CN112377511B

CN112377511B - Adsorption mechanism and operating system

Info

Publication number: CN112377511B
Application number: CN202011215614.3A
Authority: CN
Inventors: 汪冬
Original assignee: Guangzhou Liduo Robot Intelligent Technology Co ltd
Current assignee: Guangzhou Liduo Robot Intelligent Technology Co ltd
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2023-03-10
Anticipated expiration: 2040-11-04
Also published as: CN112377511A

Abstract

The invention relates to an adsorption mechanism which comprises a plurality of sucker bodies, wherein vacuum cavities are respectively arranged in the sucker bodies, and the sucker bodies are sequentially and fixedly connected end to form a closed structure; the adsorption mechanism and the operation system can avoid dragging friction between the cable and the air duct on the ground.

Description

Adsorption mechanism and operating system

Technical Field

The invention relates to the field of rust removal machinery, in particular to an adsorption mechanism and an operation system.

Background

In order to conveniently remove rust on the surface of a ship or a building, people develop knocking equipment capable of automatically walking on a vertical surface.

The knocking equipment needs to be driven by a cable and an air duct to operate when in work, and due to the fact that the size of a ship and a building is large, when the knocking equipment works, the cable and the air duct need to be long, due to the effect of gravity, the cable and the air duct are easily dragged on the ground to rub, and the cable and the air duct are easily abraded.

Disclosure of Invention

Based on the above, the invention provides the adsorption mechanism and the operation system which can avoid dragging friction between the cable and the ventilation pipeline on the ground.

The technical scheme is that the adsorption mechanism comprises a plurality of sucker bodies, wherein vacuum cavities are respectively arranged in the sucker bodies, and the sucker bodies are sequentially fixedly connected end to form a closed structure.

Preferably, the sucker body comprises a sucker piece and a connecting sealing piece, wherein an air suction hole, an adsorption hole and an adsorption surface are formed in the sucker piece, the vacuum cavity is also formed in the sucker piece, the adsorption hole is formed in the adsorption surface, the adsorption hole and the air suction hole are communicated with the vacuum cavity, a through hole corresponding to the adsorption hole is formed in the connecting sealing piece, and the connecting sealing piece is fixed to the sucker piece.

Preferably, the sucker piece comprises an outer wall plate and an inner wall plate, the outer wall plate is fixedly connected to form an outer barrel, the inner wall plate is fixedly connected to form an inner barrel, the outer barrel is sleeved outside the inner barrel, a cavity is formed between the inner barrel and the outer barrel, a partition plate is arranged between the sucker piece and the sucker piece, and the partition plate divides the cavity into a plurality of vacuum cavities.

Preferably, a clamping block is arranged on the first side of the partition plate, a clamping groove matched with the clamping block is formed in one of the outer wallboard and the inner wallboard, the clamping block is clamped in the clamping groove, and the second end of the partition plate is fixedly connected with the outer wallboard or the inner wallboard; the sucker further comprises sealing plates, the sealing plates are fixed at two ends of the sucker, and the sealing plates are fixedly connected with the inner barrel and the outer barrel simultaneously; an accommodating cavity is formed in the inner barrel, and a first vacuum pump is arranged in the accommodating cavity.

Preferably, the adsorption holes are arranged in a plurality of array, the adsorption holes are arranged in an array mode, the side, opposite to the adsorption face, of the sucking disc piece is provided with a convex edge, and the adsorption holes penetrate through the convex edge.

Preferably, the adsorption mechanism further comprises a first vacuum pump, a check valve is arranged between an air inlet of the first vacuum pump and the air exhaust hole, the check valve comprises a valve body, an elastic part and a ball body, a valve body channel is arranged in the valve body, a first end of the valve body channel is connected with the air inlet of the first vacuum pump, a second end of the valve body channel is connected with the air exhaust hole, one end of the elastic part is fixed on the valve body, and the other end of the elastic part is fixedly connected with the ball body; in the first state, two ends of the valve body channel are communicated; in the second state, the ball blocks the valve body passage.

Preferably, the sucker body comprises eight sucker pieces and eight connecting sealing pieces, wherein the eight sucker pieces form an octagonal prism structure, and the eight connecting sealing pieces form an octagonal prism structure matched with the sucker pieces; the sucker body is provided with a connecting hole, the connecting hole penetrates through the sucker body and extends along the length direction of the sucker body, the sucker body further comprises a fixing piece, and the connecting hole penetrates through the fixing piece; the adsorption mechanism is internally provided with a holding cavity, a first vacuum pump is arranged in the holding cavity, and the holding cavity is communicated with the outside.

The invention also provides an operation system which comprises operation equipment, a conveying pipeline and any one adsorption mechanism, wherein the conveying pipeline is connected with the operation equipment, penetrates through the adsorption mechanism and is fixedly connected with the adsorption mechanism.

Preferably, the operation equipment comprises a walking device, the walking device comprises a first walking device, the first walking device comprises a fixing frame, a power device, a driving wheel, a track and a fixed sucker, the driving wheel comprises a first wheel set and a second wheel set, the first wheel set is fixed at one end of the fixing frame, the second wheel set is fixed at the other end of the fixing frame, and the first wheel set and the second wheel set are in transmission connection through the track; the power device is fixed on the fixing frame and drives the first wheel set and the second wheel set to rotate; the plurality of fixed suckers are fixed on the crawler and rotate along with the crawler; the first wheel set comprises a first gear and a second gear, the second wheel set comprises a third gear and a fourth gear, and the power device comprises a first power device and a second power device; the first power device is positioned between the first gear and the second gear and drives the first gear and the second gear to synchronously rotate; the second power device is positioned between the third gear and the fourth gear and drives the third gear and the fourth gear to synchronously rotate; the crawler comprises a first chain and a second chain, the first chain is in meshed connection with the first gear and the third gear, and the second chain is in meshed connection with the second gear and the fourth gear; the fixed sucker comprises a sucker body and a second vacuum pump, the second vacuum pump is fixedly connected with the sucker body, and an air inlet of the second vacuum pump is communicated with the sucker body; the fixed sucker is fixedly connected with a balance piece, the first end of the balance piece is connected with the fixed sucker, and the second end of the balance piece extends towards the fixed frame; in the first condition, the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame; in the second condition, the balance piece does not apply a pulling force to the fixed sucker; the balance piece is electrically connected with the second vacuum pump, a conductive strip is fixedly connected to the fixed frame, and when the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame, the balance piece is in contact with the conductive strip and conducts electricity; when the balance piece does not apply pulling force to the fixed sucker, the balance piece is not conducted with the conductive bar; the balance piece comprises a first connecting rod and a second connecting rod which are connected with each other, the first connecting rod is fixedly connected with the fixed sucker, the free end of the second connecting rod is connected with a conductive roller, and when the balance piece applies a tensile force to the fixed sucker in the direction of the fixed frame, the conductive roller is in contact with a conductive strip on the fixed frame; the fixed frame is provided with a guide groove, the conductive bar is positioned in the guide groove, and the conductive roller rolls in the guide groove; the first connecting rod is also provided with an auxiliary roller which slides on the side wall of the fixing frame; the first connecting rod is sleeved with a buffer spring, and when the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame, the buffer spring applies a force opposite to the pulling force to the fixed sucker.

Preferably, the operating system further comprises a knocking device, the knocking device is fixed on the traveling device and comprises a plurality of rust removal units and a gas distribution mechanism, each rust removal unit comprises a rust removal unit body and a bullet, an air cavity is formed in the rust removal unit body, the bullets are movably embedded in the air cavity, and the gas distribution mechanism is communicated with the air cavity and is used for introducing compressed air into the air cavity and driving the bullets to reciprocate relative to the air cavity; the air cavity comprises a guide through hole and a piston cavity, the guide through hole is connected and communicated with the piston cavity, the warhead is movably embedded in the guide through hole, and the side wall of the warhead is abutted against the inner wall of the guide through hole, so that the piston cavity is a closed cavity; a pressurizing station and a pressure releasing station are arranged on the wall of the air cavity, the gas distribution mechanism can introduce gas into the piston cavity through the pressurizing station, and the gas in the piston cavity can be released into the atmosphere through the pressure releasing station; the bullet comprises a bullet inner cavity, a first air hole and a second air hole are formed in the side wall of the bullet, a pressurizing station and a pressure releasing station are arranged on the side wall of the air cavity, the first air hole is matched with the pressure releasing station, and the second air hole is matched with the pressurizing station; the rust removal unit body is also provided with a buffer cavity, the buffer cavity is communicated with the pressurization station, and an air outlet of the air distribution mechanism is communicated with the buffer cavity; when the gas distribution mechanism pressurizes the buffer cavity, the second gas hole is aligned with the pressurizing station, gas enters from the second gas hole and fills the inner cavity of the bullet, and the bullet is driven by the gas pressure of the piston cavity to advance along the guide through hole; when the warhead advances to the first air hole corresponds to the pressure relief station, air pressure is discharged through the pressure relief station, and the warhead resets after being impacted with a rust removed object.

The adsorption mechanism is fixed with the pipeline, can walk forwards under the dragging of external force and can be adsorbed on the surface of a building body to walk, and one adsorption mechanism is arranged at each end of the pipeline at a distance so as to support the pipeline, so that the pipeline is prevented from being dragged on the ground or the building body, and the possibility of damage of the pipeline due to friction is reduced.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual size, emphasis instead being placed upon illustrating the principles of the invention.

FIG. 1 is an overall structural view of an adsorption mechanism of a preferred embodiment of the present invention;

FIG. 2 is a cross-sectional view of a suction mechanism according to a preferred embodiment of the present invention;

FIG. 3 is an overall block diagram of the operating system in accordance with the preferred embodiment of the present invention;

fig. 4 is an overall configuration diagram of a working device according to a preferred embodiment of the present invention;

FIG. 5 is an enlarged view of portion A of the traveling mechanism of FIG. 4;

FIG. 6 is an overall configuration view of a traveling mechanism according to another embodiment of the present invention;

FIG. 7 is an enlarged view of portion B of FIG. 6;

fig. 8 is an overall configuration diagram of a working device according to another preferred embodiment of the present invention;

FIG. 9 is an exploded view of the rust removal module;

FIG. 10 is a cross-sectional view taken along the direction AA in FIG. 9;

FIG. 11 is a sectional view of the knocking device in an assembled state;

FIG. 12 is a sectional view of the knocking device body according to the preferred embodiment of the present invention in an assembled state;

FIG. 13 is a partial cross-sectional view of a rapping device in accordance with another embodiment of the present invention

FIG. 14 is an exploded view of a section of a knocking device in accordance with another preferred embodiment of the present invention;

fig. 15 is a sectional view of a bullet according to another preferred embodiment of the present invention;

FIG. 16 is a cross-sectional view of a rapping device in accordance with another preferred embodiment of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and 2, an embodiment of the present invention provides a suction mechanism, which includes a plurality of suction cup bodies, wherein vacuum chambers 1 to 10 are respectively disposed in the suction cup bodies, and the plurality of suction cup bodies are sequentially and fixedly connected end to form a closed structure.

The sucker body comprises a sucker piece 1-1 and a connecting sealing piece 1-2, a vacuum cavity 1-10, an air suction hole 1-111, an adsorption hole 1-121 and an adsorption surface 1-113 are arranged on the sucker piece 1-1, the adsorption hole 1-121 is arranged on the adsorption surface 1-113, the adsorption hole 1-121 and the air suction hole 1-111 are communicated with the vacuum cavity 1-10, a through hole corresponding to the adsorption hole 1-121 is arranged on the connecting sealing piece 1-2, and the connecting sealing piece is fixed on the sucker piece 1-1. The adsorption mechanism further comprises a first vacuum pump 1-3, the first vacuum pump 1-3 is started to extract air in the vacuum cavity 1-10, if the connecting sealing member 1-2 is in contact with an external object, the vacuum cavity 1-10 is not communicated with the outside, and the first vacuum pump 1-3 can enable the corresponding vacuum cavity 1-10 to form vacuum, so that the adsorption mechanism is adsorbed on the external object. The sucking disc bodies are arranged in a plurality of numbers, the sucking disc bodies are sequentially fixedly connected end to form a closed structure, and the air inlet of the first vacuum pump 1-3 is communicated with the air exhaust holes 1-111. Under the action of external force, the adsorption mechanism rolls, so that different adsorption surfaces 1-113 are in contact with an external object, and the adsorption mechanism can be adsorbed on the external object no matter which adsorption surface 1-113 is in contact with the external object. Specifically, the connecting and sealing element 1-2 is made of materials with good air tightness, wear resistance and elasticity, such as foaming sponge, plastic and the like.

In a preferred embodiment, the sucker member 1-1 comprises an outer wall plate and an inner wall plate, wherein a plurality of outer wall plates are fixedly connected to form the outer cylinder 1-12, a plurality of outer wall plates are integrally formed, a plurality of inner wall plates are also fixedly connected to form the inner cylinder 1-11, a plurality of inner wall plates are integrally formed, and the outer cylinder 1-12 is sleeved outside the inner cylinder 1-11, so that the structure is easier to manufacture. A cavity is formed between the inner cylinder 1-11 and the outer cylinder 1-12, a partition plate is arranged between the adjacent sucker pieces 1-1, the cavity is divided into a plurality of vacuum cavities 1-10 by the partition plate, each vacuum cavity 1-10 corresponds to one adsorption surface 1-113, and the adsorption surfaces 1-113 can have adsorption capacity no matter which adsorption surface 1-113 is contacted with an external object. The sucker 1-1 also comprises sealing plates 1-5, the sealing plates 1-5 are fixed at two ends of the sucker 1-1, and the sealing plates 1-5 are fixedly connected with the inner cylinder 1-11 and the outer cylinder 1-12 at the same time; the first vacuum pump 1-3 is fixed in the inner cylinder 1-11.

In a further preferred embodiment, a first side of the partition is provided with a holding block 1-41, one of the outer wall plate and the inner wall plate is provided with a holding groove matched with the holding block 1-41, the holding block 1-41 is held in the holding groove, and a second end of the partition is fixedly connected with the outer wall plate or the inner wall plate. Specifically, the clamping blocks 1-41 are fixedly connected with the outer cylinders 1-12, the inner cylinders 1-11 are provided with protrusions, clamping grooves are formed in the protrusions, and when the inner cylinders 1-11 are sleeved into the outer cylinders 1-12, the clamping blocks 1-41 are correspondingly sleeved into the clamping grooves, so that the inner cylinders 1-11 and the outer cylinders 1-12 are fixed together.

In a preferred embodiment, a plurality of adsorption holes 1-121 are arranged, the adsorption holes 1-121 are arranged in an array, a convex rib is arranged on the surface of the sucker member 1-1 opposite to the adsorption surface 1-113, and the adsorption holes 1-121 penetrate through the convex rib. The number of the adsorption holes 1-121 is large, and the adsorption holes 1-121 are arranged on the convex ribs to enhance the strength of the adsorption piece.

In a preferred embodiment, a check valve 1-113 is arranged between the air inlet of the first vacuum pump 1-3 and the air exhaust hole 1-111, the check valve 1-113 comprises a valve body, an elastic member and a ball body, a valve body channel is arranged in the valve body, a first end of the valve body channel is connected with the air inlet of the first vacuum pump 1-3, a second end of the valve body channel is connected with the air exhaust hole 1-111, one end of the elastic member is fixed on the valve body, and the other end of the elastic member is fixedly connected with the ball body. In the first state, the adsorption surfaces 1-113 are in contact with an external object, the adsorption holes 1-121 are not communicated with the outside, negative pressure can be formed in the vacuum cavities 1-10 when the first vacuum pump 1-3 performs vacuum pumping, negative pressure can be formed at a position close to the first vacuum pump 1-3, no pressure difference exists between two ends of the check valve 1-113, the valve body channel cannot be blocked by the ball body, two ends of the valve body channel are communicated, and the adsorption piece generates adsorption force. In the second state, the adsorption surfaces 1-113 are not in contact with an external object, the adsorption holes 1-121 are communicated with the outside, when the first vacuum pump 1-3 performs vacuum pumping, negative pressure cannot be formed in the vacuum chambers 1-10, negative pressure can be formed at the position close to the first vacuum pump 1-3, pressure difference is formed at two ends of the check valve 1-113, the ball blocks the valve body channel, the valve body channel is blocked, and the adsorption piece cannot generate adsorption force.

In a preferred embodiment, the sucker body comprises eight sucker pieces 1-1 and eight connecting sealing pieces 1-2, wherein the eight sucker pieces 1-1 form an octagonal prism structure, and the eight connecting sealing pieces 1-2 form an octagonal prism structure matched with the sucker pieces 1-1; the sucker body is provided with a connecting hole 1-00, the connecting hole 1-00 penetrates through the sucker body, the connecting hole extends along the length direction of the sucker body, the length direction extends to the directions of the two openings of the accommodating cavity 1-20, the sucker body further comprises a fixing piece 1-6, and the connecting hole 1-00 penetrates through the fixing piece 1-6; the adsorption mechanism is internally provided with an accommodating cavity 1-20, a first vacuum pump 1-3 is arranged in the accommodating cavity 1-20, and the accommodating cavity 1-20 is communicated with the outside.

Referring to fig. 3 to 16, the present invention further provides an operation system, which includes an operation device, a conveying pipeline 1 to 00 and any one of the adsorption mechanisms, wherein the conveying pipeline 1 to 00 is connected to the operation device, and the conveying pipeline 1 to 00 penetrates through the adsorption mechanism and is fixedly connected to the adsorption mechanism. Adsorption equipment constructs and the pipeline is together fixed, can walk forward under the dragging of external force, and can adsorb the surface walking at the building body, and this adsorption equipment constructs is placed apart from every one end of pipeline, can hold up the pipeline, avoids the pipeline to drag on ground or the building body, reduces the pipeline because of the impaired possibility of friction.

Referring to fig. 8, in a preferred embodiment, the working equipment comprises a walking device comprising a first walking device 2 comprising a fixed frame 23, a power device 21, a driving wheel 24, a crawler belt 22 and a fixed suction cup 3. The drive wheel includes first wheelset and second wheelset, and first wheelset is fixed in the one end of mount 23, and the other end at mount 23 is fixed to the second wheelset, connects through the track transmission between first wheelset and the second wheelset, and specifically, this track is chain 22 or belt. The power device 21 is fixed on the fixing frame 23, and the power device 21 drives the first wheel set and the second wheel set to rotate, so as to drive the track to rotate. The fixed suckers 3 are all fixed on the track and rotate along with the track, and the suckers can be adsorbed on the adsorption surface 100 of an object, so that the walking mechanism can walk on a vertical surface. Specifically, this sucking disc is by good, the wear-resisting elastic material of just having of gas tightness such as foaming sponge, plastic and makes, and fixed sucking disc 3 is provided with 3, 4, five or more, and a plurality of fixed sucking discs 3 even distribution are on the track.

Referring to fig. 8, in a preferred embodiment, the first set of wheels comprises a first gear and a second gear, the second set of wheels comprises a third gear and a fourth gear, and the power means 21 comprises a first power means and a second power means. The first power device is positioned between the first gear and the second gear and drives the first gear and the second gear to synchronously rotate. The second power device is positioned between the third gear and the fourth gear and drives the third gear and the fourth gear to synchronously rotate. One motor drives two gears 24 simultaneously, and the synchronization performance is better. The two motors also rotate synchronously, and the synchronous performance of the two motors is controlled by the control device 5. Further, the track comprises a first chain and a second chain, the first chain is in meshed connection with the first gear and the third gear, and the second chain is in meshed connection with the second gear and the fourth gear.

Referring to fig. 5-6, in a preferred embodiment, the fixed suction cup 3 comprises a suction cup body 31 and a second vacuum pump 32, the second vacuum pump 32 is fixedly connected with the suction cup body 31, and an air suction port of the second vacuum pump 32 is communicated with the suction cup body 31. Of course, in other embodiments, the suction cup body 31 may communicate with an external vacuum generating device, and air in the suction cup body 31 is sucked by the vacuum generating device, thereby generating vacuum. The fixed sucker 3 is also fixedly connected with a balance piece 7, the first end of the balance piece 7 is connected with the fixed sucker 3, and the second end of the balance piece 7 extends towards the fixed frame 23; in the first case, the balance member 7 applies a pulling force to the fixed suction cup 3 in the direction of the fixed frame 23, and at this time, the fixed suction cup 3 is sucked to the object suction surface. In the second case, the balance member 7 does not apply a pulling force to the fixed suction cup 3, and at this time, the fixed suction cup 3 does not suck the object suction surface 100, that is, the fixed suction cup 3 rotates to the side away from the object suction surface. The fixed suction cup 3 rotates along with the track, and the fixed suction cup 3 contacting the object suction surface 100 is sucked on the suction surface of the object. Since the weight of the traveling device 2 and other devices mounted on the upper portion thereof is large, the suction force of the fixed suction cup 3 needs to overcome the weight. According to practical experience, the force applied to the suckers adsorbed by the object adsorption surface is different, the sucker at the middle position generally needs to overcome larger force, when a gap is formed between the sucker at the middle position and the object adsorption surface, the sucker loses adsorption capacity, and other suckers need to bear more gravity and lose adsorption capacity; by doing so, the running gear 2 risks falling. In order to overcome the problem, the invention adopts the balancing piece 7 to enable the gravity borne by the fixed suckers 3 to be even, and the problem that the suckers are gradually separated from the object adsorption surface can not occur due to the balanced stress of the fixed sucker 3 in the middle and the fixed sucker 3 on one side.

In the preferred embodiment, the balance member 7 is electrically connected to the second vacuum pump 32, the conductive strip 70 is fixedly connected to the fixing frame 23, when the balance member 7 applies a pulling force to the fixed suction cup 3 in a direction toward the fixing frame 23, the balance member 7 contacts the conductive strip 70 and conducts electricity, the second vacuum pump 32 is activated, and the fixed suction cup 3 has an absorption force. When the balance member 7 does not apply a pulling force to the fixed suction cup 3, the balance member 7 is not conducted with the conductive strip 70, the second vacuum pump 32 is turned off, and the fixed suction cup 3 loses vacuum, so that the suction force is used.

Referring to fig. 5 and 7, in a preferred embodiment, the balancing member 7 includes a first connecting rod 71 and a second connecting rod 72 connected to each other, the first connecting rod 71 and the second connecting rod are connected and fixed to form a 7-shape, the first connecting rod 71 is fixedly connected to the fixed suction cup 3, a free end of the second connecting rod 72 is connected to a conductive roller 74, and when the balancing member 7 applies a pulling force to the fixed suction cup 3 in a direction toward the fixed frame 23, the conductive roller 74 contacts the conductive strip 70 on the fixed frame 23. Specifically, the conductive body is a conductive copper bar, and the conductive bar 70 is insulated from the fixing frame 23.

In the preferred embodiment, the fixing frame 23 is provided with a guide groove, the conductive strip 70 is located in the guide groove, the conductive roller 74 rolls in the guide groove, and the guide groove plays a role of guiding and can also effectively protect the conductive strip 70. In other embodiments, a thin plate perpendicular to the fixing frame 23 is fixed on the fixing frame 23, and the conductive bar 70 is fixed on the thin plate.

In a preferred embodiment, the first connecting rod 71 is also provided with an auxiliary roller 73, and the auxiliary roller 73 slides on the sidewall of the fixing frame 23. In other embodiments, the first connecting rod is provided with a stiffener 75, and the first connecting rod is further sleeved with a buffer spring. The buffer spring is located between the reinforcement 75 and the fixed suction cup 3, and further, one end of the spring is connected with the fixed suction cup 3, and the other end is connected with the reinforcement 75. When the balance piece 7 applies a pulling force to the fixed sucker 3 in the direction of the fixed frame 23, the buffer spring applies a force opposite to the pulling force to the fixed sucker 3; the force exerted by the balance member 7 on the fixing frame 23 is gentler, and the service life of the conductive strip 70 and the conductive roller 74 can be longer.

In the preferred embodiment, each fixed suction cup 3 is provided with at least two balance pieces 7, the two balance pieces 7 are arranged in parallel, the two balance pieces 7 are provided with reinforcing members 75, and the two balance pieces 7 are fixedly connected with the reinforcing members 75, so that the structure is more stable.

In a preferred embodiment, the walking device 2 further comprises a second walking device and a supporting frame 6, wherein the supporting frame 6 is fixedly connected to the second walking device of the first walking device 2. The first running gear 2 and the second running gear run synchronously and carry the supporting frame 6 to move together.

In a preferred embodiment, the fixed suction cup 3 is sucked on a suction surface of an external object, the fixed suction cup 3 contacting the suction surface of the external object has a suction capability, and the fixed suction cup 3 separated from the suction surface of the external object has no suction capability; saving energy and cost.

Referring to fig. 1 and 5, the working system also provides a rapping device, wherein the power unit 21 rotates the road wheels, thereby driving the rapping device to travel. The fixed sucker fixed on the crawler can be fixedly adsorbed on an adsorption surface (surface to be derusted), so that the automatic derusting equipment can walk on a vertical surface to derust the adsorption surface of a vertical object.

In a preferred embodiment, the walking device 2 further comprises a support frame 6, the walking device 2 comprises a first walking device and a second walking device, and the first walking device and the second walking device are respectively connected to two ends of the support frame 6. The knocking device is fixed on the supporting frame 6 and is positioned between the first walking device and the second walking device. The first walking device and the second walking device carry the knocking device together to advance, the balance performance is better, if the fixed sucker 3 on one picture advancing device 2 loses the adsorption force, other fixed suckers 3 have adsorption capacity, and the safety performance is better. Furthermore, the support frame 6 is also provided with a hook, and when the safety rope is used, the safety rope is tied on the hook, so that the safety performance of the safety rope is further improved. Knocking device includes sliding rail 4 and strikes the module, strikes the module and can follow sliding rail and remove, and sliding rail 4's extending direction is perpendicular mutually with 2 advancing direction of running gear.

Referring to fig. 1 and 5, in a preferred embodiment, the road wheels include a first gear (i.e., first road wheel 22), a second gear (i.e., second road wheel 24), a third gear, and a fourth gear, and the crawler includes a first chain and a second chain, the first chain surrounds the first gear and the third gear, the second chain surrounds the second gear and the fourth gear, and the fixed suction cups 3 are fixed to the first chain and the second chain. The first chain and the second chain are transmission chains, connecting pieces for fixing objects are arranged on the chains, and the fixed suckers 3 are fixed on the chains.

In a preferred embodiment, a telescopic mechanism is arranged between the knocking device and the support frame 6, one end of the telescopic mechanism is fixedly connected with the support frame 6, and the other end of the telescopic mechanism is fixedly connected with the knocking device. The telescopic device can adjust the distance between the knocking part of the knocking device and the surface to be derusted through stretching.

In a preferred embodiment, the knocking device comprises a plurality of rust removing units and a valve mechanism, and the rust removing units comprise rust removing unit bodies. Referring to fig. 8 and 9, an air cavity 10 is arranged on the rust removing unit body, a bullet 12 is movably embedded in the air cavity 10, and a gas distribution mechanism is communicated with the air cavity 10 and used for introducing compressed gas into the air cavity 10 to drive the bullet 12 to reciprocate relative to the air cavity 10. Specifically, each air distribution mechanism is communicated with the plurality of rust removing units through pipelines. In another preferred embodiment, each air distribution mechanism is communicated with one rust removal unit through a pipeline. The air cavity 10 comprises a guide through hole 101 and a piston cavity 102, the guide through hole 101 is connected and communicated with the piston cavity 102, the warhead 12 is movably embedded in the guide through hole 101, and the side wall of the warhead 12 abuts against the inner wall of the guide through hole 101, so that the piston cavity 102 becomes a closed cavity. The wall of the air cavity 10 is provided with a pressurizing station 104 and a pressure relief station 105, the gas distribution mechanism can introduce gas into the piston cavity 102 through the pressurizing station 104, and after the air pressure in the piston cavity 102 is enough, the bullet 12 can be pressed outwards, so that the bullet 12 can knock on an object to be derusted. The air in the piston cavity 102 can be discharged into the atmosphere through the pressure relief station 105, the pressure in the piston cavity 102 is lowered, the bullet 12 knocks the object to be derusted, and the object to be derusted generates reverse acting force on the bullet 12, so that the bullet 12 retracts and resets.

Referring to fig. 11, in the preferred embodiment, the bullet 12 includes a bullet cavity 120, and the top of the bullet cavity 120 is open and is in communication with the piston cavity 102. A first air hole 121 and a second air hole 122 are formed in the side wall of the bullet 12, a pressurizing station 104 and a pressure releasing station 105 are arranged on the side wall of the air cavity 10, the first air hole 121 is matched with the pressure releasing station 105, and the second air hole 122 is matched with the pressurizing station 104. The rust removal unit body is also provided with a buffer cavity 103, the buffer cavity 103 is communicated with a pressurization station 104, and an air outlet of the air distribution mechanism is communicated with the buffer cavity 103. When the valve train pressurizes the buffer chamber 103, the second air hole 122 is aligned with the pressurizing station 104, air enters from the second air hole 122 and fills the bullet inner chamber 120, and the bullet 12 is driven by the air pressure of the piston chamber 102 to advance along the guide through hole 101. When the bullet 12 advances to the first air hole 121 corresponding to the pressure relief station 105, air pressure is released through the pressure relief station 105, and the bullet 12 resets after colliding with a rust-removed object. When the bullet 12 is not actuated, the second air hole 122 corresponds to the pressurization station 104, and the first air hole 121 is sealed by the side wall of the guide through hole 101 in the guide through hole 101, so that the bullet inner cavity 120 and the piston cavity 102 are isolated from the external atmosphere, therefore, when the air distribution mechanism injects air to the buffer cavity 103 for pressurization, the air enters the pressurization station 104 from the buffer cavity 103 through the air passage 107 of the piston cavity 102, the air in the pressurization station 104 enters the bullet inner cavity 120 from the second air hole 122, so that the air pressure of the bullet inner cavity 120 is equal to the pressure of the piston cavity 102, and at the moment, the piston cavity 102 has a pressure difference with the external atmosphere, so that the bullet 12 is pushed towards the guide through hole 101. The bullet 12 is pushed by the air pressure to be away from the piston cavity 102 until the first air hole 121 corresponds to the pressure relief station 105, so that the air in the bullet inner cavity 120 is released to the external atmosphere. Referring to fig. 9, further, the buffer cavity 103 is a part of the piston cavity 102, and a cavity enclosed by the connection end (i.e., the end located in the piston cavity 102) of the bullet 12 and a part of the side wall of the piston cavity 102 is the buffer cavity 103. A pressurizing station 104 is formed on the side wall of the piston cavity 102, the pressurizing station 104 is communicated with the buffer cavity 103 through an air passage 107, and the high-pressure gas is introduced into the buffer cavity 103 by the gas distribution mechanism and then enters the pressurizing station 104. The second body 112 is formed with a guiding through hole 101, a pressure relief station 105 is arranged on a side wall of the guiding through hole 101, and a knocking portion 1200 of the bullet 12 can pass through the guiding through hole 101 (a portion of the bullet 12 used for knocking an object to be knocked is the knocking portion 1200) and can extend out of the guiding through hole 101. The bullet 12 is formed with a bullet cavity 120, a first air hole 121 and a second air hole 122, and the first air hole 121 and the second air hole 122 are both communicated with the bullet cavity 120. When the bullet 12 is in a retraction state, the second air hole 122 is communicated with the pressurizing station 104, the first air hole 121 is closed by the side wall of the guide through hole 101, and high-pressure air flow enters the bullet inner cavity 120 through the buffer cavity 103, the pressurizing station 104 and the second air hole 122, so that the pressures of the bullet inner cavity 120 and the buffer cavity 103 are kept balanced and higher than atmospheric pressure, and when the pressure is increased, the bullet 12 can be pressed downwards, and the bullet 12 extends out and strikes on an object to be knocked. When warhead 12 stretched out the state, first gas pocket 121 was linked together with pressure release station 105, second gas pocket 122 is sealed by the lateral wall of piston chamber 102, after first gas pocket 121 and the pressure release station 105 on the second body 112 communicate, high pressure in warhead inner chamber 120 is let out from pressure release station 105, warhead 12 strikes and also can form a very strong bounce after waiting to strike the thing, make warhead 12 rebound rapidly and reset, because the pressure in the cushion chamber 103 still exists, gas in the cushion chamber 103 forms an air cushion, can cushion warhead 12's bounce, reduce and even avoid warhead 12's link and piston chamber 102 striking, reduce wearing and tearing, prolong this knocking device's life. Referring to fig. 13, in addition, in order to ensure that the bullet 12 returns to the initial position at each rebound, i.e., the position of the first air hole 121 corresponding to the pressing station 104, and to prevent the rebounded bullet 12 from hitting the buffer chamber 103, a damper spring 14 is disposed in the buffer chamber 103 and faces the bullet 12, and the bullet 12 hits the damper spring 14 to decelerate when rebounding, so that the second air hole 122 can correspond to the pressing station 104 for a longer time, and there is enough time to inflate the piston chamber 102.

Referring to fig. 8 and 9, in a preferred embodiment, the rust removing unit body includes a piston cylinder 1111, an inner cover 1113, and an outer cover 1112, the piston chamber 102, the buffer chamber 103, and the guide through hole 101 are all located in the piston cylinder 1111, the outer cover 1112 is fixed to the piston cylinder 1111, the buffer chamber 103 is defined by the outer cover 1112, the inner cover 1113, and the piston cylinder 1111, and the inner cover 1113 is located between the piston chamber 102 and the buffer chamber 103. When the warhead 12 extends, the warhead 12 and the inner cover 1113 seal the piston cavity 102, and the inner cover 1113 and the outer cover 1112 seal the buffer cavity 103; when the bullet 12 is reset, the bullet 12 presses the inner cap 1113 toward the buffer chamber 103. An inner cover 1113 is arranged between the piston cavity 102 and the buffer cavity 103, the piston cavity 102 and the buffer cavity 103 are separated by the inner cover 1113, the inner cover 1113 can move in the buffer cavity 103, when the warhead 12 rebounds, the warhead first collides with the inner cover 1113, high-pressure gas exists in the buffer cavity 103, and when the buffer moves in the buffer cavity 103, the high-pressure gas plays a role in buffering, so that the warhead 12 is not damaged by collision. A pressurizing station 104 and a pressure relief station 105 are arranged in the piston cylinder 1111. When the warhead 12 is in a retraction state, the piston cavity 102 is not communicated with the pressure relief station 105, and the buffer cavity 103, the piston cavity 102 and the pressurization station 104 are communicated with each other; high-pressure gas firstly enters the buffer cavity 103, then enters the pressurizing station 104 from the air passage 107, and then enters the piston cavity 102 from the pressurizing station 104, when the pressure in the piston cavity 102 is large enough, the bullet 12 can be pressed out of the piston cavity 102, and the knocking part 1200 of the bullet 12 is made to hit on materials for removing rust, smashing the materials and the like. When the warhead 12 is in an extending state, the piston cavity 102 is communicated with the pressure relief station 105, and the piston cavity 102 is not communicated with the pressurization station 104; after the piston cavity 102 is communicated with the pressure relief station 105, the gas in the piston cavity 102 can be released, the air pressure in the piston cavity 102 is reduced, and the bullet 12 rebounds rapidly due to the rebound force formed after the bullet 12 collides with an object to be derusted, and then extends out again, so that the cycle is performed. In a further preferred embodiment, the second end surface of the inner cover 1113 is provided with a pressing air groove 11130, the pressing air groove 11130 is communicated with the buffer cavity 103, and the pressing air groove 11130 is arranged, so that the inner cover 1113 can be tightly abutted against the end part of the side wall of the piston cavity 102, and the sealing effect is better. In another embodiment, referring to fig. 10, the diameter of the buffer chamber 103 is equal to or smaller than the diameter of the piston chamber 102, an annular convex ring 11110 is disposed between the piston chamber 102 and the buffer chamber 103, a first end of the inner cover 1113 is engaged with the inner wall of the convex ring 11110, a second end of the inner cover 1113 is engaged with the buffer chamber 103, and the inner cover 1113 extends into the piston chamber 102.

Referring to fig. 6, in a preferred embodiment, the rust removing unit body includes a first body 111 and a second body 112, the first body 111 and the second body 112 are connected, a pressurizing station 104 is formed on the first body 111, a pressure releasing station 105 is formed on the second body 112, an air chamber 10 is formed between the first body 111 and the second body 112, and an outlet of the bullet 12 through which a striking portion 1200 of the bullet 12 passes is further formed on the second body 112; when the warhead 12 is in an extending state, the air cavity 10 is communicated with the pressure relief station 105, and the air cavity 10 is not communicated with the pressurization station 104; when the bullet 12 is in a retraction state, the air cavity 10 is not communicated with the pressure relief station 105, and the air cavity 10 is communicated with the pressurization station 104. Further, the first body 111 is made of a metal material, and the second body 112 is made of a plastic material; at least part of the second bodies 112 of the descaling units are integrally connected to each other. The material specific gravity of the second body 112 is lower than that of the first body 111, and the rust removing unit body is divided into the first body 111 and the second body 112, so that the weight of the knocking device can be reduced without affecting the performance of the knocking device, and the cost is saved. Specifically, the first body 111 is made of stainless steel, and the second body 112 is made of plastic, aluminum alloy, or the like. The first body 111 includes a piston cylinder 1111, an inner cap 1113, and an outer cap 1112, the piston chamber 102 is located in the piston cylinder 1111, the bullet 12 passes through the piston chamber 102, and the other end of the bullet 12 is caught in the piston chamber 102. Outer cover 1112 is secured to piston barrel 1111 and buffer chamber 103 is defined by outer cover 1112, inner cover 1113 and piston barrel 1111 with inner cover 1113 positioned between piston chamber 102 and buffer chamber 103. When the warhead 12 extends out, the warhead 12 and the inner cover 1113 seal the piston cavity 102, the inner cover 1113 and the outer cover 1112 seal the buffer cavity 103, the buffer cavity 103 is inflated, gas enters the piston cavity 102 through the air passage 107 and further enters the warhead inner cavity 120, when the air pressure is high enough, the warhead 12 is pressed out, and the warhead 12 is hit on the material; after receiving the impact, warhead 12 resets, and warhead 12 presses inner cup 1113 to cushion chamber 103, and the gas in cushion chamber 103 forms the air cushion, and cushion warhead 12 and inner cup 1113 reduce the impact force, increase of service life.

Referring to fig. 9, in a further preferred embodiment, the bullet 12 is formed with a first position-limiting portion 123 at the first end, the diameter of the first position-limiting portion 123 is larger than the diameter of the bullet 12, the piston cylinder 1111 is provided at the sidewall with a second position-limiting portion 106 matching with the first position-limiting portion 123, the diameter of the second position-limiting portion 106 matches with the diameter of the bullet 12, and the pressing station 104 is located on the second position-limiting portion 106 and opens toward the first position-limiting portion 123. Before the material is knocked for the first time, high-pressure gas is not filled in the buffer cavity 103 and the piston cavity 102, but the bullet 12 is in a suspended state due to the gravity of the bullet 12. After the buffer chamber 103 is filled with high-pressure gas, the high-pressure gas applies pressure to the second limiting portion 106 through the pressurizing station 104, so that the bullet 12 is forced to retract into the piston chamber 102 until the pressurizing station 104 is communicated with the buffer chamber 103. In a further preferred embodiment, the second limiting portion 106 is provided with a second air slot 1060, and the air passage 107 and the pressurizing station 104 are communicated with the second air slot 1060. The first position-limiting portion 123 is provided with a first air groove 1230, and an opening of the first air groove 1230 faces the second position-limiting portion 106. That is, the first air groove 1230 and the second air groove 1060 communicate with each other.

Referring to fig. 6 and 7, in a preferred embodiment, the knocking device includes a rust removing module, the rust removing module includes a plurality of rust removing units and a module bracket 20, and the plurality of rust removing units are fixedly connected through the module bracket 20. The rust cleaning unit on every rust cleaning module is the multirow multiseriate and distributes, and in the direction of the face of strikeing (the face that a plurality of warheads 12 strikeed the point and formed), the center dislocation set of the portion 1200 that strikes of the rust cleaning unit of at least part difference line, and the projection of a plurality of warheads 12 in the direction of this face of strikeing of perpendicular to is different promptly, and the point that warheads 12 strikeed on treating the rust cleaning thing links into the slice, and the effect of strikeing is better. The knocking device further comprises a plurality of positioning rollers 5, the rolling direction of the positioning rollers 5 is consistent with that of the knocking device, and at least part of the positioning rollers are distributed on two sides of the knocking device. When the bullet machine works, the positioning roller 5 presses an object to be knocked, and when the bullet head 12 reciprocates to the highest point, a certain distance is reserved between the positioning roller 5 and the object to be knocked.

In a preferred embodiment, the automatic rust removing equipment further comprises a control module, and the walking device 2, the knocking device and the fixed suction disc are all connected with the control module. The automatic derusting equipment further comprises a wireless transmission module, and the wireless transmission module is electrically connected with the control module. The wireless transmission module is connected with the control terminal, the control terminal can be a mobile phone, a computer or other electronic equipment, the wireless transmission module transmits information to the control terminal, and meanwhile the control terminal can control the automatic rust removing equipment. The control module and the wireless transmission module are arranged in the control box 5. Be provided with travel switch on this automatic rust cleaning equipment, travel switch control fixed suction cup 3 start or close, and during the start-up, fixed suction cup 3 has the adsorption efficiency, and during closing, fixed suction cup 3 loses the adsorption efficiency.

The automatic rust removing equipment comprises a walking device, a knocking device and a fixed sucker, wherein the walking device can drive the knocking device and the fixed sucker to move to a position needing rust removal, after the fixed sucker fixes the automatic rust removing equipment, the knocking device knocks a surface to be rust removed to remove rust, and automatic rust removal of an immovable object to be rust removed can be realized.

The above-mentioned embodiments only express the specific embodiments of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The adsorption mechanism is characterized by comprising a plurality of sucker bodies, wherein vacuum cavities are respectively arranged in the sucker bodies, and the sucker bodies are sequentially and fixedly connected end to form a closed structure;

the sucking disc body includes sucking disc spare, sucking disc spare includes wainscot and interior wallboard, and is a plurality of wainscot fixed connection forms the urceolus, and is a plurality of interior wallboard also fixed connection forms the inner tube, the urceolus cover is established the outside of inner tube, vacuole formation between inner tube and the urceolus is adjacent be provided with the baffle between the sucking disc spare, the baffle will a plurality ofly is cut apart into to the cavity the vacuum cavity.

2. The suction mechanism according to claim 1, wherein the suction cup body further connects to a sealing member, the suction cup member is provided with a suction hole, a suction hole and a suction surface, the vacuum chamber is also provided on the suction cup member, the suction hole is provided on the suction surface, the suction hole and the suction hole are both communicated with the vacuum chamber, the connecting sealing member is provided with a through hole corresponding to the suction hole, and the connecting sealing member is fixed on the suction cup member.

3. The suction mechanism as set forth in claim 1, wherein a first side of the partition is provided with a holding block, one of the outer wall plate and the inner wall plate is provided with a holding groove engaged with the holding block, the holding block is held in the holding groove, and a second end of the partition is fixedly connected to the outer wall plate or the inner wall plate; the sucker piece also comprises sealing plates, the sealing plates are fixed at two ends of the sucker piece, and the sealing plates are fixedly connected with the inner cylinder and the outer cylinder simultaneously; an accommodating cavity is formed in the inner barrel, and a first vacuum pump is arranged in the accommodating cavity.

4. The suction mechanism as claimed in claim 2, wherein the suction holes are provided in plural numbers, the suction holes are arranged in an array, a rib is provided on a surface of the suction plate member opposite to the suction surface, and the suction holes penetrate through the rib.

5. The adsorption mechanism according to claim 2, further comprising a first vacuum pump, wherein a check valve is disposed between an air inlet of the first vacuum pump and the air suction hole, the check valve comprises a valve body, an elastic member and a ball body, a valve body passage is disposed in the valve body, a first end of the valve body passage is connected to the air inlet of the first vacuum pump, a second end of the valve body passage is connected to the air suction hole, one end of the elastic member is fixed to the valve body, and the other end of the elastic member is fixedly connected to the ball body; in the first state, two ends of the valve body channel are communicated; in the second state, the ball blocks the valve body passage.

6. The suction mechanism as claimed in claim 1, wherein the suction cup body includes eight suction cup members forming an octagonal prism structure and eight connecting seal members forming an octagonal prism structure cooperating with the suction cup members; the sucker body is provided with a connecting hole, the connecting hole penetrates through the sucker body and extends along the length direction of the sucker body, the sucker body further comprises a fixing piece, and the connecting hole penetrates through the fixing piece; the adsorption mechanism is internally provided with a holding cavity, a first vacuum pump is arranged in the holding cavity, and the holding cavity is communicated with the outside.

7. An operation system, comprising operation equipment, a conveying pipeline and the adsorption mechanism of any one of the preceding claims 1-6, wherein the conveying pipeline is connected with the operation equipment, and the conveying pipeline penetrates through the adsorption mechanism and is fixedly connected with the adsorption mechanism.

8. The working system of claim 7, wherein the working device comprises a walking device, the walking device comprises a first walking device, the first walking device comprises a fixing frame, a power device, a driving wheel, a track and a fixing sucker, the driving wheel comprises a first wheel set and a second wheel set, the first wheel set is fixed at one end of the fixing frame, the second wheel set is fixed at the other end of the fixing frame, and the first wheel set and the second wheel set are in transmission connection through the track; the power device is fixed on the fixing frame and drives the first wheel set and the second wheel set to rotate; the plurality of fixed suckers are fixed on the crawler belt and rotate along with the crawler belt; the first wheel set comprises a first gear and a second gear, the second wheel set comprises a third gear and a fourth gear, and the power device comprises a first power device and a second power device; the first power device is positioned between the first gear and the second gear and drives the first gear and the second gear to synchronously rotate; the second power device is positioned between the third gear and the fourth gear and drives the third gear and the fourth gear to synchronously rotate; the crawler comprises a first chain and a second chain, the first chain is in meshed connection with the first gear and the third gear, and the second chain is in meshed connection with the second gear and the fourth gear; the fixed sucker comprises a sucker body and a second vacuum pump, the second vacuum pump is fixedly connected with the sucker body, and an air inlet of the second vacuum pump is communicated with the sucker body; the fixed sucker is fixedly connected with a balance piece, the first end of the balance piece is connected with the fixed sucker, and the second end of the balance piece extends towards the fixed frame; in the first condition, the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame; in the second condition, the balance piece does not apply a pulling force to the fixed sucker; the balance piece is electrically connected with the second vacuum pump, a conductive strip is fixedly connected to the fixed frame, and when the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame, the balance piece is in contact with the conductive strip and conducts electricity; when the balance piece does not apply pulling force to the fixed sucker, the balance piece is not conducted with the conductive bar; the balance piece comprises a first connecting rod and a second connecting rod which are connected with each other, the first connecting rod is fixedly connected with the fixed sucker, the free end of the second connecting rod is connected with a conductive roller, and when the balance piece applies a tensile force to the fixed sucker in the direction of the fixed frame, the conductive roller is in contact with a conductive strip on the fixed frame; the fixed frame is provided with a guide groove, the conductive bar is positioned in the guide groove, and the conductive roller rolls in the guide groove; the first connecting rod is also provided with an auxiliary roller which slides on the side wall of the fixing frame; the first connecting rod is sleeved with a buffer spring, and when the balance piece applies a pulling force to the fixed sucker in the direction of the fixed frame, the buffer spring applies a force opposite to the pulling force to the fixed sucker.

9. The operating system according to claim 8, further comprising a knocking device fixed on the traveling device, wherein the knocking device comprises a plurality of rust removal units and a gas distribution mechanism, each rust removal unit comprises a rust removal unit body and a bullet, an air cavity is formed in the rust removal unit body, the bullets are movably embedded in the air cavities, and the gas distribution mechanism is communicated with the air cavities and used for introducing compressed gas into the air cavities and driving the bullets to reciprocate relative to the air cavities; the air cavity comprises a guide through hole and a piston cavity, the guide through hole is connected and communicated with the piston cavity, the warhead is movably embedded in the guide through hole, and the side wall of the warhead abuts against the inner wall of the guide through hole, so that the piston cavity is a closed cavity; a pressurizing station and a pressure releasing station are arranged on the wall of the air cavity, the gas distribution mechanism can introduce gas into the piston cavity through the pressurizing station, and the gas in the piston cavity can be released into the atmosphere through the pressure releasing station; the bullet comprises a bullet inner cavity, a first air hole and a second air hole are formed in the side wall of the bullet, a pressurizing station and a pressure releasing station are arranged on the side wall of the air cavity, the first air hole is matched with the pressure releasing station, and the second air hole is matched with the pressurizing station; the rust removal unit body is also provided with a buffer cavity, the buffer cavity is communicated with the pressurization station, and an air outlet of the air distribution mechanism is communicated with the buffer cavity; when the gas distribution mechanism pressurizes the buffer cavity, the second gas hole is aligned with the pressurizing station, gas enters from the second gas hole and fills the inner cavity of the bullet, and the bullet is driven by the gas pressure of the piston cavity to advance along the guide through hole; when the warhead advances to the first air hole corresponds to the pressure relief station, air pressure is discharged through the pressure relief station, and the warhead resets after being impacted with a rust removed object.