Bionic spider-shaped electromagnetic adsorption type column sandblasting derusting robot

Abstract

The application relates to the technical field of sand blasting derusting robots, and discloses a bionic spider-shaped electromagnetic adsorption type stand column sand blasting derusting robot which comprises a body, a mechanical arm is installed on the outer wall of the body, a grabbing mechanism is arranged at the moving end of the mechanical arm, a motor is installed in the body, a transmission mechanism is fixedly connected to the output end of the motor, a placing rack is connected to the transmission mechanism, the outer wall of the placing rack is rotationally connected in the body, work tools are placed in the placing rack, an intermittent bevel gear is fixedly connected to the outer wall of the placing rack, and a first bevel gear is meshingly connected to the tooth end of the intermittent bevel gear. The work tools are integrated in the placing rack of the body, the intermittent bevel gear is driven by the motor to cooperate with the first bevel gear, the opening and closing plate is automatically opened and closed, the mechanical arm can directly select or place the work tools without manual assistance, the work efficiency is improved, and the internal work tools can be protected when the opening and closing plate is closed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sand blasting and rust removal robots, in particular to a bionic spider-shaped electromagnetic adsorption type column sand blasting and rust removal robot. BACKGROUND

[0002] In the modern industrial field, especially in the fields of bridge, large building, shipbuilding and maintenance, and petrochemical industry, there are a large number of column structures. These columns, as key supporting components, are exposed to complex and harsh environments for a long time and are easily eroded by various factors. For example, in the marine environment, the column will be subjected to strong corrosion by seawater, and factors such as salt, humidity and marine organism attachment will accelerate the rusting of the surface metal; in the chemical industry area, the column will be in contact with various chemicals, causing chemical corrosion; and in some outdoor environments, the column will also be affected by rain and wind, ultraviolet radiation and temperature changes, resulting in aging and peeling of the surface coating, thereby exposing the metal substrate and causing rusting.

[0003] The rusting of the surface of the column not only seriously affects its appearance, but also poses a great threat to its structural strength and stability. Rusting will reduce the effective cross-sectional area of the column, reduce its carrying capacity and increase the risk of fracture, thereby endangering the safety of the entire structure. Once the column is damaged, it may cause serious accidents such as bridge collapse, building collapse and ship sinking, resulting in huge casualties and property losses. Therefore, regular maintenance of the column to remove rust and repaint is a necessary measure 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 work safety. Automated maintenance equipment can overcome many shortcomings of manual work and achieve efficient, precise and safe maintenance work. Currently, some automated robots for column maintenance have appeared on the market, but these devices mostly have single functions and can only complete specific tasks, such as simple rust removal or painting. In actual column maintenance work, different tools such as cleaning water guns, welding torches, painting guns, sand blasting guns, detectors and spades are often needed to be replaced flexibly according to the rusting degree and specific conditions of the column. The existing automated robots have difficulties in tool replacement, which usually requires manual intervention for replacement, thereby affecting work efficiency and failing to fully utilize the advantages of automated robots. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a bionic spider-shaped electromagnetic adsorption type column sand blasting and rust removal robot, which solves the problem of difficulty in tool replacement of automated robots, which usually requires manual intervention for replacement, thereby affecting work efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a biomimetic spider-shaped electromagnetic adsorption column sandblasting and rust removal robot, comprising a body, a robotic arm mounted on the outer wall of the body, a gripper mechanism at the moving end of the robotic arm, a motor installed inside the body, a transmission mechanism fixedly connected to the output end of the motor, a placement frame connected to the transmission mechanism, the outer wall of the placement frame rotatably connected to the inside of the body, a working tool placed inside the placement frame, an intermittent bevel gear fixedly connected to the outer wall of the placement frame, a first bevel gear meshing with the teeth of the intermittent bevel gear, a rotating shaft fixedly connected to the first bevel gear, the rotating shaft rotatably connected to the body, an opening and closing plate fixedly connected to the outer wall of the rotating shaft, one end of a torsion spring fixedly connected to the outer wall of the opening and closing plate, the other end of the torsion spring fixedly connected to the body, and a walking mechanism and an observation mechanism provided on both outer walls of the body.

[0007] The above solution integrates a placement rack, motor, transmission mechanism, intermittent bevel gears, and other components into the machine body, achieving automatic tool retrieval, placement, and protection. The motor, via the transmission mechanism, drives the placement rack to rotate. The intermittent bevel gear on the rack meshes with the first bevel gear, opening the hinge plate and allowing the robotic arm to select or place the tool. After the intermittent bevel gear disengages, a torsion spring closes the hinge plate to protect the tool. This design integrates the tool into the machine body, eliminating the need for manual replacement, reducing manual operation time and effort, effectively improving work efficiency, and the hinge plate protects the tool from external interference.

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

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

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

[0011] Preferably, the walking mechanism includes mechanical legs, eight groups of the mechanical legs are arranged, one end of the mechanical leg is connected with the machine body, the other end of the mechanical leg is fixedly connected with an electromagnetic adsorption support leg, the observation mechanism includes a dust cover and a camera two, the dust cover is fixedly connected with the machine body, the inside of the dust cover is fixedly connected with a camera one, and the outer wall of the mechanical arm is fixedly connected with the camera two.

[0012] Preferably, the upper surface of the machine body is fixedly connected with a mounting rack, the mounting rack is fixedly connected with a baffle, the outer wall of the mounting rack is slidably connected with a tank body, the tank body is detachably connected with a connecting pipe one, the connecting pipe one is fixedly connected with a support, the support is detachably connected with the side joint of the mechanical arm, the tank body is connected with a fixing mechanism, the inside of the machine body is provided with a battery compartment, and the outer wall of the machine body is provided with a charging head.

[0013] Preferably, the other side joint of the mechanical arm is detachably connected with the support, the support on the other side is fixedly connected with a connecting pipe two, the outer wall of the mechanical arm is fixedly connected with a flow guide cover, the flow guide cover is fixedly connected with a fixing ring, and the fixing ring is connected and communicated with the connecting pipe two.

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

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

[0016] Preferably, the fixing mechanism includes a fixing frame, the fixing frame is fixedly connected with the machine body, a threaded pin is threadedly connected in the inside of the fixing frame, and the outer wall of the threaded pin is fixedly connected with a clamping plate.

[0017] Working principle: the robot is equipped with eight groups of mechanical legs, one end of each group of mechanical legs is connected with the machine body, and the other end is fixed with an electromagnetic adsorption support leg; the walking is realized by adsorbing on the working surface through the electromagnetic adsorption support leg; the observation mechanism includes a dust cover, a camera one and a camera two; the dust cover is fixed on the machine body, and the camera one is arranged in the inside of the dust cover; the camera two is fixed on the outer wall of the mechanical arm; the two work cooperatively to provide an observation angle for the robot work.

[0018] The outer wall of the machine body is provided with a mechanical arm with a stretching distance of about 1200 mm, and a grabbing mechanism is arranged at the moving end of the mechanical arm, which is used for grabbing a fixed work tool, and the work tool covers multiple tools such as cleaning / water gun, welding / welding handle, etc. The grabbing mechanism has two embodiments: one is an electrically operated clamping jaw which is bolted to the moving end of the mechanical arm to directly grab the work tool, and the power can be obtained from the machine body, but the grabbing is unstable, and it is suitable for tools with low strength; the other is composed of a cross guide cone, a pneumatic pin, an air inlet and a limiting pin, a sliding groove matched with the cross guide cone is arranged on the base of the work tool, the cross guide cone is first inserted into the work tool, then the air inlet is connected with a pump machine fixed on the machine body, and the limiting pin is inserted into the work tool from both sides to be fixed through the pressure, and the stability is better, and it is suitable for high-strength work.

[0019] A placing rack is arranged in the machine body to store the work tool, and the motor is started to drive the placing rack to rotate. In the transmission mechanism, the output end of the motor is fixed with a worm, the worm is engaged with a worm gear, and the worm gear is fixedly connected with the placing rack. The motor drives the worm to rotate, and then drives the worm gear and the placing rack to rotate. The worm and the worm gear have a self-locking effect, and the rotating angle of the placing rack can be controlled. When the intermittent bevel gear rotates, the first bevel gear drives the rotating shaft to rotate, and the rotating shaft drives the opening and closing plate to rotate to open, so that the work tool is exposed or the placing pit is exposed. At this time, the mechanical arm selects or places the work tool through moving and rotating operations. After the intermittent bevel gear continues to rotate and is disengaged from the first bevel gear, the torsional spring rebounds to drive the opening and closing plate to rotate to close, thereby protecting the work tool inside the placing rack, and the work tool does not need manual assistance for replacement.

[0020] An installation rack is fixedly arranged on the upper surface of the machine body, the installation rack is fixed with a baffle, and a tank body is slidably connected with the installation rack and is fixed through a fixing mechanism. The fixing mechanism has two embodiments: one includes a sliding block, a sliding column, a connecting rod, a pull rod, a pull ring and a spring. When the tank body is installed, the tank body is pushed to slide and extrude the sliding block to shrink into the installation rack, the tank body is continued to be pushed to abut against the baffle, the spring rebounds to push the sliding block to slide and be clamped in the limiting groove of the tank body to complete the installation. When the tank body is removed, the pull ring is pulled to drive the pull rod to slide, the pull rod drives the connecting rod to rotate, the connecting rod pushes the sliding block to slide and shrink into the installation rack through the sliding column, and then the tank body can be removed. The other includes a fixing frame, a threaded pin and a clamping plate. After the sliding tank body is installed on the installation rack, the threaded pin is rotated to make the clamping plate abut against the tank body, and the tank body is clamped and fixed by the four clamping plates.

[0021] The detachable tank can not only be a storage container, but also be a combination of a gas pumping machine, a sand blasting storage container, and a high-pressure gas pump, or a combination of a cleaning container and a high-pressure water pump. When the tank exists in the storage container, the tank can be connected and communicated with the working tool through a connecting pipe I to directly provide various gases and liquids without connecting external pipes. The connecting pipe I is fixed with a three-way valve. When the workload is large, the three-way valve can be connected with external pipes. The other side joint of the mechanical arm is detachably connected with the support. The support is fixedly connected with the connecting pipe II. The outer wall of the mechanical arm is fixedly connected with the flow guide cover. The flow guide cover is fixedly connected with the fixing ring. The fixing ring is connected and communicated with the connecting pipe II. For the work with dust, one end of the connecting pipe II is connected with the negative pressure machine. The dust is guided into the fixing ring by the flow guide cover and is sucked into the tank to reduce pollution.

[0022] The application provides a bionic spider-shaped electromagnetic adsorption type stand column sand blasting and rust removal robot.

[0023] 1. The application integrates the working tool in the body placing rack, utilizes the motor to drive the intermittent bevel gear to cooperate with the first bevel gear, realizes automatic opening and closing of the opening and closing plate, enables the mechanical arm to directly select or place the working tool without manual assistance, improves work efficiency, and protects the internal working tool when the opening and closing plate is closed. Two kinds of gripper structure embodiments are provided. The electric gripper embodiment is simple in structure and common, and is easy to realize. Although the embodiment in which the cross guide cone cooperates with the pneumatic pin is complex in structure, it can provide better stability for high-strength work, and suitable gripper structures can be selected according to different work requirements.

[0024] 2. The detachable tank design can adapt to different work requirements and be replaced, and can be used as a storage container, a gas pumping machine, a sand blasting or cleaning container and a high-pressure pump combination, etc. Two kinds of fixing mechanism embodiments are provided. One kind realizes automatic installation and disassembly of the tank through structures such as springs and sliding blocks. The other kind clamps and fixes the tank through threaded pins and clamping plates to ensure stable installation of the tank on the body. Two kinds of power supply modes are provided to increase the flexibility of use. A three-way valve can be added at the connecting pipe I. When the workload is large, external pipes can be connected to avoid the decrease of work efficiency caused by frequent material supplement.

[0025] 3. The application is aimed at the dust phenomenon that may be generated during work. The flow guide cover is arranged at the position close to the working tool of the mechanical arm. The dust is sucked into the tank through the connection with the negative pressure machine to reduce air pollution. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a perspective view of the application;

[0027] Figure 2 It is a partial structure schematic view of the placing rack of the application;

[0028] Figure 3 Schematic diagram of partial structure of the worm of the present application;

[0029] Figure 4 Schematic diagram of partial structure of the mounting frame of the present application;

[0030] Figure 5 Schematic diagram of partial structure of the slider of the present application;

[0031] Figure 6 Schematic diagram of partial structure of the clamping plate of the present application;

[0032] Figure 7 Schematic diagram of partial structure of the fairing of the present application;

[0033] Figure 8 Schematic diagram of partial structure of the connecting pipe one of the present application;

[0034] Figure 9 Schematic diagram of partial structure of the limit pin of the present application;

[0035] Figure 10 Schematic diagram of internal structure of the camera one of the present application.

[0036] Wherein, 1, the machine body; 2, the mechanical arm; 3, the grabbing mechanism; 311, the electric clamping jaw; 321, the cross guide cone; 322, the pneumatic pin; 323, the air inlet; 324, the limit pin; 4, the motor; 5, the transmission mechanism; 511, the worm; 512, the worm gear; 6, the placing rack; 7, the working tool; 8, the intermittent bevel gear; 9, the first bevel gear; 10, the rotating shaft; 11, the opening and closing plate; 12, the torsion spring; 13, the walking mechanism; 1301, the mechanical leg; 1302, the electromagnetic adsorption foot; 14, the observation mechanism; 1401, the dust cover; 1402, the camera one; 1403, the camera two; 15, the mounting frame; 16, the baffle; 17, the tank body; 18, the fixing mechanism; 1811, the slider; 1812, the slide column; 1813, the connecting rod; 1814, the pull rod; 1815, the pull ring; 1816, the spring; 1821, the fixing frame; 1822, the threaded pin; 1823, the clamping plate; 19, the three-way valve; 20, the fairing; 21, the fixing ring; 22, the connecting pipe one; 23, the support; 24, the connecting pipe two; 25, the battery compartment; 26, the charging head. DETAILED DESCRIPTION

[0037] The technical solutions of the present application will be described clearly and completely below with reference to the drawings of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] Please refer to the drawingsFigure 1 -attached Figure 3 The embodiment of the present application provides a bionic spider-shaped electromagnetic adsorption type stand column sand blasting derusting robot, which comprises a body 1, a mechanical arm 2 is installed on the outer wall of the body 1, a grabbing mechanism 3 is arranged at the moving end of the mechanical arm 2, a motor 4 is installed in the body 1, a transmission mechanism 5 is fixedly connected to the output end of the motor 4, a placing rack 6 is connected to the transmission mechanism 5, the outer wall of the placing rack 6 is rotatably connected to the inside of the body 1, working tools 7 are placed in the inside of the placing rack 6, an intermittent bevel gear 8 is fixedly connected to the outer wall of the placing rack 6, a first bevel gear 9 is meshingly connected to the tooth end of the intermittent bevel gear 8, a rotating shaft 10 is fixedly connected to the first bevel gear 9, the rotating shaft 10 is rotatably connected to the body 1, an opening and closing plate 11 is fixedly connected to the outer wall of the rotating shaft 10, one end of a torsional spring 12 is fixedly connected to the outer wall of the opening and closing plate 11, the other end of the torsional spring 12 is fixedly connected to the body 1, and a walking mechanism 13 and an observation mechanism 14 are arranged on the outer walls of the two sides of the body 1.

[0039] Specifically, the walking mechanism 13 is used for walking, the mechanical arm 2 is installed on the outer wall of the body 1, the mechanical arm 2 is a placing rack 6 shaft mechanical arm, the stretching distance of the mechanical arm 2 is about 1200mm, the grabbing mechanism 3 is arranged at the end, away from the body 1, of the mechanical arm 2, the grabbing mechanism 3 is used for grabbing the fixed working tools 7, the working tools 7 can be cleaning / water guns, welding / welding handles, coating / paint spraying guns, sand blasting / sand blasting guns, detection / detectors, maintenance / various tools, marine organism removal / spatula knives and the like, and part of the working tools 7 can be directly stored in the inside of the placing rack 6, so that the working tools 7 can be conveniently taken at any time, when the working tools 7 in the inside of the placing rack 6 are used, the motor 4 can be started to drive the placing rack 6 to rotate through the transmission mechanism 5, the placing rack 6 drives the intermittent bevel gear 8 to rotate at the same time, when the intermittent bevel gear 8 rotates to mesh with the first bevel gear 9, the first bevel gear 9 drives the rotating shaft 10 to rotate, the rotating shaft 10 drives the opening and closing plate 11 to rotate and open, when the opening and closing plate 11 is completely opened, the working tools 7 are exposed or the pit position for placing the working tools 7 is exposed, at this time, the working tools 7 can be directly selected or placed through the moving and rotating operations of the mechanical arm 2, the working tools 7 are directly integrated on the body 1, and the working efficiency can be improved, the intermittent bevel gear 8 continues to rotate and is disengaged from the first bevel gear 9, at this time, the intermittent bevel gear 8 is not limited, the torsional spring 12 rebounds and drives the opening and closing plate 11 to rotate and close, when the opening and closing plate 11 is closed, the working tools 7 in the inside of the placing rack 6 can be protected, the working tools 7 in the application need not be manually replaced, and the application is more convenient to use, it should be noted that the torsional spring 12 and the first bevel gear 9 are exposed and may have problems such as corrosion and blockage, a protective shell can be selected to be added for protection, and this technology belongs to a conventional means and is not described in detail.

[0040] Embodiment one,

[0041] Please refer to the attached Figure 1and attached Figure 4 The grabbing mechanism 3 comprises an electric clamp 311, the electric clamp 311 is bolted to the moving end of the mechanical arm 2, and the electric clamp 311 can grab the working tool 7.

[0042] Specifically, the electric clamp 311 is directly used as a grabbing tool in this embodiment, which is common and easy to implement, and the power and the like can be directly obtained from the body 1. However, the grabbing of the electric clamp 311 may not be stable, and it is suitable for tools with low strength.

[0043] Embodiment two,

[0044] Please refer to the attached Figure 9 The grabbing mechanism 3 comprises a cross guide cone 321, the cross guide cone 321 is bolted to the moving end of the mechanical arm 2, the outer wall of the mechanical arm 2 is fixedly connected with a pneumatic pin 322, the pneumatic pin 322 is slidingly connected with a limiting pin 324, the pneumatic pin 322 is fixedly connected with an air inlet 323, the working tool 7 is slidingly connected with the cross guide cone 321, and the limiting pin 324 can be inserted into the inside of the working tool 7.

[0045] Specifically, the structure of this example is more complex, but it is more suitable for high-strength work. First, a sliding groove should be formed in the base of the working tool 7, the shape of the sliding groove should match the cross guide cone 321, the cross guide cone 321 is inserted into the inside of the working tool 7, and the cross guide cone 321 is used for limiting by virtue of its special shape. After the cross guide cone 321 is connected with the working tool 7, the working tool 7 is fixed by the pneumatic pin 322, that is, the air inlet 323 is connected with a pump machine, which can be fixed on the body 1. The limiting pin 324 is pushed to slide by pressure, and the limiting pin 324 is inserted into the inside of the working tool 7 from both sides to form complete fixation. This way can provide better stability.

[0046] Please refer to the attached Figure 3 The transmission mechanism 5 comprises a worm 511, the worm 511 is rotationally connected in the inside of the body 1, the worm 511 is fixedly connected with the output end of the motor 4, the tooth end of the worm 511 is meshingly connected with a worm gear 512, and the worm gear 512 is fixedly connected with the placing rack 6.

[0047] Specifically, the motor 4 provides power, and after the motor 4 is started, the worm 511 of the output end is rotated, the worm 511 is meshingly rotated with the worm gear 512, the worm gear 512 drives the placing rack 6 to rotate, the body 1 supports the placing rack 6 to rotate, the power transmission is completed, and the worm 511 and the worm gear 512 have a certain self-locking effect, which controls the rotation angle of the placing rack 6, facilitating the mechanical arm 2 to select the working tool 7.

[0048] Please refer to the attached Figure 4 and attached Figure 10The walking mechanism 13 comprises eight sets of mechanical legs 1301, one end of the mechanical leg 1301 is connected with the body 1, and the other end of the mechanical leg 1301 is fixedly connected with an electromagnetic adsorption foot 1302. The observation mechanism 14 comprises a dust cover 1401 and a camera two 1403, the dust cover 1401 is fixedly connected with the body 1, the inside of the dust cover 1401 is fixedly connected with a camera one 1402, and the outer wall of the mechanical arm 2 is fixedly connected with the camera two 1403.

[0049] Specifically, eight sets of mechanical legs 1301 are used in the application, the eight sets of mechanical legs 1301 use an independent control system, and are adsorbed on a working surface through the electromagnetic adsorption foot 1302.

[0050] Please refer to the accompanying drawings Figure 4 and the accompanying drawings Figure 6 The upper surface of the body 1 is fixedly connected with a mounting frame 15, the mounting frame 15 is fixedly connected with a baffle 16, the outer wall of the mounting frame 15 is slidingly connected with a tank body 17, the tank body 17 is detachably connected with a connecting pipe one 22, the connecting pipe one 22 is fixedly connected with a support 23, the support 23 is detachably connected with one side joint of the mechanical arm 2, the tank body 17 is connected with a fixing mechanism 18, the inside of the body 1 is provided with a battery compartment 25, and the outer wall of the body 1 is provided with a charging head 26.

[0051] Specifically, the tank body 17 in the application not only refers to a storage container, but also can be the above-mentioned pump air machine, or the combination of a sand blasting storage container and a high-pressure air pump, or the combination of a cleaning container and a high-pressure water pump. In a popular way, 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 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 installed on the body 1 through sliding. Therefore, in order to adapt to different work, the tank body 17 is not limited to a single object, and the tank body 17 can be replaced by disassembly. The application provides two power supply modes, that is, the battery compartment 25 and the charging head 26 supply power. Since the charging head 26 is exposed, protective measures can be added to avoid damage. When the tank body 17 has a storage container, the connecting pipe one 22 can be provided to connect and communicate the tank body 17 and the working tool 7. That is to say, various gases and liquids are directly provided through the tank body 17, without the need to connect external pipelines, so as to avoid pipeline entanglement and death in complex spaces.

[0052] Please refer to the accompanying drawings Figure 7 The other side joint of the mechanical arm 2 is detachably connected with the support 23, the other side support 23 is fixedly connected with a connecting pipe two 24, the outer wall of the mechanical arm 2 is fixedly connected with a flow guide cover 20, the flow guide cover 20 is fixedly connected with a fixing ring 21, and the fixing ring 21 is connected and communicated with the connecting pipe two 24.

[0053] Specifically, for some work may exist dust phenomenon, resulting in air pollution, so you can choose to increase the fairing 20 in the mechanical arm 2 near the position of the working utensil 7, when the working utensil 7 work, the one end of the connecting pipe two 24 and the negative pressure machine connection, by providing negative pressure, make dust under the guidance of the fairing 20 into the fixed ring 21, fixed ring 21 and connecting pipe two 24 communication, provide connecting pipe two 24 suction tank body 17 inside part of the tank body 17 can provide negative pressure machine and filter ash box, thereby reducing pollution.

[0054] Please refer to the attached Figure 8 The connecting pipe one 22 is fixedly connected with the three-way valve 19, and the working utensil 7 is connected with the three-way valve 19 or the connecting pipe one 22.

[0055] Specifically, in some cases, for example, when the workload is large, it is necessary to connect the pipeline, and the supply of the tank body 17 may need to be frequently supplemented, resulting in a decrease in work efficiency, so the three-way valve 19 can be selected at the connecting pipe one 22. The three-way valve 19 can be connected to the external pipeline.

[0056] Please refer to the attached Figure 5 The fixing mechanism 18 comprises a sliding block 1811, the sliding block 1811 is slidably connected with the tank body 17 and the mounting frame 15, the outer wall of the sliding block 1811 is fixedly connected with a sliding column 1812, the sliding column 1812 is slidably connected in the inside of the machine body 1, the outer wall of the sliding block 1811 away from the tank body 17 is fixedly connected with one end of a spring 1816, the other end of the spring 1816 is fixedly connected with the mounting frame 15, the outer wall of the sliding column 1812 is rotatably connected with a connecting rod 1813, the other end of the connecting rod 1813 is rotatably connected with a pull rod 1814, the pull rod 1814 is slidably connected in the inside of the machine body 1, the outer wall of the pull rod 1814 is fixedly connected with a pull ring 1815.

[0057] Specifically, the tank body 17 is fixed on the mounting frame 15 by the fixing mechanism 18, in this embodiment, when the tank body 17 is installed, the tank body 17 is pushed to slide, the tank body 17 extrudes the sliding block 1811 to shrink into the inside of the mounting frame 15, the tank body 17 is continuously pushed to make the tank body 17 abut against the baffle 16, then the spring 1816 rebounds, the spring 1816 pushes the sliding block 1811 to slide, the sliding block 1811 is clamped in the limiting 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, 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, the connecting rods 1813 push the sliding block 1811 to slide through the sliding column 1812, and the sliding block 1811 is actively shrunk into the inside of the mounting frame 15, and the tank body 17 can be removed at this time.

[0058] Please refer to the attached Figure 6In the above, the embodiment further provides another structure, the fixing mechanism 18 comprises a fixing frame 1821 fixedly connected with the machine body 1, the inside of the fixing frame 1821 is screw-connected with a threaded pin 1822, and the outer wall of the threaded pin 1822 is fixedly connected with a clamping plate 1823.

[0059] Specifically, after the sliding tank body 17 is installed on the mounting frame 15, the tank body 17 can be fixed from both sides, that is, the clamping plate 1823 is made to abut against the tank body 17 by rotating the threaded pin 1822, and the tank body 17 is clamped and fixed by the four sets of clamping plates 1823, since the threaded pin 1822 is screw-connected with the fixing frame 1821.

[0060] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A bionic spider-shaped electromagnetic adsorption type column sandblasting derusting robot, comprising a body (1), characterized in that, The outer wall of the machine body (1) is provided with a mechanical arm (2), the moving end of the mechanical arm (2) is provided with a grabbing mechanism (3), the inside of the machine body (1) is provided with a motor (4), the output end of the motor (4) is fixedly connected with a transmission mechanism (5), the transmission mechanism (5) is connected with a placing rack (6), the outer wall of the placing rack (6) is rotatably connected in the inside of the machine body (1), the inside of the placing rack (6) is placed with a working tool (7), the outer wall of the placing rack (6) is fixedly connected with 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 with the machine body (1), the outer wall of the rotating shaft (10) is fixedly connected with an opening and closing plate (11), one end of the torsional spring (12) is fixedly connected with the outer wall of the opening and closing plate (11), the other end of the torsional spring (12) is fixedly connected with the machine body (1), the outer walls of the machine body (1) are provided with a walking mechanism (13) and an observation mechanism (14). The transmission mechanism (5) comprises a worm (511), the worm (511) is rotatably connected in the inside of the machine body (1), the worm (511) is fixedly connected with the output end of the motor (4), the tooth end of the worm (511) is meshedly connected with a worm gear (512), the worm gear (512) is fixedly connected with the placing rack (6).

2. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 1, characterized in that, The grabbing mechanism (3) comprises an electric clamping jaw (311), the electric clamping jaw (311) is bolted with the moving end of the mechanical arm (2), and the electric clamping jaw (311) can grab the working tool (7).

3. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 1, characterized in that, The grabbing mechanism (3) comprises a cross guide cone (321), the cross guide cone (321) is bolted with the moving end of the mechanical arm (2), the outer wall of the mechanical arm (2) is fixedly connected with a pneumatic pin (322), the pneumatic pin (322) is slidably connected with a limiting pin (324), the pneumatic pin (322) is fixedly connected with an air inlet (323), the working tool (7) is slidably connected with the cross guide cone (321), and the limiting pin (324) can be inserted into the inside of the working tool (7).

4. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 1, characterized in that, The walking mechanism (13) comprises a mechanical leg (1301), eight groups of the mechanical leg (1301) are arranged, one end of the mechanical leg (1301) is connected with the machine body (1), and the other end of the mechanical leg (1301) is fixedly connected with an electromagnetic adsorption leg (1302), the observation mechanism (14) comprises a dust cover (1401) and a second camera (1403), the dust cover (1401) is fixedly connected with the machine body (1), the inside of the dust cover (1401) is fixedly connected with a first camera (1402), and the outer wall of the mechanical arm (2) is fixedly connected with the second camera (1403).

5. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 4, characterized in that, The upper surface of the body (1) is fixedly connected with a mounting rack (15), the mounting rack (15) is fixedly connected with a baffle (16), the outer wall of the mounting rack (15) is slidably connected with a tank body (17), the tank body (17) is detachably connected with a connecting pipe one (22), the connecting pipe one (22) is fixedly connected with a support (23), the support (23) is detachably connected with one side joint of the mechanical arm (2), the tank body (17) is connected with a fixing mechanism (18), the inside of the body (1) is provided with a battery compartment (25), and the outer wall of the body (1) is provided with a charging head (26).

6. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 5, characterized in that, The other side joint of the mechanical arm (2) is detachably connected with the support (23), and the other side support (23) is fixedly connected with a connecting pipe two (24), the outer wall of the mechanical arm (2) is fixedly connected with a fairing (20), the fairing (20) is fixedly connected with a fixing ring (21), and the fixing ring (21) is connected and communicated with the connecting pipe two (24).

7. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to any one of claims 5, characterized in that, The connecting pipe one (22) is fixedly connected with a three-way valve (19), and the working tool (7) is connected with the three-way valve (19) or the connecting pipe one (22).

8. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 5, characterized in that, The fixing mechanism (18) comprises a sliding block (1811), the sliding block (1811) is slidably connected with the tank body (17) and the mounting rack (15), the outer wall of the sliding block (1811) is fixedly connected with a sliding column (1812), the sliding column (1812) is slidably connected in the inside of the body (1), the outer wall of the sliding block (1811) away from the tank body (17) is fixedly connected with one end of a spring (1816), the other end of the spring (1816) is fixedly connected with the mounting rack (15), the outer wall of the sliding column (1812) is rotatably connected with a connecting rod (1813), the other end of the connecting rod (1813) is rotatably connected with a pull rod (1814), the pull rod (1814) is slidably connected in the inside of the body (1), and the outer wall of the pull rod (1814) is fixedly connected with a pull ring (1815).

9. The bionic spider-shaped electromagnetic adsorption column sandblasting derusting robot according to claim 5, characterized in that, The fixing mechanism (18) comprises a fixing frame (1821), the fixing frame (1821) is fixedly connected with the body (1), the inside of the fixing frame (1821) is threadedly connected with a threaded pin (1822), and the outer wall of the threaded pin (1822) is fixedly connected with a clamping plate (1823).

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