Bionic spider form electromagnetic adsorption type stand column sand blasting and rust removing robot

Abstract

The invention relates to the technical field of sand blasting derusting robots, and discloses a bionic spider form electromagnetic adsorption type stand column sand blasting derusting robot which comprises a machine body, a mechanical arm is installed on the outer wall of the machine body, a gripper mechanism is arranged at the moving end of the mechanical arm, and a motor is installed in the machine body. The output end of the motor is fixedly connected with a transmission mechanism, the transmission mechanism is connected with a placing frame, the outer wall of the placing frame is rotatably connected to the interior of the machine body, a working tool is placed in the placing frame, and the outer wall of the placing frame is fixedly connected with an intermittent bevel gear; the tooth end of the intermittent bevel gear is connected with a first bevel gear in an engaged mode. Working tools are integrated in the machine body containing frame, the motor is used for driving the intermittent bevel gear to be matched with the first bevel gear, automatic opening and closing of the opening and closing plate are achieved, the mechanical arm can directly select or place the working tools, manual assistance is not needed, the working efficiency is improved, and the internal working tools can be protected by closing the opening and closing plate.

Description

Technical Field

[0001] The invention relates to the technical field of sandblasting and rust removal robots, in particular to a bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot. Background Art

[0002] In modern industry, especially in bridges, large buildings, shipbuilding and repair, and the petrochemical industry, numerous columns exist. As critical supporting components, these columns are exposed to complex and harsh environments for long periods of time, making them susceptible to corrosion from a variety of factors. For example, in marine environments, columns are subject to the strong corrosive effects of seawater. Factors such as salinity, humidity, and the attachment of marine organisms accelerate the rusting of the metal surfaces. In chemical production areas, columns are exposed to various chemicals, causing chemical corrosion. In some outdoor environments, columns are also subject to wind and rain erosion, ultraviolet radiation, and temperature fluctuations, causing the surface coating to age and peel, exposing the metal substrate and causing rust.

[0003] Rust on the surface of columns not only severely impacts their appearance but also poses a significant threat to their structural strength and stability. Rust reduces the effective cross-sectional area of ​​the columns, lowering their load-bearing capacity and increasing the risk of fracture, thereby endangering the safety of the entire structure. Damage to columns can lead to serious accidents such as bridge collapse, building collapse, and shipwreck, resulting in significant casualties and property damage. Therefore, regular column maintenance, including timely rust removal and repainting, is essential to ensure the safe operation of industrial facilities.

[0004] With the rapid development of industrial automation technology, various industries are actively seeking automated and intelligent solutions to improve production efficiency, reduce costs, and ensure workplace safety. Automated maintenance equipment can overcome the many shortcomings of manual labor, enabling efficient, accurate, and safe maintenance operations. Currently, some automated robots for column maintenance have appeared on the market, but most of these devices are single-purpose and can only perform specific tasks, such as simple rust removal or painting. In actual column maintenance work, it is often necessary to flexibly change different work tools, such as cleaning water guns, welding torches, painting spray guns, sandblasting guns, detectors, and scrapers, depending on the degree of rust and specific conditions of the column. Existing automated robots have difficulty replacing tools, often requiring manual intervention. This not only affects work efficiency but also prevents the full benefits of automated robots. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot, which solves the problem that automated robots have difficulties in tool replacement and usually require manual intervention for replacement, affecting work efficiency.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot, comprising a body, a mechanical arm is installed on the outer wall of the body, a gripping mechanism is provided at the movable end of the mechanical arm, a motor is installed inside the body, the output end of the motor is fixedly connected to a transmission mechanism, the transmission mechanism is connected to a placement rack, the outer wall of the placement rack is rotatably connected to the interior of the body, a working tool is placed inside the placement rack, the outer wall of the placement rack is fixedly connected to an intermittent bevel gear, the tooth end of the intermittent bevel gear is meshedly connected to a first bevel gear, the first bevel gear is fixedly connected to a rotating shaft, the rotating shaft is rotatably connected to the body, the outer wall of the rotating shaft is fixedly connected to an opening and closing plate, the outer wall of the opening and closing plate is fixedly connected to one end of a torsion spring, the other end of the torsion spring is fixedly connected to the body, and a walking mechanism and an observation mechanism are provided on the outer walls of both sides of the body.

[0007] The above solution integrates a rack, motor, transmission mechanism, and intermittent bevel gears into the machine body, enabling automated placement and protection of work tools. The starting motor drives the rack through the transmission mechanism, causing the intermittent bevel gear on the rack to mesh with the first bevel gear, opening the opening and closing plate, allowing the robotic arm to select or place the work tool. Once the intermittent bevel gear disengages, a torsion spring drives the opening and closing plate to protect the tool. This design integrates the work tool into the machine body, eliminating the need for manual replacement, reducing operator time and effort, and effectively improving work efficiency. The opening and closing plate also protects the tool from external interference.

[0008] Preferably, the gripping mechanism comprises an electric gripper, which is bolted to the movable end of the robotic arm and can grip working tools.

[0009] Preferably, the gripping mechanism includes a cross guide cone, which is bolted to the moving end of the robotic arm, and the outer wall of the robotic arm is fixedly connected to a pneumatic pin, which is slidably connected to a limit pin, which is fixedly connected to an air inlet, and the working tool is slidably connected to the cross guide cone, and the limit pin can be inserted into the interior of the working tool.

[0010] Preferably, the transmission mechanism includes a worm, which is rotatably connected to the inside of the machine body, fixedly connected to the output end of the motor, and the tooth end of the worm is meshed with a worm wheel, which is fixedly connected to the placement rack.

[0011] Preferably, the walking mechanism includes mechanical legs, which are provided in eight groups, one end of the mechanical legs is connected to the body, and the other end of the mechanical legs is fixedly connected to an electromagnetic adsorption support foot, the observation mechanism includes a dust cover and camera 2, the dust cover is fixedly connected to the body, the inside of the dust cover is fixedly connected to camera 1, and the outer wall of the mechanical arm is fixedly connected to camera 2.

[0012] Preferably, the upper surface of the body is fixedly connected to a mounting bracket, the mounting bracket is fixedly connected to a baffle, the outer wall of the mounting bracket is slidably connected to a tank body, the tank body is detachably connected to a connecting pipe 1, the connecting pipe 1 is fixedly connected to a bracket, the bracket is detachably connected to a joint on one side of the robotic arm, the tank body is connected to a fixing mechanism, a battery compartment is provided inside the body, and a charging head is provided on the outer wall of the body.

[0013] Preferably, the joint on the other side of the robotic arm is detachably connected to the bracket, the bracket on the other side is fixedly connected to connecting pipe 2, the outer wall of the robotic arm is fixedly connected to a deflector cover, the deflector cover is fixedly connected to a fixing ring, and the fixing ring is connected and communicated with connecting pipe 2.

[0014] Preferably, the connecting pipe 1 is fixedly connected to a three-way valve, and the working tool is connected to the three-way valve or the connecting pipe 1.

[0015] Preferably, the fixing mechanism includes a slider, which is slidably connected to the tank body and the mounting bracket, the outer wall of the slider is fixedly connected to a sliding column, the sliding column is slidably connected to the inside of the body, the outer wall of the slider away from the tank body is fixedly connected to one end of a spring, the other end of the spring is fixedly connected to the mounting bracket, the outer wall of the sliding column is rotatably connected to a connecting rod, the other end of the connecting rod is rotatably connected to a pull rod, the pull rod is slidably connected to the inside of the body, and the outer wall of the pull rod is fixedly connected to a pull ring.

[0016] Preferably, the fixing mechanism includes a fixing frame, the fixing frame is fixedly connected to the machine body, the internal thread of the fixing frame is connected to a threaded pin, and the outer wall of the threaded pin is fixedly connected to a clamping plate.

[0017] Working Principle: The robot is equipped with eight sets of mechanical legs, each of which is connected to the body at one end and fixed with electromagnetic adsorption feet at the other end. The legs are adsorbed on the working surface by the electromagnetic adsorption feet to enable walking. The observation mechanism includes a dust cover, camera 1 and camera 2. The dust cover is fixed to the body, and camera 1 is installed inside. Camera 2 is fixed on the outer wall of the mechanical arm. The two work together to provide an observation angle for the robot's operation. An axial robotic arm is installed on the outer wall of the machine body with an extension distance of about 1200mm. A gripper mechanism is set at its mobile end for grabbing and fixing work tools. The work tools include cleaning / water guns, welding / welding handles and other tools. There are two embodiments of the gripper mechanism: one is to use an electric clamp, which is bolted to the mobile end of the robotic arm to directly grab the work tools. The power can be obtained from the machine body, but the grabbing is unstable and suitable for low-intensity tool work; the other is composed of a cross guide cone, a pneumatic pin, an air inlet and a limit pin. The base of the work tool is provided with a slide groove that fits with the cross guide cone. First, the cross guide cone is inserted into the work tool to limit it, and then the air inlet is connected to the air pump machine fixed on the machine body. The limit pin is pushed from both sides by pressure to be inserted into the inside of the work tool and fixed, which has better stability and is suitable for high-intensity work. A placement rack is provided inside the machine body for storing work tools. When the motor is started, the placement rack is driven to rotate through the transmission mechanism. In the transmission mechanism, a worm is fixed at the output end of the motor, the worm is meshed with the worm gear, and the worm gear is fixedly connected to the placement rack. The motor drives the worm to rotate, and then drives the worm gear and the placement rack to rotate. The worm and the worm gear have a self-locking effect, which can control the rotation angle of the placement rack. When the placement rack rotates, it drives the intermittent bevel gear to rotate. When the intermittent bevel gear is meshed with the first bevel gear, the first bevel gear drives the rotating shaft to rotate, and the rotating shaft drives the opening and closing plate to rotate and open, so that the work tool or the placement pit is exposed. At this time, the robotic arm selects or places the work tool through operations such as movement and rotation. After the intermittent bevel gear continues to rotate and disengages from the first bevel gear, the torsion spring rebounds and drives the opening and closing plate to rotate and close, thereby protecting the work tool inside the placement rack, and no manual assistance is required to replace the work tool. The mounting frame is fixed on the upper surface of the machine body, and the mounting frame fixes the baffle. The tank body can be slidably connected to the mounting frame and fixed by a fixing mechanism. There are two embodiments of the fixing mechanism: one is to include a slider, a sliding column, a connecting rod, a pull rod, a pull ring and a spring. When installing the tank body, the tank body is pushed to slide and squeeze the slider to retract into the inside of the mounting frame. The tank body is pushed further to press against the baffle, and the spring rebounds to push the slider to slide and be stuck in the limiting groove of the tank body to complete the installation; when removing the tank body, the pull ring is pulled to drive the pull rod to slide, and the pull rod drives the connecting rod to rotate. The connecting rod pushes the slider to slide and retract into the inside of the mounting frame through the sliding column, and the tank body can be removed; the second is to include a fixing frame, a threaded pin and a clamping plate. After the sliding tank body is installed on the mounting frame, the threaded pin is rotated to make the clamping plate press against the tank body, and the tank body is clamped and fixed by four sets of clamping plates; The tank body is detachable, which not only refers to a storage container, but also can be a collection of a pumping machine, a storage container for sandblasting and a high-pressure air pump, or a collection of a cleaning container and a high-pressure water pump. When there is a storage container in the tank body, the tank body can be connected to the work tool through connecting pipe 1 to directly provide various gases and liquids without connecting to external pipelines. Connecting pipe 1 fixes the three-way valve. When the workload is large, the external pipeline can be connected through the three-way valve. The joint on the other side of the robotic arm is detachably connected to the bracket, and the bracket fixes connecting pipe 2. The outer wall of the robotic arm fixes the deflector cover, and the deflector cover fixes the fixing ring. The fixing ring is connected and communicated with connecting pipe 2. For work involving dust, connect one end of connecting pipe 2 to the negative pressure machine. The dust enters the fixing ring under the guidance of the deflector cover and is sucked into the tank body through connecting pipe 2 to reduce pollution.

[0018] The present invention provides a bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot. It has the following beneficial effects: 1. The present invention integrates the working tool into the body placement frame, uses a motor to drive the intermittent bevel gear to cooperate with the first bevel gear, and realizes the automatic opening and closing of the opening and closing plate, so that the robot arm can directly select or place the working tool without manual assistance, thereby improving work efficiency, and the closing of the opening and closing plate can protect the internal working tool; two gripping mechanism embodiments are also provided. The electric clamping claw embodiment has a simple and common structure and is easy to implement; although the embodiment of the cross guide cone and the pneumatic pin is complex in structure, it can provide better stability for high-intensity work, and the appropriate gripping mechanism can be selected according to different work requirements.

[0019] 2. The tank body of the present invention is detachable and can be replaced to meet different work needs. It can be used as a storage container, an air pumping machine, a sandblasting or cleaning container, and a collection of high-pressure pumps, etc.; two fixing mechanism embodiments are provided, one of which realizes automatic installation and removal of the tank body through structures such as springs and sliders; the other clamps and fixes the tank body through threaded pins and clamping plates to ensure stable installation of the tank body on the machine body, and provides two power supply modes, which increases the flexibility of use; a three-way valve can also be added to a connecting pipe, and when the workload is large, an external pipeline can be connected to avoid frequent replenishment of materials and resulting in a decrease in work efficiency.

[0020] 3. In order to solve the dust phenomenon that may be generated during work, the present invention sets a deflector cover at the position of the robot arm close to the working tool, which is connected to the negative pressure machine through a connecting pipe to suck the dust into the tank body to reduce air pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A perspective view of the present invention; Figure 2 It is a schematic diagram of the local structure of the placement rack of the present invention; Figure 3 It is a schematic diagram of the local structure of the worm of the present invention; Figure 4 It is a schematic diagram of the partial structure of the mounting frame of the present invention; Figure 5 It is a schematic diagram of the local structure of the slider of the present invention; Figure 6 It is a schematic diagram of the local structure of the clamping plate of the present invention; Figure 7 It is a schematic diagram of the local structure of the air guide cover of the present invention; Figure 8 This is a partial structural diagram of a connecting pipe according to the present invention; Figure 9 It is a schematic diagram of the local structure of the limit pin of the present invention; Figure 10 Schematic diagram of the internal structure of the camera of the present invention.

[0022] Among them, 1. Body; 2. Robotic arm; 3. Gripper mechanism; 311. Electric gripper; 321. Cross guide cone; 322. Pneumatic pin; 323. Air inlet; 324. Limit pin; 4. Motor; 5. Transmission mechanism; 511. Worm; 512. Worm gear; 6. Placement rack; 7. Work tool; 8. Intermittent bevel gear; 9. First bevel gear; 10. Rotating shaft; 11. Opening and closing plate; 12. Torsion spring; 13. Walking mechanism; 1301. Robotic leg; 1302. Electromagnetic adsorption support foot; 14. Observation mechanism; 1401. Dustproof Cover; 1402, camera 1; 1403, camera 2; 15, mounting bracket; 16, baffle; 17, tank body; 18, fixing mechanism; 1811, slider; 1812, slide column; 1813, connecting rod; 1814, pull rod; 1815, pull ring; 1816, spring; 1821, fixing bracket; 1822, threaded pin; 1823, clamping plate; 19, three-way valve; 20, deflector cover; 21, fixing ring; 22, connecting pipe 1; 23, bracket; 24, connecting pipe 2; 25, battery compartment; 26, charging head. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Please see the attached Figure 1 -Attached Figure 3The embodiment of the present invention provides a bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot, which includes a body 1, a robotic arm 2 is installed on the outer wall of the body 1, and a gripping mechanism 3 is provided at the moving end of the robotic arm 2. A motor 4 is installed inside the body 1, and the output end of the motor 4 is fixedly connected to a transmission mechanism 5. The transmission mechanism 5 is connected to a placement rack 6. The outer wall of the placement rack 6 is rotatably connected to the inside of the body 1, and a working tool 7 is placed inside the placement rack 6. The outer wall of the placement rack 6 is fixedly connected to an intermittent bevel gear 8, and the tooth end of the intermittent bevel gear 8 is meshedly connected to a first bevel gear 9. The first bevel gear 9 is fixedly connected to a rotating shaft 10, and the rotating shaft 10 is rotatably connected to the body 1. The outer wall of the rotating shaft 10 is fixedly connected to an opening and closing plate 11, and the outer wall of the opening and closing plate 11 is fixedly connected to one end of a torsion spring 12, and the other end of the torsion spring 12 is fixedly connected to the body 1. The outer walls of both sides of the body 1 are provided with a walking mechanism 13 and an observation mechanism 14.

[0025] Specifically, in the present application, the walking mechanism 13 is used for walking, and a robot arm 2 is installed on the outer wall of the body 1. The robot arm 2 is a 6-axis robot arm for placing the frame. The extension distance of the robot arm 2 is about 1200mm, and a gripping mechanism 3 is provided at the end of the robot arm 2 away from the body 1. The gripping mechanism 3 is used to grab and fix the working tool 7. The working tool 7 can be a cleaning / water gun, a welding / welding gun, a coating / spray gun, a sandblasting / sandblasting gun, a detection / detector, a maintenance / various tools, a marine life removal / shovel and other tools. Some types of working tools 7 can be directly stored inside the placing frame 6 for easy access at any time. When the working tool 7 inside the placing frame 6 is used, the placing frame 6 can be driven to rotate through the transmission mechanism 5 by starting the motor 4. The rotation of the placing frame 6 also drives the intermittent bevel gear 8 to rotate. When the intermittent bevel gear 8 rotates to engage with the first bevel gear 9, the first bevel gear 9 drives The rotating shaft 10 rotates, and the rotating shaft 10 drives the opening and closing plate 11 to rotate and open. When the opening and closing plate 11 is fully opened, the working tool 7 is exposed or the pit for placing the working tool 7 is exposed. At this time, the working tool 7 can be directly selected or placed through operations such as moving and rotating the mechanical arm 2. The working tool 7 is directly integrated into the machine body 1, which can improve work efficiency. The intermittent bevel gear 8 continues to rotate and disengages from the first bevel gear 9. At this time, there is no restriction on the intermittent bevel gear 8, and the torsion spring 12 rebounds and drives the opening and closing plate 11 to rotate and close. When the opening and closing plate 11 is closed, it can protect the working tool 7 inside the placement frame 6. In this application, no manual assistance is required to replace the working tool 7, which is more convenient to use. It should be noted that the exposed torsion spring 12 and the first bevel gear 9 may be corroded, blocked, and other problems. A protective shell can be added for protection. This technology is a conventional means and will not be described in detail.

[0026] Example 1 Please see the attached Figure 1 and attached Figure 4The gripping mechanism 3 includes an electric gripper 311 , which is bolted to the moving end of the robotic arm 2 , and the electric gripper 311 can grip the working tool 7 .

[0027] Specifically, this embodiment directly uses the electric gripper 311 as a gripping tool. This method is relatively common and easy to implement. Its electricity can be directly obtained from the body 1. At that time, the gripping of the electric gripper 311 may be unstable, which is suitable for tool work with low strength.

[0028] Example 2 Please see the attached Figure 9 The gripping mechanism 3 includes a cross guide cone 321, which is bolted to the moving end of the robotic arm 2. The outer wall of the robotic arm 2 is fixedly connected with a pneumatic pin 322, which is slidably connected to a limit pin 324. The pneumatic pin 322 is fixedly connected to an air inlet 323. The working tool 7 is slidably connected to the cross guide cone 321, and the limit pin 324 can be inserted into the interior of the working tool 7.

[0029] Specifically, the structure of this example is more complex, but it is more suitable for high-intensity work. First, a slide groove needs to be opened on the base of the work tool 7. The shape of the slide groove should match the cross guide cone 321. By inserting the cross guide cone 321 into the interior of the work tool 7, the special shape of the cross guide cone 321 is used for limiting. When the cross guide cone 321 is connected to the work tool 7, the work tool 7 is fixed by the pneumatic pin 322, that is, by connecting the air inlet 323 to the air pump machine, the air pump machine can be fixed on the body 1, and the limit pin 324 is pushed to slide by pressure. The limit pin 324 is inserted into the interior of the work tool 7 from both sides to form a complete fixation. This method can provide better stability.

[0030] Please see the attached Figure 3 The transmission mechanism 5 includes a worm 511, which is rotatably connected to the inside of the body 1, and is fixedly connected to the output end of the motor 4. The tooth end of the worm 511 is meshed with a worm wheel 512, and the worm wheel 512 is fixedly connected to the placement rack 6.

[0031] Specifically, the motor 4 provides power. After the motor 4 is started, it drives the worm 511 at the output end to rotate. The worm 511 engages and rotates with the worm wheel 512. The worm wheel 512 drives the placement rack 6 to rotate. The body 1 supports the placement rack 6 to rotate, completing the power transmission. The worm 511 and the worm wheel 512 have a certain self-locking effect, which controls the rotation angle of the placement rack 6, making it convenient for the robotic arm 2 to select the working tool 7.

[0032] Please see the attached Figure 4 and attached Figure 10The walking mechanism 13 includes a mechanical leg 1301, which is provided with eight groups. One end of the mechanical leg 1301 is connected to the body 1, and the other end of the mechanical leg 1301 is fixedly connected to the electromagnetic adsorption support foot 1302. The observation mechanism 14 includes a dust cover 1401 and a second camera 1403. The dust cover 1401 is fixedly connected to the body 1, and the interior of the dust cover 1401 is fixedly connected to the camera 1 1402, and the outer wall of the robotic arm 2 is fixedly connected to the camera 2 1403.

[0033] Specifically, the present application uses eight sets of mechanical legs 1301 , and the eight sets of mechanical legs 1301 use independent control systems and are adsorbed on the working surface through electromagnetic adsorption legs 1302 .

[0034] Please see the attached Figure 4 and attached Figure 6 The upper surface of the body 1 is fixedly connected to a mounting bracket 15, the mounting bracket 15 is fixedly connected to a baffle 16, the outer wall of the mounting bracket 15 is slidably connected to a tank body 17, the tank body 17 is detachably connected to a connecting pipe 22, the connecting pipe 22 is fixedly connected to a bracket 23, the bracket 23 is detachably connected to a joint on one side of the robotic arm 2, the tank body 17 is connected to a fixing mechanism 18, a battery compartment 25 is provided inside the body 1, and a charging head 26 is provided on the outer wall of the body 1.

[0035] Specifically, in the present application, the tank body 17 not only refers to a storage container, but can also be the above-mentioned pumping machine, or a collection of a storage container for sandblasting and a high-pressure air pump, or a collection of a cleaning container and a high-pressure water pump. In layman's terms, the tank body 17 refers to an object that can work independently and has a large weight or volume and needs to be carried on the outer wall of the body 1. In the present application, the tank body 17 is detachable, that is, the tank body 17 can slide with the mounting frame 15, and the tank body 17 is mounted on the body 1 by sliding. Therefore, in order to adapt to different tasks, the tank body 17 is not limited to a single object, and the tank body 17 can be replaced by disassembly. The present application provides two power supply methods, namely, power supply by the battery compartment 25 and the charging head 26. Since the charging head 26 is exposed to the outside, protective measures can be added to avoid damage; when there is a storage container in the tank body 17, a connecting pipe 22 can be provided to connect the tank body 17 to the work tool 7, that is, various gases and liquids are directly provided through the tank body 17 without connecting external pipes, thereby avoiding entanglement of pipes in complex spaces.

[0036] Please see the attached Figure 7 The joint on the other side of the robotic arm 2 is detachably connected to the bracket 23, and the bracket 23 on the other side is fixedly connected to the connecting pipe 24. The outer wall of the robotic arm 2 is fixedly connected to the air deflector 20, and the air deflector 20 is fixedly connected to the fixing ring 21. The fixing ring 21 is connected and communicated with the connecting pipe 24.

[0037] Specifically, some work may cause dust to be raised, resulting in air pollution. Therefore, it is possible to choose to add a deflector 20 to the position of the robot arm 2 close to the work tool 7. When the work tool 7 is working, one end of the connecting pipe 24 is connected to the negative pressure machine. By providing negative pressure, the dust enters the fixed ring 21 under the guidance of the deflector 20. The fixed ring 21 is connected to the connecting pipe 24, and the connecting pipe 24 is provided to suck the interior of the tank body 17. At this time, a part of the tank body 17 is a machine that can provide negative pressure and a filter ash box, thereby reducing pollution.

[0038] Please see the attached Figure 8 The connecting pipe 1 22 is fixedly connected to the three-way valve 19 , and the working tool 7 is connected to the three-way valve 19 or the connecting pipe 1 22 .

[0039] Specifically, in some cases, such as when the workload is large, an external pipeline is required. Supplying only through the tank body 17 may require frequent replenishment of materials, resulting in reduced work efficiency. Therefore, a three-way valve 19 can be added at the connecting pipe 22, and the three-way valve 19 can be connected to an external pipeline.

[0040] Please see the attached Figure 5 The fixing mechanism 18 includes a slider 1811, which is slidably connected to the tank body 17 and the mounting bracket 15. The outer wall of the slider 1811 is fixedly connected to a sliding column 1812, which is slidably connected to the inside of the body 1. The outer wall of the slider 1811 away from the tank body 17 is fixedly connected to one end of a spring 1816, and the other end of the spring 1816 is fixedly connected to the mounting bracket 15. The outer wall of the sliding column 1812 is rotatably connected to a connecting rod 1813, and the other end of the connecting rod 1813 is rotatably connected to a pull rod 1814. The pull rod 1814 is slidably connected to the inside of the body 1, and the outer wall of the pull rod 1814 is fixedly connected to a pull ring 1815.

[0041] Specifically, the present application fixes the tank body 17 on the mounting bracket 15 through the fixing mechanism 18. In this embodiment, when the tank body 17 is installed, the tank body 17 is pushed to slide, and the tank body 17 squeezes the slider 1811 to retract into the inside of the mounting bracket 15, and the tank body 17 is continued to be pushed so that the tank body 17 presses against the baffle 16. Then the spring 1816 rebounds, and the spring 1816 pushes the slider 1811 to slide, so that the slider 1811 is stuck in the limit groove of the tank body 17, and the installation is completed. When the tank body 17 needs to be replaced or removed, the pull ring 1815 can be pulled, and the pull ring 1815 drives the pull rod 1814 to slide. The pull rod 1814 simultaneously drives the connecting rods 1813 on both sides to rotate, and the connecting rod 1813 pushes the slider 1811 to slide through the sliding column 1812, actively causing the slider 1811 to retract into the inside of the mounting bracket 15. At this time, the tank body 17 can be removed.

[0042] Please see the attached Figure 6In the above content, this embodiment also provides another structure, in which the fixing mechanism 18 includes a fixing frame 1821, which is fixedly connected to the body 1, and the internal thread of the fixing frame 1821 is connected to a threaded pin 1822, and the outer wall of the threaded pin 1822 is fixedly connected to a clamping plate 1823.

[0043] Specifically, after sliding the tank body 17 to install it on the mounting frame 15, the tank body 17 can be fixed from both sides, that is, by rotating the threaded pin 1822 to make the clamping plate 1823 press against the tank body 17. Since the threaded pin 1822 is threadedly connected to the fixing frame 1821, the tank body 17 is clamped and fixed by four sets of clamping plates 1823.

[0044] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot, comprising a body (1), characterized in that: A mechanical arm (2) is installed on the outer wall of the machine body (1), and a gripping mechanism (3) is provided at the movable end of the mechanical arm (2). A motor (4) is installed inside the machine body (1), and an output end of the motor (4) is fixedly connected to a transmission mechanism (5), and the transmission mechanism (5) is connected to a placement rack (6). The outer wall of the placement rack (6) is rotatably connected to the inside of the machine body (1), and a working tool (7) is placed inside the placement rack (6). The outer wall of the placement rack (6) is fixedly connected to an intermittent bevel gear (8). The tooth end of the intermittent bevel gear (8) is meshedly connected with a first bevel gear (9), the first bevel gear (9) is fixedly connected with a rotating shaft (10), the rotating shaft (10) is rotatably connected to the body (1), the outer wall of the rotating shaft (10) is fixedly connected with an opening and closing plate (11), the outer wall of the opening and closing plate (11) is fixedly connected with one end of a torsion spring (12), the other end of the torsion spring (12) is fixedly connected to the body (1), and the outer walls of both sides of the body (1) are provided with a walking mechanism (13) and an observation mechanism (14).

2. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 1 is characterized in that: The gripping mechanism (3) comprises an electric gripping claw (311), the electric gripping claw (311) being bolted to the moving end of the mechanical arm (2), and the electric gripping claw (311) being capable of gripping a working tool (7).

3. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 1 is characterized in that: The gripping mechanism (3) includes a cross guide cone (321), the cross guide cone (321) is bolted to the movable end of the mechanical arm (2), the outer wall of the mechanical arm (2) is fixedly connected to a pneumatic pin (322), the pneumatic pin (322) is slidably connected to a limit pin (324), the pneumatic pin (322) is fixedly connected to an air inlet (323), the working tool (7) is slidably connected to the cross guide cone (321), and the limit pin (324) can be inserted into the interior of the working tool (7).

4. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 2 or 3, characterized in that: The transmission mechanism (5) includes a worm (511), the worm (511) being rotatably connected to the interior of the machine body (1), the worm (511) being fixedly connected to the output end of the motor (4), the tooth end of the worm (511) being meshedly connected to a worm wheel (512), and the worm wheel (512) being fixedly connected to the placement rack (6).

5. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 4 is characterized in that: The walking mechanism (13) includes mechanical legs (1301), and the mechanical legs (1301) are provided with eight groups. One end of the mechanical legs (1301) is connected to the body (1), and the other end of the mechanical legs (1301) is fixedly connected to an electromagnetic adsorption foot (1302). The observation mechanism (14) includes a dust cover (1401) and a second camera (1403). The dust cover (1401) is fixedly connected to the body (1), and the interior of the dust cover (1401) is fixedly connected to the first camera (1402). The outer wall of the mechanical arm (2) is fixedly connected to the second camera (1403).

6. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 5 is characterized in that: The upper surface of the body (1) is fixedly connected to a mounting frame (15), the mounting frame (15) is fixedly connected to a baffle (16), the outer wall of the mounting frame (15) is slidably connected to a tank body (17), the tank body (17) is detachably connected to a connecting pipe (22), the connecting pipe (22) is fixedly connected to a bracket (23), the bracket (23) is detachably connected to a joint on one side of the robotic arm (2), the tank body (17) is connected to a fixing mechanism (18), a battery compartment (25) is provided inside the body (1), and a charging head (26) is provided on the outer wall of the body (1).

7. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 6 is characterized in that: The joint on the other side of the mechanical arm (2) is detachably connected to the bracket (23), and the bracket (23) on the other side is fixedly connected to the second connecting pipe (24). The outer wall of the mechanical arm (2) is fixedly connected to the air deflector (20), and the air deflector (20) is fixedly connected to the fixing ring (21). The fixing ring (21) is connected to and communicates with the second connecting pipe (24).

8. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to any one of claim 6, characterized in that: The connecting pipe 1 (22) is fixedly connected to a three-way valve (19), and the working tool (7) is connected to the three-way valve (19) or the connecting pipe 1 (22).

9. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 6, characterized in that: The fixing mechanism (18) includes a slider (1811), the slider (1811) is slidably connected to the tank body (17) and the mounting frame (15), the outer wall of the slider (1811) is fixedly connected to a slide column (1812), the slide column (1812) is slidably connected to the interior of the body (1), the outer wall of the slider (1811) away from the tank body (17) is fixedly connected to one end of a spring (1816), the other end of the spring (1816) is fixedly connected to the mounting frame (15), the outer wall of the slide column (1812 is rotatably connected to a connecting rod (1813), the other end of the connecting rod (1813) is rotatably connected to a pull rod (1814), the pull rod (1814) is slidably connected to the interior of the body (1), and the outer wall of the pull rod (1814) is fixedly connected to a pull ring (1815).

10. The bionic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot according to claim 6, characterized in that: The fixing mechanism (18) comprises a fixing frame (1821), the fixing frame (1821) being fixedly connected to the machine body (1), the internal thread of the fixing frame (1821) being connected to a threaded pin (1822), and the outer wall of the threaded pin (1822) being fixedly connected to a clamping plate (1823).

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