Rust Removal Robot Of Sand Blast

The present subject was given by the main research content of "Rust Removal of The Large-scale Oilcan" . It was a keystone public bidding item invited by the government of Qingdao in 2003.Firstly, the best of rust removal technique of sand blast was selected as the fashion of rust removal by searching many information .Secondly, the basic principle project was successfully designed by summing up the experience of the former, considering fully the form and structure of the oilcan, basing on the basic reason of low cost, steady and credibility, discussing time after time and comparing again and again. Thirdly, we investigated and designed the equipment of sand blast robot in mechanical part and electrical part from the integer of the theory project and by reading a lot of information and consequence validate. Last, a practicable, advanced and intelligent rust removal robot of sand blast was successfully designed.Basic principle projects: a track was fixed with the help of center hole in the top of pot which likes the figure of the oilcan. The electromotor was installed under the track. The electromotor drove the track running around the axis which was in the center. Manipulator and bogiel move up and down along the track with the towing of the windlass's wire rope.Parts of the mechanical structure: this chapter introduced the design of manipulator and bogie phoning trailer honing rack, windlass, upper support frame, low support frame and roller etc in detail.Electric control system: the sand blast robot adopted the fashion of control automatically completely ; The computer's control system adopted two-level distribution control; The radar module was used to monitor the distance between the blast gun and the oilcan's inner wall; Dynamo could be controlled by simply programming with the phase- shifting SPWN technology of unitized transverter.Monitor system of vision: A friendly interface of control and monitor flat roof had been developed by using Sony EVI-D31 camera head and Moka_PlusA frame grabber and combining with the powerful Microsoft visual 6.0 IDE.A .Air-powered system : the principle chart of the air-powered system.