Automatic laser rust removal device

Abstract

The invention relates to the field of laser cleaning, and discloses an automatic laser rust removal device which comprises an opposite surrounding mechanism located on an extending suspension mechanism, a driving gear structure matched with a synchronous traction frame and a limiting sleeve frame used for forming a whole cylindrical surrounding structure for a tank body to be subjected to rust removal, and an opposite movement mechanism located on the extending suspension mechanism. And the limiting strip structure matched with the limiting sleeve frame, the semicircular frame and the built-in limiting slide way are used for driving the laser rust removal element to ascend and rotate around the tank body to be subjected to rust removal. The surrounding linkage mechanism drives the two extending suspension mechanisms to be opened and closed synchronously, the closed cylinder structure formed by the opposite surrounding mechanisms is combined, self-adaptive wrapping of tanks with different diameters is achieved, the equipment can be rapidly matched with the size change of the tanks through the modular design of the semicircular butt joint plate and the semicircular frame, and the size change of the tanks can be rapidly adjusted. The attaching derusting mechanism adopts a parallel hinging system of a long-distance abutting frame and a short-distance traction frame, and a ball is always attached to the curved surface of the tank body through the pre-pressure of a clamp spring.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and particularly to an automated laser rust removal device. Background Art

[0002] As a good storage device, oil tanks are widely used in the fields of petroleum, chemical industry, etc. After long-term use, rust will appear on the outer surface of the oil tank. If not cleaned in time, corrosion is likely to occur, thus reducing the service life of the oil tank. At present, the rust removal on the surface of the oil tank generally adopts a manual operation method, which has a large labor intensity and low work efficiency. In many cases, scaffolding needs to be erected for high-altitude operations, with high costs and potential safety hazards.

[0003] Mechanical contact methods such as sandblasting / wire brush grinding will inevitably cause damage to the tank body substrate (such as scratches and thinning on the metal surface). Repeated operations will lead to loss of the tank wall thickness, affecting the structural strength. Scaffolding + manual sandblasting requires the construction of a complex support structure, there are blind spots for operations on high tanks, and the overall construction period is time-consuming for shifting. Sandblasting generates silica dust, and chemical pickling waste liquid needs to be specially treated. For a single 50,000 m 3 rust removal of storage tanks generates about 20 tons of hazardous waste. It is difficult for manual operation to ensure a constant distance between the spray gun / grinding head and the curved surface of the tank body, resulting in uneven cleaning and the need for repeated supplementary spraying. Sandblasting cannot handle complex surfaces (such as welds, bolts), and chemical cleaning has poor compatibility with coatings (the anti-corrosion layer needs to be pre-stripped). Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides an automated laser rust removal device, which solves the problems that traditional mechanical contact rust removal methods such as sandblasting and wire brush grinding will damage the tank body substrate, cause surface scratches and wall thickness loss, and require complex support structures and manual operations, there are blind spots for operations, generate hazardous waste, and have uneven cleaning effects, cannot handle complex surfaces, and have poor compatibility with coatings.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: An automated laser rust removal device, comprising:

[0006] A side-mounted frame for fixing the structure of the automated laser rust removal device for the tank body;

[0007] A side-mounted slide rail is located on the side-mounted frame and is used to limit the rise or fall of the rust removal structure of the laser rust removal equipment;

[0008] A suspended slide table is located on the side-mounted frame and is used to suspend and drive the rust removal structure to rise or fall;

[0009] A circumferential linkage mechanism is located on the suspended slide table and is used to drive the rust removal structure to surround and wrap around the periphery of the tank body to be rust removed;

[0010] The extended suspension mechanism is located on the surrounding linkage mechanism and is used in cooperation with the relative sliding table to suspend and fix the structure surrounding the tank body.

[0011] The opposed surrounding mechanism is located on the extended suspension mechanism and is used in cooperation with the driving gear structure of the synchronous traction frame and the limit sleeve frame to form a complete cylindrical surrounding structure for the tank body to be derusted.

[0012] The opposed motion mechanism is located on the extended suspension mechanism and is used in cooperation with the limit strip structure of the limit sleeve frame, the embedded thread groove of the semi-circular docking plate, the semi-circular frame and the built-in limit slideway to drive the laser derusting element to rise and rotate around the tank body to be derusted.

[0013] The attached derusting mechanism is located on the opposed motion mechanism and is used in cooperation with the semi-circular movable frame to always adhere to the surface of the tank body to be derusted and provide a working spacing distance for the laser derusting element.

[0014] The lifting rack and the lifting gear member are located on the side-mounted frame and are used to drive the suspension sliding table to rise or fall according to the height of the tank body.

[0015] Preferably, the side-mounted slide rail is fixedly connected to one side of the side-mounted frame, the suspension sliding table is displaceably arranged on one side of the side-mounted frame through the side-mounted slide rail, the surrounding linkage mechanism is suspended and fixed on the side of the suspension sliding table away from the side-mounted frame, the extended suspension mechanism is relatively arranged at the two output parts of the surrounding linkage mechanism, there are two sets of the opposed surrounding mechanisms and they are relatively arranged on the extended suspension mechanism, there are two sets of the opposed motion mechanisms and they are relatively embedded in the two sets of opposed surrounding mechanisms, and the attached derusting mechanisms are distributed in the two sets of opposed motion mechanisms.

[0016] Preferably, the surrounding linkage mechanism includes a relative slide rail table, the relative slide rail table is fixedly suspended on the side of the suspension sliding table away from the side-mounted frame, the relative sliding table slides relatively on the side of the relative slide rail table away from the suspension sliding table, a central gear rotates at the center of the side of the relative slide rail table away from the suspension sliding table, a traction rack is fixed on the relative side of the relative sliding table, the traction rack is relatively engaged with the upper and lower tooth key ends of the central gear, and a synchronous traction frame is fixedly connected to the bottom of one side of the relative sliding table.

[0017] Preferably, the extended suspension mechanism includes an extended cross beam, the extended cross beam is fixedly connected to the relative sliding table, a longitudinal opposed longitudinal beam is fixed at the end of the extended cross beam away from the relative sliding table, the limit sleeve frames are distributed at both ends of the opposed longitudinal beam, and the limit strip structure of the limit sleeve frame is arranged at the relative top side of the limit sleeve frame.

[0018] Preferably, the opposed surrounding mechanism includes semi-circular docking plates. The semi-circular frames are fixedly installed at the bottoms of the semi-circular docking plates, and two sets of opposite semi-circular docking plates and semi-circular frames can be spliced into a cylindrical shape. Embedding sleeve structures are provided on the outer sides of the semi-circular docking plates and semi-circular frames, and they are respectively embedded and slid into the upper and lower two sets of limit sleeve frames through the embedding sleeve structures. The embedded threaded grooves of the semi-circular docking plates are arranged on the inner walls of the semi-circular docking plates. Arc-shaped rack structures are provided on the outer walls of the semi-circular docking plates, and the arc-shaped rack structures close to the synchronous traction frame are engaged on the driving gear structures of the synchronous traction frame. The built-in limit slideways are arc-shaped and distributed on the inner walls of the semi-circular frames.

[0019] Preferably, the opposed movement mechanism includes semi-circular threaded plates. The semi-circular movable frames are embedded and slid at the bottoms of the semi-circular threaded plates, and two sets of opposite semi-circular threaded plates and semi-circular movable frames can be spliced into a cylindrical shape. External threaded groove structures with arc-shaped distributions are provided on the outer sides of the semi-circular threaded plates, and they are threadedly embedded into the embedded threaded grooves of the semi-circular docking plates through threads. Card slot structures are provided on the outer sides of the semi-circular threaded plates, and they drive the limit bar structures of the limit sleeve frames to be embedded. Uniformly distributed embedding bars are provided at the outer bottom sides of the semi-circular movable frames, and the embedding bars are correspondingly embedded on the built-in limit slideways distributed in the semi-circular frames.

[0020] Preferably, the attaching and rust-removing mechanism includes built-in panels. The built-in panels are distributed and fixed on the inner walls of the semi-circular movable frames. Short-distance traction frames are rotatably installed on the built-in panels in a linear distribution. Long-distance abutment frames are rotatably connected to the built-in panels. A parallel state is formed between the long-distance abutment frames and the short-distance traction frames through a set of synchronously hinged parallel frames. The overall length of the long-distance abutment frames is greater than that of the short-distance traction frames. A set of column platforms are jointly rotatably hinged at the ends of all the short-distance traction frames away from the built-in panels, and laser heads are arranged in a straight line on the column platforms.

[0021] Preferably, the lifting rack is fixed on the side of the side-mounted frame, and the lifting gear member is arranged on the suspended slide table, and its gear end is engaged on the lifting rack.

[0022] Preferably, a hydraulic output member is provided at the bottom of the relative slide rail table, and its telescopic end is fixed on the synchronous traction frame. The driving gear structure of the synchronous traction frame is arranged on the synchronous traction frame.

[0023] Preferably, a ball structure is embedded at the end of the long-distance abutment frame away from the built-in panel, and a snap spring structure is connected between the side wall of the long-distance abutment frame and the built-in panel.

[0024] The present invention provides an automated laser rust-removing device. It has the following beneficial effects:

[0025] 1. The present invention has an omnidirectional adaptive wrapping technology: by driving two groups of extended suspension mechanisms to open and close synchronously through a surrounding linkage mechanism, combined with the closed cylindrical structure formed by the opposed surrounding mechanism, it realizes the adaptive wrapping of tanks with different diameters. The modular design of the semi-circular docking plate and the semi-circular frame enables the equipment to quickly adapt to changes in the tank size. The rust removal mechanism in contact uses a parallel hinge system of a long-distance contact frame and a short-distance traction frame, and the ball is always in contact with the tank surface through the pre-pressure of the snap ring. The laser head maintains a constant irradiation gap with the tank surface, ensuring the stability of the laser energy density and avoiding uneven cleaning caused by distance fluctuations.

[0026] 2. The present invention has the ability to cover all rust removal trajectories: the opposed motion mechanism converts rotational motion into axial feed through the engagement of the semi-circular threaded plate and the internal threaded groove, forming an upward trajectory. Compared with traditional linear scanning, it has no dead angle coverage. The drive gear of the synchronous traction frame and the arc-shaped rack form a planetary gear system to achieve the uniform rotation of the surrounding mechanism. At the same time, the semi-circular movable frame is restricted by the built-in limit slideway.

[0027] 3. The present invention has a rigid-flexible coupling structure design: the sliding fit of the limit sleeve frame and the slot structure bears the main radial load, while the embedded strip and the built-in limit slideway absorb torsional vibration and dynamic balance system. The two side extended suspension mechanisms achieve reverse synchronous movement through the central gear - traction rack, eliminating the unbalanced unilateral driving torque.

[0028] 4. The present invention has the ability of intelligent process regulation: the laser head array automatically adjusts the power gradient distribution according to the tank diameter fed back by the long-distance contact frame and adjusts the feed speed in real time to ensure the single-pass cleaning rate under different rust degrees.

[0029] 5. The present invention has the ability of modular rapid deployment: the side-mounted frame and slide rail design enable the equipment to be assembled on-site without large lifting equipment. The lifting gear-rack mechanism of the suspension slide supports continuous operation within a certain height range. Compared with sandblasting rust removal, there is no abrasive consumption and secondary pollution. The equipment design fully considers tanks of different sizes and shapes. Through adjustable mechanisms such as extended suspension mechanisms and opposed surrounding mechanisms, it can be flexibly adjusted according to the height and diameter of the tank. In particular, by adjusting the extended suspension mechanism and the opposed surrounding mechanism, the equipment can be accurately adapted to different specifications of tanks, ensuring that each rust removal work can cover the tank surface to the maximum extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional schematic diagram of the main structure of the present invention Figure 1 ;

[0031] Figure 2 is a three-dimensional schematic diagram of the main structure of the present invention Figure 2 ;

[0032] Figure 3 The main structure of the present invention is shown in three dimensions. Figure 3 ;

[0033] Figure 4 The main structure of the present invention is shown in three dimensions. Figure 4 ;

[0034] Figure 5 It is a schematic diagram of the side-mounted frame structure assembly of the present invention;

[0035] Figure 6 It is a schematic diagram of the structure combination of the surrounding linkage mechanism of the present invention;

[0036] Figure 7 It is a schematic diagram of the combination of the surrounding linkage mechanism and the extended suspension mechanism of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the surrounding linkage mechanism of the present invention;

[0038] Figure 9 It is a schematic diagram of the combination of the extension suspension mechanism and the opposing surrounding mechanism of the present invention;

[0039] Figure 10 It is a schematic diagram of the combination of the opposed enclosing mechanism and the opposed moving mechanism of the present invention;

[0040] Figure 11 The schematic diagram of the combination of the opposing motion mechanism and the attached rust removal mechanism of the present invention is shown in FIG. Figure 1 ;

[0041] Figure 12 The schematic diagram of the combination of the opposing motion mechanism and the attached rust removal mechanism of the present invention is shown in FIG. Figure 2 ;

[0042] Figure 13 It is a schematic diagram of the structure of the attachment rust removal mechanism of the present invention.

[0043] Among them, 1. Side frame; 2. Side slide rail; 3. Suspension slide; 4. Surrounding linkage mechanism; 5. Extended suspension mechanism; 6. Opposed encirclement mechanism; 7. Opposed motion mechanism; 8. Attached rust removal mechanism; 9. Lifting rack; 10. Lifting gear member; 41. Relative slide rail platform; 42. Relative slide platform; 43. Center gear; 44. Traction rack; 45. Synchronous traction frame; 51. Extended crossbeam; 52. Opposed longitudinal beam; 53. Limiting sleeve; 61. Semicircular docking plate; 62. Semicircular frame; 63. Built-in limiting slide; 71. Semicircular threaded plate; 72. Semicircular movable frame; 73. Embedded strip; 81. Built-in panel; 82. Short-distance traction frame; 83. Long-distance conflict frame; 84. Synchronous parallel frame; 85. Arrangement table. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] Please refer to the appended Figure 1 - appended Figure 4, an embodiment of the present invention provides an automated laser rust removal device, including: a side-mounted frame 1 for fixing the structure of the automated laser rust removal device for the tank body; a side-mounted slide rail 2 located on the side-mounted frame 1 for restricting the rise or fall of the rust removal structure of the laser rust removal equipment; a suspended slide 3 located on the side-mounted frame 1 for suspending and driving the rust removal structure to rise or fall; a lifting rack 9 and a lifting gear member 10 located on the side-mounted frame 1 for driving the suspended slide 3 to rise or fall according to the height of the tank body. The side-mounted slide rail 2 is fixedly connected to one side of the side-mounted frame 1, and the suspended slide 3 is displaceably arranged on one side of the side-mounted frame 1 through the side-mounted slide rail 2. The circumferential linkage mechanism 4 is suspended and fixed on the side of the suspended slide 3 away from the side-mounted frame 1. The extended suspension mechanism 5 is relatively arranged on the two output parts of the circumferential linkage mechanism 4. There are two sets of opposing surrounding mechanisms 6 and they are relatively arranged on the extended suspension mechanism 5. There are two sets of opposing motion mechanisms 7 and they are relatively embedded in the two sets of opposing surrounding mechanisms 6. The attached rust removal mechanism 8 is distributed in the two sets of opposing motion mechanisms 7. The lifting rack 9 is fixed on the side part of the side-mounted frame 1, and the lifting gear member 10 is arranged on the suspended slide 3, and its gear end meshes with the lifting rack 9. First, this equipment mainly uses the laser cleaning method to remove the rust on the outer surface of the vertical tank body. The overall equipment is installed and arranged through the side-mounted frame 1. By moving the side-mounted frame 1 to the area of the tank body to be rust-removed and approaching the tank body at the same time, the main working laser rust removal structure of the equipment, including the circumferential linkage mechanism 4, the extended suspension mechanism 5, the opposing surrounding mechanism 6, the opposing motion mechanism 7 and the attached rust removal mechanism 8, is displaceably installed on the side-mounted frame 1 along the side-mounted slide rail 2 installed on the side-mounted frame 1 through the suspended slide 3. By opening the lifting gear member 10 installed on the suspended slide 3, the gear structure of the lifting gear member 10 can be displaced on the lifting rack 9 installed on the side part of the side-mounted frame 1, driving the suspended slide 3 to drive the circumferential linkage mechanism 4 to rise or fall according to the height of the tank body. The circumferential linkage mechanism 4 can drive the two sets of extended suspension mechanisms 5 installed on the output part to move inwards or outwards synchronously at the same time, driving the opposing surrounding mechanisms 6 installed on the two sets of extended suspension mechanisms 5 to approach or move away from each other. After the opposing surrounding mechanisms 6 installed on the two sets of extended suspension mechanisms 5 are closed by approaching each other, a cylindrical member can be formed. The two sets of opposing motion mechanisms 7 respectively installed in the corresponding opposing surrounding mechanisms 6 also form a cylindrical member by approaching each other and surround the tank body to be rust-removed. At the same time, it drives the opposing surrounding mechanism 6 to rotate along the extended suspension mechanism 5 and drives the opposing motion mechanism 7 to rise and rotate at the same time. After the multiple sets of attached rust removal mechanisms 8 installed in the opposing motion mechanism 7 approach each other, they form a circumferential distribution state and adhere to the tank body. The rise and rotation of the opposing motion mechanism 7 will drive the attached rust removal mechanism 8 to displace circumferentially along the outer surface of the tank body and gradually rise, so as to completely remove the rust on the surface of the tank body.

[0046] Please refer to the appendixFigure 1 - Attachment Figure 8 , the circumferential linkage mechanism 4 is located on the suspension slide 3 and is used to drive the rust removal structure to surround and wrap around the outer periphery of the tank to be rust removed. The circumferential linkage mechanism 4 includes a relative slide rail table 41, and the relative slide rail table 41 is fixedly suspended on the side of the suspension slide 3 away from the side-mounted frame 1. The relative slide table 42 slides relatively on the side of the relative slide rail table 41 away from the suspension slide 3. A central gear 43 is rotatably provided at the center of the side of the relative slide rail table 41 away from the suspension slide 3. A traction rack 44 is fixedly provided on the opposite side of the relative slide table 42. The traction rack 44 is relatively engaged with the upper and lower tooth key ends of the central gear 43. A synchronous traction frame 45 is fixedly connected to the bottom of one side of the relative slide table 42. A hydraulic output member is provided at the bottom of the relative slide rail table 41, and its telescopic end is fixed on the synchronous traction frame 45. The driving gear structure of the synchronous traction frame 45 is provided on the synchronous traction frame 45. First, the relative slide rail table 41 included in the circumferential linkage mechanism 4 is installed on the suspension slide 3 and moves up and down along the side-mounted slide rail 2 following the suspension slide 3. The relative slide tables 42 distributed on both sides of the relative slide rail table 41 are respectively provided with a set of extended suspension mechanisms 5. The traction racks 44 respectively installed on the two relative slide tables 42 are engaged with both ends of the central gear 43 in the middle of the relative slide rail table 41. When the hydraulic driving member installed on the relative slide rail table 41 drives the synchronous traction frame 45 fixed to one side of the relative slide table 42 and the relative slide table 42 to move along the relative slide rail table 41, the corresponding traction rack 44 will move accordingly, and at the same time drive the central gear 43 to rotate. The traction rack 44 configured on the other relative slide table 42 simultaneously follows the rotation of the central gear 43 and drives the relative slide table 42 to move along the relative slide rail table 41, and drives the two relative slide tables 42 to move inward simultaneously, driving the extended suspension mechanisms 5 respectively installed on them to converge from both sides of the tank to the tank. The driving gear structure installed on the synchronous traction frame 45 can drive the opposed surrounding mechanism 6 installed by the extended suspension mechanism 5 to rotate.

[0047] Please refer to the attachment Figure 1 - Attachment Figure 7, the extension suspension mechanism 5 is located on the surrounding linkage mechanism 4 and cooperates with the relative sliding table 42 to suspend and fix the structure surrounding the tank body. The extension suspension mechanism 5 includes an extension cross beam 51, the extension cross beam 51 is fixedly connected to the relative sliding table 42, and a longitudinal opposed longitudinal beam 52 is fixed at one end of the extension cross beam 51 away from the relative sliding table 42. The limit sleeve frames 53 are distributed at both ends of the opposed longitudinal beam 52. The limit strip structure of the limit sleeve frame 53 is arranged at the top of the relative side of the limit sleeve frame 53. The extension cross beam 51 included in the extension suspension mechanism 5 is suspended and fixed on the relative slide rail table 41. The opposed longitudinal beam 52 added to the outer side thereof and the limit sleeve frames 53 added to both ends of the opposed longitudinal beam 52 can drive the opposed surrounding mechanism 6 and the opposed motion mechanism 7 to extend to both sides of the tank body. The limit sleeve frames 53 included in the two groups of extension suspension mechanisms 5 drive the fixed opposed surrounding mechanisms 6 to approach, and drive the two groups of opposed surrounding mechanisms 6 to merge into a cylindrical shape and wrap the tank body to be derusted. At the same time, it can drive the merged two groups of opposed surrounding mechanisms 6 to rotate circumferentially along the limit sleeve frames 53 on both sides,

[0048] Please refer to the appendix Figure 1 - appendix Figure 10 , the opposed surrounding mechanism 6 is located on the extension suspension mechanism 5 and cooperates with the drive gear structure of the synchronous traction frame 45 and the limit sleeve frame 53 to form a complete cylindrical surrounding structure for the tank body to be derusted. The opposed surrounding mechanism 6 includes a semi-circular docking plate 61, and a semi-circular frame 62 is fixedly installed at the bottom of the semi-circular docking plate 61. The two sets of opposite semi-circular docking plates 61 and semi-circular frames 62 can be spliced into a cylindrical shape. Embedding sleeve structures are provided on the outer sides of the semi-circular docking plate 61 and the semi-circular frame 62, and they are respectively slid into the upper and lower two limit sleeve frames 53 through the embedding sleeve structures. The embedded thread groove of the semi-circular docking plate 61 is arranged on the inner wall of the semi-circular docking plate 61. An arc-shaped rack structure is provided on the outer wall of the semi-circular docking plate 61. The arc-shaped rack structure close to the synchronous traction frame 45 meshes with the drive gear structure of the synchronous traction frame 45. The built-in limit slideway 63 is arc-shaped and distributed on the inner wall of the semi-circular frame 62. The semi-circular docking plate 61 included in the opposed surrounding mechanism 6 and the semi-circular frame 62 fixed at the bottom are combined into a semi-circular component. The semi-circular docking plates 61 and semi-circular frames 62 included in the two groups of opposed surrounding mechanisms 6 can be combined with each other to form a complete cylindrical surrounding structure. The embedded thread groove added to the inner wall of the semi-circular docking plate 61 is docked with the opposed motion mechanism 7 embedded and installed in the opposed surrounding mechanism 6. The arc-shaped rack structure added to the outer side of the semi-circular docking plate 61 can form a complete circular tooth ring structure after merging, and can be driven to rotate by the drive gear structure added on the synchronous traction frame 45, and at the same time drive the semi-circular docking plate 61 and the semi-circular frame 62 to rotate along the limit sleeve frame 53. The built-in limit slideway 63 with an arc-shaped distribution on the inner side of the semi-circular frame 62 is also docked with the opposed motion mechanism 7 in the opposed surrounding mechanism 6.

[0049] Please refer to the appendix Figure 1-Appendix Figure 12 , the opposed motion mechanism 7 is located on the extended suspension mechanism 5. Cooperating with the limiting strip structure of the limiting sleeve frame 53, the embedded threaded groove of the semi-circular docking plate 61, the semi-circular frame 62 and the built-in limiting slideway 63 are used to drive the laser rust removal element to rise and rotate around the tank body to be rust-removed. The opposed motion mechanism 7 includes a semi-circular threaded plate 71. The semi-circular movable frame 72 is embedded and slid at the bottom of the semi-circular threaded plate 71, and the two sets of opposite semi-circular threaded plates 71 and semi-circular movable frames 72 can be spliced into a cylindrical shape. The outer side of the semi-circular threaded plate 71 is provided with an externally threaded groove structure distributed in an arc shape and is threadedly embedded into the embedded threaded groove of the semi-circular docking plate 61. The outer side of the semi-circular threaded plate 71 is provided with a card slot structure and drives the limiting strip structure of the limiting sleeve frame 53 to be embedded. The bottom of the outer side of the semi-circular movable frame 72 is provided with evenly distributed embedding strips 73, and the embedding strips 73 are correspondingly embedded on the built-in limiting slideway 63 distributed in the semi-circular frame 62. The semi-circular threaded plate 71 and the semi-circular movable frame 72 fixed at the bottom included in the opposed motion mechanism 7 are combined into a semi-circular component and are correspondingly embedded in the semi-circular docking plate 61 and the semi-circular frame 62 included in a set of opposed surrounding mechanisms 6. The semi-circular threaded plates 71 and the semi-circular movable frames 72 included in the two sets of opposed motion mechanisms 7 can be combined with each other to form a whole cylindrical surrounding structure. At the same time, the combined semi-circular movable frames 72 can rotate along the bottom of the semi-circular threaded plate 71. The semi-circular threaded plate 71 fits with the embedded threaded groove of the semi-circular docking plate 61 through the threaded structure provided on the outer side, and the card slot structure installed on the outer side of the semi-circular threaded plate 71 fits with the limiting strip structure of the limiting sleeve frame 53. When the semi-circular frame 62 rotates along the limiting sleeve frame 53, the semi-circular threaded plate 71 will be displaced up and down along the limiting strip structure of the limiting sleeve frame 53 under the traction of the embedded threaded groove of the semi-circular frame 62. The semi-circular movable frame 72 is embedded and docked with the built-in limiting slideway 63 installed on the inner side of the semi-circular frame 62 through the embedding strips 73 installed on the outer side. When the semi-circular frame 62 rotates following the semi-circular docking plate 61, the semi-circular movable frame 72 will rotate along the bottom of the semi-circular threaded plate 71 under the traction of the embedding strips 73 and the built-in limiting slideway 63, and at the same time drive the attached rust removal mechanism 8 distributed in a circular pattern on the inner circumference of the semi-circular movable frame 72 to continuously rotate and rise and fall along the surface of the tank body to be rust-removed. The rust on the surface of the tank body is comprehensively removed by multiple groups of attached rust removal mechanisms 8 that rotate and rise and fall around the surface of the tank body.

[0050] Please refer to Appendix Figure 1 -Appendix Figure 13The rust removal attachment mechanism 8 is located on the opposed motion mechanism 7, and cooperates with the semicircular movable frame 72 to always be attached to the surface of the tank to be rusted, and provides a working interval distance for the laser rust removal element. The rust removal attachment mechanism 8 includes a built-in panel 81, and the built-in panel 81 is distributed and fixed on the inner wall of the semicircular movable frame 72. A linearly distributed short-distance traction frame 82 is rotatably installed on the built-in panel 81, and a long-distance resistance frame 83 is rotatably connected to the built-in panel 81. The long-distance resistance frame 83 and the short-distance traction frame 82 are parallel through a group of commonly hinged synchronous parallel frames 84. The long-distance resistance frame 83 is integrally connected to the inner wall of the semicircular movable frame 72. The length of the tank body is greater than the short-distance traction frame 82. The ends of all the short-distance traction frames 82 away from the built-in panel 81 are jointly rotated and hinged to a set of array platforms 85. The array platforms 85 are provided with laser heads distributed in a straight line. The ends of the long-distance abutment frames 83 away from the built-in panel 81 are embedded with a ball structure. A spring structure is connected between the side wall of the long-distance abutment frame 83 and the built-in panel 81. The attached rust removal mechanism 8 is distributed on two sets of opposing motion mechanisms 7 and is installed in the semicircular movable frame 72 in the form of arc distribution. When the two sets of opposing motion mechanisms 7 are combined around the tank body, the built-in panels 81 distributed on both sides will be distributed in a circular manner. The inner panel 81 is provided with a plurality of short-distance traction frames 82 and a group of long-distance abutment frames 83, which are installed on the inner panel 81, and are synchronously and parallelly deployed through mutually hinged synchronous parallel frames 84. The long-distance abutment frames 83, which are longer than the short-distance traction frames 82, will abut against the side wall of the tank in advance, and rotate along the inner panel 81 according to the outer diameter of the tank, and drive the plurality of short-distance traction frames 82 to rotate at the same time through the synchronous parallel frames 84, and keep them parallel. The array platform 85 installed on the outer end of the short-distance traction frames 82 also approaches the surface of the tank, and is extended by the long-distance abutment frames 83. The degree of limitation always forms a laser irradiation gap with the surface of the tank body, and the spring structure connected between the long-distance contact frame 83 and the built-in panel 81 will drive the long-distance contact frame 83 to always fit on the tank body through the rebound force, and can be expanded or contracted according to the different diameters of the tank body. When the opposing surrounding mechanism 6 drives the opposing moving mechanism 7 to rotate, the ball structure installed on the outer end of the long-distance contact frame 83 will move along the surface of the stationary tank body, and at the same time drive the laser heads distributed in series on the array table 85 to rotate and rise and fall along the periphery of the tank body, so as to achieve the full coverage of the tank body surface. Automatic rust removal capability.

[0051] Working principle: First, the device mainly uses laser cleaning to remove rust on the outer surface of the vertical tank. The overall device is installed and arranged through the side-mounted rack 1. It can move the side-mounted rack 1 to the tank area to be derusted and approach the tank at the same time. The main working laser rust-removing structure of the device includes a surrounding linkage mechanism 4, an extended suspension mechanism 5, an opposing enclosure mechanism 6, an opposing movement mechanism 7, and an attached rust-removing mechanism 8. They are installed on the side-mounted rack 1 by displacement along the side-mounted slide rail 2 installed on the side-mounted rack 1 through the suspension slide 3. By turning on the lifting gear component 10 installed on the suspension slide 3, the gear structure of the lifting gear component 10 can move on the lifting rack 9 installed on the side of the side-mounted rack 1, driving the suspension slide 3 to drive the surrounding linkage mechanism 4 to move up or down according to the height of the tank. The surrounding linkage mechanism 4 can drive the two groups of extended suspension mechanisms 5 installed on the output part to move inward or outward synchronously at the same time, driving the opposing enclosure mechanisms 6 installed on the two extended suspension mechanisms 5 to approach or move away from each other. After the opposing enclosure mechanisms 6 installed on the two extended suspension mechanisms 5 are closed together, they can form a cylindrical member. The two opposing movement mechanisms 7 installed in the corresponding opposing enclosure mechanisms 6 also form a cylindrical member by approaching and surround the tank to be derusted. At the same time, it drives the opposing enclosure mechanism 6 to rotate along the extended suspension mechanism 5 and drives the opposing movement mechanism 7 to rise and rotate at the same time. After the multiple groups of attached rust-removing mechanisms 8 installed in the opposing movement mechanism 7 approach each other, they form a circumferential distribution state and attach to the tank. The rising and rotation of the opposing movement mechanism 7 will drive the attached rust-removing mechanism 8 to move circumferentially along the outer surface of the tank and gradually rise, so as to completely remove the rust on the tank surface. First, the relative slide rail platform 41 included in the surrounding linkage mechanism 4 is installed on the suspension slide 3 and moves up and down along the side-mounted slide rail 2 following the suspension slide 3. A set of extended suspension mechanisms 5 are correspondingly installed on the relative slide platforms 42 distributed on both sides of the relative slide rail platform 41. The traction racks 44 installed on the two relative slide platforms 42 are respectively engaged at both ends of the central gear 43 in the middle of the relative slide rail platform 41. When the hydraulic driving part installed on the relative slide rail platform 41 drives the synchronous traction frame 45 fixed to one side of the relative slide platform 42 and this relative slide platform 42 to move along the relative slide rail platform 41, the corresponding traction rack 44 will move along with it and drive the central gear 43 to rotate at the same time. The traction rack 44 configured on the other relative slide platform 42 will follow the rotation of the central gear 43 to drive this relative slide platform 42 to move along the relative slide rail platform 41 and drive the two relative slide platforms 42 to move inward at the same time, driving the extended suspension mechanisms 5 installed on them to gather from both sides of the tank to the tank. The driving gear structure installed on the synchronous traction frame 45 can drive the opposing enclosure mechanism 6 installed on the extended suspension mechanism 5 to rotate. The extended cross beam 51 included in the extended suspension mechanism 5 is suspended and fixed on the relative slide rail platform 41,The opposed longitudinal beams 52 installed at its outer ends and the limit sleeve frames 53 installed at both ends of the opposed longitudinal beams 52 can drive the opposed enclosure mechanism 6 and the opposed motion mechanism 7 to extend to both sides of the tank body. The limit sleeve frames 53 included in the two sets of extended suspension mechanisms 5 drive the fixed opposed enclosure mechanisms 6 to approach each other, and drive the two sets of opposed enclosure mechanisms 6 to merge into a cylindrical shape and wrap the tank body to be derusted. At the same time, it can drive the merged two sets of opposed enclosure mechanisms 6 to rotate circumferentially along the limit sleeve frames 53 on both sides. The semi-circular docking plates 61 included in the opposed enclosure mechanism 6 and the semi-circular frames 62 fixed at the bottom are combined into a semi-circular component. The semi-circular docking plates 61 and the semi-circular frames 62 included in the two sets of opposed enclosure mechanisms 6 can be combined with each other to form a complete cylindrical surrounding structure. The embedded thread grooves installed on the inner wall of the semi-circular docking plate 61 are docked with the opposed motion mechanism 7 embedded and installed in the opposed enclosure mechanism 6. The arc-shaped rack structures installed on the outer side of the semi-circular docking plate 61 can form a complete circular tooth ring structure after merging, and can be driven to rotate by the drive gear structure installed on the synchronous traction frame 45, and at the same time drive the semi-circular docking plate 61 and the semi-circular frame 62 to rotate along the limit sleeve frame 53. The built-in limit slideways 63 distributed in an arc on the inner side of the semi-circular frame 62 are also docked with the opposed motion mechanism 7 in the opposed enclosure mechanism 6. The semi-circular thread plates 71 included in the opposed motion mechanism 7 and the semi-circular movable frames 72 fixed at the bottom are combined into a semi-circular component, and are correspondingly embedded in the semi-circular docking plates 61 and the semi-circular frames 62 included in a set of opposed enclosure mechanisms 6. The semi-circular thread plates 71 and the semi-circular movable frames 72 included in the two sets of opposed motion mechanisms 7 can be combined with each other to form a complete cylindrical surrounding structure. At the same time, the semi-circular movable frames 72 can rotate along the bottom of the semi-circular thread plates 71 after merging. The semi-circular thread plates 71 are engaged with the embedded thread grooves of the semi-circular docking plates 61 through the thread structures arranged on the outer side, and the groove structures installed on the outer side of the semi-circular thread plates 71 are engaged with the limit bar structures of the limit sleeve frames 53. When the semi-circular frame 62 rotates along the limit sleeve frame 53, the semi-circular thread plate 71 will be displaced up and down along the limit bar structure of the limit sleeve frame 53 under the traction of the embedded thread groove of the semi-circular frame 62. The semi-circular movable frame 72 is embedded and docked with the built-in limit slideway 63 installed on the inner side of the semi-circular frame 62 through the embedded strip 73 installed on the outer side. When the semi-circular frame 62 rotates following the semi-circular docking plate 61, the semi-circular movable frame 72 will rotate along the bottom of the semi-circular thread plate 71 under the traction of the embedded strip 73 and the built-in limit slideway 63, and at the same time drive the rust-removing mechanism 8 distributed circumferentially on the inner side of the semi-circular movable frame 72 to continuously rotate and rise and fall along the surface of the tank body to be derusted. The rust-removing mechanism 8 is distributed on the two sets of opposed motion mechanisms 7 and is installed in the semi-circular movable frame 72 in an arc distribution form. When the two sets of opposed motion mechanisms 7 merge around the tank body, the built-in embedded plates 81 distributed on both sides will surround the outer wall of the tank body in a circumferential distribution form,The multiple groups of short-distance traction frames 82 and a group of long-distance abutment frames 83 installed on the built-in panel 81 will be synchronously and parallelly deployed through mutually hinged synchronous parallel frames 84, and the long-distance abutment frames 83, which are longer than the short-distance traction frames 82, will abut against the side wall of the tank body in advance, and rotate along the built-in panel 81 according to the outer diameter of the tank body, and drive the multiple groups of short-distance traction frames 82 to rotate simultaneously through the synchronous parallel frames 84, and keep them parallel, and the array platform 85 installed on the outer end of the short-distance traction frames 82 will also approach the surface of the tank body, and through the length limit of the long-distance abutment frames 83, always The laser irradiation gap is formed with the surface of the tank body, and the spring structure connected between the long-distance contact frame 83 and the built-in panel 81 will drive the long-distance contact frame 83 to always fit on the tank body through the rebound force, and can be expanded or contracted according to the different diameters of the tank body. When the opposing surrounding mechanism 6 drives the opposing motion mechanism 7 to rotate, the ball structure installed on the outer end of the long-distance contact frame 83 will move along the surface of the static tank body, and at the same time drive the laser heads distributed in series on the array platform 85 to rotate and rise and fall along the outer periphery of the tank body, so as to achieve the full coverage of the tank body surface. Automatic rust removal capability.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated laser rust removal device, characterized in that, Comprising: A side-mounted frame (1) for fixing the structure of an automatic laser rust removal device for a tank body; A side-mounted slide rail (2) is located on the side-mounted frame (1) and is used to limit the upward or downward movement of the rust removal structure of the laser rust removal equipment; A suspended slide table (3) is located on the side-mounted frame (1) and is used to suspend and drive the rust removal structure to move upward or downward; A circumferential linkage mechanism (4) is located on the suspended slide table (3) and is used to drive the rust removal structure to surround and wrap around the outer periphery of the tank body to be rust removed; An extended suspension mechanism (5) is located on the circumferential linkage mechanism (4) and is used to cooperate with the relative slide table (42) to suspend and fix the structure surrounding the tank body; An opposed enclosing mechanism (6) is located on the extended suspension mechanism (5) and is used to cooperate with the drive gear structure of the synchronous traction frame (45) and the limit sleeve frame (53) to form a complete cylindrical surrounding structure for the tank body to be rust removed; An opposed movement mechanism (7) is located on the extended suspension mechanism (5) and is used to cooperate with the limit bar structure of the limit sleeve frame (53), the internal threaded groove of the semi-circular docking plate (61), the semi-circular frame (62) and the internal limit slideway (63) to drive the laser rust removal element to rise and rotate around the tank body to be rust removed; An attached rust removal mechanism (8) is located on the opposed movement mechanism (7) and is used to cooperate with the semi-circular movable frame (72) to always adhere to the surface of the tank body to be rust removed and provide a working spacing distance for the laser rust removal element; A lifting rack (9) and a lifting gear member (10) are located on the side-mounted frame (1) and are used to drive the suspended slide table (3) to rise or fall according to the height of the tank body.

2. The automated laser rust removal device according to claim 1, characterized in that, The side-mounted slide rail (2) is fixedly connected to one side of the side-mounted frame (1), the suspended slide table (3) is displaceably arranged on one side of the side-mounted frame (1) through the side-mounted slide rail (2), the circumferential linkage mechanism (4) is suspended and fixed on the side of the suspended slide table (3) away from the side-mounted frame (1), the extended suspension mechanism (5) is relatively arranged at the two output parts of the circumferential linkage mechanism (4), the opposed enclosing mechanism (6) is two sets and is relatively arranged on the extended suspension mechanism (5), the opposed movement mechanism (7) is two sets and is relatively embedded in the two sets of opposed enclosing mechanisms (6), and the attached rust removal mechanism (8) is distributed in the two sets of opposed movement mechanisms (7).

3. An automated laser rust removal device according to claim 1, characterized in that, The circumferential linkage mechanism (4) includes a relative slide rail table (41), the relative slide rail table (41) is fixedly suspended on the side of the suspended slide table (3) away from the side-mounted frame (1), the relative slide table (42) slides relatively on the side of the relative slide rail table (41) away from the suspended slide table (3), a central gear (43) is rotatably arranged at the center of the side of the relative slide rail table (41) away from the suspended slide table (3), a traction rack (44) is fixedly arranged on the relative side of the relative slide table (42), the traction rack (44) is relatively engaged with the upper and lower tooth key ends of the central gear (43), and a synchronous traction frame (45) is fixedly connected to the bottom of one side of the relative slide table (42).

4. An automated laser rust removal device according to claim 1, characterized in that, The extension suspension mechanism (5) comprises an extension crossbeam (51), the extension crossbeam (51) is fixedly connected to the relative slide (42), a longitudinally arranged opposite longitudinal beam (52) is fixed to one end of the extension crossbeam (51) away from the relative slide (42), the limiting sleeve (53) is distributed at both ends of the opposite longitudinal beam (52), and the limiting strip structure of the limiting sleeve (53) is arranged at the top of the opposite side of the limiting sleeve (53).

5. An automated laser rust removal device according to claim 1, characterized in that, The opposed enclosing mechanism (6) comprises a semicircular docking plate (61), the semicircular frame (62) is fixedly mounted on the bottom of the semicircular docking plate (61), and the two sets of opposite semicircular docking plates (61) and the semicircular frame (62) can be spliced into a cylindrical shape, the outer sides of the semicircular docking plate (61) and the semicircular frame (62) are provided with an embedded sleeve structure, and are respectively embedded and slid into the upper and lower sets of limiting sleeve frames (53) through the embedded sleeve structure, the embedded thread groove of the semicircular docking plate (61) is arranged on the inner wall of the semicircular docking plate (61), the outer wall of the semicircular docking plate (61) is provided with an arc-shaped rack structure, the arc-shaped rack structure close to the synchronous traction frame (45) is meshed with the driving gear structure of the synchronous traction frame (45), and the built-in limiting slideway (63) is arranged in an arc-shaped distribution on the inner wall of the semicircular frame (62).

6. An automated laser rust removal device according to claim 1, characterized in that, The opposed motion mechanism (7) comprises a semicircular threaded plate (71), the semicircular movable frame (72) is embedded and slidably disposed at the bottom of the semicircular threaded plate (71), and the two sets of opposite semicircular threaded plates (71) and the semicircular movable frame (72) can be spliced into a cylindrical shape, the outer side of the semicircular threaded plate (71) is provided with an external thread groove structure distributed in an arc line, and is embedded into the internal thread groove of the semicircular docking plate (61) through a thread, the outer side of the semicircular threaded plate (71) is provided with a slot structure, and drives the limiting strip structure of the limiting sleeve (53) to be embedded, and the outer bottom of the semicircular movable frame (72) is provided with evenly distributed embedding strips (73), and the embedding strips (73) are correspondingly embedded into the internal limiting slideways (63) distributed in the semicircular frame (62).

7. An automated laser rust removal device according to claim 1, wherein, The attached rust removal mechanism (8) comprises a built-in panel (81), the built-in panel (81) is distributed and fixed on the inner wall of the semicircular movable frame (72), a linearly distributed short-distance traction frame (82) is rotatably mounted on the built-in panel (81), a long-distance abutment frame (83) is rotatably connected to the built-in panel (81), the long-distance abutment frame (83) and the short-distance traction frame (82) are parallel to each other through a group of commonly hinged synchronous parallel frames (84), the overall length of the long-distance abutment frame (83) is greater than that of the short-distance traction frame (82), and one end of all the short-distance traction frames (82) away from the built-in panel (81) is commonly rotatably hinged to a group of array platforms (85), and the array platforms (85) are provided with laser heads distributed in a straight line.

8. An automated laser rust removal device according to claim 1, characterized in that, The lifting rack (9) is fixed to the side of the side frame (1), and the lifting gear component (10) is arranged on the suspension slide (3), and its gear end is meshed with the lifting rack (9).

9. An automated laser rust removal device according to claim 3, characterized in that, The bottom of the relative sliding rail table (41) is provided with a hydraulic output member, and its telescopic end is fixed on the synchronous traction frame (45). The driving gear structure of the synchronous traction frame (45) is arranged on the synchronous traction frame (45).

10. An automated laser rust removal device according to claim 7, characterized in that, One end of the long-distance contact frame (83) away from the built-in panel (81) is embedded with a ball structure, and a circlip structure is connected between the side wall of the long-distance contact frame (83) and the built-in panel (81).

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