Automatic gate derusting machine and derusting method thereof

Abstract

The invention provides an automatic gate derusting machine which comprises a plurality of lifting mechanisms arranged on a gate, the lifting mechanisms are connected with a movable frame, and the movable frame is located on the side face of the gate; a guide rod is arranged in the movable frame and provided with one or more rust removal arms, and the rust removal arms are provided with rust removal heads. Wherein the lifting mechanism is used for driving the movable frame to lift, and the derusting head is used for derusting. Large equipment such as an aerial work platform or a bridge detection vehicle does not need to be used, the cost is saved, and the rust removal difficulty is reduced; a worker does not need to go to a station for short-distance rust removal work, so that the safety is higher; and different rust removal requirements are met, dead-corner-free rust removal work can be conveniently conducted on the gate, and the rust removal quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of gate rust removal, and particularly relates to a gate automatic rust removal machine and a rust removal method thereof. Background Art

[0002] A ship lock is a box-shaped hydraulic structure used to ensure the smooth passage of ships and concentrate the water level drop on the waterway. For example, the double-line continuous five-step ship lock of the Three Gorges is the main navigation facility of the Three Gorges Project; generally, multiple gates are provided in the ship lock for coordinated use, and the gates are coated with a protective coating to ensure the long-term stable use of the gates. For example, the double-line five-step ship lock of the Three Gorges has been operating safely and stably for nearly 20 years; However, after long-term use of metal structure equipment such as the gates of the ship lock, the surface coating will gradually approach the designed protection life, so rust removal treatment is required; The commonly used existing rust removal method is generally to use an aerial work platform or a bridge inspection vehicle to send workers to the position where the gate needs to be rust removed, and then the workers perform rust removal operations through rust removal tools; However, in the actual rust removal operation process, it is not convenient to fix and work the aerial work platform or the bridge inspection vehicle near the gate, making the rust removal difficult, and the manual rust removal operation is inconvenient and has low efficiency; moreover, the surface of the ship lock is not a smooth design, but a single-sided grille design, that is, multiple slots (grille inner holes) are opened on one side to form a shape similar to a grille, which saves costs but increases the rust removal difficulty. Summary of the Invention

[0003] The main purpose of the present invention is to provide a gate automatic rust removal machine and a rust removal method thereof, so as to solve the problems of great difficulty and low efficiency in rust removal of the gate by the existing rust removal methods.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is: A gate automatic rust removal machine includes a plurality of lifting mechanisms arranged on the gate, the lifting mechanisms are connected with a movable frame, and the movable frame is located on the side of the gate; A guide rod is arranged in the movable frame, one or more rust removal arms are arranged on the guide rod, and a rust removal head is arranged on the rust removal arm; Wherein, the lifting mechanism is used to drive the movable frame to lift, and the rust removal head is used for rust removal.

[0005] In a preferred solution, the lifting mechanism includes a support frame connected to the gate, the support frame is provided with two support plates, the support frame is provided with a first motor, and the output shaft of the first motor is provided with a main roller, and the main roller is located between the two support plates; Two auxiliary rollers are arranged on the support frame, and the two auxiliary rollers are located on both sides of the main roller; A pulling rope is arranged on the main roller, and the pulling rope passes above the auxiliary roller; One end of the pull rope is connected to the movable frame, and the other end is connected to the counterweight.

[0006] In a preferred embodiment, an actuating mechanism is provided between the guide rod and the rust removal arm for driving the rust removal arm to move along the guide rod; Among them, the actuating mechanism includes a first guide rail, a second guide rail and a rack connected to the guide rod. The second guide rail is provided with a vertical plate, the first guide rail is provided with a horizontal plate, the horizontal plate is fixedly connected to the vertical plate, and the rust removal arm is connected to the vertical plate; The vertical plate is provided with a second motor, the output shaft of the second motor is provided with a gear, and the gear meshes with the rack.

[0007] In a preferred embodiment, the rust removal arm includes a fixed shell. An activity cavity is arranged inside the fixed shell, and an activity arm is slidably connected inside the activity cavity; the activity arm extends out from one end of the fixed shell and is connected to the rust removal head; A positioning sleeve is arranged at one end of the fixed shell, and the activity arm passes through the positioning sleeve; A groove is arranged at the top end of the activity arm, a positioning block is arranged inside the fixed shell, and the positioning block is slidably arranged inside the groove; A fixed block is arranged at one end of the activity arm far away from the rust removal head. A third motor is arranged inside the fixed shell, the output shaft of the third motor is provided with a threaded rod, the threaded rod passes through the fixed block, and the threaded rod is in threaded connection with the fixed block; The fixed shell is provided with a wire passing hole, a through hole is reserved inside the activity arm, and the connection line of the rust removal head passes through the through hole and then passes out through the wire passing hole; The device externally connected by the rust removal head through the connection line is arranged on the top of the movable frame or the top of the gate.

[0008] In a preferred embodiment, a first fixing disk is arranged at the end of the activity arm. A rotating sleeve is rotatably connected to the first fixing disk. A fixed shaft is arranged on one side of the rotating sleeve close to the first fixing disk. A first bearing is arranged between the fixed shaft and the first fixing disk; a fourth motor is arranged inside the rotating sleeve, and the output shaft of the fourth motor is fixedly connected to the first fixing disk; A fifth motor is arranged inside the rotating sleeve. A second fixing disk is arranged on the side of the rotating sleeve. The output shaft of the fifth motor passes through the second fixing disk and is fixedly connected to a mounting seat. The mounting seat is rotatably connected to the second fixing disk. A second bearing is arranged between the mounting seat and the second fixing disk; The mounting seat is used for connecting the rust removal head.

[0009] In a preferred embodiment, the mounting seat includes a fixed seat rotatably connected to the second fixing disk, and the fixed seat is fixedly connected to the output shaft of the fifth motor; A plug-in block is arranged at the top end of the fixed seat. An installation groove is arranged on the inner wall of the fixed seat. The installation groove is an L-shaped groove. A limiting block is arranged on the side of the plug-in block, and the limiting block is slidably arranged inside the installation groove; A magnet is arranged inside the fixed seat, and the magnet is used for adsorbing the plug-in block; The plug-in block is provided with a fixing plate, the fixing plate is provided with mounting buckles, and the rust removal head is located between the fixing plate and the mounting buckles.

[0010] In a preferred solution, the mounting base includes a fixed seat rotatably connected to the second fixed disk, and the fixed seat is fixedly connected to the output shaft of the fifth motor; The top end of the fixed seat is provided with a plug-in block, the inner wall of the fixed seat is provided with a mounting groove, the mounting groove is an L-shaped groove, the side of the plug-in block is provided with a limiting block, and the limiting block is slidably arranged inside the mounting groove; A magnet is arranged inside the fixed seat, and the magnet is used for adsorbing the plug-in block; The plug-in block is provided with a bottom sleeve, the bottom sleeve is connected with a top sleeve by screws, and the rust removal head is located between the bottom sleeve and the top sleeve.

[0011] In a preferred solution, a traveling mechanism is arranged on one side of the guide rod close to the gate; Wherein, the traveling mechanism includes a connecting plate fixedly connected to the guide rod, multiple rollers are arranged on both sides of the connecting plate, and the rollers on the same side are connected by a crawler; The crawler is a magnetic adsorption type crawler.

[0012] In a preferred solution, it includes an automatic rust removal system; The automatic rust removal system includes a control unit, a moving unit and a rust removal unit; Both the moving unit and the rust removal unit are signal-connected to the control unit; The control unit is used for inputting the rust removal path, and then controlling the moving unit and the rust removal unit based on the rust removal path; The moving unit is used for driving the rust removal unit to move along the rust removal path, and the moving unit includes a lifting module, a front and rear moving module, a left and right moving module and a rotating module; The lifting module is used for driving the rust removal unit to lift, the front and rear moving module is used for driving the rust removal unit to move forward and backward, the left and right moving module is used for driving the rust removal unit to move left and right, and the rotating module is used for driving the rust removal unit to rotate 360 degrees; The rust removal unit is used for rust removal.

[0013] A rust removal method for a gate automatic rust removal machine includes the following steps: S1. Determine the area to be rust-removed according to the actual data of the gate and divide it into multiple areas; S2. Control the rust removal structure to lift through the lifting mechanism until the rust removal structure moves to the first area; S3. The rust removal structure performs rust removal treatment on the gate; S4. After the rust removal is completed, control the rust removal structure to move to the next area through the lifting mechanism; S5. Repeat S3-S4 until the rust removal is completed.

[0014] In a preferred solution, during the rust removal process, it includes: S31. The rust removal head starts. S32. The rust removal arm drives the rust removal head to move along the surface of the gate to remove rust from the surface of the gate. S33. The rust removal arm drives the rust removal head into the inner hole of the gate grille. S34. The rust removal arm aligns the rust removal head with the left side of the inner hole of the gate grille, and then moves along the left side of the inner hole of the gate grille to remove rust from the left side of the inner hole of the gate grille. The rust removal arm aligns the rust removal head with the upper surface of the inner hole of the gate grille, and then moves along the upper surface of the inner hole of the gate grille to remove rust from the upper surface of the inner hole of the gate grille. The rust removal arm aligns the rust removal head with the right side of the inner hole of the gate grille, and then moves along the right side of the inner hole of the gate grille to remove rust from the right side of the inner hole of the gate grille. The rust removal arm aligns the rust removal head with the lower surface of the inner hole of the gate grille, and then moves along the lower surface of the inner hole of the gate grille to remove rust from the lower surface of the inner hole of the gate grille. The rust removal arm aligns the rust removal head with the bottom surface of the groove of the inner hole of the gate grille, and then moves along the bottom surface of the groove of the inner hole of the gate grille to remove rust from the bottom surface of the groove of the inner hole of the gate grille. The rust removal methods of the rust removal head include: dry sandblasting rust removal, wet sandblasting rust removal or laser rust removal.

[0015] The present invention provides a gate automatic rust removal machine and its rust removal method. By adopting the above solutions, the following beneficial effects are achieved: 1. It is not necessary to use large equipment such as aerial work platforms or bridge inspection vehicles, saving costs and reducing the difficulty of rust removal. 2. It is not necessary for workers to go to the work station for close-range rust removal work, and the safety is higher.

[0016] 3. The operation process of rust removal is simple and the efficiency is higher.

[0017] 4. It can adapt to different rust removal methods and has stronger adaptability.

[0018] 5. It can adjust the height, left and right positions, front and back positions and angles of the rust removal head, so as to adapt to different angle and position requirements, facilitate rust removal work on the gate without dead angles, and ensure the rust removal quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following further describes the present invention with reference to the drawings and embodiments: Figure 1 is a schematic structural diagram of a gate automatic rust removal machine of the present invention; Figure 2 is a front view of a gate automatic rust removal machine of the present invention; Figure 3 is a side view of a gate automatic rust removal machine of the present invention; Figure 4 It is a schematic structural diagram of the lifting mechanism described in the present invention; Figure 5 It is an enlarged schematic structural diagram of the guide rod described in the present invention; Figure 6 It is a schematic structural diagram of the rust removal arm described in the present invention; Figure 7 It is a side view of the rust removal arm described in the present invention; Figure 8 It is a side view sectional view of the rust removal arm described in the present invention; Figure 9 It is a schematic structural diagram of a side view embodiment at the mounting seat described in the present invention; Figure 10 It is a schematic structural diagram of a side view embodiment at the mounting seat described in the present invention In the figure: Lifting mechanism 1, support frame 101, support plate 102, first motor 103, main roller 104, auxiliary roller 105, pulling rope 106, counterweight 107, movable frame 2, guide rod 3, movable mechanism 4, first guide rail 401, second guide rail 402, rack 403, vertical plate 404, horizontal plate 405, second motor 406, gear 407, rust removal arm 5, fixed shell 501, movable arm 502, groove 503, first fixing plate 504, rotating sleeve 505, second fixing plate 506, mounting seat 507, positioning sleeve 508, movable cavity 509, fixed block 510, positioning block 512, third motor 513, threaded rod 514, wire passing hole 515, fixed shaft 521, first bearing 522, fourth motor 523, fifth motor 524, second bearing 525, fixed seat 571, plug-in block 572, mounting groove 573, limiting block 574, magnet 575, fixing plate 576, mounting buckle 577, bottom sleeve 578, top sleeve 579, screw 580, traveling mechanism 6, connecting plate 601, roller 602, crawler 603, rust removal head 7, connecting line 701. Detailed implementation manners

[0020] Embodiment 1: As Figure 1 、 2 and shown in FIG. 3, a gate automatic rust removal machine includes a plurality of lifting mechanisms 1 arranged on the gate, the lifting mechanism 1 is connected with a movable frame 2, and the movable frame 2 is located on the side of the gate; A guide rod 3 is arranged in the movable frame 2, and one or more rust removal arms 5 are arranged on the guide rod 3. The number of rust removal arms 5 can be selected according to the actual rust removal range. The rust removal arm 5 can slide along the guide rod 3 to adjust the position, and the rust removal arm 5 is provided with a rust removal head 7; Among them, the lifting mechanism 1 is used to drive the lifting of the movable frame 2, and the rust removal head 7 is used for rust removal.

[0021] By means of the present application, large equipment such as aerial work platforms or bridge inspection vehicles do not need to be used, which saves costs. Moreover, there is no need for manual workers to go to the work station for rust removal, so the safety is higher. The whole process can be remotely controlled or automated, with higher efficiency. The rust removal head 7 is preferably a rust removal gun of an existing dry sandblasting rust removal machine, a wet sandblasting rust removal machine or a laser rust removal machine. Among them, during dry sandblasting rust removal, the rust removal head 7 is a sandblasting gun, and: (1) During construction, the relative air humidity is lower than 85%. (2) The surface temperature of the base metal is at least 3°C higher than the dew point. (3) Before construction, visible grease and other contaminants on the surface of the base metal are cleaned. (4) The sandblasting raw material is selected to be 0.5 mm - 1.5 mm to ensure the surface roughness. (5) The sandblasting raw material is required to be clean, dry, free of oil stains and other contaminants. (6) The working pressure of the air compressor shall not be lower than 0.8 MPa. Preferably, it is an electric or diesel air compressor, and the compressed air must be treated by an oil-water separator. (7) The air compressor, the sand storage box and other supporting equipment are arranged on the top of the gate or the movable frame 2, which is specifically determined according to the actual situation. During operation, the air compressor generates high-pressure gas to send the sand to the rust removal head 7 through the sand pipe, and then sprays it out through the rust removal head 7 to complete the rust removal. How to specifically send the sand to the rust removal head 7 is the prior art, so it will not be elaborated here.

[0022] During wet sandblasting rust removal, the rust removal head 7 is a sandblasting gun, and: (1) The sandblasting raw material is selected to be 0.5 - 1.5 mm to ensure the surface roughness. (2) The sandblasting raw material is ensured to be clean, free of oil stains and other contaminants. (3) Before construction, visible grease and other contaminants on the surface of the base metal are cleaned. (4) The pressure of the compressed air compressor is not lower than 0.8 MPa. Preferably, it is an electric or diesel air compressor, and the compressed air must be treated by an oil and water separator. (5) The ratio of water to sand is required to be adjusted appropriately. Excessive water will reduce the efficiency and affect the effect, and too little water will increase the dust relatively. (6) Both sandblasting and flushing must use relatively clean fresh water. (7) After wet sandblasting, it is necessary to flush several times to remove the sticky dust on the surface. (8) The air compressor, the sand storage box and other supporting equipment are arranged on the top of the gate or the movable frame 2, which is specifically determined according to the actual situation. During operation, the air compressor generates high-pressure gas to send the sand mixed with water to the rust removal head 7 through the sand pipe, and then sprays it out through the rust removal head 7 to complete rust removal. The specific method of sending the sand mixed with water to the rust removal head 7 is the prior art, so it will not be elaborated here.

[0023] During laser rust removal, the rust removal head 7 is a laser rust removal gun, and: (1) Supporting equipment such as laser generators is installed on the top of the gate or movable frame 2, depending on the actual situation; (2) The humidity range is 40%-70%; (3) Clean the visible grease and other contaminants on the surface of the base metal before construction; During operation, the laser generator works to make the rust removal head 7 generate laser to act on the surface of the gate for rust removal. The generation of laser, that is, the principle of laser rust removal, is the prior art, so it will not be elaborated here.

[0024] In a further embodiment, as Figure 1 、 2 、3 and 4 show, the lifting mechanism 1 includes a support frame 101 connected to the gate. The support frame 101 is provided with two support plates 102. The support frame 101 is provided with a first motor 103. The output shaft of the first motor 103 is provided with a main roller 104. The main roller 104 is located between the two support plates 102; The support frame 101 is provided with two auxiliary rollers 105. The two auxiliary rollers 105 are located on both sides of the main roller 104; The main roller 104 is provided with a pulling rope 106, preferably a steel rope. The pulling rope 106 preferably winds around the main roller 104 for 1-3 turns. The pulling rope 106 passes above the auxiliary roller 105; One end of the pulling rope 106 is connected to the movable frame 2, and the other end is connected to the counterweight 107; the counterweight 107 is used to stabilize the tension at both ends of the pulling rope 106 and ensure the stability of the equipment during operation. The specific weight depends on the actual situation.

[0025] During use, starting the first motor 103 can drive the main roller 104 to rotate, which can drive the pulling rope 106 to move, thereby driving the movable frame 2 to lift, so as to achieve the purpose of adjusting the height of the rust removal head 7.

[0026] In a further embodiment, as Figure 1 、 2 、5, 6, 7, and 8 show, there is a movable mechanism 4 between the guide rod 3 and the rust removal arm 5, which is used to drive the rust removal arm 5 to move along the guide rod 3; Among them, the movable mechanism 4 includes a first guide rail 401, a second guide rail 402 and a rack 403 connected to the guide rod 3. The second guide rail 402 is provided with a vertical plate 404. The first guide rail 401 is provided with a horizontal plate 405. The horizontal plate 405 is fixedly connected to the vertical plate 404. The rust removal arm 5 is connected to the vertical plate 404; The first guide rail 401 and the second guide rail 402 can adopt the existing common guide rail structures.

[0027] The vertical plate 404 is provided with a second motor 406, and the output shaft of the second motor 406 is provided with a gear 407, and the gear 407 meshes with the rack 403.

[0028] During use, starting the second motor 406 can drive the gear 407 to rotate, so that the gear 407 moves along the rack 403, and then drives the cross plate 405 and the vertical plate 404 to move along the guide rod 3, thereby adjusting the left and right positions of the rust removal arm 5 and the rust removal head 7 to meet different rust removal requirements.

[0029] In a further embodiment, as Figure 1 、 5 shown in Figures 6, 7 and 8, the rust removal arm 5 includes a fixed shell 501, an activity cavity 509 is arranged inside the fixed shell 501, and an activity arm 502 is slidably connected inside the activity cavity 509; the activity arm 502 extends from one end of the fixed shell 501 and is connected to the rust removal head 7; One end of the fixed shell 501 is provided with a positioning sleeve 508, and the activity arm 502 passes through the positioning sleeve 508; The top end of the activity arm 502 is provided with a groove 503, and a positioning block 512 is arranged inside the fixed shell 501, and the positioning block 512 is slidably arranged inside the groove 503; One end of the activity arm 502 away from the rust removal head 7 is provided with a fixed block 510, a third motor 513 is arranged inside the fixed shell 501, the output shaft of the third motor 513 is provided with a threaded rod 514, the threaded rod 514 passes through the fixed block 510, and the threaded rod 514 is threadedly connected to the fixed block 510; The fixed shell 501 is provided with a wire passing hole 515, a through hole is reserved inside the activity arm 502, and the connection line 701 of the rust removal head 7 passes through the through hole and then passes out through the wire passing hole 515; the connection line 701 can also be directly exposed outside, depending on the actual use situation; the connection line 701 includes but is not limited to a power line, an optical fiber line, a data line and a sand pipe; The device externally connected to the rust removal head 7 through the connection line 701 is arranged on the top of the movable frame 2 or the top of the gate.

[0030] During use, starting the third motor 513 can drive the threaded rod 514 to rotate, thereby driving the fixed block 510 to slide, driving the activity arm 502 to slide, and finally driving the rust removal head 7 to slide, so as to adjust the front and back positions of the rust removal head 7, and the rust removal head 7 can extend into the inner hole of the grille of the gate to meet different rust removal requirements.

[0031] In a further embodiment, as Figure 5 、 6, as shown in Figures 7, 8, and 9, a first fixed disk 504 is provided at the end of the movable arm 502. A rotating sleeve 505 is rotatably connected to the first fixed disk 504. A fixed shaft 521 is provided on the side of the rotating sleeve 505 close to the first fixed disk 504. A first bearing 522 is provided between the fixed shaft 521 and the first fixed disk 504; A fourth motor 523 is provided inside the rotating sleeve 505, and the output shaft of the fourth motor 523 is fixedly connected to the first fixed disk 504; A fifth motor 524 is provided inside the rotating sleeve 505. A second fixed disk 506 is provided on the side of the rotating sleeve 505. The output shaft of the fifth motor 524 passes through the second fixed disk 506 and is fixedly connected to a mounting seat 507. The mounting seat 507 is rotatably connected to the second fixed disk 506. A second bearing 525 is provided between the mounting seat 507 and the second fixed disk 506; As Figure 9 shown, the mounting seat 507 is perpendicular to the rotating sleeve 505, and the rotating sleeve 505 is arranged in the same direction as the movable arm 502; The mounting seat 507 is used to connect the rust removal head 7.

[0032] When needed, starting the fourth motor 523 can drive the fourth motor 523 to rotate relative to the first fixed disk 504, thereby driving the rotating sleeve 505 to rotate, and finally driving the mounting seat 507 and the rust removal head 7 to rotate circumferentially along the movable arm 502; Starting the fifth motor 524 can drive the mounting seat 507 to rotate, and drive the rust removal head 7 to rotate; Thus, by the cooperation of the fifth motor 524 and the fourth motor 523, the angle of the rust removal head 7 can be changed to meet different rust removal angle requirements, and the rust removal operation without dead corners of the inner hole of the gate can be completed.

[0033] When in use, in the above manner, the height, left - right position, front - back position, and angle of the rust removal head 7 can be adjusted, so as to meet different angle and position requirements, and facilitate the rust removal work without dead corners for the gate.

[0034] In a preferred solution, the mounting seat 507 includes a fixed seat 571 rotatably connected to the second fixed disk 506, and the fixed seat 571 is fixedly connected to the output shaft of the fifth motor 524; A plug - in block 572 is provided at the top of the fixed seat 571. The plug - in block 572 is preferably cylindrical. An installation groove 573 is provided on the inner wall of the fixed seat 571. The installation groove 573 is an L - shaped groove. A limiting block 574 is provided on the side of the plug - in block 572, and the limiting block 574 is slidably arranged inside the installation groove 573; A magnet 575 is provided inside the fixed seat 571, and the magnet 575 is used to adsorb the plug - in block 572; The plug-in block 572 is provided with a fixing plate 576, and the fixing plate 576 is provided with a mounting buckle 577. The rust removal head 7 is located between the fixing plate 576 and the mounting buckle 577. The mounting buckle 577 can refer to a water pipe buckle. The mounting buckle 577 is fixed to the fixing plate 576 using screws or Velcro. Due to the use of the mounting buckle 577, the mounting buckle 577 has a certain elasticity, so it can adapt to different rust removal heads 7 and has better adaptability.

[0035] During use, connect the rust removal head 7 between the fixing plate 576 and the mounting buckle 577, and then insert the plug-in block 572 into the fixing seat 571. During the insertion process, make the limiting block 574 move along the installation groove 573. When it moves to the lowest point of the stroke, rotate it so that the limiting block 574 rotates to the innermost side of the installation groove 573, and the installation is completed. Conversely, it can be disassembled. The operation is simple, which is convenient for replacing the rust removal head 7. And the plug-in block 572 is adsorbed by the magnet 575, ensuring the stability after installation.

[0036] Embodiment 2: As Figure 10 shown, the same structure will not be described in detail. The mounting seat 507 includes a fixing seat 571 rotatably connected to the second fixed disk 506, and the fixing seat 571 is fixedly connected to the output shaft of the fifth motor 524. The top of the fixing seat 571 is provided with a plug-in block 572, and the inner wall of the fixing seat 571 is provided with an installation groove 573. The installation groove 573 is an L-shaped groove. The side of the plug-in block 572 is provided with a limiting block 574, and the limiting block 574 is slidably arranged inside the installation groove 573. A magnet 575 is arranged inside the fixing seat 571, and the magnet 575 is used to adsorb the plug-in block 572. The plug-in block 572 is provided with a bottom sleeve 578, the bottom sleeve 578 is connected to a top sleeve 579 through a screw 580, the rust removal head 7 is located between the bottom sleeve 578 and the top sleeve 579, and buffer pads are provided at the positions where the bottom sleeve 578 and the top sleeve 579 are close to the rust removal head 7.

[0037] During use, connect the rust removal head 7 between the bottom sleeve 578 and the top sleeve 579, and then use the screw 580 for fixation to complete the connection of the rust removal head 7. Then insert the plug-in block 572 into the fixing seat 571. During the insertion process, make the limiting block 574 move along the installation groove 573. When it moves to the lowest point of the stroke, rotate it so that the limiting block 574 rotates to the innermost side of the installation groove 573, and the installation is completed. Conversely, it can be disassembled. The operation is simple, which is convenient for replacing the rust removal head 7. And the plug-in block 572 is adsorbed by the magnet 575, ensuring the stability after installation.

[0038] In the above embodiment, according to different rust removal methods, the present application can also use welding and other methods to pre-connect the rust removal head 7 and the plug-in block 572, which can be selected according to actual conditions, and then connected to the fixing seat 571, so that the rust removal gun can adapt to different rust removal methods, and the adaptability is better. Embodiment 3: like Figure 1 , 3 As shown in , 5, 6, 7 and 8, a walking mechanism 6 is provided on the side of the guide rod 3 close to the gate; The walking mechanism 6 includes a connecting plate 601 fixedly connected to the guide rod 3, and a plurality of rollers 602 are arranged on both sides of the connecting plate 601; the rollers 602 are preferably electric rollers, and the electric rollers are controlled in an existing manner; the rollers 602 on the same side are connected by a crawler 603; The crawler track 603 is a magnetic crawler track.

[0039] When in use, the crawler 603 moves along the gate, so that there is a certain rust removal space between the rust remover of the present application and the gate, and the movable frame 2 has better stability when being raised and lowered; and the magnetic crawler is tightly adsorbed to the gate, so that the rust remover of the present application is prevented from shaking, thereby ensuring stability during operation.

[0040] The first motor 103 , the second motor 406 , the third motor 513 , the fourth motor 523 , and the fifth motor 524 are preferably servo motors, which are controlled by using existing motor control methods.

[0041] Embodiment 4: Includes automatic rust removal system; The automatic rust removal system includes a control unit, a moving unit and a rust removal unit; The moving unit and the rust removal unit are both connected to the control unit by signal; The control unit is used to input the rust removal path, and then control the mobile unit and the rust removal unit based on the rust removal path. The rust removal path can be generated according to the three-dimensional point cloud model. The control unit adopts the existing commonly used control equipment, and can also use the mobile control terminal to receive and transmit signals in the existing way; The moving unit is used to drive the rust removal unit to move along the rust removal path, and the moving unit includes a lifting module, a front-back moving module, a left-right moving module and a rotating module; The mobile unit is a lifting mechanism 1, a rust removal arm 5 and a movable mechanism 4; wherein the support frame 101, the support plate 102, the first motor 103, the main roller 104, the auxiliary roller 105, the pull rope 106 and the counterweight block 107 constitute a lifting module; The first guide rail 401, the second guide rail 402, the rack 403, the vertical plate 404, the horizontal plate 405, the second motor 406 and the gear 407 constitute a left-right moving module; The fixed housing 501, the movable arm 502, the groove 503, the movable cavity 509, the fixed block 510, the positioning block 512, the third motor 513 and the threaded rod 514 form the front-back movement module; The first fixed disk 504, the rotating sleeve 505, the second fixed disk 506, the fixed shaft 521, the first bearing 522, the fourth motor 523, the fifth motor 524 and the second bearing 525 form the rotation module; The lifting module is used to drive the rust removal unit to lift, the front-back movement module is used to drive the rust removal unit to move back and forth, the left-right movement module is used to drive the rust removal unit to move left and right, and the rotation module is used to drive the rust removal unit to rotate 360 degrees; The rust removal unit is used for rust removal, and the rust removal unit is the rust removal head 7.

[0042] Embodiment 5: A rust removal method for a gate automatic rust remover includes the following steps: S1. Determine the area to be rust removed according to the actual data of the gate and divide it into multiple areas; S2. Control the rust removal structure to lift through the lifting mechanism until the rust removal structure moves to the first area; S3. The rust removal structure performs rust removal treatment on the gate; S4. After the rust removal is completed, control the rust removal structure to move to the next area through the lifting mechanism; S5. Repeat S3 - S4 until the rust removal is completed.

[0043] In the preferred solution, during the rust removal process, it includes: S31. The rust removal head 7 starts; S32. The rust removal arm 5 drives the rust removal head 7 to move along the surface of the gate to remove rust from the surface of the gate; S33. The rust removal arm 5 drives the rust removal head 7 into the inner hole of the gate grille; S34. The rust removal arm 5 aligns the rust removal head 7 with the left side of the inner hole of the gate grille, and then moves along the left side of the inner hole of the gate grille to remove rust from the left side of the inner hole of the gate grille; The rust removal arm 5 aligns the rust removal head 7 with the upper surface of the inner hole of the gate grille, and then moves along the upper surface of the inner hole of the gate grille to remove rust from the upper surface of the inner hole of the gate grille; The rust removal arm 5 aligns the rust removal head 7 with the right side of the inner hole of the gate grille, and then moves along the right side of the inner hole of the gate grille to remove rust from the right side of the inner hole of the gate grille; The rust removal arm 5 aligns the rust removal head 7 with the lower surface of the inner hole of the gate grille, and then moves along the lower surface of the inner hole of the gate grille to remove rust from the lower surface of the inner hole of the gate grille; The rust removal arm 5 aligns the rust removal head 7 with the bottom surface of the groove of the inner hole of the gate grille, and then moves along the bottom surface of the groove of the inner hole of the gate grille to remove rust from the bottom surface of the groove of the inner hole of the gate grille; The rust removal methods of the rust removal head 7 include: dry sandblasting rust removal, wet sandblasting rust removal or laser rust removal Through the rust removal method of the present application, there is no need to use large equipment, nor is it necessary for workers to go to the rust removal station for manual rust removal, which reduces the rust removal difficulty and increases the rust removal efficiency; and it can perform rust removal in all directions with better rust removal quality.

[0044] The equipment of the present application is controlled to operate through existing control equipment, such as being controlled by a PLC.

[0045] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An automatic rust removal machine for a gate, characterized in that: It comprises a plurality of lifting mechanisms (1) arranged on the gate, the lifting mechanisms (1) being connected to a movable frame (2), and the movable frame (2) being located on the side of the gate; A guide rod (3) is provided inside the movable frame (2), the guide rod (3) is provided with one or more rust removal arms (5), and the rust removal arms (5) are provided with rust removal heads (7); The lifting mechanism (1) is used to drive the movable frame (2) to lift and lower, and the rust removal head (7) is used to remove rust.

2. The automatic rust remover for the gate according to claim 1, wherein: The lifting mechanism (1) comprises a support frame (101) connected to the gate, the support frame (101) is provided with two support plates (102), the support frame (101) is provided with a first motor (103), the output shaft of the first motor (103) is provided with a main roller (104), and the main roller (104) is located between the two support plates (102); The support frame (101) is provided with two auxiliary rollers (105), and the two auxiliary rollers (105) are located on both sides of the main roller (104); The main roller (104) is provided with a pull rope (106), and the pull rope (106) passes over the auxiliary roller (105); One end of the pull rope (106) is connected to the movable frame (2), and the other end is connected to the counterweight (107); A walking mechanism (6) is provided on the side of the guide rod (3) close to the gate; The walking mechanism (6) comprises a connecting plate (601) fixedly connected to the guide rod (3), a plurality of rollers (602) are provided on both sides of the connecting plate (601), and the rollers (602) on the same side are connected by transmission via a crawler belt (603); The crawler track (603) is a magnetic crawler track.

3. The automatic rust remover for the gate according to claim 1, characterized in that: A movable mechanism (4) is provided between the guide rod (3) and the rust removal arm (5), and is used to drive the rust removal arm (5) to move along the guide rod (3); The movable mechanism (4) comprises a first guide rail (401) connected to the guide rod (3), a second guide rail (402) and a rack (403); the second guide rail (402) is provided with a vertical plate (404); the first guide rail (401) is provided with a horizontal plate (405); the horizontal plate (405) is fixedly connected to the vertical plate (404); and the rust removal arm (5) is connected to the vertical plate (404); The vertical plate (404) is provided with a second motor (406), and the output shaft of the second motor (406) is provided with a gear (407), and the gear (407) is meshed with the rack (403).

4. The automatic rust remover for a gate according to claim 1, wherein: The rust removal arm (5) comprises a fixed shell (501), a movable cavity (509) is provided in the fixed shell (501), and a movable arm (502) is slidably connected in the movable cavity (509); the movable arm (502) extends from one end of the fixed shell (501) and is connected to the rust removal head (7); A positioning sleeve (508) is provided at one end of the fixed shell (501), and the movable arm (502) passes through the positioning sleeve (508); A groove (503) is provided at the top of the movable arm (502), a positioning block (512) is provided inside the fixed shell (501), and the positioning block (512) is slidably arranged inside the groove (503); One end of the movable arm (502) away from the rust removal head (7) is provided with a fixing block (510). A third motor (513) is arranged inside the fixed shell (501). A threaded rod (514) is provided on the output shaft of the third motor (513). The threaded rod (514) passes through the fixing block (510), and the threaded rod (514) is in threaded connection with the fixing block (510). The fixed shell (501) is provided with a wire passing hole (515). A through hole is reserved inside the movable arm (502). The connection line (701) of the rust removal head (7) passes through the through hole and then passes out through the wire passing hole (515). The device externally connected to the rust removal head (7) through the connection line (701) is arranged at the top of the movable frame (2) or the top of the gate.

5. The automatic rust remover for a gate according to claim 4, characterized in that: One end of the movable arm (502) is provided with a first fixing disk (504). The first fixing disk (504) is rotatably connected with a rotating sleeve (505). A fixing shaft (521) is arranged on one side of the rotating sleeve (505) close to the first fixing disk (504). A first bearing (522) is arranged between the fixing shaft (521) and the first fixing disk (504). A fourth motor (523) is arranged inside the rotating sleeve (505), and the output shaft of the fourth motor (523) is fixedly connected with the first fixing disk (504). A fifth motor (524) is arranged inside the rotating sleeve (505). A second fixing disk (506) is arranged on the side of the rotating sleeve (505). The output shaft of the fifth motor (524) passes through the second fixing disk (506) and is then fixedly connected with a mounting seat (507). The mounting seat (507) is rotatably connected with the second fixing disk (506). A second bearing (525) is arranged between the mounting seat (507) and the second fixing disk (506). The mounting seat (507) is used for connecting the rust removal head (7).

6. The automatic rust remover for a gate according to claim 5, wherein: The mounting seat (507) includes a fixing seat (571) rotatably connected with the second fixing disk (506), and the fixing seat (571) is fixedly connected with the output shaft of the fifth motor (524). A plug-in block (572) is arranged at the top end of the fixing seat (571). An installation groove (573) is arranged on the inner wall of the fixing seat (571). The installation groove (573) is an L-shaped groove. A limiting block (574) is arranged on the side of the plug-in block (572), and the limiting block (574) is slidably arranged inside the installation groove (573). A magnet (575) is arranged inside the fixing seat (571), and the magnet (575) is used for adsorbing the plug-in block (572). The plug-in block (572) is provided with a fixing plate (576), and the fixing plate (576) is provided with a mounting buckle (577). The rust removal head (7) is located between the fixing plate (576) and the mounting buckle (577).

7. The automatic rust remover for a gate according to claim 5, wherein: The mounting seat (507) includes a fixing seat (571) rotatably connected with the second fixing disk (506), and the fixing seat (571) is fixedly connected with the output shaft of the fifth motor (524). A plug-in block (572) is arranged at the top end of the fixing seat (571). An installation groove (573) is arranged on the inner wall of the fixing seat (571). The installation groove (573) is an L-shaped groove. A limiting block (574) is arranged on the side of the plug-in block (572), and the limiting block (574) is slidably arranged inside the installation groove (573). The fixing base (571) is provided with a magnet (575) for adsorbing the plug-in block (572). The plug-in block (572) is provided with a bottom sleeve (578). The bottom sleeve (578) is connected with a top sleeve (579) by screws (580), and the rust removal head (7) is located between the bottom sleeve (578) and the top sleeve (579).

8. A kind of automatic rust remover for gate according to any one of claims 1-7, characterized in that It includes an automatic rust removal system. The automatic rust removal system includes a control unit, a moving unit and a rust removal unit. Both the moving unit and the rust removal unit are signal-connected to the control unit. The control unit is used to input the rust removal path and then control the moving unit and the rust removal unit based on the rust removal path. The moving unit is used to drive the rust removal unit to move along the rust removal path. The moving unit includes a lifting module, a front-back moving module, a left-right moving module and a rotating module. The lifting module is used to drive the rust removal unit to lift, the front-back moving module is used to drive the rust removal unit to move back and forth, the left-right moving module is used to drive the rust removal unit to move left and right, and the rotating module is used to drive the rust removal unit to rotate 360 degrees. The rust removal unit is used for rust removal.

9. The rust removal method of a gate automatic rust remover according to any one of claims 1-7, characterized in that: It includes the following steps: S1. Determine the area to be rust-removed according to the actual data of the gate and divide it into multiple areas. S2. Control the rust removal structure to lift through the lifting mechanism until the rust removal structure moves to the first area. S3. The rust removal structure performs rust removal treatment on the gate. S4. After the rust removal is completed, control the rust removal structure to move to the next area through the lifting mechanism. S5. Repeat S3 - S4 until the rust removal is completed.

10. The rust removal method of a gate automatic rust remover according to claim 9, characterized in that: at During the rust removal process, it includes: S31. The rust removal head (7) starts. S32. The rust removal arm (5) drives the rust removal head (7) to move along the surface of the gate to remove the rust on the surface of the gate. S33. The rust removal arm (5) drives the rust removal head (7) into the inner hole of the gate grille. S34. The rust removal arm (5) aligns the rust removal head (7) with the left side of the inner hole of the gate grille, and then moves along the left side of the inner hole of the gate grille to remove the rust on the left side of the inner hole of the gate grille. The rust removal arm (5) aligns the rust removal head (7) with the upper surface of the inner hole of the gate grille, and then moves along the upper surface of the inner hole of the gate grille to remove the rust on the upper surface of the inner hole of the gate grille. The rust removal arm (5) aligns the rust removal head (7) with the right side of the inner hole of the gate grille, and then moves along the right side of the inner hole of the gate grille to remove the rust on the right side of the inner hole of the gate grille. The rust removal arm (5) aligns the rust removal head (7) with the lower surface of the inner hole of the gate grille, and then moves along the lower surface of the inner hole of the gate grille to remove the rust on the lower surface of the inner hole of the gate grille. The rust removal arm (5) aligns the rust removal head (7) with the bottom surface of the groove of the inner hole of the gate grille, and then moves along the bottom surface of the groove of the inner hole of the gate grille to remove the rust on the bottom surface of the groove of the inner hole of the gate grille. The rust removal methods of the rust removal head (7) include: dry sandblasting rust removal, wet sandblasting rust removal or laser rust removal.

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