A rust removal robot

Abstract

The present invention discloses a rust removal robot, which relates to the field of pipeline rust removal and includes a motion device and a grinding device. The motion device includes a housing, a first connecting mechanism, a walking drive mechanism, a rotating drive mechanism, and two first locking mechanisms. The front end of the first connecting mechanism and a first locking mechanism are used to lock and fix two first semi-annular plates, and the rear end of the first connecting mechanism and another first locking mechanism are used to lock and fix two second semi-annular plates. The grinding device is arranged inside the housing and includes an inner front cover, an inner rear cover, a second connecting mechanism, a second locking mechanism, two semi-circular inner shells, two first support plates, two second support plates, and a plurality of grinders. The outer sides of the two first support plates are hinged by a second connecting mechanism, and the second locking mechanism is used to lock and fix the two second support plates. The rust removal robot is easy to disassemble and install, saves manpower, and improves work efficiency.

Description

Technical Field

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

[0002] Circular steel pipes are widely used in industrial production and construction, but steel is prone to rust and oxidation in the air, requiring regular rust removal and maintenance. Most factories today still use manual rust removal, which is not only inefficient and ineffective, but also creates a negative impact on worker health and safety risks. Rust removal robots have emerged as a response to this. However, existing rust removal robots can only polish undocked steel pipes. For pipes already installed in the wall, there are two ways to handle them. The first involves workers using a rust removal machine for manual polishing, which is limited by the site and results in low efficiency. The second involves disassembling the steel pipes and then using a rust removal robot to remove the rust. The repeated disassembly and installation of the steel pipes consumes a significant amount of manpower and material resources, resulting in low efficiency. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a rust removal robot, which is easy to disassemble and install, saves manpower and improves work efficiency.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The camming mechanism is a pair of locks, each of which is connected to the other end of the camming member by a chain, and the locks are connected along the length of the camming member to form a pair of locks, each of which is connected to the other end of the camming member by a chain. Plate and multiple grinders, the inner front cover includes two third semi-annular plates, the inner rear cover includes two fourth semi-annular plates, the semicircular inner shell includes a semi-cylindrical plate and a supporting semi-annular plate arranged at the front end of the semi-cylindrical plate, the rear end of each semi-cylindrical plate is fixed to one of the fourth semi-annular plates, the two ends of each first support plate are respectively connected to one side of the supporting semi-annular plate and the third semi-annular plate, the outer sides of the two first support plates are hinged by the second connecting mechanism, the two ends of each second support plate are respectively connected to the other side of the supporting semi-annular plate and the third semi-annular plate, the second locking mechanism is used to lock and fix the two second support plates, the grinder can be detachably mounted on the supporting semi-annular plate, and one end of the grinder is located in the semi-circular inner shell; the rear side of the first semi-annular plate is provided with a front guide mechanism, the front side of the second semi-annular plate is provided with a rear guide mechanism, the inner front cover can rotate along the front guide mechanism, the inner rear cover can rotate along the rear guide mechanism, and the rotary drive mechanism is used to drive the grinding device to rotate relative to the outer shell.

[0006] Preferably, the first connecting mechanism includes a hinge shaft, a locking nut, a front locking assembly and a rear locking assembly, the front locking assembly includes a first bolt, a first nut and two first locking plates, and the two first locking plates are respectively arranged on the front and rear sides of the joint of the two first semi-annular plates; the rear locking assembly includes a second bolt, a second nut and two second locking plates, and the two second locking plates are respectively arranged on the front and rear sides of the joint of the two second semi-annular plates, the hinge shaft is used to pass through one first locking plate, one first semi-annular plate, another first locking plate, one second locking plate, one second semi-annular plate and another second locking plate in sequence and install the locking nut, the first bolt is used to pass through one first locking plate, another first semi-annular plate and another first locking plate in sequence and install the first nut, and the second bolt is used to pass through one second locking plate, another second semi-annular plate and another second locking plate in sequence and install the second nut.

[0007] Preferably, the first locking mechanism includes a first base, a second base, a first hinge pin and a locking rotating rod, the first base and the second base are respectively used to be installed on the two first semi-annular plates, or the first base and the second base are respectively used to be installed on the two second semi-annular plates, a first groove is provided on one side of the first base, and a second groove is provided on one side of the second base, the first hinge pin is vertically installed in the first base and one end is located in the first groove, one end of the locking rotating rod is rotatably sleeved on the first hinge pin, and the other end of the locking rotating rod can be clamped in the second groove.

[0008] Preferably, the walking drive mechanism includes a first support, a first driving motor, a driving wheel, a plurality of first driven walking assemblies and a plurality of second driven walking assemblies, the bottom of the first support is provided with a first waist-shaped hole, and the first locking bolt is used to pass through the first waist-shaped hole to thereby fix the first support to the front side of one of the first semi-annular plates, the driving wheel is rotatably installed on the first support, and the first driving motor is used to drive the driving wheel to rotate; the front side of another first semi-annular plate is provided with the second driven walking assembly, and the rear side of the second semi-annular plate is provided with the first driven walking assembly and / or the second driven walking assembly; the first driven walking assembly includes a second support and a first driven wheel, the bottom of the second support is provided with a second waist-shaped hole, and the second locking bolt is used to pass through the second waist-shaped hole to thereby fix the second The support is fixed to the rear side of a second semi-annular plate, and the first driven wheel is rotatably mounted on the second support; the second driven walking assembly includes a third support, a mounting support, a first pin, a torsion spring and a second driven wheel, and a third waist-shaped hole is provided at the bottom of the third support, and a third locking bolt is used to pass through the third waist-shaped hole to thereby fix the third support to the front side of the first semi-annular plate or the rear side of the second semi-annular plate, the first pin is provided on the third support, one end of the mounting support is rotatably sleeved on the first pin, and the second driven wheel is rotatably mounted on the third support, the torsion spring is sleeved on the first pin, and both ends of the torsion spring abut against the bottom of the third support, and the middle part of the torsion spring abuts against the side of the mounting support away from the first semi-annular plate or the second semi-annular plate.

[0009] Preferably, the front guide mechanism includes a plurality of front pulleys, which are rotatably mounted on the rear side of the first semi-annular plate in sequence along the circumferential direction, and the outer edge of the inner front cover is provided with a front slide rail matching the front pulley structure; the rear guide mechanism includes a plurality of rear pulleys, which are rotatably mounted on the front side of the second semi-annular plate in sequence along the circumferential direction, and the outer edge of the inner rear cover is provided with a rear slide rail matching the rear pulley structure.

[0010] Preferably, the second connecting mechanism includes a first hinge support, a second hinge support, a second hinge pin and a third nut, the first hinge support and the second hinge support are respectively arranged on the outer sides of the two first support plates, and the second hinge pin passes through the first hinge support and the second hinge support in sequence and is installed with the third nut.

[0011] Preferably, the second locking mechanism includes a snap base, a second pin, a spring and a snap, a snap mounting hole is provided on the second support plate, the snap base is provided on one side of one of the second support plates, a third groove is provided on one side of the snap base, the second pin is provided on the snap base and is located in the third groove, one end of the snap is rotatably sleeved on the second pin, the two ends of the spring are respectively connected to the snap base and one end of the snap, and the other end of the snap passes through two snap mounting holes corresponding to the positions on the two second support plates in sequence, and can be snapped onto the other second support plate.

[0012] Preferably, the rotation drive mechanism includes a fourth support, a second drive motor, a driving bevel gear and a semi-ring bevel gear. The bottom of the fourth support is provided with a fourth waist-shaped hole. The fourth locking bolt is used to pass through the fourth waist-shaped hole and thereby fix the fourth support to the front side of one of the first semi-ring plates. The second drive motor is arranged on the fourth support. The driving bevel gear is fixedly sleeved on the power output shaft of the second drive motor. The semi-ring bevel gear is fixed to the front side of one of the third semi-ring plates. The driving bevel gear is meshed with the semi-ring bevel gear.

[0013] Preferably, the grinding device also includes a plurality of fifth supports, the grinder includes a support column and a grinding disc arranged at the rear end of the support column, the support column is fixed on the fifth support, a fifth waist-shaped hole and a mounting hole are provided on the supporting semi-annular plate, and a fifth locking bolt is used to pass through the fifth waist-shaped hole and thereby fix the fifth support to the supporting semi-annular plate, the grinding disc is located in the semicircular inner shell, and the support column extends through the mounting hole to the outside of the semicircular inner shell.

[0014] Preferably, the grinding device also includes a chip discharge tube and multiple reinforcing support plates, the chip discharge tube is arranged on the outside of one of the semi-cylindrical plates, and both ends of each of the reinforcing support plates are respectively connected to one of the supporting semi-annular plates and one of the third semi-annular plates.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The rust removal robot of the present invention includes a motion device and a grinding device. The motion device includes a housing, a first connecting mechanism, a travel drive mechanism, a rotation drive mechanism, and two first locking mechanisms. The front end of the first connecting mechanism and one first locking mechanism are used to lock and secure two first semi-annular plates, and the rear end of the first connecting mechanism and another first locking mechanism are used to lock and secure two second semi-annular plates. The grinding device is disposed within the housing and includes an inner front cover, an inner rear cover, a second connecting mechanism, a second locking mechanism, two semi-circular inner shells, two first support plates, two second support plates, and a plurality of grinders. The outer sides of the two first support plates are hingedly connected by a second connecting mechanism, and the second locking mechanism is used to lock and secure the two second support plates. The moving device and the grinding device in the present invention are both disassembled. When in use, they are installed on the pipe body that has been put into use. The axial movement of the rust removal robot on the pipe body is realized by the walking drive mechanism. The rotating drive mechanism drives the grinding device to rotate relative to the outer shell, thereby driving the grinder to grind and remove rust from the pipe body. The rust removal robot is easy to disassemble and install, and realizes automatic grinding, which saves manpower and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the use of the rust removal robot provided by the present invention;

[0019] Figure 2 A first three-dimensional structural diagram of the motion device in the rust removal robot provided by the present invention;

[0020] Figure 3 A second three-dimensional structural diagram of the motion device in the rust removal robot provided by the present invention;

[0021] Figure 4 A first three-dimensional structural diagram of the grinding device in the rust removal robot provided by the present invention;

[0022] Figure 5 A second three-dimensional structural diagram of the grinding device in the rust removal robot provided by the present invention;

[0023] Figure 6 A third three-dimensional structural diagram of the grinding device in the rust removal robot provided by the present invention;

[0024] Figure 7 This is a three-dimensional structural diagram of the grinding device of the rust removal robot provided by the present invention after the inner rear cover is removed;

[0025] Figure 8 This is a schematic diagram of the installation of the first connecting mechanism in the rust removal robot provided by the present invention;

[0026] Figure 9 This is a schematic diagram of the installation of the first locking mechanism in the rust removal robot provided by the present invention;

[0027] Figure 10 This is a schematic diagram of the installation of the first hinge pin and the locking rotating rod of the first locking mechanism in the rust removal robot provided by the present invention;

[0028] Figure 11 This is an overall structural diagram of the second locking mechanism in the rust removal robot provided by the present invention;

[0029] Figure 12 This is an exploded view of the second locking mechanism in the rust removal robot provided by the present invention;

[0030] Figure 13 This is a structural schematic diagram of the first driven walking component in the rust removal robot provided by the present invention;

[0031] Figure 14 This is a structural schematic diagram of the second driven walking component in the rust removal robot provided by the present invention;

[0032] Figure 15 This is a schematic diagram of the installation of the grinder and the fifth support in the rust removal robot provided by the present invention.

[0033] Explanation of the accompanying symbols: 100, rust removal robot; 1, first semi-annular plate; 2, second semi-annular plate; 3, connecting shell; 4, hinge shaft; 5, locking nut; 6, first locking plate; 7, first bolt; 8, first nut; 9, second locking plate; 10, first base; 11, second base; 12, first hinge pin; 13, locking rod; 14, front pulley; 15, rear pulley; 16, first support; 17, first driving motor; 18, driving wheel; 19, second support; 20, first driven wheel; 21, third support; 22, first pin shaft; 23, mounting support; 24, second driven wheel; 25, torsion spring; 26, fourth support; 27, Second drive motor; 28. Active bevel gear; 29. ​​Semi-ring bevel gear; 30. Third semi-ring plate; 31. Fourth semi-ring plate; 32. Semi-cylindrical plate; 33. Support semi-ring plate; 34. First support plate; 35. Second support plate; 36. First hinge support; 37. Second hinge support; 38. Second hinge pin; 39. Third nut; 40. Buckle mounting hole; 41. Buckle base; 42. Second pin shaft; 43. Buckle; 44. Spring; 45. Fifth waist-shaped hole; 46. Fifth support; 47. Fifth locking bolt; 48. Support column; 49. Grinding disc; 50. Chip discharge pipe; 51. Reinforced support plate; 200. Tube body; 300. Wall. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] The purpose of the present invention is to provide a rust removal robot which is easy to disassemble and install, saves manpower and improves work efficiency.

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figures 1-15As shown, this embodiment provides a rust removal robot 100, including a motion device and a grinding device, the motion device includes a shell, a first connecting mechanism, a walking drive mechanism, a rotating drive mechanism and two first locking mechanisms, the shell includes an outer front cover, an outer rear cover and two connecting shells 3, the outer front cover includes two first semi-annular plates 1, the outer rear cover includes two second semi-annular plates 2, the front and rear ends of each connecting shell 3 are respectively fixed to a first semi-annular plate 1 and a second semi-annular plate 2, the connecting shell 3 in this embodiment is an arc-shaped shell, the connecting shell 3 is fixed to the first semi-annular plate 1 and the second semi-annular plate 2 by bolts, the front end of the first connecting mechanism is used to lock and fix one side of the two first semi-annular plates 1, and a first locking mechanism is used to lock and fix the other side of the two first semi-annular plates 1, the two first semi-annular plates 1 have two docking points, and the first connecting mechanism The front end of the structure is arranged at a butt joint of the two first semi-annular plates 1, and a first locking mechanism is arranged at the other butt joint of the two first semi-annular plates 1; the rear end of the first connecting mechanism is used to lock and fix one side of the two second semi-annular plates 2, and the other first locking mechanism is used to lock and fix the other side of the two second semi-annular plates 2. The two second semi-annular plates 2 have two butt joints, and the rear end of the first connecting mechanism is arranged at a butt joint of the two second semi-annular plates 2, and the other first locking mechanism is arranged at the other butt joint of the two second semi-annular plates 2; in this embodiment, a connecting shell 3 and the first semi-annular plates 1 and the second semi-annular plates 2 at the front and rear ends thereof form a semicircular outer body, and the two semicircular outer bodies are easy to disassemble and assemble by adopting the first connecting mechanism and the first locking mechanism, and the walking drive mechanism is used to drive the shell to move along the tube body 200;The grinding device is arranged inside the shell, and the grinding device includes an inner front cover, an inner rear cover, a second connecting mechanism, a second locking mechanism, two semicircular inner shells, two first support plates 34, two second support plates 35 and a plurality of grinders. The inner front cover includes two third semi-annular plates 30, the inner rear cover includes two fourth semi-annular plates 31, the semicircular inner shell includes a semi-cylindrical plate 32 and a supporting semi-annular plate 33 arranged at the front end of the semi-cylindrical plate 32, the rear end of each semi-cylindrical plate 32 is fixed on a fourth semi-annular plate 31, the two ends of each first support plate 34 are respectively connected to a supporting semi-annular plate 33 and one side of a third semi-annular plate 30, the outer sides of the two first support plates 34 are hinged by the second connecting mechanism, and the two ends of each second support plate 35 are respectively connected to a supporting semi-annular plate 33 and one side of a third semi-annular plate 30 The other side is connected, and the second locking mechanism is used to lock and fix the two second support plates 35. A third semi-annular plate 30, a first support plate 34, a second support plate 35, a semicircular inner shell, and a fourth semi-annular plate 31 form a semicircular inner body. The use of the second connecting mechanism and the second locking mechanism makes it easy to disassemble and assemble the two semi-circular inner bodies. The grinder can be detachably mounted on the supporting semi-annular plate 33, and one end of the grinder is located in the semicircular inner shell. Multiple grinders are arranged in sequence along the circumference of the supporting semi-annular plate 33; a front guide mechanism is provided on the rear side of the first semi-annular plate 1, and a rear guide mechanism is provided on the front side of the second semi-annular plate 2. The inner front cover can rotate along the front guide mechanism, and the inner rear cover can rotate along the rear guide mechanism. The rotary drive mechanism is used to drive the grinding device to rotate relative to the outer shell.

[0038] like Figure 2 、 Figure 3 and Figure 8As shown, the first connecting mechanism includes a hinge shaft 4, a locking nut 5, a front locking assembly and a rear locking assembly. The front locking assembly includes a first bolt 7, a first nut 8 and two first locking pieces 6. The two first locking pieces 6 are respectively arranged on the front and rear sides of the joint of the two first semi-annular plates 1; the rear locking assembly includes a second bolt, a second nut and two second locking pieces 9. The two second locking pieces 9 are respectively arranged on the front and rear sides of the joint of the two second semi-annular plates 2. The hinge shaft 4 is used to pass through a first locking piece 6, a first semi-annular plate 1, another first locking piece 6, a second locking piece 9, a A second semi-annular plate 2 and another second locking piece 9 are installed with a locking nut 5. The first bolt 7 is used to sequentially pass through a first locking piece 6, another first semi-annular plate 1 and another first locking piece 6 and install the first nut 8. The first nut 8 is tightened so that the two first locking pieces 6 lock and fix the butt joint of the two first semi-annular plates 1. The second bolt is used to sequentially pass through a second locking piece 9, another second semi-annular plate 2 and another second locking piece 9 and install the second nut. The second nut is tightened so that the two second locking pieces 9 lock and fix the butt joint of the two second semi-annular plates 2. When the two semi-circular outer bodies need to be separated, the first nut 8 and the second nut are loosened so that the two first locking pieces 6 no longer lock the butt joint of the two first semi-annular plates 1, and the two second locking pieces 9 no longer lock the two second semi-annular plates 2, thereby making one side of the two semi-circular outer bodies in a separated state.

[0039] like Figure 2 、 Figure 9 and Figure 10 As shown, the locking mechanism includes a first base 10, a second base 11, a first hinge pin 12 and a locking rod 13. The first base 10 and the second base 11 are respectively used to be installed on the two first semi-annular plates 1, or the first base 10 and the second base 11 are respectively used to be installed on the two second semi-annular plates 2. A first groove is provided on one side of the first base 10, and a second groove is provided on one side of the second base 11. The first hinge pin 12 is vertically installed in the first base 10 and one end is located in the first groove. One end of the locking rod 13 is rotatably sleeved on the first hinge pin 12, and the other end of the locking rod 13 can be clamped in the second groove. When the locking lever 13 is engaged with the second groove, the first locking mechanism can lock and secure the joint of the two first semi-annular plates 1 or the joint of the two second semi-annular plates 2. When the two semi-circular outer bodies need to be separated, the locking lever 13 is pulled out of the second groove. At this time, the first locking mechanism no longer has a locking effect, and the other side of the two semi-circular outer bodies is in the separated state. When both sides of the two semi-circular outer bodies are in the separated state, the two semi-circular outer bodies can be separated.

[0040] like Figure 2 and Figure 3 As shown, the walking drive mechanism includes a first support 16, a first driving motor 17, a driving wheel 18, a plurality of first driven walking components and a plurality of second driven walking components. A first waist-shaped hole is provided at the bottom of the first support 16. The first locking bolt is used to pass through the first waist-shaped hole and then fix the first support 16 to the front side of a first semi-annular plate 1. The first locking bolt can also be used in conjunction with a nut to firmly fix the first support 16. The length direction of the first waist-shaped hole is consistent with the radial direction of the first semi-annular plate 1. The driving wheel 18 is rotatably installed on the first support 16. The first driving motor 17 is used to drive the driving wheel 18 to rotate. The axial direction of the driving wheel 18 is perpendicular to the axial direction of the outer shell and perpendicular to the length direction of the first waist-shaped hole; the front side of another first semi-annular plate 1 is provided with a second driven walking component, and the rear side of the second semi-annular plate 2 is provided with a first driven walking component and / or a second driven walking component.

[0041] like Figure 13 As shown, the first driven walking assembly includes a second support 19 and a first driven wheel 20. A second waist-shaped hole is provided at the bottom of the second support 19. The second locking bolt is used to pass through the second waist-shaped hole and then fix the second support 19 to the rear side of a second semi-annular plate 2. The length direction of the second waist-shaped hole is consistent with the radial direction of the second semi-annular plate 2. The second locking bolt can also be used in conjunction with the nut to ensure that the second support 19 is firmly fixed. The first driven wheel 20 is rotatably installed on the second support 19. The axial direction of the first driven wheel 20 is perpendicular to the axial direction of the outer shell and perpendicular to the length direction of the second waist-shaped hole.

[0042] like Figure 14As shown, the second driven walking assembly includes a third support 21, a mounting support 23, a first pin 22, a torsion spring 25 and a second driven wheel 24. A third waist-shaped hole is provided at the bottom of the third support 21. The third locking bolt is used to pass through the third waist-shaped hole to fix the third support 21 to the front side of the first semi-annular plate 1 or the rear side of the second semi-annular plate 2. The length direction of the third waist-shaped hole is consistent with the radial direction of the first semi-annular plate 1 or the second semi-annular plate 2. The third locking bolt can also be used in conjunction with a nut to firmly fix the third support 21. The first pin 22 is provided on the third support 21. The axial direction is perpendicular to the axial direction of the shell and to the length direction of the third waist-shaped hole. One end of the mounting support 23 is rotatably sleeved on the first pin shaft 22, and the second driven wheel 24 is rotatably mounted on the third support 21. The axial direction of the second driven wheel 24 is parallel to the axial direction of the first pin shaft 22. The torsion spring 25 is sleeved on the first pin shaft 22, and both ends of the torsion spring 25 are in contact with the bottom of the third support 21. The middle part of the torsion spring 25 is in contact with the side of the mounting support 23 away from the first semi-annular plate 1 or the second semi-annular plate 2. The second driven walking component with the torsion spring 25 plays a shock-absorbing role.

[0043] In this embodiment, by adjusting the positions of the first support 16, the second support 19, and the third support 21, the radial positions of the driving wheel 18, the first driven wheel 20, and the second driven wheel 24 can be adjusted, thereby enabling the motion device to adapt to tubes 200 of different outer diameters. In this specific embodiment, two first driven traveling assemblies and one second driven traveling assembly are disposed on the rear side of the inner rear cover. In addition, a first driven traveling assembly can also be disposed on the front side of the inner front cover according to actual needs.

[0044] like Figure 2 and Figure 3 As shown, the front guide mechanism includes a plurality of front pulleys 14, which are circumferentially mounted on the rear side of the first semi-annular plate 1 in sequence, and the axial direction of the front pulley 14 is consistent with the axial direction of the outer shell. The outer edge of the inner front cover is provided with a front slide rail that matches the structure of the front pulley 14. The front pulley 14 is a U-shaped pulley, and the front slide rail is a circular slide rail. The structure of the front slide rail and the front pulley 14 matching each other enables the inner front cover to rotate; the rear guide mechanism includes a plurality of rear pulleys 15, which are circumferentially mounted on the front side of the second semi-annular plate 2 in sequence, and the axial direction of the rear pulley 15 is consistent with the axial direction of the outer shell. The outer edge of the inner rear cover is provided with a rear slide rail that matches the structure of the rear pulley 15. The rear pulley 15 is a U-shaped pulley, and the rear slide rail is a circular slide rail. The structure of the rear slide rail and the rear pulley 15 matching each other enables the inner rear cover to rotate.

[0045] like Figure 6 and Figure 7As shown, the second connecting mechanism includes a first hinge support 36, a second hinge support 37, a second hinge pin 38, and a third nut 39. The first hinge support 36 and the second hinge support 37 are respectively disposed on the outside of the two first support plates 34. The second hinge pin 38 passes through the first hinge support 36 and the second hinge support 37 in sequence and is mounted with the third nut 39. When the third nut 39 is tightened against the second hinge support 37, the two first support plates 34 cannot rotate relative to each other. When the third nut 39 is tightened outward so that it no longer presses against the second hinge support 37, the two first support plates 34 can rotate relative to each other. When the third nut 39 and the second hinge pin 38 are removed, the two first support plates 34 can be separated. It should be noted that a second connecting mechanism can also be disposed on the outside of the two semi-cylindrical plates 32, with the first hinge support 36 and the second hinge support 37 respectively disposed on the outside of the two semi-cylindrical plates 32.

[0046] like Figure 4 、 Figure 5 、 Figure 11 and Figure 12 As shown, the second locking mechanism includes a snap base 41, a second pin 42, a spring 44, and a snap 43. A snap mounting hole 40 is provided on the second support plate 35. The snap base 41 is provided on one side of one second support plate 35. A third groove is provided on one side of the snap base 41. The second pin 42 is provided on the snap base 41 and located in the third groove. One end of the snap 43 is rotatably sleeved on the second pin 42. The two ends of the spring 44 are respectively connected to the snap base 41 and one end of the snap 43. The other end of the snap 43 passes through two corresponding snap mounting holes 40 on the two second support plates 35 and can be snapped onto the other second support plate 35. In this embodiment, two second locking mechanisms are provided, one at the front and rear ends of the second support plate 35. Under the action of the spring 44, when the buckle 43 is connected to the other second support plate 35, the two second support plates 35 are in a locked and fixed state; when the two second support plates 35 need to be separated, the third nut 39 is first adjusted to make the two first support plates 34 able to rotate relative to each other, and the buckle 43 is pulled so that it is no longer connected to the second support plate 35. At this time, the buckle 43 squeezes the spring 44, and the other second support plate 35 is rotated so that the buckle 43 is disengaged from the buckle mounting hole 40 on the second support plate 35, thereby completing the separation of the two second support plates 35.

[0047] like Figure 1As shown, the rotation drive mechanism includes a fourth support 26, a second drive motor 27, a driving bevel gear 28 and a semi-ring bevel gear 29. A fourth waist-shaped hole is provided at the bottom of the fourth support 26. The fourth locking bolt is used to pass through the fourth waist-shaped hole to fix the fourth support 26 to the front side of a first semi-ring plate 1. The length direction of the fourth waist-shaped hole is consistent with the radial direction of the first semi-ring plate 1. The fourth locking bolt can also be used in conjunction with a nut to ensure that the fourth support 26 is firmly fixed. The second drive motor 27 is provided on the fourth support 26. The driving bevel gear 28 is fixedly sleeved on the power output shaft of the second drive motor 27. The axial direction of the driving bevel gear 28 is consistent with the radial direction of the first semi-ring plate 1. The semi-ring bevel gear 29 is fixed to the front side of a third semi-ring plate 30. The semi-ring bevel gear 29 can extend to the outside through the hole in the middle of the outer front cover, and the driving bevel gear 28 is meshed with the semi-ring bevel gear 29.

[0048] like Figure 15 As shown, the grinding device also includes a plurality of fifth supports 46. The grinder includes a support column 48 and a grinding disc 49 disposed at the rear end of the support column 48. The support column 48 is fixed to the fifth support 46. The supporting semi-annular plate 33 is provided with a fifth waist-shaped hole 45 and a mounting hole. A fifth locking bolt 47 is used to pass through the fifth waist-shaped hole 45 to thereby fix the fifth support 46 to the supporting semi-annular plate 33. The length direction of the fifth waist-shaped hole 45 is consistent with the radial direction of the supporting semi-annular plate 33. The fifth locking bolt 47 can also be used in conjunction with a nut to secure the fifth support 46. The grinding disc 49 is located in the semi-circular inner shell. The axial direction of the grinding disc 49 is consistent with the radial direction of the supporting semi-annular plate 33. The support column 48 extends through the mounting hole to the outside of the semi-circular inner shell. By adjusting the position of the fifth support 46, the radial position of the grinder can be adjusted, thereby enabling the grinding device to adapt to pipe bodies 200 of different outer diameters. In this embodiment, two fifth locking bolts 47 are provided on both sides of the fifth support 46 , and one fifth support 46 is installed in conjunction with four fifth waist-shaped holes 45 .

[0049] like Figure 4-Figure 7 As shown, the grinding device also includes a chip discharge tube 50 and multiple reinforcing support plates 51. The chip discharge tube 50 is arranged on the outside of a semi-cylindrical plate 32. The two ends of each reinforcing support plate 51 are respectively connected to a supporting semi-annular plate 33 and a third semi-annular plate 30. By arranging the reinforcing support plate 51, the connection between the semi-circular inner shell and the third semi-annular plate 30 is more firmly made.

[0050] like Figure 1As shown, the two ends of the tube body 200 are respectively fixed in the two walls 300. When in use, first adjust the fifth support 46 and the radial position of the grinder according to the outer diameter of the tube body 200, then install the grinding device on the tube body 200, tighten the third nut 39, so that the two first support plates 34 cannot rotate relative to each other, and make the buckle 43 clamped on the other second support plate 35, so that the two second support plates 35 are locked and fixed, thereby realizing the locking and fixation of the two semicircular inner bodies; then install the motion device, so that the front slide rail on the inner front cover contacts the multiple front pulleys 14, and the rear slide rail on the inner rear cover contacts the multiple rear pulleys 15, install the first bolt 7 and the first nut 8 on the two first locking plates 6, and install the second bolt and the second nut on the two second locking plates 9. At the same time, the locking rod 13 is rotated to make it engage in the second groove, thereby realizing the locking and fixation of the two semicircular outer bodies, and then the radial positions of the first support 16, the second support 19 and the third support 21 are adjusted according to the outer diameter of the tube body 200, so that the driving wheel 18, the first driven wheel 20 and the second driven wheel 24 are all in contact with the outer wall of the tube body 200; the first drive motor 17 and the second drive motor 27 are turned on, and the first drive motor 17 drives the driving wheel 18 to move, and the friction force between the driving wheel 18 and the tube body 200 drives the first driven wheel 20 and the second driven wheel 24 to move, so that the entire rust removal robot 100 performs axial movement on the tube body 200, and the grinding device rotates, the axial movement and the rotational movement are coordinated to make the grinding effect more uniform, and the grinding waste is discharged from the chip discharge pipe 50.

[0051] It can be seen that the movement device and the grinding device in this embodiment are both disassembled, and the tube body 200 does not need to be removed, and the installed tube body 200 can be directly ground. When in use, it is installed on the tube body 200 that has been put into use. The axial movement of the rust removal robot 100 on the tube body 200 is achieved by the walking drive mechanism, and the rotation drive mechanism drives the grinding device to rotate relative to the housing, thereby driving the grinder to grind and remove rust from the tube body 200. The rust removal robot 100 is easy to disassemble and install, can be recycled, realizes automatic grinding, has a fast grinding speed and uniform grinding, saves manpower, improves work efficiency, and is safe during use.

[0052] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A rust removal robot, characterized in that: It includes a motion device and a grinding device, the motion device includes a shell, a first connecting mechanism, a travel drive mechanism, a rotation drive mechanism and two first locking mechanisms, the shell includes an outer front cover, an outer rear cover and two connecting shells, the outer front cover includes two first semi-annular plates, the outer rear cover includes two second semi-annular plates, the front and rear ends of each connecting shell are respectively fixed to one of the first semi-annular plates and one of the second semi-annular plates, the front end of the first connecting mechanism is used to lock and fix one side of the two first semi-annular plates, and the first locking mechanism is used to lock and fix the other side of the two first semi-annular plates. The rear end of the first connecting mechanism is used to lock and fix one side of the two second semi-annular plates, and the other first locking mechanism is used to lock and fix the other side of the two second semi-annular plates, and the walking drive mechanism is used to drive the outer shell to move along the tube body; the grinding device is arranged inside the outer shell, and the grinding device includes an inner front cover, an inner rear cover, a second connecting mechanism, a second locking mechanism, two semicircular inner shells, two first support plates, two second support plates and a plurality of grinders, the inner front cover includes two third semi-annular plates, the inner rear cover includes two fourth semi-annular plates, and the semicircular inner shell includes a semi-cylindrical plate and a plate provided at the The supporting semi-annular plate at the front end of the semi-cylindrical plate, the rear end of each semi-cylindrical plate is fixed to a fourth semi-annular plate, the two ends of each first supporting plate are respectively connected to one side of a supporting semi-annular plate and a third semi-annular plate, the outer sides of the two first supporting plates are hinged by the second connecting mechanism, the two ends of each second supporting plate are respectively connected to the other side of a supporting semi-annular plate and a third semi-annular plate, the second locking mechanism is used to lock and fix the two second supporting plates, the grinder can be detachably mounted on the supporting semi-annular plate, and one end of the grinder is located at In the semicircular inner shell; a front guide mechanism is provided on the rear side of the first semi-annular plate, and a rear guide mechanism is provided on the front side of the second semi-annular plate. The inner front cover can rotate along the front guide mechanism, and the inner rear cover can rotate along the rear guide mechanism. The rotary drive mechanism is used to drive the grinding device to rotate relative to the outer shell; the second connecting mechanism includes a first hinge support, a second hinge support, a second hinge pin and a third nut. The first hinge support and the second hinge support are respectively provided on the outer sides of the two first support plates, and the second hinge pin passes through the first hinge support and the second hinge support in sequence and is installed with the third nut;The second locking mechanism includes a snap base, a second pin, a spring and a snap, the second support plate is provided with a snap mounting hole, the snap base is arranged on one side of one of the second support plates, a third groove is provided on one side of the snap base, the second pin is arranged on the snap base and is located in the third groove, one end of the snap is rotatably sleeved on the second pin, the two ends of the spring are respectively connected to the snap base and one end of the snap, the other end of the snap passes through two snap mounting holes corresponding to the positions of the two second support plates in sequence, and can be snapped to the other second support plate; the grinding device also includes a plurality of fifth supports, the grinder includes a support column and a grinding disc arranged at the rear end of the support column, the support column is fixed on the fifth support, the support semi-annular plate is provided with a fifth waist-shaped hole and a mounting hole, the fifth locking bolt is used to pass through the fifth waist-shaped hole to thereby fix the fifth support to the support semi-annular plate, the grinding disc is located in the semicircular inner shell, and the support column extends through the mounting hole to the outside of the semicircular inner shell. ; 2. The rust removal robot according to claim 1, characterized in that: The first connecting mechanism includes a hinge shaft, a locking nut, a front locking assembly and a rear locking assembly. The front locking assembly includes a first bolt, a first nut and two first locking plates, and the two first locking plates are respectively arranged on the front and rear sides of the joint of the two first semi-annular plates; the rear locking assembly includes a second bolt, a second nut and two second locking plates, and the two second locking plates are respectively arranged on the front and rear sides of the joint of the two second semi-annular plates. The hinge shaft is used to pass through one first locking plate, one first semi-annular plate, another first locking plate, one second locking plate, one second semi-annular plate and another second locking plate in sequence and install the locking nut, the first bolt is used to pass through one first locking plate, another first semi-annular plate and another first locking plate in sequence and install the first nut, and the second bolt is used to pass through one second locking plate, another second semi-annular plate and another second locking plate in sequence and install the second nut.

3. The rust removal robot according to claim 1, characterized in that: The first locking mechanism includes a first base, a second base, a first hinge pin and a locking rotating rod. The first base and the second base are respectively used to be installed on the two first semi-annular plates, or the first base and the second base are respectively used to be installed on the two second semi-annular plates. A first groove is provided on one side of the first base, and a second groove is provided on one side of the second base. The first hinge pin is vertically installed in the first base and one end is located in the first groove. One end of the locking rotating rod is rotatably sleeved on the first hinge pin, and the other end of the locking rotating rod can be clamped in the second groove.

4. The rust removal robot according to claim 1, characterized in that: The walking drive mechanism includes a first support, a first driving motor, a driving wheel, a plurality of first driven walking assemblies and a plurality of second driven walking assemblies, a first waist-shaped hole is provided at the bottom of the first support, a first locking bolt is used to pass through the first waist-shaped hole and then fix the first support to the front side of a first semi-annular plate, the driving wheel is rotatably installed on the first support, and the first driving motor is used to drive the driving wheel to rotate; the front side of another first semi-annular plate is provided with the second driven walking assembly, and the rear side of the second semi-annular plate is provided with the first driven walking assembly and / or the second driven walking assembly; the first driven walking assembly includes a second support and a first driven wheel, a second waist-shaped hole is provided at the bottom of the second support, and a second locking bolt is used to pass through the second waist-shaped hole and then fix the second support The first driven wheel is fixed to the rear side of a second semi-annular plate, and the first driven wheel is rotatably mounted on the second support; the second driven walking assembly includes a third support, a mounting support, a first pin, a torsion spring and a second driven wheel, and a third waist-shaped hole is provided at the bottom of the third support, and a third locking bolt is used to pass through the third waist-shaped hole to thereby fix the third support to the front side of the first semi-annular plate or the rear side of the second semi-annular plate, the first pin is provided on the third support, one end of the mounting support is rotatably sleeved on the first pin, and the second driven wheel is rotatably mounted on the third support, the torsion spring is sleeved on the first pin, and both ends of the torsion spring abut against the bottom of the third support, and the middle part of the torsion spring abuts against the side of the mounting support away from the first semi-annular plate or the second semi-annular plate.

5. The rust removal robot according to claim 1, characterized in that: The front guide mechanism includes a plurality of front pulleys, which are rotatably mounted on the rear side of the first semi-annular plate in sequence along the circumferential direction, and the outer edge of the inner front cover is provided with a front slide rail that matches the front pulley structure; the rear guide mechanism includes a plurality of rear pulleys, which are rotatably mounted on the front side of the second semi-annular plate in sequence along the circumferential direction, and the outer edge of the inner rear cover is provided with a rear slide rail that matches the rear pulley structure.

6. The rust removal robot according to claim 1, characterized in that: The rotation drive mechanism includes a fourth support, a second drive motor, a driving bevel gear and a semi-ring bevel gear. The bottom of the fourth support is provided with a fourth waist-shaped hole. The fourth locking bolt is used to pass through the fourth waist-shaped hole to fix the fourth support to the front side of one of the first semi-ring plates. The second drive motor is arranged on the fourth support. The driving bevel gear is fixedly sleeved on the power output shaft of the second drive motor. The semi-ring bevel gear is fixed to the front side of one of the third semi-ring plates. The driving bevel gear is meshed with the semi-ring bevel gear.

7. The rust removal robot according to claim 1, characterized in that: The grinding device also includes a chip discharge pipe and multiple reinforcing support plates. The chip discharge pipe is arranged on the outside of one of the semi-cylindrical plates. Both ends of each of the reinforcing support plates are respectively connected to one of the supporting semi-annular plates and one of the third semi-annular plates.

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