Outer pipeline rust removal robot

Abstract

The invention discloses an outer pipeline rust removal robot, and relates to the technical field of pipeline rust removal robots. The device specifically comprises a walking mechanism which is located on the outer side of an outer pipeline and performs crawling or clamping action on the outer pipeline; the circumferential rotating mechanism is of an annular structure, and the circumferential rotating mechanism is arranged on the walking mechanism and located on the outer side of the outer pipeline; and the sand blasting and rust removing mechanism is arranged at the moving end of the circumferential rotating mechanism, the sand blasting and rust removing mechanism is driven by the moving end of the circumferential rotating mechanism to rotate in the circumferential direction, and sand blasting and rust removing are conducted on the outer wall of the outer pipeline. According to the outer pipeline rust removal robot, obstacle crossing crawling, normal crawling and clamping actions are conducted on the outer pipeline on the walking mechanism, and when the outer pipeline rust removal robot is in the clamping state, main sand blasting rust removal work on the outer pipeline is completed through mutual cooperation of the sand blasting rust removal mechanism and the circumferential rotating mechanism; and through the arrangement of the walking mechanism, the robot can stably crawl on the outer pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline rust removal robot technology, specifically to an external pipeline rust removal robot. Background Technology

[0002] In projects such as offshore oil drilling platforms, combustible ice development, and tidal energy recovery and power generation, pipeline facilities are a crucial component. Throughout the project's lifespan, pipelines are constantly exposed to the corrosive environment of sea winds and seawater, making them highly susceptible to corrosion failure. Currently, external pipeline corrosion protection primarily employs anti-corrosion coatings. However, after prolonged use, these coatings can break down and peel off due to various mechanical damages. In such cases, it is necessary to clean the outer pipe wall, remove any existing rust, and then reapply the anti-corrosion coating.

[0003] Existing methods for rust removal from external pipelines include the use of laser rust removal equipment. This equipment typically consists of a ring-shaped mounting component, a circumferential drive assembly, a laser rust removal component, and an axial drive assembly. In application, the ring-shaped mounting component is coaxially fitted onto the pipeline. The circumferential drive assembly on the ring-shaped mounting component drives the ring-shaped mounting component to rotate one revolution around its axis. The rust-removing laser of the laser rust removal component rotates on the ring-shaped mounting component, thereby removing rust from the pipeline. However, when moving along the pipeline, especially at bends and pipe connections, obstacles can arise, affecting the movement and creeping of the equipment.

[0004] Another method involves sandblasting for rust removal. Sandblasting typically uses compressed air to create a high-speed jet that propels abrasive materials (garnet sand, copper ore sand, quartz sand, corundum, iron sand, Hainan sand) at high speed onto the surface of the workpiece, altering its appearance or shape. Currently, robots equipped with sandblasting capabilities crawl along pipes, using nozzles to sandblast the rusted exterior of the pipes to remove rust. However, these methods generate abrasives and waste that pollute the environment, and the abrasive cannot be recycled, resulting in significant resource consumption. Summary of the Invention

[0005] The purpose of this invention is to provide an external pipeline rust removal robot, which solves the problems of inconvenient crawling and pollution of the surrounding environment by abrasive and waste materials when removing rust from external pipelines in the prior art.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] A rust removal robot for external pipelines, comprising:

[0008] The traveling mechanism is located on the outside of the outer pipe and performs crawling or clamping actions on the outer pipe.

[0009] The circumferential rotating mechanism has a circular ring structure and is mounted on the traveling mechanism and located on the outside of the outer pipe.

[0010] And a sandblasting and rust removal mechanism, which is set on the moving end of the circumferential rotating mechanism. The moving end of the circumferential rotating mechanism drives the sandblasting and rust removal mechanism to rotate circumferentially and perform sandblasting and rust removal on the outer wall of the external pipeline.

[0011] Optionally, the circumferential rotation mechanism includes two opposing and detachably connected semicircular rings, an inverted L-shaped carriage circumferentially slidable outside the two semicircular rings, an L-shaped plate vertically disposed at the bottom of the horizontal plate of the L-shaped carriage and located above the semicircular rings, a rotating gear rotatably disposed at the bottom of the L-shaped plate, and a rotary motor disposed at the bottom of the horizontal plate of the L-shaped carriage and driving the rotating gear to rotate. One semicircular ring is disposed on the traveling mechanism, and the sandblasting and rust removal mechanism is disposed at the top of the horizontal plate of the L-shaped carriage.

[0012] The tops of the two semicircular rings are respectively provided with symmetrical and connected arc-shaped grooves, and the inner walls of the two arc-shaped grooves are respectively provided with opposing arc-shaped toothed rings. The arc-shaped toothed rings mesh with the rotating gears, and limit rings are respectively provided on the inner and outer sides of the top of the semicircular rings.

[0013] Optionally, a fixing plate is provided on one side of the L-shaped plate, and a universal wheel is rotatably provided at the bottom of the fixing plate. The bottom of the universal wheel corresponds to the top of the limiting ring on the inner side of the top of the semi-circular ring.

[0014] Two fixed semi-rings are respectively connected to the radial outer sides of the two semi-circular rings, and the L-shaped carriage is circumferentially slidably disposed on the outer sides of the two fixed semi-rings.

[0015] Optionally, the sandblasting and rust removal mechanism includes a rust removal section located on the top of the horizontal plate of the L-shaped carriage, a sand recovery section located on the outer wall of the rust removal section for recovering the sand material sprayed from it, and a sand conveying section located on the outer wall of the rust removal section and corresponding to and communicating with the sand recovery section. The sand conveying section conveys the recovered sand material to the rust removal section.

[0016] Optionally, the rust removal unit includes a sand storage box and a sandblasting box respectively disposed on the top of the horizontal plate and connected in sequence, and a spray gun connected between the sand storage box and the sandblasting box;

[0017] The sand storage box includes a sand storage chamber, an installation chamber, a sand suction device installed in the sand storage chamber and connected to the installation chamber, and a miniature cylinder installed on the back side of the sand storage box and corresponding to the sand suction device. The sandblasting box is provided with a sandblasting port facing the rotation axis of the semi-circular ring.

[0018] The spray gun includes a spray pipe that passes through the rear side wall of the sandblasting box and extends into the installation chamber, and an inlet pipe that is inclinedly connected to the side wall of the spray pipe and connected to the sand suction device. A connector is provided at the end of the spray pipe located in the installation chamber.

[0019] Optionally, the sand recovery unit includes a recovery box disposed on the outer wall of the sandblasting box and communicating with the sandblasting nozzle, a push cylinder disposed on the inner wall of the installation chamber, and a connecting rod assembly connected to the output end of the push cylinder.

[0020] The recycling bin includes a recycling chamber connected to the sandblasting nozzle, a negative pressure connector located on the outer wall of the recycling bin and connected to the recycling chamber, and an elastic sealing membrane located on the side of the recycling bin near the sand storage box. One end of the recycling bin has an outlet, and two one-way doors are symmetrically arranged at the outlet. A first filter screen is installed in the recycling chamber, and a second filter screen is installed on the inner wall of the recycling bin near the negative pressure connector.

[0021] The linkage assembly includes a first slider connected to the output end of the push cylinder and slidably connected to the inner wall of the installation chamber, a second slider slidably passing through the side wall of the installation chamber and corresponding to the recycling bin, a first connecting rod hinged between the first slider and the second slider, a second connecting rod passing through the elastic sealing membrane and connected to the second slider, and a scraper located in the recycling chamber and connected to the second connecting rod, the side of the scraper contacting the first filter screen.

[0022] Optionally, the sand conveying unit includes a sand conveying box disposed on the outer wall of the sand storage box and the sandblasting box and connected to the outlet, and a drive wheel and two synchronous wheels rotatably disposed in the sand conveying box and arranged in a triangular pattern. The inner wall of the installation chamber is provided with a conveying motor that is connected to the drive wheel. The drive wheel is connected to the two synchronous wheels via a synchronous belt.

[0023] The two ends of the shaft of a synchronous pulley are slidably engaged with the sand storage box and the sand conveying box, respectively. The outer wall of the sand conveying box is provided with a cover plate, and the cover plate and the sand storage box are respectively threaded with screws that are rotatably engaged with the shaft of the corresponding synchronous pulley.

[0024] The side wall of the sand storage chamber is provided with a return sand port that communicates with the sand conveying box, and the outer side wall of the sand conveying box is provided with a high-pressure connector that communicates with its interior.

[0025] Optionally, the walking mechanism includes a drive assembly, a bracket, and a clamping assembly, with a semi-circular ring disposed on the top of the bracket;

[0026] The drive assembly includes a cylinder group and four lead screw modules arranged in a rectangular shape: lead screw module 1, lead screw module 2, lead screw module 3, and lead screw module 4. The cylinder group is connected between the outer walls of lead screw modules 1 and 2 and the outer walls of lead screw modules 3 and 4. Fixed rods are connected between the outer walls of lead screw modules 1 and 2, and between the outer walls of lead screw modules 3 and 4. Auxiliary telescopic rods are connected between the outer walls of lead screw modules 1 and 3, and between the outer walls of lead screw modules 2 and 4. Connecting seats are connected between the moving ends of lead screw modules 1 and 2, and between the moving ends of lead screw modules 3 and 4. A bracket is mounted on the connecting seats of lead screw modules 3 and 4.

[0027] The clamping assembly consists of two sets, each mounted on a separate connecting seat. Each clamping assembly includes a support seat rotatably connected to the front of the connecting seat, two meshing gear 1s rotatably mounted inside the support seat, a servo motor mounted on the top of the support seat to drive one of the gears 1 to rotate, two gear 2s rotatably mounted on the inner walls of both sides of the support seat, and a clamping arm connected to the shaft of gear 2 and located on the outside of the support seat. Gear 2 meshes with the adjacent gear 1, and the clamping arm is located below the semicircular ring. The servo motor drives gear 1 to rotate forward / reverse, and gear 1 drives the corresponding gear 2 to rotate, thereby causing the two clamping arms to clamp or release the external pipe.

[0028] Optionally, the clamping assembly also includes a connecting frame disposed at the bottom of the support base, and an arc-shaped contact plate rotatably disposed at the bottom of the connecting frame and abutting against the outer wall of the outer pipe;

[0029] A first telescopic rod is rotatably connected between the fixed rod and the corresponding connecting seat, and a second telescopic rod is rotatably connected between the top of the support seat and the tops of the two clamping arms.

[0030] Optionally, a number of contacts are arranged on the inner side of the end of the clamping arm away from the support base;

[0031] The contact includes a straight rod perpendicular to the inner side of the clamping arm, a ball joint disposed at the end of the straight rod, a rubber head that rotates with the ball joint, and a spring connected between the rubber head and the inner wall of the clamping arm, with the spring sleeved on the outer wall of the straight rod.

[0032] The present invention has the following beneficial effects:

[0033] 1. The external pipeline rust removal robot of the present invention performs obstacle-crossing crawling, normal crawling, and clamping actions on the external pipeline through the walking mechanism. When in the clamping state, the sandblasting rust removal mechanism and the circumferential rotation mechanism cooperate to complete the main sandblasting rust removal work on the external pipeline. The walking mechanism enables the robot to crawl stably on the external pipeline, thereby providing a stable operating space for subsequent rust removal work and improving work efficiency.

[0034] 2. This invention sets up a circumferential rotating mechanism, through the mutual cooperation of two semi-circular rings, an L-shaped slide, an L-shaped plate, a rotating gear, a rotating motor, an arc-shaped toothed ring, and a limiting ring. The rotating motor can drive the rotating gear to rotate, which in turn makes the sandblasting and rust removal mechanism rotate circumferentially around the circumferential rotating mechanism, thereby removing rust from external pipelines; the caster wheel serves as an auxiliary support, and while bearing force, it relies on the deflection of the caster wheel to achieve the purpose of shock absorption.

[0035] 3. This invention, through the setting of a sandblasting and rust removal mechanism, utilizes a sand storage box, a sandblasting box, and a spray gun. The sand suction device, located near the micro-cylinder, facilitates the addition of sand to the storage chamber. After the sand is added, the micro-cylinder is activated, and its telescopic end seals one end of the sand suction device, sealing the storage chamber and preventing sand from flowing out when sandblasting is not in progress. When sandblasting is required, the storage chamber is unsealed, and a connector on the spray pipe connects to the pipeline, introducing high-pressure gas. The pressure difference forces the sand in the storage chamber into the suction device and out through the spray pipe, thus achieving the sandblasting and rust removal action. The suction device slows down the flow rate of the sand. The sand recovery unit, through the cooperation of a recovery box, a push cylinder, and a connecting rod assembly, connects the recovery chamber of the recovery box to the sandblasting nozzle. A negative pressure connector connects to a negative pressure pipe, which quickly extracts gas from the recovery box, causing the airflow from the sandblasting nozzle to flow into the recovery chamber, thereby allowing the sand to be sprayed from the nozzle. Most of the sand discharged is recycled. Larger sand particles adhere to the first filter screen, while smaller particles adhere to the second filter screen. The second filter screen is designed to prevent sand from entering the negative pressure connector. The linkage assembly, consisting of the first slider, second slider, first connecting rod, second connecting rod, and scraper, works by extending and retracting the cylinder to ultimately drive the scraper to scrape the sand off the first filter screen and push it out through the one-way gate to the outlet for conveying by the sand conveying unit. The sand conveying unit, through the cooperation of the sand conveying box, conveying motor, drive wheel, two synchronous pulleys, and synchronous belt, drives the drive wheel to rotate, which in turn drives the synchronous pulleys to rotate via the synchronous belt. During rotation, the synchronous belt conveys the sand from the outlet of the recycling box into the sand conveying box. The high-pressure connector is used to connect to the high-pressure air pipe, so that the air pressure inside the sand conveying box is greater than the air pressure in the sand storage chamber, ultimately allowing the sand to enter the sand storage chamber from the return sand port. Through the cooperation of the above components, sand recycling is achieved, reducing environmental pollution.

[0036] 4. This invention, through the setting of a walking mechanism, utilizes the cooperation of a cylinder assembly, lead screw module one, lead screw module two, lead screw module three, lead screw module four, a fixed rod, an auxiliary telescopic rod, and a connecting seat, along with the cooperation of a support seat, gear one, a servo motor, gear two, and clamping arms, to enable the two clamping components to crawl over obstacles and crawl normally on the outer pipe. The servo motor drives gear one to rotate forward / reverse, which in turn drives the corresponding gear two to rotate, ultimately causing the two clamping arms to clamp or release the outer pipe. An arc-shaped contact plate is provided, which positions the pipe in the axial direction perpendicular to the outer pipe and, in conjunction with the clamping arms, adapts to the shape and size of the pipe. It also applies pressure to the surface of the outer pipe and the pressure of the clamping arms to create torque, achieving a fixing and stabilizing effect.

[0037] 5. By setting a contact, the present invention uses the cooperation of ball joint, rubber head and spring to connect the ball joint surface to the rubber head with a certain degree of freedom, so that the rubber head has a certain elasticity and can provide flexible buffering, thereby reducing the impact of vibration and absorbing the impact. Attached Figure Description

[0038] Figure 1 A schematic diagram of the overall structure of the external pipeline rust removal robot;

[0039] Figure 2 This is a schematic diagram of the circumferential rotating mechanism and the sandblasting and rust removal mechanism.

[0040] Figure 3 This is a schematic diagram of the circumferential rotating mechanism;

[0041] Figure 4 This is a schematic diagram of the specific structure of the circumferential rotating mechanism;

[0042] Figure 5 This is a schematic diagram of the sandblasting and rust removal mechanism;

[0043] Figure 6 This is a cross-sectional structural diagram of the rust removal section;

[0044] Figure 7 for Figure 6 A magnified structural diagram at point A;

[0045] Figure 8 This is a cross-sectional structural diagram of the sand conveying unit;

[0046] Figure 9 A cross-sectional schematic diagram of a synchronous pulley connected to a sand storage box and a cover plate via a screw connection;

[0047] Figure 10 This is a schematic diagram of the structure at the sandblasting nozzle on the sandblasting box.

[0048] Figure 11A schematic diagram of the sand recovery section and the rust removal section;

[0049] Figure 12 This is a schematic cross-sectional view of the internal structure of the mounting chamber on the sand storage tank.

[0050] Figure 13 This is a schematic diagram of the sand recovery unit.

[0051] Figure 14 This is a schematic diagram of the internal structure of the sand recycling section;

[0052] Figure 15 This is a schematic diagram of the walking mechanism;

[0053] Figure 16 This is a structural diagram of the drive assembly and the support frame;

[0054] Figure 17 This is a schematic diagram of the clamping assembly.

[0055] Figure 18 This is a cross-sectional view of the clamping assembly.

[0056] Figure 19 This is a schematic diagram of the contact structure;

[0057] Figure 20 This is a schematic diagram of the cross-sectional structure of the contact.

[0058] In the diagram: 1. Walking mechanism; 11. Drive assembly; 111. Cylinder assembly; 112. Lead screw module one; 113. Lead screw module two; 114. Lead screw module three; 115. Lead screw module four; 116. Fixed rod; 117. Auxiliary telescopic rod; 118. Connecting seat; 12. Bracket; 13. Clamping assembly; 131. Support seat; 132. Gear one; 133. Servo motor; 134. Gear two; 135. Clamping arm; 136. Connecting frame; 137. Arc-shaped contact plate; 138. First telescopic rod; 139. Second telescopic rod; 2. Circumferential rotation mechanism; 21. Semicircular ring; 211. Arc-shaped groove; 212. Arc-shaped toothed ring; 213. Limiting ring; 22. L-shaped carriage; 221. Horizontal plate; 23. L-shaped plate; 231. Fixing plate; 232. Universal wheel; 24. Rotary gear; 25. Rotary motor; 26. Fixed semi-ring; 3. Sandblasting and rust removal mechanism 31. Sand storage box; 311. Sand storage chamber; 312. Installation chamber; 313. Sand suction device; 314. Miniature cylinder; 315. Sand return port; 32. Sandblasting box; 321. Sandblasting nozzle; 33. Spray gun; 331. Spray pipe; 332. Inlet pipe; 333. Connector; 34. Recovery box; 341. Recovery chamber; 342. Negative pressure connector; 343. Elastic sealing membrane; 344. Outlet; 345. One-way door; 346. First filter 35. Net; 36. Push cylinder; 37. Connecting rod assembly; 38. First slider; 39. Second slider; 30. First connecting rod; 31. Second connecting rod; 32. Scraper; 33. Sand conveyor box; 34. High-pressure connector; 35. Drive wheel; 36. Conveyor motor; 37. Synchronous belt; 38. Synchronous pulley; 39. Cover plate; 40. Contact; 41. Straight rod; 42. Ball joint; 43. Rubber head; 44. Spring. Detailed Implementation

[0059] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0060] like Figure 1 As shown, an embodiment of the present invention provides an external pipe rust removal robot, comprising: a walking mechanism 1, which is located on the outside of the external pipe and performs crawling or clamping actions on the external pipe; a circumferential rotating mechanism 2, which has a circular structure and is disposed on the walking mechanism 1 and located on the outside of the external pipe; and a sandblasting rust removal mechanism 3, which is disposed on the moving end of the circumferential rotating mechanism 2 and drives the sandblasting rust removal mechanism 3 to rotate circumferentially through the moving end of the circumferential rotating mechanism 2, and performs sandblasting rust removal on the outer wall of the external pipe.

[0061] It should be noted that the walking mechanism 1 includes normal crawling and obstacle-crossing crawling during crawling. Normal crawling refers to movement along the axial direction of the outer pipe, while obstacle-crossing crawling refers to movement perpendicular to the axial direction of the outer pipe. The walking mechanism 1 performs obstacle-crossing crawling, normal crawling, and clamping actions on the outer pipe. When in the clamping state, the sandblasting and rust removal mechanism 3 and the circumferential rotation mechanism 2 work together to complete the main sandblasting and rust removal work on the outer pipe. The walking mechanism 1 enables the robot to crawl stably on the outer pipe, thereby providing a stable operating space for subsequent rust removal work and improving work efficiency.

[0062] like Figure 2-4 As shown, the circumferential rotating mechanism 2 includes two opposing and detachably connected semicircular rings 21. Symmetrical and interconnected arc-shaped grooves 211 are respectively provided on the top of the two semicircular rings 21. The two arc-shaped grooves 211 combine to form a circular groove. The inner walls of the two arc-shaped grooves 211 are respectively provided with opposing arc-shaped toothed rings 212. The two arc-shaped toothed rings 212 combine to form a circular toothed ring. This toothed ring can be an external toothed ring or an internal toothed ring; in this embodiment, an external toothed ring is used, which is fixed to the inner wall of the circular groove by several screws. An inverted L-shaped carriage 22 is circumferentially slidably disposed outside the two semicircular rings 21. An L-shaped plate 23 is vertically disposed at the bottom of the horizontal plate 221 of the L-shaped carriage 22 and located above the semicircular rings 21. A rotating gear 24 is rotatably disposed at the bottom of the L-shaped plate 23. The arc-shaped toothed ring 212 meshes with the rotating gear 24. Limiting rings 213 are respectively provided on the inner and outer sides of the top of the semi-circular ring 21. The limiting rings 213 are fixed to the inner and outer sides of the top of the semi-circular ring 21 by several screws. Their main purpose is to limit the position of the rotating gear 24 and ensure that the rotating gear 24 is always located within the arc-shaped groove 211. A rotary motor 25 is provided at the bottom of the horizontal plate 221 of the L-shaped carriage 22 and drives the rotating gear 24 to rotate. The rotary motor 25 is fixed to the bottom of the horizontal plate 221, and a shaft hole is provided on the L-shaped plate 23. The shaft of the rotating gear 24 passes through the shaft hole and is connected to the output shaft of the rotary motor 25. A semi-circular ring 21 is provided on the traveling mechanism 1, and the sandblasting and rust removal mechanism 3 is provided on the top of the horizontal plate 221 of the L-shaped carriage 22.

[0063] In addition, a fixing plate 231 is provided on one side of the L-shaped plate 23, and a caster wheel 232 is rotatably provided at the bottom of the fixing plate 231. The bottom of the caster wheel 232 corresponds to the top of the limiting ring 213 on the inner side of the top of the semi-circular ring 21. Furthermore, there is a gap between the bottom of the caster wheel 232 and the corresponding limiting ring 213, which is between 1mm and 3mm. The caster wheel 232 serves as an auxiliary support, and while bearing force, the deflection of the caster wheel 232 achieves the purpose of shock absorption. Two semicircular rings 21 are respectively connected to fixed semicircular rings 26 on their radial outer sides. The fixed semicircular rings 26 are fixed to the outer side of the semicircular rings 21 by several screws, and the arc length of the fixed semicircular rings 26 is equal to the arc length of the semicircular rings 21. The L-shaped carriage 22 is circumferentially slidably disposed on the outer side of the two fixed semicircular rings 26. The top and bottom of the two fixed semicircular rings 26 are respectively provided with corresponding and connected arc-shaped dovetail grooves. The two arc-shaped dovetail grooves are combined to form a circular dovetail groove. The L-shaped carriage 22 is provided with a slider that slides in cooperation with the circular dovetail groove.

[0064] When the rotary motor 25 starts, it drives the rotary gear 24 to rotate circumferentially around the two arc-shaped toothed rings 212, which in turn drives the L-shaped carriage 22 to rotate circumferentially around the two fixed semi-rings 26, as well as the caster wheel 232 and other components to rotate, and finally drives the sandblasting and rust removal mechanism 3 to rotate and remove rust from the external pipeline.

[0065] It should be noted that one semicircular ring 21 has a tenon and a mortise at each end, and the other semicircular ring 21 has a mortise and a mortise at each end. The tenon and mortise of one semicircular ring 21 are mortised and tenoned with the mortise and mortise of the other semicircular ring 21, so that the ends of the two semicircular rings 21 can be quickly positioned. At the same time, connecting plates are provided on the inner wall and bottom wall of the end of the semicircular ring 21. The connecting plates of the two semicircular rings 21 are connected and fixed by multiple bolts, realizing a detachable connection, and at the same time, the ends of the two semicircular rings 21 are joined together to form a ring structure.

[0066] like Figure 5-7 As shown, the sandblasting and rust removal mechanism 3 includes a rust removal section located on the top of the horizontal plate 221 of the L-shaped carriage 22, a sand material recovery section located on the outer wall of the rust removal section for recovering the sand material sprayed from it, and a sand material conveying section located on the outer wall of the rust removal section and corresponding to and connected to the sand material recovery section. The sand material conveying section conveys the recovered sand material to the rust removal section.

[0067] Specifically, the rust removal unit includes a sand storage box 31 and a sandblasting box 32 respectively disposed on the top of the horizontal plate 221 and connected in sequence, and a spray gun 33 connected between the sand storage box 31 and the sandblasting box 32; wherein the sandblasting box 32 is located on the side near the rotating shaft of the semi-circular ring 21.

[0068] The sand storage box 31 includes a sand storage chamber 311 and an installation chamber 312. The installation chamber 312 is located on the side near the sand blasting box 32 and is connected to the outside. A sand suction device 313 is installed in the sand storage chamber 311 and is connected to the installation chamber 312. The sand suction device 313 is mainly used to slow down the speed at which sand flows from the sand storage chamber 311 to the spray gun 33. A miniature cylinder 314 is installed on the back side of the sand storage box 31 and corresponds to the sand suction device 313. The sand blasting box 32 is provided with a sand blasting nozzle 321 facing the rotation axis of the semi-circular ring 21.

[0069] It should be noted that the sand suction device 313 has a cylindrical structure with several small holes evenly distributed on its outer wall, which communicate with its interior. The sand storage box 31 has a through hole on the side near the micro cylinder 314 that is compatible with and communicates with the sand suction device 313. The telescopic end of the micro cylinder 314 is equipped with a sealing plug that matches the through hole. Sand can be added into the sand suction device 313 through the through hole (the end of the nozzle 331 of the spray gun 33 is sealed before adding sand). The sand can then be added from the sand suction device 313 into the sand storage chamber 311. After the sand is added, the micro cylinder 314 is activated, which closes the through hole with the telescopic end of the micro cylinder 314, thus sealing the sand storage chamber 311 (the nozzle 331 is then unsealed). This ensures that the sand will not flow out of the sand suction device 313 when sandblasting and rust removal are not being performed. When performing sandblasting for rust removal, the micro cylinder 314 is activated and its telescopic end retracts by 0.5-1 cm, releasing the seal of the sand storage chamber 311. Simultaneously, the telescopic end of the micro cylinder 314 blocks the through-hole, preventing sand from flowing out. The sandblasting nozzle 321 is surrounded by brushes. During rust removal, these brushes contact the outer wall of the external pipe, providing a semi-sealing effect. This ensures compatibility with the external pipe structure while significantly blocking the outflow of waste material after sandblasting, facilitating subsequent recycling by the sand recovery unit.

[0070] The spray gun 33 includes a nozzle 331 that passes through the rear side wall of the sandblasting box 32 and extends into the installation chamber 312, and an inlet pipe 332 that is inclinedly connected to the side wall of the nozzle 331 and connected to the sand suction device 313. The nozzle 331 and the inlet pipe 332 are arranged to make the cross section of the spray gun 33 have a Y-shaped structure. The nozzle 331 located in the installation chamber 312 has a connector 333 at its end, which is used to connect to external high-pressure gas.

[0071] It should be noted that a miniature air pump that can provide both high-pressure air and vacuum can be installed. On the one hand, it provides high-pressure gas to the connector 333 and the high-pressure connector 371 on the sand conveying section, and on the other hand, it provides negative pressure to the negative pressure connector 342 on the sand recovery section. There are no restrictions on the specific location of the miniature air pump. It can be installed on the outer wall of the sand storage box 31, the inner wall of the installation chamber 312, or on the L-shaped slide 22.

[0072] like Figure 10-14 As shown, the sand recovery unit includes a recovery box 34 disposed on the outer side wall of the sandblasting box 32 and communicating with the sandblasting nozzle 321. The outer side wall of the sandblasting box 32 has a through groove, and the recovery box 34 communicates with the sandblasting nozzle 321 through the through groove; a push cylinder 35 disposed on the inner side wall of the installation chamber 312; and a connecting rod assembly 36 connected to the output end of the push cylinder 35.

[0073] The recovery box 34 includes a recovery chamber 341 communicating with the sandblasting nozzle 321, a negative pressure connector 342 disposed on the outer wall of the recovery box 34 and communicating with the recovery chamber 341, and an elastic sealing membrane 343 disposed on the side of the recovery box 34 near the sand storage box 31. The recovery box 34 has an opening on the side facing the sand storage box 31, and the elastic sealing membrane 343 is disposed on the opening. The elastic sealing membrane 343 may be made of rubber. One end of the recovery box 34 has an outlet 344, and two one-way doors 345 are symmetrically arranged at the position of the outlet 344. A first filter screen 346 is disposed inside the recovery chamber 341. A second filter screen is provided on the inner wall of the near negative pressure connector 342. It should be noted that the one-way door 345 includes a pivot, a door panel, and a torsion spring. The door panel is connected to the pivot through the torsion spring, so that the one-way door 345 can only be opened to the outside of the outlet 344, and the seams of the door panel are all equipped with sealing strips. The first filter screen 346 is a low-mesh rigid filter screen, which is intended to intercept large particles of quartz sand that can be used for further sandblasting for recycling. The second filter screen is a high-mesh flexible filter screen, which can act as a waste collection bag while ensuring that waste does not enter the negative pressure connector 342 and thus cause contamination of the micro air pump.

[0074] The linkage assembly 36 includes a first slider 361 connected to the output end of the push cylinder 35 and slidably connected to the inner wall of the mounting chamber 312. The inner side wall of the mounting chamber 312 has a first groove that slidably engages with the first slider 361. A second slider 362 slidably passes through the side wall of the mounting chamber 312 and corresponds to the recycling bin 34. The side of the mounting chamber 312 near the recycling bin 34 has a second groove that slidably engages with the second slider 362. The opening direction of the second groove is perpendicular to the opening direction of the first groove. A first connecting rod 363 is hinged between the first slider 361 and the second slider 362. A second connecting rod 364 passes through the elastic sealing membrane 343 and is connected to the second slider 362. A scraper 365 is located in the recycling chamber 341 and is connected to the second connecting rod 364. The side of the scraper 365 contacts the first filter screen 346.

[0075] When it is necessary to recycle the sand on the first filter screen 346, the push cylinder 35 is activated. The output end of the push cylinder 35 pushes the first slider 361 to slide. The first slider 361 drives the second slider 362 to slide through the first connecting rod 363. The second slider 362 drives the scraper 365 to move through the second connecting rod 364. During the movement, the scraper 365 scrapes off the sand on the first filter screen 346 and pushes open the one-way door 345, thereby pushing the scraped sand into the outlet 344.

[0076] like Figure 5 , 8 As shown in Figures 9 and 11, the sand conveying unit includes a sand conveying box 37 disposed on the outer wall of the sand storage box 31 and the sandblasting box 32 and connected to the outlet 344, and a drive wheel 38 and two synchronous wheels 39 rotatably disposed inside the sand conveying box 37 and arranged in a triangular pattern. The two synchronous wheels 39 are located at both ends of the sand conveying box 37, and the drive wheel 38 is located in the middle of the sand conveying box 37 and corresponds to the installation chamber 312. The inner side wall of the installation chamber 312 is provided with a conveying motor 381 that is connected to the drive wheel 38. The side wall of the installation chamber 312 is provided with a shaft hole, through which the output shaft of the conveying motor 381 passes and is connected to the drive wheel 38. The drive wheel 38 is connected to the two synchronous wheels 39 through a synchronous belt 382.

[0077] Meanwhile, the two ends of the shaft of a synchronous pulley 39 are slidably engaged with the sand storage box 31 and the sand conveying box 37, respectively. The side walls of the sand storage box 31 and the sand conveying box 37 are respectively provided with sliding grooves that are slidably engaged with the shafts. The outer side wall of the sand conveying box 37 is correspondingly provided with a cover plate 391. The cover plate 391 and the sand storage box 31 are respectively threaded with screws that are rotatably engaged with the shafts of the corresponding synchronous pulleys 39.

[0078] It should be noted that the aforementioned screw includes a threaded part, a rotating part, and a limiting part arranged sequentially from top to bottom. The diameter of the rotating part is smaller than that of the threaded part and the limiting part. A shaft hole matching the rotating part is provided on the shaft of the synchronous pulley 39. The bottom end of the threaded part is connected to the top end of the rotating part. The bottom end of the rotating part passes through the shaft hole of the aforementioned shaft and is connected to the limiting part. The threaded part is threadedly engaged with the screw holes on the cover plate 391 and the sand storage box 31, so that rotating the screw can drive the shaft to move, thereby driving the corresponding synchronous pulley 39 to move, so as to adjust the tension of the synchronous belt 382.

[0079] The side wall of the sand storage chamber 311 is provided with a return sand port 315 that communicates with the sand conveying box 37, and the outer side wall of the sand conveying box 37 is provided with a high-pressure connector 371 that communicates with its interior; the high-pressure connector 371 corresponds to the return sand port 315.

[0080] It should be noted that the outer surface of the synchronous belt 382 is provided with external teeth to facilitate the conveying of sand. The conveying motor 381 drives the drive wheel 38 to rotate, which in turn drives the two synchronous pulleys 39 to rotate through the synchronous belt 382. When the synchronous belt 382 rotates, the sand pushed out from the outlet 344 is transferred into the conveyor. At this time, the sand is stored in the gap formed between the external teeth of the synchronous belt 382 and the inner wall of the sand conveying box 37. The high-pressure connector 371 is connected to a micro air pump through a pipe. High-pressure gas is input into the high-pressure connector 371. When the synchronous belt 382 runs to the corresponding position, the high-pressure gas will transport the sand particles through the sand return port 315 to the inside of the sand storage chamber 311 to complete the recycling.

[0081] like Figure 15-18 As shown, the walking mechanism 1 includes a drive assembly 11, a bracket 12, and a clamping assembly 13, with a semi-circular ring 21 disposed on the top of the bracket 12;

[0082] The drive assembly 11 includes a cylinder group 111, which includes two cylinders and a fixed connecting plate connected between the outer walls of the two cylinders. The two cylinders can extend and retract synchronously. It also includes four lead screw modules 112, 113, 114, and 115, arranged in a rectangular pattern. Each of the four lead screw modules is driven by a stepper motor. The cylinder group 111 is connected between the outer walls of lead screw modules 112 and 113 and the outer walls of lead screw modules 114 and 115. Specifically, the extension and retraction ends of the cylinder group 111 are connected to the outer walls of lead screw modules 112 and 113, and the fixed ends are connected to the outer walls of lead screw modules 114 and 115. The outer walls of lead screw modules 112 and 113 are connected to the outer walls of lead screw modules 114 and 115. Fixed rods 116 are connected between the outer walls of screw module 113 and between the outer walls of screw module 3 114 and screw module 4 115, respectively. Auxiliary telescopic rods 117 are connected between the outer walls of screw module 112 and screw module 3 114, and between the outer walls of screw module 2 113 and screw module 4 115, respectively. The auxiliary telescopic rods 117 are parallel to the cylinder group 111 and are passively telescopic, extending and retracting according to the extension and retraction of the cylinder group 111. Connecting seats 118 are connected between the moving ends of screw module 112 and screw module 2 113, and between the moving ends of screw module 3 114 and screw module 4 115, respectively. Bracket 12 is set on the connecting seats 118 of screw module 3 114 and screw module 4 115.

[0083] It should be noted that the upper and lower clamping components 13 and the lead screw module will generate a considerable bending moment. However, the connection of the cylinder assembly 111 is relatively small, resulting in a smaller stable bending moment. Adding the auxiliary telescopic rod 117 for stable support does not affect the degree of freedom while providing a stable bending moment.

[0084] The clamping assembly 13 comprises two sets, each mounted on a separate connecting seat 118. Each clamping assembly 13 includes a support seat 131 rotatably connected to the front of the connecting seat 118, two gears 132 rotatably mounted and meshing within the support seat 131, and a servo motor 133 mounted on the top of the support seat 131 to drive one of the gears 132. A shaft hole is provided on the top of the support seat 131, through which the output shaft of the servo motor 133 passes and meshes with one of the gears 132. 32. The gear 134, which is set on the inner wall of both sides of the support 131, and the clamping arm 135, which is connected to the shaft of the gear 134 and located on the outside of the support 131, are rotated respectively. The gear 134 meshes with the adjacent gear 132. The clamping arm 135 is located below the semi-circular ring 21. The servo motor 133 drives the gear 132 to rotate forward / reverse. The gear 132 drives the corresponding gear 134 to rotate, thereby driving the two clamping arms 135 to clamp or loosen the external pipe.

[0085] It should be noted that the front side of the connecting seat 118 refers to the side closest to the outer pipe. Gear 132 includes a shaft and synchronous cylindrical gears at both ends of the shaft. Gear 2 134 has the same structure as gear 132, except that gear 132 uses a cylindrical gear with 30 teeth and gear 2 134 uses a cylindrical gear with 56 teeth. The connecting seat 118 and the support seat 131 rotate through a shaft hole. Under the limitation of the bracket 12 and the cylinder group 111, the support seat 131 and the connecting seat 118 have a deflection angle of 3° to 8° with respect to the horizontal line, which in turn causes the clamping assembly 13 to have a deflection angle of 3° to 8° with respect to the horizontal line. This allows the robot's gravity to adaptively adjust the clamping state according to the shape of the pipe.

[0086] Furthermore, the clamping assembly 13 also includes a connecting frame 136 disposed at the bottom of the support base 131, and an arc-shaped contact plate 137 rotatably disposed at the bottom of the connecting frame 136 and abutting against the outer wall of the outer pipe. The arc-shaped contact plate 137 is made of rubber. The arc-shaped contact plate 137 positions the pipe in the axial direction perpendicular to the outer pipe, and cooperates with the clamping arm 135 to adapt to the shape and size of the pipe. It also applies pressure to the surface of the outer pipe and the pressure of the clamping arm 135 to form a torque, thereby achieving the function of fixing and stabilizing.

[0087] A first telescopic rod 138 is rotatably connected between the fixed rod 116 and the corresponding connecting seat 118. The first telescopic rod 138 provides support force and increases the stability of the structure. A second telescopic rod 139 is rotatably connected between the top of the support seat 131 and the tops of the two clamping arms 135. The second telescopic rod 139 is used to share the load of the clamping arms 135, achieving a stronger stability effect without affecting the degrees of freedom.

[0088] Specifically, a pressure sensor (model MPXV7002DP) is installed on the inner side of the clamping arm 135 to detect the pressure during clamping in real time and prevent excessive pressure on the clamping arm 135. An obstacle avoidance sensor can also be installed, such as a vision sensor (model HA200-F200-R2), which can be installed on the outer side of the clamping arm 135 or on the outer wall of the bracket 12, etc., without limitation. The embodiments of the present invention also include a control system, a controller one, and a controller two. The control system is a remote control device that is communicatively connected to controller one and controller two. Controller one and controller two are respectively installed on the robot. Controller one is communicatively connected to the aforementioned rotary motor 25, micro cylinder 314, micro air pump, push cylinder 35, and conveying motor 381. Controller two is communicatively connected to the aforementioned cylinder group 111, lead screw module one 112, lead screw module two 113, lead screw module three 114, lead screw module four 115, servo motor 133, pressure sensor, and obstacle avoider, etc. The robot's crawling, clamping, and sandblasting rust removal are controlled through the control system, controller one, and controller two.

[0089] like Figure 17 , 19 As shown in Figure 20, in another embodiment of the present invention, a plurality of contacts 4 are arranged on the inner side of the end of the clamping arm 135 away from the support base 131.

[0090] The contact 4 includes a straight rod 41 perpendicular to the inner side of the clamping arm 135, a ball joint 42 disposed at the end of the straight rod 41, a rubber head 43 rotatably engaged with the ball joint 42, and a spring 44 connecting the rubber head 43 and the inner wall of the clamping arm 135. The end of the rubber head 43 away from the ball joint 42 is flat and has anti-slip rubber. The spring 44 is sleeved on the outer wall of the straight rod 41. The contact 4 is elastic and can provide flexible cushioning, reducing the impact of vibration and absorbing shock.

[0091] The present invention provides a rust removal robot for external pipelines, which, when in use:

[0092] (1) Check all parts of the robot and connecting pipelines, add sand into the sand storage box 31, and then start the micro cylinder 314 to seal the sand storage chamber 311.

[0093] (2) Start the servo motor 133 and open the clamping arms 135 on the two clamping components 13. With this state as the initial state, further disassemble one of the semicircular rings 21 on the circumferential rotation mechanism 2, install the robot on the outer wall of the pipe that needs to be derusted, and then connect and install the disassembled semicircular ring 21 with another semicircular ring 21 to prepare for the derusting work.

[0094] (3) The walking mechanism 1 performs clamping, obstacle-crossing crawling, and normal crawling operations on the external pipeline:

[0095] Clamping: Simultaneously start the servo motors 133 on the upper and lower clamping components 13 to rotate clockwise by a certain angle, and make the upper and lower clamping arms 135 clamp the outer wall of the pipe. At this time, the robot changes from the initial state to the clamping state.

[0096] Obstacle Crawling: When the visual sensor detects an obstacle too close, the servo motor 133 in the upper clamping assembly 13 is activated to rotate counterclockwise by a certain angle. The lower clamping assembly 13 remains clamped to the outer wall of the outer pipe, and the two upper clamping arms 135 move away from each other and release the outer pipe. Further activation of the lead screw modules 3 and 4 causes the connecting seat 118 between them to move away from the outer pipe, thus moving the two upper clamping arms 135 away from the outer pipe. Further activation of the cylinder assembly 11... 1. The cylinder assembly 111 extends and drives the clamping assembly 13 located on the upper part to move axially along the outer pipe. Since the clamping arm 135 is far from the outer pipe, it can overcome obstacles on the outer pipe. After overcoming the obstacles, the lead screw module three 114 and lead screw module four 115 are activated, and the connecting seat 118 between the lead screw module three 114 and lead screw module four 115 is reset, thereby driving the two clamping arms 135 located on the upper part to reset. Then, the servo motor 133 in the clamping assembly 13 located on the upper part is activated to rotate clockwise by a certain angle, so that the two clamping arms 135 clamp the outer pipe.

[0097] The servo motor 133 in the lower clamping assembly 13 is started to rotate counterclockwise by a certain angle. The upper clamping assembly 13 remains clamped to the outer wall of the pipe, and the two lower clamping arms 135 are moved away from each other and released from the outer pipe. Then, the lead screw modules 112 and 113 are started again, causing the connecting seat 118 between them to move away from the outer pipe. This moves the two lower clamping arms 135 away from the outer pipe. Finally, the cylinder assembly 111 is started again. 111 retracts and drives the lower clamping assembly 13 to move axially along the outer pipe and over obstacles on the outer pipe; after overcoming the obstacles, the first lead screw module 112 and the second lead screw module 113 are activated, and the connecting seat 118 between the first lead screw module 112 and the second lead screw module 113 is reset, thereby driving the two lower clamping arms 135 to reset; finally, the servo motor 133 in the lower clamping assembly 13 is activated to rotate clockwise by a certain angle, so that the two clamping arms 135 clamp the outer pipe, thereby realizing obstacle-crossing crawling.

[0098] Normal crawling: The servo motor 133 in the upper clamping component 13 rotates counterclockwise by a certain angle, while the lower clamping component 13 remains clamped to the outer wall of the outer pipe, causing the two upper clamping arms 135 to move away from each other and release the outer pipe; the cylinder group 111 is then activated, extending and driving the upper clamping component 13 to move axially along the outer pipe; then the servo motor 133 in the upper clamping component 13 is activated again to rotate clockwise by a certain angle, causing the two clamping arms 135 to clamp the outer pipe;

[0099] The servo motor 133 in the lower clamping assembly 13 is started to rotate counterclockwise by a certain angle. The upper clamping assembly 13 remains clamped to the outer wall of the pipe, and the two lower clamping arms 135 move away from each other and release the outer pipe. The cylinder group 111 is then started again. The cylinder group 111 retracts and drives the lower clamping assembly 13 to move axially along the outer pipe, thereby driving the two lower clamping arms 135 to reset. Finally, the servo motor 133 in the lower clamping assembly 13 is started again to rotate clockwise by a certain angle, so that the two clamping arms 135 clamp the outer pipe, thereby realizing normal crawling operation.

[0100] (4) Start the circumferential rotation mechanism 2 and the sandblasting and rust removal mechanism 3 to carry out sandblasting and rust removal work: the sandblasting and rust removal work is carried out based on the robot being in a clamped state; the brushes around the sandblasting nozzle 321 in the sandblasting and rust removal mechanism 3 contact the outer wall of the pipe and adapt to the structure of the outer pipe.

[0101] Start the rotary motor 25, which drives the rotary gear 24 to rotate circumferentially around the two arc-shaped toothed rings 212, which in turn drives the L-shaped carriage 22 to rotate circumferentially around the two fixed half-rings 26, as well as the universal wheel 232 and other components to rotate, and finally drives the sandblasting and rust removal mechanism 3 to rotate.

[0102] Simultaneously, the micro air pump is activated, and high-pressure gas is input into connector 333. At the same time, the micro cylinder 314 is activated, and its telescopic end retracts by 0.5-1 cm, releasing the seal of the sand storage chamber 311. Through pressure difference, the sand in the sand storage chamber 311 enters the sand suction device 313 and is ejected from the nozzle 331, thus sandblasting and rust removal of the external pipeline. Most of the waste material after sandblasting is blocked by the brush. Simultaneously, the micro air pump is activated, and the gas in the recovery box 34 is quickly extracted, causing the airflow in the sandblasting nozzle 321 to flow into the recovery chamber 341. This allows most of the sand ejected from the nozzle 331 to be recovered. Larger sand particles adhere to the first filter screen 346, and smaller particles adhere to the second filter screen. When needed... When recovering sand from the first filter screen 346, the push cylinder 35 is activated. The push cylinder 35, via the connecting rod assembly 36, ultimately moves the scraper 365. During its movement, the scraper 365 scrapes the sand off the first filter screen 346 and pushes open the one-way door 345, pushing the scraped sand into the outlet 344. Simultaneously, the conveyor motor 381 is activated, driving the drive wheel 38 to rotate. This, in turn, drives the two synchronous pulleys 39 to rotate via the synchronous belt 382. As the synchronous belt 382 rotates, the sand pushed from the outlet 344 is transferred into the conveyor. High-pressure gas is input through the high-pressure connector 371. When the synchronous belt 382 reaches the corresponding position, the high-pressure gas transports the sand particles through the sand return port 315 to the interior of the sand storage chamber 311 for recovery. Through the coordination of these components, sand recycling is achieved, reducing environmental pollution.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rust removal robot for external pipelines, characterized in that, include: The walking mechanism (1) is located on the outside of the outer pipe and performs crawling or clamping actions on the outer pipe. A circumferential rotating mechanism (2) is a ring structure, which is set on the walking mechanism (1) and located on the outside of the outer pipe; And a sandblasting and rust removal mechanism (3), which is located on the moving end of the circumferential rotating mechanism (2). The moving end of the circumferential rotating mechanism (2) drives the sandblasting and rust removal mechanism (3) to rotate circumferentially and perform sandblasting and rust removal on the outer wall of the external pipeline.

2. The external pipeline rust removal robot according to claim 1, characterized in that, The circumferential rotation mechanism (2) includes two opposing and detachably connected semicircular rings (21), an inverted L-shaped carriage (22) circumferentially slidably disposed outside the two semicircular rings (21), an L-shaped plate (23) vertically disposed at the bottom of the horizontal plate (221) of the L-shaped carriage (22) and located above the semicircular rings (21), a rotating gear (24) rotatably disposed at the bottom of the L-shaped plate (23), and a rotary motor (25) disposed at the bottom of the horizontal plate (221) of the L-shaped carriage (22) and driving the rotating gear (24) to rotate. One of the semicircular rings (21) is disposed on the walking mechanism (1), and the sandblasting and rust removal mechanism (3) is disposed at the top of the horizontal plate (221) of the L-shaped carriage (22). The top of each of the two semicircular rings (21) is provided with symmetrical and connected arc-shaped grooves (211), and the inner walls of the two arc-shaped grooves (211) are respectively provided with opposing arc-shaped toothed rings (212). The arc-shaped toothed rings (212) mesh with the rotating gear (24), and the inner and outer sides of the top of the semicircular rings (21) are respectively provided with limiting rings (213).

3. The external pipeline rust removal robot according to claim 2, characterized in that, A fixing plate (231) is provided on one side of the L-shaped plate (23), and a universal wheel (232) is rotatably provided at the bottom of the fixing plate (231). The bottom of the universal wheel (232) corresponds to the top of the limiting ring (213) on the inner side of the top of the semicircular ring (21). Two semicircular rings (21) are respectively connected to fixed semicircular rings (26) on their radial outer sides, and the L-shaped carriage (22) is circumferentially slidably disposed on the outer side of the two fixed semicircular rings (26).

4. The external pipeline rust removal robot according to claim 2 or 3, characterized in that, The sandblasting and rust removal mechanism (3) includes a rust removal section located on the top of the horizontal plate (221) of the L-shaped carriage (22), a sand recovery section located on the outer wall of the rust removal section for recovering the sand material sprayed out there, and a sand conveying section located on the outer wall of the rust removal section and corresponding to and connected to the sand recovery section. The sand conveying section conveys the recovered sand material to the rust removal section.

5. The external pipeline rust removal robot according to claim 4, characterized in that, The rust removal unit includes a sand storage box (31) and a sandblasting box (32) respectively disposed on the top of the horizontal plate (221) and connected in sequence, and a spray gun (33) connected between the sand storage box (31) and the sandblasting box (32); The sand storage box (31) includes a sand storage chamber (311), an installation chamber (312), a sand suction device (313) disposed in the sand storage chamber (311) and communicating with the installation chamber (312), and a miniature cylinder (314) disposed on the back side of the sand storage box (31) and corresponding to the sand suction device (313). The sandblasting box (32) is provided with a sandblasting port (321) facing the rotation axis direction of the semi-circular ring (21). The spray gun (33) includes a spray pipe (331) that passes through the rear side wall of the sandblasting box (32) and extends into the installation chamber (312), and an inlet pipe (332) that is inclinedly connected to the side wall of the spray pipe (331) and connected to the sand suction device (313). The end of the spray pipe (331) located in the installation chamber (312) is provided with a connector (333).

6. The external pipeline rust removal robot according to claim 5, characterized in that, The sand recovery unit includes a recovery box (34) disposed on the outer side wall of the sandblasting box (32) and communicating with the sandblasting port (321), a push cylinder (35) disposed on the inner side wall of the installation chamber (312), and a connecting rod assembly (36) connected to the output end of the push cylinder (35). The recycling bin (34) includes a recycling chamber (341) communicating with the sandblasting nozzle (321), a negative pressure connector (342) disposed on the outer wall of the recycling bin (34) and communicating with the recycling chamber (341), and an elastic sealing membrane (343) disposed on the side of the recycling bin (34) near the sand storage box (31). One end of the recycling bin (34) is provided with an outlet (344), and two one-way doors (345) are symmetrically arranged at the position of the outlet (344). A first filter screen (346) is disposed in the recycling chamber (341), and a second filter screen is disposed on the inner wall of the recycling bin (344) near the negative pressure connector (342). The linkage assembly (36) includes a first slider (361) connected to the output end of the push cylinder (35) and slidably connected to the inner wall of the mounting chamber (312), a second slider (362) slidably passing through the side wall of the mounting chamber (312) and corresponding to the recycling bin (34), a first connecting rod (363) hinged between the first slider (361) and the second slider (362), a second connecting rod (364) passing through the elastic sealing membrane (343) and connected to the second slider (362), and a scraper (365) located in the recycling chamber (341) and connected to the second connecting rod (364), the side of the scraper (365) contacting the first filter screen (346).

7. The external pipeline rust removal robot according to claim 6, characterized in that, The sand conveying unit includes a sand conveying box (37) disposed on the outer side wall of the sand storage box (31) and the sandblasting box (32) and connected to the outlet (344), and a drive wheel (38) and two synchronous wheels (39) rotatably disposed in the sand conveying box (37) and arranged in a triangular pattern. The inner side wall of the installation chamber (312) is provided with a conveying motor (381) that is connected to the drive wheel (38). The drive wheel (38) is connected to the two synchronous wheels (39) through a synchronous belt (382). The two ends of the shaft of one of the synchronous pulleys (39) are respectively slidably engaged with the sand storage box (31) and the sand conveying box (37). The outer side wall of the sand conveying box (37) is correspondingly provided with a cover plate (391). The cover plate (391) and the sand storage box (31) are respectively threaded with screws that are rotatably engaged with the shaft of the corresponding synchronous pulley (39). The side wall of the sand storage chamber (311) is provided with a return sand port (315) that communicates with the sand conveying box (37), and the outer side wall of the sand conveying box (37) is provided with a high-pressure connector (371) that communicates with its interior.

8. The external pipeline rust removal robot according to claim 2, characterized in that, The walking mechanism (1) includes a drive assembly (11), a bracket (12), and a clamping assembly (13), with a semi-circular ring (21) disposed on the top of the bracket (12); The drive assembly (11) includes a cylinder group (111) and four screw modules (112, 113, 114, and 115) arranged in a rectangular shape. The cylinder group (111) is connected between the outer walls of the screw modules (112 and 113) and the outer walls of the screw modules (114 and 115). Fixed connections are respectively established between the outer walls of the screw modules (112 and 113) and the outer walls of the screw modules (114 and 115). Auxiliary telescopic rods (117) are respectively connected between the outer wall of the first lead screw module (112) and the outer wall of the third lead screw module (114), and between the outer wall of the second lead screw module (113) and the outer wall of the fourth lead screw module (115). Connecting seats (118) are respectively connected between the moving end of the first lead screw module (112) and the moving end of the second lead screw module (113), and between the moving end of the third lead screw module (114) and the moving end of the fourth lead screw module (115). The bracket (12) is set on the connecting seats (118) of the third lead screw module (114) and the fourth lead screw module (115). The clamping assembly (13) is provided in two sets and is respectively disposed on the two connecting seats (118). The clamping assembly (13) includes a support seat (131) rotatably connected to the front side of the connecting seat (118), two gears (132) rotatably disposed in the support seat (131) and meshing with each other, a servo motor (133) disposed on the top of the support seat (131) and used to drive one of the gears (132) to rotate, and two gears rotatably disposed on the inner walls of both sides of the support seat (131). (134), and a clamping arm (135) connected to the shaft of the second gear (134) and located outside the support (131). The second gear (134) meshes with the adjacent first gear (132). The clamping arm (135) is located below the semi-circular ring (21). The servo motor (133) drives the first gear (132) to rotate forward / reverse. The first gear (132) drives the corresponding second gear (134) to rotate, thereby driving the two clamping arms (135) to clamp or loosen the external pipe.

9. The external pipeline rust removal robot according to claim 8, characterized in that, The clamping assembly (13) further includes a connecting frame (136) disposed at the bottom of the support base (131) and an arc-shaped contact plate (137) rotatably disposed at the bottom of the connecting frame (136) and abutting against the outer wall of the outer pipe. A first telescopic rod (138) is rotatably connected between the fixed rod (116) and the corresponding connecting seat (118), and a second telescopic rod (139) is rotatably connected between the top of the support seat (131) and the tops of the two clamping arms (135).

10. The external pipeline rust removal robot according to claim 8, characterized in that, A plurality of contacts (4) are arranged on the inner side of the end of the clamping arm (135) away from the support base (131). The contact (4) includes a straight rod (41) perpendicular to the inner side of the clamping arm (135), a ball joint (42) disposed at the end of the straight rod (41), a rubber head (43) rotatably engaged with the ball joint (42), and a spring (44) connected between the rubber head (43) and the inner wall of the clamping arm (135), the spring (44) being sleeved on the outer wall of the straight rod (41).

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