Self-adaptive swing arm sand blasting device and wall-climbing sand blasting robot

Abstract

The utility model relates to a self-adaptive swing arm sand blasting device, which comprises a mounting arm, the lifting mechanism is arranged on the mounting arm and provides power output perpendicular to the mounting arm; the sand blasting mechanism is driven by the lifting mechanism to ascend and descend relative to the mounting arm, and the sand blasting mechanism can be attached to the surface of the workpiece to be subjected to sand blasting for sand blasting treatment; the self-adaptive adjusting mechanism is arranged between the lifting mechanism and the sand blasting mechanism and used for being connected with the lifting mechanism and the sand blasting mechanism in a floating mode, the self-adaptive adjusting mechanism can transmit output power of the lifting mechanism into the sand blasting mechanism, and the self-adaptive adjusting mechanism can further adjust the relative height of the sand blasting mechanism according to counter-acting force borne by the sand blasting mechanism. According to the self-adaptive swing arm sand blasting device provided by the utility model, the sand blasting mechanism is arranged for carrying out attaching type sand blasting, self-adaptive adjustment is carried out according to the surface of a workpiece to be subjected to sand blasting in the sand blasting process, and the wall-climbing sand blasting robot is provided, so that the automatic wall-climbing sand blasting process can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of application of wall-climbing robots, in particular to an adaptive swing-arm sandblasting device and a wall-climbing sandblasting robot. Background Art

[0002] Sandblasting is a process that uses the impact of high-speed sand flow to clean and roughen the substrate surface. Compressed air is used as the power to form a high-speed jet beam that sprays the material (copper ore sand, quartz sand, corundum, iron sand, Hainan sand) at high speed onto the surface of the workpiece to be treated, changing the appearance or shape of the workpiece surface. In the process of interior decoration, walls often need to be painted or sprayed, which requires a more convenient sandblasting device for decoration and renovation.

[0003] Most existing sandblasting devices are remote sandblasting equipment, that is, the operator holds the sandblasting rod and aims at the workpiece surface to sandblast. During the sandblasting process, a large amount of sandblasting material is sprayed out and diffuses in the air, causing air pollution and seriously damaging the health of the operator. Utility Model Content

[0004] To this end, the technical problem to be solved by the present invention is to overcome the defects of long-distance sandblasting equipment in the prior art when in use, provide an adaptive swing-arm sandblasting device, set a sandblasting mechanism for application-type sandblasting, and during the sandblasting process, adaptively adjust according to the surface of the workpiece to be sandblasted, and provide a wall-climbing sandblasting robot that can realize the automatic wall-climbing sandblasting process.

[0005] In order to solve the above technical problems, the utility model provides an adaptive swing arm sandblasting device, comprising:

[0006] Mounting arm;

[0007] A lifting mechanism, provided on the mounting arm, providing power output perpendicular to the mounting arm;

[0008] a sandblasting mechanism, driven by the lifting mechanism to move up and down relative to the mounting arm, the sandblasting mechanism being capable of being attached to the surface of a workpiece to be sandblasted for sandblasting;

[0009] An adaptive adjustment mechanism is arranged between the lifting mechanism and the sandblasting mechanism, and is used to floatingly connect the lifting mechanism and the sandblasting mechanism. The adaptive adjustment mechanism can transmit the output power of the lifting mechanism to the sandblasting mechanism, and the adaptive adjustment mechanism can also adjust the relative height of the sandblasting mechanism according to the reaction force applied to the sandblasting mechanism.

[0010] In one embodiment of the present invention, the adaptive adjustment mechanism includes: an elastic member and a floating member, the elastic member is arranged between the lifting mechanism and the floating member, the elastic member is used to elastically support the floating member, and when the sandblasting mechanism is subjected to a reaction force, the elastic member compresses and supports the reaction force.

[0011] In one embodiment of the present invention, the adaptive adjustment mechanism includes multiple groups of elastic members, and the multiple groups of elastic members are distributed at the corners of the floating member.

[0012] In one embodiment of the present invention, the adaptive adjustment mechanism further comprises: an adjustment screw, the adjustment screw is passed through the elastic member and the floating member, and the end of the adjustment screw is threadedly fixed to the lifting mechanism.

[0013] In one embodiment of the present invention, the floating member has a mounting tube, and the sandblasting mechanism is inserted into the mounting tube.

[0014] In one embodiment of the present invention, the lifting mechanism comprises:

[0015] Lifting drive source;

[0016] The lifting plate is driven by the lifting drive source to move up and down relative to the mounting arm, and the adaptive adjustment mechanism is connected to the lifting plate.

[0017] In one embodiment of the present invention, the lifting mechanism further includes: a guide column, the guide column is arranged in the mounting arm, and one end of the guide column is connected to the lifting plate.

[0018] In one embodiment of the present invention, the lifting mechanism further comprises: a telescopic cover, which is arranged between the lifting plate and the mounting arm.

[0019] In one embodiment of the present invention, the utility model further comprises: a turntable driving mechanism, wherein the turntable driving mechanism is connected to the mounting arm, and the turntable driving mechanism drives the mounting arm to swing back and forth.

[0020] In order to solve the above technical problems, the utility model also provides a wall-climbing sandblasting robot, comprising:

[0021] wall-climbing robots;

[0022] It also includes: the above-mentioned adaptive swing arm sandblasting device, the mounting arm is set on the wall-climbing robot, and the wall-climbing robot drives the adaptive swing arm sandblasting device to move on the wall.

[0023] The above technical solution of the utility model has the following advantages compared with the prior art:

[0024] The adaptive swing-arm sandblasting device described in the utility model adopts a lifting mechanism to drive the sandblasting mechanism to lift and move, so that the sandblasting mechanism can be attached to the surface of the workpiece to be sandblasted for sandblasting. Compared with the remote sandblasting of the prior art, the scattering of the spraying material in the air can be reduced, which can not only protect the construction environment and prevent the health of the operators from being damaged, but also save the spraying material and achieve the effect of reducing costs and increasing efficiency. In addition, an adaptive adjustment mechanism is also provided between the lifting mechanism and the sandblasting mechanism, which can not only achieve the effect of transmitting power, but also can adaptively adjust the position of the sandblasting mechanism according to the shape of the workpiece to be sandblasted, and can keep the sandblasting mechanism in contact with the workpiece to be sandblasted at all times, thereby ensuring the sandblasting quality. At the same time, it can also prevent the sandblasting mechanism from colliding with the workpiece to be sandblasted and being damaged.

[0025] The utility model also provides a wall-climbing sandblasting robot, in which the above-mentioned adaptive swing-arm sandblasting device is integrated and installed on the wall-climbing robot. The wall-climbing robot drives the sandblasting device to move in narrow gaps, vertical walls and other locations that are inaccessible to operators, thereby realizing an automatic wall-climbing sandblasting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the content of the utility model easier to understand, the utility model is further described in detail below based on the specific embodiments of the utility model in conjunction with the accompanying drawings, wherein:

[0027] Figure 1 This is a schematic structural diagram of the adaptive swing arm sandblasting device of the utility model;

[0028] Figure 2 It is a structural diagram of the adaptive adjustment mechanism of the utility model;

[0029] Figure 3 It is a structural diagram of the lifting mechanism of the utility model;

[0030] Figure 4 It is a structural schematic diagram of the wall-climbing sandblasting robot of the present invention.

[0031] Explanation of the reference numerals in the specification: 1. Mounting arm; 2. Lifting mechanism; 21. Lifting drive source; 22. Lifting plate; 23. Guide column; 24. Telescopic cover; 3. Adaptive adjustment mechanism; 31. Elastic part; 32. Floating part; 33. Adjusting screw; 34. Mounting cylinder; 4. Sandblasting mechanism; 5. Turntable drive mechanism; 6. Wall-climbing robot. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0033] Example 1

[0034] Reference Figure 1 As shown, the utility model discloses an adaptive swing arm sandblasting device, comprising: a mounting arm 1, a lifting mechanism 2 and a sandblasting mechanism 4, wherein: the lifting mechanism 2 is arranged on the mounting arm 1, and provides a power output perpendicular to the mounting arm 1, and the sandblasting mechanism 4 is driven by the lifting mechanism 2 to move up and down relative to the mounting arm 1, and the sandblasting mechanism 4 can be attached to the surface of the workpiece to be sandblasted for sandblasting treatment. With the sandblasting device of the utility model, the sandblasting mechanism 4 is driven to move by the lifting mechanism 2, and the distance between the sandblasting mechanism 4 and the workpiece to be sandblasted can be adjusted, so that the sandblasting mechanism 4 can be attached to the surface of the workpiece to be sandblasted for sandblasting treatment. Compared with the remote sandblasting of the prior art, the scattering of the spraying material in the air can be reduced, which can not only protect the construction environment and prevent the health of the operators from being damaged, but also save the spraying material, thereby achieving the effect of reducing costs and increasing efficiency.

[0035] During actual use, the applicant found that the workpiece to be sandblasted is not just a flat surface. The surface of some workpieces to be sandblasted is uneven. When the sandblasting device of the present invention is used to complete the sandblasting process, it cannot be guaranteed that the sandblasting mechanism 4 is always in contact with the workpiece to be sandblasted, which leads to uneven sandblasting. Moreover, when the protrusions on the workpiece to be sandblasted are large, the sandblasting mechanism 4 cannot avoid the protrusions, and it is easy to cause collision damage to the sandblasting mechanism 4. In order to solve this problem, the adaptive swing arm sandblasting device of the present invention also includes: an adaptive adjustment mechanism 3, which is arranged between the lifting mechanism 2 and the sandblasting mechanism 4, and is used to floatly connect the lifting mechanism 2 and the sandblasting mechanism 4. The adaptive adjustment mechanism 3 can adjust the The output power of the lifting mechanism 2 is transmitted to the sandblasting mechanism 4, and the adaptive adjustment mechanism 3 can also adjust the relative height of the sandblasting mechanism 4 according to the reaction force received by the sandblasting mechanism 4. When the surface of the workpiece to be sandblasted is uneven, the position of the sandblasting mechanism 4 is adjusted by the adaptive adjustment mechanism 3. When there are pits on the surface of the workpiece to be sandblasted, the adaptive adjustment mechanism 3 can push the sandblasting mechanism 4 into the pits, so that the sandblasting mechanism 4 can always be in contact with the workpiece to be sandblasted, thereby ensuring the quality of sandblasting. When there are protrusions on the surface of the workpiece to be sandblasted, the adaptive adjustment mechanism 3 can drive the sandblasting mechanism 4 to avoid the protrusions, thereby preventing the sandblasting mechanism 4 from colliding with the workpiece to be sandblasted and being damaged.

[0036] Reference Figure 2As shown, the adaptive adjustment mechanism 3 includes: an elastic member 31 and a floating member 32. The elastic member 31 is arranged between the lifting mechanism 2 and the floating member 32. The elastic member 31 is used to elastically support the floating member 32. The floating member 32 is connected to the sandblasting mechanism 4. When the sandblasting mechanism 4 is subjected to a reaction force, the elastic member 31 compresses and supports the reaction force.

[0037] When using the swing arm sandblasting device of the present invention, the sandblasting mechanism 4 is attached to the surface of the workpiece to be sandblasted and a certain pressure is applied. At this time, the pressure will push the elastic member 31 to compress and elastically deform. At this time, the elastic member 31 stores a certain elastic potential energy. When the sandblasting mechanism 4 moves to the pit position of the workpiece to be sandblasted, the elastic member 31 can release the elastic potential energy and push the sandblasting mechanism 4 into the pit to ensure that the sandblasting mechanism 4 and the workpiece to be sandblasted are in contact with each other. When the sandblasting mechanism 4 moves to the convex position of the workpiece to be sandblasted, the convexity continues to press the elastic member 31, and the elastic member 31 is further compressed, so that the sandblasting mechanism 4 can avoid the convexity and continue to move in contact with the workpiece to be sandblasted.

[0038] Specifically, in order to ensure the stability of the elastic support, the adaptive adjustment mechanism 3 includes multiple groups of elastic members 31, and the multiple groups of elastic members 31 are distributed at the corners of the floating member 32. In this embodiment, three groups of elastic members 31 are set, and the three groups of elastic members 31 constitute a stable triangular structure, which can stably support the floating member 32. In other embodiments, more elastic members 31 can be set according to the shape of the floating member 32. The more elastic members 31 are set, the more stable the structure of the adaptive adjustment support will be.

[0039] Specifically, the adaptive adjustment mechanism 3 also includes: an adjusting screw 33, the adjusting screw 33 is passed through the elastic member 31 and the floating member 32, the end of the adjusting screw 33 is threadedly fixed to the lifting mechanism 2, the adjusting screw 33 passes through the elastic member 31 and the floating member 32, and is finally threadedly connected to the lifting mechanism 2. Therefore, in this embodiment, one of the purposes of setting the adjusting screw 33 is to fix the position of the elastic member 31 and the floating member 32 to realize the connection between the adaptive adjustment mechanism 3 and the lifting mechanism 2. On the other hand, the distance between the floating member 32 and the lifting mechanism 2 can be adjusted by the adjusting screw 33, and the adjustment range of the adaptive adjustment mechanism 3 can be limited according to the actual usage, so that the adaptive adjustment range of the adaptive adjustment mechanism 3 matches the actual usage.

[0040] Specifically, the floating part 32 has a mounting tube 34, and the floating part 32 is composed of two semicircular mounting pieces that are fastened together to form a mounting tube 34 between the two mounting pieces. The sandblasting mechanism 4 is inserted into the mounting tube 34, and the two mounting pieces are locked and fixed to clamp the sandblasting mechanism 4, thereby enabling rapid assembly and replacement of the sandblasting mechanism 4.

[0041] Reference Figure 3 As shown, the lifting mechanism 2 includes: a lifting drive source 21 and a lifting plate 22 driven by the lifting drive source 21 to move up and down relative to the mounting arm 1. The lifting drive source 21 is arranged at one end of the mounting arm 1. The lifting drive source 21 drives the lifting plate 22 to move along an extension direction perpendicular to the mounting arm 1. The adaptive adjustment mechanism 3 is connected to the lifting plate 22.

[0042] Specifically, the lifting mechanism 2 also includes: a guide column 23, the guide column 23 is passed through the mounting arm 1, and one end of the guide column 23 is connected to the lifting plate 22. In this embodiment, two guide columns 23 are provided on both sides of the lifting drive source 21, and the moving direction of the lifting plate 22 is jointly limited by the two guide columns 23. During actual setting, a guide sleeve for the guide column 23 to pass through is provided on the mounting arm 1.

[0043] The present utility model discloses a sandblasting device. When actually used, although it is attached to the workpiece to be sandblasted, a small amount of spray material will still splash due to the effect of its high-pressure spraying. Since the lifting mechanism 2 is a linear drive mechanism, the interior of the lifting drive source 21 has a guide structure. If the splashed spray material enters the lifting drive source 21, it will affect the service life of the lifting drive source 21. Therefore, in this embodiment, the lifting mechanism 2 is provided to further include a telescopic cover 24, and the telescopic cover 24 is arranged between the lifting plate 22 and the mounting arm 1. The telescopic cover 24 can prevent the spray material from splashing and entering the interior of the lifting drive source 21. The telescopic cover 24 can be a bellows or an accordion cover, as long as it can be covered outside the lifting drive source 21 and can change its own length with the telescopic movement of the lifting drive source 21.

[0044] Specifically, according to the actual use, when using the swing arm sandblasting device of the present invention, one end of the mounting arm 1 can be held in hand for use. If sandblasting is performed within a certain area, the swing arm 1 can also be used as a reference. Figure 1 As shown, a turntable driving mechanism 5 is provided to be connected to the mounting arm 1 , and the mounting arm 1 is driven to swing back and forth by the turntable driving mechanism 5 to achieve continuous sandblasting within a certain area.

[0045] Example 2

[0046] As is known to all, wall-climbing robots have attracted much attention in recent years due to their ability to climb and complete tasks on vertical walls, and have been widely used in various fields. The swing-arm sandblasting device of the present invention also needs to complete tasks on walls. Therefore, the applicant of the present invention intends to combine the swing-arm sandblasting device of the present application with a wall-climbing robot. The specific technical solution is as follows:

[0047] Reference Figure 4 As shown, on the basis of the above-mentioned embodiment 1, the present invention further discloses a wall-climbing sandblasting robot, comprising: the adaptive swing-arm sandblasting device described in the above-mentioned embodiment 1, and also comprising: a wall-climbing robot 6, wherein the mounting arm 1 of the adaptive swing-arm sandblasting device is set on the wall-climbing robot 6, and the wall-climbing robot 6 drives the sandblasting device to move in narrow gaps, vertical walls and other locations that the operator cannot reach, thereby realizing an automatic wall-climbing sandblasting process.

[0048] In this embodiment, the turntable driving mechanism 5 is arranged on the wall-climbing robot 6, and the sandblasting mechanism 4 is driven by the wall-climbing robot 6 to move relative to the wall surface, and the sandblasting mechanism 4 is driven by the turntable driving mechanism 5 to swing. During the movement, the sandblasting is continuously swung and the moving path of the wall-climbing robot 6 is planned, so as to complete the automatic sandblasting process of the entire wall surface.

[0049] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An adaptive swing arm sandblasting device, characterized in that: include: Mounting arm; A lifting mechanism, provided on the mounting arm, providing power output perpendicular to the mounting arm; a sandblasting mechanism, driven by the lifting mechanism to move up and down relative to the mounting arm, the sandblasting mechanism being capable of being attached to the surface of a workpiece to be sandblasted for sandblasting; An adaptive adjustment mechanism is arranged between the lifting mechanism and the sandblasting mechanism, and is used to floatingly connect the lifting mechanism and the sandblasting mechanism. The adaptive adjustment mechanism can transmit the output power of the lifting mechanism to the sandblasting mechanism, and the adaptive adjustment mechanism can also adjust the relative height of the sandblasting mechanism according to the reaction force applied to the sandblasting mechanism.

2. The adaptive swing arm sandblasting device according to claim 1, characterized in that: The adaptive adjustment mechanism includes: an elastic member and a floating member. The elastic member is arranged between the lifting mechanism and the floating member. The elastic member is used to elastically support the floating member. When the sandblasting mechanism is subjected to a reaction force, the elastic member compresses and supports the reaction force.

3. The adaptive swing arm sandblasting device according to claim 2, characterized in that: The adaptive adjustment mechanism includes multiple groups of elastic members, and the multiple groups of elastic members are distributed at the corners of the floating member.

4. The adaptive swing arm sandblasting device according to claim 3, characterized in that: The self-adaptive adjustment mechanism further comprises: an adjustment screw, the adjustment screw is passed through the elastic member and the floating member, and the end of the adjustment screw is threadedly fixed on the lifting mechanism.

5. The adaptive swing arm sandblasting device according to claim 2, characterized in that: The floating member has a mounting tube into which the sandblasting mechanism is inserted.

6. The adaptive swing arm sandblasting device according to claim 1, characterized in that: The lifting mechanism comprises: Lifting drive source; The lifting plate is driven by the lifting drive source to move up and down relative to the mounting arm, and the adaptive adjustment mechanism is connected to the lifting plate.

7. The adaptive swing arm sandblasting device according to claim 6, characterized in that: The lifting mechanism further includes a guide column, which is arranged in the mounting arm and one end of which is connected to the lifting plate.

8. The adaptive swing arm sandblasting device according to claim 6, characterized in that: The lifting mechanism further includes a telescopic cover, which is arranged between the lifting plate and the mounting arm.

9. The adaptive swing arm sandblasting device according to claim 1, characterized in that: Also includes: A turntable drive mechanism is connected to the mounting arm, and the turntable drive mechanism drives the mounting arm to swing back and forth.

10. A wall-climbing sandblasting robot, characterized by: include: wall-climbing robots; It also includes: the adaptive swing-arm sandblasting device according to any one of claims 1 to 9 above, the mounting arm is arranged on the wall-climbing robot, and the wall-climbing robot drives the adaptive swing-arm sandblasting device to move on the wall.

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