Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, rust removal robot and paint spraying robot

Abstract

The invention discloses an integrated crawling robot adaptive to an ultrahigh pressure / cavitation water jet and airless spraying module. The integrated crawling robot comprises a frame, a shell and adriving device for driving the frame to move; the frame comprises a cross beam, a fixed plate fixedly connected with the cross beam and a bracket surrounding the periphery of a crawling robot part. The fixing plate is provided with a connector used for being connected with a rust removal module and / or an airless spraying module, the driving device comprises a magnetic attraction driving wheel set,the magnetic attraction driving wheel set comprises an adjusting rod, and an adjusting head is arranged on the bracket and corresponds to the length direction of the cross beam. The two ends of the adjusting rod are connected with the cross beam and the adjusting head respectively, an adjusting groove is formed in the adjusting head, and the end, close to the adjusting groove, of the adjusting rod is movably arranged in the adjusting groove. The rust removal module is used for removing rust by adopting ultrahigh pressure / cavitation water jet. The crawling robot can adapt to working faces withdifferent cambered surfaces.

Description

Technical field[0001]The invention patent belongs to the technical field of corrosion control robots, and specifically relates to an integrated crawling robot adapted to ultra-high pressure / cavitation water jet and airless spraying modules applied to the facade of a storage tank, and a rust removing robot including the crawling robot And painting robots.Background technique[0002]There are many storage tank equipment in the domestic coastal power, petrochemical and other industries. The internal corrosive media and the external coastal / industrial atmosphere are harsh. The inner and outer walls of the storage tanks mostly use coatings as surface protection methods. However, the internal and external environments are corroded and the surface coatings are naturally aging. Under conditions, the surface corrosion of equipment frequently occurs, so the storage tank needs to carry out local or overall anti-corrosion maintenance work on a regular basis.[0003]At present, the anti-corrosion ma...

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Problems solved by technology

[0002] Domestic coastal electric power, petrochemical and other industries have a lot of storage tank equipment, the internal corrosive medium and the external coastal / industrial atmospheric environment are harsh, and the inner and outer walls of the storage tank are mostly used as a surface protection method. However, the internal and external environmental erosion and the natural aging of the surface coating Under these conditions, corrosion problems frequently occur on the surface of equipment, so the storage tank needs to carry out local or overall anti-corrosion maintenance work on a regular basis

[0003] At present, the anticorrosion maintenance of storage tanks mostly uses scaffolding or hanging baskets for manual work, which has a large workload, low efficiency, and high construction safety risks

There have been a small number of application cases of anti-corrosion robots in the shipbuilding and petrochemical industries in China, but the functions of the robots are relatively single, and they can only perform rust removal or painting operations alone, and the upper module and process design of the painting function are unreasonable, and the painting effect is poor. Meet the needs of engineering applications; at the same time, the robot is limited in the radius of curvature, suitable for the outer wall of the storage tank with a large curvature radius, but it is often not applicable to the inner / outer wall of the storage tank robot with a diameter of less than 10m, and there is a high risk of falling

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