CN104625913B - Circumferential weld polishing robot for horizontal storage tank body or tanker tank body - Google Patents
Circumferential weld polishing robot for horizontal storage tank body or tanker tank body Download PDFInfo
- Publication number
- CN104625913B CN104625913B CN201510091168.2A CN201510091168A CN104625913B CN 104625913 B CN104625913 B CN 104625913B CN 201510091168 A CN201510091168 A CN 201510091168A CN 104625913 B CN104625913 B CN 104625913B
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- China
- Prior art keywords
- polishing
- tank body
- tank
- robot
- wire brush
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
- B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
Abstract
The invention relates to a circumferential weld polishing robot for a horizontal storage tank body or tanker tank body. The technical scheme includes that the circumferential weld polishing robot for the horizontal storage tank body or tanker tank body is characterized by comprising a robot frame, a polishing mechanism and a travelling mechanism, wherein the robot frame is movably attracted on the surface of the tank body, the polishing mechanism mounted on the robot frame is used for polishing circumferential welds, and the travelling mechanism drives the robot frame to travel on the surface of the tank body; the polishing mechanism comprises a wire brush set and a polishing motor, wherein the wire brush set arranged at the bottom end of the robot frame is used for polishing the circumferential welds on the surfaces of the tank body, and the polishing motor is used for driving the wire brush set; the travelling mechanism comprises casters, driving wheels and a driving motor, wherein the casters and the driving wheels are mounted at the bottom end of the robot frame, and the driving motor provides power for rotation of the driving wheels. The circumferential weld polishing robot capable of polishing the circumferential welds on the inner surfaces and the outer surfaces of a storage tank or a tanker effectively has the advantages of good polishing quality, high working efficiency and health and safety in operation.
Description
Technical field
The present invention relates to storage tank detection technique field, the polishing dress of a kind of horizontal tank tank inner surface girth joint
Put, be also applied for the polishing of tank car tank body inner surface girth joint.
Background technology
Polishing is the Non-Destructive Testings such as can seam Magnetic testing, Liquid penetrant testing and the ultrasound detection of horizontal tank and tank car
Front end operation, the most commonly used mode of polishing manually.Owing to major part horizontal tank and tank car are used for depositing and transporting
Flammable explosive gas and liquid, horizontal tank to be detected and tank car in polishing operation there will still likely be a small amount of hazardous gas or liquid
Body, uses manual polishing mode not only can directly endanger health of human body, and the generation of the Mars that is likely to be due to polish and little scope
Burning or blast, have serious personal safety hidden danger.On the other hand, manual polishing mode workload is big, efficiency is low in employing, beats
Grind the uneven accuracy affecting late detection.Therefore, for solving the safety of manual polishing, efficiency and uniform precision sex chromosome mosaicism,
Need to develop a kind of horizontal tank girth joint milling robot device.
Summary of the invention
It is an object of the invention to provide a kind of horizontal tank girth joint milling robot, this robot should be able to effectively store up
Tank and tank car surfaces externally and internally girth joint polishing, there is the polishing spy that quality is good, work efficiency is high and operational health is safe
Point.
Present invention provide the technical scheme that
A kind of horizontal tank tank body or the girth joint milling robot of tank car tank body, it is characterised in that this robot includes can
Adsorb movably tank surface robot frame, be arranged in robot frame for girth joint of polishing workpiece polishing mechanism with
And the walking mechanism that driven machine people's framework is walked at tank surface；
Described workpiece polishing mechanism includes being arranged in robot frame bottom with the wire brush group polishing tank surface girth joint
And drive the polishing motor of wire brush group；
Described walking mechanism includes the castor being arranged on robot frame bottom and driving wheel, rotates to provide to driving wheel and move
The driving motor of power.
Described polishing motor passes sequentially through polishing decelerator and gear-box drives wire brush group.
Described workpiece polishing mechanism can be positioned in robot frame up or down by Pneumatic power support lever.
Described Pneumatic power support lever is four, and one end of each Pneumatic power support lever is fixed in robot frame, and the other end is solid
On polishing motor reducer.
Described driving motor drives driving wheel by decelerator.
The work surface of described driving wheel axis, castor axis and wire brush group bottom forms a specific curvature, and this is specific
Curvature and the tank surface curvature fit being polished.
Described gear-box by a travelling gear and three be evenly arranged in travelling gear periphery and simultaneously with this driving cog
The driven gear composition of wheel engagement.
Described wire brush group is combined by three identical polishing wire brushes, and each polishing wire brush is by a driven gear
Drive.
The axle center of described three polishing wire brushes is equilateral triangle arrangement, and axle center distance is the 1.1 of polishing wire brush diameter
To 1.5 times；Axle center distance adds weld heat-affected zone width sum plus polishing wire brush diameter sum not less than weld width.
Described driving wheel and castor are respectively provided with offer adsorption magnetic force annular permanent-magnet iron construction, including from inside to outside toward external diameter side
To wheel hub, permanent magnet layer and the polyurethane rubber-covered layer arranged.
One is also configured that for the handle placed or mention in this robot.
The operation principle of the present invention is: the annular permanent-magnet iron construction of driving wheel and castor all can provide adsorption magnetic force by framework
It is adsorbed in the tank surface of storage tank and tank car securely；After driving electrical power, driving wheel can drive framework along girth joint
Regional movement；Girth joint and weld heat-affected zone territory are applied certain under the support of four Pneumatic power support levers by polishing wire brush
Thrust is also polished.
The invention has the beneficial effects as follows: the horizontal tank girth joint milling robot that the present invention provides, pass through annular permanent-magnet
Iron construction is positioned at tank surface, uses three polishing wire brush composition polishing wire brush groups of equilateral triangle arrangement, it is possible to for
Weld seam and heat affected area detection thereof provide enough polishing spaces；The polishing PWTN formed by big three little gear trains
System, it is to avoid be equipped with motor for each polishing wire brush；Four Pneumatic power support levers using circumference provide thrust, it is ensured that
On out-of-flatness surface, three polishing wire brushes all have enough thrusts.There is not the shadow of manual polishing in this milling robot
Ring, thus not only polishing quality good (precision high, uniformity good), accurately provide guarantee for late detection, and the effect that works
Rate is high (may replace 3-4 manual operation), also eliminates personal safety hidden danger, by the popular welcome of enterprise.
Figure explanation
Fig. 1 is the main TV structure schematic diagram of the present invention.
Fig. 2 is the perspective view of the present invention.
Fig. 3 is the perspective view of workpiece polishing mechanism in Fig. 1, Fig. 2.
Fig. 4 be workpiece polishing mechanism is polished wire brush structure arrange schematic diagram.
Fig. 5 is the structural representation of driving wheel and castor.
Figure has: chassis 1, driving shaft bearing 2, drive shaft 3, handle 4, driving wheel 5, decelerator 6, drive motor 7, support
Rib pulls 8, cover plate 9, Pneumatic power support lever 10, motor 11 of polishing, decelerator 12 of polishing, shaft coupling 13, gear-box 14, castor 15,
Support axle 16, wire brush group 17, power transmission shaft 14-1, driven shaft 14-2, driven gear 14-3, driven shaft bearing 14-4, travelling gear
14-5, transmission shaft bearing 14-6, gear box end cover 14-7, polish wire brush 17-1, #2 polishing wire brush 17-2, #3 of #1 polishes steel
Wire brush 17-3, wheel hub 5-1, permanent magnet layer 5-2, polyurethane rubber-covered layer 5-3.
Detailed description of the invention
Horizontal tank girth joint milling robot is mainly used in the tank body surfaces externally and internally of steel horizontal tank and tank car
In polishing operation, its most basic function is adsorption function, walking function and polishing function.Because work wall is tank skin surface,
Relatively big in view of wall area, the inconsistent and bossed weld seam of local surface curvature change, and also working environment is also the most multiple
Miscellaneous, therefore robot polishing should meet the following requirements:
(1) should have certain absorption affinity, this absorption affinity should be greater than the gravity of robot, prevents from falling；
(2) certain driving force should be kept, it is possible to make robot automatically walk on inner tank surface wall；
(3) circumferential curvature along wall should be able to be adapted to, simultaneously walking and polishing operation.
Embodiment shown in below in conjunction with the accompanying drawings, the invention will be further described, but the invention is not limited in following
Embodiment.
In embodiment shown in Fig. 1, Fig. 2, in this horizontal tank girth joint milling robot, robot frame is movably
A workpiece polishing mechanism is installed in absorption on tank surface, robot frame, and walking mechanism then driven machine people framework is at tank surface
Walking；
In described workpiece polishing mechanism, wire brush group 17 is arranged in robot frame bottom, a travelling gear 14-5 and three
Individual driven gear 14-3 forms gear-box, and polishing motor 11, polishing decelerator 12 and shaft coupling 13 constitute polishing power output
Drive mechanism, is separately combined workpiece polishing mechanism on framework by four Pneumatic power support levers 10.
In described walking mechanism, castor (follower) 7 and driving wheel (drivewheel) 5 are arranged on robot frame bottom
(driving wheel 5 is arranged on framework by driving shaft bearing 2), drives motor 7 to pass sequentially through driving decelerator 6, drive shaft 3 transmission
Driving wheel 5.
Described workpiece polishing mechanism and walking mechanism are fixed on jointly is pulled 8, cover plate 9 and handle 4 by chassis 1, ribs and forms
Framework on, the most each parts by welding manner fastened to each other.The framework of display in Fig. 1, the cover plate at top and the end of bottom
Being evenly arranged several between dish and support floor, support and surround a cylindrical space between floor, workpiece polishing mechanism is by four gas
Dynamic support bar (cylinder) positions within this space, and can move up and down along cylindrical space under four Pneumatic power support levers drive,
Drive along the opening of chassis central authorities, gear-box moves up and down that (gear-box is limited by chassis central opening together with wire brush group
Fixed, can only move up and down)；Clear for drawing, the source of the gas (preferably air pump) of supporting Pneumatic power support lever and connection source of the gas and gas
The trachea of dynamic support bar all gives omission.
Described chassis 1 is the cambered surface steel plate prominent toward lower section, and preferably the steel plate of a diameter of 2450mm of cambered surface, makes robot
Can move along the crouch girth joint circumference of tank or tank car inner surface of cylinder；Also dependent on need the steel plate using different curvature instead with
Adapt to the tank inner surface girth joint polishing needs of different size storage tank or tank car.
Described Pneumatic power support lever 10 two ends are connected with fixed plate by bolt, use four Pneumatic power support levers 360 degree equal
Even layout can make the work surface of wire brush group also can preferably fit on irregular surface, thus is each polishing wire brush
All provide enough thrust (visible in figure: one end (cylinder body) of each Pneumatic power support lever is fixed in robot frame, another
End (piston rod) is fixed on polishing motor reducer).When Pneumatic power support lever non-compressed state, wire brush group buffed surface (work
Make face) on polishing electrical axis direction, it is less than driving wheel and the line of castor minimum point；At machine man-hour, four pneumatic
Support bar is in compressive state, and the pressure on top surface to wire brush group of four Pneumatic power support levers is wire brush group to tank surface
Thrust.
Fig. 3 understands, the driven shaft of the power transmission shaft of travelling gear 14-5 and three driven gear 14-3 all by bearing and
Gear box end cover 14-7 connects.Travelling gear passes sequentially through polishing decelerator 12 and shaft coupling 13 and is connected with polishing motor 11, shape
Become the polishing power chain of " drags three ", it is to avoid be equipped with, for each polishing wire brush, motor of individually polishing.
(looking up direction view) as shown in Figure 4, described wire brush group 17 is by the three of equilateral triangle arrangement polishing steel wires
Brush (17-1,17-2,17-3) composition.Using three polishing wire brushes is owing to weld seam both sides exist certain welding heat affected
District, width is generally 100mm-150mm, and welding heat affected zone is also by the emphasis of detection, uses beating of equilateral triangle arrangement
Grinding brush can be that weld seam detection provides enough polishing spaces.Wire brush of should being polished by #1 during work is placed in weld seam and just goes up
Side, #2 polishing wire brush and #3 polishing wire brush are respectively placed in above the weld heat-affected zone of both sides；Polishing wire brush can be selected
The size of diameter 100mm, between leave the gap of about 10mm and prevent from interfering.
As it is shown in figure 5, described driving wheel 5 and castor 15 are arranged wheel hub 5-1, permanent magnetism to the outer diameter by from-inner-to-outer
Iron layer 5-2 and polyurethane rubber-covered layer 5-3 composition.Relative to other suction type, it is big, by surface shape that permanent magnetic suck has absorption affinity
Condition impact is little, system accident power-off does not affect the advantages such as absorption affinity.Owing to large-scale bearing device is the highest, and tank skin mostly is steel material
Material, there are rusty stain and greasy dirt in surface more, thus is very suitable for applying permanent magnetic suck.Wheel outer layer covers polyurethane rubber-covered, its mesh
Be in order to protect permanent magnet avoid because of vibration and advance and brittle fracture.
Can make above-mentioned horizontal tank girth joint milling robot to optimize further or improve as required.
The present invention considers horizontal tank and tank car polishing environment and face shaping characteristic, devises horizontal tank girth joint
Milling robot；It mostly is steel material according to application and there is the feature such as rusty stain and greasy dirt on surface more, have employed permanent magnet and inhale
Subsidiary formula formula, devises the annular permanent-magnet iron construction being wrapped in wheel hub, designs permanent magnet thickness by Theoretical Calculation, to provide enough
Magnetic force overcome fuselage deadweight and polishing counteracting force；According to Seam and heat effected zone construction features, devise equilateral triangle three
The polishing wire brush group of unification, provides enough polishing spaces for weld seam detection；According to three-in-one polishing wire brush group, design
The gear drive combination of " one drags three ", it is to avoid be equipped with separate electrical motor for each polishing wire brush；Use four circumference uniform distributions
Pneumatic power support lever provides thrust for polishing wire brush, is adapted to the work of out-of-flatness surface；In conjunction with weld grinding process
Good speed, selects suitable motor and decelerator, makes robot advance and polishing is steady.
In the present invention, all buyables such as described motor, decelerator, polishing wire brush obtain.
Claims (6)
1. a horizontal tank tank body or the girth joint milling robot of tank car tank body, it is characterised in that this robot includes moving
Adsorb dynamicly tank surface robot frame, be arranged in robot frame for girth joint of polishing workpiece polishing mechanism and
The walking mechanism that driven machine people's framework is walked at tank surface；
Described workpiece polishing mechanism includes being arranged in robot frame bottom with the wire brush group (17) polishing tank surface girth joint
And drive the polishing motor (11) of wire brush group；
Described walking mechanism includes the castor (15) being arranged on robot frame bottom and driving wheel (5), proposes driving wheel rotation
Driving motor (7) for power；
Described polishing motor passes sequentially through polishing decelerator (12) and gear-box (14) drives wire brush group；
Described workpiece polishing mechanism can be positioned in robot frame up or down by Pneumatic power support lever (10)；
Described Pneumatic power support lever is four, and one end of each Pneumatic power support lever is fixed in robot frame, and the other end is fixed on
On polishing motor reducer；
The work surface of described driving wheel axis, castor axis and wire brush group bottom forms a specific curvature, this specific curvature
With the tank surface curvature fit being polished.
Horizontal tank tank body the most according to claim 1 or the girth joint milling robot of tank car tank body, it is characterised in that:
Described gear-box by a travelling gear (14-5) and three be evenly arranged in travelling gear periphery and simultaneously with this travelling gear
Driven gear (14-3) composition of engagement.
Horizontal tank tank body the most according to claim 2 or the girth joint milling robot of tank car tank body, it is characterised in that:
Described wire brush group is combined by three identical polishing wire brushes, and each polishing wire brush is driven by a driven gear.
Horizontal tank tank body the most according to claim 3 or the girth joint milling robot of tank car tank body, it is characterised in that:
The axle center of described three polishing wire brushes is equilateral triangle arrangement, and axle center distance is 1.1 to 1.5 times of polishing wire brush diameter；
Axle center distance adds weld heat-affected zone width sum plus polishing wire brush diameter sum not less than weld width.
Horizontal tank tank body the most according to claim 4 or the girth joint milling robot of tank car tank body, it is characterised in that:
Described driving wheel and castor are respectively provided with offer adsorption magnetic force annular permanent-magnet iron construction, including arrange the most to the outer diameter
Wheel hub (5-1), permanent magnet layer (5-2) and polyurethane rubber-covered layer (5-3).
Horizontal tank tank body the most according to claim 5 or the girth joint milling robot of tank car tank body, it is characterised in that:
One is also configured that for the handle (4) placed or mention in this robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510091168.2A CN104625913B (en) | 2015-02-28 | 2015-02-28 | Circumferential weld polishing robot for horizontal storage tank body or tanker tank body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510091168.2A CN104625913B (en) | 2015-02-28 | 2015-02-28 | Circumferential weld polishing robot for horizontal storage tank body or tanker tank body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104625913A CN104625913A (en) | 2015-05-20 |
| CN104625913B true CN104625913B (en) | 2017-01-11 |
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| CN201510091168.2A Active CN104625913B (en) | 2015-02-28 | 2015-02-28 | Circumferential weld polishing robot for horizontal storage tank body or tanker tank body |
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| CN104977351B (en) * | 2015-07-29 | 2018-06-01 | 高兴 | The detecting system and detection method of a kind of weld seam |
| CN105798748B (en) * | 2016-05-10 | 2023-11-24 | 太原工业学院 | Automatic polishing machine for large-scale plates |
| CN106695512B (en) * | 2016-12-13 | 2018-11-06 | 浙江海洋大学 | A kind of oil tank cleaning equipment |
| CN106625173B (en) * | 2016-12-28 | 2018-09-28 | 浙江海洋大学 | It is a kind of can multidirectional movement ship rust removal |
| EP3581306A1 (en) * | 2018-06-12 | 2019-12-18 | Siemens Gamesa Renewable Energy A/S | Guiding tool for a surface trimming device and trimming arrangement |
| CN108890300B (en) * | 2018-07-06 | 2020-08-25 | 南京图信新材料科技有限公司 | Automatic safe and environment-friendly dust removal robot for polishing welding spots at periphery of welding line of steel drum |
| CN109732432B (en) * | 2019-02-19 | 2024-03-05 | 浙江省特种设备科学研究院 | Steel large container wall climbing and polishing robot |
| CN110434744B (en) * | 2019-08-28 | 2021-02-09 | 临沂市鲁钰机械有限公司 | Efficient welding seam burnishing machine |
| CN113021101A (en) * | 2021-04-26 | 2021-06-25 | 彼合彼方机器人(天津)有限公司 | Plane polishing device for mobile robot |
| CN114633182B (en) * | 2022-04-13 | 2023-04-18 | 中国石油大学(华东) | Portable semi-automatic grinding machine |
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| CN104625913A (en) | 2015-05-20 |
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Address after: 310020 No. 211 Kaixuan Road, Shangcheng District, Hangzhou, Zhejiang Patentee after: Zhejiang Institute of Special Equipment Science Patentee after: ZHEJIANG SAIFUTE SPECIAL EQUIPMENT INSPECTION Co.,Ltd. Address before: 310020, 211 triumph Road, Hangzhou, Zhejiang, Jianggan District Patentee before: ZHEJIANG PROVINCIAL SPECIAL EQUIPMENT INSPECTION AND Research Institute Patentee before: ZHEJIANG SAIFUTE SPECIAL EQUIPMENT INSPECTION Co.,Ltd. |
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Effective date of registration: 20220824 Address after: 310020 No. 211 Kaixuan Road, Shangcheng District, Hangzhou, Zhejiang Patentee after: Zhejiang Institute of Special Equipment Science Address before: 310020 No. 211 Kaixuan Road, Shangcheng District, Hangzhou, Zhejiang Patentee before: Zhejiang Institute of Special Equipment Science Patentee before: ZHEJIANG SAIFUTE SPECIAL EQUIPMENT INSPECTION Co.,Ltd. |