Sand blasting mechanism and wall-climbing robot

Abstract

The utility model provides a sand blasting mechanism and a wall-climbing robot, and the sand blasting mechanism comprises a fixed supporting pipe which is internally provided with a containing space and comprises a first end and a second end which are opposite to each other; the sand blasting gun is mounted at the first end, communicates with the accommodating space and is used for blasting sand into the accommodating space; the connecting pipe is installed on the side, close to the second end, of the fixed supporting pipe, communicates with the containing space and is used for being connected with a dust collector; the floating mechanism is movably mounted at the second end; the brush is installed on the floating mechanism and can float through the floating mechanism and the fixed supporting pipe. The stability of the sand blasting mechanism during operation can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a sand blasting mechanism and a wall climbing robot. BACKGROUND

[0002] In heavy industrial fields such as shipbuilding, petrochemical industry, wind power facilities, and bridge construction, metal structural parts are often exposed to harsh environments such as marine atmosphere, chemical gas, and sand, etc. These environmental factors can cause rust, oxidation, and pollution on the metal surface. In order to prolong the service life of the metal structure and ensure its safety and aesthetics, regular maintenance operations such as rust removal and cleaning are required. With the continuous development of robot technology, more and more surface treatment operations begin to use automated equipment such as sand blasting mechanisms. These automated equipment can replace manual work in high altitude and dangerous environments, greatly improving the safety and efficiency of the operation. However, the existing sand blasting mechanism often shows insufficient stability when performing sand blasting and cleaning operations on complex curved surfaces or irregular wall surfaces. CONTENT OF THE UTILITY MODEL

[0003] The sand blasting mechanism and the wall climbing robot provided by the embodiments of the present application can improve the stability of the sand blasting mechanism when working on complex curved surfaces or irregular wall surfaces.

[0004] In a first aspect, the embodiments of the present application provide a sand blasting mechanism, comprising:

[0005] A fixed support pipe is provided with an accommodating space, and the fixed support pipe comprises a first end and a second end opposite to each other;

[0006] A sand blasting gun is installed at the first end and communicates with the accommodating space, and the sand blasting gun is used for blasting sand into the accommodating space;

[0007] A connecting pipe is installed on one side of the fixed support pipe close to the second end, and the connecting pipe communicates with the accommodating space, and the connecting pipe is used for connecting a dust collector;

[0008] A floating mechanism is movably installed at the second end;

[0009] A brush is installed on the floating mechanism and can float with the fixed support pipe through the floating mechanism.

[0010] Optionally, the fixed support pipe further comprises a protruding portion protruding outward from the second end, and the floating mechanism comprises an elastic member elastically connected between the brush and the protruding portion, so that the brush can float relative to the fixed support pipe.

[0011] Optionally, the floating mechanism further comprises a sliding rod, one end of the sliding rod is connected with the brush, the other end of the sliding rod is movably connected with the protruding part, the elastic member is sleeved on the sliding rod and is limited between the brush and the protruding part.

[0012] Optionally, the number of the sliding rods is multiple, the multiple sliding rods are arranged at intervals around the second end, and each sliding rod is provided with at least one elastic member.

[0013] Optionally, the connecting pipe is arranged on one side of the protruding part facing the first end.

[0014] Optionally, the sand blasting mechanism further comprises a dust cover, the dust cover is arranged in the fixed support pipe, and the dust cover is at least partially arranged between the sand blasting gun and the inner wall of the fixed support pipe.

[0015] Optionally, the dust cover comprises a top plate and a cover body, the sand blasting gun is arranged through the top plate, the cover body is connected to one side of the top plate facing the brush, and the cover body is arranged on the inner wall of the fixed support pipe.

[0016] Optionally, the cover body comprises an end portion away from the top plate, the end portion is located on one side of the connecting pipe away from the sand blasting gun, and the cover body is provided with a gap corresponding to the connecting part.

[0017] Optionally, the sand blasting mechanism further comprises a pipe clamp, the pipe clamp is arranged on the first end of the fixed support pipe and is fixedly connected with the sand blasting gun.

[0018] In a second aspect, the embodiments of the present application provide a wall climbing robot, comprising:

[0019] a sand blasting mechanism, the sand blasting mechanism is as described in any of the above embodiments;

[0020] a movement mechanism, connected with the sand blasting mechanism.

[0021] The sand blasting gun is installed at the first end of the fixed support pipe in the embodiment of the application, sand particles blasted by the sand blasting gun can directly enter the containing space of the fixed support pipe, and then be guided to the wall surface to be treated. The connecting pipe is installed at the side of the fixed support pipe close to the second end, and the main function of the connecting pipe is to connect the dust collector, so as to form an effective recycling channel, thereby ensuring that the sand particles, dust and the like generated in the operation process can be recycled in time, and the operation environment is kept clean. The floating mechanism is installed at the second end of the fixed support pipe, and the brush is installed on the floating mechanism. The floating mechanism ensures that the brush can adapt to the shape change of the operation wall surface, so that the brush always keeps in close contact with the wall surface, and can effectively remove rust, paint and the like on the wall surface. Moreover, since the floating mechanism is close to the brush, when the floating mechanism is adjusted to make the brush adapt to different wall surfaces, the length of the force arm is shortened. Under the action of the same force, the smaller force arm generates smaller torque, so as to help reduce the radial torque generated in the operation process, thereby reducing the mechanical stress of the brush and the floating mechanism in the adjustment process, and the wear of the floating mechanism and the brush is also reduced accordingly, so as to help prolong the service life of the sand blasting mechanism and reduce the failure rate of the sand blasting mechanism. The reduced radial torque also makes the floating mechanism and the brush more stable in the operation process, and is not easy to swing or vibrate excessively, so as to improve the stability of the sand blasting mechanism. In addition, the shorter force arm can make the floating mechanism respond more quickly and more accurately to the stress change of the brush in the operation process, so that the brush can better adapt to the operation wall surface of different shapes, and can better process the operation wall surface of complex curved surface or irregular shape, such as the wall surface in the ship, petrochemical and wind power industries. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0023] In order to more completely understand the application and its beneficial effects, the following will be described in conjunction with the drawings, wherein the same reference numerals in the following description represent the same parts.

[0024] Figure 1 The structural schematic diagram of the sand blasting mechanism provided in the embodiment of the application is shown in the figure;

[0025] Figure 2 The exploded view of the sand blasting mechanism shown in the figure is shown in the figure; Figure 1 The structural schematic diagram of the sand blasting mechanism shown in the figure is shown in the figure;

[0026] Figure 3 The structural schematic diagram of the sand blasting mechanism shown in the figure is shown in the figure; Figure 1 The structural schematic diagram of the sand blasting mechanism shown in the figure is shown in the figure;

[0027] Figure 4 As shown in the figure, the sand blasting mechanism is provided with a fixed support pipe 10, a sand blasting gun 20, a connecting pipe 30, a floating mechanism 40 and a brush 50. Figure 3 As shown in the figure, the sand blasting mechanism is provided with a fixed support pipe 10, a sand blasting gun 20, a connecting pipe 30, a floating mechanism 40 and a brush 50.

[0028] Figure 5 As shown in the figure, the sand blasting mechanism is provided with a fixed support pipe 10, a sand blasting gun 20, a connecting pipe 30, a floating mechanism 40 and a brush 50. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0030] Reference herein to“an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification is not necessarily all referring to the same embodiment, nor is it necessarily referring to a particular embodiment that is “preferred” over other embodiments. Those skilled in the art will appreciate that embodiments described herein can be combined with other embodiments.

[0031] Reference herein to“an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification is not necessarily all referring to the same embodiment, nor is it necessarily referring to a particular embodiment that is “preferred” over other embodiments. Those skilled in the art will appreciate that embodiments described herein can be combined with other embodiments. Figure 1 and Figure 2 , Figure 1 As shown in the figure, the sand blasting mechanism is provided with a fixed support pipe 10, a sand blasting gun 20, a connecting pipe 30, a floating mechanism 40 and a brush 50. Figure 2 As shown in the figure, the sand blasting mechanism is provided with a fixed support pipe 10, a sand blasting gun 20, a connecting pipe 30, a floating mechanism 40 and a brush 50. Figure 1 As shown in the figure, the sand blasting mechanism is provided with a fixed support pipe 10, a sand blasting gun 20, a connecting pipe 30, a floating mechanism 40 and a brush 50.

[0032] The fixed support pipe 10 is provided with a containing space, and the fixed support pipe 10 includes opposite first and second ends 101 and 102; the sand blasting gun 20 is installed at the first end 101 and communicates with the containing space, and the sand blasting gun 20 is used for blasting sand into the containing space; the connecting pipe 30 is installed at one side of the fixed support pipe 10 close to the second end 102, and the connecting pipe 30 communicates with the containing space and is used for connecting a dust collector; the floating mechanism 40 is movably installed at the second end 102; and the brush 50 is installed at the floating mechanism 40 and can float with the fixed support pipe 10 through the floating mechanism 40.

[0033] The fixed support pipe 10 is internally provided with a containing space for the sand particles. The fixed support pipe 10 comprises a first end 101 and a second end 102 opposite to each other, for mounting different components respectively. The sand blasting gun 20 is mounted at the first end 101 of the fixed support pipe 10 and is in communication with the containing space. The sand blasting gun 20 is used for sand blasting treatment of the wall surface. The ejected sand particles can directly enter the containing space of the fixed support pipe 10 and then be guided to the wall surface to be treated, for removing rust, paint, dirt or other substances on the wall surface. The connecting pipe 30 is mounted at one side of the fixed support pipe 10 close to the second end 102 and is in communication with the containing space. The main function of the connecting pipe 30 is to connect the dust collector, thereby forming an effective recycling channel to ensure that the sand particles, dust and other substances generated during the operation can be recycled in time, keeping the operation environment clean. The floating mechanism 40 is mounted at the second end 102 of the fixed support pipe 10. The brush 50 is mounted on the floating mechanism 40 and has self-adaptive floating capability, which can be flexibly adjusted according to the concave-convex condition of the wall surface, so that the brush 50 always keeps in close contact with the wall surface. The brush 50 can effectively remove rust, paint and other substances on the wall surface.

[0034] The floating mechanism 40 in the embodiment of the present application ensures that the brush 50 can adapt to the shape change of the wall surface to be operated, such as a curved surface or an irregular shape, to keep good contact with the wall surface to be operated. Moreover, since the floating mechanism 40 is close to the brush 50, the length of the force arm is shortened when the floating mechanism 40 is adjusted to adapt the brush 50 to different wall surfaces. The smaller torque is generated under the same force due to the shorter force arm. Therefore, it is helpful to reduce the radial torque generated during the operation, thereby reducing the mechanical stress of the brush 50 and the floating mechanism 40 during the adjustment process. The wear of the floating mechanism 40 and the brush 50 is also reduced accordingly, which helps to prolong the service life of the sand blasting mechanism 1 and reduce the failure rate of the sand blasting mechanism 1. The reduced radial torque also makes the floating mechanism 40 and the brush 50 more stable during the operation and less likely to swing or vibrate excessively, thereby improving the stability of the sand blasting mechanism 1. In addition, the shorter force arm enables the floating mechanism 40 to respond more quickly and accurately to the force change of the brush 50 during the operation, so that the brush 50 can better adapt to different shapes of the wall surface to be operated and can handle complex curved surfaces or irregularly shaped wall surfaces, such as wall surfaces in the shipbuilding, petrochemical and wind power industries.

[0035] In some embodiments, the fixed support pipe 10 further comprises a protruding portion 103 protruding outwardly from the second end 102. The floating mechanism 40 comprises an elastic member 401 elastically connected between the brush 50 and the protruding portion 103, so that the brush 50 can float relative to the fixed support pipe 10.

[0036] The protruding portion 103 is arranged outside the second end 102 of the fixed support pipe 10 in the embodiment, and a support structure is provided. The elastic member 401 of the floating mechanism 40 can be elastically connected between the brush 50 and the protruding portion 103. The elastic member 401 can be a spring, an elastic block, a gasket or the like, and can be elastically deformed to enable the brush 50 to be self-adaptively adjusted according to the curvature and irregularities of the working wall surface, so that the brush 50 can be kept in close contact with the working surface, thereby improving the effect of sandblasting or cleaning work. In addition, the elastic member 401 also plays a buffering role, reduces the mechanical stress and impact of the brush 50 in the adjustment process, reduces wear and tear, and prolongs the service life.

[0037] In some embodiments, the floating mechanism 40 further comprises a sliding rod 402, one end of the sliding rod 402 is connected to the brush 50, and the other end is movably connected to the protruding portion 103. The elastic member 401 is sleeved on the sliding rod 402 and can be limited between the brush 50 and the protruding portion 103.

[0038] In the embodiment, one end of the sliding rod 402 is connected to the brush 50, and the other end passes through the protruding portion 103 and is movably connected to the protruding portion 103. The sliding rod 402 can move up and down relative to the protruding portion 103 within a certain range. The elastic member 401 is sleeved on the sliding rod 402, and the sliding rod 402 can fix and limit the extension direction of the elastic member 401. The elastic member 401 can axially freely extend and contract on the sliding rod 402, and plays a buffering and restoring role. The brush 50 is connected to the protruding portion 103 of the fixed support pipe 10 through the sliding rod 402 and the elastic member 401. When the sandblasting mechanism 1 encounters a raised obstacle during work, the obstacle will exert a force on the brush 50 away from the wall surface. At this time, the elastic member 401 located between the brush 50 and the protruding portion 103 will be axially compressed along the sliding rod 402, so that the brush 50 can float towards the protruding portion 103, thereby smoothly passing through the raised obstacle. When the brush 50 contacts a recessed portion on the wall surface, due to the existence of the recess, the elastic member 401 located between the brush 50 and the protruding portion 103 can axially extend along the sliding rod 402. The brush 50 will adapt to the shape of the recess and continue to maintain contact with the wall surface, ensuring the continuity of cleaning or sandblasting work. The length of the sliding rod 402, the extension range and the elastic force of the elastic member 401 can be designed according to actual needs to adapt to recesses of different depths and shapes. When the brush 50 passes through the raised obstacle or leaves the recess, the elastic member 401 will recover its shape, and the brush 50 will again adhere to the wall surface to continue the work. This self-adaptive adjustment mechanism not only improves the working efficiency and stability of the sandblasting mechanism 1 in a complex wall surface environment, but also reduces the mechanical stress and impact of the brush 50 in the adjustment process through the buffering effect of the elastic member 401, thereby reducing wear and tear and prolonging the service life of the brush 50 and the floating mechanism 40.

[0039] In some embodiments, the protruding part 103 is provided with an opening, and the sliding rod 402 is arranged in the opening. The end of the sliding rod 402 away from the brush 50 is located at the end of the opening away from the brush 50, and the size of the sliding rod 402 is greater than that of the opening, so that the sliding rod 402 will not be separated from the protruding part 103 when moving up and down relative to the protruding part 103.

[0040] In some embodiments, the number of sliding rods 402 is multiple, and the multiple sliding rods 402 are arranged at intervals around the second end 102 of the fixed support pipe 10. Each sliding rod 402 is provided with at least one elastic member 401.

[0041] In the embodiment, the multiple sliding rods 402 are arranged at intervals around the second end 102 of the fixed support pipe 10, and each sliding rod 402 is provided with at least one elastic member 401, forming a uniformly distributed support structure. The elastic members 401 can be more flexible in compression and recovery according to the ups and downs of the wall surface, so that the brush 50 can be adaptively adjusted in multiple directions, thereby better adapting to complex or irregular working surfaces. In addition, the uniformly distributed support structure enhances the stability of the entire floating mechanism 40, reduces the risk of mechanism damage caused by excessive local stress, and the uniform distribution of the elastic members 401 also helps to disperse and absorb the impact force generated during the operation, thereby enhancing the stability and durability of the sand blasting mechanism 1.

[0042] It should be noted that the structure for limiting the extension direction of the elastic member 401 in the floating mechanism 40 can be the sliding rod 402 or other structures, which are not limited in the embodiment. For example, it can be a hollow cylinder / pipe, and the elastic member 401 is arranged in the cylinder / pipe. The hollow cylinder / pipe can also guide the elastic member 401 to extend and retract in the axial direction of the cylinder or pipe in the internal space.

[0043] In some embodiments, the connecting pipe 30 is arranged on the side of the protruding part 103 facing the first end 101. That is, the connecting pipe 30 is located at the upper end of the protruding part 103, and the floating mechanism 40 and the brush 50 are located at the lower end of the protruding part 103. The connecting pipe 30 can be conveniently connected with a dust collector or other recycling equipment. When the sand blasting gun 20 sprays sand particles to the wall surface for operation, the dust collector can recycle the generated dust and waste sand through the connecting pipe 30, without affecting the operation of the brush 50 and the floating mechanism 40.

[0044] Please refer to Figure 3 and Figure 4 , Figure 3 for Figure 1 the structure schematic view of the sand blasting mechanism from another angle, Figure 4 and Figure 3A cross-sectional view of the sandblasting mechanism along the A-A direction is shown. In some embodiments, the sandblasting mechanism 1 further comprises a dust cover 60, which is arranged in the fixed support pipe 10 and at least partially arranged between the sandblasting gun 20 and the inner wall of the fixed support pipe 10.

[0045] In the embodiment, the dust cover 60 is at least partially located between the sandblasting gun 20 and the inner wall of the fixed support pipe 10, and the dust cover 60 can directly face the impact of the sand particles splashed from the sandblasting gun 20, thereby providing an effective protective barrier for the inner wall of the fixed support pipe 10, protecting the inner wall of the fixed support pipe 10 from direct impact and wear caused by sand particles and dust generated during the sandblasting process, and prolonging the service life of the fixed support pipe 10. In addition, the dust cover 60 can be easily replaced after wear and tear, greatly simplifying maintenance work. By using the dust cover 60, the maintenance can be improved. In the long-term operation process, the dust cover 60 will inevitably be worn out, but thanks to its convenient replaceable design, the dust cover 60 can be quickly and easily updated without complicated disassembly steps, thereby ensuring the continuous efficiency and cleanliness of the sandblasting mechanism 1 during operation. The dust cover 60 can be made of high-wear-resistant materials such as plastic.

[0046] In some embodiments, the dust cover 60 comprises a top plate 601 and a cover body 602, the sandblasting gun 20 is arranged through the top plate 601, and the cover body 602 is connected to the side of the top plate 601 facing the brush 50 and is attached to the inner wall of the fixed support pipe 10.

[0047] In the embodiment, the sandblasting gun 20 is arranged through the top plate 601, and the cover body 602 is attached to the inner wall of the fixed support pipe 10, effectively limiting the diffusion range of the sand particles sprayed by the sandblasting gun 20, not only preventing direct impact and wear of the sand particles and dust on the inner wall of the fixed support pipe 10, but also avoiding the sand particles from splashing onto the top wall of the fixed support pipe 10, so that the sand particles sprayed by the sandblasting gun 20 are as much as possible to be limited within the dust cover 60, thereby providing more comprehensive protection for the sandblasting operation of the sandblasting mechanism 1. The top plate 601 and the cover body 602 can be integrally formed or separately designed and connected together by mechanical connection or adhesive, which is not limited in the embodiment.

[0048] In some embodiments, the cover body 602 comprises an end portion 603 away from the top plate 601, the end portion 603 is located on the side of the connecting pipe 30 away from the sandblasting gun 20, and the cover body 602 is provided with a notch 604 corresponding to the connecting pipe 30.

[0049] The end 603 of the cover 602 in this embodiment is lower than the connecting pipe 30. Because the end 603 of the cover 602 is low, the cover 602 can cover more of the inner wall of the fixed support pipe 10, and can more effectively protect the fixed support pipe 10 during sandblasting, reducing the impact and wear of the sand particles on the inner wall of the fixed support pipe 10. The cover 602 is provided with a notch 604 corresponding to the connecting pipe 30, and the connecting pipe 30 can communicate with the accommodation space of the fixed support pipe 10 through the notch 604. After sandblasting, the dust and waste sand generated can be efficiently sucked into the dust collector through the connecting pipe 30 and recycled, not only maintaining the cleanliness of the working environment, but also achieving effective management of waste materials.

[0050] In some embodiments, the sandblasting mechanism 1 further comprises a pipe clamp 70, which is installed at the first end 101 of the fixed support pipe 10 and fixedly connected with the sandblasting gun 20.

[0051] In this embodiment, the pipe clamp 70 is a component for fixing the sandblasting gun 20 and is installed at the first end 101 of the fixed support pipe 10. The design of the pipe clamp 70 takes into account the compatibility with the sandblasting gun 20, ensuring that different types and sizes of sandblasting guns 20 can be securely fixed, and ensuring that the sandblasting gun 20 does not shift during operation. Moreover, the design of the pipe clamp 70 makes it quick and easy to replace and maintain the sandblasting gun, greatly reducing maintenance time and cost. By quickly replacing the sandblasting gun, the wall climbing robot 3 can adapt to different work requirements more quickly, improving work efficiency.

[0052] In some embodiments, the pipe clamp 70 can be provided on the outside of the fixed support pipe 10, for example, the pipe clamp 70 can be provided on the side of the first end 101 away from the second end 102. The pipe clamp 70 can also be provided on the inside of the fixed support pipe 10, for example, the pipe clamp 70 can be provided on the side of the first end 101 facing the second end 102.

[0053] In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the fixed support pipe 10 and the sandblasting gun 20 are detachably connected with the dust cover 60. In this embodiment, the dust cover 60 is installed on the dust cover 60 and the sandblasting gun 20, and can be detachably connected with the dust cover 60 and the sandblasting gun 20. In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the fixed support pipe 10 and the sandblasting gun 20 are detachably connected with the dust cover 60. In this embodiment, the dust cover 60 is installed on the dust cover 60 and the sandblasting gun 20, and can be detachably connected with the dust cover 60 and the sandblasting gun 20. In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the fixed support pipe 10 and the sandblasting gun 20 are detachably connected with the dust cover 60. In this embodiment, the dust cover 60 is installed on the dust cover 60 and the sandblasting gun 20, and can be detachably connected with the dust cover 60 and the sandblasting gun 20. In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the fixed support pipe 10 and the sandblasting gun 20 are detachably connected with the dust cover 60. In this embodiment, the dust cover 60 is installed on the dust cover 60 and the sandblasting gun 20, and can be detachably connected with the dust cover 60 and the sandblasting gun 20. In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the fixed support pipe 10 and the sandblasting gun 20 are detachably connected with the dust cover 60. In this embodiment, the dust cover 60 is installed on the dust cover 60 and the sandblasting gun 20, and can be detachably connected with the dust cover 60 and the sandblasting gun 20. In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the fixed support pipe 10 and the sandblasting gun 20 are detachably connected with the dust cover 60. In this embodiment, the dust cover 60 is installed on the dust cover 60 and the sandblasting gun 20, and can be detachably connected with the dust cover 60 and the sandblasting gun 20. In some embodiments, the dust cover 60 is detachably connected with the fixed support pipe 10. In this embodiment, the dust cover 60 is installed on the fixed support pipe 10 and detachably connected with the fixed support pipe 10. The dust cover 60 can be easily removed or installed on the fixed support pipe 10 as needed, not only facilitating the cleaning and maintenance of the dust cover 60, but also making it easier and faster to replace or upgrade the dust cover 60 when necessary. In addition, different specifications or materials of the dust cover 60 can be selected according to different work requirements to adapt to different working environments and sandblasting requirements.

[0054] In some embodiments, the

[0055] Of course, in some embodiments, the dust cover 60 can also be fixedly installed on the fixed support pipe 10 or the sandblasting gun 10.

[0056] Please refer to Figure 5 , Figure 5 A structure schematic diagram of the wall-climbing robot provided in the embodiments of the present application. The embodiments of the present application also include a wall-climbing robot 3, which comprises the sandblasting mechanism 1 according to any of the above embodiments and a movement mechanism 2 connected to the sandblasting mechanism 1.

[0057] The wall-climbing robot 3 of the present embodiment integrates the sandblasting mechanism 1, and the fixed support pipe 10 of the sandblasting mechanism 1 is provided with a connecting pipe connected to a dust collector, which can timely recover the sand particles, dust and the like generated by the sandblasting gun 20 during the operation to keep the operation environment clean. The floating mechanism 40 of the sandblasting mechanism 1 is close to the brush 50, so that the length of the force arm is shortened when the floating mechanism 40 is adjusted to adapt the brush 50 to different wall surfaces. The smaller torque generated by the shorter force arm under the same force helps to reduce the radial torque generated during the operation, thereby reducing the mechanical stress suffered by the brush 50 and the floating mechanism 40 during the adjustment process, and the wear of the floating mechanism 40 and the brush 50 is also reduced accordingly, which helps to prolong the service life of the sandblasting mechanism 1. The reduced radial torque also makes the floating mechanism 40 and the brush 50 more stable during the operation and less likely to swing or vibrate excessively, thereby improving the stability of the sandblasting mechanism 1. In addition, the shorter force arm enables the floating mechanism 40 to respond more quickly and accurately to the force changes of the brush 50 during the operation, so that the brush 50 can better adapt to different shapes of the operation wall surface and can handle complex curved or irregularly shaped operation wall surfaces, such as wall surfaces in the shipbuilding, petrochemical and wind power industries.

[0058] The wall-climbing robot 3 also comprises a movement mechanism 2 connected to the sandblasting mechanism 1. Exemplarily, the movement mechanism 2 comprises one or more of wheels or tracks, a driving system, a suction system, a power supply system and a control system, and cooperates with the sandblasting mechanism 1 to ensure that the sandblasting mechanism 1 can be positioned and moved on the wall surface correctly to perform the predetermined operation task, so as to achieve efficient and accurate operation on the complex wall surface.

[0059] In the description of the present application, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0060] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The embodiments, implementation manners and related technical features of the present application can be combined, replaced with each other without conflict.

[0061] The sand blasting mechanism and the wall climbing robot provided by the embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples in this paper. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and in summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A sandblasting mechanism, characterized in that, include: A fixed support tube has an internal accommodating space, and the fixed support tube includes a first end and a second end opposite to each other; A sandblasting gun is installed at the first end and communicates with the receiving space; the sandblasting gun is used to blast sand into the receiving space. A connecting tube is installed on the side of the fixed support tube near the second end. The connecting tube communicates with the receiving space and is used to connect a vacuum cleaner. The floating mechanism is movably mounted at the second end; The brush is mounted on the floating mechanism and is able to float with the fixed support tube via the floating mechanism.

2. The sandblasting mechanism according to claim 1, characterized in that, The fixed support tube also includes a protrusion, which protrudes outward from the second end; The floating mechanism includes an elastic element that is elastically connected between the brush and the protrusion, so that the brush can float relative to the fixed support tube.

3. The sandblasting mechanism according to claim 2, characterized in that, The floating mechanism further includes a sliding rod, one end of which is connected to a brush, and the other end is movably connected to the protrusion. The elastic element is sleeved on the sliding rod and can be limited between the brush and the protrusion.

4. The sandblasting mechanism according to claim 3, characterized in that, The number of sliding rods is multiple, and the multiple sliding rods are arranged at intervals around the second end, and each sliding rod is equipped with at least one elastic element.

5. The sandblasting mechanism according to claim 2, characterized in that, The connecting pipe is located on the side of the protrusion facing the first end.

6. The sandblasting mechanism according to claim 1, characterized in that, The sandblasting mechanism also includes a dust cover, which is disposed inside the fixed support tube and is at least partially disposed between the sandblasting gun and the inner wall of the fixed support tube.

7. The sandblasting mechanism according to claim 6, characterized in that, The dust cover includes a top plate and a cover body. The sandblasting gun passes through the top plate, and the cover body is connected to the side of the top plate facing the brush. The cover body is attached to the inner wall of the fixed support tube.

8. The sandblasting mechanism according to claim 7, characterized in that, The cover includes an end away from the top plate, the end being located on the side of the connecting pipe away from the sandblasting gun, and the cover has a notch corresponding to the connecting portion.

9. The sandblasting mechanism according to claim 8, characterized in that, The sandblasting mechanism also includes a pipe clamp, which is installed at the first end of the fixed support pipe and fixedly connected to the sandblasting gun.

10. A wall-climbing robot, characterized in that, include: A sandblasting mechanism, as described in any one of claims 1 to 9; The motion mechanism is connected to the sandblasting mechanism.

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