Shot blasting robot

Abstract

The present disclosure provides a shot-blasting robot, comprising a frame, a walking mechanism, a shot-blasting mechanism, and a floating mechanism. The floating mechanism includes an elastic portion and an auxiliary adsorption portion. The elastic portion provides an elastic force to the shot-blasting mechanism to swing backward about a hinge axis, while the auxiliary adsorption portion provides an adsorption force to press the shot-blasting mechanism toward a surface. According to the present disclosure, the rear portion of the sealing structure of the shot-blasting mechanism is brought into contact with the working surface, while the auxiliary adsorption portion simultaneously brings the front portion of the sealing structure into contact with the working surface, achieving a rapid floating response of the sealing structure and overall contact with the working surface.

Description

Technical Field

[0001] The present application relates to the field of surface treatment robots, and in particular to a shot blasting robot. Background Art

[0002] Shot-blasting robots are used for wall-climbing surface treatment on large work surfaces. Due to the unevenness of these surfaces, a floating mechanism is required to ensure the robot's attached shot-blasting mechanism remains stable and adheres to the work surface. To address this issue, existing technologies often place the shot-blasting mechanism in the middle of the robot's frame, using elastic elements to achieve floating motion. However, this arrangement makes the robot too wide, making it unsuitable for use in confined workspaces. Summary of the Invention

[0003] The present application provides a shot blasting robot.

[0004] Specifically, this application is implemented through the following technical solutions:

[0005] An embodiment of the present application provides a shot blasting robot for performing shot blasting on a working surface, comprising: a frame;

[0006] a walking mechanism, provided on the frame, for adsorbing the frame to the surface and supporting the robot to move on the surface;

[0007] a shot blasting mechanism, disposed on the front side of the frame, comprising a discharge section, a reflection section, and a return section connected in sequence, a sealing structure being provided at the intersection of the discharge section and the reflection section, and the shot blasting mechanism being hingedly connected to the front side of the frame;

[0008] A floating mechanism, comprising:

[0009] an elastic portion connected between the shot blasting mechanism and the frame, and configured to provide an elastic force for the shot blasting mechanism to swing backward around the hinge axis;

[0010] The auxiliary adsorption portion is connected to the front side of the shot blasting mechanism and is used to provide an adsorption force for pressing the shot blasting mechanism toward the surface.

[0011] According to various embodiments of the present disclosure, the shot blasting mechanism is hinged to the frame so that the shot blasting mechanism is arranged on the front side of the robot, and the elastic part is used to provide the shot blasting mechanism with an elastic force to swing backward around the hinge axis, so that when the robot travels to an uneven surface, the shot blasting mechanism can be automatically pulled back, so that the rear part of the sealing structure of the shot blasting mechanism is attached to the working surface, and at the same time, the front part of the sealing structure is attached to the working surface by using the auxiliary adsorption part, so that the sealing structure can quickly float and respond and fit the entire structure to the working surface.

[0012] In some embodiments, the elastic portion includes a tension spring, one end of the tension spring is connected to the frame, and the other end is connected to the shot blasting mechanism at a first position, and the first position is located where the shot blasting mechanism is close to the sealing structure.

[0013] By arranging a tension spring between the frame and the shot blasting mechanism, the tension spring applies a torque to the shot blasting mechanism at the first position, so that the first position is close to the sealing structure, the force arm of the torque is made as long as possible, and the adhesion between the shot blasting mechanism at the stop position and the working surface is improved.

[0014] In some embodiments, the shot blasting robot further includes: a damping portion connected between the shot blasting mechanism and the frame, for providing a damping force to the shot blasting mechanism to overcome the backward swing around the hinge axis.

[0015] By setting the damping part, the direction of the torque provided by the damping part to the shot blasting mechanism is opposite to that of the elastic part, which provides a buffer for the backward swinging action applied by the elastic part to the shot blasting mechanism, thereby avoiding the shot blasting mechanism from swinging too fast due to the uneven surface with large local changes, avoiding the shot blasting mechanism from being vibrated, and avoiding collision with the working surface.

[0016] In some embodiments, the damping part includes a linear telescopic cylinder, one end of the linear telescopic cylinder is connected to the frame, and the other end is connected to the shot blasting mechanism at a second position, and the second position is located where the shot blasting mechanism is close to the sealing structure.

[0017] By arranging a linear telescopic cylinder between the frame and the shot blasting mechanism, the linear telescopic cylinder applies a damping torque to the shot blasting mechanism at the second position. The second position is close to the shot blasting mechanism, so that the arm of the damping torque is as long as possible, thereby ensuring that the damping torque provided by the linear telescopic cylinder is maximized.

[0018] In some embodiments, the auxiliary adsorption portion includes: an auxiliary magnet; an auxiliary wheel, and the auxiliary wheel and the auxiliary magnet are arranged adjacent to each other in the lateral direction of the robot.

[0019] By setting up auxiliary magnets and auxiliary wheels, the auxiliary magnets are used to attract the shot blasting mechanism toward the working surface, and the rolling support function of the auxiliary wheels is used to overcome the friction between the auxiliary magnets and the working surface, so that the robot can move smoothly during the polishing process. The auxiliary wheels and the auxiliary magnets are arranged close to each other, reducing the structural distance between the auxiliary wheels and the auxiliary magnets, and reducing the requirements for structural strength.

[0020] In some embodiments, the walking mechanism includes: a driving part for outputting a driving torque; a driving wheel, a pair of driving wheels are respectively arranged on both sides of the driving part and are driven to rotate by the driving torque; a main magnet, a pair of main magnets are arranged between the pair of driving wheels, and are respectively arranged laterally adjacent to the pair of driving wheels.

[0021] By setting up a driving part, a driving wheel and a main magnet, a pair of driving wheels are arranged on both sides of the driving part. This direct drive method is conducive to reducing the distance between the pair of driving wheels, thereby miniaturizing the width of the robot. At the same time, the main magnet is arranged close to the inner side of the pair of driving wheels, reducing the structural distance between the driving wheel and the main magnet, and reducing the requirements for structural strength. Therefore, it is possible to ensure that the shot blasting robot can walk normally on the working surface while improving the magnetic attraction of the main magnet.

[0022] In some embodiments, the walking mechanism further includes: a follower wheel, which is arranged at the rear side of the driving part; and a secondary magnet, which is arranged adjacent to the follower wheel in the transverse direction.

[0023] By setting a follower wheel and a secondary magnet, and arranging the follower wheel and the secondary magnet at the rear side of the driving part, the support adsorption position formed by the follower wheel and the secondary magnet and the support adsorption position formed by the auxiliary magnet and the auxiliary wheel are distributed in the front and rear sides of the driving wheel, thereby avoiding excessive forward tilt of the robot as a whole due to the auxiliary adsorption part. At the same time, the follower wheel and the secondary magnet are set close to each other, which reduces the structural distance between the follower wheel and the secondary magnet, reduces the requirements for structural strength, and thus allows the use of a secondary magnet with greater magnetic attraction force, thereby improving the adsorption force of the shot blasting robot on the working surface as a whole.

[0024] In some embodiments, a hinge is provided on the top of the discharging section, and the shot blasting mechanism is hingedly connected to the front side of the frame through the hinge.

[0025] By arranging the hinge at the top of the discharge section, the distance between the hinge axis position and the first position of the elastic part is made larger, thereby ensuring that the torque provided by the elastic part is sufficient.

[0026] In some embodiments, the first position is located at the discharging section close to the sealing structure, and the auxiliary adsorption portion is located at the reflecting section away from the sealing structure.

[0027] By arranging the auxiliary adsorption part in the reflective section away from the sealing structure, the distance between the auxiliary adsorption part and the driving wheel is increased, so that the adsorption force of the auxiliary adsorption part can be converted into a downward swinging action of the shot blasting mechanism with the driving wheel as the pivot point to the greatest extent, further ensuring the overall fit between the sealing structure and the working surface.

[0028] In some embodiments, the auxiliary adsorption portion is located at the intersection of the return section and the reflection section of the shot blasting mechanism.

[0029] By arranging the auxiliary adsorption portion at the intersection of the return material section and the reflection section, the connection strength of the auxiliary adsorption portion can be improved due to the large structural size and high local structural strength of the intersection.

[0030] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0032] Figure 1 is a schematic diagram of a shot blasting robot in an embodiment of the present disclosure viewed from the side;

[0033] Figure 2 is a schematic diagram of a shot blasting robot in an embodiment of the present disclosure from a top view;

[0034] Figure 3 is a schematic diagram of a side view of a shot blasting robot in one embodiment of the present disclosure;

[0035] Figure 4 It is a schematic diagram of the working state of the floating mechanism in the convex curved surface scene in one embodiment of the present disclosure;

[0036] Figure 5 It is a schematic diagram of the working state of the concave curved surface scene of the floating mechanism in one embodiment of the present disclosure;

[0037] Figure 6 is a schematic diagram of an auxiliary adsorption portion in one embodiment of the present disclosure;

[0038] Figure 7 is a schematic diagram of an oblique view of a walking mechanism in an embodiment of the present disclosure;

[0039] Figure 8 is a schematic diagram of a walking mechanism in an embodiment of the present disclosure when viewed from above;

[0040] Figure 9 Schematic diagram of a shot blasting mechanism in one embodiment of the present disclosure.

[0041] Reference numerals:

[0042] 10: rack;

[0043] 20: walking mechanism; 22: driving wheel; 23: main magnet; 24: follower wheel; 25: auxiliary magnet;

[0044] 30: Shot blasting mechanism; 31: Sealing structure; 32: Discharging section; 33: Reflection section; 34: Return section

[0045] 40: hinge;

[0046] 521: auxiliary magnet; 522: auxiliary wheel;

[0047] 61: tension spring; 63: linear telescopic cylinder. DETAILED DESCRIPTION

[0048] The present disclosure will now be discussed with reference to several embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0049] As used herein, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "embodiment" and "one embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0050] It should be noted that the "front" and "rear" used in this article are set according to the orientation of the shot blasting robot. The direction in which the shot blasting mechanism 30 is provided on the shot blasting robot is set as "front", and the direction away from the shot blasting mechanism 30 is set as "rear"; in addition, "lateral" refers to the width direction of the shot blasting robot, that is, the direction perpendicular to the "front" and "rear".

[0051] In the following description, some specific numerical values or numerical ranges may be involved. It should be understood that these numerical values and numerical ranges are merely exemplary, which may be helpful in putting the ideas of the present disclosure into practice. However, the description of these examples is not intended to limit the scope of the present disclosure in any way. Depending on specific application scenarios and needs, these numerical values or numerical ranges can be set separately.

[0052] As described above, the shot blasting mechanism 30 used in the prior art is arranged in the middle of the robot's frame 10, and the floating of the shot blasting mechanism 30 is achieved through elastic elements, etc. In order to reduce the width of the robot, the shot blasting mechanism 30 can be arranged on the front side of the robot. Then how to provide a floating function for the shot blasting mechanism 30 arranged on the front side is one of the key technical problems to be solved in the present disclosure.

[0053] The shot blasting robot proposed in the embodiment of the present disclosure at least partially solves the above problems. Figures 1 to 9 To describe the structure and working principle of the shot blasting robot according to the exemplary embodiment of the present disclosure. Figure 1-2The structure of a shot blasting robot according to an exemplary embodiment of the present disclosure is shown. In general, the shot blasting robot described herein includes a frame 10, a walking mechanism 20, a shot blasting mechanism 30, a hinge 40, and a floating mechanism. The frame 10 is used to carry the various functional components of the shot blasting robot. The walking mechanism 20, the shot blasting mechanism 30, the hinge 40, and the floating mechanism are directly or indirectly connected to the frame 10. The walking mechanism 20 is used to adsorb the robot on the working surface and move it in any direction along the working surface. The shot blasting mechanism 30 is used to spray shot onto the working surface and use the impact force of the shot to remove impurities such as rust and paint on the working surface. The hinge 40 is used to connect the shot blasting mechanism 30 to the front side of the frame 10. The floating mechanism is used to provide floating support for the shot blasting mechanism 30.

[0054] In one embodiment, Figure 9 As shown, the circulation housing of the shot blasting mechanism 30 includes a discharge section 32, a reflection section 33, and a return section 34 connected in sequence. A sealing structure 31 is provided at the intersection of the discharge section 32 and the reflection section 33. The sealing structure 31 covers the working surface and forms a sealed space with the working surface. Under the action of the pump, the shot is ejected along the discharge section 32 to the working surface covered by the sealing structure 31. The shot and the stripped impurities flow along the reflection section 33 by rebound force and are reflected into the return section 34. The stripped impurities are separated in the return section 34 and the shot returns to the discharge section 32 again through the return section 34, and the cycle continues. Therefore, in order to improve the effect of removing impurities from the working surface and prevent the shot and stripped impurities from overflowing into the environment, it is necessary to keep the sealing structure 31 completely covered and sealed on the working surface. However, the working surface is uneven, and providing a floating function has become an important technical problem in this field.

[0055] In one embodiment, the shot blasting mechanism 30 is hingedly connected to the frame 10 , for example, by a hinge shaft or a hinge 40 , as long as the shot blasting mechanism 30 can swing freely relative to the hinge point on the frame 10 .

[0056] The hinge 40 is used to install the shot blasting mechanism 30. In one embodiment, the hinge 40 is set at the top of the upward extension of the discharge section 32, and the tension spring 61 is connected to the bottom of the discharge section 32, thereby increasing the distance between the swing center point of the shot blasting mechanism 30 and the tension point applied by the tension spring 61, ensuring that the torque provided by the tension spring 61 is maximized, thereby improving the floating response rate of the shot blasting mechanism 30.

[0057] In one embodiment, since the intersection of the discharge section 32 and the reflection section 33 forms a larger structural size, the sealing structure 31 is installed at the intersection. The larger size improves the connection strength between the sealing structure 31 and the circulation shell, ensuring that the sealing structure 31 is loosened by the larger impact force of the shot material during the shot blasting working state.

[0058] In one embodiment, the elastic part is used to provide the shot blasting mechanism 30 with an elastic force to swing backward around the hinge axis. The form of the elastic part can be arbitrary. For example, the elastic part can be a torsion spring arranged at the hinge axis, which drives the shot blasting mechanism 30 to swing backward through the elastic torsional restoring force.

[0059] In one embodiment, the elastic portion may also be a tension spring 61, with both ends of the tension spring 61 connected to the discharge section 32 and the frame 10, respectively. For example, the direction of the line connecting the two connection points of the tension spring 61 on the discharge section 32 and the frame 10 may be perpendicular to the extension direction of the discharge section 32, thereby maximizing the elastic force of the tension spring 61 on the swing of the shot blasting mechanism 30. In another example, the connection point between the tension spring 61 and the discharge section 32 may be located in an area of the discharge section 32 close to the sealing structure 31, thereby maximizing the length of the pullback arm of the tension spring 61 on the shot blasting mechanism 30 and improving the pullback swing response rate of the shot blasting mechanism 30. It should be noted that the pullback swing response rate of the shot blasting mechanism 30 is high. When encountering a concave or convex surface area, the sealing structure 31 can quickly recover from a state of separation from the working surface to a state of contact, thereby avoiding instantaneous overflow of shot materials and impurities.

[0060] When encountering a concave and convex surface area, the shot blasting mechanism 30 swings backward rapidly under the action of the elastic return force of the tension spring 61, which will cause a violent collision between the discharge section 32 and the limiting structure near the hinge axis of the frame 10, and will cause a violent collision between the rear side of the sealing structure 31 and the working surface. Since the overall mass of the shot blasting mechanism 30 is large, the violent collision causes the shot blasting mechanism 30 to vibrate strongly, which can easily affect the magnetic attraction force of the robot's walking mechanism 20, thereby causing a safety accident of the robot falling off the working surface.

[0061] To solve this problem, in one embodiment, the damping part is used to provide buffering for the backward swing of the shot blasting mechanism 30. The form of the damping part can be arbitrary. For example, the damping part can be a torsion spring or a hydraulic or pneumatic torsion damping element arranged at the hinge shaft, which provides buffering for the swing of the shot blasting mechanism 30 through the torsional damping force.

[0062] In one embodiment, the damping part can also be a hydraulic or pneumatic linear telescopic cylinder 63, the cylinder body and the piston rod are respectively connected to the frame 10 and the shot blasting mechanism 30. For example, the direction of the line connecting the two connection points of the linear telescopic cylinder 63 on the shot blasting mechanism 30 and the frame 10 can be perpendicular to the extension direction of the discharge section 32, thereby maximizing the buffering effect on the backward swing of the shot blasting mechanism 30. In another example, the connection point of the linear telescopic cylinder 63 and the discharge section 32 can be set in the area of the discharge section 32 close to the sealing structure 31, or further set to coincide with the connection position of the tension spring 61, or the direction of the line connecting the two connection points of the linear telescopic cylinder 63 on the frame 10 and the discharge section 32 coincides with the tension spring 61, thereby maximizing the damping effect of the linear telescopic cylinder 63 on the tension spring 61.

[0063] When encountering a concave-convex surface area, the shot blasting mechanism 30 swings backward to the optimal position under the action of the elastic return force of the tension spring 61. At this optimal position, there may still be a gap between the sealing structure 31 and the working surface. In this case, the gap should be eliminated as soon as possible to make the sealing structure 31 fit the working surface to avoid overflow of shot and impurities.

[0064] To address this issue, in one embodiment, an auxiliary adsorption unit is provided in front of the sealing structure 31 of the shot blasting mechanism 30. This unit is used to quickly eliminate the gap between the sealing structure 31 and the working surface through adsorption. For example, the auxiliary adsorption unit may include only the auxiliary magnet 521 or may also include auxiliary wheels 522, which eliminate the friction generated by adsorption between the auxiliary magnet 521 and the working surface.

[0065] In one embodiment, Figure 6 As shown, the auxiliary adsorption part includes a pair of auxiliary wheels 522, and auxiliary magnets 521 are respectively arranged close to the inner side or the outer side of the pair of auxiliary wheels 522. Since the auxiliary magnets 521 are subjected to the magnetic attraction force toward the working surface and the auxiliary wheels 522 are subjected to the supporting force away from the working surface, the two forces are in opposite directions and can easily affect the structural strength of the auxiliary adsorption part. Therefore, the auxiliary magnets 521 and the auxiliary wheels 522 are arranged close to each other in the horizontal direction of the robot to reduce the distance between the auxiliary magnets 521 and the auxiliary wheels 522 and improve the structural strength of the auxiliary adsorption part.

[0066] The shot blasting robot relies on the magnetic attraction of the walking mechanism 20 to be adsorbed on the working surface, and is supported on the working surface by the driving wheels 22 of the walking mechanism 20 and walks along the working surface. Figure 7 and 8As shown, the walking mechanism 20 is provided with a drive unit, a pair of drive wheels 22, a pair of main magnets 23, a follower wheel 24, and a secondary magnet 25. The drive unit can be an electric motor, a hydraulic motor, a pneumatic motor, or can also include a reduction mechanism. Since the shot blasting mechanism 30 is arranged on the front side of the frame 10, the drive unit can be arranged in the middle of the frame 10. A pair of drive wheels 22 are connected from both ends of the drive unit. The rotation of the drive wheels 22 drives the robot to walk on the working surface. According to this arrangement structure, a drive unit with a smaller size in the lateral direction of the robot can be selected, thereby reducing the width of the robot. In addition, the main magnet 23 generates an adsorption force with the working surface, and the drive wheel 22 generates a supporting force with the working surface. Placing the main magnet 23 and the drive wheel 22 in close proximity in the lateral direction can improve the structural strength of the frame 10.

[0067] In order to balance the adsorption force of the auxiliary magnet 521 and avoid the shot blasting robot as a whole tipping forward around the driving wheel 22 due to the adsorption of the auxiliary magnet 521 and the working surface, a follower wheel 24 and an auxiliary magnet 25 are arranged on the rear side of the driving part. The adsorption force of the auxiliary magnet 25 and the adsorption force of the auxiliary magnet 521 are distributed on the front and rear sides of the driving wheel 22, thereby forming an adsorption force balance structure relative to the driving wheel 22. At the same time, a pair of main magnets 23 and an auxiliary magnet 25 constitute a herringbone magnetic array. A single auxiliary magnet 25 is sufficient to meet the magnetic balance requirements between the auxiliary magnets 521. There is no need to arrange more auxiliary magnets 25, which saves costs and reduces the weight of the robot itself.

[0068] In one embodiment, the auxiliary adsorption portion is arranged at a position in the reflective section 33 away from the sealing structure 31, thereby increasing the distance between the auxiliary adsorption portion and the driving wheel 22. A force arm is actually formed between the auxiliary adsorption portion and the driving wheel 22. The magnetic attraction force of the auxiliary adsorption portion uses the driving wheel 22 as the pivot point to press down the shot blasting robot as a whole, thereby making the sealing structure 31 fit tightly against the working surface. Therefore, increasing the length of the force arm is beneficial to the downward pressing effect of the sealing structure 31.

[0069] In one embodiment, the auxiliary adsorption part is set at the intersection of the return material section 34 and the reflective section 33. Since there are more structures formed between the return material section 34 and the reflective section 33, the local structural strength is high, and more connection points can be set between the auxiliary adsorption part, thereby improving the connection strength of the auxiliary adsorption part.

[0070] The working state of the shot blasting robot in the embodiment of the present disclosure when facing the concave and convex working surface is described in detail below. Figure 3As shown, in the flat working surface area, that is, by designing the shape and size of the shot blasting mechanism 30, the bottom of the sealing structure 31 and the bottom of the driving wheel 22 are in the same horizontal plane. The bottom of the sealing structure 31 just fits with the working surface to form a well-sealed shot blasting working space. In this state, the main magnet 23, the secondary magnet 25, and the auxiliary magnet 521 press and support the driving wheel 22, the follower wheel 24, and the auxiliary wheel 522 on the working surface through magnetic attraction.

[0071] like Figure 4 As shown, when the shot blasting robot encounters an outward convex surface in front of it, the sealing structure 31 separates from the working surface. Under the action of the tension spring 61, the shot blasting mechanism 30 swings backward until the rear side of the sealing structure 31 abuts against the working surface. At this time, the shot blasting mechanism 30 stops swinging backward due to the supporting force of the working surface on the rear part of the sealing structure 31. Since the front part of the sealing structure 31 has not yet completely fit with the working surface, under the action of the auxiliary adsorption part, the sealing structure 31 is further pressed down toward the working surface to ensure that the entire sealing structure 31 fits with the working surface.

[0072] like Figure 5 As shown, when the shot blasting robot encounters a concave surface in front of it, the shot blasting mechanism 30 is lifted up with the auxiliary wheel 522 as the fulcrum through the support of the auxiliary wheel 522, so that the shot blasting mechanism 30 swings away from the frame 10. During this process, the tension spring 61 continuously applies elastic tension to the shot blasting mechanism 30, so that the rear part of the sealing structure 31 abuts against the working surface. Since the front part of the sealing structure 31 has not yet completely fit with the working surface, under the action of the auxiliary adsorption part, the sealing structure 31 is further pressed down toward the working surface to ensure that the entire sealing structure 31 fits with the working surface.

[0073] The description of the embodiments herein and any references to directions and orientations are for ease of description only and are not to be construed as limiting the scope of the present invention. The following description of the preferred embodiments may involve combinations of features, which may exist independently or in combination. The present invention is not specifically limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0074] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A shot blasting robot for performing shot blasting on a working surface, characterized in that: The shot blasting robot comprises: Rack (10); A walking mechanism, provided on the frame (10), for adsorbing the frame (10) onto the surface and supporting the robot to move on the surface; a shot blasting mechanism (30) disposed on the front side of the frame (10), the shot blasting mechanism (30) comprising a discharge section (32), a reflection section (33), and a return section (34) connected in sequence, a sealing structure (31) being disposed in the intersection area between the discharge section (32) and the reflection section (33), and the shot blasting mechanism (30) being connected to the front side of the frame (10) via a hinge shaft; A floating mechanism, comprising: an elastic portion connected between the shot blasting mechanism (30) and the frame (10), and used to provide the shot blasting mechanism (30) with an elastic force to swing backward around the hinge axis; An auxiliary adsorption portion is connected to the front side of the shot blasting mechanism (30) and is used to provide an adsorption force for pressing the shot blasting mechanism (30) toward the surface.

2. The shot blasting robot according to claim 1, characterized in that The elastic portion includes a tension spring (61), one end of the tension spring (61) is connected to the frame (10), and the other end is connected to the shot blasting mechanism (30) at a first position, and the first position is located at a position of the shot blasting mechanism (30) close to the sealing structure (31).

3. The shot blasting robot according to claim 1, characterized in that: The shot blasting robot also includes: The damping part is connected between the shot blasting mechanism (30) and the frame (10) and is used to provide the shot blasting mechanism (30) with a damping force to overcome the backward swing around the hinge axis.

4. The shot blasting robot according to claim 3, characterized in that: The damping part comprises a linear telescopic cylinder (63), one end of the linear telescopic cylinder (63) is connected to the frame (10), and the other end is connected to the shot blasting mechanism (30) at a second position, and the second position is located at the shot blasting mechanism (30) near the sealing structure (31).

5. The shot blasting robot according to claim 1, characterized in that: The auxiliary adsorption part includes: Auxiliary magnet (621); An auxiliary wheel (622), wherein the auxiliary wheel (622) and the auxiliary magnet (621) are arranged adjacent to each other in the lateral direction of the robot.

6. The shot blasting robot according to claim 1, characterized in that: The walking mechanism comprises: A driving unit, for outputting a driving torque; Driving wheels (22), a pair of driving wheels (22) are respectively arranged on both sides of the driving portion and are driven to rotate by the driving torque; A main magnet (23), wherein a pair of the main magnets (23) are arranged between the pair of driving wheels (22), and are respectively arranged in close proximity to the pair of driving wheels (22) in the transverse direction.

7. The shot blasting robot according to claim 6, characterized in that: The walking mechanism also includes: A follower wheel (24) is arranged at the rear side of the driving part; The auxiliary magnet (25) is arranged adjacent to the follower wheel (24) in the transverse direction.

8. The shot blasting robot according to claim 2, characterized in that: A hinge (40) is provided at the top of the discharge section (32), and the shot blasting mechanism (30) is hingedly connected to the front side of the frame (10) via the hinge (40).

9. The shot blasting robot according to claim 2, characterized in that: The first position is located in the discharge section (32) close to the sealing structure (31), and the auxiliary adsorption portion is located in the reflection section (33) away from the sealing structure (31).

10. The shot blasting robot according to claim 9, characterized in that: The auxiliary adsorption portion is located at the intersection of the return section (34) and the reflection section (33) of the shot blasting mechanism.

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