Sandblasting robot moving mechanism and sandblasting equipment

Abstract

The present application relates to a mobile mechanism and equipment for a sandblasting robot, the chassis of which is provided with: a flip arm, one end of which is hinged to the chassis, and a driven wheel mounted on the free end of the flip arm; a laser rangefinder for detecting the flatness of the working surface in the direction of travel; a flip assembly for driving the flip arm to flip on the chassis; when the laser rangefinder detects that the working surface is concave downward, the flip assembly is controlled to drive the flip arm to flip downward; when the laser rangefinder detects that the working surface is convex upward, the flip assembly is controlled to drive the flip arm to flip upward; a sand blowing mechanism is provided on the front side of the chassis, and is used to blow sand and pellets into the path that the two tracks are about to travel, and to blow sand and pellets from the inner side of the tracks. The present application uses a laser rangefinder to detect the working surface in front of the chassis, so that the flip arm drives the front section of the track to adapt to flipping up or pressing down, ensuring that the track maintains a large contact area with the working surface.

Description

Technical Field

[0001] The present application relates to the technical field of sandblasting robots, and in particular to a sandblasting robot moving mechanism and sandblasting equipment. Background Art

[0002] Previously, domestic sandblasting operations for large marine engineering modules or ships relied primarily on manual labor, posing significant safety risks and risks to personnel health. However, with the continuous advancement of science and technology, robotic equipment has begun to infiltrate various industries. By adding various modules to basic robots to meet specific needs, robots can be applied to a variety of fields and scenarios. Therefore, designing specialized sandblasting robots is particularly important for ships, as it can greatly reduce the difficulty of sandblasting operations and improve work efficiency.

[0003] In the related art, the Chinese patent application with application number CN201910003454.7 proposes a new magnetic adsorption wall-climbing robot for sandblasting and rust removal of ships, including a walking system, an auxiliary suction cup system, a power system, and a wall-climbing robot frame; the walking system includes a track mechanism, a rear sprocket, a drive sprocket, a track support frame and a retractable spring shock absorber; the track mechanism includes a track, a magnet mounting plate, a rubber ring protection plate, a magnet fixing plate, a rectangular permanent magnet block and a rubber ring; the track mechanism is installed on both sides of the wall-climbing robot frame, and the magnet mounting plate is fixedly connected to the track, using It is made of high-quality stainless steel by stamping, with each of the two wings of the middle part having a magnet fixing plate, and each end having a rubber ring protection plate. Two rectangular permanent magnet blocks are installed side by side on the magnet mounting plate, and the rectangular permanent magnet blocks are installed between the magnet fixing plates with no gap. The length of the magnet fixing plate is equal to the length of the two rectangular magnet blocks installed side by side. The rubber rings are installed at both ends of the magnet mounting plate. The height of the rubber ring protection plate is the same as that of the magnet fixing plate and is slightly lower than the height of the rectangular permanent magnet block. The height of the rubber ring is slightly higher than the rectangular permanent magnet block.

[0004] However, it is well known that ships have many curved surfaces on both their outer and inner walls. Traditional tracks running on curved surfaces will reduce the effective contact area between the tracks and the working surface, which in turn reduces the total adsorption force of the magnet components on the tracks on the working surface, easily causing the sandblasting robot to become unstable. Especially during sandblasting operations, when the magnetic attraction weakens, the recoil force of the sandblasting will cause the sandblasting robot to shake, affecting the sandblasting accuracy. In addition, sand pellets from sandblasting will be mixed between the tracks and the working surface, which will also affect the stability of the magnetic attraction. On the other hand, sand pellets will get stuck in the tracks and enter the transmission structure as the tracks move, causing wear on the tracks and transmission structure, and ultimately reducing the stability of the sandblasting robot on the ship's working surface. Summary of the Invention

[0005] In order to improve the problem that when the sandblasting robot works on a curved surface and residual sand pellets on the working surface cause the magnetic attraction effect of the track to be weakened, thereby affecting the stability and accuracy of the sandblasting robot during sandblasting, the present application provides a sandblasting robot moving mechanism and sandblasting equipment.

[0006] The present application provides a sandblasting robot moving mechanism and sandblasting equipment adopting the following technical solutions:

[0007] The first aspect of the present application provides a sandblasting robot moving mechanism adopting the following technical solution:

[0008] A mobile mechanism of a sandblasting robot comprises a chassis, a driving wheel, a driven wheel and a crawler, wherein the crawler is provided with a magnet assembly, and the chassis is provided with:

[0009] A flip arm, one end of which is hinged to the chassis and the other end of which extends to protrude from the front side of the chassis, and the driven wheel is mounted on the free end of the flip arm;

[0010] Laser rangefinder, located on the front side of the chassis, used to detect the flatness of the working surface in the direction of travel;

[0011] A flip assembly, for driving the flip arm to flip on the chassis, which is controllably connected to the laser rangefinder; when the laser rangefinder detects that the working surface is concave downward, the flip assembly is controlled to drive the flip arm to flip downward; when the laser rangefinder detects that the working surface is convex upward, the flip assembly is controlled to drive the flip arm to flip upward; and

[0012] The sand blowing mechanism is arranged on the front side of the chassis and is used to blow sand balls onto the paths where the two crawlers are about to travel, as well as to blow sand balls from the inner sides of the crawlers.

[0013] Furthermore, a fixed shaft is fixed on the chassis, a rotating sleeve is provided on the fixed shaft, the flip arm is fixed on the rotating sleeve, two tensioning frames are provided on the arc surface outer peripheral wall of the rotating sleeve, and a tensioning wheel is installed on the free end of the tensioning frame;

[0014] When the line connecting the central axes of the driving wheel and the driven wheel is parallel to the working surface, the two tensioning wheels are engaged with the inner side surface of the crawler belt at the same time.

[0015] Furthermore, a plurality of pressure wheels are installed on the side of the chassis, and the pressure wheels are engaged with the inner side surface of the downward section of the crawler track.

[0016] Furthermore, the sand blowing mechanism includes:

[0017] A first air nozzle is installed at the free end of the flip arm close to the chassis, and its air jet direction is obliquely from inside to outside toward the working surface that is about to be contacted by the front of the crawler on the same side;

[0018] The second air nozzle is installed on the free end of the flip arm close to the chassis, and its air jet direction is obliquely directed from bottom to top towards the side of the upper track section on the same side close to the driven wheel;

[0019] The second air nozzle and the first air nozzle are both connected to an external high-pressure air source, and a solenoid valve or a pulse valve is provided on the connecting air path.

[0020] Furthermore, the first air nozzle includes a low-speed nozzle and a high-speed flat tube slidably mounted on the end of the low-speed nozzle, a tension spring is connected between the high-speed flat tube and the low-speed nozzle, a pulse solenoid valve and an electromagnetic flow valve are provided on the air path of the first air nozzle, and the electromagnetic flow valve is controllably connected to the laser rangefinder;

[0021] When the distance value detected by the laser rangefinder continuously exceeds the set threshold range within a set time, the electromagnetic flow valve is controlled to start to increase the air flow speed in the first air nozzle, so that the high-speed flat tube overcomes the elastic force of the tension spring and extends under the impact of the high-speed airflow.

[0022] Furthermore, a cylindrical cam is coaxially fixed to the outer wall of the end of the low-speed nozzle, and a protrusion that is slidably matched with the spiral groove on the cylindrical cam is fixed to the inner wall of the straight tube portion of the high-speed flat tube;

[0023] When the distance value detected by the laser rangefinder continuously exceeds the set threshold range within the set time, the pulse solenoid valve is controlled to start so that the high-speed flat tube slides back and forth along the axial direction of the low-speed nozzle and rotates back and forth around its axis to achieve a multi-directional blowing effect.

[0024] Furthermore, the free end of the flip arm is fixedly connected to an arc-shaped cover for covering the driven wheel and the front section of the track. The upper part of the arc-shaped cover close to the driving wheel is provided with an outwardly convex portion. A sand outlet is provided at the connection between the outwardly shaped portion and the arc-shaped cover. The high-speed airflow ejected from the second air nozzle passes through the track and is directed to the inner side wall of the outwardly shaped portion and the sand outlet. The outwardly shaped portion extends forward to the side away from the driving wheel and crosses the sand outlet.

[0025] Furthermore, a protective cover for covering the track is installed on the side of the chassis, the arc-shaped cover is flexibly connected to the end of the protective cover, and a flexible part for covering the side of the track and overlapping the working surface is connected to the bottom of the protective cover.

[0026] Furthermore, the flip assembly and the laser rangefinder are electrically connected to a flip controller, and the flip controller is configured as follows:

[0027] When the distance value detected by the laser rangefinder continuously exceeds the set threshold range within the set time, it is determined that a curved surface appears on the working surface in the direction of travel;

[0028] If the distance value detected by the laser rangefinder is less than the minimum value of the set threshold range, the flip assembly is controlled to drive the flip arm to flip upward until the distance value detected by the laser rangefinder falls back to the set threshold range;

[0029] If the distance value detected by the laser rangefinder is greater than the maximum value of the set threshold range, the flip component is controlled to drive the flip arm to flip downward until the distance value detected by the laser rangefinder falls back into the set threshold range.

[0030] The second aspect of the present application provides a sandblasting device that adopts the following technical solution:

[0031] A sandblasting device, based on the above-mentioned sandblasting robot moving mechanism, also includes a sandblasting robot arm installed on the chassis.

[0032] In summary, the beneficial technical effects of this application are:

[0033] 1. When the mobile mechanism of the present application is traveling on the working surface, the working surface in front of the chassis is detected by a laser rangefinder. When a convex or concave portion of the working surface appears, the flip arm is promptly controlled to flip up or press down, thereby always maintaining a large contact area between the crawler and the working surface. This ensures the magnetic attraction effect of the magnet assembly on the crawler, effectively resists the recoil force during sandblasting, and thus ensures the stability of the sandblasting robot when sandblasting across a curved working surface.

[0034] 2. Considering that the crawler track will inevitably loosen when the flip arm drives the driven wheel to flip, by setting two tensioning frames and tensioning wheels, the track can be flipped synchronously with the flip arm, thereby achieving automatic tensioning of the crawler track. Compared with the existing technology that requires external power source for tensioning, this method is simpler, more direct and more responsive;

[0035] 3. The sand blowing mechanism is used to blow sand pills on the paths where the two crawlers are about to travel and to flush sand pills from the inner side of the crawlers. This can prevent residual sand pills from being mixed between the crawlers and the working surface, reduce the adsorption force of the magnet assembly and the static friction between the crawlers and the working surface, and ensure that the sandblasting recoil force will not affect the vibration of the moving mechanism when the moving mechanism crosses the curved working surface, thereby ensuring the quality control of sandblasting.

[0036] 4. By providing the first air nozzle with a low-speed nozzle and a high-speed flat tube slidably sleeved outside the end of the low-speed nozzle, and connecting a tension spring between the high-speed flat tube and the low-speed nozzle, and providing a pulse electromagnetic valve and an electromagnetic flow valve in the air path of the first air nozzle, the low-speed nozzle can be automatically controlled to eject a high-speed airflow in pulses when the moving mechanism of the present application crosses the curved working surface. By means of the cylindrical cam and the protrusion adapted thereto, the high-speed flat tube can be rotated at a certain angle while sliding on the low-speed nozzle, so as to continuously change the injection surface of the air curtain ejected by the high-speed flat tube to achieve a rotary spraying and sweeping effect, and also make the air outlet of the high-speed flat tube closer to the working surface, so as to dynamically carry out multi-directional and close-range sweeping of the sand and pellets remaining on the curved working surface, and can sweep the residual sand and pellets away from the track travel path, thereby achieving a better sweeping effect.

[0037] 5. When the moving mechanism of the present application moves on a flat working surface, the airflow output from the low-speed nozzle is not enough to push the high-speed flat tube to overcome the elastic force of the tension spring and slide. At this time, only low-speed and smooth airflow is output from the high-speed flat tube. At this time, the high-speed flat tube is farther away from the working surface, and the blowing width is larger, which is suitable for efficient blowing of residual sand and pills on the flat working surface; moreover, since the airflow output from the high-speed flat tube is smoother at this time, the probability of residual sand and pills rebounding is lower; by controlling the first air nozzle to output airflows of different forms on different working surfaces, the probability of sand and pills splashing and dusting during blowing can be significantly reduced on the basis of ensuring the efficiency of sand and pill blowing and reducing the probability of magnetic instability and slipping drift of the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0039] Figure 2 This is a side view of the overall structure of an embodiment of the present application;

[0040] Figure 3 1 is a side view of the arrangement structure of the tensioning frame in different embodiments of the present application;

[0041] Figure 4 This is a top view of the overall structure of the embodiment of the present application;

[0042] Figure 5 yes Figure 4 A partial enlarged schematic diagram of part A;

[0043] Figure 6 This is a schematic diagram of the overall structure of the embodiment of the present application from another perspective;

[0044] Figure 7 It is a schematic cross-sectional structural diagram of an embodiment of the present application.

[0045] Description of reference numerals:

[0046] 1. Chassis;

[0047] 21. Driving wheel; 22. Driven wheel; 23. Track; 24. Tensioning wheel; 25. Pressure wheel;

[0048] 3. Flip arm; 31. Fixed axis; 32. Rotating sleeve; 33. Tensioning frame;

[0049] 41. Laser rangefinder; 42. Flip assembly;

[0050] 51, first air nozzle; 511, low-speed nozzle; 512, high-speed flat tube; 513, tension spring; 52, second air nozzle; 53, electromagnetic flow valve; 54, pulse electromagnetic valve;

[0051] 6. Arc cover; 61. Outer cutting portion; 62. Sand outlet;

[0052] 7. Protective cover; 71. Flexible parts. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0054] The embodiment of the present application discloses a sandblasting robot moving mechanism. Figure 1 and Figure 2 The invention relates to a vehicle comprising a chassis 1, a driving wheel 21, a driven wheel 22, and a crawler track 23, wherein a magnet assembly is provided on the crawler track 23. The driving method of the driving wheel 21, the driving method of the crawler track 23, and the installation method of the magnet assembly are all prior art and can be fully implemented by those skilled in the art, so there is no need to elaborate.

[0055] The chassis 1 is provided with:

[0056] The flip arm 3 is hinged at one end to the chassis 1 and extends at the other end to protrude from the front side of the chassis 1. The driven wheel 22 is installed at the free end of the flip arm 3, wherein the hinge axis of the flip arm 3 on the chassis 1 is perpendicular to the travel direction of the chassis 1.

[0057] The laser rangefinder 41 is provided on the front side of the chassis 1 and is used to detect the flatness of the working surface in the direction of travel.

[0058] The flip assembly 42 is used to drive the flip arm 3 to flip on the chassis 1. It is controlled and connected to the laser rangefinder 41. When the laser rangefinder 41 detects that the working surface is concave, the flip assembly 42 is controlled to drive the flip arm 3 downward. When the laser rangefinder 41 detects that the working surface is convex, the flip assembly 42 is controlled to drive the flip arm 3 upward. Specifically, the flip assembly 42 can be an electric push rod, a magnetohydraulic cylinder, or a servo cylinder, as long as it can meet the requirements of high thrust and high-precision linear drive. For example, the servo cylinder has a cylinder body hinged to the side wall of the chassis 1 and a push rod hinged to the flip arm 3.

[0059] The sand blowing mechanism is arranged on the front side of the chassis 1, and is used to blow sand and pills on the path where the two tracks 23 are about to travel, and to blow sand and pills from the inner side of the tracks 23, so as to reduce the amount of sand and pills mixed between the tracks 23 and the working surface during their movement, ensure the magnetic attraction stability of the magnet assembly on the tracks 23, and prevent the tracks 23 from slipping or drifting during movement, especially when crossing a curved working surface.

[0060] The flip assembly 42 and the laser rangefinder 41 are electrically connected to a flip controller, and the flip controller is configured as follows:

[0061] When the distance value detected by the laser rangefinder 41 continuously exceeds the set threshold range within the set time, it is determined that a curved surface appears on the working surface in the direction of travel; the set time refers to a continuous time, such as within 2 to 3 seconds; the set threshold range refers to the distance value detected by the laser rangefinder 41 on the flat working surface ±1 to 2 cm. The two are set at the same time to reduce interference caused by occasional equipment jitter.

[0062] If the distance value detected by the laser rangefinder 41 is less than the minimum value of the set threshold range, it is determined that the front working surface is raised upward, and the flip controller controls the flip assembly 42 to drive the flip arm 3 to flip upward, and the driven wheel 22 drives the front section of the crawler 23 to lift up until the distance value detected by the laser rangefinder 41 falls back to the set threshold range;

[0063] If the distance value detected by the laser rangefinder 41 is greater than the maximum value of the set threshold range, it is determined that the front working surface is sunken downward, and the flip controller controls the flip assembly 42 to drive the flip arm 3 to flip upward, and the driven wheel 22 drives the front section of the crawler 23 to move downward until the distance value detected by the laser rangefinder 41 falls back to the set threshold range.

[0064] Furthermore, two laser rangefinders 41 and two flip controllers are provided. The flip controller, laser rangefinder 41, and flip assembly 42 on the same side form a closed-loop control system. Furthermore, both the upward and downward flipping limits of the flip arm 3 are set. When these limits are reached, the flip assembly 42 stops operating to prevent the chassis 1 from becoming unstable or tipping over.

[0065] Thus, when the sandblasting robot uses the mobile mechanism of the present application to travel on the working surface, the laser rangefinder 41 detects the working surface in front of the chassis 1. When a bulge appears on the front working surface, the flip controller controls the flip assembly 42 to drive the flip arm 3 to lift up, so that the front section of the crawler 23 on this side is lifted up and fits with the bulge on the working surface under the drive of the driven wheel 22, while the middle and rear sections of the crawler 23 continue to fit with the working surface; when a depression appears on the front working surface, the same applies. In this way, it can be ensured that when the mobile mechanism travels on the curved working surface, the crawler 23 always maintains a large contact area with the working surface, ensuring the magnetic attraction effect of the magnet assembly on the crawler 23, which can effectively resist the recoil force during sandblasting, and thus ensure the stability of the sandblasting robot when sandblasting across the curved working surface. Moreover, each crawler 23 corresponds to a set of flip controllers, laser rangefinders 41 and flip assemblies 42, so that the two crawlers 23 can be controlled independently, and are highly adaptable to the complex working surfaces in ships.

[0066] In addition, during the movement of the mobile mechanism of the present application, the sand blowing mechanism also blows sand pills on the path that the two crawlers 23 are about to travel and blows sand pills from the inner side of the crawler 23. The factor to be taken into consideration is that during the sand blasting process, more sand pills will remain on the travel path of the crawler 23, resulting in sand pills being mixed between the crawler 23 and the working surface when the crawler 23 passes. On the one hand, the residual sand pills will increase the ground clearance of the magnet assembly on the crawler 23, resulting in a decrease in the adsorption force of the magnet assembly, which cannot effectively suppress the recoil force during sand blasting, causing the mobile mechanism to shake, and then causing the sandblasting gun of the sandblasting robot to shake, affecting the sand blasting quality control; on the other hand, the residual sand pills will The sharp reduction in static friction between the track 23 and the working surface causes the track 23 to slip and drift on the working surface, losing its original trajectory. In particular, when the mobile mechanism crosses a curved working surface, even if the track 23 can fit snugly with the curved working surface, the sandblasting robot's stability cannot be guaranteed under the dual effects of the sandblasting recoil force and the reduced static friction of the track 23. On the other hand, residual sand pellets will also follow the movement of the track 23 and become stuck in the transmission parts between the track 23 and the driven wheel 22 and the driving wheel 21. The high rigidity of the sand pellets can easily cause wear on these transmission structures, resulting in transmission gaps and causing the mobile mechanism to experience a sense of frustration when moving. By setting up the sand blasting mechanism, the probability of the track 23 directly contacting the residual sand pellets can be greatly reduced, thereby effectively improving the above-mentioned problem.

[0067] However, since the turning arm 3 can turn over the front section of the crawler 23 during the turning process, it is inevitable that the crawler 23 will become loose, which is also not conducive to the stable walking of the mobile mechanism of the present application. Figure 1 and Figure 2A fixed shaft 31 is fixed to the side wall of the chassis 1, and a rotating sleeve 32 is rotatably provided on the fixed shaft 31. The flip arm 3 is fixed to the rotating sleeve 32. Two tensioning frames 33 are provided on the arc-surface outer wall of the rotating sleeve 32, and a tensioning wheel 24 is installed on the free end of the tensioning frame 33; when the line connecting the central axes of the driving wheel 21 and the driven wheel 22 is parallel to the working surface, the two tensioning wheels 24 are engaged with the inner side surface of the upper section of the crawler 23 at the same time; or in other embodiments, the two tensioning wheels 24 are arranged on the inner and outer sides of the upper section of the crawler 23, which can provide a more powerful tensioning effect, such as Figure 3 The tensioning wheel 24 can be elastically mounted on the tensioning frame 33. The specific installation method is the existing technology and can be fully realized by those skilled in the art without further explanation.

[0068] In addition, a plurality of clamping wheels 25 are installed on the side of the chassis 1, which engage with the inner side surface of the downward section of the track 23 to ensure the tightness of the downward section of the track 23 and the working surface. The clamping wheel 25 close to the front side of the chassis 1 is at least flush with the tensioning wheel 24 located on the front side, or protrudes forward from the tensioning wheel 24 located on the front side.

[0069] Therefore, when the flip arm 3 flips, the rotating sleeve 32 also drives the two tensioning frames 33 to flip synchronously, and causes one of the two tensioning wheels 24 to lift the track 23 upward to tighten the track 23. Specifically, if the two tensioning wheels 24 are located on the inner side of the track 23, when the flip arm 3 flips downward, the tensioning wheel 24 on the rear side flips upward and lifts the track 23, and the portion of the downward section of the track 23 located between the driven wheel 22 and the tensioning wheel 24 on the front side can fit on the curved surface of the working surface; when the flip arm 3 flips upward, the tensioning wheel 24 on the front side flips upward and lifts the track 23, and the pressure wheel 25 limits the downward section of the track 23, and the portion of the downward section of the track 23 located between the driven wheel 22 and the tensioning wheel 24 on the front side can also fit on the curved surface of the working surface.

[0070] If the two tension wheels 24 are arranged on both sides of the crawler belt 23, as shown in FIG. Figure 3 As shown in a in FIG, when the flip arm 3 flips, one tensioning wheel 24 pushes up the crawler 23, and the other tensioning wheel 24 presses down the crawler 23, which can also achieve the effect of tensioning the crawler 23. Moreover, no matter which of the above methods is used, the tensioning wheel 24 can automatically tension the crawler 23 when the flip arm 3 flips. Compared with the existing technology that requires external power source for tensioning, this method is simpler, more direct, and more responsive.

[0071] In order to achieve a better tensioning effect, the length of the flip arm 3 is 2 to 3 times the length of the tensioning frame 33, and the angle between the tensioning frame 33 near the front side and the flip arm 3 is not less than 45°.

[0072] Alternatively, in another feasible embodiment, the two tensioning wheels 24 are arranged on the inner sides of the upward and downward sections of the crawler 23, that is, the tensioning frame 33 is located on the upper and lower sides of the flip arm 3, and the angle between the tensioning frame 33 and the flip arm 3 is an acute angle, and the tensioning wheel 24 is located in front of all the pressure wheels 25, such as Figure 3 As shown in b in the figure, when the flip arm 3 flips downward, the tensioning wheel 24 located below simultaneously presses down the downward section of the crawler track 23, allowing the downward section of the crawler track 23 to better fit the concave surface. When the flip arm 3 flips upward, the tensioning wheel 24 located below simultaneously lifts up, allowing the downward section of the crawler track 23 to avoid the upward convex surface.

[0073] In order to reduce the interference of the residual sand balls on the working surface on the stability of the crawler 23, refer to Figure 2 、 Figure 4 and Figure 5 , the above-mentioned sand blowing mechanism includes:

[0074] The first air nozzle 51 is installed on the free end of the flip arm 3 close to the chassis 1, and its air jet direction is obliquely from the inside to the outside, pointing to the working surface that is about to be contacted by the front of the crawler 23 on the same side;

[0075] The second air nozzle 52 is installed at the free end of the flip arm 3 close to the chassis 1, and its air jet direction is obliquely directed from bottom to top towards the side of the upper section of the crawler 23 on the same side close to the driven wheel 22;

[0076] The second air nozzle 52 and the first air nozzle 51 are both connected to an external high-pressure air source, and a solenoid valve or a pulse valve is provided on the connecting air path.

[0077] Therefore, when the flip arm 3 flips to adapt to the curved surface of the working surface, since the first air nozzle 51 and the second air nozzle 52 are both installed on the flip arm 3, the first air nozzle 51 and the second air nozzle 52 can maintain the preset air injection angle according to the shape, ensuring that the residual sand and pills on the working surface and the crawler 23 are effectively cleaned.

[0078] However, considering that in actual working process, the residual sand pills on the curved working surface are more difficult to clean thoroughly than those on the flat working surface, especially on the concave curved working surface, if the residual sand pills are always impacted by high-speed airflow, it will cause violent splashing of sand pills and serious dust, which will aggravate the harshness of the working environment for the sandblasting robot and introduce unnecessary risks.

[0079] For this purpose, refer to Figure 4 and Figure 5The first air nozzle 51 includes a low-speed nozzle 511 and a high-speed flat tube 512 slidably mounted outside the end of the low-speed nozzle 511. A tension spring 513 is connected between the high-speed flat tube 512 and the low-speed nozzle 511. A pulse solenoid valve 54 and an electromagnetic flow valve 53 are provided on the air path of the first air nozzle 51. The electromagnetic flow valve 53 is controlled and connected to the laser rangefinder 41. Specifically, the electromagnetic flow valve 53 and the pulse solenoid valve 54 are both electrically connected to the flip controller.

[0080] When the distance value detected by the laser rangefinder 41 continuously exceeds the set threshold range within a set time, the flip controller controls the electromagnetic flow valve 53 to start to increase the airflow speed in the first air nozzle 51, so that the high-speed flat tube 512 overcomes the elastic force of the tension spring 513 and extends under the impact of the high-speed airflow; therefore, it should be clearly stated here that the spring coefficient of the tension spring 513 is preferably such that after the set high-speed airflow impacts the high-speed flat tube 512, the high-speed flat tube 512 can overcome the elastic force of the tension spring 513 and slide on the low-speed nozzle 511.

[0081] In addition, a cylindrical cam (not shown in the figure) is coaxially fixed to the outer wall of the end of the low-speed nozzle 511, and a protrusion (not shown in the figure) is fixed to the inner wall of the straight tube portion of the high-speed flat tube 512, which is slidably adapted to the spiral groove on the cylindrical cam; and the helix angle of the spiral groove on the cylindrical cam is not greater than 180°, and when the high-speed flat tube 512 rotates and slides outward on the low-speed nozzle 511, the rotation direction of the high-speed flat tube 512 is in the direction away from the track 23.

[0082] When the distance value detected by the laser rangefinder 41 continuously exceeds the set threshold range within the set time, the flip controller also controls the pulse solenoid valve 54 to start, so that a high-speed airflow is pulsed out of the low-speed nozzle 511, so that the high-speed flat tube 512 slides back and forth along the axial direction of the low-speed nozzle 511 and rotates back and forth around its axis to achieve a multi-directional blowing effect.

[0083] Therefore, when the mobile mechanism of the present application moves to the curved working surface, it is detected by the laser rangefinder 41, and the flip controller simultaneously controls the pulse electromagnetic valve 54 and the electromagnetic flow valve 53 to start, so that the gas pipeline pulses and delivers high-speed airflow to the low-speed nozzle 511, and the pulse high-speed airflow output from the low-speed nozzle 511 is ejected from the high-speed flat tube 512. Since the internal resistance of the high-speed flat tube 512 is greater, when the high-speed airflow is output from the low-speed nozzle 511, the high-speed airflow pushes the high-speed flat tube 512 in the low-speed nozzle 511. The high-speed flat tube 512 slides upward and stretches the tension spring 513. During this process, with the help of the cylindrical cam and the corresponding protrusion, the high-speed flat tube 512 slides on the low-speed nozzle 511 while rotating at a certain angle. This can continuously change the spray surface of the air curtain ejected by the high-speed flat tube 512 to achieve a rotary spraying effect. It also brings the air outlet of the high-speed flat tube 512 closer to the working surface, enabling dynamic, multi-directional, and close-range blowing of sand and pellets remaining on the curved working surface, sweeping the remaining sand and pellets away from the path of the crawler 23, and achieving a better blowing effect. When the low-speed nozzle 511 stops outputting airflow, the high-speed flat tube 512 moves back and resets under the action of the deformation force of the tension spring 513 until the low-speed nozzle 511 ejects high-speed airflow again. This cycle can significantly improve the efficiency of blowing away the remaining sand and pellets on the curved working surface.

[0084] When the mobile mechanism of the present application is traveling on a flat working surface, the pulse solenoid valve 54 and the electromagnetic flow valve 53 are both in the closed state, and the external airflow is directly delivered to the low-speed nozzle 511, unaffected by the two. At this time, due to the low airflow speed, the airflow output from the low-speed nozzle 511 is insufficient to push the high-speed flat tube 512 to overcome the elastic force of the tension spring 513 and slide. Therefore, at this time, only a low-speed, gentle airflow is output from the high-speed flat tube 512. At this time, the high-speed flat tube 512 is farther away from the working surface, and the sweeping width is larger, which is suitable for efficiently sweeping away residual sand and pellets on a flat working surface. Moreover, because the airflow output from the high-speed flat tube 512 is more gentle at this time, the probability of residual sand and pellets rebounding is lower. Therefore, by controlling the first air nozzle 51 to output different airflow forms on different working surfaces, the probability of sand and pellets splashing back and raising dust during sweeping can be significantly reduced, while ensuring the efficiency of sand and pellet sweeping and reducing the probability of magnetic instability and slipping of the crawler 23.

[0085] Among them, although the dynamic multi-directional and close-range blowing effect of the high-speed flat tube 512 is best for the concave curved working surface; however, since the injection surface of the air curtain ejected by the high-speed flat tube 512 in the initial state acts obliquely on the working surface, when it comes to the convex curved working surface, the high-speed flat tube 512 is also subjected to rotary spray blowing under the action of the pulsed high-speed airflow during the process of lifting the flip arm 3. The rotary spray blowing of the high-speed flat tube 512 can increase the displacement of the blown sand pills away from the crawler 23, thereby preventing the blown sand pills on the convex curved surface from sliding along the convex curved surface to the travel track of the crawler 23, and ensuring that there are very few sand pills remaining on the travel track of the crawler 23 on the curved working surface.

[0086] In addition, refer to Figure 6 and Figure 7 The free end of the flip arm 3 is fixedly connected to a curved cover 6 for covering the driven wheel 22 and the front section of the crawler track 23. The upper part of the curved cover 6 close to the driving wheel 21 is provided with an outwardly convex portion 61. A sand outlet 62 is provided at the connection between the outwardly circumscribed portion 61 and the curved cover 6. The high-speed airflow ejected by the second air nozzle 52 passes through the crawler track 23 and is directed to the inner wall of the outwardly circumscribed portion 61 and the sand outlet 62. The outwardly circumscribed portion 61 extends forward to the side away from the driving wheel 21 and crosses the sand outlet 62. The lower end opening of the curved cover 6 is located in front of the high-speed airflow ejected by the first air nozzle 51.

[0087] Furthermore, a protective cover 7 is mounted on the side of the chassis 1 to shield the track 23. The curved cover 6 is flexibly connected to the end of the protective cover 7, specifically by a "Z"-shaped rubber strip that flexibly connects the overlapping portion of the two, allowing the curved cover 6 to flexibly rotate with the flip arm 3. Furthermore, a flexible member 71 is connected to the bottom of the protective cover 7 to shield the side of the track 23 and overlap the working surface. The flexible member 71 can be a plurality of stacked, highly wear-resistant rubber strips.

[0088] In this way, by providing the curved cover 6 and the protective cover 7, the front and middle sections of the crawler 23, which are most likely to come into contact with the sand pills, can be effectively shielded and protected, so that the sand pills flying during the sandblasting operation will not invade the crawler 23 and the related transmission mechanism, thereby ensuring the service life of the equipment. When the mobile mechanism of the present application is traveling on the working surface, the second air nozzle 52 continuously ejects a high-speed airflow. After this high-speed airflow passes through the gap on the crawler 23, it can blow out the sand pills stuck on the crawler 23. A portion of the sand pills are discharged from the sand outlet 62 under the guidance of the circumscribed portion 61 in the direction of the high-speed airflow, and the other portion of the sand pills are discharged from the opening at the lower end of the curved cover 6 under the guidance of the curved cover 6 and are blown to the side by the airflow ejected by the first air nozzle 51. In this way, the sand pills stuck on the crawler 23 can be effectively cleaned, and at the same time, the sand pills can be prevented from entering between the crawler 23 and the working surface during the movement of the crawler 23, which can cause the magnetic attraction effect of the crawler 23 to be weakened and the crawler 23 to slip and drift.

[0089] The embodiment of the present application discloses a sandblasting device, which includes the above-mentioned sandblasting robot moving mechanism, and also includes a sandblasting robot arm and a sandblasting gun installed on a chassis 1.

[0090] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0091] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A sandblasting robot mobile mechanism, comprising a chassis, a driving wheel, a driven wheel and a crawler, wherein a magnet assembly is provided on the crawler, characterized in that: The chassis is provided with: A flip arm, one end of which is hinged to the chassis and the other end of which extends to protrude from the front side of the chassis, and the driven wheel is mounted on the free end of the flip arm; Laser rangefinder, located on the front side of the chassis, used to detect the flatness of the working surface in the direction of travel; A flip assembly, used for driving the flip arm to flip on the chassis, and connected to the laser rangefinder for control; When the laser rangefinder detects that the working surface is depressed downward, the flip assembly is controlled to drive the flip arm to flip downward; When the laser rangefinder detects that the working surface is convex upward, the flip assembly is controlled to drive the flip arm to flip upward; as well as The sand blowing mechanism is located on the front side of the chassis and is used to blow sand balls onto the paths where the two crawlers are about to travel, as well as to blow sand balls from the inner side of the crawlers. The sand blowing mechanism comprises: A first air nozzle is installed at the free end of the flip arm close to the chassis, with its air jet direction obliquely pointing from the inside to the outside toward the working surface that the front of the crawler on the same side is about to contact, and the first air nozzle is connected to an external high-pressure air source; The first air nozzle includes a low-speed nozzle and a high-speed flat tube slidably mounted on the end of the low-speed nozzle. A tension spring is connected between the high-speed flat tube and the low-speed nozzle. A pulse solenoid valve and an electromagnetic flow valve are provided on the air path of the first air nozzle. The electromagnetic flow valve is controllably connected to the laser rangefinder. When the distance value detected by the laser rangefinder continuously exceeds a set threshold range within a set time, the electromagnetic flow valve is controlled to start to increase the air flow speed in the first air nozzle, so that the high-speed flat tube overcomes the elastic force of the tension spring and extends under the impact of the high-speed air flow; A cylindrical cam is coaxially fixed to the outer wall of the end of the low-speed nozzle, and a protrusion that is slidably matched with the spiral groove on the cylindrical cam is fixed to the inner wall of the straight tube portion of the high-speed flat tube; When the distance value detected by the laser rangefinder continuously exceeds the set threshold range within the set time, the pulse solenoid valve is controlled to start so that the high-speed flat tube slides back and forth along the axial direction of the low-speed nozzle and rotates back and forth around its axis to achieve a multi-directional blowing effect.

2. A sandblasting robot moving mechanism according to claim 1, characterized in that: The chassis is fixed with a fixed shaft, a rotating sleeve is provided on the fixed shaft, the flip arm is fixed to the rotating sleeve, two tensioning frames are provided on the arc surface outer peripheral wall of the rotating sleeve, and a tensioning wheel is installed at the free end of the tensioning frame; When the line connecting the central axes of the driving wheel and the driven wheel is parallel to the working surface, the two tensioning wheels are engaged with the inner side surface of the crawler belt at the same time.

3. The sandblasting robot moving mechanism according to claim 1, characterized in that: A plurality of pressure wheels are installed on the side of the chassis, and the pressure wheels are engaged with the inner side surface of the crawler track descending section.

4. A sandblasting robot moving mechanism according to any one of claims 1 to 3, characterized in that: The sand blowing mechanism also includes: The second air nozzle is installed on the free end of the flip arm close to the chassis, and its air jet direction is obliquely directed from bottom to top towards the side of the upper track section on the same side close to the driven wheel; The second air nozzle is connected to an external high-pressure air source, and a solenoid valve or a pulse valve is provided on the connecting air path.

5. The sandblasting robot moving mechanism according to claim 4, characterized in that: The free end of the flip arm is fixedly connected to an arc-shaped cover for covering the driven wheel and the front section of the track. The upper part of the arc-shaped cover close to the driving wheel is provided with an outwardly convex portion. A sand outlet is provided at the connection between the outwardly shaped portion and the arc-shaped cover. The high-speed airflow ejected from the second air nozzle passes through the track and is directed to the inner side wall of the outwardly shaped portion and the sand outlet. The outwardly shaped portion extends forward to the side away from the driving wheel and crosses the sand outlet.

6. The sandblasting robot moving mechanism according to claim 5, characterized in that: A protective cover for covering the track is installed on the side of the chassis, the arc-shaped cover is flexibly connected to the end of the protective cover, and a flexible part for covering the side of the track and overlapping the working surface is connected to the bottom of the protective cover.

7. A sandblasting robot moving mechanism according to any one of claims 1 to 3, characterized in that: The flip assembly and the laser rangefinder are electrically connected to a flip controller, and the flip controller is configured as follows: When the distance value detected by the laser rangefinder continuously exceeds the set threshold range within the set time, it is determined that a curved surface appears on the working surface in the direction of travel; If the distance value detected by the laser rangefinder is less than the minimum value of the set threshold range, the flip assembly is controlled to drive the flip arm to flip upward until the distance value detected by the laser rangefinder falls back to the set threshold range; If the distance value detected by the laser rangefinder is greater than the maximum value of the set threshold range, the flip component is controlled to drive the flip arm to flip downward until the distance value detected by the laser rangefinder falls back into the set threshold range.

8. A sandblasting device, based on a sandblasting robot moving mechanism according to any one of claims 1 to 7, characterized in that: Also included is a sandblasting robot arm installed on the chassis.

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