Recyclable sandblasting robot

Abstract

The application discloses a recyclable sand blasting derusting robot. The recyclable sand blasting derusting robot comprises a robot main body, a sand blasting derusting unit and a sand recycling unit. The robot main body can at least walk and turn in a working area. The sand blasting derusting unit is used for at least spraying sand to the working area to realize derusting work on the working area. The sand recycling unit is used for at least collecting sand sprayed by the sand blasting derusting unit to the working area and conveying the collected sand back to the sand blasting derusting unit. The recyclable sand blasting derusting robot provided by the application can realize integrated sand blasting and recycling work, and can realize recycling of sand on the robot, thereby improving the work efficiency of the robot and avoiding pollution to the environment.

Description

Technical Field

[0001] This invention specifically relates to a recyclable sandblasting and rust removal robot, belonging to the field of robotics technology. Background Technology

[0002] For large steel components that have been in use for a long time, the surface often requires regular rust removal and painting due to corrosion. Sandblasting is a tedious and time-consuming task, and traditional manual operation requires a significant amount of manpower and time. Most steel components are magnetically conductive materials; therefore, using a magnetic wall-climbing robot combined with sandblasting functionality can replace manual labor, offering advantages such as high efficiency and continuous operation, significantly reducing working time. Furthermore, sandblasting generates a large amount of dust, and using robots can protect worker safety and health. However, existing sandblasting robots have shortcomings that need improvement.

[0003] The prior art discloses a self-adsorption environmentally friendly sandblasting and rust removal robot. This environmentally friendly sandblasting and rust removal robot can adaptively switch the required electromagnets according to the forward movement of the vehicle, which helps to reduce energy consumption. It is also equipped with a sandblasting head and a recovery pipeline, which can effectively recover sand for recycling. However, the robot needs to be powered to keep the electromagnets powered during use. On the one hand, the energy consumption is relatively large, and on the other hand, the robot will lose its adsorption force if the power is accidentally cut off, which is dangerous. In addition, it needs to carry at least two pipelines during use, which greatly limits the working height. Summary of the Invention

[0004] The main objective of this invention is to provide a recyclable sandblasting and rust removal robot, thereby overcoming the shortcomings of the prior art.

[0005] To achieve the aforementioned objectives, the technical solution adopted by this invention includes:

[0006] This invention provides a recyclable sandblasting and rust removal robot, comprising: a robot body, a sandblasting and rust removal unit, and a sand recovery unit. The robot body is at least capable of walking and turning in the work area. The sandblasting and rust removal unit is at least used to spray sand into the work area to achieve rust removal in the work area. The sand recovery unit is at least used to collect the sand sprayed into the work area by the sandblasting and rust removal unit and transport the collected sand back to the sandblasting and rust removal unit.

[0007] Compared with the prior art, the advantages of the present invention include:

[0008] The present invention provides a recyclable sandblasting and rust removal robot. By setting up two symmetrically arranged sand supply mechanisms, a sand inlet electric valve, and two sand inlets of the sandblasting gun, the robot cleverly utilizes its 180° rotation to allow the two sand supply mechanisms to cyclically discharge and recycle sand, thereby improving the efficiency of the robot's operation.

[0009] The present invention provides a recyclable sandblasting and rust removal robot, which realizes the recycling of sand by setting up a recycling pressure regulating valve, a first vacuum generator, a second vacuum generator, a first cyclone separator, a second cyclone separator, and a sand return electric valve. It does not require an additional load recycling pipeline, avoids environmental pollution, and reduces the workload of the robot. Attached Figure Description

[0010] Figure 1 This is a structural schematic diagram of a recyclable sandblasting and rust removal robot provided in a typical embodiment of the present invention;

[0011] Figure 2 This is a schematic diagram of the internal structure of a recyclable sandblasting and rust removal robot provided in a typical embodiment of the present invention;

[0012] Figure 3 This is a schematic diagram of the structure of a recyclable sandblasting and rust removal robot provided in a typical embodiment of the present invention. Detailed Implementation

[0013] In view of the shortcomings of the prior art, the inventors of this invention, through long-term research and extensive practice, have proposed the technical solution of this invention. The following will further explain and illustrate this technical solution, its implementation process, and its principles.

[0014] This invention provides a recyclable sandblasting and rust removal robot, comprising: a robot body, a sandblasting and rust removal unit, and a sand recovery unit. The robot body is at least capable of walking and turning in the work area. The sandblasting and rust removal unit is at least used to spray sand into the work area to achieve rust removal in the work area. The sand recovery unit is at least used to collect the sand sprayed into the work area by the sandblasting and rust removal unit and transport the collected sand back to the sandblasting and rust removal unit.

[0015] Furthermore, the sandblasting and rust removal unit includes a sandblasting mechanism and at least two abrasive supply mechanisms. The sandblasting mechanism is independently connected to each of the at least two abrasive supply mechanisms. The sandblasting mechanism is used to spray abrasive at a specified speed. The abrasive supply mechanisms are used to supply abrasive to the sandblasting mechanism. The abrasive recovery unit is also independently connected to each of the at least two abrasive supply mechanisms. The abrasive recovery unit is used to transport the collected abrasive back to any of the sandblasting mechanisms.

[0016] Furthermore, the sandblasting mechanism includes a sandblasting gun and a rust-removing pressure regulating valve. The sandblasting gun is connected to at least two of the abrasive supply mechanisms. The sandblasting gun is used to receive abrasive supplied by the abrasive supply mechanisms and to spray the abrasive at a specified speed with a specified air pressure. The rust-removing pressure regulating valve is connected to the sandblasting gun and is used at least to regulate the air pressure inside the sandblasting gun.

[0017] Furthermore, the sandblasting gun is connected to the sand supply mechanism via a delivery pipeline, and a sand inlet valve is also provided on the sand inlet pipeline connecting the sandblasting gun and the sand supply mechanism.

[0018] Furthermore, the sand recovery unit includes a recovery hood and at least two sand recovery structures. The recovery hood is arranged around the sandblasting gun, and one end of each sand recovery structure is disposed inside the recovery hood, while the other end is connected to the sand supply mechanism.

[0019] Furthermore, the sand recycling structure includes a vacuum generator and a sand return pipeline, wherein the vacuum generator is connected to the sand supply mechanism and the recycling hood via the sand return pipeline.

[0020] Furthermore, the sand recovery structure also includes a separator, which is connected to the vacuum generator and the sand supply mechanism via the sand return pipeline. The sand passes through the vacuum generator and the separator in sequence before entering the sand supply mechanism. The separator is used to separate sand and impurities.

[0021] Furthermore, the sand recovery structure also includes a sand return valve, which is installed on the sand return pipeline connecting the vacuum generator and the recovery hood.

[0022] Furthermore, the sand recovery unit also includes a recovery pressure regulating valve, which is connected to the vacuum generator and is used at least to adjust the operating parameters of the vacuum generator.

[0023] Furthermore, the robot body includes a frame and a walking mechanism, the walking mechanism is connected to the frame, and the sandblasting and rust removal unit and the sand recovery unit are installed on the frame.

[0024] Furthermore, the walking mechanism is also equipped with an adsorption module, which can be detachably connected to the working area.

[0025] Furthermore, the adsorption module includes a magnetic adsorption module.

[0026] The following will further explain the technical solution, its implementation process and principle in conjunction with the accompanying drawings and specific implementation examples. Unless otherwise specified, the electric valves, vacuum generators, cyclone separators, sandblasting guns, pressure regulating valves, controllers and other components used in this invention are all known to those skilled in the art. The terms "first" and "second" are merely used to distinguish the functional mechanisms and are not intended to limit the structure.

[0027] Example

[0028] A recyclable sandblasting and rust removal robot includes a robot body, a sandblasting and rust removal unit, and a sand recovery unit. The robot body is at least capable of walking and turning within the work area of ​​the target device. The sandblasting and rust removal unit is at least used to spray sand into the work area of ​​the target device to achieve rust removal in the work area. The sand recovery unit is at least used to collect the sand sprayed into the work area by the sandblasting and rust removal unit and transport the collected sand back to the sandblasting and rust removal unit.

[0029] Please see Figure 1 In this embodiment, the robot body includes a frame, a first walking mechanism 21, a second walking mechanism 22, a third walking mechanism 23, and a fourth walking mechanism 24. The first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 are mounted on the frame. The sandblasting and rust removal unit and the sand recovery unit are mounted on the frame. Each of the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 is also equipped with an adsorption module. The adsorption module can be detachably connected to the working area, so that the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 can be fixed on the target device and move on the target device. Specifically, the adsorption module includes a magnetic adsorption module, that is, the first walking mechanism 21, the second walking mechanism 22, the third walking mechanism 23, and the fourth walking mechanism 24 can be magnetic wheels or track wheels.

[0030] Please see Figure 1 and Figure 2The sandblasting and rust removal unit includes a sandblasting gun 8, a rust removal pressure regulating valve 72, a first sand inlet valve 61, a second sand inlet valve 62, a first sand supply mechanism 11, and a second sand supply mechanism 12. The first sand supply mechanism 11, the first sand inlet valve 61, and the sandblasting gun 8 are sequentially connected via a first sand inlet pipeline to form a first sandblasting and rust removal structure. The first sand inlet valve 61 is used to open / close the first sand inlet pipeline, thereby regulating the working state of the first sandblasting and rust removal structure. The second sand supply mechanism 12, the second sand inlet valve 62, and the sandblasting gun 8 are sequentially connected via a second sand inlet pipeline to form a second sandblasting and rust removal structure. The second sand inlet valve 62 is used to open / close the second sand inlet pipeline, thereby regulating the working state of the second sandblasting and rust removal structure. The sandblasting gun 8 is used to receive the sand provided by the sand supply mechanism and spray the sand at a specified speed with a specified air pressure. The rust removal pressure regulating valve 72 is connected to the sandblasting gun 8 and is used at least to regulate the air pressure inside the sandblasting gun 8.

[0031] It should be noted that the working status of the first sandblasting and rust removal structure and the second sandblasting and rust removal structure can be adjusted by independently opening and closing the first sand inlet valve 61 and the second sand inlet valve 62.

[0032] In this embodiment, both the first sand supply mechanism 11 and the second sand supply mechanism 12 may include a sand container, such as a sand pot. The sand pot is provided with an openable sand pot lid, and the sand pot lid is provided with an ultrasonic sensor mechanism, which can detect the remaining amount of sand in the sand pot. Both the first sand inlet valve 61 and the second sand inlet valve 62 may be electric valves.

[0033] In this embodiment, please refer to the following: Figure 3 The sandblasting gun 8 is equipped with an air inlet 81, a first sand inlet 82, and a second sand inlet 83. The first sand supply mechanism 11 is connected to the first sand inlet 82 of the sandblasting gun 8, and the second sand supply mechanism 12 is connected to the second sand inlet 83 of the sandblasting gun 8. The outlet of the rust removal pressure regulating valve 72 is connected to the air inlet 81 of the sandblasting gun 8.

[0034] In this embodiment, the sand recovery unit includes a recovery hood, a first sand return valve 64, a second sand return valve 63, a first vacuum generator 51, a second vacuum generator 52, a first cyclone separator 41, a second cyclone separator 42, a first sand return pipeline, and a second sand return pipeline. The first sand supply mechanism 11, the first cyclone separator 41, the first vacuum generator 51, the first sand return valve 64, and the sandblasting gun 8 are sequentially connected through the first sand return pipeline to form a first sand recovery structure. The second sand supply mechanism 12, the second cyclone separator 42, the second vacuum generator 52, the second sand return valve 63, and the sandblasting gun 8 are sequentially connected through the second sand return pipeline to form a second sand recovery structure.

[0035] In this embodiment, please refer to the following: Figure 3 The sandblasting gun 8 is also equipped with a first recovery channel 85 and a second recovery channel 84. The first sand return pipe is connected to the first recovery channel 85 and the first sand return pipe is connected to the second recovery channel 84. That is, the sandblasting gun 8 can not only spray sand, but also recover sand at the same time.

[0036] In this embodiment, a recovery cover is provided on the sandblasting gun 8. The sand outlet and sand inlet of the sandblasting gun 8 are located inside the recovery cover. The recovery cover can prevent sand from splashing at the spray point of the sandblasting gun 8, and at the same time, it can facilitate the sand recovery unit to absorb and recover the sprayed sand. Specifically, the recovery cover is pressed and installed on the front end of the sandblasting gun 8 by threaded connectors such as nuts. The recovery cover is connected to the robot body by a spring device. The opening end of the recovery cover is provided with a sealing ring so that the recovery cover can seal and contact the working area of ​​the target device to form a closed sandblasting working space. More specifically, the two sand inlets on the sandblasting gun 8 can be arranged symmetrically in mirror image on the sandblasting gun 8.

[0037] In this embodiment, the first sand recovery structure creates a pressure difference between the sandblasting gun 8 and the first sand supply mechanism 11 through the first vacuum generator 51, causing the sand to be adsorbed and transported to the first sand supply mechanism 11 via the first return sand pipeline. Specifically, the sand passes through the first return sand valve 64, the first vacuum generator 51, and the first cyclone separator 41 in the first return sand pipeline before entering the first sand supply mechanism 11. The second sand recovery structure creates a pressure difference between the sandblasting gun 8 and the second sand supply mechanism 12 through the second vacuum generator 52, causing the sand to be adsorbed and transported to the second sand supply mechanism 12 via the second return sand pipeline. Specifically, the sand passes through the second return sand valve 63, the second vacuum generator 52, and the second cyclone separator 42 in the second return sand pipeline before entering the second sand supply mechanism 12.

[0038] In this embodiment, the first vacuum generator 51 and the second vacuum generator 52 are mainly used to drive the sand material to be transported (specifically, the driving force is generated by forming a pressure difference). The first cyclone separator 41 and the second cyclone separator 42 are mainly used to separate the sand material and impurities. Specifically, the sand material is allowed to enter the first sand material supply mechanism 11 or the second sand material supply mechanism 12, while the impurities are discharged. The impurities include gaseous impurities.

[0039] In this embodiment, the sand recovery unit further includes a recovery pressure regulating valve 71, which is connected to the first vacuum generator 51 and the second vacuum generator 52, and is used at least to adjust the operating parameters of the first vacuum generator 51 and the second vacuum generator 52; specifically, the recovery pressure regulating valve 71 is connected to the first vacuum generator 51 and the second vacuum generator 52 via a one-to-two air pipe connector.

[0040] The working principle of a recyclable sandblasting and rust removal robot includes: when in use, firstly, the first sand supply mechanism 11 is filled with sand, and the first sand inlet electric valve 61, the second sand inlet electric valve 62, the first sand return electric valve 63, and the second sand return electric valve 64 are all in the closed state. The rust removal pressure regulating valve 72 and the recovery pressure regulating valve 71 are adjusted to appropriate values, and the inlets of the two pressure regulating valves are connected to the main air pipe. Then, the recyclable sandblasting and rust removal robot is placed in the work area of ​​the target device, and the recyclable sandblasting and rust removal robot is remotely controlled to perform sandblasting and rust removal work.

[0041] The working process of a recyclable sandblasting and rust removal robot specifically includes:

[0042] First, the main air pipe of the recyclable sandblasting and rust removal robot is connected to the air pressure generating mechanism. At the same time, the first sand inlet valve 61 and the second sand return valve 63 are opened. The sand material enters the sandblasting gun 8 through the first sand inlet valve 61 to complete the sandblasting and rust removal operation on the target area of ​​the device. The sand particles are reflected by the wall and enter the recovery hood. Then, they are sucked into the second vacuum generator 52 by the negative pressure generated by the second vacuum generator 52 and sent into the second cyclone separator 42. The pollution-free gas after separation and sedimentation is discharged from the outlet of the second cyclone separator 42. The recyclable sand particles fall into the second sand material supply mechanism 12. After the ultrasonic sensor 91 detects that the sand material in the first sand material supply mechanism 11 is used up, the first sandblasting and rust removal process is completed. Then, we close the first sand inlet electric valve 61, the second sand return valve 63, and the main air pipe air pressure.

[0043] Second sandblasting and rust removal: The recyclable sandblasting and rust removal robot is controlled to make a 180° turn on the target device. At this time, the second sand supply mechanism 12 is located above the center of gravity of the recyclable sandblasting and rust removal robot and has sand from the first sandblasting and rust removal process in the second sand supply mechanism 12. Then, the main air pipe is connected to the air pressure, and the second sand inlet valve 62 and the first sand return valve 64 are opened at the same time. The sand enters the sandblasting gun 8 through the second sand inlet valve 62 to complete the sandblasting and rust removal operation on the working area of ​​the target device. The sand particles are reflected by the wall and enter the recovery hood. Then, they are sucked into the first vacuum generator 51 by the negative pressure generated by the first vacuum generator 51 and sent into the first cyclone separator 41. The pollution-free gas after separation and sedimentation is discharged from the outlet of the first cyclone separator 41. The recyclable sand particles fall into the first sand supply mechanism 11. After the sand in the second sand supply mechanism 12 is used up, the second sandblasting and rust removal process is completed. The cycle can be completed by repeating this process.

[0044] The recyclable sandblasting and rust removal robot provided by this invention can realize integrated sandblasting and recycling operations, and can also recycle sand on the robot, which improves the efficiency of robot operation and avoids environmental pollution.

[0045] The present invention provides a recyclable sandblasting and rust removal robot. By setting up two symmetrically arranged sand supply mechanisms, a sand inlet electric valve, and two sand inlets of the sandblasting gun, the robot cleverly utilizes its 180° rotation to allow the two sand supply mechanisms to cyclically discharge and recycle sand, thereby improving the efficiency of the robot's operation.

[0046] The present invention provides a recyclable sandblasting and rust removal robot, which realizes the recycling of sand by setting up a recycling pressure regulating valve, a first vacuum generator, a second vacuum generator, a first cyclone separator, a second cyclone separator, and a sand return electric valve. It does not require an additional load recycling pipeline, avoids environmental pollution, and reduces the workload of the robot.

[0047] It should be understood that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A recyclable sandblasting and rust removal robot, characterized in that, include: The robot body, sandblasting and rust removal unit, and sand recovery unit are provided. The robot body is at least able to walk and turn in the work area. The sandblasting and rust removal unit is at least used to spray sand into the work area to achieve rust removal in the work area. The sand recovery unit is at least used to collect the sand sprayed into the work area by the sandblasting and rust removal unit and transport the collected sand back to the sandblasting and rust removal unit. The sandblasting and rust removal unit includes a sandblasting mechanism and two abrasive supply mechanisms. The two abrasive supply mechanisms are arranged symmetrically on the robot body. The sandblasting mechanism is independently connected to each of the two abrasive supply mechanisms. The sandblasting mechanism is used to spray abrasive at a specified speed. The abrasive supply mechanisms are used to supply abrasive to the sandblasting mechanism. The abrasive recovery unit is also independently connected to each of the two abrasive supply mechanisms. The abrasive recovery unit is used to transport the collected abrasive back to either of the abrasive supply mechanisms.

2. The recyclable sandblasting and rust removal robot according to claim 1, characterized in that: The sandblasting mechanism includes a sandblasting gun and a rust removal pressure regulating valve. The sandblasting gun is connected to two sand supply mechanisms. The sandblasting gun is used to receive sand supplied by the sand supply mechanisms and spray the sand at a specified speed with a specified air pressure. The rust removal pressure regulating valve is connected to the sandblasting gun and is used to regulate the air pressure inside the sandblasting gun.

3. The recyclable sandblasting and rust removal robot according to claim 2, characterized in that: The sandblasting gun is connected to the sand supply mechanism via a delivery pipeline, and a sand inlet valve is also provided on the sand inlet pipeline connecting the sandblasting gun and the sand supply mechanism.

4. The recyclable sandblasting and rust removal robot according to claim 2, characterized in that: The sand recovery unit includes a recovery hood and two sand recovery structures. The recovery hood is arranged around the sandblasting gun. One end of each sand recovery structure is located inside the recovery hood, and the other end is connected to the sand supply mechanism.

5. The recyclable sandblasting and rust removal robot according to claim 4, characterized in that: The sand recovery structure includes a vacuum generator and a sand return pipeline. The vacuum generator is connected to the sand supply mechanism and the recovery hood via the sand return pipeline.

6. The recyclable sandblasting and rust removal robot according to claim 5, characterized in that: The sand recovery structure also includes a separator, which is connected to the vacuum generator and the sand supply mechanism via the sand return pipeline. The sand passes through the vacuum generator and the separator in sequence before entering the sand supply mechanism. The separator is used to separate sand and impurities.

7. The recyclable sandblasting and rust removal robot according to claim 6, characterized in that: The sand recovery structure also includes a sand return valve, which is installed on the sand return pipeline connecting the vacuum generator and the recovery hood.

8. The recyclable sandblasting and rust removal robot according to claim 5, characterized in that: The sand recovery unit also includes a recovery pressure regulating valve, which is connected to the vacuum generator and is used to adjust the operating parameters of the vacuum generator.

9. The recyclable sandblasting and rust removal robot according to claim 1, characterized in that: The robot body includes a frame and a walking mechanism, the walking mechanism is connected to the frame, and the sandblasting and rust removal unit and the sand recovery unit are installed on the frame.

10. The recyclable sandblasting and rust removal robot according to claim 9, characterized in that: The walking mechanism is also equipped with an adsorption module, which can be detachably connected to the working area.

11. The recyclable sandblasting and rust removal robot according to claim 10, characterized in that: The adsorption module includes a magnetic adsorption module.

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