Flexible adaptation device for recycling type sand blasting operation and control method

Abstract

The invention provides a flexible adaptation device for recycling type sand blasting operation and a control method, and relates to the field of automatic sand blasting equipment.The flexible adaptation device comprises a mounting bottom plate, a lifting pressing mechanism and an active and passive centering mechanism, and the lifting pressing mechanism is used for driving a sand blasting gun to move perpendicular to the wall face so as to achieve pressing; the active and passive centering mechanism is connected between the lifting pressing mechanism and the sand blasting gun and used for adjusting the posture of the sand blasting gun to enable the tail end of the sand blasting gun to directly face the wall face, the active and passive centering mechanism comprises a universal hinge assembly and a driving buffering assembly, and the driving buffering assembly can be switched between passive buffering and active driving according to the working state. The invention further provides a corresponding control method, the theoretical compensation amount is calculated by obtaining the operation parameters and the real-time swing angle, the theoretical compensation amount is compared with the effective deformation amount of the brush, the working mode of the driving buffer assembly is intelligently decided, and therefore self-adaptive attachment of the sand blasting gun on the arc wall face is achieved, and the service life of the sand blasting gun is prolonged. The problems that in the prior art, when a sand blasting gun works on the arc wall face, sand leakage is prone to occurring, adaptability is poor, and the working width is narrow are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of automated sandblasting equipment, and more particularly to a flexible adaptation device and control method for recyclable sandblasting operations. Background Technology

[0002] In the fields of corrosion inspection and surface treatment in industries such as petrochemicals, shipbuilding, and energy, sandblasting is a crucial process for cleaning the inner and outer walls of large storage tanks and hulls. To improve efficiency and reduce pollution, recycle sandblasting is widely used. This method requires the tip of the sandblasting gun (usually equipped with a brush seal) to be in close contact with the work surface to prevent steel shot leakage and ensure treatment quality.

[0003] In existing technologies, the following technical solutions are typically used to ensure that the sandblasting gun adheres to the wall surface: The first type of solution employs purely passive mechanical adaptation. For example, a flexible brush is installed below the spray gun, relying on the brush's own deformation to adapt to minor undulations or curvature changes in the wall surface. However, for curved walls with small curvature (i.e., large bending radius) or varying curvature, the limited deformation of the brush alone is insufficient to maintain an effective seal, easily creating sand leakage gaps on both sides of the spray gun, severely impacting work quality and material recovery rate. The working width of this solution is strictly limited by the brush's deformation, resulting in low efficiency.

[0004] The second approach involves introducing an active electronic control adjustment mechanism. To overcome the shortcomings of purely passive adaptation, existing technologies attempt to use devices such as electric actuators and servo motors to actively adjust the distance or angle between the spray gun and the wall. While this approach theoretically possesses adjustment capabilities, it suffers from significant drawbacks in practical applications: First, it typically requires the addition of distance or force sensors to detect the gap or contact force between the spray gun and the wall in real time, increasing system complexity and cost. Furthermore, the real-time performance and reliability of these sensors are difficult to guarantee in harsh, dusty working environments. Second, the control logic is complex, requiring rapid processing and feedback of sensor signals, resulting in system response lag. This makes it difficult to achieve a smooth, instantaneous fit synchronized with the robotic arm's movement, and momentary sand leakage may still occur during dynamic operations.

[0005] The third type of solution uses constant force pneumatic clamping combined with simple rotation. To further improve this, designs have emerged that utilize cylinders to provide constant pressure to press the spray gun against the wall, possibly supplemented by a simple rotating shaft to give the spray gun a certain degree of rotational freedom. This type of solution solves the problem of constant force contact, but often only achieves pitch or oscillation in one direction. When a robotic arm drives the spray gun to perform large-scale oscillation operations on complex curved walls, the end of the spray gun cannot always be "directly aligned" with the local wall normal. As the robotic arm's swing angle increases, the angle between the spray gun and the wall increases, and brush deformation and single-dimensional rotation alone are insufficient to compensate, leading to seal failure. The fundamental reason is that existing devices lack a multi-degree-of-freedom attitude coordination and adjustment mechanism that can intelligently switch between passive buffering and active drive based on the working position and wall curvature.

[0006] In summary, existing sandblasting equipment generally suffers from poor adaptability, complex control systems, insufficient reliability, and limited operating width when dealing with large-curvature arc walls and pursuing high-efficiency wide-area operations. Therefore, there is an urgent need for a flexible and adaptable device and method that is compact in structure, intelligently controlled, and can maintain the optimal contact posture between the spray gun and the wall surface throughout large-area operations. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a flexible adaptation device and control method for recyclable sandblasting operations, which can effectively solve the problems of sand leakage, poor adaptability and narrow working width of sandblasting guns when operating on arc-shaped walls in the prior art.

[0008] This invention is achieved through the following technical solution: A flexible adaptable device for regenerative sandblasting operations includes a mounting base plate, a lifting and clamping mechanism, and an active and passive centering mechanism, wherein: The lifting and pressing mechanism is installed on the mounting base plate and is used to drive the sandblasting gun to move in a direction perpendicular to the working wall surface, so that the sandblasting gun presses against or moves away from the wall surface; The active and passive centering mechanism is connected between the lifting and pressing mechanism and the sandblasting gun, and is used to adjust the posture of the sandblasting gun so that the end of the sandblasting gun is facing the working wall surface. The active-passive centering mechanism includes a universal joint assembly that allows the sandblasting gun to rotate with multiple degrees of freedom, and at least one set of drive buffer assemblies disposed on the side of the universal joint assembly. The drive buffer assemblies can switch between passive buffering and active drive according to the working state.

[0009] According to the above technical solution, preferably, the lifting and pressing mechanism includes two sets of symmetrically arranged double-slider linear guide rail modules, a lifting cylinder, a sandblasting gun clamping component, and a lifting cylinder fixing component, wherein: The dual-slider linear guide module is fixedly mounted on the mounting base plate; The lifting cylinder is connected to the mounting base plate via a lifting cylinder fixing component, and the piston rod of the lifting cylinder is connected to the sandblasting gun clamping component. The sandblasting gun holder is fixedly connected to the slider of the dual slider linear guide module, so that the lifting cylinder drives the sandblasting gun holder and the sandblasting gun to move up and down along the linear guide.

[0010] According to the above technical solution, preferably, the universal joint assembly includes a passive pivot and a fisheye bearing: The passive rotating shaft is fixedly mounted on the sandblasting gun clamp; The fisheye bearing is mounted on the passive rotating shaft by bearing fixing parts and fixing screws; The sandblasting gun is connected to the fisheye bearing via a sandblasting gun holder, allowing the sandblasting gun to rotate freely around the passive rotating shaft.

[0011] According to the above technical solution, preferably, the drive buffer assembly includes two sets of single-rod cylinders, which are symmetrically arranged on both sides of the passive rotating shaft. The cylinder body of each set of single-rod cylinders is connected to the slider of the double slider linear guide module through a single-rod cylinder fixing component. The piston rod of the single-rod cylinder is hinged to the sandblasting gun clamp through a fisheye joint and a pin.

[0012] According to the above technical solution, preferably, the drive buffer assembly further includes a pressure regulating unit for supplying air to the lifting cylinder and the single-rod cylinder. The pressure regulating unit can independently adjust the input air pressure to adapt to the clamping force required for different working scenarios.

[0013] According to the above technical solution, preferably, the drive buffer assembly includes two sets of spring guide rod assemblies, which are symmetrically arranged on both sides of the passive rotating shaft. Each spring guide rod assembly includes a guide rod, a spring sleeved on the guide rod, and a locking nut for adjusting the spring preload. One end of the guide rod is hinged to the sandblasting gun clamp through a fisheye connector, and the other end passes through the rotating shaft connector and is limited by the locking nut.

[0014] The present invention also provides a control method for a flexible adaptation device, for the aforementioned flexible adaptation device, comprising the following steps: Obtain the operation parameters, which include at least the radius of curvature R of the operation surface, the effective arm span L of the robotic arm, the diameter D of the sandblasting gun, and the effective flexible deformation Δs of the brush. Based on the operating parameters and the real-time swing angle θ of the robotic arm, calculate the theoretical compensation amount Δ required for the sandblasting gun to adapt to the wall curvature at the current operating position; Compare the theoretical compensation amount Δ with the effective flexible deformation amount Δs; Based on the comparison results, the working mode of the drive buffer component is controlled as follows: when the theoretical compensation amount Δ is less than or equal to the effective flexible deformation amount Δs, the drive buffer component is controlled to be in passive buffer mode; when the theoretical compensation amount Δ is greater than the effective flexible deformation amount Δs, at least one of the drive buffer components is controlled to switch to active drive mode to actively adjust the posture of the sandblasting gun.

[0015] According to the above technical solution, preferably, the step of calculating the theoretical compensation amount Δ based on the operating parameters and the real-time swing angle θ is as follows: For internal wall operations, the theoretical compensation amount Δ is calculated using the formula Δ=D*tan(arcsin((L*sinθ-D / 2) / R)); If it is an external wall operation, use the corresponding external wall operation formula for calculation; Where R is the radius of curvature of the working surface, L is the effective arm span of the robotic arm, D is the diameter of the sandblasting gun, and θ is the real-time swing angle of the robotic arm.

[0016] According to the above technical solution, preferably, the method further includes a threshold pre-calculation step: Using the theoretical compensation amount Δ as the boundary condition that it equals the effective flexible deformation amount Δs, the swing angle threshold θ of the robotic arm is obtained by solving the problem. s ; During the control process, the real-time swing angle θ of the robotic arm is directly compared with the swing angle threshold θ. s This is to determine and control the switching of the working mode of the drive buffer component.

[0017] According to the above technical solution, preferably, the step of obtaining the effective flexible deformation amount Δs of the brush includes: Before the operation begins, the pressure test program is executed, and the lifting and pressing mechanism is controlled to drive the sandblasting gun to press against the standard plane or the current wall surface; The displacement of the lifting and pressing mechanism during the pressure test is detected, and the real-time value of the effective flexible deformation Δs is calculated and updated based on the displacement.

[0018] The beneficial effects of this invention are: (1) This invention achieves efficient and reliable wide-width bonding operations, effectively expanding the working width and ensuring work quality: By cooperating with the lifting and pressing mechanism and the active-passive centering mechanism with active-passive switching function, the sandblasting gun can maintain a constant pressing force on the wall surface when it swings over a wide range under the drive of the robotic arm. It can also achieve multi-degree-of-freedom posture adjustment through the cooperation of the universal hinge component and the drive buffer component, ensuring that the end of the sandblasting gun is always facing the working wall surface. This collaborative mechanism effectively improves the sand leakage problem caused by the excessive angle between the sandblasting gun and the wall surface due to the increased swing angle of the robotic arm in the operation on the arc wall surface. In particular, through the intelligent control method based on position information, the system can intelligently switch between passive buffer mode and active drive mode according to the comparison result of the calculated theoretical compensation amount Δ and the measured effective flexible deformation amount Δs, thereby significantly expanding the effective width of a single operation while ensuring bonding accuracy. Experiments show that under typical working conditions, the working width can be several times that of the traditional pure passive method, and the work efficiency is greatly improved.

[0019] (2) The structure of this invention is reasonable, adaptable and reliable, and has strong environmental applicability: The device of this invention uses pneumatic components as the core power components. The lifting cylinder and the single-rod cylinder are connected by a universal joint assembly consisting of a fisheye bearing, a passive rotating shaft, and a sandblasting gun clamp, which realizes a compact and flexible multi-directional rotation capability. This design not only gives the sandblasting gun good passive adaptability, but also provides precise attitude correction through the active action of the cylinder. The pneumatic system itself has the characteristics of anti-pollution, fast response, and easy maintenance, and is especially suitable for stable operation in harsh industrial environments.

[0020] (3) The control method of this invention is intelligent and simplified, reducing system complexity and cost: The control method proposed in this invention, based on known operating parameters (radius of curvature R, effective arm span L, sandblasting gun diameter D, etc.) and the real-time swing angle θ of the robotic arm, calculates the required theoretical compensation amount Δ in real time through a geometric model, and compares it with the effective flexible deformation amount Δs, thereby deciding the working mode of the drive buffer component. This method does not rely on external sensors that are susceptible to interference, and can achieve intelligent judgment using only the inherent position information of the robotic arm, which avoids the cost and complexity of adding sensors and improves the reliability and response speed of the system. In addition, the swing angle threshold θs is obtained through a threshold pre-calculation step, which further optimizes the control logic and improves the system operating efficiency.

[0021] (4) This invention can improve the consistency and automation level of the process: the fit between the sandblasting gun and the working surface no longer depends on manual experience, but is automatically maintained by the device according to preset parameters and real-time working conditions. This ensures the consistency of processing conditions on the entire working surface, thereby obtaining a uniform and high-quality sandblasting effect. At the same time, this device provides a reliable technical foundation for the full automation of recyclable sandblasting operations, and strongly promotes the development of this process towards intelligence and efficiency. Attached Figure Description

[0022] Figure 1 A schematic diagram of the equiaxed side structure according to Embodiment 1 of the present invention is shown; Figure 2 A side view of the structure according to Embodiment 1 of the present invention is shown; Figure 3 A schematic diagram of the front view structure according to Embodiment 1 of the present invention is shown; Figure 4 It shows Figure 3 A schematic diagram of the cross-sectional structure of the C-C section; Figure 5 It shows Figure 4 A detailed structural diagram of part A in the middle; Figure 6 A schematic diagram of the control flow according to the present invention is shown, here for internal wall operations; Figure 7 A schematic diagram of the control flow according to the present invention is shown, here for external wall operations; Figure 8 A schematic diagram of the control flow according to Embodiment 2 of the present invention is shown; Figure 9 A schematic diagram of the front view structure according to Embodiment 3 of the present invention is shown; Explanation of reference numerals in the attached figures: 1. Mounting base plate; 2. Lifting and clamping mechanism; 3. Active and passive centering mechanism; 4. Sandblasting gun; 5. Double slider linear guide module; 6. Lifting cylinder; 7. Sandblasting gun clamp; 8. Robotic arm; 9. Universal hinge assembly; 10. Drive buffer assembly; 11. Passive rotating shaft; 12. Fisheye bearing; 13. Single rod cylinder; 14. Guide rod; 15. Spring; 16. Locking nut; 17. Rotating shaft connector. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] In the description of the invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0025] Example 1: A flexible adaptable device for recyclable sandblasting operations includes a mounting base plate 1, a lifting and pressing mechanism 2, and an active-passive centering mechanism 3. The lifting and pressing mechanism 2 is mounted on the mounting base plate 1 and drives the sandblasting gun 4 to move perpendicular to the working wall surface, so that the sandblasting gun 4 presses against or moves away from the wall surface. The lifting and pressing mechanism 2 includes two symmetrically arranged double-slider linear guide rail modules 5, a lifting cylinder 6, a sandblasting gun clamping component 7, and a lifting cylinder fixing component. The double-slider linear guide rail modules 5 are fixed... The lifting cylinder 6 is installed on the mounting base plate 1. The bottom of the lifting cylinder 6 is connected to the mounting base plate 1 through the lifting cylinder fixing component. The piston rod of the lifting cylinder 6 is connected to the sandblasting gun clamp 7. The sandblasting gun clamp 7 is fixedly connected to the slider of the double slider linear guide module 5, so that the lifting cylinder 6 drives the sandblasting gun clamp 7 and the sandblasting gun 4 to rise and fall along the linear guide. The active and passive centering mechanism 3 is connected between the lifting and pressing mechanism 2 and the sandblasting gun 4, and is used to adjust the posture of the sandblasting gun 4 so that the end of the sandblasting gun 4 faces the working wall. The active-passive centering mechanism 3 includes a universal joint assembly 9 that allows the sandblasting gun 4 to rotate with multiple degrees of freedom, and at least one set of drive buffer assemblies 10 disposed on the side of the universal joint assembly 9. The drive buffer assembly 10 can switch between passive buffering and active drive according to the working state. The universal joint assembly 9 includes a passive rotating shaft 11 and a fisheye bearing 12: the passive rotating shaft 11 is fixedly mounted on the sandblasting gun holder 7; the fisheye bearing 12 is mounted on the passive rotating shaft 11 by bearing fixing members and fixing screws. 1. The sandblasting gun 4 is connected to the fisheye bearing 12 through the sandblasting gun clamp 7, so that the sandblasting gun 4 can rotate freely around the passive rotating shaft 11. The drive buffer assembly 10 of this embodiment includes two sets of single-rod cylinders 13. The two sets of single-rod cylinders 13 are symmetrically arranged on both sides of the passive rotating shaft 11. The cylinder body of each set of single-rod cylinders 13 is connected to the slider of the double slider linear guide module 5 through the single-rod cylinder 13 fixing piece. The piston rod of the single-rod cylinder 13 is hinged to the sandblasting gun clamp 7 through the fisheye joint and the pin.

[0026] Optionally, in one possible implementation, the drive buffer assembly 10 further includes a pressure regulating unit for supplying air to the lifting cylinder 6 and the single-rod cylinder 13. The pressure regulating unit can independently adjust the input air pressure to adapt to the clamping force required for different operating scenarios.

[0027] Example 2: This embodiment details the control method applied to the device of Embodiment 1. Taking the robotic arm 8 carrying the device to perform sandblasting on a curved wall as an example, the control method includes the following steps: Step S1: Obtain job parameters.

[0028] Before starting the operation, obtain or input basic operation parameters, including: the radius of curvature R of the working surface, the effective reach L of the robotic arm 8, and the diameter D of the sandblasting gun 4. For example, for an operation on the inner wall of a storage tank, set R=5.0m, L=0.6m, and D=0.1m.

[0029] Step S2: Obtain the effective flexible deformation amount Δs of the brush.

[0030] Execute the pressure test procedure: Control the lifting and pressing mechanism 2 to drive the sandblasting gun 4 (with a brush at the front end) to press against a standard plane or a flat area of ​​the current wall surface. By detecting the displacement of the lifting and pressing mechanism 2 during the pressure test (e.g., the displacement of the piston rod of the lifting cylinder 6), the actual compression of the brush under the effective working pressure is deduced from this displacement, and this value is updated as the effective flexible deformation Δs for this operation. For example, if Δs = 5 mm is measured.

[0031] Step S3: Threshold pre-calculation.

[0032] Taking internal wall operations as an example, based on the geometric model, the formula for calculating the theoretical compensation amount Δ required for the sandblasting gun 4 to adapt to the wall surface is as follows: Δ=D*tan(arcsin((L*sinθ-D / 2) / R)); Using the theoretical compensation amount Δ as the boundary condition (i.e., let Δ = Δs), and substituting the known parameters R, L, D, and Δs, we can solve for the corresponding swing angle θ of the robotic arm. This θ value is the swing angle threshold θs, which defines the operational boundary for maintaining an effective seal solely through passive adaptive energy. For example, substituting the above numerical values, we can obtain θs ≈ 29.5°.

[0033] Step S4: Real-time operation and mode control.

[0034] Robotic arm 8 begins to drive the device to swing back and forth on the wall. The control system acquires the real-time swing angle of robotic arm 8.

[0035] Judgment and decision: Compare the absolute value of the real-time swing angle θ with the pre-calculated swing angle threshold θs.

[0036] If |θ| ≤ θs, then the system is determined to be in the passive buffering mode. In this mode, the single-rod cylinders 13 on both sides of the control system do not move actively, keeping them in a floating state of air supply and pressure maintenance, acting as passive buffers. The lifting cylinder 6 continuously supplies air to provide a constant clamping force. The device adapts to the wall surface by relying on brush deformation, the passive extension and retraction of the lifting cylinder 6, and the passive buffering of the single-rod cylinders 13.

[0037] If |θ| > θs, then the system is determined to enter the active drive mode range. The control system controls at least one single-lever cylinder 13 to switch to active drive mode based on the swing angle direction. For example, when the robotic arm 8 swings to the right beyond θs, the right-side single-lever cylinder 13 actively extends, pushing the sandblasting gun 4 to rotate to the left around the passive axis 11, actively adjusting its posture to ensure the end effector is facing the wall. The left-side single-lever cylinder 13 remains in passive buffer mode, while the lifting cylinder 6 maintains constant pressure.

[0038] For external wall operations, the theoretical compensation amount Δ needs to be calculated using the corresponding external wall operation formula, and its control logic (based on threshold comparison and single-sided active drive) is the same.

[0039] Example 3: The difference between this embodiment and Embodiment 1 lies in the specific structure of the drive buffer assembly 10. In this embodiment, the drive buffer assembly 10 includes two sets of spring guide rod assemblies, which are symmetrically arranged on both sides of the passive rotating shaft 11. Each spring guide rod assembly includes a guide rod 14, a spring 15 sleeved on the guide rod 14, and a locking nut 16 for adjusting the preload of the spring 15. One end of the guide rod 14 is hinged to the sandblasting gun clamp 7 through a fisheye connector, and the other end passes through the rotating shaft connector 17 and is limited by the locking nut 16.

[0040] This embodiment provides a purely passive adaptation scheme. The preload of spring 15 provides a clamping force towards the wall surface for the sandblasting gun 4. When the shape of the wall forces the sandblasting gun 4 to change its posture, spring 15 is compressed or stretched. Through the hinge of guide rod 14 and fisheye joint, the sandblasting gun 4 is allowed to passively rotate around passive pivot 11 to adapt to the wall surface. This scheme has a simple structure and requires no pneumatic control.

[0041] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A flexible adaptable device for recyclable sandblasting operations, characterized in that, This includes the mounting base plate, lifting and pressing mechanism, and active and passive centering mechanism, among which: The lifting and pressing mechanism is installed on the mounting base plate and is used to drive the sandblasting gun to move in a direction perpendicular to the working wall surface, so that the sandblasting gun presses against or moves away from the wall surface; The active and passive centering mechanism is connected between the lifting and pressing mechanism and the sandblasting gun, and is used to adjust the posture of the sandblasting gun so that the end of the sandblasting gun is facing the working wall surface. The active-passive centering mechanism includes a universal joint assembly that allows the sandblasting gun to rotate with multiple degrees of freedom, and at least one set of drive buffer assemblies disposed on the side of the universal joint assembly. The drive buffer assemblies can switch between passive buffering and active drive according to the working state.

2. The flexible adaptability device for recyclable sandblasting operations according to claim 1, characterized in that, The lifting and clamping mechanism includes two sets of symmetrically arranged double-slider linear guide rail modules, a lifting cylinder, a sandblasting gun clamping component, and a lifting cylinder fixing component, wherein: The dual-slider linear guide module is fixedly mounted on the mounting base plate; The lifting cylinder is connected to the mounting base plate via a lifting cylinder fixing component, and the piston rod of the lifting cylinder is connected to the sandblasting gun clamping component. The sandblasting gun holder is fixedly connected to the slider of the dual slider linear guide module, so that the lifting cylinder drives the sandblasting gun holder and the sandblasting gun to move up and down along the linear guide.

3. A flexible adaptable device for recyclable sandblasting operations according to claim 2, characterized in that, The universal joint assembly includes a passive pivot and a fisheye bearing: The passive rotating shaft is fixedly mounted on the sandblasting gun clamp; The fisheye bearing is mounted on the passive rotating shaft by bearing fixing parts and fixing screws; The sandblasting gun is connected to the fisheye bearing via a sandblasting gun holder, allowing the sandblasting gun to rotate freely around the passive rotating shaft.

4. A flexible adaptable device for recyclable sandblasting operations according to claim 3, characterized in that, The drive buffer assembly includes two sets of single-rod cylinders, which are symmetrically arranged on both sides of the passive rotating shaft. The cylinder body of each set of single-rod cylinders is connected to the slider of the double slider linear guide module through a single-rod cylinder fixing component. The piston rod of the single-rod cylinder is hinged to the sandblasting gun clamp through a fisheye joint and a pin.

5. A flexible adaptable device for recyclable sandblasting operations according to claim 4, characterized in that, The drive buffer assembly also includes a pressure regulating unit for supplying air to the lifting cylinder and the single-rod cylinder. The pressure regulating unit can independently adjust the input air pressure to adapt to the clamping force required for different working scenarios.

6. A flexible adaptable device for recyclable sandblasting operations according to claim 3, characterized in that, The drive buffer assembly includes two sets of spring guide rod assemblies, which are symmetrically arranged on both sides of the passive rotating shaft. Each spring guide rod assembly includes a guide rod, a spring sleeved on the guide rod, and a locking nut for adjusting the spring preload. One end of the guide rod is hinged to the sandblasting gun clamp via a fisheye connector, and the other end passes through the rotating shaft connector and is limited by the locking nut.

7. A control method for a flexible adaptive device, characterized in that, The flexible adaptation device according to any one of claims 1-5 comprises the following steps: Obtain the operation parameters, which include at least the radius of curvature R of the operation surface, the effective arm span L of the robotic arm, the diameter D of the sandblasting gun, and the effective flexible deformation Δs of the brush. Based on the operating parameters and the real-time swing angle θ of the robotic arm, calculate the theoretical compensation amount Δ required for the sandblasting gun to adapt to the wall curvature at the current operating position; Compare the theoretical compensation amount Δ with the effective flexible deformation amount Δs; Based on the comparison results, the working mode of the drive buffer component is controlled as follows: when the theoretical compensation amount Δ is less than or equal to the effective flexible deformation amount Δs, the drive buffer component is controlled to be in passive buffer mode; when the theoretical compensation amount Δ is greater than the effective flexible deformation amount Δs, at least one of the drive buffer components is controlled to switch to active drive mode to actively adjust the posture of the sandblasting gun.

8. The control method for a flexible adaptive device according to claim 7, characterized in that, The specific steps for calculating the theoretical compensation amount Δ based on the operating parameters and the real-time swing angle θ are as follows: For internal wall operations, the theoretical compensation amount Δ is calculated using the formula Δ=D*tan(arcsin((L*sinθ-D / 2) / R)); If it is an external wall operation, use the corresponding external wall operation formula for calculation; Where R is the radius of curvature of the working surface, L is the effective arm span of the robotic arm, D is the diameter of the sandblasting gun, and θ is the real-time swing angle of the robotic arm.

9. The control method for a flexible adaptive device according to claim 8, characterized in that, The method also includes a threshold pre-calculation step: Using the theoretical compensation amount Δ as the boundary condition that it equals the effective flexible deformation amount Δs, the swing angle threshold θ of the robotic arm is obtained by solving the problem. s ; During the control process, the real-time swing angle θ of the robotic arm is directly compared with the swing angle threshold θ. s This is to determine and control the switching of the working mode of the drive buffer component.

10. The control method for a flexible adaptive device according to claim 7, characterized in that, The steps to obtain the effective flexible deformation Δs of the brush include: Before the operation begins, the pressure test program is executed, and the lifting and pressing mechanism is controlled to drive the sandblasting gun to press against the standard plane or the current wall surface; The displacement of the lifting and pressing mechanism during the pressure test is detected, and the real-time value of the effective flexible deformation Δs is calculated and updated based on the displacement.

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