Swing arm sand blasting robot

Abstract

The embodiment of the utility model provides a swing arm sand blasting robot which is used for cleaning a wall surface and comprises a rack, a walking mechanism, a sand blasting assembly, an adsorption assembly and a second adjusting assembly. The sand blasting assembly is mounted on the rack and comprises a sand blasting gun and a recovery device communicating with the sand blasting gun, and a first adjusting assembly is arranged on the recovery device and used for adjusting the distance between the recovery device and the wall surface; the second adjusting assembly is installed on the adsorption assembly and used for adjusting the distance between the adsorption assembly and the wall face. Thus, the first adjusting assembly and the second adjusting assembly can adjust the distance between the recovery device and the wall face and the distance between the adsorption assembly and the wall face according to the situation of the wall face, the sand recovery rate of the recovery device can be increased, it can be guaranteed that the sand blasting effect of the sand blasting gun is uniform, and the swing arm sand blasting robot can smoothly cross an obstacle and cannot be stuck; and the environmental adaptability of the swing arm sand blasting robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly relates to a swing arm sand blasting robot. BACKGROUND

[0002] In the field of maintenance of large industrial facilities, such as oil tanks, ships, building outer walls and the like, the metal vertical wall surfaces are often exposed to harsh environments, and rusting occurs after a long time. In order to avoid further deepening of the rust, sand blasting and rust removal are required before painting a coating on the wall surface for protection.

[0003] The existing wall-climbing robots have insufficient obstacle crossing ability and movement flexibility, and thus most of them can only move on large and flat surfaces for work. When the wall surface has obstacles such as welding protrusions, bolts or uneven surfaces, the adsorption assembly cannot be flexibly adjusted, which causes the robot to be unable to stably adsorb on the wall surface, and even causes the danger of falling off. During the sand blasting operation, once an obstacle is encountered, the sand blasting gun will be blocked, causing uneven sand blasting and failing to achieve the expected rust removal effect.

[0004] In summary, the existing swing arm sand blasting robot has insufficient adaptability when facing complex wall surface environments. CONTENT OF THE INVENTION

[0005] The swing arm sand blasting robot provided by the embodiments of the present application adjusts the distance between the recycling device and the wall surface and the distance between the adsorption assembly and the wall surface by using the first adjusting assembly and the second adjusting assembly respectively, so as to ensure that the swing arm sand blasting robot can smoothly cross obstacles without being stuck during sand blasting operation, and thus the adaptability of the swing arm sand blasting robot to different scenes is improved.

[0006] The swing arm sand blasting robot provided by the embodiments of the present application is used for cleaning a wall surface, and the swing arm sand blasting robot comprises:

[0007] a rack;

[0008] a walking mechanism installed on the rack, the walking mechanism comprising a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel being arranged on opposite sides of the rack respectively;

[0009] a sand blasting assembly installed on the rack, the sand blasting assembly comprising a sand blasting gun and a recycling device in communication with the sand blasting gun, the recycling device being provided with a first adjusting assembly, the first adjusting assembly being used for adjusting the distance between the recycling device and the wall surface;

[0010] an adsorption assembly installed on the rack and connected with the walking mechanism, the adsorption assembly being used for providing suction force to enable the walking mechanism to adsorb the wall surface;

[0011] A second adjusting assembly is installed on the adsorption assembly, and is used to adjust the distance between the adsorption assembly and the wall surface.

[0012] In some embodiments, the swing arm sand blasting robot comprises:

[0013] A first lug is installed on the first driving wheel, and is connected with an external fall arrester through a first cable;

[0014] A second lug is installed on the second driving wheel, and is connected with an external fall arrester through a second cable.

[0015] In some embodiments, the first lug comprises a first lug ring and a first bearing connected with the first lug ring, and the first bearing is rotationally connected with a hub of the first driving wheel;

[0016] The second lug comprises a second lug ring and a second bearing connected with the second lug ring, and the second bearing is rotationally connected with a hub of the second driving wheel.

[0017] In some embodiments, the second adjusting assembly comprises a first adjusting device and a second adjusting device;

[0018] The adsorption assembly comprises:

[0019] A first adsorption device is located between the second driving wheel and the first driving wheel, and is used to provide an adsorption force to enable the walking mechanism to adsorb the wall surface, and the first adjusting device is arranged on the first adsorption device;

[0020] A universal wheel assembly is arranged in a spaced manner with the first adsorption device; and

[0021] A second adsorption device is connected with the universal wheel assembly, and is used to provide an adsorption force to enable the universal wheel assembly to adsorb the wall surface, and the second adjusting device is arranged on the second adsorption device.

[0022] In some embodiments, the second adsorption device provides an adsorption force greater than that of the first adsorption device.

[0023] In some embodiments, the first adsorption device comprises a first magnetic adsorption unit and a first mounting seat connected with the first magnetic adsorption unit, the first mounting seat is connected with the rack, the first mounting seat is provided with a first mounting hole, and the first magnetic adsorption unit is provided with a first through hole;

[0024] The first adjusting device comprises:

[0025] A first floating bolt is disposed in the first mounting hole and the first through hole, and the first floating bolt is in clearance fit with the first through hole, so that the first magnetic adsorption unit can move along the axial direction of the first floating bolt.

[0026] A first nut is screwed on the end of the first floating bolt away from the first magnetic adsorption unit.

[0027] In some embodiments, the first adjusting device further comprises a first gasket, which is sleeved on the first floating bolt and located between the first nut and the first mounting seat.

[0028] In some embodiments, the sand blasting assembly further comprises:

[0029] A driving unit comprises a driving motor and a speed reducer, and the driving motor is used to drive the rotation of the shaft of the speed reducer.

[0030] A swing rod, one end of which is connected to the speed reducer through a first clamp, and the other end of which is connected to the recycling device, and the swing rod can move along the axial direction of the swing rod relative to the first clamp.

[0031] In some embodiments, the recycling device comprises a recycling barrel, the inside of which is in communication with the sand blasting gun, and the recycling barrel is provided with a brush at the end away from the sand blasting gun.

[0032] The first adjusting assembly comprises:

[0033] A mounting member is mounted on the outside of the recycling barrel, and a second mounting hole is formed in the mounting member.

[0034] A second floating bolt is disposed in the second mounting hole and a second through hole of the brush, and the second floating bolt is in clearance fit with the second through hole, so that the brush can move along the axial direction of the second floating bolt.

[0035] A second nut is screwed on the end of the second floating bolt away from the brush.

[0036] An elastic member is sleeved on the second floating bolt and located between the mounting member and the brush.

[0037] In some embodiments, the recycling device further comprises a protective cover mounted on the inside of the recycling barrel, and the protective cover is used to protect the inner wall of the recycling barrel.

[0038] In the swing-arm sandblasting robot provided in this application embodiment, the distance between the recovery device and the wall is adjusted by the first adjustment component, which not only improves the sand recovery rate of the recovery device, but also ensures the uniform sandblasting effect of the sandblasting gun, thereby achieving better wall cleaning and rust removal effects; the distance between the adsorption component and the wall is adjusted by the second adjustment component to ensure that the swing-arm sandblasting robot can smoothly cross obstacles without getting stuck during sandblasting operations; the first and second adjustment components can improve the environmental adaptability of the swing-arm sandblasting robot, thereby improving the overall performance and working efficiency of the swing-arm sandblasting robot. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the swing-arm sandblasting robot provided in the embodiments of this application.

[0041] Figure 2 for Figure 1 The diagram shown is a top view of the swing-arm sandblasting robot.

[0042] Figure 3 for Figure 1 The diagram shows the structure of the first lifting lug of the swing-arm sandblasting robot.

[0043] Figure 4 for Figure 1 The diagram shows the structure of the second adjustment component and the adsorption component of the swing-arm sandblasting robot.

[0044] Figure 5 for Figure 1 The diagram shows the structure of the first adjustment component and the sandblasting component of the swing-arm sandblasting robot.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100-unit swing-arm sandblasting robot; 10-unit frame;

[0047] Walking mechanism 20, first drive wheel 21, second drive wheel 22;

[0048] Sandblasting assembly 30, spray gun 31, feed pipe 311, recycling device 32, recycling bin 321, brush 322, protective cover 323, drive unit 33, drive motor 331, reducer 332, swing arm 34, first clamp 35, second clamp 36;

[0049] The first adjusting assembly 40, the mounting piece 41, the second floating bolt 42, the second nut 43, and the elastic piece 44;

[0050] The adsorption assembly 50, the first adsorption device 51, the first magnetic adsorption unit 511, the first mounting seat 512, the universal wheel assembly 52, the second adsorption device 53, the second magnetic adsorption unit 531, and the second mounting seat 532;

[0051] The second adjusting assembly 60, the first adjusting device 61, the first floating bolt 611, the first nut 612, the first gasket 613, the second adjusting device 62, the third floating bolt 621, the third nut 622, and the second gasket 623;

[0052] The first lifting lug 71, the first lifting ring 711, the first bearing 712, the second lifting lug 72, the first steel cable 73, and the second steel cable 74. DETAILED DESCRIPTION

[0053] 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 part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative work fall within the scope of protection of the present application.

[0054] Please refer to Figures 1-2 , Figure 1 A structural schematic diagram of the swing arm sand blasting robot 100 provided by the embodiments of the present application is shown. Figure 2 For Figure 1 A top view schematic diagram of the swing arm sand blasting robot 100 is shown. The swing arm sand blasting robot 100 provided by the embodiments of the present application is used for cleaning a wall surface, and the swing arm sand blasting robot 100 includes a rack 10, a walking mechanism 20, a sand blasting assembly 30, a first adjusting assembly 40, an adsorption assembly 50, and a second adjusting assembly 60.

[0055] The rack 10 serves as a basic frame of the entire swing arm sand blasting robot 100, and is used for providing a support and a mounting basis for other assemblies. The rack 10 has good strength and rigidity, and can bear various loads borne by the swing arm sand blasting robot 100 during work, specifically including the weight of the walking mechanism 20, the sand blasting assembly 30, the first adjusting assembly 40, the adsorption assembly 50, and the second adjusting assembly 60, and various forces generated when the swing arm sand blasting robot 100 moves and works on a wall surface. The shape of the rack 10 can be designed according to actual requirements. The rack 10 can adopt a light and high-strength metal material, so as to reduce the overall weight of the swing arm sand blasting robot 100 as much as possible while ensuring the strength, and improve the mobility and energy efficiency of the swing arm sand blasting robot 100.

[0056] The walking mechanism 20 is mounted on the frame 10, and the walking mechanism 20 includes a first driving wheel 21 and a second driving wheel 22, which are arranged on opposite sides of the frame 10, respectively.

[0057] The first driving wheel 21 and the second driving wheel 22 can be driven by an electric motor, and the rotation of the driving wheels is driven by the electric motor, so as to drive the swing-arm sandblasting robot 100 to move on the wall surface. The electric motor transmits power to the first driving wheel 21 and the second driving wheel 22 through a transmission device (such as a gear box or a speed reducer), so that the swing-arm sandblasting robot 100 can move on the wall surface at different speeds.

[0058] The swing-arm sandblasting robot 100 can be turned by a differential steering method, and the swing-arm sandblasting robot 100 can be turned left or right by controlling the speed difference between the first driving wheel 21 and the second driving wheel 22. For example, when the swing-arm sandblasting robot 100 needs to be turned left, the speed of the first driving wheel 21 can be reduced, while the speed of the second driving wheel 22 is kept or increased, and vice versa.

[0059] The wheel surface of the first driving wheel 21 and the second driving wheel 22 can be made of special rubber or polyurethane material with high wear resistance and high friction coefficient, so as to ensure good grip between the wheel surface and the wall surface, and avoid slipping during walking.

[0060] In some embodiments, a position sensor can be arranged on the walking mechanism 20, so as to measure the walking distance and speed of the swing-arm sandblasting robot 100, and facilitate control of the walking track of the swing-arm sandblasting robot 100. During walking of the swing-arm sandblasting robot 100, the walking speed of the walking mechanism 20 can be controlled according to different wall surface conditions and cleaning tasks. For example, a higher walking speed can be achieved on a flat wall surface, so as to improve cleaning efficiency, while the walking speed is appropriately reduced on a rough or uneven wall surface, so as to ensure the stability and safety of walking of the swing-arm sandblasting robot 100.

[0061] The sandblasting assembly 30 is mounted on the frame 10, and the sandblasting assembly 30 includes a sandblasting gun 31 and a recycling device 32 connected with the sandblasting gun 31. The recycling device 32 is provided with a first adjusting assembly 40 for adjusting the distance between the recycling device 32 and the wall surface.

[0062] The sand blasting gun 31 can be connected to an external sand supply system through the feed pipe 311 to spray sand (such as quartz sand, steel sand, etc.) at a certain pressure and speed through the recovery device 32 to the wall surface to remove dirt, rust or coating on the wall surface. Among them, the sand blasting gun 31 can adopt a pressure type sand blasting gun 31, and the working pressure thereof can be adjusted according to the specific cleaning requirements. By adjusting the pressure, the sand blasting speed and impact force can be controlled to achieve different degrees of wall cleaning effect.

[0063] The part of the sand particles sprayed by the sand blasting gun 31 hits the wall surface and rebounds, and the recovery device 32 is used to recover part of the sand to realize the recycling of the sand and reduce environmental pollution. The recovery device 32 can use air flow or physical structure to guide the sand to the inside of the recovery device 32.

[0064] Among them, the first adjusting assembly 40 can adopt an electric push rod or a screw rod mechanism, which drives the recovery device 32 to adjust the position in the direction perpendicular to the wall surface by controlling the rotation of the motor or the rotation of the screw rod.

[0065] The first adjusting assembly 40 can have a real-time adjusting function. When the recovery device 32 encounters an obstacle during the movement of the swing arm sand blasting robot 100, the first adjusting assembly 40 can adjust the recovery device 32 in real time. Illustratively, during the movement of the swing arm sand blasting robot 100, a distance sensor (such as an ultrasonic sensor, an infrared sensor, etc.) installed on the recovery device 32 can be used to monitor the distance between the recovery device 32 and the wall surface or possible obstacles in real time. According to the measured distance information, the first adjusting assembly 40 can send adjusting instructions to make the recovery device 32 move away from the obstacle to avoid collision, or make the recovery device 32 move close to the wall surface to work.

[0066] In addition, the first adjusting assembly 40 can also have an adjusting function of controlling the corresponding distance according to the terrain in advance. Illustratively, before using the swing arm sand blasting robot 100 to clean the wall, the terrain of the wall can be analyzed in advance, for example, by using laser scanning, visual sensor and other technologies to collect and process the information of the shape, undulation, roughness and other information of the wall. According to the terrain data, the parameters of the first adjusting assembly 40 are set in advance to make the distance between the recovery device 32 and the wall suitable for the working distance.

[0067] For example, for a relatively flat wall surface, the distance between the recovery device 32 and the wall surface can be kept relatively small to improve the recovery efficiency of the sand material, because the rebound distance of the sand particles is relatively short and the sand particles are easily recovered by the recovery device 32. For a wall surface with certain undulations or unevenness, such as a metal wall surface with rivets or welds, the position of the recovery device 32 needs to be adjusted according to the protrusions and depressions. For the protruding parts, the distance between the recovery device 32 and the wall surface can be appropriately increased to avoid collision; for the depressed parts, the distance can be appropriately reduced, but the recovery device 32 also needs to avoid being too deep into the depressed area and being stuck.

[0068] The suction assembly 50 is mounted on the frame 10 and connected with the traveling mechanism 20, and is used to provide suction force to enable the traveling mechanism 20 to be adsorbed to the wall surface. The suction assembly 50 can enable the swing arm sand blasting robot 100 to be firmly adsorbed to the wall surface.

[0069] The suction assembly 50 can adopt a vacuum suction mode, that is, a negative pressure is generated by a vacuum pump to form a sealed adsorption area at the bottom of the swing arm sand blasting robot 100, so that the swing arm sand blasting robot 100 is adsorbed to the wall surface. When the swing arm sand blasting robot 100 starts, the vacuum pump starts to work to suck out the air in the adsorption area, so as to generate sufficient suction force to ensure that the swing arm sand blasting robot 100 does not fall during the walking and sand blasting operation on the wall surface.

[0070] The second adjusting assembly 60 is mounted on the suction assembly 50, and is used to adjust the distance between the suction assembly 50 and the wall surface. The second adjusting assembly 60 can adopt a structure similar to that of the first adjusting assembly 40, for example, an electric push rod or a hydraulic rod, etc. Through the second adjusting assembly 60, the position of the suction assembly 50 can be adjusted according to the undulations or unevenness of the wall surface, so that the suction assembly 50 always maintains the optimal adsorption distance with the wall surface.

[0071] During the walking and working of the swing arm sand blasting robot 100, the second adjusting assembly 60 can work in cooperation with the sensor system of the swing arm sand blasting robot 100. When the sensor system detects the unevenness of the wall surface, the second adjusting assembly 60 automatically adjusts the height of the suction assembly 50 according to the feedback information of the sensor, to ensure that the adsorption force between the suction assembly 50 and the wall surface is stable and effective. For example, when the swing arm sand blasting robot 100 passes through a protruding wall surface area, the second adjusting assembly 60 appropriately raises the suction assembly 50 to avoid collision between the suction assembly 50 and the protrusion; when passing through a depressed area, the suction assembly 50 is lowered to maintain good adsorption effect.

[0072] In the wall cleaning process using the swing arm sand blasting robot 100, first, the swing arm sand blasting robot 100 is placed on the wall to be cleaned, the suction assembly 50 is started, and the swing arm sand blasting robot 100 is firmly adsorbed on the wall. Subsequently, the motor of the walking mechanism 20 is started, and the swing arm sand blasting robot 100 is controlled to travel at a preset speed and path. At the same time, the sand blasting gun 31 of the sand blasting assembly 30 and the external sand supply system are started, and the sand of the sand blasting gun 31 is sprayed from the bottom of the recycling device 32 to the wall. During the cleaning and moving process, the first adjusting assembly 40 and the second adjusting assembly 60 can adjust the distance between the recycling device 32 and the suction assembly 50 and the wall in real time according to the situation of the wall. The recycled sand of the recycling device 32 can be transported to the sand supply system after treatment, realizing the recycling of the sand.

[0073] In the swing arm sand blasting robot 100 provided in the embodiments of the present application, the first adjusting assembly 40 is used to adjust the distance between the recycling device 32 and the wall, which not only improves the sand recycling rate of the recycling device 32, but also ensures the uniformity of the sand blasting effect of the sand blasting gun 31, thereby realizing better wall cleaning and rust removal effect; the second adjusting assembly 60 is used to adjust the distance between the suction assembly 50 and the wall, so that the swing arm sand blasting robot 100 can smoothly pass over obstacles without being stuck during sand blasting operation. The first adjusting assembly 40 and the second adjusting assembly 60 can improve the environmental adaptability of the swing arm sand blasting robot 100, thereby improving the overall performance and working efficiency of the swing arm sand blasting robot 100.

[0074] In some embodiments, the swing arm sand blasting robot 100 comprises a first lifting lug 71 and a second lifting lug 72. The first lifting lug 71 is installed on the first driving wheel 21, and the first lifting lug 71 is connected with an external fall arrester through a first steel cable 73. The second lifting lug 72 is installed on the second driving wheel 22, and the second lifting lug 72 is connected with the external fall arrester through a second steel cable 74.

[0075] The first lifting lug 71 and the second lifting lug 72 are arranged on the swing arm sand blasting robot 100 and connected with the external fall arrester through the first steel cable 73 and the second steel cable 74, which can provide additional safety protection for the swing arm sand blasting robot 100, avoiding the risk of falling due to adsorption failure or walking mechanism 20 failure caused by various unexpected situations.

[0076] When the swing arm sand blasting robot 100 is working on the wall surface, the first lifting lug 71 and the second lifting lug 72 move synchronously with the rotation of the first driving wheel 21 and the second driving wheel 22. The first steel cable 73 and the second steel cable 74 are smoothly released or retracted on the winding drum of the external fall arrestor according to the motion state of the swing arm sand blasting robot 100. In this process, the first steel cable 73 and the second steel cable 74 maintain a certain degree of slack, but do not interfere with the movement of the swing arm sand blasting robot 100, ensuring that the swing arm sand blasting robot 100 can freely walk and work on the wall surface.

[0077] Please refer to Figure 2 with Figure 3 , Figure 3 for Figure 1 the structure diagram of the first lifting lug of the swing arm sand blasting robot. In some embodiments, the first lifting lug 71 includes a first lifting ring 711 and a first bearing 712 connected with the first lifting ring 711, and the first bearing 712 is rotationally connected with the hub of the first driving wheel 21. The second lifting lug 72 includes a second lifting ring and a second bearing (not shown) connected with the second lifting ring, and the second bearing is rotationally connected with the hub of the second driving wheel 22.

[0078] Among them, the first lifting ring 711 is connected with the fall arrestor through the first steel cable 73, and the second lifting ring is connected with the fall arrestor through the second steel cable 74. When the first driving wheel 21 and the second driving wheel 22 rotate to drive the swing arm sand blasting robot 100 to move on the wall surface, due to the existence of the first bearing 712, it can effectively isolate the transmission of rotational force brought by the rotation of the first driving wheel 21, that is, the first lifting ring 711 can be separated from the rotation of the first driving wheel 21. Specifically, the rotation of the first driving wheel 21 does not directly drive the rotation of the first lifting lug 71 as a whole, but makes the inner ring of the first bearing 712 rotate with the first driving wheel 21, and the outer ring of the first bearing 712 is connected with the first lifting ring 711, and both remain in a relatively static state.

[0079] Similarly, due to the existence of the second bearing, it can effectively isolate the transmission of rotational force brought by the rotation of the second driving wheel 22, so that the second lifting ring can be separated from the rotation of the second driving wheel 22.

[0080] Because the first lifting ring 711 and the second lifting ring do not rotate with the first driving wheel 21 and the second driving wheel 22, the first steel cable 73 and the second steel cable 74 connected with the fall arrestor will not be self-wrapped with the rotation of the first driving wheel 21 and the second driving wheel 22, thereby ensuring that the fall arrest system is always in a reliable working state.

[0081] Please refer to Figure 4 , Figure 4 for Figure 1Structure diagram of the second adjusting assembly 60 and the adsorption assembly 50 of the swing arm sand blasting robot 100. In some embodiments, the second adjusting assembly 60 includes a first adjusting device 61 and a second adjusting device 62. The adsorption assembly 50 includes a first adsorption device 51, a universal wheel assembly 52, and a second adsorption device 53.

[0082] The first adsorption device 51 is located between the second driving wheel 22 and the first driving wheel 21, and is used to provide suction force to enable the walking mechanism 20 to adsorb the wall surface. The first adsorption device 51 is provided with the first adjusting device 61.

[0083] The first adsorption device 51 is located between the second driving wheel 22 and the first driving wheel 21, and ensures that the center of gravity of the swing arm sand blasting robot 100 is reasonably distributed and the stability of the swing arm sand blasting robot 100 when walking. The main function of the first adsorption device 51 is to provide suction force so that the walking mechanism 20 can be closely adsorbed on the wall surface.

[0084] In actual work, when the swing arm sand blasting robot 100 starts, the first adsorption device 51 starts to work and provides suction force to press the swing arm sand blasting robot 100 on the wall surface, thereby providing a stable basis for subsequent walking and cleaning operations.

[0085] The first adjusting device 61 can take various forms, such as an electric push rod or a hydraulic rod, etc. Taking the electric push rod as an example, when the swing arm sand blasting robot 100 moves on the wall surface, the sensor monitors the wall surface in real time, such as the flatness and slope change of the wall surface.

[0086] When the change of the wall surface condition is detected, the control system sends instructions to the electric push rod according to the preset algorithm, and the electric push rod extends or shortens according to the instructions, thereby accurately adjusting the distance between the first adsorption device 51 and the wall surface. For example, when encountering a protrusion on the wall surface, the electric push rod retracts to lift the first adsorption device 51 to avoid collision with the protrusion; when encountering a depression, the electric push rod extends to make the first adsorption device 51 close to the wall surface, ensuring that the adsorption force is not affected.

[0087] Please refer to Figure 4 In some embodiments, the first adsorption device 51 can include a first magnetic adsorption unit 511 and a first mounting seat 512, the first mounting seat 512 being connected with the first magnetic adsorption unit 511 and the rack 10, and the first mounting seat 512 being provided with a first mounting hole. The first magnetic adsorption unit 511 is provided with a first via hole.

[0088] The first magnetic adsorption unit 511 mainly works based on the principle of magnetism. When the first magnetic adsorption unit 511 is close to the ferromagnetic wall surface, the adsorption force is formed by the interaction between the magnetic field generated by the first magnetic adsorption unit 511 and the wall surface, so that the swing arm sand blasting robot 100 is firmly adsorbed on the wall surface. The first magnetic adsorption unit 511 can include a permanent magnet or an electromagnet assembly. The permanent magnet can continuously generate a magnetic field without additional energy. The electromagnet assembly can accurately adjust the magnetic field strength by controlling the current size, and then flexibly adjust the adsorption force. The corresponding first magnetic adsorption unit can be selected according to the actual needs.

[0089] The first mounting seat 512 plays a role in connecting the first magnetic adsorption unit 511 and the rack 10, and guarantees the stability of the first magnetic adsorption unit 511 in the structure of the swing arm sand blasting robot 100. The first mounting seat 512 can be made of high-strength materials such as aluminum alloy. While ensuring sufficient strength to withstand the adsorption force and various stresses generated during the movement of the swing arm sand blasting robot 100, the weight of the first mounting seat 512 is as light as possible, which improves the energy utilization efficiency and movement flexibility of the swing arm sand blasting robot 100. The first mounting hole on the first mounting seat 512 is used in cooperation with the first adjusting device 61 to realize the position adjustment of the first adjusting device 61 to the first adsorption device 51.

[0090] The first adjusting device 61 includes a first floating bolt 611 and a first nut 612. The first floating bolt 611 is arranged in the first mounting hole and the first via hole. The first floating bolt 611 is gap-fitted with the first via hole, so that the first magnetic adsorption unit 511 can move along the axial direction of the first floating bolt 611.

[0091] The first nut 612 is screwed on the end of the first floating bolt 611 away from the first magnetic adsorption unit 511. The first nut 612 is used in cooperation with the first floating bolt 611 to realize the locking and fine adjustment of the position of the first adsorption device 51. After the first nut 612 is adjusted in place, it can be reliably locked to prevent the first magnetic adsorption unit 511 from falling off.

[0092] Due to the gap-fitting between the first magnetic adsorption unit 511 and the first floating bolt 611, when the protruding obstacle on the wall surface hits the bottom of the first magnetic adsorption unit 511, the hitting force will make the first magnetic adsorption unit 511 move upward along the axial direction of the first floating bolt 611 by a certain distance to overcome the obstacle and reduce the wear of the obstacle on the first magnetic adsorption unit 511.

[0093] After overcoming the obstacle, under the action of the gravity of the first magnetic adsorption unit 511 and the adsorption force between the first magnetic adsorption unit 511 and the wall surface, the first magnetic adsorption unit 511 moves downward to the appropriate adsorption position, and continues to stably provide the adsorption force for the swing arm sand blasting robot 100.

[0094] The first adjusting device 61 only needs a nut and bolt structure, and does not need complex components such as motors, pumps, cylinders, pipelines and corresponding control systems required by electric push rods or hydraulic rods. The first nut 612 and the first floating bolt 611 are relatively simple to install and disassemble, facilitating later equipment maintenance and replacement.

[0095] In some embodiments, the first adjusting device 61 further comprises a first gasket 613, which is sleeved on the first floating bolt 611 and located between the first nut 612 and the first mounting seat 512.

[0096] It can be understood that during the operation of the swing arm sand blasting robot 100, the first driving wheel 21 and the second driving wheel 22 are in continuous contact and rolling with the wall surface. As the operation time increases, the surface material of the first driving wheel 21 and the second driving wheel 22 will be gradually worn away, causing the diameter of the first driving wheel 21 and the second driving wheel 22 to gradually decrease.

[0097] When the diameter of the first driving wheel 21 and the second driving wheel 22 decreases, the height of the walking mechanism 20 will decrease, so that the first magnetic adsorption unit 511 is relatively closer to the wall surface, thereby affecting the uniform distribution of the magnetic force of the first magnetic adsorption unit 511 or causing the first magnetic adsorption unit 511 to be damaged due to friction with the wall surface. The first gasket 613 can compensate for the height change caused by the wear of the first driving wheel 21 and the second driving wheel 22, so as to ensure that the first magnetic adsorption unit 511 is within a suitable distance range from the wall surface during normal operation, and ensure the effective exertion of the magnetic force and the stable operation of the swing arm sand blasting robot 100.

[0098] The thickness of the first gasket 613 can be selected according to the wear condition of the first driving wheel 21 and the second driving wheel 22. When it is detected that the first driving wheel 21 and the second driving wheel 22 are worn to a certain extent, causing the first magnetic adsorption unit 511 to be too close to the working surface, the first gasket 613 with a suitable thickness is added, so that the distance between the first magnetic adsorption unit 511 and the working surface is restored to the range required by the initial design.

[0099] The universal wheel assembly 52 is arranged in a spaced manner with the first adsorption device 51. The universal wheel assembly 52 can provide flexible steering capability for the swing arm sand blasting robot 100. During the walking process of the swing arm sand blasting robot 100, the universal wheel assembly 52 can freely rotate according to the steering requirement of the swing arm sand blasting robot 100, and cooperate with the walking mechanism 20 to enable the swing arm sand blasting robot 100 to easily perform steering operation at various angles on the wall surface, adapt to different shapes and layouts of the wall surface environment, and ensure that the cleaning work can be carried out comprehensively and efficiently.

[0100] The universal wheel assembly 52 can include first and second universal wheels symmetrically distributed on both sides of the second adsorption device 53 to ensure the stability of the swing arm sand blasting robot 100 when walking. The second adsorption device 53 is connected with the universal wheel assembly 52, and the second adsorption device 53 is configured to provide suction force to enable the universal wheel assembly 52 to adsorb to a wall surface. The second adsorption device 53 is provided with a second adjusting device 62.

[0101] The second adsorption device 53 is connected with the universal wheel assembly 52, and the second adsorption device 53 provides suction force to enable the universal wheel assembly 52 to firmly adsorb to a wall surface. This not only enhances the stability of the universal wheel assembly 52 in the adsorbed state, but also further improves the adsorption reliability of the entire swing arm sand blasting robot 100, preventing the swing arm sand blasting robot 100 from deviating from the walking track or falling due to unstable adsorption of the universal wheel assembly 52.

[0102] The second adsorption device 53 can include a second magnetic adsorption unit 531 and a second mounting seat 532. The second mounting seat 532 is connected with the second magnetic adsorption unit 531, and the second mounting seat 532 is further connected with the frame 10. The second mounting seat 532 is provided with a third mounting hole, and the second magnetic adsorption unit 531 is provided with a third through hole.

[0103] Since the structure of the second adsorption device 53 is similar to that of the first adsorption device 51, the working principles of the two are also similar. Therefore, the working principle of the second adsorption device 53 will not be described here again, and the specific description can be referred to the foregoing description of the first adsorption device 51.

[0104] The second adjusting device 62 can also adjust the distance between the second adsorption device 53 and the wall surface according to the real-time situation of the wall surface. For example, when the swing arm sand blasting robot 100 walks on an uneven wall surface, the second adjusting device 62 can adjust the position of the second adsorption device 53 according to the undulating situation of the wall surface to ensure that the adsorption force is always maintained at an appropriate level, thereby ensuring the stable adsorption of the universal wheel assembly 52 and the normal walking of the swing arm sand blasting robot 100.

[0105] The second adjusting device 62 includes a third floating bolt 621 and a third nut 622. The third floating bolt 621 is arranged in the third mounting hole and the third through hole, and the third floating bolt 621 is in clearance fit with the third through hole, so that the second magnetic adsorption unit 531 can move along the axial direction of the third floating bolt 621. The third nut 622 is screwed on the end of the third floating bolt 621 away from the second magnetic adsorption unit 531.

[0106] In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532. In some embodiments, the second adjusting device 62 further includes a second gasket 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting seat 532

[0107] Since the structure of the second adjusting device 62 is similar to that of the first adjusting device 61, the working principle of the second adjusting device 62 is also similar to that of the first adjusting device 61. The difference is that the second adjusting device 62 is used to adjust the position of the second magnetic adsorption unit 531. Further details about the second adjusting device 62 will not be provided here; please refer to the aforementioned description of the first adjusting device 61 for more information.

[0108] Similarly, in some embodiments, the second adjusting device 62 further includes a second washer 623, which is sleeved on the third floating bolt 621 and located between the third nut 622 and the second mounting base 532.

[0109] The second pad 623 can accommodate the height changes caused by wear on the first and second universal wheels of the universal wheel assembly 52, ensuring that the second magnetic adsorption unit 531 is at a suitable distance from the wall surface during normal operation, thus ensuring the effective use of magnetic attraction and the stable operation of the swing arm sandblasting robot 100.

[0110] In some embodiments, the adsorption force provided by the second adsorption device 53 is greater than that of the first adsorption device 51. When the swing-arm sandblasting robot 100 encounters an unexpected downward slip, the adsorption force of the second adsorption device 53 is greater, which can, to some extent, slow down the downward trend of the swing-arm sandblasting robot 100.

[0111] When the first lifting lug 71 and the second lifting lug 72 are respectively installed on the first drive wheel 21 and the second drive wheel 22, that is, when the first lifting lug 71 and the second lifting lug 72 are set close to the first adsorption device 51, if the swing arm sandblasting robot 100 accidentally slides downward, under the action of the fall arrestor, the first steel cable 73 and the second steel cable 74 will pull the first adsorption device 51 away from the wall. Since the second adsorption device 53 has a large adsorption force, the second adsorption device 53 can provide a certain support for the swing arm sandblasting robot 100, which can play a role in buffering the downward trend and preventing the swing arm sandblasting robot 100 from directly flipping and hanging in the air and damage to related components.

[0112] Please see Figure 5 , Figure 5 for Figure 1 The diagram shows the structure of the sandblasting assembly 30 of the swing-arm sandblasting robot 100. In some embodiments, the sandblasting assembly 30 further includes a drive unit 33 and a swing arm 34. The drive unit 33 includes a drive motor 331 and a reducer 332, the drive motor 331 being used to drive the shaft of the reducer 332 to rotate. One end of the swing arm 34 is connected to the reducer 332 via a first clamp 35, and the other end of the swing arm 34 is connected to a recovery device 32, the swing arm 34 being able to move axially relative to the first clamp 35.

[0113] The drive motor 331 can be a DC motor or an AC motor, and its specific performance parameters, such as power, speed, and torque, are selected based on the workload and sandblasting efficiency requirements of the swing-arm sandblasting robot 100. The reducer 332 converts the high-speed rotation of the drive motor 331 into a lower speed and higher torque suitable for sandblasting operations. Through the shaft output of the reducer 332, more stable power support is provided for subsequent sandblasting operations. The reducer 332 can adjust the transmission ratio according to actual needs to achieve different output speeds and torques to meet different sandblasting operation requirements.

[0114] The first clamp 35 is used to securely connect the swing arm 34 to the reducer 332, preventing the swing arm 34 from loosening during the operation of the swing arm sandblasting robot 100, which would affect the working efficiency and stability of the sandblasting assembly 30. The first clamp 35 can be installed on the reducer 332 by means of bolt connection, key connection, or other methods.

[0115] When the sandblasting operation begins, the drive motor 331 starts, and the rotational power of the drive motor 331 is converted into speed and torque through the reducer 332, causing the shaft of the reducer 332 to rotate. The rotation of the reducer 332 shaft is transmitted to the swing arm 34 through the first clamp 35, causing the swing arm 34 to swing, synchronously driving the sandblasting gun 31 and the recovery device 32 to move, realizing the reciprocating motion of the sandblasting gun 31 and the recovery device 32, thus improving the rust removal efficiency.

[0116] The swing arm 34 can also move axially relative to the first clamp 35. When the swing arm 34 moves axially (that is, the swing arm 34 drives the swing radius to be adjustable), it synchronously drives the sandblasting gun 31 and the recovery device 32 to move, so as to sandblast the wall surface at different distances.

[0117] When the swing-arm sandblasting robot 100 is performing sandblasting operations, Figure 2 As shown, the first steel cable 73 and the second steel cable 74 are pulled apart to both sides in an inverted V shape. This way, when the swing arm 34 swings left and right, it can prevent collisions or interference with the first steel cable 73 and the second steel cable 74 to the greatest extent.

[0118] In some embodiments, the recycling device 32 includes a recycling bin 321, the interior of which is connected to the sandblasting gun 31, and a brush 322 is provided at the end of the recycling bin 321 facing away from the sandblasting gun 31.

[0119] The interior of the recovery bin 321 is connected to the sandblasting gun 31. During the sandblasting process, the sand ejected from the sandblasting gun 31 has a recovery path after completing the sandblasting task. After being sprayed, some of the sand will fall into the recovery bin 321 due to gravity or rebound.

[0120] The bottom of the recycling bin 321 is equipped with a brush 322. When the sand is sprayed onto the wall, some of the sand will adhere to the wall or be scattered around the wall. The brush 322 can brush off these scattered sand and guide them into the recycling bin 321.

[0121] In addition, when the swing arm sandblasting robot 100 is working, the first adjustment component 40 can adjust to reduce the arc-shaped gap between the recovery device 32 and the arc-shaped wall, automatically adjust the movement of the recovery device 32 so that the brush 322 is always pressed tightly against the arc-shaped wall, which helps to better fit the arc-shaped wall, reduce the escape of sand and dust from the gap, and ensure that the recovery device 32 has good sealing performance.

[0122] The first adjustment assembly 40 includes a mounting member 41, a second floating bolt 42, a second nut 43, and an elastic member 44. The mounting member 41 is installed on the outside of the recycling bin 321, and a second mounting hole is provided on the mounting member 41.

[0123] Mounting component 41 primarily provides a mounting base for the second floating bolt 42, the second nut 43, and the elastic element 44. Mounting component 41 can be connected to the recycling bin 321 via welding, bolting, or other suitable mechanical connection methods. Mounting component 41 is located outside the recycling bin 321 to avoid affecting the sand recovery rate. The second mounting hole on mounting component 41 is for accommodating the subsequent second floating bolt 42.

[0124] The second floating bolt 42 passes through the second mounting hole and the second through hole of the brush 322, with a clearance fit between the second floating bolt 42 and the second through hole, allowing the brush 322 to move axially along the second floating bolt 42. The second nut 43 is screwed onto the end of the second floating bolt 42 away from the brush 322. An elastic element 44 is sleeved on the second floating bolt 42 and located between the mounting member 41 and the brush 322. The second floating bolt 42 is generally made of high-strength bolt, and its length and diameter are determined according to the dimensions of the recycling bin 321 and the brush 322, as well as the required adjustment range.

[0125] The elastic element 44 provides elastic support and cushioning for the adjustment of the brush 322. The elastic element 44 can be a spring or elastic rubber, etc. When the brush 322 is subjected to the resistance of the wall, the elastic element 44 can play a cushioning role to prevent the brush 322 from being damaged by rigid impact.

[0126] When a protruding obstacle on the wall contacts the bottom of the brush 322 and generates a holding force, the holding force causes the brush 322 to move upward along the axis of the second floating bolt 42 to overcome the obstacle. During the upward movement of the brush 322, the elastic element 44 is compressed to store elastic potential energy. After the brush 322 overcomes the obstacle, the elastic element 44 releases the elastic potential energy, pushing the brush 322 downward to return to its original working position, ensuring that the brush 322 continues to maintain a suitable contact state with the wall surface.

[0127] The first adjustment component 40 enables the recovery device 32 to better adapt to the complex conditions of the wall surface. Whether there are small protruding particles or large obstacles, the brush 322 can move upward to overcome them without being stuck or damaged by the obstacles, thereby enhancing the adaptability of the swing arm sandblasting robot 100 to work in different wall surface environments.

[0128] In addition, the first adjustment component 40 is set close to the working surface end of the recycling device 32 (that is, the end close to the wall). The short distance between the first adjustment component 40 and the working surface means a short lever arm. This can minimize the radial torque of the first adjustment component 40, reduce malfunctions, and improve the working efficiency of the swing arm sandblasting robot 100.

[0129] In some embodiments, the recycling device 32 may further include a protective cover 323, which is installed inside the recycling bin 321 and is used to protect the inner wall of the recycling bin 321.

[0130] When the sand impacts the protective cover 323, the protective cover 323 first bears the impact force of the sand, absorbing or dispersing the kinetic energy of the sand, thereby reducing the direct impact of the sand on the inner wall of the recycling bin 321, effectively reducing the wear of the inner wall of the recycling bin 321, and extending the service life of the recycling bin 321.

[0131] The protective cover 323 can be installed on the inner wall of the recycling bin 321 by welding, bolting, or snap-fitting. Welding provides a secure connection for the protective cover 323, ensuring it adheres stably to the inside of the recycling bin 321 and is not prone to loosening. Bolting facilitates disassembly and maintenance; when the protective cover 323 is damaged and needs replacement, it can be easily removed. A suitable connection method can be selected based on actual needs.

[0132] In some embodiments, the recycling device 32 further includes a second clamp 37 for connecting the sandblasting gun 31 to the recycling bin 321. The second clamp 37 prevents the sandblasting gun 31 from falling off the recycling bin 321 under prolonged vibration, ensuring the continuity and safety of the swing-arm sandblasting robot 100 operation. The second clamp 37 can also position the sandblasting gun 31, maintaining a suitable relative position and angle between the spray nozzle of the sandblasting gun 31 and the recycling port of the recycling bin 321, thereby improving the sand recycling efficiency.

[0133] In the description of this application, it should be understood that terms such as “first” and “second” are used only to distinguish similar objects and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0134] The foregoing has provided a detailed description of the swing-arm sandblasting robot provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there may be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A swing-arm sandblasting robot for cleaning wall surfaces, characterized in that, include: frame; A walking mechanism is mounted on the frame. The walking mechanism includes a first drive wheel and a second drive wheel, which are respectively arranged on opposite sides of the frame. A sandblasting assembly is mounted on the frame. The sandblasting assembly includes a sandblasting gun and a recovery device communicating with the sandblasting gun. The recovery device is provided with a first adjustment component, which is used to adjust the distance between the recovery device and the wall surface. An adsorption assembly is mounted on the frame and connected to the walking mechanism. The adsorption assembly is used to provide suction so that the walking mechanism adsorbs the wall surface. A second adjustment component is installed on the adsorption component, and the second adjustment component is used to adjust the distance between the adsorption component and the wall surface.

2. The swing-arm sandblasting robot according to claim 1, characterized in that, The swing-arm sandblasting robot includes: The first lifting lug is installed on the first drive wheel, and the first lifting lug is connected to an external fall arrestor via a first steel cable; The second lifting lug is installed on the second drive wheel, and the second lifting lug is connected to the external fall arrestor via the second steel cable.

3. The swing-arm sandblasting robot according to claim 2, characterized in that, The first lifting lug includes a first lifting ring and a first bearing connected to the first lifting ring, and the first bearing is rotatably connected to the hub of the first drive wheel; The second lifting lug includes a second lifting ring and a second bearing connected to the second lifting ring, the second bearing being rotatably connected to the hub of the second drive wheel.

4. The swing-arm sandblasting robot according to any one of claims 1-3, characterized in that, The second adjustment component includes a first adjustment device and a second adjustment device; The adsorption component includes: A first adsorption device is located between the second drive wheel and the first drive wheel. The first adsorption device is used to provide suction so that the walking mechanism adsorbs the wall surface. The first adsorption device is provided with the first adjustment device. The caster wheel assembly is spaced apart from the first adsorption device; and The second adsorption device is connected to the universal wheel assembly. The second adsorption device is used to provide suction so that the universal wheel assembly adsorbs the wall surface. The second adsorption device is provided with the second adjustment device.

5. The swing-arm sandblasting robot according to claim 4, characterized in that, The adsorption force provided by the second adsorption device is greater than that of the first adsorption device.

6. The swing-arm sandblasting robot according to claim 4, characterized in that, The first adsorption device includes a first magnetic adsorption unit and a first mounting base connected to the first magnetic adsorption unit. The first mounting base is connected to the frame. The first mounting base has a first mounting hole, and the first magnetic adsorption unit has a first through hole. The first adjusting device includes: The first floating bolt passes through the first mounting hole and the first through hole. The first floating bolt and the first through hole are in clearance fit, so that the first magnetic adsorption unit can move along the axial direction of the first floating bolt. The first nut is screwed onto the end of the first floating bolt away from the first magnetic adsorption unit.

7. The swing-arm sandblasting robot according to claim 6, characterized in that, The first adjusting device further includes a first gasket, which is sleeved on the first floating bolt and located between the first nut and the first mounting base.

8. The swing-arm sandblasting robot according to any one of claims 1-3, characterized in that, The sandblasting assembly also includes: The drive unit includes a drive motor and a reducer, wherein the drive motor is used to drive the shaft of the reducer to rotate; A swing arm, one end of which is connected to the reducer via a first clamp, and the other end of which is connected to the recovery device. The swing arm is capable of moving relative to the first clamp along its axial direction.

9. The swing-arm sandblasting robot according to any one of claims 1-3, characterized in that, The recycling device includes a recycling bin, the interior of which is connected to the sandblasting gun, and a brush is provided at the end of the recycling bin away from the sandblasting gun. The first adjustment component includes: The mounting component is installed on the outside of the recycling bin, and the mounting component has a second mounting hole. The second floating bolt passes through the second mounting hole and the second through hole of the brush. The second floating bolt is clearance-fitted with the second through hole, so that the brush can move along the axial direction of the second floating bolt. The second nut is screwed onto the end of the second floating bolt away from the brush. An elastic element is fitted onto the second floating bolt and is located between the mounting element and the brush.

10. The swing-arm sandblasting robot according to claim 9, characterized in that, The recycling device also includes a protective cover installed inside the recycling bin, the protective cover being used to protect the inner wall of the recycling bin.

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