Modular Rust Removal Robot

Abstract

The present invention aims to provide a modular rust-removing robot that is convenient for adapting to different rust-removing surfaces. The modular rust-removing robot includes a frame and a rust-removing part for rust-removing the rust-removing surface, and the rust-removing part is detachably mounted on the frame. Since the rust-removing part is detachable, multiple rust-removing parts with different specifications can be manufactured. The inapplicable rust-removing part on the deformation mechanism can be removed according to different construction conditions, and the suitable rust-removing part can be installed on the deformation mechanism, so as to be more convenient for adapting to different rust-removing surfaces.

Description

Technical Field

[0001] The present invention relates to the field of rust removal operations, especially rust removal robots. Background Art

[0002] Currently, the inventor has internally produced a rust removal robot without public disclosure, which includes a deformation mechanism that can be telescoped in at least one direction to achieve deformation, a traveling power device, and a rust removal bullet head panel installed on the deformation mechanism and can be driven to expand and contract by the deformation of the deformation mechanism itself. The rust removal bullet head panel serves as the rust removal part, and the rust removal bullet head panel includes a plurality of rust removal bullet heads. The rust removal bullet head is a prior art. By controlling the reciprocating lifting of the rust removal bullet head, the surface to be rust removed can be repeatedly struck for rust removal. For the specific working principle, reference can be made to the Chinese patent document with the publication number CN209754923U. The deformation mechanism, the traveling power device, and the rust removal bullet head panel are fixedly installed.

[0003] The defect of this kind of rust removal robot is that: since the size of the surface to be rust removed is uncertain, it can be large, such as the surface of a large building or a ship, or small, such as the wall surface of a pipeline. Therefore, the rust removal bullet head panel needs to change its specifications according to the actual construction situation, and different specifications of rust removal bullet head panels need to be configured with deformation mechanisms and traveling power devices, so the applicability is not wide. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention aims to provide a modular rust removal robot that is convenient for adapting to different rust removal surfaces.

[0005] The modular rust removal robot includes a frame and a rust removal part for rust removing the rust removal surface, and the rust removal part is detachably installed on the frame.

[0006] Further, the frame includes a deformation mechanism, the rust removal part is installed on the deformation mechanism, and the deformation mechanism can deform itself to drive the rust removal part to expand and contract.

[0007] Further, it further includes an attachment part for attaching to the surface to be rust removed, the attachment part is installed on the deformation mechanism, and the deformation of the deformation mechanism drives the attachment part to expand and contract.

[0008] Further, the attachment part is a negative pressure suction cup mechanism.

[0009] Further, the frame is provided with at least two active arms and at least two lower driven arms for the lifting member. The proximal ends of each active arm are hinged on the lifting member, the proximal ends of each lower driven arm are hinged on the frame, the parts of the lower driven arm and the active arm other than the proximal ends are hinged to each other, and the parts of the lower driven arm other than the proximal ends are installed on the rust removal part.

[0010] Further, the rust removal part includes rust removal bullet heads.

[0011] The beneficial effects are as follows: Since the rust removal part is detachable, multiple rust removal parts with different specifications can be manufactured. According to different construction conditions, the unsuitable rust removal part on the deformation mechanism is removed and the suitable rust removal part is installed on the deformation mechanism, so as to be more convenient to adapt to different rust removal surfaces. Brief Description of the Drawings

[0012] Figure 1 is the overall schematic diagram of the rust removal machine;

[0013] Figure 2 is the partial schematic diagram of the rust removal robot;

[0014] Figure 3 is the schematic diagram of the deformation mechanism;

[0015] Figure 4 is the schematic diagram of the back suction cup;

[0016] Figure 5 is the connection schematic diagram of the rust removal part and the deformation mechanism.

[0017] In the figure: 2, frame; 3, pulley device; 4, lifting member; 5, first nut; 6, connecting rod; 7, force application arm; 8, auxiliary arm; 9, lifting motor; 10, deformation mechanism; 20, rust removal integrated mechanism; 21, rust removal part; 210, rust removal bullet head; 22, side suction cup; 23, side support roller; 24, telescopic motor; 241, second nut; 242, second lead screw; 243, base plate; 30, back suction cup; 31, traveling motor; 32, traction ring; 33, track; 34, driving wheel; 35, vertical beam; 36, pumping hole; 37, connecting plate; 370, screw hole. Detailed Description of the Invention

[0018] The rust removal robot provided by the present invention is as Figure 1 shown, including the deformation mechanism 10 in the middle and two rust removal integrated mechanisms 20 on the left and right. The two rust removal integrated mechanisms 20 are respectively installed on the deformation mechanism 10. The deformation mechanism 10 can drive the two rust removal integrated mechanisms 20 to laterally extend and retract together through its own deformation (laterally refers to left and right in the figure). After extension, the two rust removal integrated mechanisms 20 can rust remove the rust removal surfaces they face respectively.

[0019] According to Figure 1 the direction in and the specific structure of the deformation mechanism 10 is as Figure 3As shown, the deformation mechanism 10 includes a frame 2 and a lifting motor 9 fixed on the frame 2. A first nut 5 and a vertically arranged first lead screw (the first lead screw is omitted in the figure) are provided in the frame 2, and the first nut 5 is screwed on the first lead screw; a pulley device 3 is provided at the upper end of the frame 2, and the output end of the lifting motor 9 is linked to the pulley device 3, and the upper end of the first lead screw is also linked to the pulley device 3, so the lifting motor 9 can control the rotation of the first lead screw through the pulley device 3 to control the lifting of the first nut 5. The frame 2 is provided with a pair of auxiliary arms 8 and a pair of force arms 7. The upper end of the frame 2 is respectively hinged to the proximal ends of the two auxiliary arms 8, and the distal ends of the two auxiliary arms 8 are one facing left and one facing right; the lower end of the frame 2 is respectively hinged to the proximal ends of the two force arms 7, and the distal ends of the two force arms 7 are one facing left and one facing right. The lower end of the first nut 5 is fixedly connected to a lifting member 4, on which a connecting rod 6 with a distal end facing right and a connecting rod 6 with a distal end facing left are provided (the connecting rod 6 with a distal end facing left is blocked in the figure), the proximal ends of the two connecting rods 6 are hinged on the lifting member 4, and the middle parts of the two force arms 7 are respectively hinged on the distal ends of the two connecting rods 6. The auxiliary arm 8 with a distal end facing right and the force arm 7 with a distal end facing right are the first group, and the distal ends of both are fixedly connected to a rust removal integrated mechanism 20; and the other auxiliary arm 8 and the other force arm 7 are the second group, and the distal ends of both are fixedly connected to another rust removal integrated mechanism 20. When the first nut 5 drives the lifting member 4 to rise vertically, the lifting member 4 drives the two connecting rods 6 to rise, thereby pulling up the two force arms 7, so that the two rust removal integrated mechanisms 20 are folded together, and the two auxiliary arms 8 will swing up as the two rust removal integrated mechanisms 20 are folded sideways. Similarly, when the first nut 5 drives the lifting member 4 to descend vertically, the two connecting rods 6 descend and drive the two force arms 7 to swing down respectively, so that the two rust removal integrated mechanisms 20 extend laterally, and the two auxiliary arms 8 swing down accordingly. (It should be noted that "laterally" means Figure 1 The left and right direction in Direction. )

[0020] like Figure 2 As shown, taking the left-facing rust removal integrated mechanism 20 as an example, the rust removal integrated mechanism 20 includes a traction ring 32 at the upper end, a left-facing rust removal portion 21, a left-facing side support roller 23, and also includes a side suction cup 22 as a second attachment portion and a back suction cup 30 as a first attachment portion in this embodiment, and the side support roller 23 is parallel to the side suction cup 22 and the protrusion of the side support roller 23 exceeds the side suction cup 22. The side suction cup 22 is a negative pressure suction cup mechanism, and a plurality of soft suction cups are arranged on its attachment surface; the back suction cup 30 is also a negative pressure suction cup mechanism, but no soft suction cup is arranged on the attachment surface of the back suction cup 30, and the back suction cup 30 is equipped with an exhaust mechanism, and the exhaust mechanism is equipped with a plurality of air passages connected in parallel to the back suction cup 30, as shown in FIG. Figure 4As shown, the back suction cup 30 is provided with suction and pressure holes 36 for each air passage, and the suction and pressure holes 36 of different air passages are not connected to each other inside the back suction cup 30. The attachment surface of the back suction cup 30 is a flat surface. Even if the surface to be attached is not flat, resulting in only some of the suction and pressure holes 36 being in contact with the surface to be attached, since each suction and pressure hole 36 is equipped with an independent air passage, the back suction cup 30 can still adsorb the surface to be attached even if only some of the suction and pressure holes 36 are in close contact with the adsorbed surface. Of course, it is preferred that the surface to be attached is flat, and all the suction and pressure holes 36 are in close contact with the surface to be attached, so that the adsorption effect is the best. The side suction cup 22 is arranged on a substrate 243. A telescopic motor 24 and a second nut 241 are fixedly provided on the substrate 243. A second lead screw 242 is screwed onto the second nut 241, and the left end of the second lead screw 242 is fixedly connected to the side suction cup 22. The telescopic motor 24 can control the side suction cup 22 to extend leftward and retract rightward (left and right refer to the left and right in the Figure 1 direction shown, that is, the side suction cup 22 extends laterally) by controlling the relative rotation of the second lead screw 242 and the second nut 241. When the side suction cup 22 moves along the traveling direction with the rust removal integrated mechanism 20, the side suction cup retracts rightward, so that the protrusion degree of the side suction cup 22 is less than that of the side support roller 23. A track 33 is provided on the back of the back suction cup 30. The rust removal part 21 and the substrate 243 are fixedly connected to each other through a vertical beam 35, and both are provided with a driving wheel 34 and a traveling motor 31 (the driving wheel 34 provided on the rust removal part 21 is blocked by the traveling motor 31). The driving wheel 34 is installed on the track 33, and the traveling motor 31 drives the driving wheel 34 to rotate so that the driving wheel 34 moves along the track 33, thereby driving the side suction cup 22 and the rust removal part 21 to move relative to the back suction cup 30 together (that is, the side suction cup 22 is movably connected to the back suction cup 30 and can move relative to each other along the traveling direction). A plurality of rust removal bullets 210 are provided on the left-facing surface of the rust removal part 21. The rust removal bullets 210 are of the prior art. The rust removal bullets 210 are equipped with a pneumatic driving mechanism. When the rust removal bullets 210 are driven by the pneumatic driving mechanism to perform reciprocating lifting movements, they can repeatedly knock on the surface to be rust-removed for rust removal. The specific working process and working principle can refer to the Chinese patent document with the publication number CN 209754923 U. In the rust removal integrated mechanism 20 facing left, the right end of the rust removal part 21 is fixedly connected to the distal end of the auxiliary arm 8, and the right end of the substrate 243 is fixedly connected to the distal end of the force application arm 7. The component structures of the rust removal integrated mechanism 20 facing right and the rust removal integrated mechanism 20 facing left are basically symmetrical.

[0021] The rust removal robot can be used for rust removal operations in various occasions, such as rust removal on the inner wall of a warehouse and the inner wall of a square tube. Taking the square tube as an example, the working process is as follows: use a traction line to tie the traction ring 32, hang the rust removal robot into the vertical square and make the back suction cup 30 contact the inner back wall of the square tube; the operator starts the telescopic motor 24 to extend the left and right side suction cups 22 respectively until the side suction cups 22 protrude beyond the rust removal bullet 210 of the rust removal part 21, so as to avoid the rust removal bullet 210 and the side suction cup 22 from accidentally touching the inner wall of the square tube and causing wear; in the specific operation, the operator starts the deformation mechanism 10 The lifting motor 9 causes the lifting member 4 to descend, forcing the connecting rod 6 to drive the integrated rust removal mechanism 20 to extend until the two side suction cups 22 rest against the inner wall of the square tube. The operator controls the side suction cups 22 to suck the inner wall of the square tube and controls the back suction cup 30 to suck the inner back wall of the square tube (the control valve provided by the side suction cup 22 is used to control whether to adsorb). At this time, the position of the rust removal robot is fixed, and the two rust removal parts 21 are respectively facing the left inner wall and the right inner wall of the square tube. The operator controls the left and right rust removal parts 21 to respectively remove rust from the left inner wall and the right inner wall of the square tube, thereby completing the rust removal operation on the two side walls of a section of square tube. The next step is to adjust the position of the rust removal robot so as to remove rust from the next section of square tube. The details are as follows: the operator controls the side suction cup 22 to stop sucking the inner wall of the square tube and then starts the telescopic motor 24 to retract the side suction cup 22. After that, the protrusion of the rust removal bullet 210 and the side suction cup 22 is less than that of the side support roller 23, so the side support roller 23 is against the inner wall of the square tube to avoid wearing the soft suction cup on the side suction cup 22 (the multiple soft suction cups of the side suction cup 22 are at the front end, that is, Figure 2left direction; the preferred method is that the side suction cup 22 is retracted only when the side suction cup 22 needs to make vertical movement relative to the square tube, and the sub-preferred method is that when one of the side suction cup 22 and the back suction cup 30 moves relative to the square tube, the side suction cup 22 is retracted. The advantage of this arrangement is that the control is more convenient than the preferred method), and because the back suction cup 30 still sucks the inner back wall of the square tube, the position of the rust removal robot remains fixed. Then the control personnel starts the two travel motors 31 to make the two driving wheels 34 rotate forward, thereby driving the side suction cup 22 and the rust removal part 21 to move along the square tube relative to the back suction cup 30. During the movement, the rust removal integrated mechanism 20 rolls with the inner wall of the square tube through the side support rollers 23 until the side suction cup 22 and the rust removal part 21 reach the next section of the square tube while the back suction cup 30 still remains At the previous section of the square tube, the operator turns off the travel motor 31 and starts the telescopic motor 24 to control the side suction cup 22 to extend again, so that the two side suction cups 22 respectively suck the left inner wall and the right inner wall of the square tube, and then controls the back suction cup 30 to no longer suck the inner back wall of the square tube through the vacuum mechanism of the back suction cup 30 (the vacuum mechanism is omitted in the figure). The side suction cup 22 and the rust removal part 21 are fixed on the next section of the square tube together with other components of the rust removal integrated mechanism 20. Then the travel motor 31 is started to make the driving wheel 34 rotate in the opposite direction, which will move the back suction cup 30 toward the next section of the square tube. (Because the attachment surface of the back suction cup 30 is a flat soft suction cup without protrusions, the back suction cup 30 is not easily worn) and finally the entire rust removal robot arrives at the next section of the square tube. The operator turns off the travel motor 31 and controls the back suction cup 30 to suck the back wall of the square tube through the shown exhaust mechanism, and then performs rust removal on the square tube according to the rust removal steps for the previous section of the square tube. Repeat the above steps to complete the rust removal operation on the left inner wall and the right inner wall of the entire square tube. To remove rust from the other two inner walls of the square tube that have not been rusted, just rotate the rust removal robot 90 degrees along the circumference of the square tube and repeat the above rust removal process. In addition to the function of hanging the rust removal robot, the traction line also plays a guiding role when the rust removal robot moves to the next section of the square tube. If the process during travel is considered alone, the side suction cup 22 and the back suction cup 30 can also be changed to electromagnets (the magnetic force can be cancelled by turning off the power of the electromagnet, and the effect is equivalent to the negative pressure suction cup mechanism not sucking the soft suction cup on the adsorbed surface by not exhausting air). When the rust removal bullet is working, the negative pressure suction cup mechanism of the side suction cup 22 serves as the second attachment part. Since its soft suction cup is made of elastic material, it can reduce the vibration intensity transmitted from the rust removal part 21 to the rust removal surface, and the soft suction cup serves as a shock absorbing component. Considering only from the perspective of shock absorption without considering the positioning function, the side suction cup of the negative pressure suction cup mechanism can be replaced with a buffer pad made of elastic material.

[0022] In order to be applicable to more occasions, the rust removal integrated mechanism 20 and the deformation mechanism 10 are detachably connected, such as Figure 5As shown, a connecting plate 37 is hinged to the distal end of the force application arm 7. Four screw holes 370 are provided on the connecting plate 37, and four corresponding screw holes 370 are also provided on the vertical beam 35 (the screw holes 370 on the vertical beam 35 are blocked by the connecting plate 37). An operator uses screws (the screws are omitted in the figure) to detachably fix the connecting plate 37 and the vertical beam 35 to each other. By replacing the original rust removal integrated mechanism 20 with a rust removal integrated mechanism of other specifications, it can be applied to other different occasions. In addition, it can also be changed to: after detachably connecting the deformation mechanism 10 and the rust removal integrated mechanism 20, it can be detachably installed on other forms of traveling power devices (such as linear motion mechanisms). After facilitating the modular production of the rust removal integrated mechanism 20, the deformation mechanism 10 and the traveling power device can also be combined and installed with different rust removal integrated mechanisms 20 for use.

Claims

1. The modular rust removal robot includes a frame, and a rust removal part for removing rust from the rust removal surface. It is characterized in that: It includes a rust removal integrated mechanism and an attachment part installed on the rust removal integrated mechanism. There are two attachment parts. The first attachment part is movably connected to the second attachment part so as to be relatively movable along the traveling direction. The two attachment parts make this relative movement and alternately adsorb, so that the rust removal integrated mechanism can move forward; the rust removal part is detachably installed on the frame. There are two left and right rust removal integrated mechanisms, which are respectively movably installed on the left and right sides of the frame. The movable installation enables the rust removal integrated mechanism to laterally extend and retract. Each rust removal integrated mechanism is equipped with the two attachment parts; specifically, the movable installation structure is: a pair of left and right force application arms extending left and right respectively are hinged on the frame, and the left and right rust removal integrated mechanisms are respectively installed on the left and right force application arms; the traveling direction is vertical. A lifting member is installed on the frame and is equipped with a driving mechanism. The lifting member is respectively connected to the left and right force application arms through the left and right connecting rods. When the driving mechanism drives the lifting member to move vertically, the connecting rods drive the force application arms to swing around their hinge points with the frame, so that the rust removal integrated mechanism can laterally extend and retract; specifically, the movable connection is provided with a track along the traveling direction fixed to the first attachment part. After the second attachment part is installed together with the rust removal part, a driving wheel is fixedly provided. The driving wheel travels along the track; a side support roller extends in parallel and in the same direction as the second attachment part. When the second attachment part makes a movement along the traveling direction, the protruding degree of the side support roller exceeds that of the second attachment part.

2. The modular rust removal robot according to claim 1, It is characterized in that: The frame includes a deformation mechanism, and the rust removal part is installed on the deformation mechanism. The deformation mechanism can deform itself to drive the rust removal part to expand and contract.

3. The modular rust removal robot according to claim 2, It is characterized in that: It further includes an attachment part for attaching to the surface to be rust removed. The attachment part is installed on the deformation mechanism. When the deformation mechanism deforms, it drives the attachment part to expand and contract.

4. The modular rust removal robot according to claim 3, It is characterized in that: The attachment part is a negative pressure suction cup mechanism.

5. The modular rust removal robot according to claim 2, It is characterized in that: At least two driving arms and at least two lower driven arms are provided for the lifting member on the frame. The proximal ends of each driving arm are hinged on the lifting member. The proximal ends of each lower driven arm are hinged on the frame. The parts other than the proximal ends of the lower driven arm and the driving arm are hinged to each other. The part other than the proximal end of the lower driven arm is installed on the rust removal part.

6. The modular rust removal robot according to claim 1, It is characterized in that: The rust removal part includes a rust removal bullet head.

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