Derusting and spraying integrated anti-corrosion robot

Abstract

The invention discloses a rust removal and spraying integrated anti-corrosion robot, which belongs to the technical field of spraying equipment, and comprises an outer frame, the outer frame is of a rectangular structure, the four corners of the outer frame are respectively provided with a first telescopic piece, and the output end of the first telescopic piece is connected with a first suction cup assembly; the first telescopic piece can drive the first suction cup assembly to move in the normal direction of the plane where the outer frame is located. The outer frame is connected with a center support through a transverse displacement driving device, the center support is connected with an inner frame through a first steering engine, the inner frame is arranged on the inner side of the outer frame in parallel, the two ends of the inner frame are connected with longitudinal beams through longitudinal displacement driving devices correspondingly, and second telescopic pieces are installed at the two ends of the longitudinal beams correspondingly. The output end of the second telescopic piece is connected with a second suction cup assembly, and the second telescopic piece can drive the second suction cup assembly to move in the normal direction of the plane where the inner frame is located. The device can flexibly, stably and efficiently deal with complex space operations such as high wall surfaces and high top surfaces, and the derusting and spraying efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of spraying equipment, and particularly relates to a rust removal and spraying integrated anti-corrosion robot. BACKGROUND

[0002] In the field of industrial production and structure maintenance, spraying equipment as a key tool for surface treatment and anti-corrosion protection has always been the focus of attention in technical development. Traditional spraying technology mainly relies on handheld spray guns, fixed automatic spray machines, and simple track-type or boom-type machines. However, for high wall surfaces or high top surface areas away from the ground of workpieces, whether relying on manual lifting platforms for handheld spraying or relying on the extension arms of fixed or track-type devices, there are serious challenges such as poor accessibility, difficulty in ensuring positioning accuracy, insufficient stability, and safety risks of high-altitude work. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a rust removal and spraying integrated anti-corrosion robot that can flexibly, stably, and efficiently handle complex space operations such as high wall surfaces and high top surfaces, and improve the efficiency of rust removal and spraying.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0005] The rust removal and spraying integrated anti-corrosion robot disclosed in the present application comprises an outer frame, the outer frame is in a rectangular structure, a first telescopic member is installed at each of the four corners of the outer frame, the output end of the first telescopic member is connected with a first suction disc assembly, the first telescopic member can drive the first suction disc assembly to move along the normal direction of the plane where the outer frame is located; a central support is connected to the outer frame through a horizontal displacement driving device, the central support is connected with an inner frame through a first steering engine, the inner frame is arranged in parallel on the inner side of the outer frame, the two ends of the inner frame are connected with longitudinal beams through longitudinal displacement driving devices, the two ends of each longitudinal beam are respectively provided with a second telescopic member, the output end of the second telescopic member is connected with a second suction disc assembly, and the second telescopic member can drive the second suction disc assembly to move along the normal direction of the plane where the inner frame is located; a polishing assembly for polishing and a spraying assembly for spraying the polished part are installed on the inner side of the inner frame, and a slag removal assembly for removing slag is installed on the side surface of the inner frame.

[0006] Further, the polishing assembly comprises a third telescopic member, a steel cover, a flexible protective cylinder, a dust collector, a filter screen, a polisher, and a polishing knife, the third telescopic member is installed on the inner side of the inner frame, the output end of the third telescopic member is connected to the bowl-shaped steel cover, the opening of the steel cover is connected to the flexible protective cylinder, the polisher is fixedly connected in the steel cover, and the output shaft of the polisher extends along the axial direction of the flexible protective cylinder and is connected to the polishing knife.

[0007] Further, the end face of the flexible protective cylinder away from the side where the steel cover is located is detachably connected with a support ring, and a sliding surface in contact with the wall surface is formed on the end face of the support ring.

[0008] Further, the spraying assembly comprises a powder tank, a powder pump, a feeding pipe, a nozzle, a support and a second steering engine, the powder tank is connected to the nozzle through the feeding pipe, the powder pump is installed on the feeding pipe, the nozzle is rotatably installed on the support, the support is fixed to the outer side of the steel cover, the second steering engine is also installed on the support, and the output end of the second steering engine is connected to the nozzle.

[0009] Further, the slag removing assembly comprises a side support, a support beam, a rotating shaft, slag removing pieces, a support shaft and an elastic supporting device, the side support is fixed to the side of the inner frame, the support beam is installed on the side support and extends longitudinally, the rotating shaft is fixedly installed on the support beam, a plurality of slag removing pieces are arranged on the rotating shaft in a longitudinal direction, the head of each slag removing piece is rotatably installed on the rotating shaft, the middle part of each slag removing piece is connected to the support shaft through the elastic supporting device, and the support shaft is connected to the second telescopic piece.

[0010] Further, the first and second suction disc assemblies have the same structure, the first suction disc assembly comprises a connecting rod, a mounting piece and a suction disc body, the connecting rod is connected to the first telescopic piece, an insertion slot is formed in the end face of the end of the connecting rod away from the first telescopic piece, and the mounting piece is fixedly connected to the suction disc body.

[0011] Further, the lateral displacement driving device comprises third steering engines, first lead screws and first moving blocks, two groups of third steering engines are installed on the outer frame, the output ends of the third steering engines are connected to the first lead screws arranged in a lateral direction, the first lead screws are threadedly connected to the first moving blocks, and the first moving blocks are fixedly connected to the central support.

[0012] Further, the longitudinal displacement driving device comprises fourth steering engines and second lead screws, the fourth steering engines are installed on the longitudinal beams, the output ends of the fourth steering engines are connected to the second lead screws arranged in a longitudinal direction, and the second lead screws are threadedly connected to the inner frame.

[0013] The beneficial effects of the present application are as follows:

[0014] The rust removing and spraying integrated anti-corrosion robot disclosed by the present application adopts the suction disc structure for the outer frame and the inner frame, the suction disc structure is combined with the installed polishing assembly and spraying assembly, and thus the robot can work on complex structures such as high wall surfaces and high top surfaces, and the efficiency of rust removal and spraying is improved.

[0015] The robot disclosed by the present application can realize displacement on planes such as high wall surfaces and high top surfaces through the cooperation of the outer frame and the inner frame, and thus the robot will not fall from a high place, the flexible structure of the suction disc can also buffer the overall structure when the polishing assembly works, and thus the robot is more stable during work. BRIEF DESCRIPTION OF DRAWINGS

[0016] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0017] Figure 1 This is a schematic diagram of the structure of the device of the present invention;

[0018] Figure 2 This is a front view of the device of the present invention;

[0019] Figure 3 This is a schematic diagram of the outer frame structure;

[0020] Figure 4 This is a schematic diagram of the internal frame structure;

[0021] Figure 5 This is a schematic diagram of the flexible protective cylinder.

[0022] Figure 6 This is a schematic diagram of the slag removal component.

[0023] The following components are labeled in the attached diagram: outer frame 1, first telescopic component 2, first suction cup assembly 3, center support 4, first servo motor 5, inner frame 6, longitudinal beam 7, second telescopic component 8, second suction cup assembly 9, grinding assembly 10, spraying assembly 11, slag removal assembly 12, third telescopic component 13, steel cover 14, flexible protective cylinder 15, filter screen 16, grinder 17, grinding blade 18, support ring 19, feed pipe 20, nozzle 21, bracket 22, second servo motor 23, side support 24, support beam 25, rotating shaft 26, slag removal plate 27, support shaft 28, elastic support device 29, connecting rod 30, mounting plate 31, suction cup body 32, third servo motor 33, first lead screw 34, first moving block 35, fourth servo motor 36, second lead screw 37. Detailed Implementation

[0024] like Figures 1-6 As shown, the rust removal and spraying integrated anti-corrosion robot disclosed in this invention includes an outer frame 1, which has a rectangular frame structure. First telescopic members 2 are installed at the four corners of the outer frame 1. Both the first telescopic members 2 and the second telescopic members 8 are cylinders. The output end of the first telescopic member 2 is connected to a first suction cup assembly 3. When supported by the inner frame 6, the first telescopic member 2 can drive the first suction cup assembly 3 to move in the normal direction toward the plane of the outer frame 1. That is, the telescopic direction of the first telescopic member 2 is the axial direction of the first suction cup assembly 3, which allows the first suction cup assembly 3 to contact the wall or wall surface to achieve adsorption.

[0025] In the application, the outer frame 1 is connected with the center support 4 through the transverse displacement driving device, the center support 4 is connected with the inner frame 6 through the first steering wheel 5, the first steering wheel 5 can drive the inner frame 6 to rotate in the plane of the inner frame 6, so that the direction is adjusted.

[0026] In the operation process of the device disclosed by the application, the length direction of the outer frame 1 is transverse, and the direction perpendicular to the transverse direction is longitudinal. In the working process, first, the first telescopic piece 2 installed on the outer frame 1 is started, so that the first suction disc assembly 3 is adsorbed on the vertical wall surface of the workpiece, at this time, the second telescopic piece 8 is retracted, the second suction disc assembly 9 is separated from the wall surface of the workpiece, the transverse displacement driving device is started, the transverse displacement driving device drives the center support 4 and the inner frame 6 connected with the center support 4 to displace, the transverse displacement of the inner frame 6 is realized, and the polishing assembly 10 and the spraying assembly 11 work in the displacement process, so that the polishing and spraying work are realized. When the inner frame 6 is transversely displaced by a distance, the second telescopic piece 8 installed on the longitudinal beam 7 is started, so that the second suction disc assembly 9 is adsorbed on the vertical wall surface of the workpiece, at this time, the first telescopic piece 2 is retracted, the first suction disc assembly 3 is separated from the wall surface of the workpiece, the transverse displacement driving device is started, the center support 4 is fixed relative to the inner frame 6, the transverse displacement driving device drives the outer frame 1 to displace, the transverse displacement of the outer frame 1 is realized, and the transverse displacement of the outer frame 1 and the inner frame 6 as a whole is realized.

[0027] When longitudinal displacement is needed, the first steering wheel 5 is started when the second suction disc assembly 9 is separated from the wall surface of the workpiece, the first steering wheel 5 drives the inner frame 6 to rotate by 90°, and the same is true when the first suction disc assembly 3 is separated from the wall surface of the workpiece and the second suction disc assembly 9 is adsorbed on the wall surface of the workpiece, the first steering wheel 5 is started, the first steering wheel 5 drives the outer frame 1 to rotate by 90°, and the displacement in the longitudinal direction can be realized according to the transverse movement rule.

[0028] In the embodiment, the polishing assembly 10 comprises a third telescopic piece 13, a steel cover 14, a flexible protective cylinder 15, a dust collector, a filter screen 16, a polisher 17 and a polishing knife 18, the third telescopic piece 13 is a pneumatic cylinder or a hydraulic cylinder, the third telescopic piece 13 is installed on the inner side of the inner frame 6, the output end of the third telescopic piece 13 is connected to the bowl-shaped steel cover 14, the opening of the steel cover 14 is connected to the flexible protective cylinder 15, the steel cover 14 is fixedly connected with the polisher 17, the output shaft of the polisher 17 extends along the axial direction of the flexible protective cylinder 15 and is connected to the polishing knife 18. When polishing is needed, the polisher 17 is started, the third telescopic piece 13 is started and elongated, so that the outer end of the flexible protective cylinder 15 is displaced towards the side where the wall surface is located, the third telescopic piece 13 is continuously elongated so that the flexible protective cylinder 15 is compressed, until the polishing knife 18 of the polisher 17 contacts the wall surface, and the polishing is realized. By designing the flexible protective cylinder 15, the polishing dust overflow can also be reduced, and the subsequent spraying work is facilitated. The dust collector is communicated with the flexible protective cylinder 15 through the pipeline, so that the polishing dust can be cleaned in time.

[0029] In the embodiment, the end face of the flexible protective cylinder 15 away from the side where the steel cover 14 is located is detachably connected with a supporting ring 19, a sliding surface in contact with the wall surface is formed on the end face of the supporting ring 19, the damage to the wall surface is reduced, the polishing assembly 10 can realize displacement during polishing, and the efficiency can be improved.

[0030] In the embodiment, the spraying assembly 11 comprises a powder tank, a powder pump, a feeding pipe 20, a nozzle 21, a support 22 and a second steering engine 23, the powder tank is connected to the nozzle 21 through the feeding pipe 20, the powder pump is installed on the feeding pipe 20, the nozzle 21 is rotatably installed on the support 22, the support 22 is fixed on the outer side of the steel cover 14, the second steering engine 23 is also installed on the support 22, and the output end of the second steering engine 23 is connected to the nozzle 21. The second steering engine 23 can drive the nozzle 21 to rotate, the angle of spraying can be adjusted, and the actual needs can be met.

[0031] In the embodiment, the slag removing assembly 12 comprises a side support 24, a support beam 25, a rotating shaft 26, slag removing pieces 27, a supporting shaft 28 and an elastic supporting device 29, the side support 24 is fixed on the side of the inner frame 6, the support beam 25 is installed on the side support 24, the support beam 25 extends along the longitudinal direction, the rotating shaft 26 is fixedly installed on the support beam 25, a plurality of slag removing pieces 27 are arranged on the rotating shaft 26 along the longitudinal direction, the head of the slag removing piece 27 is rotatably installed on the rotating shaft 26, the middle part of the slag removing piece 27 is connected to the supporting shaft 28 through the elastic supporting device 29, and the supporting shaft 28 is connected with the second telescopic piece 8. By designing a plurality of parallel slag removing pieces 27, when a single slag removing piece 27 encounters slag, it can be pried and peeled off, facilitating subsequent polishing work. The elastic supporting device 29 adopts a spring, and the slag removing piece 27 is supported by the elastic supporting device 29, which can reduce the possibility of the device being stuck when encountering fixed objects. The slag removing piece 27 of the present application has an L-shaped rod structure, which can be conveniently replaced.

[0032] In the embodiment, the first suction cup assembly 3 and the second suction cup assembly 9 have the same structure, the first suction cup assembly 3 comprises a connecting rod 30, a mounting piece 31 and a suction cup body 32, the connecting rod 30 is connected with the first telescopic piece 2, an insertion slot matched with the mounting piece 31 is formed in the end face of the end of the connecting rod 30 away from the first telescopic piece 2, and the mounting piece 31 is fixedly connected to the suction cup body 32, so that the suction cup body 32 can be conveniently disassembled and replaced.

[0033] In the embodiment, the transverse displacement driving device comprises third steering gears 33, first lead screws 34 and first moving blocks 35, two groups of third steering gears 33 are installed on the outer frame 1, the output ends of the third steering gears 33 are connected to the first lead screws 34 arranged in the transverse direction, the first lead screws 34 are threadedly connected to the first moving blocks 35, and the first moving blocks 35 are fixedly connected to the central support 4. Similarly to the driving principle of the transverse displacement driving device, the longitudinal displacement driving device comprises fourth steering gears 36 and second lead screws 37, the fourth steering gears 36 are installed on the longitudinal beam 7, the output ends of the fourth steering gears 36 are connected to the second lead screws 37 arranged in the longitudinal direction, and the second lead screws 37 are threadedly connected with the inner frame 6. In the device disclosed by the present application, through the cooperation of the outer frame 1 and the inner frame 6, displacement on planes such as high walls and high top surfaces can be realized, and the device will not fall from a high place, the flexible structure of the suction cup can also buffer the overall structure when the polishing assembly 10 is working, so that the device is more stable during work.

Claims

1. A rust removal and spraying integrated anti-corrosion robot, characterized in that: The system includes an outer frame, which is rectangular in shape. At each of the four corners of the outer frame, a first telescopic component is installed. The output end of each first telescopic component is connected to a first suction cup assembly. The first telescopic component can drive the first suction cup assembly to move normally toward the plane of the outer frame. A central support is connected to the outer frame via a lateral displacement drive device. The central support is connected to an inner frame via a first servo motor. The inner frame is parallel to the inner side of the outer frame. Both ends of the inner frame are connected to longitudinal beams via longitudinal displacement drive devices. Second telescopic components are installed at both ends of the longitudinal beams. The output end of each second telescopic component is connected to a second suction cup assembly. The second telescopic component can drive the second suction cup assembly to move normally toward the plane of the inner frame. A grinding component for grinding and a spraying component for spraying the grinding area are installed on the inner side of the inner frame. A slag removal component for removing slag is installed on the side of the inner frame.

2. The integrated rust removal and spraying anti-corrosion robot according to claim 1, characterized in that: The grinding assembly includes a third telescopic component, a steel cover, a flexible protective cylinder, a vacuum cleaner, a filter, a grinder, and a grinding blade. The third telescopic component is installed inside the inner frame. The output end of the third telescopic component is connected to the bowl-shaped steel cover. The opening of the steel cover is connected to the flexible protective cylinder. The grinder is fixedly connected inside the steel cover. The output shaft of the grinder extends along the axial direction of the flexible protective cylinder and is connected to the grinding blade.

3. The integrated rust removal and spraying anti-corrosion robot according to claim 2, characterized in that: A support ring is detachably connected to the end face of the flexible protective cylinder on the side away from the steel cover, forming a sliding surface that contacts the wall on the end face of the support ring.

4. The integrated rust removal and spraying anti-corrosion robot according to claim 3, characterized in that: The spraying assembly includes a powder hopper, a powder pump, a feed pipe, a nozzle, a bracket, and a second servo motor. The powder hopper is connected to the nozzle via the feed pipe, and the powder pump is installed on the feed pipe. The nozzle is rotatably mounted on the bracket, which is fixed to the outside of the steel cover. The second servo motor is also mounted on the bracket, and its output end is connected to the nozzle.

5. The integrated rust removal and spraying anti-corrosion robot according to claim 1, characterized in that: The slag removal assembly includes a side support, a support beam, a rotating shaft, slag removal plates, a support shaft, and an elastic support device. The side support is fixed to the side of the inner frame. A support beam is installed on the side support and extends longitudinally. A rotating shaft is fixedly installed on the support beam. Multiple slag removal plates are arranged longitudinally at intervals on the rotating shaft. The heads of the slag removal plates are rotatably installed on the rotating shaft. The middle part of the slag removal plates is connected to the support shaft through the elastic support device. The support shaft is connected to the second telescopic member.

6. The integrated rust removal and spraying anti-corrosion robot according to claim 1, characterized in that: The first suction cup assembly and the second suction cup assembly have the same structure. The first suction cup assembly includes a connecting rod, a mounting plate and a suction cup body. The connecting rod is connected to the first telescopic member. The end face of the connecting rod away from the first telescopic member has a slot for inserting and engaging with the mounting plate. The mounting plate is fixedly connected to the suction cup body.

7. The integrated rust removal and spraying anti-corrosion robot according to any one of claims 1-6, characterized in that: The lateral displacement drive device includes a third servo motor, a first lead screw, and a first moving block. Two sets of third servo motors are mounted on the outer frame. The output end of the third servo motor is connected to the first lead screw arranged laterally. The first lead screw is threadedly connected to the first moving block. The first moving block is fixedly connected to the central support.

8. The integrated rust removal and spraying anti-corrosion robot according to claim 7, characterized in that: The longitudinal displacement drive device includes a fourth servo motor and a second lead screw. The fourth servo motor is mounted on the longitudinal beam, and the output end of the fourth servo motor is connected to the longitudinally arranged second lead screw. The second lead screw is threadedly connected to the inner frame.

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