Automatic sand blasting robot

Abstract

The utility model provides an automatic sand blasting robot. The automatic sand blasting robot comprises a walking frame, a sand blasting assembly loaded on the walking frame and a chain surrounding a pipeline, the walking frame comprises a bottom plate and a vertical plate arranged on the bottom plate; the front end and the rear end of the bottom plate are each provided with two walking wheels arranged in the width direction of the bottom plate in a spaced mode, and the walking frame can abut against the outer wall of the pipeline through the walking wheels. The sand blasting assembly is loaded at the upper end of the vertical plate, a chain wheel and a guide wheel are rotationally arranged on the side face of the vertical plate, and a chain is supported by the guide wheel, located between the guide wheel and the chain wheel and meshed with the chain wheel. According to the automatic sand blasting robot, through the arrangement of the walking frame and the sand blasting assembly, the chain wheel can rotate to enable the chain to pull the walking frame to move around the pipeline, and in the process that the walking frame moves around the pipeline, the sand blasting assembly can conduct sand blasting treatment on the outer wall of the pipeline, so that the labor intensity of workers is reduced, and the working efficiency is improved. And the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to sand blasting technical field especially relates to a kind of automatic sand blasting robot. BACKGROUND

[0002] Due to the high strength, high toughness and good welding performance of large pipeline, it is widely used for steam, compressed air, liquid fuel and other medium conveying. In order to improve the adaptability of large pipeline to installation environment and prolong the service life, corrosion protection measures such as coating anticorrosive paint will be taken on the outer wall of large pipeline. Before the implementation of corrosion protection measures, or when the rusted part of the pipeline is treated, the outer wall of the large pipeline needs to be sandblasted.

[0003] At present, the sandblasting treatment of the outer wall of the pipeline is usually repeated by manual sandblasting gun back and forth on the outer wall of the pipeline, so as to achieve the effect of sandblasting and rust removal. However, in the above-mentioned manual sandblasting method, the operator needs to hold the sandblasting gun to spray sand on each position of the pipeline, which has the problems of high labor intensity and low work efficiency. UTILITY MODEL CONTENT

[0004] Therefore, the utility model aims at providing an automatic sand blasting robot which can spray sand on the outer wall of the pipeline, thereby reducing the labor intensity and improving the work efficiency.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the utility model is as follows:

[0006] An automatic sand blasting robot comprises a walking frame, a sand blasting assembly loaded on the walking frame, and a chain surrounding the pipeline. The walking frame comprises a bottom plate and a vertical plate arranged on the bottom plate. Two walking wheels are arranged at the front and rear ends of the bottom plate along the width direction of the bottom plate. The walking frame can abut against the outer wall of the pipeline through the walking wheels. The sand blasting assembly is loaded on the upper end of the vertical plate. Chain wheels and guide wheels are rotatably arranged on the side surface of the vertical plate. The chain is supported by the guide wheels and located between the guide wheels and the chain wheels and engaged with the chain wheels. When the chain wheels are driven to rotate, the walking frame can move around the pipeline by the traction of the chain.

[0007] Further, the vertical plates are arranged in parallel. The chain wheels and the guide wheels are arranged on the two vertical plates. The sand blasting assembly is connected with the two vertical plates. Each chain wheel and each guide wheel is arranged on the opposite side surface of the two vertical plates. The two chain wheels are coaxially connected. The chain is configured as two and can be engaged with the two chain wheels respectively.

[0008] Furthermore, any of the vertical plates is provided with a driven gear, a driving gear meshing with the driven gear, and a first motor driving the driving gear to rotate; the driven gear is coaxially connected to the sprocket, the first motor and the sprocket are located on the same side of the vertical plate, and the driven gear and the driving gear are both located on the other side of the vertical plate.

[0009] Furthermore, on each of the vertical plates, the guide wheels are configured as two and are located on the left and right sides below the sprocket; the two guide wheels jointly support the chain, so that part of the chain surrounds the sprocket and engages with the sprocket.

[0010] Furthermore, the sandblasting assembly includes a linear moving mechanism connected to the vertical plate, a lifting mechanism provided on the movable end of the linear moving mechanism, and a mounting seat for mounting a sandblasting gun provided on the lifting end of the lifting mechanism; when the linear moving mechanism is in motion, the distance between the sandblasting gun and the traveling frame can be changed, and when the lifting mechanism is in motion, the distance between the sandblasting gun and the outer wall of the pipe can be changed.

[0011] Furthermore, the linear moving mechanism includes a fixed cylinder connected to the vertical plate, a movable cylinder slidably sleeved in the fixed cylinder, and a connecting plate provided at one end of the movable cylinder for connecting to the lifting mechanism; a screw rod is rotatably provided in the fixed cylinder, and a nut threadedly connected to the screw rod is provided at the other end of the movable cylinder; the screw rod is driven to rotate by a second motor, and when the screw rod rotates, it can drive the nut to drive the movable cylinder to move along the length direction of the screw rod.

[0012] Furthermore, the lifting mechanism includes a cylinder body with an inner cavity, a piston rod slidingly arranged in the inner cavity, and a movable plate connected to the bottom end of the piston rod; the cylinder body is connected to an external air source, and the air source can input compressed air into the inner cavity, so that the piston rod drives the mounting seat to move through the movable plate.

[0013] Furthermore, a guide channel is provided on at least one side of the cylinder body, and a guide rod is provided on the movable plate, and the guide rod is slidably arranged in the guide channel.

[0014] Furthermore, the end of the guide rod is connected to an extension rod, and the extension rod extends out of the guide channel; a limit plate is provided at the end of the extension rod, and a buffer pad arranged around the guide channel is provided on one end face of the cylinder body close to the limit plate; when the movable plate moves toward the extreme position of the pipeline, the limit plate can abut against the buffer pad.

[0015] Furthermore, it also includes a covering pad, which is wound on the outer wall of the pipe in a strip shape, and the chain is arranged around the covering pad.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] The automatic sandblasting robot described in the utility model has a traveling frame and a sandblasting assembly, and the sprocket can rotate to cause the chain to pull the traveling frame to move around the pipeline. During the movement of the traveling frame around the pipeline, the sandblasting assembly can sandblast the outer wall of the pipeline, and there is no need for manual handheld sandblasting guns to perform sandblasting operations, thereby reducing manual labor intensity and improving work efficiency.

[0018] Furthermore, the chain is configured as two vertical plates equipped with sprockets. When the two sprockets rotate synchronously, the two chains can jointly pull the walking frame to move, improving the stability of the walking frame's movement. A driven gear and a driving gear driven by the first motor are provided on one vertical plate to ensure that the first motor can effectively drive the sprocket through the driven gear and increase the driving force of the sprocket itself. Two guide wheels are configured and located on the left and right sides below the sprocket, increasing the contact area between the chain and the sprocket and improving the meshing effect of the sprocket and chain.

[0019] In addition, the sandblasting assembly includes a linear motion mechanism and a lifting mechanism, which can drive the sandblasting gun to move to increase the sandblasting area, while ensuring a good cleaning effect on the outer wall of the pipeline and preventing the sandblasting gun from getting too close to the pipeline and causing damage to the pipeline. The linear motion mechanism includes a fixed cylinder and a movable cylinder. Through the coordinated arrangement of a screw and a nut, the rotation of the screw can drive the movement of the nut. Its structure is simple and reliable, and can effectively drive the telescopic movement of the movable cylinder. The lifting mechanism includes a cylinder with an inner cavity, a piston rod, and a movable plate connected to the piston rod. The inner cavity is inflated by an air source to achieve the movement of the piston rod, thereby driving the movement of the movable plate.

[0020] Furthermore, the coordinated arrangement of the guide channel and guide rod on the cylinder body enhances the stability of the movable plate's movement. A stop plate is installed at the end of the extension rod, and a cushioning pad surrounds the guide channel on the cylinder body to prevent damage from colliding with the piston rod and cylinder when the movable plate reaches its limit. A covering pad is wrapped around the outer wall of the pipe to prevent damage from the chain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the overall structure of the automatic sandblasting robot according to an embodiment of the present utility model;

[0023] Figure 2This is a schematic diagram of the automatic sandblasting robot according to an embodiment of the present utility model on a pipeline;

[0024] Figure 3 This is a schematic diagram of the internal structure of the linear motion mechanism according to an embodiment of the present utility model;

[0025] Figure 4 This is a schematic diagram of the internal structure of the lifting mechanism according to an embodiment of the present utility model;

[0026] Description of reference numerals:

[0027] 1. Pipe; 2. Chain; 3. Bottom plate; 4. Vertical plate; 5. Linear motion mechanism; 6. Lifting mechanism; 7. Base; 8. Block; 9. Sandblasting gun; 10. Covering pad;

[0028] 301, walking wheel; 302, bracket; 401, sprocket; 402, guide wheel; 403, driven gear; 404, driving gear; 405, first motor; 501, fixed cylinder; 5011, screw rod; 5012, second motor; 5013, guide groove; 502, movable cylinder; 5021, connecting plate; 5022, nut; 5023, guide block; 601, cylinder body; 6011, inner cavity; 6012, guide channel; 6013, buffer pad; 602, movable plate; 6021, piston rod; 6022, guide rod; 6023, extension rod; 6024, limit plate; 603, fixed plate. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0030] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0031] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," and "outer" appear to indicate orientation or positional relationships, these are based on the orientation or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, if terms such as "first" and "second" appear, they are used solely for descriptive purposes and should not be construed as indicating or implying relative importance.

[0032] Furthermore, in the description of this utility model, unless otherwise explicitly defined, the terms "mounted," "connected," "connection," and "connector" should be interpreted broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0033] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0034] This embodiment relates to an automatic sandblasting robot, such as Figure 1 、 Figure 2 As shown, the overall structure includes a traveling frame, a sandblasting assembly loaded on the traveling frame, and a chain 2 surrounding the pipeline 1.

[0035] The traveling frame includes a base plate 3 and a riser 4 disposed on the base plate 3. Two traveling wheels 301 are provided at the front and rear ends of the base plate 3, spaced apart along the width of the base plate 3. The traveling frame can abut the outer wall of the pipe 1 via the traveling wheels 301. The sandblasting assembly is mounted on the upper end of the riser 4, and a sprocket 401 and a guide wheel 402 are rotatably provided on the side of the riser 4. The chain 2 is supported by the guide wheel 402 and is positioned between the guide wheel 402 and the sprocket 401, engaging with the sprocket 401. When the sprocket 401 is driven to rotate, the traveling frame can move around the pipe 1 by being pulled by the chain 2.

[0036] As described above, through the arrangement of the traveling frame and the sandblasting assembly, the sprocket 401 can rotate to cause the chain 2 to pull the traveling frame to move around the pipe 1. During the movement of the traveling frame around the pipe 1, the sandblasting assembly can sandblast the outer wall of the pipe 1 without the need for manual handheld sandblasting gun 9 for sandblasting operations, thereby reducing manual labor intensity and improving work efficiency.

[0037] Based on the above overall description, specifically, in this embodiment, the base plate 3 is provided with multiple brackets 302 for connecting to the running wheels 301. The base plate 3 also has openings for the lower portions of the running wheels 301 to pass through and contact the outer wall of the pipe 1. Furthermore, during the movement of the running frame, the chain 2 surrounds the pipe 1, the base plate 3, and the guide wheel 402, and the sprocket 401 contacts and engages with the top of the chain 2.

[0038] In order to improve the stability of the walking frame when moving around the pipeline 1, the vertical plate 4 of the embodiment is configured in parallel with two vertical plates 4, each of which is provided with a chain wheel 401 and a guide wheel 402, and the sand blasting assembly is connected with the two vertical plates 4. Each chain wheel 401 and each guide wheel 402 are respectively arranged on the opposite two side surfaces of the two vertical plates 4, and the two chain wheels 401 are coaxially connected. At the same time, the chain 2 is configured as two, and can be engaged with the two chain wheels 401 respectively. By arranging two chains 2, and the chain wheels 401 and the guide wheels 402 matched with the two chains 2, when the two chain wheels 401 rotate synchronously, the two chains 2 can jointly drag the walking frame to move, thereby improving the stability of the walking frame moving.

[0039] Specifically, any vertical plate 4 of the embodiment is provided with a driven gear 403, a driving gear 404 engaged with the driven gear 403, and a first motor 405 driving the driving gear 404 to rotate. The driven gear 403 is coaxially connected with the chain wheel 401, the first motor 405 is located on the same side of the vertical plate 4 as the chain wheel 401, and the driven gear 403 and the driving gear 404 are arranged on the other side of the vertical plate 4. In specific implementation, the diameter of the driven gear 403 is greater than the diameter of the driving gear 404, so that the driven gear 403 and the driving gear 404 have a large transmission ratio, so as to ensure that the first motor 405 can effectively drive the chain wheel 401 to rotate, and improve the driving force of the chain wheel 401 itself. At the same time, the first motor 405 and the chain wheel 401 are located on the same side of the vertical plate 4, so that the first motor 405 is located between the two vertical plates 4, thereby improving the compactness of the structure.

[0040] In order to improve the engagement effect of the chain wheel 401 and the chain 2, in the embodiment, on each vertical plate 4, the guide wheel 402 is configured as two and located on the left and right sides below the chain wheel 401. The two guide wheels 402 jointly support the chain 2, so that part of the chain 2 surrounds the chain wheel 401 and is engaged with the chain wheel 401. Thus, the two guide wheels 402 jointly support the chain 2, so that part of the chain 2 between the two guide wheels 402 can surround the chain wheel 401 and be in close contact with the chain wheel 401, thereby increasing the contact area between the chain wheel 401 and the chain 2, and increasing the number of teeth on the chain wheel 401 engaged with the chain 2, thereby improving the transmission effect and the engagement stability of the chain wheel 401 and the chain 2.

[0041] As a preferred implementation form, the sand blasting assembly of the embodiment includes a linear motion mechanism 5 connected with the vertical plate 4, a lifting mechanism 6 arranged on the movable end of the linear motion mechanism 5, and a mounting seat for mounting the sand blasting gun 9 arranged on the lifting end of the lifting mechanism 6. When the linear motion mechanism 5 operates, the distance between the sand blasting gun 9 and the walking frame can be changed, and when the lifting mechanism 6 operates, the distance between the sand blasting gun 9 and the outer wall of the pipeline 1 can be changed.

[0042] Through the setting of the linear moving mechanism 5 and the lifting mechanism 6, the linear moving mechanism 5 can drive the sandblasting gun 9 to move when the walking frame surrounds the pipeline 1, so as to improve the sandblasting area. At the same time, the lifting mechanism 6 can adjust the distance between the sandblasting gun 9 and the outer wall of the pipeline 1, so as to ensure better cleaning effect on the outer wall of the pipeline 1 and prevent the sandblasting gun 9 from being too close to the pipeline 1 to damage the pipeline 1.

[0043] In specific implementation, the sandblasting gun 9 of the embodiment is connected with external air source and sand supply equipment through the pipeline 1. In addition, the mounting seat of the embodiment includes the base 7 and the clamping block 8 mounted on the base 7. The base 7 is formed with a clamping groove for mounting the clamping block 8, and the clamping groove is formed with an arc-shaped groove adapted to the shape of the sandblasting gun 9. The clamping block 8 is formed with a clamping portion for abutting against the sandblasting gun 9, the clamping portion can be inserted into the clamping groove, and the clamping portion is formed with an arc-shaped groove adapted to the shape of the sandblasting gun 9. The clamping block 8 can be fastened on the base 7 by bolts to achieve clamping and mounting of the sandblasting gun 9.

[0044] Specifically, as shown in Figure 3 The linear moving mechanism 5 of the embodiment includes a fixed cylinder 501 connected with the vertical plate 4, a movable cylinder 502 sleeved in the fixed cylinder 501, and a connecting plate 5021 provided at one end of the movable cylinder 502 for connecting the lifting mechanism 6. A lead screw 5011 is rotatably arranged in the fixed cylinder 501, and the other end of the movable cylinder 502 is provided with a nut 5022 screwed with the lead screw 5011. The lead screw 5011 is driven to rotate by a second motor 5012, and when the lead screw 5011 rotates, the nut 5022 can drive the movable cylinder 502 to move along the length direction of the lead screw 5011. Through the cooperation of the lead screw 5011 and the nut 5022, the rotation of the lead screw 5011 can drive the nut 5022 to move, which has simple and reliable structure and can effectively drive the movable cylinder 502 to extend and retract, so as to realize the movement of the connecting plate 5021 and the sandblasting gun 9. In specific implementation, the movable cylinder 502 of the embodiment is provided with a guide block 5023, and the inner wall of the fixed cylinder 501 is provided with a guide groove 5013, the guide block 5023 can slide in the guide groove 5013 to prevent the movable cylinder 502 from rotating relative to the fixed cylinder 501 and prevent the movable cylinder 502 from being pulled out of the fixed cylinder.

[0045] In addition, as shown in Figure 4As shown, the lifting mechanism 6 of this embodiment includes a cylinder body 601 having an inner cavity 6011, a piston rod 6021 slidably disposed within the inner cavity 6011, and a movable plate 602 connected to the bottom end of the piston rod 6021. The cylinder body 601 is connected to an external air source, which can input compressed air into the inner cavity 6011, causing the piston rod 6021 to drive the mounting base to move via the movable plate 602. The movable plate 602 is the aforementioned lifting end. Specifically, the piston on the piston rod 6021 divides the inner cavity 6011 into two parts, and the cylinder body 601 is provided with an air hole connecting the two parts of the inner cavity 6011. The air source is used to inflate the two parts, thereby achieving movement of the piston rod 6021 and thereby driving movement of the movable plate 602. Its structure is simple and compact, and it can effectively drive the movable plate 602 and drive movement of the sandblasting gun 9. In a specific implementation, an L-shaped fixing plate 603 is provided on one side of the cylinder body 601 , and the cylinder body 601 is connected to the connecting plate 5021 of the movable cylinder 502 via the fixing plate 603 .

[0046] To improve the stability of the movement of the movable plate 602, a guide channel 6012 is provided on at least one side of the cylinder body 601 of this embodiment. A guide rod 6022 is also provided on the movable plate 602, which slides within the guide channel 6012. The guide rod 6022 provides guidance during the movement of the movable plate 602 while preventing the movable plate 602 from rotating about the piston rod 6021. This improves the stability of the movable plate 602 and ensures the sandblasting effect of the sandblasting gun 9. In a specific implementation, the guide channels 6012 and the guide rods 6022 that cooperate with the guide channels 6012 are provided on both sides of the piston rod 6021.

[0047] Furthermore, the end of the guide rod 6022 is connected to an extension rod 6023, which extends out of the guide channel 6012. A limit plate 6024 is provided at the end of the extension rod 6023, and a buffer pad 6013 is provided on one end surface of the cylinder body 601, adjacent to the limit plate 6024, surrounding the guide channel 6012. Due to the arrangement of the limit plate 6024 and the buffer pad 6013, when the movable plate 602 moves toward the pipeline 1 to its limit position, the limit plate 6024 can abut against the buffer pad 6013, preventing damage to the piston rod 6021 from colliding with the cylinder body 601 when the movable plate 602 reaches its limit position, thereby improving the reliability of the lifting mechanism 6. In practice, the buffer pad 6013 of this embodiment can be made of an elastic material, such as rubber or silicone, that can mitigate the impact of the limit plate 6024.

[0048] Finally, the automatic sandblasting robot used in this embodiment is moved by being pulled by the chain 2. During the pulling process, the chain 2 is likely to knock against the surface of the pipe 1 that does not require sandblasting. This surface is usually coated with an anti-corrosion coating. The chain 2 knocks against the pipe 1 or the sprocket 401 slides between the pipe 1 and the chain 2 during the pulling process, which will damage the anti-corrosion coating on its surface. For this reason, this embodiment also includes a covering pad 10, which is wound around the outer wall of the pipe 1 in a strip shape, and the chain 2 is arranged around the covering pad 10. Thus, a layer of covering pad 10 is coated on the pipe 1, which can protect the pipe 1 and prevent the chain 2 from damaging the outer wall of the pipe 1. At the same time, the friction between the covering pad 10 and the chain 2 is good. When the chain 2 wraps around the covering pad 10, it is not easy to slide, thereby ensuring the stability of the movement of the walking frame.

[0049] In summary, the automatic sandblasting robot of this embodiment, through the setting of the traveling frame and the sandblasting assembly, the sprocket 401 can rotate to make the chain 2 pull the traveling frame to move around the pipe 1. In the process of the traveling frame moving around the pipe 1, the sandblasting assembly can sandblast the outer wall of the pipe 1, and there is no need for manual hand-held sandblasting gun 9 to perform sandblasting operations, thereby reducing manual labor intensity and improving work efficiency.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic sandblasting robot, characterized in that: It comprises a traveling frame, a sandblasting assembly mounted on the traveling frame, and a chain (2) surrounding a pipe (1); The walking frame comprises a bottom plate (3) and a vertical plate (4) arranged on the bottom plate (3); Two running wheels (301) are respectively provided at the front and rear ends of the bottom plate (3) and are spaced apart along the width direction of the bottom plate (3); the running frame can abut against the outer wall of the pipe (1) via the running wheels (301); The sandblasting assembly is mounted on the upper end of the vertical plate (4), and a sprocket (401) and a guide wheel (402) are rotatably provided on the side of the vertical plate (4), the chain (2) is supported by the guide wheel (402), and the chain (2) is located between the guide wheel (402) and the sprocket (401), and is engaged with the sprocket (401); When the sprocket (401) is driven to rotate, the traveling frame can move around the pipeline (1) by being pulled by the chain (2).

2. The automatic sandblasting robot according to claim 1, characterized in that: The vertical plates (4) are configured as two parallel plates, the sprocket (401) and the guide wheel (402) are both provided on the two vertical plates (4), and the sandblasting assembly is connected to the two vertical plates (4); Each of the sprockets (401) and each of the guide wheels (402) are respectively arranged on two opposite sides of the two vertical plates (4), and the two sprockets (401) are coaxially connected; The chain (2) is configured in two and can be engaged with the two sprockets (401) respectively.

3. The automatic sandblasting robot according to claim 2, characterized in that: Any of the vertical plates (4) is provided with a driven gear (403), a driving gear (404) meshing with the driven gear (403), and a first motor (405) driving the driving gear (404) to rotate; The driven gear (403) is coaxially connected to the sprocket (401), the first motor (405) and the sprocket (401) are located on the same side of the vertical plate (4), and the driven gear (403) and the driving gear (404) are both located on the other side of the vertical plate (4).

4. The automatic sandblasting robot according to claim 2, characterized in that: On each of the vertical plates (4), two guide wheels (402) are provided and are located on the left and right sides below the sprocket (401); The two guide wheels (402) jointly support the chain (2), so that a portion of the chain (2) surrounds the sprocket (401) and engages with the sprocket (401).

5. The automatic sandblasting robot according to claim 1, characterized in that: The sandblasting assembly comprises a linear motion mechanism (5) connected to the vertical plate (4), a lifting mechanism (6) provided on a movable end of the linear motion mechanism (5), and a mounting seat provided on a lifting end of the lifting mechanism (6) for mounting a sandblasting gun (9); When the linear moving mechanism (5) is in motion, the distance between the sandblasting gun (9) and the traveling frame can be changed, and when the lifting mechanism (6) is in motion, the distance between the sandblasting gun (9) and the outer wall of the pipe (1) can be changed.

6. The automatic sandblasting robot according to claim 5, characterized in that: The linear moving mechanism (5) comprises a fixed cylinder (501) connected to the vertical plate (4), a movable cylinder (502) slidably sleeved in the fixed cylinder (501), and a connecting plate (5021) provided at one end of the movable cylinder (502) for connecting to the lifting mechanism (6); A screw rod (5011) is rotatably provided in the fixed cylinder (501), and a nut (5022) threadedly connected to the screw rod (5011) is provided at the other end of the movable cylinder (502); The screw rod (5011) is driven to rotate by the second motor (5012). When the screw rod (5011) rotates, it can drive the nut (5022) to drive the movable cylinder (502) to move along the length direction of the screw rod (5011).

7. The automatic sandblasting robot according to claim 5, characterized in that: The lifting mechanism (6) includes a cylinder (601) having an inner cavity (6011), a piston rod (6021) slidably arranged in the inner cavity (6011), and a movable plate (602) connected to the bottom end of the piston rod (6021); The cylinder body (601) is connected to an external air source, and the air source can input compressed air into the inner cavity (6011), so that the piston rod (6021) drives the mounting seat to move through the movable plate (602).

8. The automatic sandblasting robot according to claim 7, characterized in that: A guide channel (6012) is provided on at least one side of the cylinder body (601), and a guide rod (6022) is provided on the movable plate (602), and the guide rod (6022) is slidably arranged in the guide channel (6012).

9. The automatic sandblasting robot according to claim 8, characterized in that: The end of the guide rod (6022) is connected to an extension rod (6023), and the extension rod (6023) extends out of the guide channel (6012); A limiting plate (6024) is provided at the end of the extension rod (6023), and a buffer pad (6013) arranged around the guide channel (6012) is provided on an end surface of the cylinder body (601) close to the limiting plate (6024); When the movable plate (602) moves toward the pipeline (1) to the extreme position, the limiting plate (6024) can abut against the buffer pad (6013).

10. The automatic sandblasting robot according to any one of claims 1 to 9, characterized in that: It also includes a covering pad (10), which is wound on the outer wall of the pipe (1) in a strip shape, and the chain (2) is arranged around the covering pad (10).

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