Low-noise rust removal robot

Abstract

The present invention aims to provide a rust removal robot with low noise. The rust removal robot with low noise comprises an attachment part for attaching to a surface to be rusted, comprising a rust removal part for rust removal on the surface to be rusted, and a buffer pad is provided on the attachment surface of the attachment part. The rust removal part can cause the rust removal robot to vibrate when removing rust, and after the attachment part is attached to the surface to be rusted, a part of the vibration of the rust removal robot is transmitted to the surface to be rusted through the attachment part, and since the attachment surface of the attachment part is provided with a buffer pad, the buffer pad can reduce a part of the vibration transmitted to the surface to be rusted, so the noise is low.

Description

Technical Field

[0001] The invention relates to the field of rust removal operations, in particular to a rust removal robot. Background Art

[0002] At present, the rust removal robot that can move on the vertical wall surface in the prior art is shown in the Chinese patent document with publication number 208682970U, which includes a rust removal part, traveling wheels and a magnet as an attachment part. The rust removal robot is adsorbed on the wall surface by the magnet so that there is appropriate friction between the traveling wheels and the wall surface, so that it can move on the vertical wall surface through the traveling wheels, and the rust removal part removes rust from the surface to be rusted.

[0003] The defect of the prior art is that the rust removal part causes the rust removal robot to vibrate when removing rust, and after the attachment part is attached to the surface to be rusted, part of the vibration of the rust removal robot is transmitted to the surface to be rusted through the attachment part, which is easy to generate noise. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention aims to provide a rust removal robot with low noise.

[0005] The low-noise rust removal robot comprises an attachment part for attaching to a surface to be rusted, and a rust removal part for removing rust from the surface to be rusted. A buffer pad is arranged on the attachment surface of the attachment part.

[0006] Furthermore, the attachment portion is a negative pressure suction cup mechanism, and the buffer pad is a soft suction cup on the negative pressure suction cup mechanism.

[0007] Furthermore, it comprises at least two rust removal parts and at least two attachment parts, wherein the rust removal parts are respectively arranged on both sides of the rust removal robot, and the attachment parts are also respectively arranged on both sides of the rust removal robot.

[0008] Furthermore, the rust removal part includes a rust removal bullet.

[0009] The beneficial effect is that the rust removal part will cause the rust removal robot to vibrate when removing rust, and after the attachment part is attached to the surface to be rusted, a part of the vibration generated by the rust removal robot is transmitted to the surface to be rusted through the attachment part. Since the attachment surface of the attachment part is provided with a buffer pad, the buffer pad can weaken a part of the vibration transmitted to the surface to be rusted, so the noise is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is the overall schematic diagram of the rust removal machine;

[0011] Figure 2 It is a partial schematic diagram of the rust removal robot;

[0012] Figure 3 is a schematic diagram of the deformation mechanism;

[0013] Figure 4 This is a schematic diagram of the back suction cup;

[0014] Figure 5 It is a connection diagram of the rust removal part and the deformation mechanism.

[0015] In the figure: 2, frame; 3, pulley device; 4, lifting member; 5, first nut; 6, connecting rod; 7, force arm; 8, auxiliary arm; 9, lifting motor; 10, deformation mechanism; 20, rust removal integrated mechanism; 21, rust removal part; 210, rust removal bullet; 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, travel motor; 32, traction ring; 33, track; 34, driving wheel; 35, vertical beam; 36, suction hole; 37, connecting plate; 370, screw hole.

[0016] The rust removal robot provided by the present invention is as follows Figure 1 As shown, it includes a deformation mechanism 10 in the middle and two rust removal integrated mechanisms 20, one on the left and one on the 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 extend and retract laterally together (lateral refers to left and right in the figure) through its own deformation. After extending, the two rust removal integrated mechanisms 20 can remove rust from the surfaces to be removed that they are facing.

[0017] according to Figure 1 The specific structure of the deformation mechanism 10 is as follows: 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. )

[0018] 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 equipped with a pressure extraction hole 36 for each air channel, and the pressure extraction holes 36 of different air channels are not connected to each other in the back suction cup 30. The attachment surface of the back suction cup 30 is a plane. Even if the surface to be attached is not a plane and only part of the pressure extraction holes 36 are close to the surface to be attached, since each pressure extraction hole 36 is equipped with an independent air channel, only part of the pressure extraction holes 36 are close to the surface to be attached, so that the back suction cup 30 can adsorb the surface to be attached. Of course, it is preferred that the surface to be attached is a plane, and all the pressure extraction holes 36 are close to the surface to be attached, so that the adsorption effect is the best. The side suction cup 22 is arranged on a base plate 243, on which a telescopic motor 24 and a second nut 241 are fixedly arranged, the second lead screw 242 is screwed on 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 second lead screw 242 and the second nut 241 to rotate relative to each other to control the side suction cup 22 to extend to the left and retract to the right (left and right refer to Figure 1 The left and right in the direction shown, that is, the side suction cup 22 extends laterally), and the side suction cup 22 retracts to the right when the rust removal integrated mechanism 20 moves along the travel direction, so that the side suction cup 22 does not protrude as much as the side support roller 23. A track 33 is provided on the back of the back suction cup 30, and the rust removal part 21 and the base plate 243 are fixed to each other by a vertical beam 35, and both are provided with a driving wheel 34 and a travel motor 31 (the driving wheel 34 provided on the rust removal part 21 is blocked by the travel motor 31), and the driving wheel 34 is installed on the track 33, and the travel 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 (that is, the side suction cup 22 is movably connected to the back suction cup 30 so that they can move relative to each other along the travel direction). A plurality of rust removal bullets 210 are provided on the left surface of the rust removal part 21. The rust removal bullets 210 are prior art. The rust removal bullets 210 are equipped with a pneumatic drive mechanism. When the rust removal bullets 210 are driven by the pneumatic drive mechanism to perform reciprocating lifting and lowering motions, they can repeatedly strike the surface to be rusted for rust removal. For the specific working process and working principle, reference can be made to the Chinese patent document with publication number CN 209754923U. In the left-facing rust removal integrated mechanism 20, 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 base plate 243 is fixedly connected to the distal end of the force application arm 7. The component structures of the right-facing rust removal integrated mechanism 20 and the left-facing rust removal integrated mechanism 20 are basically symmetrical.

[0019] 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.

[0020] 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, the distal end of the force arm 7 is hinged with a connecting plate 37, and four screw holes 370 are provided on the connecting plate 37. Four screw holes 370 corresponding to the positions are also provided on the vertical beam 35 (the screw holes 370 on the vertical beam 35 are blocked by the connecting plate 37). The 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. The original rust removal integrated mechanism 20 can be replaced with rust removal integrated mechanisms of other specifications to be suitable for other different occasions. In addition, it can also be changed to: after the deformation mechanism 10 and the rust removal integrated mechanism 20 are detachably connected, they can be detachably installed on other forms of traveling power devices (such as linear motion mechanisms), so as to facilitate the modular production of the rust removal integrated mechanism 20. Similarly, the deformation mechanism 10 and the traveling power device can be installed and used in combination with different rust removal integrated mechanisms 20.

Claims

1. A low-noise rust removal robot, comprising an attachment portion for attaching to a surface to be rusted, and a rust removal portion for rusting the surface to be rusted, characterized in that: The attachment surface of the attachment part is provided with a buffer pad; there are two attachment parts, wherein the first attachment part and the second attachment part are movably connected so as to be able to move relative to each other along the travel direction, and the two attachment parts make this relative movement and alternately adsorb so as to enable the rust removal integrated mechanism to move; The invention comprises a frame (2), two rust removal integrated mechanisms, one on the left and the other on the right, which are movably mounted on the left and right sides of the frame (2), respectively. The movably mounted structure enables the rust removal integrated mechanism to be extended and retracted laterally, and each rust removal integrated mechanism is equipped with the two attachment parts. Specifically, the movably mounted structure comprises: a pair of left and right force application arms (7) respectively extending to the left and right are hingedly connected to the frame (2), and the left and right rust removal integrated mechanisms (20) are respectively mounted on the left and right force application arms (7); the travel direction is vertical, a lifting member (4) is mounted on the frame and is equipped with a driving mechanism, and the lifting member (4) is connected to the left and right force application arms (7) via left and right connecting rods (6). The driving mechanism drives the lifting member (4) to move vertically, and then drives the force arm (7) to swing around the hinge point between the lifting member (4) and the frame (2) through the connecting rod (6), so that the rust removal integrated mechanism (20) can be extended and retracted laterally; the movable connection is specifically provided with a track (33) fixed to the first attachment part along the travel direction, and the second attachment part and the rust removal part (21) are fixedly provided with a driving wheel (34) after being assembled together, and the driving wheel travels along the track (33); a side support roller is extended in parallel with the second attachment part and in the same direction, and when the second attachment part moves along the travel direction, the protrusion degree of the side support roller exceeds that of the second attachment part.

2. The rust removal robot according to claim 1, characterized in that: The attachment portion is a negative pressure suction cup mechanism, and the buffer pad is a soft suction cup on the negative pressure suction cup mechanism.

3. The rust removal robot according to claim 1, characterized in that: It comprises at least two rust removal parts and at least two attachment parts. The rust removal parts are respectively arranged on both sides of the rust removal robot, and the attachment parts are also respectively arranged on both sides of the rust removal robot.

4. The rust removal robot according to claim 1, characterized in that: The rust removal unit includes a rust removal bullet.

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