preferred embodiment of the present invention.
  • Figure 16 is another overall structure diagram of the rust removal system of the preferred embodiment of the present invention.
  • Figure 17 is a cross-sectional view of the warhead rust removing mechanism of the preferred embodiment of the present invention.
  • Figure 18 is a cross-sectional view of a warhead derusting mechanism according to another preferred embodiment of the present invention.
  • FIGS 19-23 are overall structural diagrams of different embodiments of the warhead of the present invention.
  • 24 and 25 are two-state structural diagrams of the rust removal device according to another embodiment of the present invention.
  • Figure 26 is an overall structure diagram of a rail according to another embodiment of the present invention.
  • Figure 27 is an overall structure diagram of a joint according to another embodiment of the present invention.
  • 29 and 30 are diagrams of the connection relationship between the flexible tension line and the sliding table of the present invention.
  • Figure 31 is an overall structure diagram of a rust removing device according to another embodiment of the present invention.
  • Figure 32 is a partial enlarged view of Figure 31;
  • Figure 33 is an overall structure diagram of an embodiment of the warhead rust removing mechanism
  • Figure 34 is an overall structure diagram of a rust removing mechanism according to yet another embodiment of the present invention.
  • Figure 35 is a partial enlarged view of Figure 34;
  • Fig. 36 is an overall structure diagram of the deformation mechanism of the present invention.
  • the technical solution adopted by the present invention is that the present invention provides a warhead derusting mechanism, which includes a warhead 12, which is driven by an external drive mechanism to make a linear reciprocating motion to repeatedly strike Rust removal surface; the end of the warhead 12 away from the drive mechanism is a knocking part 1200 for easy rust removal.
  • the warhead descaling mechanism further includes a warhead descaling mechanism body 11, the warhead descaling mechanism body 11 is provided with an air cavity 10, the driving mechanism communicates with the air cavity 10, and the driving mechanism includes an air valve mechanism ,
  • the warhead 12 can be movably embedded in the air cavity 10, the side wall of the warhead 12 and the inner wall of the air cavity 10 are opposed to isolate the air pressure in the air cavity 10 from the atmosphere, and the air distribution mechanism passes air into the air cavity 10 to drive the warhead 12 to hit The surface to be derusted, the warhead 12 rebounds after striking the surface to be derusted.
  • the air cavity 10 and 11 in a preferred embodiment, it also includes a buffer cavity 103;
  • the air cavity 10 includes a guide hole 101 and a piston cavity 102, the guide hole 101 and the piston cavity 102 are connected and communicated, the bullet 12 can be movably embedded in In the guide hole 101, the side wall of the bullet 12 abuts against the inner wall of the guide hole 101, so that the piston cavity 102 is not communicated with the atmospheric pressure;
  • a pressure relief station 102 is provided on the side wall of the guide hole 101, and the bullet 12 includes a bullet cavity 120.
  • the side of 12 is provided with an air hole communicating with the inner cavity of the warhead. When the warhead is ejected, the air hole is connected to the pressure relief station 105, and the air pressure in the air cavity 10 is leaked; the air distribution mechanism rebounds after knocking on the surface to be derusted To the initial position.
  • the buffer cavity 103 is arranged between the air cavity 10 and the air distribution mechanism so that the connection between the three is a straight line.
  • the warhead rust removal mechanism further includes a first limit portion 123 and a second limit portion 106, the first limit portion 102 is provided on the bullet 12, and the second limit portion 106 is provided on On the side wall of the air cavity 10, the first limiting portion 123 and the second limiting portion 106 are used to resist each other when the bullet 12 moves toward the opening of the air cavity 10 to the extreme position, so as to prevent the bullet 12 from slipping out of the air cavity 10.
  • the first limiting portion 123 is an annular protrusion on the bullet 12; the inner diameter of the piston cavity 102 is larger than the inner diameter of the guide hole 101, and the guide hole 101 and the piston cavity 102 are connected by a connecting portion 104.
  • the part is the second limiting part 106.
  • the bullet head rust removing mechanism body 11 includes an air cavity 10
  • the bullet 12 is movably embedded in the air cavity 10
  • the driving mechanism 15 includes an air distribution mechanism 31, an air distribution mechanism 3
  • the air cavity 10 is in communication and is used to pass compressed gas into the air cavity 10 to drive the bullet 12 to reciprocate relative to the air cavity 10.
  • the rust removal device includes a plurality of air distribution mechanisms 3, and each air distribution mechanism 3 is in communication with a plurality of warhead rust removal mechanisms 1 through a pipeline.
  • the rust removal device includes a plurality of rust removal modules 10 that move independently of each other, and each rust removal module 10 includes a plurality of bullet-head rust removal mechanisms 1 that move synchronously, and each rust removal module 10 Connected with a valve mechanism 3.
  • the rust removal mechanism mainly includes a bullet 12, an air cavity 10, a buffer cavity 103, an air distribution mechanism 3, a shock absorption device, a rust recovery device, and a traveling drive mechanism 15 drive mechanism 2.
  • the air cavity 10 includes a guide through hole 101 and a piston cavity 102 below the guide through hole 101.
  • the buffer cavity 103 is a part of the piston cavity 102, and the bullet 12 is located in the piston cavity.
  • the space enclosed by the inner end of the piston chamber 101 and the side wall of the piston chamber 101 is the buffer chamber 103, and the size of the buffer chamber 103 changes with the movement of the bullet 12.
  • the bullet head 12 is mounted in the guide through hole 101 in a liftable manner, and the side wall of the bullet head 12 is attached to the inner wall of the guide through hole 101 so that the piston cavity 102 is not connected to the outside atmosphere.
  • the end of the piston chamber 102 away from the guide through hole 101 is provided with a buffer chamber 103, the piston chamber 102 is provided with a pressurizing station 104, and the side wall of the piston chamber 102 is provided with a vertical air passage 107, one of the air passage 107
  • the port is connected to the buffer chamber 103, the other port of the air passage 107 is connected to the pressurizing station 104, a pressure relief station 105 is provided in the guide through hole 101, and the pressure relief station 105 communicates with the atmospheric pressure; the pressurizing station 104, pressure relief The station 105 is an annular groove.
  • the bullet 12 includes a bullet cavity 120, the top of the bullet 12 is provided with a percussion part 1200 for rust removal, and the side wall of the bullet 12 is provided with air holes.
  • the air holes may include a first air hole 121 and a second air hole. Two air holes 122.
  • the second air hole 122 corresponds to the pressurizing station 104, and the first air hole 121 is closed in the guide through hole 101 by the side wall of the guide through hole 101, so that the bullet inner cavity 120 and the piston cavity 102 It is isolated from the outside atmosphere, so when the valve mechanism 3 injects and pressurizes the buffer chamber 103, the gas enters the pressurizing station 104 from the buffer chamber 103 through the air passage 107 of the piston chamber 102, and the gas in the pressurizing station 104 flows from the second The air hole 122 enters the bullet cavity 120, so that the air pressure in the bullet cavity 120 is equal to the piston cavity 102.
  • a buffer chamber 103 is provided facing the bullet 12
  • the shock-absorbing spring when the bullet 12 rebounds, hits the shock-absorbing spring to decelerate, so that the second air hole 122 can correspond to the pressurizing station 104.
  • the piston chamber 102 is wide and the guide through hole 101 is narrow, and the cross section is similar to a "convex" shape.
  • the piston chamber 102 and the guide through hole 101 are connected by a connecting portion, and the connecting portion
  • a second limiting portion 106 is formed, and the lower part of the warhead 12 is provided with a side wing, which is the first limiting portion 123.
  • the warhead extends the longest, the second limiting portion 106 and the first limiting portion 123
  • the abutment causes the bullet 12 to be unable to continue to extend.
  • the percussion part 1200 of the bullet 12 has protruded from the mouth of the air cavity 10, and the object to be rusted can be reached for rust removal.
  • the purpose of the setting is to prevent the bullet 12 from slipping off the guide through hole 101.
  • the air distribution mechanism 3 is arranged on one side of the pressurizing station 104, and the gas is directly injected into the pressurizing station 104.
  • the disadvantage of this is that the high-speed airflow will disturb the movement of the bullet 12 , Causing the speed of the warhead 12 to decrease, and the entire period of rebound after ejection becomes longer, and the number of actions of the warhead 12 per unit time decreases, and the ideal rust removal effect cannot be achieved.
  • the valve mechanism 3 is arranged below the buffer chamber 103, and the connecting line of the buffer chamber 103, the piston chamber 102, and the guide through hole 101 is a straight line (the central axis is on the same straight line), and the valve mechanism 3
  • the air port is staggered with the air inlet of the air passage 107, so that the buffer chamber 103 acts as a first-level buffer, avoiding the kinetic energy of the ejected gas itself directly interfering with the warhead 12, but driving the warhead 12 by air pressure, which is beneficial to improve The number of actions of the warhead in 12 units of time.
  • the rust removal device further includes a linear motion drive mechanism 2 that can drive the air cavity 10 to approach or stay away from the object to be rusted; it also includes a shock-absorbing spring 14, which is sleeved outside the air cavity 10;
  • the dust pipe 16 includes a rust block recovery port placed on one side of the warhead 12, and the dust suction pipe 16 communicates with the rust block recovery port.
  • the bullet head rust removing mechanism body includes a first body 111 and a second body 112, the first body 111 and the second body 112 are connected, and a pressurizing station is formed on the first body 111 104.
  • a pressure relief 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 the second body 112 is also formed with a striking part 1200 for the bullet 12 to penetrate
  • the air chamber 10 and the pressure relief station 105 are connected, and the air chamber 10 and the pressurizing station 104 are not connected.
  • the air chamber 10 and The pressure relief station 105 is not connected, and the air chamber 10 and the pressurizing station 104 are connected.
  • the body of the bullet rust removing mechanism includes a first body 111 and a second body 112, the first body 111 and the second body 112 are connected, specifically, the first body 111 and the second body 112 is clamped and fixedly connected, or fixedly connected by bolts.
  • a piston chamber 101, a buffer chamber 103, and an air passage 107 are formed in the first body 111.
  • the buffer chamber 103 is located at the upper part of the piston chamber 102 and is on the same line as the piston chamber 102; further, the buffer chamber 103 is a part of the piston chamber 102
  • the chamber surrounded by the connecting end of the warhead (that is, the end located in the piston chamber 102) and a 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 chamber 102.
  • the pressurizing station 104 is connected to the buffer chamber 103 through an air passage 107.
  • the gas distribution mechanism 3 introduces high-pressure gas into the buffer chamber 103, and then enters the pressurizing station 104 .
  • a guide through hole 101 is formed on the second body 112, and a pressure relief station 105 is provided on the side wall of the guide through hole 101.
  • the striking part 1200 of the bullet can pass through the guide through hole 101 and can extend out of the guide through hole 101 outer.
  • the bullet 12 is formed with a bullet 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 all connected to the bullet inner cavity 120.
  • the second air hole 122 communicates with the pressurizing station 104, the first air hole 121 is closed by the side wall of the guide through hole 101, and the high-pressure airflow passes through the buffer chamber 103, the pressurizing station 104, and the second air hole 122 Enter into the bullet inner hole 120 to keep the pressure of the bullet inner hole 120 and the buffer chamber 103 balanced and higher than the atmospheric pressure.
  • the pressure becomes larger and larger, the bullet 12 can be pressed down to extend the bullet 12 to strike On item 800.
  • the first air hole 121 communicates with the pressure relief station 105
  • the second air hole 122 is closed by the side wall of the piston chamber 102
  • the first air hole 121 communicates with the pressure relief station 105 on the second body 112
  • the high pressure in the bullet cavity 120 is released from the pressure relief station 105.
  • the gas in the buffer cavity 103 forms an air cushion, which can cushion the rebound force of the bullet 12, reduce or even avoid the collision of the connecting end of the bullet 12 with the piston cavity 102, reduce wear and extend the service life of the rust removal device.
  • the material specific gravity of the second body 112 is lower than that of the first body 111. Dividing the bullet head rust removing mechanism body 11 into the first body 111 and the second body 112 can reduce the weight without affecting the performance of the rust removing device. The weight of the rust removal device saves costs.
  • the first body 111 is made of stainless steel
  • the second body 112 is made of materials such as plastic and aluminum alloy.
  • the first body 111 includes a piston cylinder 1111, an inner cover 1113 and an outer cover 1112.
  • the piston cavity 102 is located in the piston cylinder 1111, the bullet 12 passes through the piston cavity 102, and the other end of the bullet 12 is clamped in the piston cavity 102.
  • the outer cover 1112 is fixed on the piston cylinder 1111, the buffer chamber 103 is enclosed 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.
  • the bullet 12 extends, the bullet 12 and the inner cover 1113 seal the piston cavity 103, and the inner cover 1113 and the outer cover 1112 seal the buffer chamber 103 and inflate the buffer chamber 103.
  • the gas enters the piston chamber 102 through the air passage, and then enters the bullet In the cavity 120, when the air pressure is large enough, the bullet 12 is pressed out, and the bullet 12 hits the material; after being impacted, the bullet 12 resets, and the bullet 12 presses the inner cover 1113 to the buffer cavity 103, and the gas in the buffer cavity 103 forms an air cushion. Buffer warhead 12 and inner cover 1113, reduce impact force and extend service life.
  • the first body 111 is made of metal material, and the second body 112 is made of plastic material.
  • the first body 111 is made of stainless steel, and the second body 112 is made of plastic, such as PC/SAN, PC/PBT, PC/PP, etc.
  • the first body 111 includes a piston cylinder 1111, an inner cover 1113, and an outer cover 1112. Both ends of the piston cylinder 1111 are open.
  • the bullet head 12 penetrates from the first end of the piston cylinder 1111 into the second end of the piston cylinder 1111, and the bullet head 12
  • the connecting end of is located in the piston cylinder 1111, the inner cover 1113 is fixed inside the first end of the piston cylinder 1111, and the outer cover 1112 covers the inner cover 1113 and is fixed outside the piston cylinder 1111.
  • the first body 111 includes a piston barrel 1111, an inner cover 1113, and an outer cover 1112, the piston cavity 102 is located in the piston barrel 1111, the bullet 12 passes through the piston cavity 102, and the other end of the bullet is stuck in the piston cavity Inside 102, the outer cover 1112 is fixed on the piston barrel 1111; the inner cover 1113 is located between the piston cavity 102 and the buffer chamber 103, the bullet 12 and the inner cover 1113 seal the piston cavity 1111, and the inner cover 1113 and the outer cover 1112 connect the buffer cavity 103 Seal; When the bullet 12 extends, the inner cover 1113 is pressed against the piston cavity 1111 by air pressure, when the bullet 12 is reset, the bullet 12 presses the inner cover 1112 to the buffer chamber 103.
  • each rust removal module 10 is integrally cast and formed, and each rust removal module 10 includes 4*3 or 5*4 warheads 12, and each warhead 12 is provided with a second body 112
  • the body 112, a plurality of second bodies 112 are cast as a whole.
  • the rust removing mechanism 1 includes a rust removing mechanism body 111 and a bullet 112.
  • the rust removing mechanism body 111 is provided with a piston chamber 102 and a buffer chamber 103, and the bullet head 112
  • the first end of the piston is located in the piston cavity 102, and the second end forms a rust removal part that can extend out of the piston cavity 102.
  • the rust removal part is used to remove rust materials, to remove rust from materials or to crush materials.
  • An inner cover 1113 is provided between the piston chamber 102 and the buffer chamber 103.
  • the inner cover 1113 separates the piston chamber 102 and the buffer chamber 103.
  • the inner cover 1113 can move in the buffer chamber 103.
  • the bullet 112 When the bullet 112 rebounds, it will first hit the inner cover. In the cover 1113, there is high-pressure gas in the buffer chamber 103. When the buffer member moves in the buffer chamber 103, the high-pressure gas acts as a buffer to prevent the bullet 112 from being damaged.
  • the diameter of the buffer chamber 103 is greater than the diameter of the piston chamber 102, and the piston chamber 102 is coaxial with the buffer chamber 103.
  • a step is formed between the piston chamber 102 and the buffer chamber 103. One end of the inner cover 1113 in the buffer chamber 103 is pressed against On this step, after the bullet 112 hits the inner cover 1113, the buffer cavity 103 can play a buffer role.
  • a pressure station 104 and a pressure relief station 105 are provided on the rust removing mechanism body 111.
  • the piston chamber 102 and the pressure relief station 105 are not connected, and the buffer chamber 103, the piston chamber 102 and the pressurizing station 104 are connected to each other; the high-pressure gas (of course, hydraulic pressure) enters the buffer first In the cavity 103, it enters the pressurizing station 104 from the air passage 107, and then enters the piston cavity 102 from the pressurizing station 104.
  • the high-pressure gas (of course, hydraulic pressure) enters the buffer first In the cavity 103, it enters the pressurizing station 104 from the air passage 107, and then enters the piston cavity 102 from the pressurizing station 104.
  • the bullet 112 can be removed from the piston cavity 102. Press out to make the rust removal part of the warhead 112 hit the material for rust removal and crushing of the material.
  • the piston chamber 102 and the pressure relief station 105 are connected, and the piston chamber 102 and the pressurizing station 104 are not connected; after the piston chamber 102 and the pressure relief station 105 are connected, the piston can be connected The gas in the cavity 102 is released, the air pressure in the piston cavity 102 is reduced, and the rebound force formed after the bullet 112 collides with the material causes the bullet 112 to rebound quickly, and then perform the action of extending again.
  • the bullet 112 is formed with a bullet cavity 120, a first air hole 121 and a second air hole 122, the first air hole 121 and the second air hole 122 and the bullet cavity 120 is communicated, and the bullet inner cavity 120 is formed with an opening at the first end of the bullet 112, so that the bullet inner cavity 120 is communicated with the piston cavity 102.
  • the high-pressure gas (which can of course also be hydraulic pressure) first enters the buffer chamber 103, then enters the pressurizing station 104 from the air passage 107, and then enters the piston chamber 102 from the pressurizing station 104.
  • the rust removing mechanism body 111 further includes a piston cylinder 1111 and an outer cover 1112.
  • the piston cavity 102 is located in the piston cylinder 1111 and penetrates both ends of the piston cylinder 1111.
  • the buffer chamber 103 is located in the outer cover 1112 and is provided with an opening toward one end of the piston chamber 102.
  • the inner cover 1113 simultaneously seals the piston chamber 102 and the buffer chamber 103.
  • the inner cover 1113 can not only seal the piston cavity 102 but also move in the buffer cavity 103. Further, the first end of the inner cover 1113 is matched with the piston cavity 102, and the second end of the inner cover 1113 is matched with the buffer cavity 103.
  • a compressed air groove 11130 is provided on the second end surface of the inner cover 1113, and the compressed air groove 11130 is in communication with the buffer chamber 103, and a compressed air groove 11130 is provided to allow the inner cover 1113 tightly abuts on the end of the side wall of the piston chamber 102, and the sealing effect is better.
  • an air passage 107 is formed on the side wall of the rust removing mechanism body 111, one end of the air passage 107 is communicated with the buffer chamber 103, and the other end is communicated with the piston chamber 102.
  • the first end of the bullet 112 is formed with a first limiting portion 123, the diameter of the first limiting portion 123 is greater than the diameter of the bullet 112, and the side wall of the piston cylinder 1111 is provided with
  • the second limiting portion 106 is matched with the first limiting portion 123, the diameter of the second limiting portion 106 matches the diameter of the bullet 112, and the pressing station 104 is located on the second limiting portion 106 with its opening facing The first limit part 123.
  • a second air groove 1060 is provided on the second limiting portion 106, and the air passage 107 and the pressurizing station 104 are both connected to the second air groove 1060.
  • a first air groove 1230 is provided on the first limiting portion 123, and the opening of the first air groove 1230 faces the second limiting portion 106. That is, the first air tank 1230 and the second air tank 1060 communicate with each other.
  • 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
  • the first end of the inner cover 1113 Cooperating with the inner wall of the convex ring 11110, the second end of the inner cover 1113 is matched with the buffer cavity 103, and the inner cover extends into the piston cavity 102.
  • the driving mechanism 2 is in communication with the buffer cavity 103, the driving mechanism 2 passes compressed fluid into the buffer cavity 103, and the bullet 1 is driven by the compressed fluid to reciprocate relative to the percussion mechanism body.
  • the bullet includes a bullet body 1111 and a percussion portion 1200, the bullet body includes a first limiting portion 123 and a middle portion, the diameter of the first limiting portion 123 is larger than the diameter of the middle portion, The middle part is located between the first limiting part 123 and the striking part 1200.
  • One end of the bullet body 1111 is connected with the percussion part 1200, and the other end is provided with a first limiting part 123.
  • the diameter of the first limiting part 123 is larger than the diameter of the bullet body 1111.
  • the bullet body 1111 is provided with a bullet cavity 120 and an air hole. The bullet cavity 120 penetrates the end surface of the first limiting portion 123.
  • the air hole is located on the side wall of the bullet body 1111, and the air hole communicates with the bullet cavity 120 for adding Pressure or relief.
  • the striking surface of the striking part 1200 is arranged unevenly.
  • the striking surface of the warhead is set up as an uneven surface, which increases the contact area between the striking surface and the material, increases the force per unit area of the material, and improves the rust removal effect.
  • a first air groove 1230 is provided at a position where the first stop 123 is connected to the bullet body 1111.
  • the first air groove 1230 surrounds the bullet body 1111. Before the first hit, the bullet is suspended in the piston cavity.
  • the first air groove 1230 is used to press the bullet into the piston cavity.
  • the diameter of the striking part 1200 is smaller than the diameter of the bullet body 1111, and the striking part 1200 is coaxial with the bullet body 1111.
  • the percussion surface of the percussion part 1200 is provided with a wear-resistant layer to increase the wear resistance and increase the service life.
  • the wear-resistant layer is made of chromium carbide wear-resistant metal materials, high-manganese steel wear-resistant materials, or tungsten carbide metal wear-resistant materials.
  • the air hole includes a first air hole 121 and a second air hole 122, and the vertical distance from the first air hole 121 to the striking part 1200 is smaller than the vertical distance from the second air hole 122 to the striking part 1200, Moreover, the projections of the first air hole 121 and the second air hole 122 on a plane perpendicular to the central axis of the bullet body do not overlap. In the process of deflation, a reaction force is generated on the warhead, forcing the warhead to rotate.
  • a plurality of percussion ribs 1201 and a plurality of percussion grooves 1202 are provided on the percussion surface of the percussion portion 1200, and the percussion ribs 1201 and the percussion grooves 1202 are alternately arranged with percussion points. It is opened on the percussion surface, so that the area of percussion will not be reduced, and the force per unit area is increased. The position that is not in contact with the percussion surface will also remove rust due to high-frequency vibration.
  • the percussion surface of the percussion portion 1200 is provided with an annular percussion groove 1202 and an annular percussion rib 1201, an annular percussion rib 1201 and an annular percussion concave
  • the central axis of the groove 1202 is the same, and the striking groove 1202 and the striking rib 1201 are spaced apart.
  • the striking surface of the striking portion 1200 is provided with multiple striking ribs 1201 and multiple striking grooves 1202, multiple striking ribs 1201 and multiple striking grooves 1202.
  • the striking grooves 1202 are arranged at intervals, and the striking ribs 1201 and the striking grooves 1202 are distributed radially around the central axis of the bullet body 1111.
  • a transverse groove 1203 is provided on the striking surface.
  • the transverse groove 1203 extends from one side of the striking part 1200 to the other side of the striking part 1200, and the transverse groove 1203 penetrates the center of the striking part 1200 axis.
  • the vertical groove 1204 on the percussion portion 1200 is parallel to the central axis of the percussion portion 1200, and the vertical groove 1204 extends from the percussion surface of the percussion portion 1200 to the other end of the percussion portion 1200 .
  • a plurality of percussion ribs 1201 are provided on the percussion surface of the percussion portion 1200, the multiple percussion ribs 1201 are connected end to end, and the multiple percussion ribs 1201 surround The central axis of the percussion part 1200 is arranged, and a percussion groove is formed between the multiple percussion ribs 1201.
  • a plurality of percussion ribs 1201 are provided on the percussion surface of the percussion portion 1200, and a percussion groove 1202 is formed between adjacent percussion ribs 1201, and part of the percussion protrusions
  • the ribs 1201 are distributed radially around the same point.
  • the present invention also provides a rust removal device, including a mounting bracket and a warhead rust removal mechanism, a plurality of warhead rust removal mechanisms 1 form a rust removal module, and the rust removal device is installed on the mounting bracket.
  • the rust removal module includes a drive mechanism 2 and a plurality of warhead rust removal mechanisms 1 arranged side by side.
  • Each warhead rust removal mechanism 1 includes a warhead 12 and a warhead rust removal mechanism body 11 connected to the warhead 12, and one end of the warhead 12 forms a percussion In part 1200, the bullet head 12 is driven by the driving mechanism 2 to reciprocate relative to the bullet head rust removing mechanism body 11.
  • One end of the warhead 12 is connected to the body 11 of the warhead derusting mechanism, and the other end is a free end.
  • the object to be derusted is close to the free end of the warhead 12.
  • the free end of the warhead 12 knocks the object to be derusted (material 800 Generally, it is a metal plate, such as steel plate, iron plate, etc.).
  • the rust on the surface of the object to be derusted is removed by percussion vibration.
  • the material 800 is fixed by external force, and the overall vibration amplitude of the material 800 is relatively small. Therefore, compared with the existing rust removal device, the noise generated by it is relatively small. Due to the uniform distribution of the warhead 12, the force during striking is also uniform, and the rust removal effect is relatively stable.
  • the rust removing device includes a plurality of rust removing modules 10 that move independently of each other, and each rust removing module 10 includes a plurality of bullet-head rust removing mechanisms 1 that move synchronously.
  • a corresponding number of rust removal modules 10 can be integrated together, and there is no need to install individual rust removal modules 10 separately, which is convenient for production and installation.
  • a module is damaged, it is convenient to disassemble and replace, and repair is more convenient.
  • the rust removing device further includes a mounting bracket 40, each rust removing module 10 also includes a module bracket 20, and the bullet-head rust removing mechanism 1 is fixed on the module bracket 20.
  • the module bracket 20 is movably connected to the mounting bracket 40, and the module bracket 20 can reciprocate along the movement direction of the bullet 12 relative to the mounting bracket 40.
  • the module support 20 is adjusted according to the thickness of the material 800 to make the distance between the rust removal module 10 and the material 800 appropriate.
  • each derusting module 10 further includes a positioning component 30 fixed on the module bracket 20, and an adjusting spring is also provided between the module bracket 20 and the mounting bracket 40.
  • the positioning component 30 includes a positioning roller 301, and the positioning roller 301 is arranged on the feeding side of the rust removal module 10.
  • the positioning wheel presses the object to be derusted, and when the bullet 12 reciprocates to the highest point, there is a certain distance between it and the object to be derusted.
  • the mounting bracket 40 includes a suspension beam 401, at least two supporting columns 402, a connecting column 403 and a tie rod 404.
  • At least two support columns 402 are fixedly connected to the suspension beam 401 and extend upward relative to the suspension beam 401, the connection column 403 is connected to the suspension beam 401 and is located between the two support columns 402, and the first end of the tie rod 404 is connected to The supporting column 402 is connected, the second end is connected to the connecting column 403, and the first end of the tie rod 404 is higher than the second end.
  • the mounting bracket 40 used in the present invention can ingeniously transfer the force of the middle part to both sides, reduce the burden on the middle part, and make the overall structure more stable.
  • the mounting bracket 40 includes a suspension beam 401, two supporting columns 402, two connecting columns 403, two tie rods 404 and a connecting rod 405, and the two supporting columns 402 are respectively Fixed at both ends of the suspension beam 401, two connecting columns 403 are fixed on the suspension beam 401 and located between the two supporting columns 402, the two connecting columns 403 are arranged at intervals, and the two ends of the two tie rods 404 are respectively connected to the corresponding The connecting column 403 and the supporting column 402 are connected with the two connecting columns 403 at both ends of the connecting rod 405.
  • the arrangement of the connecting rod 405 makes the integrity of the mounting bracket 40 higher and the structure stronger.
  • the rust removing device further includes a mounting bracket 40 and a supporting bracket 50, a plurality of bullet-head rust removing mechanisms 1 are installed on the mounting bracket 40, and the mounting bracket 40 is installed on the supporting bracket 50. .
  • the two ends of the mounting bracket 40 are connected to the supporting bracket 50, and part of the gravity of the derusting module 10, the gravity of the material 800 during operation and the force exerted by the power device are transferred to the supporting bracket 50.
  • a lifting assembly 60 is provided between the mounting bracket 40 and the support bracket 50.
  • the lifting assembly 60 is used to drive the mounting bracket 40 to lift relative to the support bracket 50; the lifting assembly 60 can cause the mounting bracket 40 to drive the components installed on the upper part to move up and down, thereby
  • the height of the rust removal module 10 is adjusted so that it can be used in different scenarios, and materials 800 with different thicknesses can also be rust removed using the rust removal device.
  • the descaling device includes a first descaling array 100 and a second descaling array 200, a feed channel is formed between the first descaling array and the second descaling array 200, Both the rust removal array 100 and the second rust removal array 200 include a plurality of warhead rust removal mechanisms 1 arranged side by side.
  • the warhead 12 of the first rust removal array 100 and the warhead 12 of the second rust removal array 200 face opposite directions, and the material 800 passes through the In the feed channel, the first derusting array 100 and the second derusting array 200 respectively knock on different sides of the material 800 to achieve simultaneous double-sided derusting and higher efficiency.
  • the first rust removal array 100 and the second rust removal array 200 are arranged opposite to each other or in a staggered arrangement, preferably in a staggered arrangement.
  • the bullet 12 of the present invention hits the material 800 to produce a small area and large-scale vibration, thereby removing the rust on its surface; if the opposite arrangement is adopted, the two sides of the material 800 are forced at the same time, which will inevitably cause a part of the force to be offset.
  • the rust removal effect is relatively poor, and the dislocation arrangement can just avoid this problem, and can also achieve the effect of double-sided rust removal.
  • the descaling device includes a front descaling array 300 and a rear descaling array 400, and the front descaling array 300 and the rear descaling array 400 are arranged at intervals along the feeding direction of the descaling device.
  • the rear descaling array 400 is arranged on the discharge side of the front descaling array 300, and a rust detection device 500 is also arranged between the front descaling array 300 and the rear descaling array 400.
  • the rust detection device 500 detects the material 800 from the front derusting array 300. If it detects that there are still rusts in some parts, the post derusting array 400 will be repaired according to the detection result, and the warhead 12 on the rear derusting array 400 Selectively choose the rusty location to strike.
  • the rust detection device 500 includes a detection bracket and a camera mounted on the detection bracket.
  • the camera is connected to the controller of the rust removal device, and the surface of the material 800 is photographed through the camera, and then the surface of the material 800 is photographed through the image recognition method.
  • the detection bracket is equipped with upper and lower rows of cameras for shooting and rust detection on the upper and lower surfaces of the material 800, respectively.
  • the rust detection device 500 can also detect rust by ultrasonic waves.
  • the rear descaling array 400 includes a plurality of descaling modules 10 that move independently of each other.
  • Each descaling module 10 includes a plurality of synchronously moving bullet-head descaling mechanisms 1, and the descaling device also includes a mounting bracket 40.
  • Each descaling module 10 also includes a module bracket 20, the bullet-head descaling mechanism 1 is fixed on the module bracket 20, a lifting driving device is arranged between the module bracket 20 and the mounting bracket 40, and the lifting driving device drives the module bracket 20 relative to the mounting bracket 40 reciprocates along the movement direction of the bullet 12.
  • the structure of the rear descaling array 400 is the same as that of the front descaling array 300.
  • the rear descaling array 400 Since the function of the rear descaling array 400 is to supplement descaling and remove the rust that has not been completely removed by the front descaling array 300, its workload is relatively small.
  • the rear descaling array 400 can also be set up according to the actual situation. Set up.
  • a rust detection device 500 is also provided on the discharge side of the rear rust removal array 400, and products with high requirements for rust removal quality can be tested for qualified rust removal.
  • At least part of the warhead rust removal mechanism 1 is distributed in multiple rows and multiple columns, and in a direction perpendicular to the feeding direction of the rust removal device, at least part of the warhead rust removal mechanism 1 of different rows
  • the center of the knocking part 1200 is arranged in a staggered manner, that is, the projections of the multiple bullets 12 in the feeding direction perpendicular to the rust removing device are different. After the material passes through the derusting station, the hitting points of the warhead 12 on the derusting plate are connected into flakes, and the derusting effect is better.
  • At least part of the center of the percussion portion 1200 of the warhead rust removal mechanism 1 is distributed in a parallelogram dot matrix, and the warhead rust removal mechanism 1 in the same row
  • the connecting line at the center of the knocking part 1200 is inclined with respect to the feeding direction of the rust removing device.
  • Adjacent warheads 12 are arranged in a staggered manner to avoid leaving blind areas on the plate to be derusted that cannot be knocked.
  • the warhead rust removing mechanism 1 is arranged to form a strike zone, and a dust curtain (not shown) is provided on the feed side and/or the discharge side of the strike zone.
  • the lower end of the dust-proof curtain is in contact with the plate to be derusted.
  • the dust-proof curtain keeps the dust inside the dust-proof curtain to reduce the pollution of the air outside the dust-proof curtain .
  • the dust-proof curtain is a hard curtain, and a soft edge is arranged at the lower part of the dust curtain, and the edge is in contact with the body to be derusted, which can play a role in collecting debris.
  • the soft edges are not brushed or polymer soft materials.
  • the discharging side of the bullet rust removing mechanism 1 is provided with a waste collection device for removing debris removed by knocking.
  • the main body 11 of the bullet rust removing mechanism further includes a dust suction pipe 16, and the opening of the dust suction pipe 16 is arranged close to the knocking portion 1200 for removing debris removed by knocking.
  • a spiral waste collection brush 160 and a dust suction device are provided on the discharge side of the bullet rust removal mechanism 1, and the central axis of the waste collection brush 160 is arranged along the length direction of the bullet rust removal mechanism.
  • the dust suction port of the dust suction device is arranged close to the end of the waste collection brush 160.
  • the waste collection brush 160 is connected to the power mechanism, and the power mechanism drives the waste collection brush 160 to rotate.
  • the spiral waste collection brush 160 can collect the debris on the plate to be derusted to one side of the plate.
  • the dust collector is used for dust removal. To reduce air pollution, waste materials can also be collected into the waste barrel.
  • the rust removal module 10 includes a preliminary rust removal module 3001 and a repair module 3002.
  • the rust removal device includes a front rust removal array 300 and a rear rust removal array 400.
  • a preliminary printing module 3001 is installed on the rust array 300, and a repairing module 3002 is installed on the rear descaling array 400.
  • the warhead descaling mechanism 1 of the initial hitting module 3001 is arranged in a staggered manner to form a parallelogram array; the warhead descaling mechanism 1 of the repairing module 3002 forms a square array.
  • a telescopic device 203 is provided on the module support 20 of the reprinting module 3001.
  • the module holder 20 of the replenishment module 3002 includes a first casing 201 and a second casing 202, and the replenishment module 3002 is located in the space formed by the first casing 201 and the second casing 202.
  • the present invention also provides a rust removal system, including a material conveying device and any one of the aforementioned rust removing devices, the rust removing device is arranged on the material conveying device or arranged on the side of the material conveying device,
  • the striking part 1200 of the bullet 12 faces the feeding surface of the material conveying device.
  • the material conveying device is a conveyor belt, a conveyor roller, a conveyor chain, etc.
  • the rust removal system further includes a soundproof cover, which is covered outside the warhead rust removal mechanism.
  • the rust removal system further includes a soundproof cover 700, the soundproof cover 700 is covered outside the rust removal device, and the material conveying device passes through the soundproof cover 700.
  • the noise generated by the rust removing device of the present invention during the rust removing process is lower in decibels, and the propagation distance is small.
  • the soundproof cover 700 can provide sound insulation and reduce noise pollution.
  • the mounting bracket includes an orbital robot, and the bullet rust removal mechanism is installed on the orbital robot, and the orbital robot drives the bullet rust removal mechanism to move.
  • the orbital robot includes an anchoring mechanism 1-6, a first driving mechanism 1-3, and a track member.
  • the track member includes a first track 1-1 and a second track 1-2.
  • the orbital robot can move along the mother track under the driving of the first driving mechanism 1-3, and can relatively fix itself to the mother track through the anchoring mechanism 1-6 when it moves to the vicinity of the construction site.
  • the mother track in this solution is not limited to a straight track, because those skilled in the art can easily think of a variety of anchoring mechanisms 1-6, which can relatively fix the orbital robot to the mother track in a curve or ramp.
  • the orbital robot also includes a roller. Further, the roller is a universal wheel. The universal wheel can be stuck on the mother track and roll along the mother track, so that the orbital robot can turn on the mother track.
  • the anchoring mechanism 1-6 includes a vacuuming mechanism and a flexible board.
  • the flexible board includes a suction end surface facing the side wall of the mother rail.
  • the suction end surface includes a recessed portion.
  • the vacuuming mechanism communicates with the recessed portion; when there is a pressure difference between the recessed portion and the atmospheric pressure, the flexible board
  • the plate can be bent under the action of atmospheric pressure to make the adsorption end surface in an arc shape; the concave part is a groove, and there are several grooves and the grooves are parallel to each other.
  • the concave part of the flexible board is evacuated and bent under the action of atmospheric pressure to fit the mother rail.
  • the side wall surface enhances the adsorption and anchoring effect.
  • the construction robot installed on the orbital robot in this embodiment, the construction robot is used to derust the object to be derusted.
  • the construction robot includes a second driving mechanism, a warhead descaling mechanism, and a positioning mechanism.
  • the warhead descaling mechanism can move along the track under the drive of the second driving mechanism, and can be transported to the exact point to be constructed when the warhead descaling mechanism Through the positioning mechanism, the rust removing mechanism of the bullet head is relatively fixed with the track on the track member, thereby being relatively fixed with the track robot. Therefore, the warhead derusting mechanism can perform construction on the structure to be constructed.
  • the warhead rust removal mechanism can complete the horizontal and/or height displacement along the rail under the drive of the second drive mechanism (when the first track is placed vertically), so as to achieve the effect of fine-tuning the position of the warhead rust removal mechanism and make it accurate Arrive at the construction site.
  • the end of the first track 1-1 is provided with a revolving joint 1-4
  • the second track 1-2 is rotatably mounted on the first track 1-1 through the revolving joint 1-4
  • the second track 1-2 can be rotated relative to the first track 1-1 under the driving of the third driving mechanism, and the rotation angle range is between 0 and 90 degrees.
  • the revolute joint includes a third drive mechanism, an arc-shaped rack 1-42 and a gear 1-43.
  • the arc-shaped rack 1-42 and the gear 1-43 are respectively fixed on the first track 1-1 and the second track 1. -2 on. As shown in FIG.
  • the second track 1-2 when the second track 1-2 is close to the first track 1-1, it is defined as 0 degree (the total length of the two second tracks 1-2 is not greater than the length of the first track 1-1); As shown in FIG. 25, when the second track 1-2 is perpendicular to the first track 1-1, it is defined as 90 degrees.
  • the first track 1-1 lies on the bottom wall of the mother track, the length direction of the first track 1-1 is the width direction of the mother track; and the length of the first track 1-1 can be set to be the same as the width of the mother track Similarly, the width of the mother track is equal everywhere, so that when the second track 1-2 is at 90 degrees, the orbital robot is just embedded in the mother track, which is more convenient for the mother track to guide the orbital robot.
  • the second track 1-2 is detachably installed on the revolute joint 1-4, which is equivalent to the detachable connection of the second track 1-2 and the first track 1-1, which facilitates modular installation.
  • the first rail 1-1 of suitable length is selected, and then the second rail 1-2 of suitable length is installed at one or both ends of the first rail 1-1 according to actual needs.
  • the rotating joint 1-4 can be locked, and the second track 1-2 can swing relative to the first track 1-1 in the non-locked state; in the locked state, the second track 1-2 is opposite to the first track 1-1 Fixed, so that the warhead rust removing mechanism can move on the second track 1-2.
  • the first track includes a flexible tension line 1-11
  • the sliding table includes a pulley 1-12, a fourth driving mechanism 1-13, a limit hole, and a flexible tension line 1 -11 is non-slidably wound on the pulley 1-12 and passes through the limit hole.
  • the fourth driving mechanism 1-13 drives the pulley 1-12 to rotate
  • the pulley 1-12 can move along the flexible tension line 1-11 to drive it
  • the sliding table is raised and lowered; when the fourth driving mechanism 1-13 does not drive the pulley 1-12 to rotate, the pulley 1-12 is stationary relative to the flexible tension line 1-11, and the flexible tension line 1-11 makes the pulley 1-12 hover and limit
  • the function of the bit hole is to prevent the sliding table from shaking left and right to a certain extent.
  • the second track 5 is an open groove, and the end of the groove wall away from the bottom of the groove extends inward to form a baffle.
  • the baffle can be used to guide the sliding table and prevent 1-12 from slipping off the track.
  • the flexible tension line 1-11 includes a lock release station.
  • the warhead descaling mechanism also includes a traveling mechanism, and the warhead descaling mechanism can move along the second track 1-2 through its own traveling mechanism.
  • the warhead rust removal mechanism moves along the second track 1-2 to the suspension station 1-8 at the end of the first track 1-1.
  • One side of the suspension station 1-8 is the upper lock release station, and the sliding table In the upper lock release station, the locking mechanism of the bullet rust removing mechanism locks the wheels 1-6 of the bullet rust removing mechanism to the pin holes 1-9 on one side of the sliding table.
  • the fourth driving mechanism 1-13 drives the pulley 1-12 to rotate, and the sliding table is lowered.
  • the locking mechanism keeps locking the bullet rust removing mechanism to the sliding table until the sliding table is lowered to the lower locking release station, and the lock
  • the rust-removing mechanism of the bullet head is released by the tightening mechanism; the side of the lower lock release station is the suspension station 1-8 of the second track 1-2, and the rust-removing mechanism of the bullet head after the locking mechanism is released is released to This suspension station 1-8, so that the warhead derusting mechanism can move on the second track 1-2 below through the wheels 1-6.
  • the first track 1-2 and the second track 1-2 constitute a track piece, and the rust removing robot can move on the track piece to remove rust on the entire surface to be derusted.
  • the two second tracks 1-2 are located on the same plane.
  • the above technical solution solves the problem that the warhead derusting mechanism cannot turn.
  • This solution solves the problem that the rust removing robot can only remove rust on a structure to be rusted parallel to the flexible tension line 1-11. If there is no rust removing robot of this structure, it is impossible to remove rust on a complete surface to be rusted, unless there are a lot of flexible tension lines 1-11 and rust removing robots.
  • first track 1-1 and the second track 1-2 are rotatably connected, and a lockable positioning mechanism is arranged between the two.
  • the positioning mechanism can be arranged between the second track 1-2 and the first track 1- 1 Lock after relative rotation, so that the second rail 1-2 and the first rail 1-1 are relatively fixed.
  • the second track 1-2 can rotate on the above-mentioned track member, which is convenient for adjusting the position of the rust removing robot to remove rust on the surface to be removed.
  • the locking mechanism of the warhead derusting mechanism includes a magnetic pin and an energizing coil.
  • the magnetic pin can be movably embedded in the energizing coil, and the energizing coil is respectively passed forward or reverse current to drive the magnetic pin to insert/exit the pin hole 1- 9. To lock or loosen objects.
  • the fourth driving mechanism 1-13 includes a reduction gear box.
  • the second track includes an open slot, and the notch of the open slot is provided with a baffle extending inward.
  • the mounting bracket includes a lifting mechanism 2-2.
  • An elastic member is provided on the lifting mechanism 2-2. One end of the elastic member is fixed on the lifting mechanism 2-2, and the other end Connect with the warhead rust removal device.
  • the lifting mechanism drives the warhead derusting mechanism to move to the surface to be derusted, the reaction force of the warhead derusting mechanism to be derusted will shrink the elastic part.
  • the rust removing device includes a movement mechanism 2-1, a lifting mechanism 2-2 and a bullet rust removing mechanism.
  • the movement mechanism 2-1 drives the device to move on a plane.
  • the lifting mechanism 2-2 is fixedly installed on the upper part of the movement mechanism 2-1, and the movement mechanism 2-1 can move forward on the ground.
  • the upper end of the lifting mechanism 2-2 is provided with a mounting panel 2-4, and two sets of warhead rust removal mechanisms are arranged and installed on the mounting panel 2-4 on the lifting mechanism 2-2.
  • the installation method of the two groups of warhead descaling mechanism 2-3 and the mounting panel 2-4 is shown in Figure 32, the mounting panel 2-4 is vertically arranged with a motor 2-51, and the output gear of the motor 2-51 lies horizontally. .
  • the mounting panels 2-4 are respectively fixedly provided with sliding grooves 2-8 on both sides of the output gear 2-5, and the two sliding grooves 2-8 are respectively directly or indirectly connected with two groups of warhead rust removal mechanisms, and the two groups of warhead rust removal
  • the bottom of the mechanism is respectively fixed with sliding blocks 2-6, the sliding blocks 2-6 are installed in the sliding grooves 2-8, and the sliding blocks 2-6 can move along the sliding grooves 2-8.
  • the inner sides of the two groups of warhead derusting mechanisms are respectively fixed with racks 2-7, and the two racks 2-7 are meshed with the output gears 2-5, so that the output gears 2-5 of the motor 2-51 can rotate Drive the two groups of warhead rust removal mechanisms to move in two opposite directions to make the two groups of rust removal mechanisms 2-3 expand/collapse around. Because the traveling mechanism moves forward, the movement direction of the two groups of warhead rust removal mechanisms 2-3 Perpendicular to the direction of travel of the travel mechanism.
  • the warhead descaling mechanism 2-3 also includes a descaling panel 2-20 and an adaptive mechanism 2-30.
  • a number of warheads 12 are arranged on the upper end surface of the rust removal panel 2-20 along the length direction of the rust removal panel 2-20, and the warheads 12 are fixedly installed on the rust removal panel 2-20.
  • the rust removal panel 2-20 is extended upward with a block 2-21, and the top of the block 2-21 is provided with a non-slip universal ball .
  • the adaptive mechanism 2-30 includes a fixed piece, a floating piece, and a guide pole.
  • the fixed piece is a fixed bottom plate 2-15
  • the floating piece is a floating top plate 2-12.
  • Several guide poles 2-14 between the fixed bottom plate 2-15 and the floating top plate 2-12, the fixed bottom plate 2-15 and the floating top plate 2-12 are provided with the size and quantity of the guide poles 2-14
  • the lower end of the guide pole 2-14 passes through the reserved hole of the fixed bottom plate 2-15 and is fixedly installed on the fixed bottom plate 2-15.
  • the guide rods 2-14 are all sleeved with elastic parts, the elastic parts are springs 2-13, the lower end of the spring 2-13 is fixedly mounted on the fixed bottom plate 2-15, and the upper end of the guide rod 2-14 passes through the floating On the reserved holes of the top plate 2-12 and the bottom of the floating top plate 2-12 is resisted by the upper end of the spring 2-13, the floating top plate 2-12 can move along the guide pole 2-14 when the floating top plate 2-12 is stressed, and the guide pole 2-
  • the upper end of 14 is provided with a limit end 2-16 to prevent the floating top plate 2-12 from slipping off the guide pole 2-14.
  • the rust removal panel 2-20 is fixedly installed on the upper surface of the floating top plate 2-12, and the sliding block 2-6 is fixedly installed on the lower surface of the fixed bottom plate 2-15.
  • the rust removal device of this embodiment can be used to remove rust in a cabin, for example, a cabin cabin with four side walls, front, rear, left, and right.
  • the working process is as follows: Initially, two groups of warhead rust removal mechanisms are folded so as to enter the cabin door Inside the cabin. After the rust removal device enters the cabin, the rust removal device remains in place, and the lifting mechanism 2-2 lifts the warhead rust removal mechanism.
  • the function of the adaptive mechanism 2-30 is: if the top wall of the cabin cabin is slightly inclined, when part of the block 2-21 touches the top wall of the cabin cabin, the other part of the block 2-21 touches the top wall of the cabin cabin, lifting mechanism 2-2 Continue to lift the warhead rust removal mechanism, and the block 2-21 that has contacted the top wall of the cabin cabin is pressed down by the rust removal mechanism 2-3 by the reaction force of the top wall of the cabin cabin to compress the floating top plate 2-12 Spring 2-13, so the stop block 2-21 of this part no longer rises, the universal ball on the stop block 2-21 prevents the stop block 2-21 from being worn by the top wall of the cabin; it does not touch the top wall of the cabin
  • the other part of the block 2-21 is driven by the lifting mechanism 2-2 to continue to rise until all blocks 2-21 touch the top wall of the cabin, the operator controls the lifting mechanism 2-2 to no longer act, and the rust is removed at this time
  • the panel 2-20 is parallel to the top wall of the cabin.
  • the warhead 12 can derust the top wall of the cabin.
  • the function of the block 2-21 is to prevent the warhead 12 from being removed when the lifting mechanism 2-2 drives the warhead rust removal mechanism to rise.
  • the rust surface resists pressure abrasion, and leaves a space between the surface to be derusted and the derusting plane to facilitate the lifting of the bullet 12.
  • the other warhead rust removal mechanism moves toward the right side wall, and the operator also starts the warhead 12 to remove rust on the top wall of the cabin until the universal rollers 2-10 on the side walls of the two warhead rust removal mechanisms respectively touch the left side. And the right side wall to complete the rust removal work on the top wall of the first row of cabins.
  • the rust removal device travels a distance that is not greater than the width of the warhead rust removal mechanism in the front and rear direction.
  • the universal rollers 2-10 are used to prevent the warhead rust removal device from wearing the warhead rust removal mechanism when the warhead rust removal device travels.
  • the warhead rust removing mechanism is used to remove rust on the top wall of the cabin, so as to complete the rust removal of the top wall of the cabin of the next row. Repeat the above steps until the rust removal of the top wall of the entire cabin is completed.
  • the mounting bracket includes a deforming mechanism 3-10.
  • the warhead rust removing mechanism is installed on the deforming mechanism 3-10.
  • the deforming mechanism 3-10 can drive the warhead rust removing mechanism to move.
  • the rust removing device also includes two rust removing integrated mechanisms 3-20 located on the left and right sides of the deforming mechanism 3-10.
  • the rust removing integrated mechanism 3-20 includes a plurality of warhead rust removing mechanisms 12.
  • the two integrated rust removal mechanisms 3-20 serving as climbing legs are respectively installed on the deformation mechanism 10.
  • the deformation mechanism 10 can drive the two integrated rust removal mechanisms 3-20 to extend and retract together through its own deformation.
  • the two extended rust removing integrated mechanisms 3-20 can remove rust on the surfaces to be rusted in their respective orientations.
  • the deformation mechanism 3-10 includes a frame 3-2 and a lifting motor 3-9 fixedly mounted on the frame 3-2.
  • the frame 3-2 is provided with a first nut 3-5 and vertical To the first screw (also called screw, by rotating the screw, the nut threaded to it can be turned, the first screw is omitted in the figure), the first nut 3-5 is screwed on the first screw On the screw; the upper end of the frame 3-2 is provided with a pulley device 3-3, the output end of the lifting motor 3-9 is linked with the pulley device 3-3, and the upper end of the first screw is also linked with the pulley device 3-3 Therefore, the lifting motor 3-9 can control the rotation of the first screw through the pulley device 3-3 to control the lifting of the first nut 3-5.
  • the motor can also be directly connected to the lead screw, and the pulley device 3-3 is omitted.
  • the upper and lower ends of the frame 3-2 are each provided with a pair of driven arms, the upper end of the frame 3-2 is hinged to the proximal ends of the two second driven arms 3-8, and the two second driven arms 3-8
  • the distal end of the frame 3-2 faces left and the other faces right;
  • the lower end of the frame 3-2 is hinged to the proximal ends of the two first slave arms 3-7, and the distal ends of the two first slave arms 3-7 face the left one To the right.
  • the lower end of the first nut 3-5 is fixedly connected with a lifting member 3-4.
  • the lifting member 3-4 is provided with an active arm 3-6 with a distal end to the right and an active arm 3-6 with a distal end to the left.
  • the left end of the active arm 3-6 is blocked in the figure)
  • the proximal ends of the two active arms 3-6 are hinged on the lifting member 3-4
  • the distal ends of the two first driven arms 3-7 are respectively It is hinged on the distal ends of the two active arms 3-6.
  • a second follower arm 3-8 with a right distal end and a first follower arm 3-7 with a right distal end are the first group, and the distal ends of the two are jointly fixed to a rust removal integrated mechanism 3-20;
  • the other second slave arm 3-8 and the other first slave arm 3-7 form a second group, and the distal ends of the two are jointly fixed to another integrated rust removal mechanism 3-20.
  • the rust removal integrated mechanism 3-20 includes a traction ring 3-32 at the upper end, a left-facing warhead rust removal mechanism 3-21, and a left-facing
  • the roller 3-23 also includes a first suction cup 3-22 and a second suction cup 3-30 as attachment parts in this embodiment.
  • the first suction cup 3-22 is arranged on a base plate 3-243, the base plate 3-243 is fixedly provided with a telescopic motor 3-24 and a second nut 3-241, and the second screw 3-242 is screwed to the second nut 3.
  • a suction cup 3-22 extends to the left and retracts to the right.
  • the surface of the second suction cup 3-30 is provided with a slide rail 3-33, the warhead rust removing mechanism 3-21 and the base plate 3-243 are fixed to each other, and both are provided with a driving pulley 3-34 and a traveling motor 3-31,
  • the motor 3-31 drives the pulley 3-34 to rotate so that the pulley 3-34 moves along the slide rail 3-33, thereby driving the first suction cup 3-22 and the warhead descaling mechanism 3-21 to oppose the second suction cup 3-30.
  • the second suction cup 3-30 is not only used as the attachment part, but also as the traveling part in this embodiment; the slide rail 3-33 and the pulley 3-34 cooperate to realize the integrated rust removal mechanism 3-20 and the frame 3-2 Active connection in the climbing direction)
  • a plurality of warheads 12 are provided on the leftward surface of the striking part 1200 of the warhead rust removing mechanism 12.
  • the right end of the rust removing part 21 is used to fix the distal end of the second driven arm 3-8, and the right end of the base plate 3-243 is used to fix the first driven arm 3 -7 at the far end.
  • the components of the right-facing rust removal integrated mechanism 3-20 and the left-facing rust removal integrated mechanism 3-20 are basically the same.
  • the derusting device of this embodiment can be used for derusting operations in various occasions, such as derusting the inner wall of a warehouse and the inner wall of a square tube, taking a square tube as an example.
  • the working process is as follows: tie the traction ring 3-32 with a traction wire, hoist the rust remover into the vertical square and make the second suction cup 3-30 contact the inner back wall of the square tube; the operator starts the telescopic motor 3 -24 Make the two first suction cups 3-22, one left and one right, extend until the first suction cup 3-22 protrudes beyond the striking part 1200 of the bullet 12. This is to prevent the bullet 12 from accidentally touching the inner wall of the square tube.
  • the operator activates the lifting motor 3-9 of the deformation mechanism 3-10 to lower the lifting member 3-4, forcing the active arm 3-6 to drive the integrated rust removal mechanism 3-20 to extend until the two first
  • the suction cup 3-22 abuts on the inner side wall of the square tube, the operator controls the first suction cup 22 to suck the inner side wall of the square tube and controls the second suction cup 3-30 to suck the inner back wall surface of the square tube (through the first suction cup 22 and the second
  • the two suction cups 30 each have their own vacuum control valves to control whether to absorb), at this time the position of the rust removal device is fixed, and the two sets of warheads 12 are respectively facing the left and right inner side walls of the square tube.
  • the operator controls the left and right sides.
  • the group warhead 12 was used to remove the rust on the left and right inner side walls of the opposite tube, and completed the rust removal operation on the two side walls of a square tube (the first suction cup 3-22 and the second suction cup 3-30 are common).
  • the fixation reduces the noise generated by the warhead 12 due to its own lifting vibration).
  • the next step is to adjust the position of the rust removal device to remove the rust on the next section of the square pipe.
  • the operator controls the first suction cup 3-22 to no longer suck the inner wall of the square pipe and then starts the telescopic motor 3-24
  • the first sucker 3-22 is retracted, and the bullet 12 is retracted to the extent that the protrusion is less than that of the roller 3-23, so the roller 3-23 is pressed against the inner wall of the square tube to avoid wearing the first sucker 3-22.
  • the second suction cup 3-30 still sucks the inner back wall of the square tube, so the position of the rust remover is still fixed, and then the controller activates the two traveling motors 3-31 to make the two pulleys 3-34 rotate in the forward direction, driving the first suction cup 3 -22 and warhead 2 move together relative to the second suction cup 3-30 along the square tube, until the first suction cup 3-22 and warhead 12 reach the next square tube and the second suction cup 3-30 remains on the previous square tube
  • the operator shuts down the traveling motor 3-31 and starts the telescopic motor 3-24 to control the first suction cup 3-22 to extend again, so that the two first suction cups 3-22 respectively suck the left inner side of the square tube
  • the second suction cup 3-30 is equipped with a vacuum control valve to control the second suction cup 3-30 to no longer suck the inner back wall of the square tube, the first suction cup 3-22 and the rust removal part 3-21 The two are fixed on the next section of the square tube, and then start the travel
  • the rust machines all reach the next square tube.
  • the operator shuts down the traveling motor 3-31 and controls the second suction cup 3-30 to suck the inner back wall surface of the square pipe, and then derust the square pipe according to the rust removal steps of the previous square pipe. Repeat the above steps to complete the derusting operation on the left and right inner side walls of the entire square tube.
  • the pulling line In addition to hoisting into the derusting device, the pulling line also plays a guiding role when the derusting device travels to the next square pipe.
  • the first suction cup 3-22 and the second suction cup 3-30 can also be replaced by other attachment parts such as magnets.
  • the first suction cup 3-22 and the second suction cup 3-30 reduce the vibration intensity of the warhead 1200 transmitted to the surface to be derusted, and serve as both a shock-absorbing part and an attachment part.
  • both the first suction cup 3-22 and the second suction cup 3-30 of the vacuum suction cup mechanism can be changed to cushion pads made of elastic materials.
  • the detachable connection between the rust removal integrated mechanism 3-20 and the deformation mechanism 3-10 is changed, and the original rust removal integrated mechanism 3-20 is replaced with other specifications of the rust removal integrated mechanism. It can be applied to other different occasions.
  • it can also be changed to: after the deformation mechanism 3-10 and the rust removal integrated mechanism 3-20 are detachably connected, they can be detachably installed on other forms of traveling power devices (such as linear motion mechanisms) to facilitate modular production and removal
  • traveling power devices such as linear motion mechanisms
  • the lifting parts 3-4 and the active arm 3-6 in the deformation mechanism 3-10 can be changed to an eccentric wheel.
  • the lifting motor 3-9 drives the eccentric wheel to rotate forward, and the eccentric wheel drives the first driven arm 3-7.
  • the lifting motor 3-9 drives the eccentric wheel to reverse, and the eccentric wheel drives the first follower arm 3-7 to swing upward; in the case of using other types of traveling power devices (such as vertical lifting mechanism), the deformation mechanism 3 -10 can be changed to a horizontal linear motion mechanism.
  • the rust removal device of the present invention integrates the equipment required for rust removal, reduces the equipment required by the rust removal device, reduces the volume of the conventional rust removal device, and reduces its footprint.

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Abstract

一种除锈模组及除锈装置，该除锈模组包括多个弹头除锈机构（1）和模组支架（20），多个所述弹头除锈机构（1）固定在所述模组支架（20）上，所述弹头除锈机构（1）包括可相对于除锈面直线往复运动的弹头（12），所述弹头（12）朝向所述除锈面的一端形成敲击部（1200）；该除锈模组及除锈装置生产安装和维修更加方便。

Description

除锈模组及除锈装置 技术领域
本发明涉及除锈设备领域，特别涉及除锈模组及除锈装置。
背景技术
目前，市场上的除锈方式主要地可以分为抛丸除锈、喷砂除锈、无酸洗拉丝除锈。
抛丸除锈主要是利用机械设备的高速运转把一定粒度的钢丸靠抛头机构的离心力抛出，被抛出的钢丸与待除锈物猛烈碰撞从而达到祛除待除锈物的锈蚀；抛丸除锈设备主要由抛丸器、耐磨橡胶环带、绞龙、提升、分离器、进料输送、除尘机、电器组合而成。喷砂除锈是利用高压空气带出石英砂喷射到构件表面达到的一种除锈方法；一个完整的吸入式干喷砂机一般由六个系统组成，即结构系统、介质动力系统、管路系统、除尘系统、控制系统和辅助系统。无酸洗拉丝除锈主要针对线材的除锈；无酸洗剥壳除锈机主要由变速箱五轮脱壳机构、可调节交叉抛物线钢丝刷轮、全封闭除锈室、强迫润滑装置、拉丝模架和电气控制系统组成。由此可见，无论是抛丸除锈机、喷砂除锈机还是无酸洗拉丝设备，其除锈过程都是需要多种设备组和才能形成一条完整的除锈生产线，设备体积庞大，为了缩小除锈装置的体积，我公司开发了一种全新的除锈装置，该除锈装置将多个除锈单元安装在机架上，使用除锈单元的弹头敲打物料进行除锈除锈；但是生产时，组装除锈单元的过程很繁琐。
发明内容
基于此，本发明提供一种除锈模组及除锈装置，生产组装及维修更加方便。
本发明提供一种除锈模组，包括多个弹头除锈机构和模组支架，多个所述弹头除锈机构固定在所述模组支架上，所述弹头除锈机构包括可相对于除锈面直线往复运动的弹头，所述弹头朝向所述除锈面的一端形成敲击部。
优选地，至少部分所述弹头除锈机构呈多行多列分布，且在垂直于所述除锈装置的进料方向的方向上，至少部分不同行的弹头除锈机构的敲击部的中心错位设置。
优选地，在所述除锈模组的敲击面上，至少部分所述弹头除锈机构的敲击部的中心呈平行四边形点阵式分布，且同列的弹头除锈机构的敲击部中心的连线相对于所述除锈装置的进料方向倾斜设置。
优选地，所述模组支架包括第一固定件、第二固定件和伸缩装置，多个所述弹头除锈机构固定在所述第一固定件上，所述第一固定件和所述第二固定件通过所述伸缩装置连接，所述伸缩装置带动所述第一固定件上的弹头除锈机构伸出或者缩回。
优选地，所述第二固定件包括第一壳体和第二壳体，所述第一壳体和第二壳体之间形成容置空间，所述第二壳体上形成有与所述弹头相适应的通孔，所述第一固定件和弹头除锈机构皆位于所述容置空间内，所述伸缩装置固定在所述第一壳体上，所述弹头可从所述通孔伸出。
优选地，所述弹头除锈机构还包括弹头除锈机构本体，所述弹头除锈机构本体上设置有气腔，所述弹头可活动地嵌装于所述气腔内，外部的配气机构与所述气腔连通，用于往所述气腔内通入压缩气体，驱动所述弹头相对于所述气腔往复运动。
优选地，所述弹头除锈机构还包括缓冲腔；所述气腔包括导向孔和活塞腔，导向孔和活塞腔相连接且相通，弹头可活动地嵌于所述导向孔内，弹头侧壁与导向孔内壁相抵，使活塞腔不与大气压相连通；所述导向孔的侧壁上设有泄压工位，所述弹头包括弹头内腔，弹头侧部开设有与弹头内腔相通的气孔，当所述弹头弹出后，所述气孔与所述泄压工位连通后，将所述气腔内的气压泄露；配气机构完成敲击待除锈面后回弹至所述初始位置。
优选地，所述弹头除锈机构还包括第一限位部、第二限位部，所述第一限位部设置于弹头上，所述第二限位部设置于气腔的侧壁上，所述第一限位部和第二限位部用于在弹头 朝气腔口运动至极限位置时相互抵持，以防止所述弹头滑脱于所述气腔。
优选地，所述第一限位部为所述弹头上的环状凸起；所述活塞腔的内径大于所述导向孔的内径，所述导向孔和所述活塞腔之间通过连接部连接，所述连接部为所述第二限位部。
优选地，所述弹头包括弹头内腔，所述弹头侧壁上开设有第一气孔和第二气孔，所述气腔的侧壁上设置有加压工位和泄压工位，所述第一气孔与所述泄压工位相配合，所述第二气孔与所述加压工位相配合。
优选地，所述弹头除锈机构还包括缓冲腔，所述配气机构的出气口与所述缓冲腔相连通；所述配气机构向所述缓冲腔加压时，所述第二气孔与所述加压工位对齐，气体从所述第二气孔进入并充满所述弹头内腔，弹头被活塞腔的气压驱动沿导向孔前进；弹头前进至所述第一气孔对应泄压工位时，弹头内腔的气压泄漏至所述泄压工位，弹头复位。
优选地，所述弹头的第一端形成有第一限位部，所述第一限位部的直径大于所述弹头的直径，所述活塞腔的侧壁上设置有与所述第一限位部相配合的第二限位部，所述第二限位部的直径与所述弹头的直径相配合，所述加压工位位于所述第二限位部上，且其开口朝向所述第一限位部。
优选地，所述第二限位部上设置有第二气槽，所述加压工位皆与所述第二气槽相连通。
优选地，所述第一限位部上设置有第一气槽，所述第一气槽的开口朝向所述第二限位部。
优选地，所述弹头除锈机构本体包括第一本体和第二本体，所述第一本体和第二本体连接，所述第一本体上形成有加压工位，所述第二本体上形成有泄压工位，所述第一本体和第二本体之间形成有气腔，所述弹头可活动地嵌装于所述气腔内，所述第二本体上还形成有用于供弹头的敲击部穿过的弹头出口，所述弹头处于伸出状态时，所述气腔和泄压工位导通，所述气腔和所述加压工位不导通，所述弹头处于缩回状态时，所述气腔和泄压工位不导通，所述气腔和所述加压工位导通。
优选地，所述弹头除锈机构还包括弹头除锈机构本体，所述弹头除锈机构本体包括第一本体和第二本体，所述第一本体和第二本体相连接，所述第一本体内形成有所述活塞腔和缓冲腔；所述第二本体上形成有导向孔，所述导向孔的侧壁上设置有泄压工位，所述弹头的敲击部可穿过所述导向孔，并可伸出所述导向孔外。
优选地，所述第一本体上还形成有气道，所述活塞腔的侧壁上形成有加压工位，所述加压工位通过所述气道与所述缓冲腔相连通，所述弹头上形成有弹头内腔和气孔，所述气孔可与所述泄压工位连通，从而使所述气腔内的压力泄露。
优选地，所述气孔包括第一气孔和第二气孔，所述第一气孔和所述第二气孔皆与所述弹头内腔相连通；弹头回缩状态时，所述第二气孔与所述加压工位连通，所述第一气孔被所述导向孔的侧壁封闭；所述弹头伸出状态时，所述第一气孔与所述泄压工位相连通，所述第二气孔被所述活塞腔的侧壁封闭。
优选地，所述第二本体的材料比重低于所述第一本体的材料比重。
优选地，所述第一本体包括活塞筒、内盖和外盖，所述活塞腔位于所述活塞筒内，所述弹头穿过所述活塞腔，且弹头的另一端卡在所述活塞腔内，所述外盖固定在所述活塞筒上；所述内盖位于所述活塞腔和所述缓冲腔之间，所述弹头与所述内盖将所述活塞腔密封，所述内盖与所述外盖将所述缓冲腔密封；当弹头伸出时，内盖被气压压向活塞腔，所述弹头复位时，所述弹头将所述内盖压向所述缓冲腔。
优选地，所述缓冲腔的直径大于所述活塞腔的直径，且所述缓冲腔和所述活塞腔同轴，所述内盖的第一端与所述活塞腔相配合，所述内盖的第二端与所述缓冲腔相配合，所述内盖的第二端面上设置有压紧气槽，所述压紧气槽与所述缓冲腔相连通。
优选地，所述第一本体由金属材料制成，所述第二本体由塑胶材料制成。
优选地，至少部分弹头除锈机构的第二本体互相连接为一体。
本发明还提供一种除锈装置，包括安装支架以及多个上述的除锈模组，所述除锈模组安装在所述安装支架上。
优选地，所述除锈装置还包括支撑支架，所述多个弹头除锈机构安装在所述安装支架上，所述安装支架安装在所述支撑支架上，且所述安装支架与所述支撑支架之间设置有升降组件，所述升降组件用于驱动所述安装支架相对于所述支撑支架升降。
优选地，所述除锈装置包括第一除锈阵列和第二除锈阵列，所述第一除锈整列和第二除锈阵列之间形成有进料通道，所述第一除锈阵列和第二除锈阵列均包括多个并列设置的弹头除锈机构，所述第一除锈阵列的弹头与第二除锈阵列的弹头朝向相反，在所述除锈装置的进料方向上，所述第一除锈阵列和第二除锈阵列相向设置或者错位设置。
优选地，所述除锈装置包括前除锈阵列和后除锈阵列，所述前除锈阵列和后除锈阵列沿所述除锈装置的进料方向间隔设置，且所述后除锈阵列设置在所述前除锈阵列的出料侧，所述前除锈阵列和后除锈阵列之间还设置有锈迹检测装置。
优选地，所述后除锈阵列的出料侧还设置有锈迹检测装置。
优选地，所述安装支架包括轨道机器人，所述弹头除锈机构安装于所述轨道机器人上，所述轨道机器人带动所述弹头除锈机构移动。
优选地，所述轨道机器人包括第一驱动机构和用于供弹头除锈机构通行的轨道件，所述轨道机器人可在第一驱动机构的驱动下行进。
优选地，所述轨道件包括第一轨道和第二轨道，所述第二轨道与所述第一轨道连通。
优选地，所述轨道件还包括第三驱动机构和转动关节件，第二轨道的端部与第一轨道的端部通过所述转动关节件可转动地连接；第一状态下，所述第二轨道可在第三驱动机构的驱动下相对于第一轨道摆动；第二状态下，所述第二轨道与所述第一轨道固定连接。
优选地，所述除锈装置还包括锚定机构，所述锚定机构在轨道机器人停止运动时，将轨道机器人锚定。
优选地，所述轨道件包括柔性紧张线和滑动台，滑动台包括滑轮和驱动机构；所述柔性紧张线缠绕于所述滑轮；当驱动机构驱动滑轮转动时，滑轮沿所述柔性紧张线运动以带动滑动台滑动；当滑轮停止转动时，滑轮相对于柔性紧张线静止。
优选地，除锈装置还包括第一轨道，所述柔性紧张线沿所述第一轨道的长度方向延伸，所述滑动台连接于所述第一轨道并沿第一轨道运动。
优选地，除锈装置还包括第二轨道，柔性紧张线包括锁紧释放工位；所述第二轨道用于供弹头除锈机构运动，所述第二轨道包括暂停工位，暂停工位设置于所述锁紧释放工位的一侧，以令静止于暂停工位的弹头除锈机构能够与停留于锁紧释放工位的滑动台相互锁紧/解锁。
优选地，所述除锈装置还包括第一轨道和第二轨道，所述第一轨道与所述第二轨道可转动连接，且二者之间设置有可锁紧的定位机构，所述定位机构可在所述第二轨道与所述第一轨道相对转动后锁紧，以使所述第二轨道与所述第一轨道相对固定。
优选地，所述安装支架包括提升机构，所述弹头除锈机构连接在所述提升机构上，所述提升机构上设置有弹性件，所述弹性件的一端固定在所述提升机构上，另一端与所述弹头除锈装置相连接；所述提升机构带动所述弹头除锈机构移动至待除锈面时，待除锈面对所述弹头除锈机构的反作用力使所述弹性件收缩。
优选地，该除锈装置包括多个弹头除锈机构和至少两个固定件，多个所述弹头除锈机构分别固定在所述两个固定件上，两个固定件相互靠近的位置皆设有齿条；该除锈装置还包括电机和输出齿轮，所述输出齿轮和两个齿条分别啮合，电机通过所述齿轮和所述齿条带动两个所述固定件相互靠拢或者相互远离。
优选地，所述除锈装置包括设置在所述提升装置上的固定件，所述弹头除锈机构连接在所述固定件上，所述弹头除锈机构和所述固定件之间设置有自适应机构，所述自适应机 构包括浮动件、导向立杆和固定件，所述弹性件为套设在所述导向立杆上的弹簧，所述固定件上设置有预留孔，所述导向立杆的一端穿过所述预留孔，另一端通过所述浮动件与所述弹头除锈机构固定连接；所述弹头除锈机构抵在待除锈面上时产生的反作用力可以将所述弹簧压缩。
优选地，所述安装支架包括变形机构，所述弹头除锈机构安装在所述变形机构上，所述变形机构可带动所述弹头除锈机构移动。
优选地，所述变形机构包括固定件、变形动力装置、主动臂和第一从动臂，所述变形动力装置固定在所述固定件上，所述变形动力装置与所述主动臂的一端相铰接，所述主动臂的另一端与所述第一从动臂连接相铰接，所述变形动力装置可以带动所述第一从动臂靠近或者远离所述固定件。
优选地，所述变形动力装置包括电机、丝杆和螺母，所述螺母与所述主动臂固定连接，所述电机带动所述丝杆转动，进而带动所述螺母沿所述丝杆的方向移动。
优选地，所述变形机构还包括第二从动臂，所述第二从动臂与所述固定件相铰接，所述弹头除锈装置同时与所述第一从动臂和所述第二从动臂相连接。
优选地，所述安装支架还包括滑轨，所述变形机构设置在所述滑轨上，且所述变形机构可沿所述滑轨的滑动。
优选地，该除锈装置还包括第一吸盘和第二吸盘，所述第一吸盘包括第一吸附件和第一伸缩装置，所述第一伸缩装置带动所述第一吸附件移动；所述第二吸盘包括第二吸附件和第二伸缩装置，所述第二伸缩装置带动所述第二吸附件移动；第一种状态下，所述第一吸件和所述第二吸件同时伸出；第二种状态下，所述第一吸件和所述第二吸件交替伸出。
本发明将多个除锈单元集成为一个除锈模组，生产时除锈装置时，只需要安装将除锈模组即可，相对现有技术需要一个个安装除锈单元，组装更加方便。
附图说明
通过附图中所示的本发明优选实施例更具体说明，本发明上述及其它目的、特征和优势将变得更加清晰。在全部附图中相同的附图标记指示相同的部分，且并未刻意按实际尺寸等比例缩放绘制附图，重点在于示出本发明的主旨。
图1为本发明优选实施例的除锈装置的整体结构图；
图2为本发明另一优选实施例的除锈装置的整体结构图；
图3为初打模组的爆炸图；
图4为图3中AA方向的切面图；
图5为图4中的弹头除锈机构装配状态下的切面图；
图6为补打模组的爆炸图；
图7为图6中的除锈模组BB方向的切面图
图8为本发明优选实施例的弹头除锈机构的整体结构图；
图9为本发明优选实施例的弹头除锈机构的爆炸图；
图10为本发明优选实施例的弹头除锈机构的爆炸状态下的剖面图；
图11为本发明优选实施例的弹头的剖面图；
图12为本发明实施例的弹头除锈机构本体的装配状态下的剖面图；
图13为本发明实施例的弹头除锈机构的另一视角的整体结构图；
图14为本发明优选实施例的除锈系统的仰视图；
图15为本发明优选实施例的除锈系统的剖视图；
图16为本发明优选实施例的除锈系统的另一整体结构图；
图17为本发明优选实施例的弹头除锈机构的剖视图；
图18为本发明另一优选实施例的弹头除锈机构的剖视图；
图19-23为本发明的弹头的不同实施例的整体结构图；
图24和25为本发明另一实施例的除锈装置的两种状态结构图；
图26为本发明另一实施例的轨道件的整体结构图；
图27为本发明另一实施例的关节件的整体结构图；
图28为本发明另一实施例的第一轨道的内部结构图；
图29和30为本发明柔性张紧线和滑动台的连接关系图；
图31为本发明再一实施例的除锈装置的整体结构图；
图32为图31的局部放大图；
图33为一种实施例弹头除锈机构的整体结构图；
图34为本发明再一实施例的除锈机构的整体结构图；
图35为图34的局部放大图；
图36为本发明的变形机构的整体结构图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。
需要说明的是，当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件并与之结合为一体，或者可能同时存在居中元件。本文所使用的术语“安装”、“一端”、“另一端”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本的技术领域的技术人员通常理解的含义相同。本文中说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1-23所示，本发明采用的技术方案是，本发明提供一种弹头除锈机构，包括弹头12，弹头12在外部的驱动机构的驱动下作直线往复运动，以反复敲击待除锈面；弹头12远离驱动机构的一端为便于除锈的敲击部1200。
参考图10，在优选实施例中，弹头除锈机构还包括弹头除锈机构本体11，弹头除锈机构本体11上设置有气腔10，驱动机构与气腔10相通，驱动机构包括配气机构，弹头12可活动地嵌装于气腔10内，弹头12侧壁与气腔10内壁相抵使气腔10内的气压与大气隔绝，配气机构往气腔10通入气体驱动弹头12击向待除锈面，弹头12在敲击待除锈面后发生回弹。
参考图10和图11，在优选实施例中，还包括缓冲腔103；气腔10包括导向孔101和活塞腔102，导向孔101和活塞腔102相连接且相通，弹头12可活动地嵌于导向孔101内，弹头12侧壁与导向孔101内壁相抵，使活塞腔102不与大气压相连通；导向孔101的侧壁上设有泄压工位102，弹头12包括弹头内腔120，弹头12侧部开设有与弹头内腔相通的气孔，当弹头弹出后，气孔与泄压工位105连通后，将气腔10内的气压泄露；配气机构完成敲击待除锈面后回弹至初始位置。
在优选实施例中，缓冲腔103设置于气腔10、配气机构之间，使三者的连线为一直线。
参考图10，在优选实施例中，弹头除锈机构还包括第一限位部123和第二限位部106，第一限位部102设置于弹头12上，第二限位部106设置于气腔10的侧壁上，第一限位部123和第二限位106部用于在弹头12朝气腔10的开口运动至极限位置时相互抵持，以防止弹头12滑脱于气腔10。
在优选实施例中，第一限位部123为弹头12上的环状凸起；活塞腔102的内径大于导向孔101的内径，导向孔101和活塞腔102之间通过连接部104连接，连接部为第二限位部106。
参考图4-9，在优选实施例中，弹头除锈机构本体11包括气腔10，弹头12可活动地嵌装于气腔10内，驱动机构15包括配气机构31，配气机构3与气腔10连通，用于往气腔10内通入压缩气体，驱动弹头12相对于气腔10往复运动。具体地，除锈装置包括多个配 气机构3，每一配气机构3与多个弹头除锈机构1通过管路连通。在另一优选实施例中，除锈装置包括多个互相独立运动的除锈模组10，每个除锈模组10包括多个同步运动的弹头除锈机构1，每个除锈模组10与一配气机构3连接。
在优选实施例中，除锈机构主要地包括了弹头12、气腔10、缓冲腔103、配气机构3、减震装置、锈块回收装置、行进驱动机构15驱动机构2。
参考图3和图7，在进一步优选实施例中，气腔10包括导向通孔101以及导向通孔101下部的活塞腔102两部分，缓冲腔103属于活塞腔102的一部分，弹头12位于活塞腔101内的端部与活塞腔101的侧壁所围成的空间为缓冲腔103，缓冲腔103的空间的大小随着弹头12的运动而改变。弹头12可升降地安装在导向通孔101内，弹头12侧壁与导向通孔101内壁贴合使得活塞腔102与外界大气不连通。活塞腔102的远离导向通孔101的端部设置有缓冲腔103，活塞腔102设置有加压工位104，活塞腔102的侧壁内设置有竖向的气道107，气道107的一端口连通缓冲腔103，气道107的另一端口连通加压工位104，导向通孔101内设置有泄压工位105，泄压工位105与大气压连通；加压工位104、泄压工位105为环状凹槽。
参考图7，在进一步优选实施例中，弹头12包括弹头内腔120，弹头12顶端设置有用于除锈的敲击部1200，弹头12侧壁开设有气孔，气孔可以包括第一气孔121和第二气孔122。在弹头12未作动时，第二气孔122对应加压工位104，而第一气孔121在导向通孔101内被导向通孔101的侧壁所封闭，使得弹头内腔120、活塞腔102与外部大气相隔绝，因而配气机构3向缓冲腔103喷气加压时，气体从缓冲腔103经过活塞腔102的气道107进入加压工位104，加压工位104的气体从第二气孔122进入弹头内腔120，使得弹头内腔120的气压与活塞腔102等压，此时活塞腔102与外界大气压存在压差，便将弹头12朝导向通孔101推动；弹头12被气压推动一直远离活塞腔102，直至第一气孔121对应泄压工位105时，使得弹头内腔120的气体泄到外部大气中；而因为第二气孔122离开了加压工位104并被导向通孔101的内壁所封闭，所以活塞腔102内保持了一定的压力，因而弹头12在敲击待除锈物后回弹时，活塞腔102可以起到一个气垫的作用，防止弹头12回弹时撞击缓冲腔103的腔底。为了保证弹头12每次回弹都能够回到初始位置，即第一气孔121对应加压工位104的位置，同时避免回弹的弹头12撞击缓冲腔103，在缓冲腔103设置一个朝向弹头12的减震弹簧，弹头12回弹时打在减震弹簧上减速，使第二气孔122能够对应加压工位104。
参考图6，在进一步优选实施例中，活塞腔102宽而导向通孔101窄，截面类似于“凸”字状，活塞腔102和导向通孔101之间通过连接部连接，在连接部处形成第二限位部106，而弹头12的下部设置有侧翼，该侧翼即为第一限位部123，弹头伸出最长的状态下，第二限位部106和第一限位部123抵接，导致弹头12无法继续伸出，此时弹头12的敲击部1200已伸出于气腔10的腔口，可以够得到待除锈物以进行除锈。设置的目的是为了防止弹头12滑脱于导向通孔101。
参考图8，现有技术中配气机构3都设置在加压工位104的一侧，直接将气体喷入加压工位104，这样做的坏处是高速气流会对弹头12的运动产生扰动，导致弹头12的速度下降，弹出后回弹的这整个周期变长，弹头12单位时间作动的次数变少，达不到理想的除锈效果。因而，本发明将配气机构3设置在缓冲腔103下方，缓冲腔103、活塞腔102、导向通孔101的连线为一直线(其中心轴位于同一直线上)，并且配气机构3出气口与气道107的进气口相错开，使得缓冲腔103起到一级缓冲的作用，避免被喷出气体本身具有的动能直接干扰弹头12，而是通过气压来驱动弹头12，有利于提高弹头12单位时间的作动次数。
在优选实施例中，除锈装置还包括可驱动气腔10接近或远离待除锈物的直线运动驱动机构2；还包括减震弹簧14，减震弹簧14套设于气腔10外；吸尘管16包括置于弹头12一侧的锈块回收口，吸尘管16与锈块回收口连通。
在优选实施例中，在优选实施例中，弹头除锈机构本体包括第一本体111和第二本体112，第一本体111和第二本体112连接，第一本体111上形成有加压工位104，第二本体112上形成有泄压工位105，第一本体111和第二本体112之间形成有气腔10，第二本体112上还形成有用于供弹头12的敲击部1200穿过的弹头出口，弹头12处于伸出状态时，气腔10和泄压工位105导通，气腔10和加压工位104不导通，弹头12处于缩回状态时，气腔10和泄压工位105不导通，气腔10和加压工位104导通。
参考图3-5，在优选实施例中，弹头除锈机构本体包括第一本体111和第二本体112，第一本体111和第二本体112连接，具体地，第一本体111和第二本体112卡持固定连接、或者通过螺栓固定连接。第一本体111内形成有活塞腔101、缓冲腔103和气道107，缓冲腔103位于活塞腔102的上部，且与活塞腔102在同一直线上；进一步地，缓冲腔103是活塞腔102的一部分，弹头的连接端(即位于活塞腔102内的一端)与活塞腔102的部分侧壁围城的腔室即为缓冲腔103。活塞腔102的侧壁上形成有加压工位104，加压工位104通过气道107与缓冲腔103相连通，配气机构3将高压气体导入缓冲腔103，然后进入加压工位104。第二本体112上形成有导向通孔101，导向通孔101的侧壁上设置有泄压工位105，弹头的敲击部1200可穿过导向通孔101，并可伸出导向通孔101外。弹头12上形成有弹头内腔120、第一气孔121和第二气孔122，第一气孔121和第二气孔122皆与弹头内腔120相连通。弹头12回缩状态时，第二气孔122与加压工位104连通，第一气孔121被导向通孔101的侧壁封闭，高压气流经过缓冲腔103、加压工位104、第二气孔122进入到弹头内孔120内，使弹头内孔120和缓冲腔103的压力保持平衡、且高于大气压，当压力越来越大，即可将弹头12向下压，使弹头12伸出敲击在物料800上。弹头12伸出状态时，第一气孔121与泄压工位105相连通，第二气孔122被活塞腔102的侧壁封闭，第一气孔121与第二本体112上的泄压工位105连通后，弹头内腔120中的高压从泄压工位105泄掉，弹头12敲击待除锈板材后也会形成一个很强的反弹力，使弹头迅速弹回复位，由于缓冲腔103内的压力还存在，缓冲腔103中的气体形成一个气垫，可以缓冲垫弹头12的反弹力，减少甚至避免弹头12的连接端与活塞腔102撞击，减少磨损，延长该除锈装置的使用寿命。第二本体112的材料比重低于第一本体111的材料比重，将弹头除锈机构本体11分成第一本体111和第二本体112，可以在不影响该除锈装置的性能的情况下，减轻该除锈装置的重量，节省成本。具体地，第一本体111由不锈钢制成，第二本体112有塑料、铝合金等材料制成。第一本体111包括活塞筒1111、内盖1113和外盖1112，活塞腔102位于活塞筒1111内，弹头12穿过活塞腔102，且弹头12的另一端卡在活塞腔102内。外盖1112固定在活塞筒1111上，缓冲腔103由外盖1112、内盖1113和活塞筒1111围成，内盖1113位于活塞腔102和缓冲腔103之间。弹头12伸出时，弹头12与内盖1113将活塞腔103密封，内盖1113与外盖1112将缓冲腔103密封，向缓冲腔103充气，气体通过气道进入活塞腔102，进而进入弹头内腔120，气压足够大时，将弹头12压出，弹头12打在物料上；受到冲击后，弹头12复位，弹头12将内盖1113压向缓冲腔103，缓冲腔103内的气体形成气垫，缓冲弹头12和内盖1113，减少冲击力，延长使用寿命。
在进一步优选实施例中，第一本体111由金属材料制成，第二本体112由塑胶材料制成。具体地，第一本体111由不锈钢制成，第二本体112由塑料制成，如PC/SAN类、PC/PBT类、PC/PP类等。进一步地，第一本体111包括活塞筒1111、内盖1113和外盖1112，活塞筒1111两端开口，弹头12从活塞筒1111的第一端穿进活塞筒1111的第二端，且弹头12的连接端位于活塞筒1111内，内盖1113固定在活塞筒1111的第一端的内部，外盖1112覆盖内盖1113，并固定在活塞筒1111的外部。在另一实施例中，第一本体111包括活塞筒1111、内盖1113和外盖1112，活塞腔102位于活塞筒1111内，弹头12穿过活塞腔102，且弹头的另一端卡在活塞腔102内，外盖1112固定在活塞筒1111上；内盖1113位于活塞腔102和缓冲腔103之间，弹头12与内盖1113将活塞腔1111密封，内盖1113与外盖1112 将缓冲腔103密封；当弹头12伸出时，内盖1113被气压压向活塞腔1111，弹头12复位时，弹头12将内盖1112压向缓冲腔103。
参考图3，在优选实施例中，至少部分弹头除锈机构1的第二本体112互相连接为一体。使其结构更加稳定，可以更好地抵御泄压时形成的冲击力。进一步地，每个除锈模组10上的所有第二本体112一体铸造成型，每个除锈模组10包括4*3或者5*4个弹头12，每个弹头12上都设置有第二本体112，多个第二本体112铸造成为一个整体。
参考图3、图4、图5和17，在优选实施例中，除锈机构1包括除锈机构本体111和弹头112，除锈机构本体111内设置有活塞腔102和缓冲腔103，弹头112的第一端位于活塞腔102内，第二端形成可伸出活塞腔102的除锈部，除锈部用来除锈物料，给物料除锈或者用于敲碎物料。活塞腔102和缓冲腔103之间设置有内盖1113，内盖1113将活塞腔102和缓冲腔103分隔，且内盖1113可在缓冲腔103内移动，弹头112回弹时，首先碰撞到内盖1113，缓冲腔103内有高压气体，缓冲件在缓冲腔103内移动时，高压气体起到缓冲的作用，使弹头112不至于被撞坏。缓冲腔103的直径大于活塞腔102的直径，且活塞腔102与缓冲腔103同轴，在活塞腔102和缓冲腔103之间形成有台阶，内盖1113的位于缓冲腔103中的一端压在该台阶上，弹头112碰撞到内盖1113后，缓冲腔103能够起到缓冲的作用。除锈机构本体111上设置有加压工位104和泄压工位105。弹头112处于缩回状态时，活塞腔102和泄压工位105不导通，缓冲腔103、活塞腔102和加压工位104相互导通；高压气体(当然也可以是液压)首先进入缓冲腔103内，再从气道107进入到加压工位104，再从加压工位104进入活塞腔102中，当活塞腔102中的压力足够大后，就可以将弹头112从活塞腔102压出，使弹头112的除锈部击打在物料上，用于除锈、打碎物料等。弹头112处于伸出状态时，活塞腔102和泄压工位105导通，活塞腔102和加压工位104不导通；活塞腔102和泄压工位105导通后，就可以将活塞腔102中气体释放出来，活塞腔102中气压降低，再加上弹头112碰撞物料后形成的回弹力，使弹头112迅速回弹，进而再进行再次伸出的动作。
参考图3-6和图17，在进一步优选实施例中，弹头112上形成有弹头内腔120、第一气孔121和第二气孔122，第一气孔121和第二气孔122皆与弹头内腔120相连通，弹头内腔120在弹头112的第一端形成有开口，使弹头内腔120与活塞腔102相连通。高压气体(当然也可以是液压)首先进入缓冲腔103内，再从气道107进入到加压工位104，再从加压工位104进入活塞腔102中。
参考图3-6和图17，在进一步优选实施例中，除锈机构本体111还包括活塞缸1111和外盖1112，活塞腔102位于活塞缸1111内，且贯穿活塞缸1111的两端。缓冲腔103位于外盖1112内，且朝向活塞腔102的一端呈开口设置，内盖1113同时密封活塞腔102和缓冲腔103。内盖1113既可以将活塞腔102密封，还可以在缓冲腔103内移动。进一步地，内盖1113的第一端与活塞腔102相配合，内盖1113的第二端与缓冲腔103相配合。
参考图17，在进一步优选实施例中，内盖1113的第二端面上设置有压紧气槽11130，压紧气槽11130与缓冲腔103相连通，设置压紧气槽11130，可以将内盖1113紧密的抵接在活塞腔102的侧壁的端部，密封效果更好。
在进一步优选实施例中，除锈机构本体111的侧壁上形成有气道107，气道107的一端与缓冲腔103连通，另一端与活塞腔102相连通。
参考图17，在进一步优选实施例中，弹头112的第一端形成有第一限位部123，第一限位部123的直径大于弹头112的直径，活塞缸1111的侧壁上设置有与第一限位部123相配合的第二限位部106，第二限位部106的直径与弹头112的直径相配合，加压工位104位于第二限位部106上，且其开口朝向第一限位部123。在第一次敲打物料之前，缓冲腔103和活塞腔102内并没有高压气体，但是由于弹头112自身的重力作用，弹头112呈现悬空的状态。当向缓冲腔103内充入高压气体后，高压气体通过加压工位104将压力施加到 第二限位部106上，迫使弹头112缩回至活塞腔102内，直到加压工位104与缓冲腔103相连通。参考图17，在进一步优选实施例中，第二限位部106上设置有第二气槽1060，气道107和加压工位104皆与第二气槽1060相连通。第一限位部123上设置有第一气槽1230，第一气槽1230的开口朝向第二限位部106。即第一气槽1230和第二气槽1060相互连通。
参考图18，在另一优选实施例中，缓冲腔103的直径等于或者小于活塞腔102的直径，活塞腔102和缓冲腔103之间设置有环形的凸环11110，内盖1113的第一端与该凸环11110的内壁相配合，内盖1113的第二端与缓冲腔103相配合，且内盖伸入活塞腔102内部。
在优选实施例中，驱动机构2与缓冲腔103相连通，驱动机构2向缓冲腔103内通入压缩流体，弹头1在压缩流体的驱动下相对于敲击机构本体做往复运动。
参考图19-23，在优选实施例中，弹头包括弹头本体1111和敲击部1200，弹头本体包括第一限位部123和中间部，第一限位部123的直径大于中间部的直径，中间部位于第一限位部123和敲击部1200之间。弹头本体1111的一端与敲击部1200连接，另一端设置有第一限位部123，第一限位部123的直径大于弹头本体1111的直径。弹头本体1111内设置有弹头内腔120和气孔，弹头内腔120贯穿第一限位部123的端面，气孔位于弹头本体1111的侧壁上，且气孔与弹头内腔120相连通，用于加压或者泄压。气孔可以只有一个，即加压和泄压同用一个气孔。也可以有两个，如由于泄压的第一气孔121和用于加压的第二气孔122。敲击部1200的敲击面呈凹凸不平设置。弹头的敲击面设置呈凹凸不平的面，增加敲击面与物料之间的接触面积，物料单位面积内受力增加，改善除锈效果。
在优选实施例中，第一限位部123与弹头本体1111连接的位置设置有第一气槽1230，第一气槽1230环绕弹头本体1111，第一次敲打前，弹头悬挂在活塞腔内，第一气槽1230用来将弹头压入活塞腔内。敲击部1200的直径小于弹头本体1111的直径，且敲击部1200与弹头本体1111同轴。敲击部1200的敲击面上设置有耐磨层，增加耐磨性能，提高使用寿命。具体地，耐磨层为碳化铬耐磨金属材料、高锰钢耐磨材料或碳化钨金属耐磨材料等。
在优选实施例中，在优选实施例中，气孔包括第一气孔121和第二气孔122，第一气孔121到敲击部1200的垂直距离小于第二气孔122到敲击部1200的垂直距离，且第一气孔121和第二气孔122在垂直于弹头本体的中轴线的面上的投影不重合。泄气过程中，会对弹头产生一种反作用力，迫使弹头转动。
在优选实施例中，敲击部1200的敲击面上设置有多个敲击凸棱1201和多个敲击凹槽1202，敲击凸棱1201和敲击凹槽1202相间设置敲击点散开在敲击面上，使敲击的面积不至于变小，且单位面积内的受力增加，未与敲击面接触的位置也会因高频震动而除掉锈迹。
参考图19，在一个优选实施例中，敲击部1200的敲击面设置有环形的敲击凹槽1202和环形的敲击凸棱1201，环形的敲击凸棱1201和环形的敲击凹槽1202的中心轴相同，敲击凹槽1202与敲击凸棱1201间隔设置。参考图20和21在另一优选实施例中，敲击部1200的敲击面设置有多个敲击凸棱1201和多个敲击凹槽1202，多个敲击凸棱1201和多个敲击凹槽1202间隔设置，且敲击凸棱1201和敲击凹槽1202环绕弹头本体1111的中心轴呈放射状分布。进一步地，敲击面上还设置有横向凹槽1203，横向凹槽1203从敲击部1200的一侧延伸至敲击部1200的另一侧，且横向凹槽1203贯穿敲击部1200的中心轴。敲击部1200上竖向凹槽1204，竖向凹槽1204与敲击部1200的中心轴平行，且竖向凹槽1204从敲击部1200的敲击面延伸至敲击部1200的另一端。参考图22，在再一优选实施例中，敲击部1200的敲击面上设置有多个敲击凸棱1201，多个敲击凸棱1201首尾相接，多个敲击凸棱1201环绕敲击部1200的中心轴设置，多个敲击凸棱1201之间形成敲击凹槽。参考图23，在其他实施例中，敲击部1200的敲击面上设置有多个敲击凸棱1201，相邻敲击凸棱1201之间形成敲击凹槽1202，其中部分敲击凸棱1201环绕同一个点成放射状分布。
参考图1-9，本发明还提供一种除锈装置，包括安装支架以及弹头除锈机构，多个弹头除锈机构1形成除锈模组，所述除锈安装在所述安装支架上。
除锈模组包括驱动机构2及多个并列设置的弹头除锈机构1，每一弹头除锈机构1包括弹头12及与弹头12连接的弹头除锈机构本体11，弹头12的一端形成敲击部1200，弹头12在驱动机构2的驱动下相对于弹头除锈机构本体11做往复运动。弹头12的一端与弹头除锈机构本体11连接，另一端为自由端，待除锈物靠近弹头12的自由端，弹头12往复运动时，弹头12的自由端敲击待除锈物(物料800一般为金属板，如钢板、铁板等)，通过敲击震动将待除锈物表面的锈除掉。在弹头12敲击物料800的瞬间，物料800被外力固定，物料800整体震动的幅度较小，因此，相对现有的除锈装置来说，其产生的噪音较小。由于弹头12的分布均匀，敲击时的作用力也均匀分布，除锈效果也比较稳定。
参考图3，在优选实施例中，除锈装置包括多个互相独立运动的除锈模组10，每个除锈模组10包括多个同步运动的弹头除锈机构1。生产时，将相应数量的除锈模组10集成在一起即可，不需要将一个个单独的除锈模组10单独安装，生产安装方便。使用过程中，如果某个模组损坏，方便拆卸更换，维修更方便。
参考图2，在优选实施例中，除锈装置还包括安装支架40，每个除锈模组10还包括模组支架20，弹头除锈机构1固定在模组支架20上。模组支架20与安装支架40活动连接，模组支架20相对于安装支架40可沿弹头12的运动方向往复运动。使用时，根据物料800的厚度调整模组支架20，使除锈模组10与物料800的距离适当。
参考图3，在优选实施例中，每个除锈模组10还包括定位部件30，定位部件30固定在模组支架20上，模组支架20与安装支架40之间还设置有调节弹簧。
在优选实施例中，定位部件30包括定位滚轮301，且定位滚轮301设置在除锈模组10的进料侧。工作时，定位轮压住待除锈物，弹头12往复运动至最高点时，其与待除锈物之间具有一定的间距。
参考图2，在优选实施例中，安装支架40包括悬吊梁401、至少两个支撑柱402、连接柱403和拉杆404。至少两个支撑柱402与悬吊梁401固定连接且相对于悬吊梁401向上伸出，连接柱403与悬吊梁401连接且位于两个支撑柱402之间，拉杆404的第一端与支撑柱402连接，第二端与连接柱403连接，且拉杆404的第一端高于第二端。由于整个除锈装置的大部分部件都装配在安装支架40的中部，重力太大，尤其是除锈模组10较多的时候，除锈模组10自身的重力、工作时物料800的重力以及动力装置施加的力集中在一起，对于普通的安装支架40来说可能会难于承受。本发明采用的安装支架40能够巧妙的将中部的部分受力转嫁到两侧，减少中部的负担，使整体结构更加稳固。
参考图1和图2，在进一步优选实施例中，安装支架40包括悬吊梁401、两个支撑柱402、两个连接柱403、两个拉杆404和连杆405，两个支撑柱402分别固定在悬吊梁401的两端，两个连接柱403固定在悬吊梁401上且位于两个支撑柱402之间，两个连接柱403间隔设置，两个拉杆404的两端分别连接对应的连接柱403和支撑柱402，连杆405的两端连接两个连接柱403。连杆405的设置，使安装支架40的整体性更高，结构更加牢固。
在另一优选实施例中，除锈装置还包括安装支架40和支撑支架50，多个弹头除锈机构1安装在安装支架40上，安装支架40安装在支撑支架50上。。安装支架40的两端连接在支撑支架50上，将除锈模组10自身的重力、工作时物料800的重力以及动力装置施加的力部分转嫁到支撑支架50上。安装支架40与支撑支架50之间设置有升降组件60，升降组件60用于驱动安装支架40相对于支撑支架50升降；升降组件60可以使安装支架40带动安装在其上部的部件上下移动，从而调整除锈模组10的高度，使其能够在不同的场景下应用，厚度不同的物料800也都可以使用该除锈装置除锈。
参考图3，在优选实施例中，除锈装置包括第一除锈阵列100和第二除锈阵列200，第一除锈整列和第二除锈阵列200之间形成有进料通道，第一除锈阵列100和第二除锈阵列200均包括多个并列设置的弹头除锈机构1，第一除锈阵列100的弹头12与第二除锈阵列200的弹头12朝向相反，物料800经过该进料通道，第一除锈阵列100和第二除锈阵列200 分别向物料800的不同的面敲击，实现同时双面除锈，效率更高。在除锈装置的进料方向上，第一除锈阵列100和第二除锈阵列200相向设置或者错位设置，优选错位设置。本发明的弹头12撞击物料800，产生小面积大幅度的震动，从而将其表面的锈除去；如果采用相向的设置方式，物料800的两侧同时受力，势必会导致一部分力被抵消掉，除锈效果相对较差，而错位的设置方式恰好能够避免该问题，且也能够实现双面除锈的效果。
参考图1，在优选实施例中，除锈装置包括前除锈阵列300和后除锈阵列400，前除锈阵列300和后除锈阵列400沿除锈装置的进料方向间隔设置。且后除锈阵列400设置在前除锈阵列300的出料侧，前除锈阵列300和后除锈阵列400之间还设置有锈迹检测装置500。锈迹检测装置500检测从前除锈阵列300出来的物料800，如果检测到某些部位依然还有锈迹，后除锈阵列400就根据检测结果进行补打，后除锈阵列400上的弹头12有选择性的选择有锈迹的位置进行敲击。既可以保证除锈的效果，又可以避免过度除锈造成的物料800过度粗糙的问题。在优选实施例中，锈迹检测装置500包括检测支架以及安装在检测支架上的摄像头，摄像头与该除锈装置的控制器连接，通过摄像头对物料800的表面进行拍摄，然后通过图像识别的方式进行锈迹检测。在本实施例中，检测支架安装有上、下两排摄像头，用于对物料800的上表面和下表面分别进行拍摄和锈迹检测。在其他实施例中，锈迹检测装置500也可以通过超声波检测锈迹。
在优选实施例中，后除锈阵列400包括多个互相独立运动的除锈模组10，每个除锈模组10包括多个同步运动的弹头除锈机构1，除锈装置还包括安装支架40。每个除锈模组10还包括模组支架20，弹头除锈机构1固定在模组支架20上，模组支架20与安装支架40之间设置有升降驱动装置，升降驱动装置驱动模组支架20相对于安装支架40沿弹头12的运动方向往复运动。具体地，后除锈阵列400的结构与前除锈阵列300的机构相同。由于后除锈阵列400的作用是补充除锈，将前除锈阵列300未彻底除掉的锈迹除掉，所以，其工作量相对较少，设置后除锈阵列400时也可以根据实际情况设置。
参考图15，在优选实施例中，后除锈阵列400的出料侧还设置有锈迹检测装置500，对除锈质量要求较高的产品，可以检测除锈合格情况。
参考图3，在优选实施例中，至少部分弹头除锈机构1呈多行多列分布，且在垂直于除锈装置的进料方向的方向上，至少部分不同行的弹头除锈机构1的敲击部1200的中心错位设置，即多个弹头12在垂直于该除锈装置的进料方向上的投影不同。待物料从除锈工位经过后，弹头12在除锈板材上敲击的点连成片状，除锈效果更好。
参考图3在优选实施例中，在除锈装置的敲击面上，至少部分弹头除锈机构1的敲击部1200的中心呈平行四边形点阵式分布，且同列的弹头除锈机构1的敲击部1200中心的连线相对于除锈装置的进料方向倾斜设置。相邻的弹头12交错设置，避免在待除锈板材上留下无法被敲到的盲区。
在优选实施例中，至少部分弹头除锈机构1排列形成击打区，击打区的进料侧和/或出料侧设置有防尘帘(未图示)。防尘帘的下端与待除锈板材接触，敲击除锈过程中，会有大量粉尘飘到空气中，防尘帘将灰尘隔在防尘帘内部，减少对防尘帘外部的空气的污染。进一步地，防尘帘为硬质帘，且其下部设置软质边缘，边缘与待除锈本体接触，可以起到收集碎渣的作用。具体地，软质的边缘未毛刷或者高分子软体材料。
在优选实施例中，弹头除锈机构1的出料侧设置有废料收集装置，用于除去敲击除掉的碎渣。
参考图15，在优选实施例中，弹头除锈机构本体11还包括吸尘管16，吸尘管16的开口靠近敲击部1200设置，用于除去敲击除掉的碎渣。
参考图16，在优选实施例中，弹头除锈机构1的出料侧设置有螺旋状的废料收集刷160和吸尘装置，废料收集刷160的中心轴沿弹头除锈机构的长度方向设置，吸尘装置的吸尘口靠近废料收集刷160的端部设置。具体地，废料收集刷160连接动力机构，动力机构带 动废料收集刷160转动，螺旋形的废料收集刷160可以将待除锈板材上的碎渣收集到板材的一侧，吸尘装置用于除尘，减少空气污染，也可以将废料收集进废料筒内。
参考图15，在优选实施例中，除锈模组10包括初打模组3001和补打模组3002，该除锈装置包括包括前除锈阵列300和后除锈阵列400，所述前除锈阵列300上安装初打模组3001，所述后除锈阵列400上安装补打模组3002。初打模组3001的弹头除锈机构1错位设置，形成平行四边形阵列；补打模组3002的弹头除锈机构1组成正方形阵列。补打模组3001的模组支架20上设置有伸缩装置203，伸缩装置23的一端固定在模组支架20上，另一端固定在安装支架40上。根据锈迹检测装置检测500的结果，控制相应的伸缩装置203伸长或者缩短。当锈迹检测装置500检测到某个位置的锈迹不合格，相应的伸缩装置203伸长，该伸缩装置203对应的除锈模组1可以与物料800接触，对物料800进行除锈。补单模组3002的模组支架20包括第一壳体201和第二壳体202，补打模组3002位于第一壳体201和第二壳体202组成的空间内。
参考图14和图15，本发明还提供一种除锈系统，包括物料传送装置以及上述任一项的除锈装置，除锈装置设置在物料传送装置上或者设置在物料传送装置的侧方，弹头12的敲击部1200朝向物料传送装置的送料面。物料传送装置为传送带、传送辊、传送链条等。
在优选实施例中，除锈系统还包括隔音罩，隔音罩罩在弹头除锈机构外。在另一优选实施例中，除锈系统还包括隔音罩700，隔音罩700罩在除锈装置外，物料传送装置穿过隔音罩700。相对现有的弹珠式的除锈装置，本发明的除锈装置在除锈过程中产生的噪音的分贝较低，传播距离小，隔音罩700就可以很好的隔音，降低噪音污染。
(第二批1-2)以下内容请参考图24-29，在优选实施例中，安装支架包括轨道机器人，弹头除锈机构安装于轨道机器人上，轨道机器人带动弹头除锈机构移动。
轨道机器人包括锚定机构1-6、第一驱动机构1-3和轨道件，轨道件包括第一轨道1-1和第二轨道1-2。轨道机器人可在第一驱动机构1-3的驱动下沿母轨道运动，并可在运动至待施工点附近时通过锚定机构1-6将自身与母轨道相对固定。应说明，本方案中的母轨道并非限定为直线轨道，因为本领域技术人员很容易想到多种锚定机构1-6，其可在弯道或者坡道将轨道机器人与母轨道相对固定。轨道机器人还包括滚轮，进一步地，该滚轮为万向轮，万向轮可卡在母轨道上，并沿母轨道滚动，便于轨道机器人在母轨道上进行转弯。
锚定机构1-6包括抽真空机构和柔性板，柔性板包括朝向母轨道侧壁的吸附端面，吸附端面包括凹陷部，抽真空机构连通凹陷部；当凹陷部内与大气压存在压差时，柔性板可在大气压的作用下弯曲以使吸附端面呈弧状；凹陷部为沟槽，沟槽为若干个且沟槽相互平行。即便母轨道的侧壁面不是完全平整而是具有一定弧度或者凹凸不平的，柔性板贴在母轨道侧壁面后，柔性板的凹陷部被抽真空并在大气压的作用下弯曲从而贴合于母轨道的侧壁面，增强吸附锚定效果。
轨道机器人上安装的施工机器人，在本实施例中，施工机器人用来给待除锈物除锈。施工机器人包括第二驱动机构、弹头除锈机构、定位机构，弹头除锈机构可在第二驱动机构的驱动下沿轨道件运动，并可在弹头除锈机构运到至准确的待施工点时通过定位机构令弹头除锈机构与轨道件上的轨道相对固定，从而与轨道机器人相对固定。所以弹头除锈机构可对待施工结构进行施工。弹头除锈机构可在第二驱动机构的驱动下沿轨道件完成水平方向和/或高度方向的位移(第一轨道竖向放置时)，从而实现微调弹头除锈机构位置的效果，令其准确抵达待施工点。
参考图24和图27，第一轨道1-1的端部设置有转动关节件1-4，第二轨道1-2通过转动关节件1-4可转动地安装于第一轨道1-1的一端或两端，第二轨道1-2能在第三驱动机构的驱动下相对于第一轨道1-1转动，转动的角度范围为0到90度之间。具体地，转动关节包括第三驱动机构、弧形齿条1-42和齿轮1-43，弧形齿条1-42和齿轮1-43分别固定在第一轨道1-1和第二轨道1-2上。如图24所示，第二轨道1-2远离第一轨道1-1并拢时， 定义为0度(两条第二轨道1-2的总长度不大于第一轨道1-1的长度)；如图25所示，第二轨道1-2垂直于第一轨道1-1时，定义为90度。第一轨道1-1卧置于母轨道的底壁上，第一轨道1-1的长度方向为母轨道的宽度方向；且可以将第一轨道1-1的长度设置成与母轨道的宽度相同，母轨道各处的宽度相等，这样当第二轨道1-2在90度的位置时，轨道机器人刚好嵌于母轨道内，更便于母轨道对轨道机器人进行导向。应指出，第二轨道1-2是可拆卸地安装于转动关节件1-4上的，相当于第二轨道1-2与第一轨道1-1可拆卸连接，这样便于模块化的安装，根据工程的需要，选择合适长度的第一轨道1-1，然后将合适长度第二轨道1-2根据实际需要安装在第一轨道1-1的一端或两端。转动关节件1-4可锁紧，非锁紧状态时第二轨道1-2可相对于第一轨道1-1摆动；锁定状态时，第二轨道1-2与第一轨道1-1相对固定，从而弹头除锈机构能够在第二轨道1-2上运动。
以下内容请参考图26-31，在优选实施例中，第一轨道包括柔性紧张线1-11，滑动台包括滑轮1-12、第四驱动机构1-13、限位孔，柔性紧张线1-11不可滑脱地缠绕在滑轮1-12上且穿过限位孔，当第四驱动机构1-13驱动滑轮1-12转动时，滑轮1-12可沿柔性紧张线1-11运动以驱使滑动台升降；当第四驱动机构1-13不驱动滑轮1-12转动时，滑轮1-12相对于柔性紧张线1-11静止，柔性紧张线1-11令滑轮1-12悬停，限位孔的作用是一定程度上避免滑动台左右摇晃。第二轨道5为开口槽，槽壁远离槽底的一端朝内延伸形成挡板，挡板可用来对滑动台导向，防止滑落1-12脱离轨道。该方案解决了物体容易在坡度大甚至垂直的运动面上刹车后容易下滑的问题。
柔性紧张线1-11包括锁紧释放工位。弹头除锈机构还包括行进机构，弹头除锈机构通过自身的行进机构可以沿第二轨道1-2移动。弹头除锈机构沿第二轨道1-2运动至第一轨道1-1端部的暂停工位1-8，该暂停工位1-8的一侧是上方的锁紧释放工位，滑动台位于上方的锁紧释放工位，弹头除锈机构的锁紧机构将弹头除锈机构的轮子1-6锁于滑动台一侧的销孔1-9上。然后，第四驱动机构1-13驱动滑轮1-12转动，滑动台下降，期间锁紧机构一直将弹头除锈机构锁紧于滑动台，直至滑动台下降至下方的锁紧释放工位，锁紧机构才松开弹头除锈机构；下方的锁紧释放工位的一侧是另一第二轨道1-2的暂停工位1-8，锁紧机构松开的弹头除锈机构被释放至这个暂停工位1-8，从而弹头除锈机构可通过轮子1-6在下方的第二轨道1-2上运动。第一轨道1-2和第二轨道1-2构成了一个轨道件，除锈机器人可以在轨道件上运动从而可以对整个待除锈面进行除锈。优选地，两个第二轨道1-2位于同一平面。上述的技术方案解决了弹头除锈机构无法转弯的问题。该方案解决了除锈机器人只能对一条与柔性紧张线1-11平行的待除锈结构进行除锈的问题。如果没有该结构除锈机器人就无法对一个完整的待除锈面进行除锈了，除非另设很多条柔性紧张线1-11以及除锈机器人。
进一步地，第一轨道1-1与第二轨道1-2可转动连接，且二者之间设置有可锁紧的定位机构，定位机构可在第二轨道1-2与第一轨道1-1相对转动后锁紧，以使第二轨道1-2与第一轨道1-1相对固定。第二轨道1-2可以在上述的轨道件上转动，便于调整除锈机器人的位置以对待除锈面除锈。
弹头除锈机构的锁紧机构包括磁性销、通电线圈，磁性销可活动地嵌于通电线圈内，向通电线圈分别通入正向或反向电流，以驱动磁性销插入/退出销孔1-9，以锁紧或松开物件。
进一步地，滑轮1-12上设置有线槽，柔性紧张线1-11缠绕于线槽上；第四驱动机构1-13包括减速箱。
进一步地，第二轨道包括开口槽，开口槽的槽口设置有朝内延伸的挡板。
以下内容请参考图31-33，在优选实施例中，安装支架包括提升机构2-2，提升机构2-2上设置有弹性件，弹性件的一端固定在提升机构2-2上，另一端与弹头除锈装置相连接。提升机构带动弹头除锈机构移动至待除锈面时，待除锈面对弹头除锈机构的反作用力使弹 性件收缩。
除锈装置包括运动机构2-1、提升机构2-2和弹头除锈机构，运动机构2-1带动该装置在平面上移动。提升机构2-2固定安装在运动机构2-1的上部，运动机构2-1可在地面上前行。提升机构2-2的上端设有安装面板2-4，两组弹头除锈机构排列安装在提升机构2-2上面的安装面板2-4上。两组弹头除锈机构2-3和安装面板2-4的安装方式如图32所示，安装面板2-4上立设有电机2-51，电机2-51的输出齿轮2-5横卧。安装面板2-4在输出齿轮2-5的两侧分别固设有滑槽2-8，两个滑槽2-8上分别与两组弹头除锈机构直接或者间接连接，两组弹头除锈机构的底部分别固设有滑块2-6，滑块2-6安装在滑槽2-8内，且滑块2-6可沿滑槽2-8运动。两组弹头除锈机构的内侧分别固设有齿条2-7，两个齿条2-7分别和输出齿轮2-5相啮合，从而电机2-51的输出齿轮2-5在转动时可以驱动两组弹头除锈机构分别朝两个相反的方向运动以使两组除锈机构2-3左右展开/收拢，由于行进机构向前行进，故两组弹头除锈机构2-3的运动方向垂直于行进机构的行进方向。
如图35所示，弹头除锈机构2-3还包括除锈面板2-20和自适应机构2-30。除锈面板2-20的上端面沿除锈面板2-20的长度方向排列有若干弹头12，弹头12固定安装在除锈面板2-20上。除锈面板2-20左右两侧的壁面上分别设万向滚轮2-10，除锈面板2-20向上延伸有抵块2-21，抵块2-21的顶端设置不可滑脱的万向滚珠。自适应机构2-30包括固定件、浮动件和导向立杆，进一步地，固定件为固定底板2-15，浮动件为浮动顶板2-12。固定底板2-15和浮动顶板2-12二者之间的若干导向立杆2-14，固定底板2-15、浮动顶板2-12上开设有与导向立杆2-14大小、数量相适配的预留孔，导向立杆2-14的下端穿过固定底板2-15的预留孔并固定安装在固定底板2-15上。导向立杆2-14均套设有弹性件，该弹性件为弹簧2-13，弹簧2-13的下端固装在固定底板2-15上，导向立杆2-14的上端穿设在浮动顶板2-12的预留孔上且浮动顶板2-12的底部被弹簧2-13的上端抵持，浮动顶板2-12受力时可沿导向立杆2-14活动，导向立杆2-14的上端设置有限位端头2-16使浮动顶板2-12不能从导向立杆2-14滑脱。除锈面板2-20固定安装在浮动顶板2-12的上表面，滑块2-6固定地安装在固定底板2-15的下表面。
本实施例的除锈装置可用于对船舱舱室进行除锈，例如是具有前后左右共四个侧壁的船舱舱室，工作过程如下：初始时，两组弹头除锈机构收拢起来以便从舱门进入船舱舱室内。除锈装置进入船舱舱室内以后，除锈装置保持在原位，提升机构2-2将弹头除锈机构提升。自适应机构2-30的作用是：如果船舱舱室顶壁有一点倾斜，当部分抵块2-21接触到船舱舱室顶壁时另一部分抵块2-21为接触到船舱舱室顶壁，提升机构2-2继续将弹头除锈机构提升，已经接触到船舱舱室顶壁的抵块2-21受到船舱舱室顶壁的反作用力而将除锈机构2-3下压从而使浮动顶板2-12压缩弹簧2-13，故该部分的抵块2-21不再上升，抵块2-21上的万向滚珠作用是避免抵块2-21被船舱舱室顶壁磨损；未接触到船舱舱室顶壁的另一部分抵块2-21被提升机构2-2继续带动上升，直至所有抵块2-21都接触到船舱舱室顶壁，操作人员控制提升机构2-2不再作动，此时除锈面板2-20平行于船舱舱室顶壁，弹头12能够对船舱舱室顶壁进行除锈，抵块2-21的作用是避免在提升机构2-2带动弹头除锈机构上升时弹头12被待除锈面抵压磨损，并且使得待除锈面和除锈平面之间留有便于弹头12升降的空间。提升机构2-2将弹头除锈机构提升到目标位置后，操作人员启动电机2-51，电机2-51的输出齿轮2-5驱动一个弹头除锈机构朝左侧壁运动的同时，也驱动另一个弹头除锈机构朝右侧壁运动，同时操作人员也启动弹头12对船舱舱室顶壁进行除锈，直至两个弹头除锈机构侧壁上的万向滚轮2-10分别抵在左侧壁和右侧壁上，从而完成对第一行船舱舱室顶壁的除锈工作。接下来，除锈装置行进一段距离，该距离不大于弹头除锈机构在前后方向上的宽度，万向滚轮2-10用于避免除弹头锈装置行进时船舱舱室侧壁磨损弹头除锈机构的侧壁，然后边使弹头除锈机构收拢边使弹头除锈机构对船舱舱室顶壁进行除锈，从而完成下一行船舱舱室顶壁的除锈工作。重复以上步骤，直至完成整个船舱舱室顶壁的除 锈作业。
以下内容请参考图34-36，在优选实施例中，安装支架包括变形机构3-10，弹头除锈机构安装在变形机构3-10上，变形机构3-10可带动弹头除锈机构移动。
该除锈装置还包括位于变形机构3-10左右两侧的两个除锈集成机构3-20，除锈集成机构3-20包括多个弹头除锈机构12。在本实施中作为攀爬腿的两个除锈集成机构3-20分别安装在变形机构10上，变形机构10可以通过自身形变从而带动两个除锈集成机构3-20共同伸出和收拢，伸出后的两个除锈集成机构3-20能够对其各自朝向的待除锈面进行除锈。
如图3所示，变形机构3-10包括机架3-2和固装在机架3-2上的升降电机3-9，机架3-2内设有第一螺母3-5和竖向设置的第一丝杠(也叫丝杆，通过转动丝杆，可以使与其螺纹连接的螺母转动，第一丝杠在图中被略去)，第一螺母3-5螺接在第一丝杠上；机架3-2的上端设有皮带轮装置3-3，升降电机3-9的输出端和皮带轮装置3-3联动，而第一丝杠的上端也和皮带轮装置3-3联动，故升降电机3-9可以通过皮带轮装置3-3来控制第一丝杠转动从而控制第一螺母3-5升降。在其他实施例中，电机也可以直接与丝杠连接，省略皮带轮装置3-3。机架3-2的上端和下端各设有一对从动臂，机架3-2上端分别和两个第二从动臂3-8的近端铰接，两个第二从动臂3-8的远端一个朝左一个朝右；机架3-2下端分别和两个第一从动臂3-7的近端铰接，两个第一从动臂3-7的远端一个朝左一个朝右。第一螺母3-5的下端固接有升降件3-4，升降件3-4上设有一个远端朝右的主动臂3-6和一个远端朝左的主动臂3-6(远端朝左的主动臂3-6在图中被遮挡)，两个主动臂3-6的近端均铰接在升降件3-4上，两个第一从动臂3-7的远端分别铰接在两个主动臂3-6的远端上。远端朝右的第二从动臂3-8和远端朝右的第一从动臂3-7为第一组，其二者的远端共同固接一个除锈集成机构3-20；而另外一个第二从动臂3-8和另一个第一从动臂3-7为第二组，其二者的远端共同固接另一个除锈集成机构3-20。第一螺母3-5带动升降件3-4上升时，升降件3-4带动两个主动臂3-6上升从而将两个第一从动臂3-7拉起，以使两个除锈集成机构3-20收拢，两个第二从动臂3-8会随两个除锈集成机构3-20收拢而上摆。同理，第一螺母3-5带动升降件3-4下降时，两个除锈集成机构3-20伸出，两个第二从动臂3-8和两个第一从动臂3-7分别下摆。
如图2所示，以朝左的除锈集成机构3-20为例，除锈集成机构3-20包括上端的牵引环3-32、朝左的弹头除锈机构3-21、朝左的滚轮3-23，还包括在本实施例中作为附着部的第一吸盘3-22和第二吸盘3-30。第一吸盘3-22设置在一块基板3-243上，基板3-243上固设有伸缩电机3-24和第二螺母3-241，第二丝杠3-242螺接在第二螺母3-241上且第二丝杠3-242的左端部固接第一吸盘3-22，伸缩电机3-24可通过控制第二丝杠3-242和第二螺母3-241相对转动来控制第一吸盘3-22朝左伸出和朝右缩回。第二吸盘3-30的表面设有滑轨3-33，弹头除锈机构3-21和基板3-243相互固接且二者均设有驱动滑轮3-34和行进电机3-31，行进电机3-31驱动滑轮3-34转动以使滑轮3-34沿滑轨3-33运动，从而带动第一吸盘3-22和弹头除锈机构3-21二者共同相对第二吸盘3-30活动(第二吸盘3-30除了作为附着部，也在本实施例中作为行进部；滑轨3-33和滑轮3-34配合实现了除锈集成机构3-20和机架3-2在攀爬方向上的活动连接)弹头除锈机构12的敲击部1200朝左的表面上设有多个弹头12。朝左的除锈集成机构3-20中，除锈部21的右端用于固接第二从动臂3-8的远端，基板3-243的右端用于固接第一从动臂3-7的远端。朝右的除锈集成机构3-20和朝左的除锈集成机构3-20部件结构基本相同。
本实施例的除锈装置可以用于多种场合的除锈作业，例如仓室内壁、方管内壁除锈，以方管为例。工作过程如下：用一根牵引线绑紧牵引环3-32，将除锈机吊入竖设的方形内且使第二吸盘3-30接触方管的内背壁面；操作人员启动伸缩电机3-24使得一左一右两个第一吸盘3-22分别伸出直至第一吸盘3-22突出超过弹头12的敲击部1200，此举是为了避免弹头12因意外触碰方管内壁而发生磨损；具体操作中，操作人员启动变形机构3-10的 升降电机3-9使升降件3-4下降，迫使主动臂3-6带动集成除锈机构3-20伸出直至两个第一吸盘3-22抵在方管的内侧壁上，操作人员控制第一吸盘22吸住方管内侧壁并控制第二吸盘3-30吸住方管的内背壁面(通过第一吸盘22和第二吸盘30分别自带的真空控制阀来控制是否吸附)，此时除锈装置位置固定，两组弹头12分别朝向方管的左方内侧壁和右方内侧壁，操作人员控制左、右两组弹头12分别对方管的左方内侧壁和右方内侧壁除锈，完成了对一截方管两个侧壁的除锈作业(第一吸盘3-22和第二吸盘3-30的共同固定使得弹头12因自身升降震动而产生噪音有所减少)。下一步是调整除锈装置的位置以对便下一截方管进行除锈作业，具体如下：操作人员控制第一吸盘3-22不再吸住方管的内侧壁后启动伸缩电机3-24使第一吸盘3-22缩回，弹头12随之缩回至突出程度不及滚轮3-23，故由滚轮3-23抵在方管内侧壁上以避免磨损第一吸盘3-22，而因为第二吸盘3-30仍然吸住方管的内背壁面所以除锈机位置仍然固定，然后控制人员启动两个行进电机3-31使得两个滑轮3-34正向转动，带动第一吸盘3-22和弹头2二者共同相对第二吸盘3-30沿方管移动，直至第一吸盘3-22和弹头12抵达下一截方管而第二吸盘3-30仍然留在上一截方管，此时操作人员关停行进电机3-31并启动伸缩电机3-24控制第一吸盘3-22重新伸出，以使两个第一吸盘3-22分别吸住方管的左方内侧壁和右方内侧壁，然后通过第二吸盘3-30自带的真空控制阀来控制第二吸盘3-30不再吸住方管的内背壁面，第一吸盘3-22和除锈部3-21二者固定在下一截方管上，再启动行进电机3-31使滑轮3-34反向转动，就会使第二吸盘3-30会朝下一截方管移动，最终整个除锈机都抵达下一截方管。操作人员关停行进电机3-31并控制第二吸盘3-30吸住方管内背壁面，然后按照对上一截方管的除锈步骤对本截方管进行除锈。重复以上步骤，即可对整个方管的左方内侧壁和右方内侧壁完成除锈作业。要对方管内未被除锈的另外两个内侧壁进行除锈，只需将本除锈机沿方管的周向旋转90度，重复以上的除锈过程即可。牵引线除了吊入除锈装置的作用外，还在除锈装置行进至下一截方管时起到导向作用。单纯考虑行进时过程的话，第一吸盘3-22和第二吸盘3-30也可以改为磁铁等其他附着部。在除锈弹头工作时，则第一吸盘3-22和第二吸盘3-30减少了弹头1200传递到待除锈面的震动强度，既作为了减震部件又作为了附着部，单从减震的角度去考虑而不考虑定位功能，则均为真空吸盘机构的第一吸盘3-22和第二吸盘3-30这二者可以改为弹性材料制成的缓冲垫。
为了适用于更多的场合，除锈集成机构3-20和变形机构3-10之间改用可拆卸连接，将原有的除锈集成机构3-20换成其他规格的除锈集成机构即可适用于其他不同的场合。此外，还可以改为：将变形机构3-10和除锈集成机构3-20可拆卸连接后，可拆卸安装在其他形式的行进动力装置上(如直线运动机构)，方便模组化生产除锈集成机构3-20后，同样变形机构3-10和行进动力装置可以和不同除锈集成机构3-20组合安装使用。还应补充，变形机构3-10中的升降件3-4、主动臂3-6可改为偏心轮，升降电机3-9驱动偏心轮正转则偏心轮带动第一从动臂3-7下摆，升降电机3-9驱动偏心轮反转则偏心轮带动第一从动臂3-7上摆；在改用其他形式的行进动力装置的情况下(如垂直升降机构)，则变形机构3-10可以改为横向直线运动机构。
本发明的除锈装置将除锈需要的设备集成在一起，减少了除锈装置所需要的设备，使其相对传统的除锈装置体积缩小很多，减少其占地面积。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了发明的具体实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (46)

  1. 一种除锈模组，其特征在于，包括多个弹头除锈机构和模组支架，多个所述弹头除锈机构固定在所述模组支架上，所述弹头除锈机构包括可相对于除锈面直线往复运动的弹头，所述弹头朝向所述除锈面的一端形成敲击部。
  2. 根据权利要求1所述的除锈模组，其特征在于，至少部分所述弹头除锈机构呈多行多列分布，且在垂直于所述除锈装置的进料方向的方向上，至少部分不同行的弹头除锈机构的敲击部的中心错位设置。
  3. 根据权利要求1所述的除锈模组，其特征在于，在所述除锈模组的敲击面上，至少部分所述弹头除锈机构的敲击部的中心呈平行四边形点阵式分布，且同列的弹头除锈机构的敲击部中心的连线相对于所述除锈装置的进料方向倾斜设置。
  4. 根据权利要求1所述的除锈模组，其特征在于，所述模组支架包括第一固定件、第二固定件和伸缩装置，多个所述弹头除锈机构固定在所述第一固定件上，所述第一固定件和所述第二固定件通过所述伸缩装置连接，所述伸缩装置带动所述第一固定件上的弹头除锈机构伸出或者缩回。
  5. 根据权利要求5所述的除锈模组，其特征在于，所述第二固定件包括第一壳体和第二壳体，所述第一壳体和第二壳体之间形成容置空间，所述第二壳体上形成有与所述弹头相适应的通孔，所述第一固定件和弹头除锈机构皆位于所述容置空间内，所述伸缩装置固定在所述第一壳体上，所述弹头可从所述通孔伸出。
  6. 根据权利要求1所述的除锈模组，其特征在于，所述弹头除锈机构还包括弹头除锈机构本体，所述弹头除锈机构本体上设置有气腔，所述弹头可活动地嵌装于所述气腔内，外部的配气机构与所述气腔连通，用于往所述气腔内通入压缩气体，驱动所述弹头相对于所述气腔往复运动。
  7. 如权利要求6所述的除锈模组，其特征在于，所述弹头除锈机构还包括缓冲腔；所述气腔包括导向孔和活塞腔，导向孔和活塞腔相连接且相通，弹头可活动地嵌于所述导向孔内，弹头侧壁与导向孔内壁相抵，使活塞腔不与大气压相连通；所述导向孔的侧壁上设有泄压工位，所述弹头包括弹头内腔，弹头侧部开设有与弹头内腔相通的气孔，当所述弹头弹出后，所述气孔与所述泄压工位连通后，将所述气腔内的气压泄露；配气机构完成敲击待除锈面后回弹至所述初始位置。
  8. 如权利要求6所述的除锈模组，其特征在于，所述弹头除锈机构还包括第一限位部、第二限位部，所述第一限位部设置于弹头上，所述第二限位部设置于气腔的侧壁上，所述第一限位部和第二限位部用于在弹头朝气腔口运动至极限位置时相互抵持，以防止所述弹头滑脱于所述气腔。
  9. 如权利要求8所述的除锈模组，其特征在于，所述第一限位部为所述弹头上的环状凸起；所述活塞腔的内径大于所述导向孔的内径，所述导向孔和所述活塞腔之间通过连接部连接，所述连接部为所述第二限位部。
  10. 根据权利要求6所述的弹头除锈机构，其特征在于，所述弹头包括弹头内腔，所述弹头侧壁 上开设有第一气孔和第二气孔，所述气腔的侧壁上设置有加压工位和泄压工位，所述第一气孔与所述泄压工位相配合，所述第二气孔与所述加压工位相配合。
  11. 根据权利要10所述的除锈模组，其特征在于，所述弹头除锈机构还包括缓冲腔，所述配气机构的出气口与所述缓冲腔相连通；所述配气机构向所述缓冲腔加压时，所述第二气孔与所述加压工位对齐，气体从所述第二气孔进入并充满所述弹头内腔，弹头被活塞腔的气压驱动沿导向孔前进；弹头前进至所述第一气孔对应泄压工位时，弹头内腔的气压泄漏至所述泄压工位，弹头复位。
  12. 根据权利要求6所述的弹头除锈机构，其特征在于，所述弹头的第一端形成有第一限位部，所述第一限位部的直径大于所述弹头的直径，所述活塞腔的侧壁上设置有与所述第一限位部相配合的第二限位部，所述第二限位部的直径与所述弹头的直径相配合，所述加压工位位于所述第二限位部上，且其开口朝向所述第一限位部。
  13. 根据权利要求12所述的弹头除锈机构，其特征在于，所述第二限位部上设置有第二气槽，所述加压工位皆与所述第二气槽相连通。
  14. 根据权利要求12所述的弹头除锈机构，其特征在于，所述第一限位部上设置有第一气槽，所述第一气槽的开口朝向所述第二限位部。
  15. 根据权利要求1-14所述的除锈模组，其特征在于，所述弹头除锈机构本体包括第一本体和第二本体，所述第一本体和第二本体连接，所述第一本体上形成有加压工位，所述第二本体上形成有泄压工位，所述第一本体和第二本体之间形成有气腔，所述弹头可活动地嵌装于所述气腔内，所述第二本体上还形成有用于供弹头的敲击部穿过的弹头出口，所述弹头处于伸出状态时，所述气腔和泄压工位导通，所述气腔和所述加压工位不导通，所述弹头处于缩回状态时，所述气腔和泄压工位不导通，所述气腔和所述加压工位导通。
  16. 根据权利要求1-14任一项所述的除锈模组，其特征在于，所述弹头除锈机构还包括弹头除锈机构本体，所述弹头除锈机构本体包括第一本体和第二本体，所述第一本体和第二本体相连接，所述第一本体内形成有所述活塞腔和缓冲腔；所述第二本体上形成有导向孔，所述导向孔的侧壁上设置有泄压工位，所述弹头的敲击部可穿过所述导向孔，并可伸出所述导向孔外。
  17. 根据权利要求16所述的除锈模组，其特征在于，所述第一本体上还形成有气道，所述活塞腔的侧壁上形成有加压工位，所述加压工位通过所述气道与所述缓冲腔相连通，所述弹头上形成有弹头内腔和气孔，所述气孔可与所述泄压工位连通，从而使所述气腔内的压力泄露。
  18. 根据权利要求16所述的除锈模组，其特征在于，所述气孔包括第一气孔和第二气孔，所述第一气孔和所述第二气孔皆与所述弹头内腔相连通；弹头回缩状态时，所述第二气孔与所述加压工位连通，所述第一气孔被所述导向孔的侧壁封闭；所述弹头伸出状态时，所述第一气孔与所述泄压工位相连通，所述第二气孔被所述活塞腔的侧壁封闭。
  19. 根据权利要求16所述的除锈模组，其特征在于，所述第二本体的材料比重低于所述第一本体的材料比重。
  20. 根据权利要求16所述的除锈模组，其特征在于，所述第一本体包括活塞筒、内盖和外盖，所述活塞腔位于所述活塞筒内，所述弹头穿过所述活塞腔，且弹头的另一端卡在所述活塞腔内，所述外盖固定在所述活塞筒上；所述内盖位于所述活塞腔和所述缓冲腔之间，所述弹头与所述内盖将所述活塞腔密封，所述内盖与所述外盖将所述缓冲腔密封；当弹头伸出时，内盖被气压压向活塞腔，所述弹头复位时，所述弹头将所述内盖压向所述缓冲腔。
  21. 根据权利要求20所述的除锈模组，其特征在于，所述缓冲腔的直径大于所述活塞腔的直径，且所述缓冲腔和所述活塞腔同轴，所述内盖的第一端与所述活塞腔相配合，所述内盖的第二端与所述缓冲腔相配合，所述内盖的第二端面上设置有压紧气槽，所述压紧气槽与所述缓冲腔相连通。
  22. 根据权利要求16所述的除锈模组，其特征在于，所述第一本体由金属材料制成，所述第二本体由塑胶材料制成。
  23. 根据权利要求16所述的除锈模组，其特征在于，至少部分弹头除锈机构的第二本体互相连接为一体。
  24. 一种除锈装置，其特征在于，包括安装支架以及上述权利要求1-23任一项所述的除锈模组，所述除锈模组安装在所述安装支架上。
  25. 根据权利要求24所述的除锈装置，其特征在于，所述除锈装置还包括支撑支架，所述多个弹头除锈机构安装在所述安装支架上，所述安装支架安装在所述支撑支架上，且所述安装支架与所述支撑支架之间设置有升降组件，所述升降组件用于驱动所述安装支架相对于所述支撑支架升降。
  26. 根据权利要求24所述的除锈装置，其特征在于，所述除锈装置包括第一除锈阵列和第二除锈阵列，所述第一除锈整列和第二除锈阵列之间形成有进料通道，所述第一除锈阵列和第二除锈阵列均包括多个并列设置的弹头除锈机构，所述第一除锈阵列的弹头与第二除锈阵列的弹头朝向相反，在所述除锈装置的进料方向上，所述第一除锈阵列和第二除锈阵列相向设置或者错位设置。
  27. 根据权利要求24所述的除锈装置，其特征在于，所述除锈装置包括前除锈阵列和后除锈阵列，所述前除锈阵列和后除锈阵列沿所述除锈装置的进料方向间隔设置，且所述后除锈阵列设置在所述前除锈阵列的出料侧，所述前除锈阵列和后除锈阵列之间还设置有锈迹检测装置。
  28. 根据权利要求27所述的除锈装置，其特征在于，所述后除锈阵列的出料侧还设置有锈迹检测装置。
  29. 根据权利要求24所述的除锈装置，其特征在于，所述安装支架包括轨道机器人，所述弹头除锈机构安装于所述轨道机器人上，所述轨道机器人带动所述弹头除锈机构移动。
  30. 如权利要求29所述的除锈装置，其特征在于，所述轨道机器人包括第一驱动机构和用于供 弹头除锈机构通行的轨道件，所述轨道机器人可在第一驱动机构的驱动下行进。
  31. 如权利要求30所述的除锈装置，其特征在于，所述轨道件包括第一轨道和第二轨道，所述第二轨道与所述第一轨道连通。
  32. 如权利要求31所述的除锈装置，其特征在于，所述轨道件还包括第三驱动机构和转动关节件，第二轨道的端部与第一轨道的端部通过所述转动关节件可转动地连接；第一状态下，所述第二轨道可在第三驱动机构的驱动下相对于第一轨道摆动；第二状态下，所述第二轨道与所述第一轨道固定连接。
  33. 如权利要求29所述的除锈装置，其特征在于，所述除锈装置还包括锚定机构，所述锚定机构在轨道机器人停止运动时，将轨道机器人锚定。
  34. 如权利要求29所述的除锈装置，其特征在于，所述轨道件包括柔性紧张线和滑动台，滑动台包括滑轮和驱动机构；所述柔性紧张线缠绕于所述滑轮；当驱动机构驱动滑轮转动时，滑轮沿所述柔性紧张线运动以带动滑动台滑动；当滑轮停止转动时，滑轮相对于柔性紧张线静止。
  35. 如权利要求34所述的除锈装置，其特征在于，除锈装置还包括第一轨道，所述柔性紧张线沿所述第一轨道的长度方向延伸，所述滑动台连接于所述第一轨道并沿第一轨道运动。
  36. 如权利要求34所述的除锈装置，其特征在于，除锈装置还包括第二轨道，柔性紧张线包括锁紧释放工位；所述第二轨道用于供弹头除锈机构运动，所述第二轨道包括暂停工位，暂停工位设置于所述锁紧释放工位的一侧，以令静止于暂停工位的弹头除锈机构能够与停留于锁紧释放工位的滑动台相互锁紧/解锁。
  37. 如权利要求29所述的除锈装置，其特征在于，所述除锈装置还包括第一轨道和第二轨道，所述第一轨道与所述第二轨道可转动连接，且二者之间设置有可锁紧的定位机构，所述定位机构可在所述第二轨道与所述第一轨道相对转动后锁紧，以使所述第二轨道与所述第一轨道相对固定。
  38. 如权利要求24所述的除锈装置，其特征在于，所述安装支架包括提升机构，所述弹头除锈机构连接在所述提升机构上，所述提升机构上设置有弹性件，所述弹性件的一端固定在所述提升机构上，另一端与所述弹头除锈装置相连接；所述提升机构带动所述弹头除锈机构移动至待除锈面时，待除锈面对所述弹头除锈机构的反作用力使所述弹性件收缩。
  39. 如权利要求38所述的除锈装置，其特征在于，该除锈装置包括多个弹头除锈机构和至少两个固定件，多个所述弹头除锈机构分别固定在所述两个固定件上，两个固定件相互靠近的位置皆设有齿条；该除锈装置还包括电机和输出齿轮，所述输出齿轮和两个齿条分别啮合，电机通过所述齿轮和所述齿条带动两个所述固定件相互靠拢或者相互远离。
  40. 如权利要求39所述的除锈装置，其特征在于，所述除锈装置包括设置在所述提升装置上的固定件，所述弹头除锈机构连接在所述固定件上，所述弹头除锈机构和所述固定件之间设置有自适应 机构，所述自适应机构包括浮动件、导向立杆和固定件，所述弹性件为套设在所述导向立杆上的弹簧，所述固定件上设置有预留孔，所述导向立杆的一端穿过所述预留孔，另一端通过所述浮动件与所述弹头除锈机构固定连接；所述弹头除锈机构抵在待除锈面上时产生的反作用力可以将所述弹簧压缩。
  41. 如权利要求24所述的除锈装置，其特征在于，所述安装支架包括变形机构，所述弹头除锈机构安装在所述变形机构上，所述变形机构可带动所述弹头除锈机构移动。
  42. 如权利要求41所述的除锈装置，其特征在于，所述变形机构包括固定件、变形动力装置、主动臂和第一从动臂，所述变形动力装置固定在所述固定件上，所述变形动力装置与所述主动臂的一端相铰接，所述主动臂的另一端与所述第一从动臂连接相铰接，所述变形动力装置可以带动所述第一从动臂靠近或者远离所述固定件。
  43. 如权利要求42所述的除锈装置，其特征在于，所述变形动力装置包括电机、丝杆和螺母，所述螺母与所述主动臂固定连接，所述电机带动所述丝杆转动，进而带动所述螺母沿所述丝杆的方向移动。
  44. 如权利要求42所述的除锈装置，其特征在于，所述变形机构还包括第二从动臂，所述第二从动臂与所述固定件相铰接，所述弹头除锈装置同时与所述第一从动臂和所述第二从动臂相连接。
  45. 如权利要求42所述的除锈装置，其特征在于，所述安装支架还包括滑轨，所述变形机构设置在所述滑轨上，且所述变形机构可沿所述滑轨的滑动。
  46. 如权利要求42所述的除锈装置，其特征在于，该除锈装置还包括第一吸盘和第二吸盘，所述第一吸盘包括第一吸附件和第一伸缩装置，所述第一伸缩装置带动所述第一吸附件移动；所述第二吸盘包括第二吸附件和第二伸缩装置，所述第二伸缩装置带动所述第二吸附件移动；第一种状态下，所述第一吸件和所述第二吸件同时伸出；第二种状态下，所述第一吸件和所述第二吸件交替伸出。
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