CN110202484A - Ball blast cambered surface wall-climbing device - Google Patents

Abstract

The invention provides a shot blasting curved wall climbing machine, which includes a shot blasting device and a walking robot. The walking device includes a universal driving wheel, and the universal driving wheel includes a driving disc. There is a second installation disk, several travel steering mechanisms are arranged between the drive disk and the first installation disk, and several travel steering mechanisms are arranged between the drive disk and the second installation disk. The control of the wall-climbing robot is simple. It only needs to control the forward and reverse rotation of the drive motor to realize the forward and backward movement of the wall-climbing robot in the plane 360° range. The body of the wall-climbing robot adopts a hinge structure and a folding mechanism. Each wall-climbing robot unit is rectangular. The wall-climbing robot has superior obstacle-surmounting ability and can realize the robot’s walking on the arc surface of the ship. Secondly, the wall-climbing robot can realize the individual steering of each wheel. This structure satisfies It can walk on the surface of various objects such as arc surface, cylindrical surface and spherical surface. The scope of application of the robot has been expanded.

Description

Shot blasting arc surface climbing machine

technical field

The invention relates to the technical field of safety protection of wall-climbing robots.

Specifically, it relates to a shot blasting curved wall climbing machine that walks on the curved surface.

Background technique

At present, wall-climbing robots are used in various industries to replace labor, avoid harm to humans, and speed up work efficiency. For example, in the nuclear industry, they are mainly used for inspection, thickness measurement and weld flaw detection of nuclear waste liquid storage tanks; In the shipbuilding industry, it is used for shot blasting, derusting, cleaning, painting, etc. on the surface of the hull; in the petrochemical industry, it is used to inspect, derust or paint the inner and outer surfaces of storage tanks; in addition, wall-climbing robots are also widely used in the construction industry , fire department, power industry, etc.

Among them, in the shipbuilding industry, the rust removal method generally adopted by major domestic ship repair companies is artificial dry sand blasting, that is, using compressed air, manually holding the spray gun to move, and transporting the dry sand in the steel container to the spray gun, so that The copper ore impacts the surface of the steel plate at a high speed of tens of meters per second to quickly remove the rust layer. However, there are many disadvantages. Rust removal is carried out manually with a gun at high altitude. The elevated truck used by the workers will also break down if it is used in a dusty and harsh environment for a long time. The recoil force is often greater than ordinary people's ability to bear, and it is very dangerous to work on the elevated vehicle for a long time, directly threatening the lives of workers. At the same time, sandblasting produces a large amount of dust, making rust removal workers prone to eye and lung diseases. This makes it imminent for robots to replace manual operations. Therefore, the birth of the shot blasting arc surface wall climbing machine solves the above problems. However, in order to better float on the water surface and reduce the resistance in the process of traveling, the hull generally adopts an arc surface structure. It is difficult for the arc surface climbing machine to be firmly fixed on the surface. Secondly, in the shot blasting process of the tank body, the existing shot blasting curved wall climbing machine cannot fit the working facade and cannot perform normal work.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the above-mentioned traditional technology, aiming at the limitations of the existing shot blasting curved wall climbing machine, the purpose of the present invention is to provide a kind of shot blasting curved wall climbing machine that walks on the curved surface.

The object of the present invention is achieved through the following technical measures: a shot blasting arc surface climbing machine, including a shot blasting device and a walking robot, is characterized in that: the walking device includes two universal drive wheels, and the universal drive The wheel includes a driving disc, one side of the driving disc is provided with a first mounting disc, and the other side is provided with a second mounting disc, a number of travel steering mechanisms are arranged between the driving disc and the first mounting disc, and the driving disc Several travel steering mechanisms are arranged between the second mounting plate.

As an improvement of the above technical solution: the travel steering mechanism includes a mounting seat fixedly arranged on the drive disk, two mounting seats are provided, and a cardan shaft is arranged between the two mounting seats. The end of the cardan shaft is provided with a universal bearing, and a universal wheel is provided on the circumferential direction of the universal bearing, and a bolt is provided between the driving disk and the first mounting disk, and the bolt is used to install the first mounting disk The disk is fixed on the driving disk, the first mounting disk is used to press the cardan shaft adjacent to it, and bolts are arranged between the driving disk and the second mounting disk, and the bolts are used to connect the second The mounting plate is fixed on the driving plate, and the second mounting plate is used for pressing the cardan shaft adjacent to it.

As an improvement of the above technical solution: the center of the drive disc is connected with a main drive shaft, the main drive shaft is connected with a main drive reducer, and the main drive reducer is connected with a main drive motor.

As an improvement of the above technical solution: the walking device also includes two angle driving wheels, the angle driving wheels include an angle wheel frame, the angle wheel frame is U-shaped, and the angle wheel frame rotates in the U-shaped groove An angle wheel is provided, and the angle wheel is connected with an angle reducer, and the angle reducer is connected with a power motor, and a steering device is also arranged on the angle wheel frame.

As an improvement of the above technical solution: include a wall-climbing unit, the wall-climbing unit includes at least three bottom plates, the bottom plate in this embodiment includes a first bottom plate, a second bottom plate, and a third bottom plate, and the first bottom plate, the second bottom plate The size of the second bottom plate and the third bottom plate are the same, a loose leaf is arranged between the first bottom plate and the second bottom plate, and a loose leaf is arranged between the second bottom plate and the third bottom plate.

As an improvement of the above technical solution: the universal drive wheel and the angle drive wheel are arranged on the climbing wall unit, the two universal drives are respectively arranged on both sides of the first bottom plate, and the two angle drives The wheels are respectively arranged on both sides of the third bottom plate.

As an improvement of the above technical solution: including at least nine bottom plates, the bottom plate in this embodiment includes a first upper bottom plate, a second upper bottom plate, and a third upper bottom plate, and the first upper bottom plate is hinged to the second upper bottom plate , the second upper bottom plate is hinged to the third upper bottom plate.

As an improvement of the above technical solution: the first mid-sole plate, the second mid-sole plate, and the third mid-sole plate, the first mid-sole plate and the second mid-sole plate are hinged, and the second mid-sole plate and the third mid-sole plate are hinged. The middle bottom plate is hinged, the first lower bottom plate, the second lower bottom plate, and the third lower bottom plate, the first lower bottom plate is hinged with the second lower bottom plate, the second lower bottom plate is hinged with the third lower bottom plate, and the first lower bottom plate is hinged with the second lower bottom plate. An upper bottom plate is hinged to the first middle bottom plate, the first middle bottom plate is hinged to the first lower bottom plate, the second upper bottom plate is hinged to the second middle bottom plate, and the second middle bottom plate is hinged to the second lower bottom plate. The bottom plate is hinged, the third upper bottom plate is hinged to the third middle bottom plate, and the third middle bottom plate is hinged to the third lower bottom plate.

As an improvement of the above technical solution: one of the universal driving wheels is arranged on the side of the first upper bottom plate away from the second upper bottom plate, and the other universal driving wheel is arranged on the third upper bottom plate. The upper bottom plate is away from the side of the second upper bottom plate.

As an improvement of the above technical solution: one of the angle driving wheels is arranged on the side of the first lower bottom plate away from the second lower bottom plate, and the other angle driving wheel is arranged on the third lower bottom plate The side away from the second lower bottom plate.

Owing to having adopted above-mentioned technical scheme, compared with prior art, the advantage of the present invention is:

1. The control of the wall-climbing robot is simple. It only needs to control the forward and reverse rotation of the drive motor to realize the forward and backward movement of the wall-climbing robot in the range of 360° on the plane.

2. The fuselage of the wall-climbing robot adopts a hinge structure and a folding mechanism. Each wall-climbing robot unit is rectangular. The wall-climbing robot has excellent obstacle-surpassing ability and can realize the robot's walking on the curved surface of the ship. Secondly, the wall-climbing robot can realize the individual steering of each wheel, and this structure is satisfied with walking on various surfaces such as arc surfaces, cylindrical surfaces, and spherical surfaces. The scope of application of the robot has been expanded.

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Accompanying drawing 1 is the front view of shot blasting curved wall climbing machine of the present invention.

Accompanying drawing 2 is the right side view of the shot blasting curved wall climbing machine of the present invention.

Accompanying drawing 3 is the structure diagram of Embodiment 1 of the wall climbing unit of the present invention.

Accompanying drawing 4 is the structural schematic diagram of Embodiment 2 of the climbing wall unit of the present invention.

Accompanying drawing 5 is the structural representation of angle drive wheel of the present invention.

Accompanying drawing 6 is the front view of universal drive wheel of the present invention.

Accompanying drawing 7 is the left view of Fig. 6 of the present invention.

Detailed ways

Embodiment 1: As shown in the accompanying drawings 1-3 and 5-7, the shot blasting arc surface climbing machine includes a walking robot 1, the walking robot 1 is connected with a walking device, and the walking device includes two universal The drive wheel, the universal drive wheel includes a drive disc 9, a first mounting disc 81 is provided on one side of the drive disc 9, and a second mounting disc 82 is provided on the other side, and the drive disc 9 is connected to the first mounting disc 82. Several walking steering mechanisms are arranged between the disks 81, and several walking steering mechanisms are arranged between the driving disk 9 and the second mounting disk 82. The walking steering mechanisms include mounting seats 10 fixedly arranged on the driving disk 9, so There are two mounting bases 10, a universal shaft 11 is arranged between the two mounting bases 10, and a universal bearing 12 is disposed on the end of the universal shaft 11, and the universal bearing 12 has a Universal wheels 83 are provided, bolts are arranged between the driving disk 9 and the first mounting disk 81, and the bolts are used to fix the first mounting disk 81 on the driving disk 9, and the first mounting disk 81 uses For pressing the cardan shaft 11 adjacent to it, bolts are arranged between the driving disk 9 and the second mounting disk 82, and the bolts are used to fix the second mounting disk 82 on the driving disk 9, so The second mounting disc 82 is used to compress the cardan shaft 11 adjacent to it. The center of the drive disk 9 is connected with a main drive shaft 8 , the main drive shaft 8 is connected with a main drive reducer 83 , and the main drive reducer 83 is connected with a main drive motor 84 . The main drive motor 84 drives the drive disc 9 to rotate, and the shot blasting curved wall climbing machine moves forward. When the shot blasting curved wall climbing machine moves to one side, the universal wheel 83 in contact with the ground winds 11 Rotate, the shot blasting arc surface climbing machine moves to both sides.

Described running device also comprises two angle drive wheels, and described angle drive wheel comprises angle wheel frame 14, and described angle wheel frame 14 is U-shaped, and the angle wheel frame U-shaped groove rotation is provided with angle wheel 13, so The angle wheel 13 is connected with an angle speed reducer 15, and the angle speed reducer 15 is connected with a power motor 16, and the angle wheel frame 14 is also provided with a steering device.

One side of the walking robot 1 is equipped with a shot blasting support frame, and the shot blasting support frame is installed on one side of the walking robot 1, so that the overall center of gravity of the shot blasting support frame and all parts installed on it can be close to The wall surface can reduce the unstable or even falling of the walking robot 1 climbing the wall due to the large moment generated by the center of gravity.

The shot blasting support frame is fixedly provided with a shot storage box 3, and the shot storage box 3 includes a box bottom wall close to the wall, a box top wall away from the wall, and a box between the box bottom wall and the box top wall. The side wall of the box, the pill storage box 3 is stored with projectiles for construction.

The side wall of the box is provided with a shot pipe 5, because this embodiment is often located on the vertical wall during actual use, so the shot in the shot storage box 3 will accumulate on the side wall of the box due to its own weight. To facilitate the free discharge of projectiles, the present embodiment sets the shot pipe 5 on the side wall of the box where the projectiles are backlogged. Of course, the corresponding present embodiment is provided with the case of the shot pipe 5 during work. The sidewall always remains as the bottom of the pill storage box 3 .

A dust discharge pipe 35 is provided on the top wall of the box, and the dust discharge pipe 35 is connected with a dust collection hose and a dust removal device fixedly installed elsewhere. The dust discharge pipe 35 in this embodiment is universally installed on the On the top wall of the box, to adapt to the dust discharge in the movement of this embodiment. The dust discharge pipe 35 discharges the paint dust, rust dust, etc. generated in the wall surface shot blasting, so as to avoid polluting the environment and affecting the shot blasting effect. The dust collection hose, the dust removal device and the universal installation structure are well known to those skilled in the art, and will not be repeated here and are not shown in the figure.

The shot blasting pipe 5 is connected with a shot blasting device 4 facing the wall for blasting, and the blasting device 4 includes structures such as a shot blasting shell, a shot wheel, an orientation sleeve, a shot blasting impeller, and a shot blasting drive motor 41. The shot pipe 5 is equipped with an automatic shot valve. The projectiles discharged by the automatic shot valve enter the shot blasting impeller through the shot wheel and the directional sleeve. Under the high-speed drive of the shot blasting drive motor 41, the projectiles are thrown towards the wall Surface, forming shot blasting. The automatic shot valve and the shot blaster are well-known and commonly used technologies, and their structures and principles will not be repeated here. In order to make the structure of this embodiment more compact, this embodiment indicates that the shot blasting drive motor 41 is arranged on 3 sides of the storage pill box.

The shot outlet of the shot blaster 4 is fixedly connected with a ball guide tube, and the mouth end of the ball guide tube is connected with a flexible sealing device, and the ball guide tube and the flexible sealing device prevent the projectiles thrown from splash, providing assurance for projectile recovery.

The flexible sealing device is connected with a pressing and sealing control device. The pressing and sealing control device in this embodiment is a bracket lifting and pressing device 7 arranged between the shot blasting support frame and the walking robot 1 . The flexible sealing device includes a sealing bracket 71 fixedly and sealingly connected with the mouth end of the ball guide tube, and the sealing bracket 71 is fixedly provided with a sealing brush 72, and the sealing bracket 71 in this embodiment is used to pass through a bolt. It is fixed on the mouth end of the guide tube; through the lifting of the shot blasting support frame, the pressing sealing brush 72 is tightly pressed against the wall to realize sealing, and the pressing sealing brush 72 can ensure This embodiment achieves a better sealing effect during movement. The support lifting and pressing device 7 includes a support guide 71 fixedly arranged on the walking robot 1, and the support guide 71 can be a guide rod or a guide slideway; There is a support lifting slide 72 corresponding to the support guiding device 71; the shot blasting support frame is connected with a support lifting drive device 73, and the present embodiment indicates that the support lifting drive device 73 includes a support that is fixedly arranged on the shot blasting support The bracket lifting drive motor on the frame, the output end of the bracket lifting drive motor is connected with the bracket lifting screw rod that is rotatably installed on the shot blasting support frame, and the walking robot 1 is fixedly provided with a bracket corresponding to the bracket lifting screw rod. Bracket lifting screw sleeve; after the bracket lifting screw is driven to rotate, due to the effect of the bracket lifting screw sleeve, the bracket lifting screw generates lifting, and the shot blasting support frame integrated with the bracket lifting screw is synchronously generated Lifting, wherein the shot blasting support frame is lowered to be close to the wall, and the pressing against the sealing brush 72 is pressed more tightly to achieve sealing. Of course, the support lifting drive device 73 may also include a support lifting drive motor fixedly arranged on the walking robot 1, and the output end of the support lifting drive motor is connected with a support lifting drive rotatably mounted on the walking robot 1. Screw, the bracket lifting screw sleeve is fixed on the shot blasting support frame. At this time, the bracket lifting screw is driven to rotate, and the bracket lifting screw sleeve is synchronously lifted with the shot blasting support frame.

A pill returning device is provided between the pill guiding cylinder and the pill storage box 3 . The pill-returning device includes a pill-returning bucket 7 arranged on the side wall of the pill-guiding cylinder. Also, because this embodiment works on a vertical wall, this embodiment will be located in the pill-guiding cylinder when it is in working condition. The sidewall of the bottom is set in a bucket shape to form the pill-returning bucket 7; the pill-backing bucket 7 is provided with a pill-backing through hole 52, so that the projectiles thrown to the vertical wall at high speed during the work of this embodiment will rebound after rebounding. , due to the self-weight rebound trajectory forms a parabolic trajectory, and finally falls at the said returning pill bucket 7, and falls out from the described returning pill passing hole 52 for recovery.

The shot storage box 3 is provided with a shot return pipe 36; the shot blast support frame is fixed with a shot return conveying device 6, and the feeding port of the shot return conveying device 6 is fixed to the shot return through hole 52 Sealed connection, the discharge port of the pill returning conveying device 6 is fixed and sealed connected with the pill returning pipe 36 . The shot-back conveying device 6 includes a first shot-back conveyor 61 and a second shot-back conveyor 62 fixedly arranged on the shot blasting support frame, and the feeding port of the first shot-back conveyor 61 is connected to the shot blasting conveyor 61. The shot-returning through hole 52 is fixed and sealed, and the first shot-returning conveyor 61 collects and sends out the rebounded projectiles. The discharge port of the first pellet return conveyor 61 is fixed and sealed with the feed port of the second pellet return conveyor 62, and the discharge port of the second pellet return conveyor 62 is connected to the pellet return pipe 36 fixed sealing connection. When the second shot returning conveyor 62 in this embodiment is in working state, the feeding port is at the bottom and the discharging port is at the top, so as to lift the shot and send it back to the shot storage box 3 . Both the first pellet returning conveyor 61 and the second pellet returning conveyor 62 are screw conveyors.

In this embodiment, the pill guide tube is provided with a return air pipe 37, and the air return pipe 37 is airtightly and fixedly connected with the bottom wall of the box or the side wall of the box. The return air pipe 37 described in this embodiment is arranged on the side wall of the top when the ball guide tube is in working condition, which can reduce the entry of projectiles and ensure normal air supply. The return air pipe 37 can produce blasting The wind power supplied into the described pill storage box 3 plays the effect of strong wind dedusting.

The working principle of this embodiment is: the walking robot 1 crawls onto the vertical wall, adjusts the angle so that the shot blaster 4 is located below the shot storage box 3, starts after setting the parameters, and the support rises The pressure-reducing device 7 controls the shot blasting support frame to be close to the vertical wall, the pressure is compacted by the sealing brush 72, the blasting device 4 is opened, and the blasting speed of the blasting device 4 is corresponding to the walking speed. The robot 1 moves on the vertical wall; the shot blaster 4 throws the projectiles falling from the shot pipe 5 onto the vertical wall at high speed, and the rebounded projectiles freely fall into the shot hopper 7 and enter the described pill returning conveying device 6, the described pill returning conveying device 6 sends the projectile back to the described pill storage box 3 through the described pill returning pipe 36, and the described returning air pipe 37 guides the wind generated by shot blasting into the The shot storage box 3 is used to clean the paint dust and rust dust brought back by the projectiles and the paint dust and rust dust brought back through the return air pipe 37 by wind, and the cleaned paint dust and rust dust flow through the exhaust gas with the wind. The dust pipe 35 is discharged.

In this embodiment, the shot storage, shot blasting and shot return structures are rationally arranged so that the center of gravity of this embodiment is close to the vertical wall, which can reduce the instability of wall climbing or even falling caused by excessive gravity torque; the recycled projectiles can reduce the number of projectiles Loss indirectly reduces the amount of stored pills in the described pill storage box 3, reduces the overall weight of this embodiment, and also prolongs the operating time of this embodiment. This embodiment has a compact structure, realizes the shot blasting operation on the wall-climbing robot, can be applied to ships, tanks and other occasions, and has high promotion value.

The shot blasting curved wall climbing machine includes a wall climbing unit, and the wall climbing unit includes at least three bottom plates. In this embodiment, the bottom plate includes a first bottom plate 24, a second bottom plate 25, and a third bottom plate 26. The first bottom plate 24. The second bottom plate 25 and the third bottom plate 26 are of the same size, and there is a loose leaf between the first bottom plate 24 and the second bottom plate 25 , and a loose leaf between the second bottom plate 25 and the third bottom plate 26 .

The universal driving wheel and the angle driving wheel are arranged on the climbing wall unit, and the two universal driving wheels are arranged on both sides of the first bottom plate 24 respectively, and the two angle driving wheels are respectively arranged on the third bottom plate 26 on both sides.

Embodiment 2: As shown in accompanying drawings 1 and 2, Fig. 4-7, the shot blasting curved wall climbing machine includes a walking robot 1, and the walking robot 1 is connected with a walking device, and the walking device includes two universal drives The universal drive wheel includes a drive disc 9, a first installation disc 81 is provided on one side of the drive disc 9, and a second installation disc 82 is provided on the other side, and the drive disc 9 is connected to the first installation disc. 81 are provided with a number of travel steering mechanisms, between the drive plate 9 and the second mounting plate 82 are provided with a number of travel steering mechanisms, the travel steering mechanism includes a mounting seat 10 fixedly arranged on the drive plate 9, the There are two mounting seats 10, and a cardan shaft 11 is arranged between the two mounting seats 10, and a universal bearing 12 is provided at the end of the cardan shaft 11, and a universal bearing 12 is arranged on the circumferential direction of the cardan bearing 12. There is a universal wheel 83, and bolts are arranged between the driving disk 9 and the first mounting disk 81, and the bolts are used to fix the first mounting disk 81 on the driving disk 9, and the first mounting disk 81 is used for Compress the cardan shaft 11 adjacent to it, and bolts are arranged between the driving disk 9 and the second mounting disk 82, and the bolts are used to fix the second mounting disk 82 on the driving disk 9. The second mounting plate 82 is used for pressing the cardan shaft 11 adjacent thereto. The center of the drive disk 9 is connected with a main drive shaft 8 , the main drive shaft 8 is connected with a main drive reducer 83 , and the main drive reducer 83 is connected with a main drive motor 84 . The main drive motor 84 drives the drive disc 9 to rotate, and the shot blasting curved wall climbing machine moves forward. When the shot blasting curved wall climbing machine moves to one side, the universal wheel 83 in contact with the ground winds 11 Rotate, the shot blasting arc surface climbing machine moves to both sides.

Described running device also comprises two angle drive wheels, and described angle drive wheel comprises angle wheel frame 14, and described angle wheel frame 14 is U-shaped, and the angle wheel frame U-shaped groove rotation is provided with angle wheel 13, so Described angle wheel 13 is connected with angle speed reducer 15, and described angle speed reducer 15 is connected with power motor 16, and steering gear is also provided with on described angle wheel frame 14, and described steering gear comprises steering box body 18, and described steering box A steering worm 21 is arranged inside the body 18, and the steering worm 21 is matched with a steering worm gear 20, and the steering worm wheel 20 is connected with a transmission wheel rod 19, and the transmission wheel rod 19 is connected with a steering motor 17. The steering worm 21 is connected with a steering shaft 23 , and the steering shaft 23 is connected with a steering bearing 22 , and the steering bearing is fixedly arranged on the steering box 18 .

One side of the walking robot 1 is equipped with a shot blasting support frame, and the shot blasting support frame is installed on one side of the walking robot 1, so that the overall center of gravity of the shot blasting support frame and all parts installed on it can be close to The wall surface can reduce the unstable or even falling of the walking robot 1 climbing the wall due to the large moment generated by the center of gravity.

The shot blasting support frame is fixedly provided with a shot storage box 3, and the shot storage box 3 includes a box bottom wall close to the wall, a box top wall away from the wall, and a box between the box bottom wall and the box top wall. The side wall of the box, the pill storage box 3 is stored with projectiles for construction.

The side wall of the box is provided with a shot pipe 5, because this embodiment is often located on the vertical wall during actual use, so the shot in the shot storage box 3 will accumulate on the side wall of the box due to its own weight. To facilitate the free discharge of projectiles, the present embodiment sets the shot pipe 5 on the side wall of the box where the projectiles are backlogged. Of course, the corresponding present embodiment is provided with the case of the shot pipe 5 during work. The sidewall always remains as the bottom of the pill storage box 3 .

A dust discharge pipe 35 is provided on the top wall of the box, and the dust discharge pipe 35 is connected with a dust collection hose and a dust removal device fixedly installed elsewhere. The dust discharge pipe 35 in this embodiment is universally installed on the On the top wall of the box, to adapt to the dust discharge in the movement of this embodiment. The dust discharge pipe 35 discharges the paint dust, rust dust, etc. generated in the wall surface shot blasting, so as to avoid polluting the environment and affecting the shot blasting effect. The dust collection hose, the dust removal device and the universal installation structure are well known to those skilled in the art, and will not be repeated here and are not shown in the figure.

The shot blasting pipe 5 is connected with a shot blasting device 4 facing the wall for blasting, and the blasting device 4 includes structures such as a shot blasting shell, a shot wheel, an orientation sleeve, a shot blasting impeller, and a shot blasting drive motor 41. The shot pipe 5 is equipped with an automatic shot valve. The projectiles discharged by the automatic shot valve enter the shot blasting impeller through the shot wheel and the directional sleeve. Under the high-speed drive of the shot blasting drive motor 41, the projectiles are thrown towards the wall Surface, forming shot blasting. The automatic shot valve and the shot blaster are well-known and commonly used technologies, and their structures and principles will not be repeated here. In order to make the structure of this embodiment more compact, this embodiment indicates that the shot blasting drive motor 41 is arranged on 3 sides of the storage pill box.

The shot outlet of the shot blaster 4 is fixedly connected with a ball guide tube, and the mouth end of the ball guide tube is connected with a flexible sealing device, and the ball guide tube and the flexible sealing device prevent the projectiles thrown from splash, providing assurance for projectile recovery.

The flexible sealing device is connected with a pressing and sealing control device. The pressing and sealing control device in this embodiment is a bracket lifting and pressing device 7 arranged between the shot blasting support frame and the walking robot 1 . The flexible sealing device includes a sealing bracket 71 fixedly and sealingly connected with the mouth end of the ball guide tube, and the sealing bracket 71 is fixedly provided with a sealing brush 72, and the sealing bracket 71 in this embodiment is used to pass through a bolt. It is fixed on the mouth end of the guide tube; through the lifting of the shot blasting support frame, the pressing sealing brush 72 is tightly pressed against the wall to realize sealing, and the pressing sealing brush 72 can ensure This embodiment achieves a better sealing effect during movement. The support lifting and pressing device 7 includes a support guide 71 fixedly arranged on the walking robot 1, and the support guide 71 can be a guide rod or a guide slideway; There is a support lifting slide 72 corresponding to the support guiding device 71; the shot blasting support frame is connected with a support lifting drive device 73, and the present embodiment indicates that the support lifting drive device 73 includes a support that is fixedly arranged on the shot blasting support The bracket lifting drive motor on the frame, the output end of the bracket lifting drive motor is connected with the bracket lifting screw rod that is rotatably installed on the shot blasting support frame, and the walking robot 1 is fixedly provided with a bracket corresponding to the bracket lifting screw rod. Bracket lifting screw sleeve; after the bracket lifting screw is driven to rotate, due to the effect of the bracket lifting screw sleeve, the bracket lifting screw generates lifting, and the shot blasting support frame integrated with the bracket lifting screw is synchronously generated Lifting, wherein the shot blasting support frame is lowered to be close to the wall, and the pressing against the sealing brush 72 is pressed more tightly to achieve sealing. Of course, the support lifting drive device 73 may also include a support lifting drive motor fixedly arranged on the walking robot 1, and the output end of the support lifting drive motor is connected with a support lifting drive rotatably mounted on the walking robot 1. Screw, the bracket lifting screw sleeve is fixed on the shot blasting support frame. At this time, the bracket lifting screw is driven to rotate, and the bracket lifting screw sleeve is synchronously lifted with the shot blasting support frame.

A pill returning device is provided between the pill guiding cylinder and the pill storage box 3 . The pill-returning device includes a pill-returning bucket 7 arranged on the side wall of the pill-guiding cylinder. Also, because this embodiment works on a vertical wall, this embodiment will be located in the pill-guiding cylinder when it is in working condition. The sidewall of the bottom is set in a bucket shape to form the pill-returning bucket 7; the pill-backing bucket 7 is provided with a pill-backing through hole 52, so that the projectiles thrown to the vertical wall at high speed during the work of this embodiment will rebound after rebounding. , due to the self-weight rebound trajectory forms a parabolic trajectory, and finally falls at the said returning pill bucket 7, and falls out from the described returning pill passing hole 52 for recovery.

The shot storage box 3 is provided with a shot return pipe 36; the shot blast support frame is fixed with a shot return conveying device 6, and the feeding port of the shot return conveying device 6 is fixed to the shot return through hole 52 Sealed connection, the discharge port of the pill returning conveying device 6 is fixed and sealed connected with the pill returning pipe 36 . The shot-back conveying device 6 includes a first shot-back conveyor 61 and a second shot-back conveyor 62 fixedly arranged on the shot blasting support frame, and the feeding port of the first shot-back conveyor 61 is connected to the shot blasting conveyor 61. The shot-returning through hole 52 is fixed and sealed, and the first shot-returning conveyor 61 collects and sends out the rebounded projectiles. The discharge port of the first pellet return conveyor 61 is fixed and sealed with the feed port of the second pellet return conveyor 62, and the discharge port of the second pellet return conveyor 62 is connected to the pellet return pipe 36 fixed sealing connection. When the second shot returning conveyor 62 in this embodiment is in working state, the feeding port is at the bottom and the discharging port is at the top, so as to lift the shot and send it back to the shot storage box 3 . Both the first pellet returning conveyor 61 and the second pellet returning conveyor 62 are screw conveyors.

In this embodiment, the pill guide tube is provided with a return air pipe 37, and the air return pipe 37 is airtightly and fixedly connected with the bottom wall of the box or the side wall of the box. The return air pipe 37 described in this embodiment is arranged on the side wall of the top when the ball guide tube is in working condition, which can reduce the entry of projectiles and ensure normal air supply. The return air pipe 37 can produce blasting The wind power supplied into the described pill storage box 3 plays the effect of strong wind dedusting.

The working principle of this embodiment is: the walking robot 1 crawls onto the vertical wall, adjusts the angle so that the shot blaster 4 is located below the shot storage box 3, starts after setting the parameters, and the support rises The pressure-reducing device 7 controls the shot blasting support frame to be close to the vertical wall, the pressure is compacted by the sealing brush 72, the blasting device 4 is opened, and the blasting speed of the blasting device 4 is corresponding to the walking speed. The robot 1 moves on the vertical wall; the shot blaster 4 throws the projectiles falling from the shot pipe 5 onto the vertical wall at high speed, and the rebounded projectiles freely fall into the shot hopper 7 and enter the described pill returning conveying device 6, the described pill returning conveying device 6 sends the projectile back to the described pill storage box 3 through the described pill returning pipe 36, and the described returning air pipe 37 guides the wind generated by shot blasting into the The shot storage box 3 is used to clean the paint dust and rust dust brought back by the projectiles and the paint dust and rust dust brought back through the return air pipe 37 by wind, and the cleaned paint dust and rust dust flow through the exhaust gas with the wind. The dust pipe 35 is discharged.

In this embodiment, the shot storage, shot blasting and shot return structures are rationally arranged so that the center of gravity of this embodiment is close to the vertical wall, which can reduce the instability of wall climbing or even falling caused by excessive gravity torque; the recycled projectiles can reduce the number of projectiles Loss indirectly reduces the amount of stored pills in the described pill storage box 3, reduces the overall weight of this embodiment, and also prolongs the operating time of this embodiment. This embodiment has a compact structure, realizes the shot blasting operation on the wall-climbing robot, can be applied to ships, tanks and other occasions, and has high promotion value.

The climbing wall unit includes at least nine bottom plates. In this embodiment, the bottom plates include a first upper bottom plate 24-1, a second upper bottom plate 24-2, and a third upper bottom plate 24-3. The first upper bottom plate 24-1 It is hinged with the second upper bottom plate 24-2, and the second upper bottom plate 24-2 is hinged with the third upper bottom plate 24-3.

The first middle bottom plate 25-1, the second middle bottom plate 25-2, and the third middle bottom plate 25-3, the first middle bottom plate 25-1 is hinged to the second middle bottom plate 25-2, and the second middle bottom plate 25-2 The bottom plate 25-2 is hinged to the third middle bottom plate 25-3.

The first lower bottom plate 26-1, the second lower bottom plate 26-2, and the third lower bottom plate 26-3, the first lower bottom plate 26-1 and the second lower bottom plate 26-2 are hinged, the second lower bottom plate The bottom plate 26-2 is hinged to the third lower bottom plate 26-3.

The first upper bottom plate 24-1 is hinged to the first middle bottom plate 25-1, the first middle bottom plate 25-1 is hinged to the first lower bottom plate 26-1, and the second upper bottom plate 24-2 is hinged to the first lower bottom plate 26-1. The second middle bottom plate 25-2 is hinged, the second middle bottom plate 25-2 is hinged to the second lower bottom plate 26-2, and the third upper bottom plate 24-3 is hinged to the third middle bottom plate 25-3 , the third middle bottom plate 25-3 is hinged to the third lower bottom plate 26-3,

One of the universal driving wheels is arranged on the side of the first upper bottom plate 24-1 away from the second upper bottom plate 24-2, and the other universal driving wheel is arranged on the third upper bottom plate 24. -3 away from the side of the second upper bottom plate 24-2.

One of the angle driving wheels is arranged on the side of the first lower bottom plate 26-1 away from the second lower bottom plate 26-2, and the other angle driving wheel is arranged on the third lower bottom plate 26-3. The side away from the second lower bottom plate 26-2.

Claims (10)

1. Shot blasting curved wall climbing machine, comprising a shot blasting device and a walking robot, characterized in that: the walking device includes two universal drive wheels, the universal drive wheels include a drive disc, one side of the drive disc A first installation disk is provided, and a second installation disk is provided on the other side. Several travel steering mechanisms are provided between the drive disk and the first installation disk, and several travel steering mechanisms are provided between the drive disk and the second installation disk. Steering mechanism. 2. The shot blasting arc surface wall climbing machine according to claim 1, characterized in that: the travel steering mechanism includes a mounting seat fixedly arranged on the driving disk, and the mounting seat is provided with two, and the two A universal shaft is arranged between the mounting seats, a universal bearing is arranged at the end of the universal bearing, a universal wheel is arranged on the circumference of the universal bearing, and a universal wheel is arranged between the driving disc and the first mounting disc. There are bolts, the bolts are used to fix the first mounting plate on the drive plate, the first mounting plate is used to compress the cardan shaft adjacent to it, and the gap between the drive plate and the second mounting plate is Bolts are provided, and the bolts are used to fix the second mounting plate on the drive plate, and the second mounting plate is used to compress the cardan shaft adjacent to it. 3. The shot blasting arc surface wall climbing machine according to claim 2, characterized in that: the center of the drive disc is connected with a main drive shaft, and the main drive shaft is connected with a main drive reducer, and the main drive reducer A main drive motor is connected. 4. The shot blasting arc surface wall climbing machine according to claim 3, characterized in that: the traveling device also includes two angle drive wheels, the angle drive wheels comprise an angle wheel frame, and the angle wheel frame is U In the U-shaped groove of the angle wheel frame, an angle wheel is rotated, and the angle wheel is connected with an angle reducer, and the angle reducer is connected with a power motor, and a steering device is also arranged on the angle wheel frame. 5. The shot blasting arc surface wall climbing machine according to claim 4, characterized in that: it includes a wall climbing unit, and the wall climbing unit includes at least three bottom plates, and the bottom plates in this embodiment include a first bottom plate and a second bottom plate , the third bottom plate, the first bottom plate, the second bottom plate, and the third bottom plate have the same size, a loose-leaf is arranged between the first bottom plate and the second bottom plate, and a loose-leaf is arranged between the second bottom plate and the third bottom plate . 6. The shot blasting arc surface wall climbing machine according to claim 5, characterized in that: the universal drive wheel and the angle drive wheel are arranged on the wall climbing unit, and the two universal drives are respectively arranged on the first On both sides of the bottom plate, the two angle driving wheels are respectively arranged on both sides of the third bottom plate. 7. The shot blasting arc surface wall-climbing machine according to claim 4, characterized in that: it comprises at least nine bottom plates, and in this embodiment, the bottom plates include a first upper bottom plate, a second upper bottom plate, and a third upper bottom plate, said The first upper bottom plate is hinged to the second upper bottom plate, and the second upper bottom plate is hinged to the third upper bottom plate. 8. The shot blasting arc surface wall climbing machine according to claim 7, characterized in that: the first mid-bottom, the second mid-bottom, the third mid-bottom, the first mid-bottom and the second mid-bottom The bottom plate is hinged, the second middle bottom plate is hinged with the third middle bottom plate, the first lower bottom plate, the second lower bottom plate, and the third lower bottom plate are hinged, the first lower bottom plate is hinged with the second lower bottom plate, and the second lower bottom plate is hinged with the second lower bottom plate. The lower bottom plate is hinged to the third lower bottom plate, the first upper bottom plate is hinged to the first middle bottom plate, the first middle bottom plate is hinged to the first lower bottom plate, the second upper bottom plate is hinged to the second middle bottom plate The second middle bottom plate is hinged to the second lower bottom plate, the third upper bottom plate is hinged to the third middle bottom plate, and the third middle bottom plate is hinged to the third lower bottom plate. 9. The shot blasting arc surface climbing machine according to claim 5, characterized in that: one of the universal drive wheels is set on the side of the first upper bottom plate away from the second upper bottom plate, and the other The universal drive wheel is arranged on a side of the third upper bottom plate away from the second upper bottom plate. 10. The shot blasting arc surface climbing machine according to claim 9, characterized in that: one of the angle drive wheels is set on the side of the first lower bottom plate away from the second lower bottom plate, and the other is set on the side of the second lower bottom plate. The angle driving wheel is arranged on a side of the third lower bottom plate away from the second lower bottom plate.