Surface rust removal module and surface rust removal system

Abstract

The application provides a surface rust removal module and a surface rust removal system. The surface rust removal module comprises a support plate, a rust removal assembly arranged on the support plate and movable relative to the support plate in a direction perpendicular to a work surface, the rust removal assembly comprising a first driving component and a rust removal disc brush, the rust removal disc brush being located on a side of the support plate facing the work surface, and the first driving component being used to drive the rust removal disc brush to rotate about a first axis intersecting the work surface; a lifting guide assembly arranged between the rust removal assembly and the support plate; and at least two magnetic absorption universal wheels, each of which is arranged on the side of the support plate facing the work surface and located on an outer side of the rust removal disc brush. The application can be adapted to a work surface with complex curvature and improves rust removal efficiency.

Description

Technical Field

[0001] This application relates to the field of wall surface operation technology, and in particular to a surface rust removal module and a surface rust removal system. Background Technology

[0002] In the maintenance of wind turbine towers, ship repair, chemical storage tanks, and other large steel structures (such as bridges), rust removal is a crucial and labor-intensive process. Traditional manual rust removal methods are inefficient, labor-intensive, and operate in harsh environments (posing risks of working at heights and dust pollution), and it is difficult to maintain consistent rust removal quality. Therefore, automated rust removal equipment, especially wall-climbing robots, has become an important development direction in this field.

[0003] Existing wall-climbing rust removal robots are equipped with high-pressure water jets, sandblasting, or flap wheel mechanisms for rust removal. However, these rust removal mechanisms are generally rigid and fixed, and can only be used for rust removal on flat surfaces, making them unsuitable for surfaces with complex curvatures. Furthermore, the working height of robots equipped with high-pressure water jets and sandblasting is limited, preventing them from being used for rust removal on higher surfaces.

[0004] Furthermore, the existing wall-climbing rust removal robots are equipped with flap wheel rust removal mechanisms, which have a limited contact area with the working surface, resulting in a long rust removal time per unit area and a large motor power requirement, thus leading to low rust removal efficiency.

[0005] Therefore, how to adapt the rust removal mechanism of the wall-climbing rust removal robot to the curved working wall surface and improve the efficiency of rust removal is an urgent technical problem to be solved. Utility Model Content

[0006] This application provides a surface rust removal module and a surface rust removal system to solve one or more of the above-mentioned technical problems existing in the prior art.

[0007] According to one aspect of this application, a surface rust removal module is disclosed, the surface rust removal module comprising:

[0008] Support plate;

[0009] A rust removal assembly is disposed on the support plate and is movable relative to the support plate in a direction perpendicular to the working surface. The rust removal assembly includes a first driving component and a rust removal disc brush. The rust removal disc brush is located on the side of the support plate facing the working surface. The first driving component is used to drive the rust removal disc brush to rotate about a first axis intersecting the working surface.

[0010] A lifting guide assembly is disposed between the rust removal assembly and the support plate;

[0011] At least two magnetic casters are provided on the side of the support plate facing the working surface, and each magnetic caster is located outside the rust removal disc brush.

[0012] In some embodiments of this application, the angle between the first axis and the working surface ranges from 20 degrees to 70 degrees; and / or,

[0013] The rust-removing disc brush is a steel wire disc brush.

[0014] In some embodiments of this application, the rust removal assembly includes a drive component bracket, and the first drive component is fixed on the drive component bracket;

[0015] The drive component bracket includes a base plate, a first side plate and a second side plate disposed opposite to the first and second sides of the base plate, and a third side plate and a fourth side plate disposed opposite to the third and fourth sides of the base plate. The first side plate, the second side plate, the third side plate and the fourth side plate all extend from the outer edge of the base plate in a direction away from the working surface. The base plate is parallel to the support plate. The first drive component is fixed on the base plate, and the output shaft axis of the first drive component intersects the base plate but is not perpendicular to it.

[0016] In some embodiments of this application, the rust removal assembly includes a wedge-shaped pad located between the first driving component and the base plate, with the first driving component supported on the inclined surface of the wedge-shaped pad.

[0017] In some embodiments of this application, the surface rust removal module includes a lifting push rod disposed between the drive component bracket and the support plate, and the lifting push rod is used to push the rust removal assembly to move in a direction perpendicular to the working surface.

[0018] In some embodiments of this application, the surface rust removal module includes an elastic clamping assembly disposed between the drive component bracket and the support plate. The elastic clamping assembly is used to provide pre-pressure to the rust removal assembly so that the rust removal disc brush adheres to the working surface.

[0019] In some embodiments of this application, the number of lifting guide assemblies is two sets, and the two sets of lifting guide assemblies are symmetrically arranged on the first and second sides of the drive component bracket. Each lifting guide assembly includes a slide rail and a slider, the slider being fixed to the first side plate and / or the second side plate, and the slide rail being fixed to the support plate; and / or,

[0020] The elastic clamping assembly includes a guide rod, a spring body, and two spring end baffles. The guide rod is disposed on the side of the support plate away from the working surface, and the end of the guide rod is fixedly connected to the support plate. Both spring end baffles are disposed on the guide rod, and the spring body is located between the two spring end baffles. The third side plate and / or the fourth side plate of the drive component bracket are fixedly connected to the spring end baffles close to the working surface.

[0021] In some embodiments of this application, the number of magnetically attached casters is three, and the three magnetically attached casters are arranged in a triangular pattern; or,

[0022] The number of magnetically adsorbed casters is two, and the distance between the straight line connecting the intersection of the axis of the two magnetically adsorbed casters with their respective end faces and the center of the rust-removing disc brush is no more than 3 cm; or,

[0023] The number of magnetic universal wheels is four, and the four magnetic universal wheels are arranged in a square or trapezoidal shape. The surface rust removal module includes a rocker arm, which is located on one side of the support plate and is hinged to the support plate in the middle. Two of the magnetic universal wheels are respectively located at both ends of the rocker arm.

[0024] According to another aspect of this application, a surface rust removal system is also disclosed, the surface rust removal system comprising: a carrier mechanism, a module displacement component, and a surface rust removal module as described in any of the above embodiments, the module displacement component being disposed between the carrier mechanism and the surface rust removal module, the module displacement component being used to drive the surface rust removal module to move;

[0025] The surface rust removal module is hinged to the module displacement component, so that the surface rust removal module can swing relative to the module displacement component around a second axis and a third axis parallel to the working surface, and the second axis and the third axis are perpendicular to each other.

[0026] In some embodiments of this application, the module displacement component includes:

[0027] The first guide rail is fixed on the transport mechanism, and the extension direction of the first guide rail is parallel to the working surface;

[0028] A movable block is mounted on the first guide rail;

[0029] The displacement driving mechanism includes a second driving component and a transmission mechanism. The second driving component is fixed to the end of the first guide rail, and the second driving component drives the moving block to move along the first guide rail through the transmission mechanism.

[0030] A second guide rail is disposed on the moving block, and the second guide rail can move relative to the moving block in a direction perpendicular to the extension direction of the first guide rail and intersecting the working surface but not perpendicular to it.

[0031] The surface rust removal module provided in the above embodiments of this application includes a support plate, a rust removal component, a lifting guide component, and multiple magnetically adsorbed casters. The rust removal component is movable relative to the support plate in a direction perpendicular to the working surface. Therefore, when the working surface is uneven or curved, the movable rust removal component not only ensures that the rust removal brush remains in contact with the working surface, thus adapting to curved working surfaces, but also avoids motor overload or equipment damage caused by excessive pressure. Furthermore, it also avoids incomplete rust removal or missed areas caused by insufficient pressure, thereby improving the rust removal quality.

[0032] In addition to the above, the rust-removing disc brush of this application can not only be applied to rust removal on highly curved surfaces, but also has a large contact area with the working surface, thus reducing the rust removal time per unit area and improving rust removal efficiency. Furthermore, the rotation axis of the rust-removing disc brush intersects the working surface, causing the grinding force of the brush to be directed towards the working surface, improving the transmission efficiency of the grinding force, avoiding ineffective friction and energy waste, and further improving the rust removal efficiency on curved surfaces. In addition, the rotation axis of the rust-removing disc brush is inclined to the working surface, so when the brush rotates, the linear velocity of its bristle tips can be decomposed into two components: a component perpendicular to the wall (normal pressure) and a tangential component parallel to the wall. The tangential component generates a strong scraping force, which prevents the removed rust and dust from accumulating at the bottom of the brush disc, thereby also improving the rust removal effect and efficiency.

[0033] Additional advantages, objectives, and features of this application will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the following description, or may be learned by practice of the application. The objectives and other advantages of this application can be realized and obtained by means of the structures specifically pointed out in the specification and drawings.

[0034] Those skilled in the art will understand that the purposes and advantages that can be achieved with this application are not limited to those specifically described above, and that the above and other purposes that this application can achieve will be more clearly understood from the following detailed description. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, do not constitute a limitation thereof. The components in the drawings are not drawn to scale but are merely for illustrating the principles of this application. For ease of illustration and description of certain parts of this application, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to this application. In the drawings:

[0036] Figure 1 This is a schematic diagram of the structure of a surface rust removal module according to an embodiment of this application.

[0037] Figure 2 This is a schematic diagram of the internal structure of a surface rust removal module according to an embodiment of this application.

[0038] Figure 3 for Figure 2 The front view of the surface rust removal module shown.

[0039] Figure 4 This is a schematic diagram of the structure of a rust removal component according to an embodiment of this application.

[0040] Figure 5 This is a schematic diagram of the structure of the drive component bracket of a rust removal assembly according to an embodiment of this application.

[0041] Figure 6 for Figure 5 The cross-sectional view of the drive component bracket shown.

[0042] Figure 7 This is a schematic diagram of the elastic clamping assembly of a surface rust removal module according to an embodiment of this application.

[0043] Figure 8 This is a schematic diagram of the layout of a magnetically attached universal wheel according to an embodiment of this application.

[0044] Figure 9 This is a schematic diagram of the structure of a surface rust removal system according to an embodiment of this application.

[0045] Figure 10 This is a schematic diagram of the structure of a surface rust removal system according to another embodiment of this application.

[0046] Figure 11 This is a schematic diagram of the structure of a module displacement component of a surface rust removal system according to an embodiment of this application.

[0047] Figure label:

[0048] 100 Support plate; 200 Rust removal assembly; 210 First drive component; 220 Rust removal disc brush; 230 Lifting guide assembly; 300 Magnetic universal wheel; 211 First pivot; 240 Drive component bracket; 241 Base plate; 242 First side plate; 243 Second side plate; 244 Third side plate; 245 Fourth side plate; 245 Wedge pad; 246 Lifting push rod; 250 Elastic clamping assembly; 260 Guide rod; 261 Spring body; 262 Spring end baffle; 263 Outer cover; 270 Carrying mechanism; 500 Module displacement assembly; 400 First guide rail; 410 Moving block; 420 Second drive component; 430 Second guide rail; 440 Second pivot; 451 Third pivot; 452 Camera bracket; 610 Rocker arm; 310 Detailed Implementation

[0049] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0050] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0051] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0052] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0053] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0054] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0055] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0056] The surface rust removal module and system provided in this application can be applied to flat or curved surfaces, and are particularly suitable for walls that are vertical, inclined, or difficult to access. Specifically, they can be applied to the surfaces of equipment such as ship hulls, oil tanks, water tanks, bridges, towers, wind turbine towers and blades, as well as the surfaces of large industrial equipment (such as boilers and reactors). They are especially adaptable to complex, asymmetric curved surfaces.

[0057] Figure 1 This is a schematic diagram of the structure of a surface rust removal module according to an embodiment of this application. Figure 2 This is a schematic diagram of the internal structure of a surface rust removal module according to an embodiment of this application, as shown below. Figure 1 and Figure 2 As shown, the surface rust removal module includes at least a support plate 100, a rust removal component 200, a lifting guide component 230, and at least two magnetically adsorbed casters 300.

[0058] A rust removal assembly 200 is disposed on the support plate 100 and is movable relative to the support plate 100 in a direction perpendicular to the working surface. The rust removal assembly 200 includes a first driving component 210 and a rust removal disc brush 220. The rust removal disc brush 220 is located on the side of the support plate 100 facing the working surface. The first driving component 210 is used to drive the rust removal disc brush 220 to rotate about a first axis intersecting the working surface. A lifting guide assembly 230 is disposed between the rust removal assembly 200 and the support plate 100. At least two magnetically attached casters 300 are disposed on the side of the support plate 100 facing the working surface, and each magnetically attached caster 300 is located outside the rust removal disc brush 220.

[0059] In this application, the support plate 100 serves as a support component for the rust removal assembly 200, the lifting guide assembly 230, and the magnetic caster 300; therefore, the rust removal assembly 200, the lifting guide assembly 230, and the magnetic caster 300 are all mounted on the support plate 100. (Reference) Figure 2 The rust removal assembly 200, including the rust removal brush 220 and the magnetic caster 300, is located on the same side of the support plate 100, specifically on the side of the support plate 100 facing the work surface. The lifting guide assembly 230 and the first drive component 210 in the rust removal assembly 200 are also located on the same side of the support plate 100, specifically on the side of the support plate 100 away from the work surface. In this embodiment, both the magnetic caster 300 and the lifting guide assembly 230 are fixed to the support plate 100, and the rust removal assembly 200 can move up and down relative to the support plate 100 along the lifting guide assembly 230. This up and down movement can also be understood as movement towards or away from the work surface. It is understood that the terms "side facing the work surface," "side away from the work surface," and "direction towards or away from the work surface" in this application are described based on the working state of the surface rust removal module.

[0060] Specifically, the direction perpendicular to the working surface Figure 3In the vertical direction, such as after the magnetic caster 300 in the surface rust removal module is attached to the working surface, the rust removal component 200 moves towards the working surface in a direction perpendicular to the working surface until the rust removal disc brush 220 is in contact with the working surface to perform rust removal. After rust removal is completed, the rust removal component 200 can be further moved away from the working surface in a direction perpendicular to the working surface to separate the rust removal disc brush 220 from the working surface. The movable rust removal component 200 in a direction perpendicular to the working surface not only enables the attachment and separation of the rust removal disc brush 220 from the working surface, but also adapts to the curvature changes of the working surface when the surface rust removal module is applied to a working surface with variable curvature, thus maintaining complete contact with the working surface throughout the rust removal process, thereby ensuring the rust removal effect and efficiency.

[0061] In addition, the surface rust removal module has at least two magnetic adsorption casters 300. The magnetic adsorption casters 300 can maintain close contact with the working surface, avoiding magnetic attenuation or instantaneous loss of adsorption due to poor contact, thereby ensuring the continuity and reliability of adsorption and improving the reliability of rust removal operation.

[0062] Furthermore, the first axis intersects the working surface but is not perpendicular to it; specifically, the first axis is the axis of the first rotating shaft 211, such as... Figure 3 and Figure 4 As shown, the rust-removing disc brush 220 is fixedly connected to the output shaft of the first driving component 210, so the output shaft of the first driving component 210 can serve as the first rotating shaft 211. For example, the first driving component 210 can be a drive motor.

[0063] In the above embodiment, the rotation axis of the rust removal disc brush 220 is set to be inclined to the working surface. The rotational motion of the bristles of the rust removal disc brush 220 will generate a tendency to throw debris from the low side to the high side of the contact area. This can effectively throw the removed rust and dust to the rear or side, greatly reducing the retention of debris in the working area and thus improving the rust removal efficiency.

[0064] In some embodiments of this application, the angle between the first axis and the working surface ranges from 20 degrees to 70 degrees. Setting the angle between the first axis and the working surface to between 20 degrees and 70 degrees ensures that the bristles on the rust-removing disc brush 220 are subjected to a cyclic force, which makes the wear of the bristles more evenly distributed across the entire disc brush, thereby extending the life of the rust-removing disc brush 220. Furthermore, limiting the angle between the first axis and the working surface to between 20 degrees and 70 degrees also ensures that the rotation axis of the rust-removing disc brush 220 intersects the working surface at an angle, thereby improving rust removal efficiency.

[0065] This application uses a rust removal disc brush for rust removal, which increases the contact area between the brush and the working surface compared to a rust removal mechanism using a flap wheel, and shortens the rust removal time per unit area, thereby improving rust removal efficiency.

[0066] Furthermore, the rust-removing disc brush 220 is a steel wire disc brush. Steel wire disc brushes possess high strength and hardness, enabling them to apply significant impact and cutting forces. Compared to fiber brushes or grinding wheels, under the same pressure, steel wire disc brushes can remove material more quickly, greatly shortening the rust removal time on the work surface and improving work efficiency. Optionally, the steel wire disc brush gradually expands outward along its axis of rotation. This gradual expansion, while maintaining an inclined setting relative to the work surface, further increases the contact area between the brush and the work surface, thereby further improving rust removal efficiency.

[0067] In some embodiments of this application, the rust removal assembly 200 includes a drive component bracket 240, and the first drive component 210 is fixed on the drive component bracket 240. The drive component bracket 240 includes a base plate 241, a first side plate 242 and a second side plate 243 disposed opposite to the first and second sides of the base plate 241, and a third side plate 244 and a fourth side plate 245 disposed opposite to the third and fourth sides of the base plate 241. The first side plate 242, the second side plate 243, the third side plate 244, and the fourth side plate 245 all extend from the outer edge of the base plate 241 in a direction away from the working surface. The base plate 241 is parallel to the support plate 100. The first drive component 210 is fixed on the base plate 241, and the output shaft axis of the first drive component 210 intersects the base plate 241 but is not perpendicular to it.

[0068] refer to Figure 3 The drive component bracket 240 is disposed above the support plate 100 and is used to support and fix the first drive component 210. In this embodiment, the drive component bracket 240 is part of the rust removal assembly 200 and moves synchronously with the first drive component 210 and the rust removal disc brush 220. In this embodiment, the lifting guide assembly 230 may be located between the drive component bracket 240 and the support plate 100.

[0069] Figure 5 This is a schematic diagram of the structure of the drive component bracket 240 of a rust removal assembly according to an embodiment of this application, as shown below. Figure 5As shown, the drive component bracket 240 includes a base plate 241 and an outer side plate disposed on the outer periphery of the base plate 241. The outer side plate specifically includes a first side plate 242, a second side plate 243, a third side plate 244, and a fourth side plate 245. The base plate 241 can be square in shape. In this case, the first drive component 210 is located inside the outer side plate of the drive component bracket 240 and is fixed obliquely on the base plate 241. The base plate 241 is provided with a shaft hole, that is, the output shaft of the first drive component 210 extends obliquely toward the working surface from the shaft hole on the base plate 241.

[0070] In some embodiments, the rust removal assembly 200 includes a wedge-shaped pad 246 located between the first drive member 210 and the base plate 241, with the first drive member 210 supported on the inclined surface of the wedge-shaped pad 246. In this embodiment, the first drive member 210 achieves its inclined arrangement relative to the working surface through the wedge-shaped pad 246, as shown in the reference. Figure 5 and Figure 6 The wedge-shaped pad 246 is also provided with a shaft hole for the output end of the first drive component 210 to pass through. The bottom plane of the wedge-shaped pad 246 is in contact with the base plate 241, and the top of the wedge-shaped pad 246 is an inclined surface. That is, the first drive component 210 is specifically fixed on the inclined surface, thereby realizing the inclined setting of the output shaft of the first drive component 210 relative to the working surface.

[0071] It is understood that the first driving component 210 being fixed to the driving component bracket 240 by the wedge-shaped pad 246 in the above embodiments is only one implementation method. In other embodiments, the first driving component 210 may also be fixed to the driving component bracket 240 by other fixing methods.

[0072] In some embodiments of this application, the surface rust removal module includes a lifting push rod 250, which is disposed between the drive component bracket 240 and the support plate 100. The lifting push rod 250 is used to push the rust removal component 200 to move in a direction perpendicular to the working surface. Specifically, the lifting push rod 250 can be an electric push rod, the actuator of which can move in a direction perpendicular to the working surface. The electric push rod is specifically located between the drive component bracket 240 and the support plate 100, and the fixed part of the electric push rod can be fixedly connected to the support plate 100. The actuator of the electric push rod specifically pushes the drive component bracket 240 to realize the movement of the rust removal component 200.

[0073] refer to Figure 2 and Figure 3The number of lifting push rods 250 can be two. In this case, the two lifting push rods 250 are respectively set on the first side and the second side of the drive component bracket 240. The first side and the second side of the drive component bracket 240 can also be understood as the left side and the right side of the drive component bracket 240. Figure 5 As shown, the top of the first side plate 242 and the second side plate 243 of the drive component bracket 240 may be respectively provided with horizontal plates extending vertically outward from the top edge, and the lifting push rod 250 is specifically located below the horizontal plate. When the lifting push rod 250 pushes the rust removal component 200 to move, the end of the actuator of the lifting push rod 250 abuts against the horizontal plate, thereby lifting the rust removal component 200 by lifting the drive component bracket 240.

[0074] Furthermore, there are two sets of lifting guide components 230, which are symmetrically arranged on the first and second sides of the drive component bracket 240. Each lifting guide component 230 includes a slide rail and a slider. The slider is fixed on the first side plate 242 and / or the second side plate 243, and the slide rail is fixed on the support plate 100.

[0075] In the above embodiment, there are also two sets of lifting guide assemblies 230, and the two sets of lifting guide assemblies 230 are located on the left and right sides of the drive component bracket 240, respectively. Specifically, one set of the two sets of lifting guide assemblies 230 is disposed between the electric push rod on the left side of the drive component bracket 240 and the first side plate 242, while the other set of the two sets of lifting guide assemblies 230 is disposed between the electric push rod on the right side of the drive component bracket 240 and the second side plate 243.

[0076] For example, when the lifting guide assembly 230 includes a slide rail and a slider, the sliders of the two sets of lifting guide assemblies 230 can be fixedly connected to the first side plate 242 and the second side plate 243 respectively, and the bottom ends of the slide rails of the two sets of lifting guide assemblies 230 are fixedly connected to the support plate 100. In addition, one side of the slide rail can be fixed to the slide rail bracket. Furthermore, the fixing part of the lifting push rod 250 is also fixed to the slide rail bracket accordingly. This structure makes the lifting guide assembly 230 located between the lifting push rod 250 and the side plate of the drive component bracket 240, further improving the lifting stability of the rust removal assembly 200.

[0077] It is understood that the number and layout of the lifting guide assembly 230 and electric push rod listed in the above embodiments are only examples; in other embodiments, the number of electric push rods and lifting guide assembly 230 may be more.

[0078] In some embodiments, the surface rust removal module includes an elastic clamping component 260 disposed between the drive component bracket 240 and the support plate 100. The elastic clamping component 260 is used to provide pre-pressure to the rust removal component 200 so that the rust removal disc brush 220 adheres to the working surface.

[0079] In this embodiment, the elastic clamping component 260 is disposed between the drive component bracket 240 and the support plate 100. The pre-pressure will cause the rust removal brush 220 to fit tightly against the working surface. Even if there are undulations, welds or slight deformations on the working surface, the elastic clamping component 260 can push the rust removal component 200 to float up and down with the undulations of the surface based on its pre-tightening force during the operation of the rust removal component 200. This ensures that the rust removal brush 220 always fits tightly against the working surface, thereby ensuring that the rust removal depth is consistent throughout the working area and improving the rust removal quality of the working surface.

[0080] In addition, as the working time increases, the distance between the rust removal disc brush 220 and the working surface may increase due to wear. At this time, the elastic clamping component 260 can continue to extend within its elastic range, pushing the rust removal component 200 to continue to press forward and press against the working surface, so that the worn rust removal disc brush 220 also fits tightly against the working surface.

[0081] Furthermore, the elastic clamping assembly 260 includes a guide rod 261, a spring body 262, and two spring end baffles 263. The guide rod 261 is disposed on the side of the support plate 100 away from the working surface, and the end of the guide rod 261 is fixedly connected to the support plate 100. Both spring end baffles 263 are disposed on the guide rod 261, and the spring body 262 is located between the two spring end baffles 263. The third side plate 244 and / or the fourth side plate 245 of the drive component bracket 240 are fixedly connected to the spring end baffles 263 close to the working surface.

[0082] For example, the number of resilient clamping components 260 may be one or more; in Figure 2 and Figure 4 In the illustrated embodiment, there are two elastic clamping components 260. These two components are located on the third and fourth sides of the drive component bracket 240, specifically the front and rear sides of the drive component bracket 240. The tops of the third side plate 244 and the fourth side plate 245 of the drive component bracket 240 also have horizontal plates extending vertically outward from their top edges. These horizontal plates are then fixedly connected to the spring end baffle at the bottom of the spring body 262.

[0083] Figure 7This is a schematic diagram of the elastic clamping assembly 260 of a surface rust removal module according to an embodiment of this application, as shown below. Figure 7 As shown, the spring end baffle 263 at the top of the spring body 262 can be fixedly connected to the top of the guide rod 261, while the spring end baffle 263 at the bottom of the spring body 262 can move axially along the guide rod 261 as the spring body 262 is compressed and extended.

[0084] Specifically, the drive component bracket 240 can be fixedly connected to the spring end baffle 263 at the bottom of the spring body 262, or the horizontal plates on the third side plate 244 and the fourth side plate 245 of the drive component bracket 240 can be specifically arranged below the spring end baffle 263 at the bottom of the spring body 262, so that when the spring end baffle 263 at the bottom of the spring body 262 moves with the compression or release of the spring body 262, the drive component bracket 240 moves with the movement of the spring end baffle 263 at the bottom of the spring body 262.

[0085] In any of the above embodiments, the surface rust removal module may further include an outer cover 270, which is specifically fitted over the drive component bracket 240, the lifting guide assembly 230, the electric push rod and the elastic clamping assembly 260 to prevent rust from splashing into the interior of the outer cover 270.

[0086] In some embodiments of this application, the number of magnetically adsorbed casters 300 is three, and the three magnetically adsorbed casters 300 are arranged in a triangular pattern. In this embodiment, when the surface rust removal module performs rust removal operations on curved surfaces (especially large metal curved surfaces, such as ship hulls, storage tanks, wind turbine towers, etc.), the three magnetically adsorbed casters 300, with their three-point structure, give the surface rust removal module extremely high "flexibility," enabling it to automatically adapt to various complex curved surfaces, thereby improving the applicability of the surface rust removal module. Furthermore, the three magnetically adsorbed casters 300 ensure that the rust removal brush can always firmly adhere to the working surface with three complete points, ensuring adsorption stability even if the working surface has slight undulations or unevenness (such as weld seams or slight corrosion).

[0087] In another embodiment, there are two magnetically adsorbed casters 300. The distance between the straight line connecting the intersection of the axes of the two magnetically adsorbed casters 300 and their respective end faces and the center of the rust-removing disc brush 220 is no more than 3 cm. In this embodiment, the distance between the straight line connecting the two intersections and the center of the rust-removing disc brush 220 is limited to less than or equal to 3 cm. Under the adsorption of the two magnetically adsorbed casters 300, the rust-removing disc brush 220 can be ensured to fit well with the working surface, thereby improving the efficiency of rust removal. In a specific embodiment, the midpoint of the rust-removing disc brush 220 is located on the straight line between the intersection of the axes of the two magnetically adsorbed casters 300 and their end faces. In this case, the two magnetically adsorbed casters 300 are also symmetrically arranged on both sides of the rust-removing disc brush 220.

[0088] In another embodiment, there are four magnetic casters 300 arranged in a square or trapezoidal shape. The surface rust removal module includes a rocker arm 310, which is disposed on one side of the support plate 100 and hinged to the support plate 100 at its middle part. Two of the magnetic casters 300 are respectively disposed at both ends of the rocker arm 310.

[0089] like Figure 8 As shown, the rocker arm 310 is rotatably mounted on the support plate 100, allowing the two magnetically adsorbed casters 300 at both ends of the rocker arm 310 to independently adapt to surface undulations. The rocker arm 310 structure acts as a "balance beam," which can absorb and compensate for local unevenness of the surface, thereby improving the adhesion to the curved surface while increasing the adsorption force.

[0090] According to another aspect of this application, a surface rust removal system is also disclosed, the surface rust removal system comprising: a transport mechanism 500, a module displacement component 400, and a surface rust removal module as described in any of the above embodiments, the module displacement component 400 being disposed between the transport mechanism 500 and the surface rust removal module, the module displacement component 400 being used to drive the surface rust removal module to move; the surface rust removal module being hingedly connected to the module displacement component 400 such that the surface rust removal module can swing relative to the module displacement component 400 about both a second axis and a third axis parallel to the working surface, and the second axis and the third axis are perpendicular to each other.

[0091] In the surface rust removal system, the surface rust removal module is hinged to the module displacement component 400, and the module displacement component 400 is fixedly connected to the carrier mechanism 500. The surface rust removal module hinged to the module displacement component 400 can adaptively adjust its posture based on the angle of the working surface, thereby ensuring the optimal rust removal working angle.

[0092] like Figure 9 and Figure 11 As shown, the surface rust removal module is hinged to the module displacement component 400 via a second rotating shaft 451 and a third rotating shaft 452. Specifically, the second axis is the axis of the second rotating shaft 451, and the third axis is the axis of the third rotating shaft 452. In this embodiment, the surface rust removal module can freely swing a small angle relative to the module displacement component 400 in both the front-back and left-right directions. Therefore, regardless of whether the working surface is longitudinally curved, laterally curved, or a complex composite curved surface, the surface rust removal module of this system can ensure that the rust removal brush 220 maintains the best contact posture with the working surface.

[0093] In some embodiments of this application, the module displacement assembly 400 includes: a first guide rail 410 fixed on the transport mechanism 500, the extension direction of the first guide rail 410 being parallel to the working surface; a moving block 420 disposed on the first guide rail 410; a displacement driving mechanism including a second driving component 430 and a transmission mechanism, the second driving component 430 being fixed to the end of the first guide rail 410, the second driving component 430 driving the moving block 420 to move along the first guide rail 410 via the transmission mechanism; and a second guide rail 440 disposed on the moving block 420, the second guide rail 440 being movable relative to the moving block 420 in a direction perpendicular to the extension direction of the first guide rail 410 and intersecting but not perpendicular to the working surface.

[0094] In the above embodiment, the extending direction of the first guide rail 410 can be understood as the front-rear direction of the surface rust removal system. The second driving component 430 can specifically be a drive motor, that is, the drive motor drives the moving block 420 to move along the front-rear direction of the surface rust removal system through a transmission mechanism. Since the second slide rail is set on the moving block 420 and the surface rust removal module is connected to the second slide rail, the front-rear movement of the moving block 420 realizes the front-rear movement of the moving block 420, the second slide rail, and the surface rust removal module. The transmission mechanism can specifically be a belt drive mechanism, in which case the moving block 420 is specifically fixedly connected to the conveyor belt.

[0095] The second guide rail 440 is specifically inclined relative to the working surface. In this configuration, the second guide rail 440 and the moving block 420 form a slide rail-slider structure. That is, the second guide rail 440 can move relative to the moving block 420 in a direction perpendicular to the extension direction of the first guide rail 410 and intersecting the working surface but not perpendicular to it. The slide rail-slider mechanism, consisting of the moving block 420 and the second guide rail, enables the surface rust removal module to move in the height direction of the surface rust removal system. In other words, the movement of the second guide rail allows for a wide range of displacement movement of the surface rust removal module in the height direction.

[0096] Combination Figure 9 and Figure 11 As shown, in the above embodiment, the surface rust removal module realizes the displacement movement of the surface rust removal module in the front-back direction of the surface rust removal system based on the slide rail slider structure composed of the first guide rail 410 and the moving block 420; the surface rust removal module also realizes the displacement movement of the surface rust removal module in the height direction of the surface rust removal system based on the slide rail slider mechanism composed of the second guide rail 440 and the moving block 420. In addition, based on the second rotating shaft 451 and the third rotating shaft 452, the surface rust removal module can freely swing a small angle in both the front-back and left-right directions relative to the module displacement component 400.

[0097] In addition, in the surface rust removal module, the rust removal component 200 can be displaced in a direction perpendicular to the working surface based on the electric push rod, and the rust removal disc brush 220 is pressed and adhered to the working surface based on the elastic clamping component 260.

[0098] In addition to the above embodiments, the surface rust removal system may also be equipped with a camera bracket 610, in which case the camera bracket 610 may be specifically set on the side of the transport mechanism 500 away from the working surface.

[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A surface rust removal module characterized by, The surface rust removal module includes: Support plate (100); A rust removal assembly (200) is disposed on the support plate (100) and is movable relative to the support plate (100) in a direction perpendicular to the working surface. The rust removal assembly (200) includes a first driving component (210) and a rust removal disc brush (220). The rust removal disc brush (220) is located on the side of the support plate (100) facing the working surface. The first driving component (210) is used to drive the rust removal disc brush (220) to rotate about a first axis intersecting the working surface. A lifting guide assembly (230) is disposed between the rust removal assembly (200) and the support plate (100); At least two magnetic casters (300) are provided on the side of the support plate (100) facing the working surface, and each of the magnetic casters (300) is located outside the rust removal disc brush (220).

2. The surface rust removal module of claim 1, wherein, The angle between the first axis and the working surface ranges from 20 degrees to 70 degrees; and / or, The rust removal disc brush (220) is a steel wire disc brush.

3. The surface rust removal module of claim 1 or 2, wherein, The rust removal assembly (200) includes a drive component bracket (240), and the first drive component (210) is fixed on the drive component bracket (240); The drive component bracket (240) includes a base plate (241), a first side plate (242) and a second side plate (243) disposed opposite to the first and second sides of the base plate (241), and a third side plate (244) and a fourth side plate (245) disposed opposite to the third and fourth sides of the base plate (241). The first side plate (242), the second side plate (243), the third side plate (244) and the fourth side plate (245) all extend from the outer edge of the base plate (241) in a direction away from the working surface. The base plate (241) is parallel to the support plate (100). The first drive component (210) is fixed on the base plate (241), and the output shaft axis of the first drive component (210) intersects the base plate (241) but is not perpendicular to it.

4. The surface rust removal module of claim 3, wherein, The rust removal assembly (200) includes a wedge-shaped pad (246) located between the first drive component (210) and the base plate (241), with the first drive component (210) supported on the inclined surface of the wedge-shaped pad (246).

5. The surface rust removal module of claim 3, wherein, The surface rust removal module includes a lifting push rod (250), which is disposed between the drive component bracket (240) and the support plate (100). The lifting push rod (250) is used to push the rust removal component (200) to move in a direction perpendicular to the working surface.

6. The surface rust removal module of claim 5, wherein, The surface rust removal module includes an elastic clamping assembly (260) disposed between the drive component bracket (240) and the support plate (100). The elastic clamping assembly (260) is used to provide pre-pressure to the rust removal assembly (200) so that the rust removal disc brush (220) fits against the working surface.

7. The surface rust removal module according to claim 6, characterized in that, The number of lifting guide assemblies (230) is two sets, and the two sets of lifting guide assemblies (230) are symmetrically arranged on the first and second sides of the drive component bracket (240). Each lifting guide assembly (230) includes a slide rail and a slider. The slider is fixed on the first side plate (242) and / or the second side plate (243), and the slide rail is fixed on the support plate (100); and / or, The elastic clamping assembly (260) includes a guide rod (261), a spring body (262), and two spring end baffles (263). The guide rod (261) is disposed on the side of the support plate (100) away from the working surface. The end of the guide rod (261) is fixedly connected to the support plate (100). The two spring end baffles (263) are disposed on the guide rod (261), and the spring body (262) is located between the two spring end baffles (263). The third side plate (244) and / or the fourth side plate (245) of the drive component bracket (240) are fixedly connected to the spring end baffles (263) close to the working surface.

8. The surface rust removal module according to claim 1 or 2, characterized in that, The number of the magnetically adsorbed casters (300) is three, and the three magnetically adsorbed casters (300) are arranged in a triangular pattern; or, The number of magnetically adsorbed casters (300) is two, and the distance between the straight line connecting the intersection of the axis of the two magnetically adsorbed casters (300) with their respective end faces and the center of the rust-removing disc brush (220) is no greater than 3 cm; or, The number of magnetic universal wheels (300) is four, and the four magnetic universal wheels (300) are arranged in a square or trapezoidal shape. The surface rust removal module includes a rocker arm (310), which is located on one side of the support plate (100) and the middle part of the rocker arm (310) is hinged to the support plate (100). Two of the magnetic universal wheels (300) are respectively located at both ends of the rocker arm (310).

9. A surface rust removal system characterized by, The surface rust removal system includes: a carrier mechanism (500), a module displacement component (400), and a surface rust removal module as described in any one of claims 1 to 8, wherein the module displacement component (400) is disposed between the carrier mechanism (500) and the surface rust removal module, and the module displacement component (400) is used to drive the surface rust removal module to move; The surface rust removal module is hinged to the module displacement component (400) so that the surface rust removal module can swing relative to the module displacement component (400) about a second axis and a third axis parallel to the working surface, and the second axis and the third axis are perpendicular to each other.

10. The surface rust removal system of claim 9, wherein, The module displacement component (400) includes: The first guide rail (410) is fixed on the transport mechanism (500), and the extension direction of the first guide rail (410) is parallel to the working surface; A movable block (420) is disposed on the first guide rail (410); The displacement driving mechanism includes a second driving component (430) and a transmission mechanism. The second driving component (430) is fixed to the end of the first guide rail (410). The second driving component (430) drives the moving block (420) to move along the first guide rail (410) through the transmission mechanism. A second guide rail (440) is disposed on the moving block (420). The second guide rail (440) is movable relative to the moving block (420) in a direction perpendicular to the extension direction of the first guide rail (410) and intersecting the working surface but not perpendicular to it.

Images