CN108372075A - A kind of coupling agent daubing device applied to band large-scale metal tank surface - Google Patents
A kind of coupling agent daubing device applied to band large-scale metal tank surface Download PDFInfo
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- CN108372075A CN108372075A CN201810515060.5A CN201810515060A CN108372075A CN 108372075 A CN108372075 A CN 108372075A CN 201810515060 A CN201810515060 A CN 201810515060A CN 108372075 A CN108372075 A CN 108372075A
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- leading screw
- couplant
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- 239000007822 coupling agent Substances 0.000 title claims abstract description 38
- 239000002184 metal Substances 0.000 title claims abstract description 21
- 229910052751 metal Inorganic materials 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000035945 sensitivity Effects 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims description 40
- 230000008878 coupling Effects 0.000 claims description 28
- 238000010168 coupling process Methods 0.000 claims description 28
- 238000005859 coupling reaction Methods 0.000 claims description 28
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000003825 pressing Methods 0.000 claims description 17
- 229910052742 iron Inorganic materials 0.000 claims description 16
- 239000011248 coating agent Substances 0.000 claims description 14
- 238000000576 coating method Methods 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 14
- 239000000203 mixture Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000009194 climbing Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 210000003464 cuspid Anatomy 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 230000001808 coupling effect Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 11
- 239000000523 sample Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 7
- 239000000126 substance Substances 0.000 description 5
- 238000000465 moulding Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- VHCQVGQULWFQTM-VOTSOKGWSA-N Rubone Chemical compound COC1=CC(OC)=CC(O)=C1C(=O)\C=C\C1=CC(OC)=C(OC)C=C1OC VHCQVGQULWFQTM-VOTSOKGWSA-N 0.000 description 1
- VHCQVGQULWFQTM-UHFFFAOYSA-N Rubone Natural products COC1=CC(OC)=CC(O)=C1C(=O)C=CC1=CC(OC)=C(OC)C=C1OC VHCQVGQULWFQTM-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000000567 combustion gas Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/04—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length
- B05C1/06—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length by rubbing contact, e.g. by brushes, by pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of coupling agent daubing devices applied to band large-scale metal tank surface, the two dimension linear moving module setting of the directions XY is being climbed above wall type ontology, supporting rack and turntable module include supporting rack and lower disc, in supporting rack one end directions connection XY two dimension linear moving module, the supporting rack other end connects lower disc, Z-direction operation module is installed on lower disc, Z-direction operation module includes that wall surface cleans module, couplant smears module and Thickness sensitivity module, the coupling agent daubing device that couplant smears module is connected to by coupling agent daubing device link on the feed screw nut of ball screw assembly,.The present invention is that 3 d-line moves thickness measuring from traditional one-dimensional linear motion innovation, realizes by the innovation along straight line thickness measuring to the thickness measuring for completing plane, keeps thickness measuring result more accurate；It is innovated as industrial couplant mode by water coincidence mode, solves key issues of it carries, smears, coupling effect is more preferable, and dosage is few, accuracy of detection higher.
Description
Technical field
The present invention relates to device intelligence detection technique fields, more particularly to a kind of coupling applied to band large-scale metal tank surface
Mixture application device.
Background technology
Due to being emphasized fields such as oil, chemical industry, combustion gas, power generations in world wide, band large-scale metal tank body has become very
Essential in conglomerate, important infrastructure.Band large-scale metal tank body (chemical storage tank, large-sized boiler, high-pressure bottle etc.)
It is big to be related to life security, danger coefficient, belongs to special equipment field, metallic moiety carries very important safety
Leading factor, once the damage failure of its recurring structure, it will lead to serious safety accident, and the secondary thing of large area can be caused
Therefore therefore it is always the most important thing that special equipment examines work to the damage check of apparatus body structure.It is most of at present big
In type metal can detection process, equipment, which must be in, stops row state, and reviewer carries detecting instrument close to operation of metal structure equipments
Surface is operated manually, and realizes the detection to apparatus body.There are the following problems for this detection method：Detection needs a large amount of
Back work (setting up for such as scaffold)；It, can be right in the specific use environments such as some high temperature, high pressure, high radiation, high electromagnetic field
Reviewer causes infliction of body；Entire round of visits can not carry out tank body detection data real-time more than the several months
Feedback.The cleaning of band large-scale metal tank surface and pretreated device can be completed therefore, it is necessary to study a kind of, to detect work
The Effec-tive Function of work.
Invention content
The object of the present invention is to provide a kind of coupling agent daubing device applied to band large-scale metal tank surface, solve existing
There is the problems such as stepping accuracy is low, robot manipulating task content is single, structure design redundancy in special equipment wall thickness detection field, ties
Structure is simple, adsorption reliability, and systematicness is strong, full-featured, and interchangeability is high, is suitable for chemical storage tank, large-sized boiler, high-pressure bottle etc.
The pretreated device of cleaning of various band large-scale metal tank bodies, to detect the Effec-tive Function of work.
In order to solve the above technical problems, the present invention provides a kind of couplant smearings applied to band large-scale metal tank surface
Device, including climb wall type ontology, the directions XY two dimension linear moving module, supporting rack and turntable module and Z-direction operation module, XY
Direction two dimension linear moving module includes X linear moving modules and Y linear moving modules, and the directions XY two dimension linear moving module is set
It sets and is climbing above wall type ontology, supporting rack and turntable module include supporting rack and lower disc, and supporting rack is set as L-type, is supporting
Frame one end connects the directions XY two dimension linear moving module, and the supporting rack other end connects lower disc, and Z-direction is installed on lower disc and is made
Industry module, wherein Z-direction operation module include that wall surface cleans module, couplant smears module and Thickness sensitivity module, wall surface are clear
Sweep module, couplant smears module and 120 ° of Thickness sensitivity modular spacing is mounted below lower disc, couplant smearing module packet
Ball screw assembly, and coupling agent daubing device are included, coupling agent daubing device is connected to ball by coupling agent daubing device link
On the feed screw nut of lead screw pair, coupling agent daubing device includes sliding block three, guide rail three, miniature DC motor three, couplant bucket, micro-
Type leading screw and miniature feed screw nut, sliding block three connect couplant coating device connecting plate, the connection of couplant coating device connecting plate
Couplant coating device link, sliding block three are arranged on guide rail three, and guide rail three is fixed in the fixed plate of ball screw assembly, coupling
Miniature DC motor three is arranged in mixture coating device connecting plate side, and miniature leading screw is arranged in the other side, by miniature DC motor three
Band actuating miniature leading screw rotates, and miniature feed screw nut is arranged on miniature leading screw, and piston is installed on miniature feed screw nut, and miniature leading screw is outstanding
Dead end stretches into couplant bucket, syringe is arranged in couplant bucket one end, syringe connects sponge, is symmetrical arranged and leads in sponge both sides
Wheel, guide wheel are connected to couplant bucket by guide wheel link.
Miniature DC motor three connects miniature leading screw by miniature leading screw shaft coupling, in miniature leading screw and miniature leading screw shaft coupling
Device connects one end setting bearing, upper casing and lower outer cover is arranged in couplant bucket open at one end, after upper casing and lower outer cover engage
Mounted on couplant bucket bung hole, and miniature leading screw shaft coupling, bearing and couplant coating device connecting plate be located at upper casing and
On the inside of lower outer cover, miniature DC motor three is located on the outside of upper casing and lower outer cover, is also set up below miniature DC motor three micro-
Type direct current generator holder, micro DC machine support are fixed in the fixed plate of ball screw assembly,.
Ball screw assembly, includes fixed plate, and spindle motor holder is arranged in fixed plate and connects spindle motor, spindle motor
It connects shaft coupling and connects leading screw, feed screw nut is set on leading screw, one end setting leading screw bearing-is connect with shaft coupling in leading screw
Leading screw fixed seat is arranged in leading screw bearing-left-external side, in leading screw fixed seat end set leading screw bearing (ball) cover, in lead screw shaft in a left side
Socket end outer side of lid also sets up locking nut, bushing is arranged below leading screw fixed seat, bushing lower end is fixed in fixed plate, in silk
Leading screw bearing-right side is arranged in the thick stick other end, and bearing block is arranged in leading screw bearing-right outside, in leading screw bearing-right outboard end setting
End ring, wherein fixed plate one end are fixed below lower disc.
The wall type ontology of climbing includes babinet, and babinet is set as the intermediate folded plate for being equipped with subsidence trough, is installed on babinet
There are two opposite magnet-wheel walking mechanisms, and magnet-wheel walking mechanism includes direct current generator, driving shaft, driven shaft and magnet-wheel, direct current
Machine is mounted on the groove of babinet, and direct current generator connects right-angle reduction device, and right-angle reduction device connects right-angle reduction device output shaft, directly
Angle reducer output shaft connects driving shaft, and driving shaft connects two driven shafts by chain, a magnetic is arranged on each driven shaft
Wheel, magnet-wheel are set as cylinder, are arranged in order by iron yoke-permanent magnet-iron yoke-permanent magnet-iron yoke, covering one outside magnet-wheel
Driven axle bearing and driven sprocket is arranged on driven shaft in layer rubber, setting drive shaft bearing and two drive sprockets on driving shaft,
Drive sprocket is connect with driven sprocket by chain, and driving shaft is rotated by chain-driving driven sprocket, the rotation of driven sprocket
Drive the movement of magnet-wheel, driven sprocket is connected to by flat key on driven shaft, driven shaft both sides be equipped with driven axle bearing and from
Moving axis bearing block, driven shaft bearing block are fixed by bolts on babinet, and corresponding position is provided with U-shaped hole, drive chain on babinet
Wheel is connected to by flat key on driving shaft, and driving shaft both sides are equipped with drive shaft bearing and drive shaft bearing seat, drive shaft bearing
Seat is fixed by bolts on babinet, and corresponding position is provided with U-shaped hole on babinet.
X linear moving modules are mounted on babinet, and Y-direction linear moving module is vertically set on X-direction linear motion mould
On block, for the connection of supporting rack one end in the Y direction in linear moving module, X linear moving modules include X-direction bottom plate, X-direction stepping
Motor, driving pulley, synchronous toothed belt, X-direction guide rail, X-direction sliding block and driven pulley, X-direction bottom plate, which is fixed on, climbs wall type
On the babinet of ontology, X-direction bottom plate center be equipped with X-direction stepper motor, driving pulley, synchronous toothed belt, driven pulley with
And two limit switches, X-direction stepper motor drive driving pulley rotation, driving pulley and driven pulley pass through synchronous toothed belt
Connection, is wherein connected with synchronous belt pressing plate on synchronous tooth profile band, synchronous belt pressing plate is connected on X-direction connecting plate, X-direction connection
Plate both ends are separately mounted on X-direction sliding block, and on X-direction sliding block X-direction guide rail attached below, X-direction guide rail is connected to X
On the bottom plate of direction, expansion set is arranged, in synchronous belt pressing plate two in the end set buffer stopper of two X-direction guide rails on driving pulley
Limit switch is respectively set in side, and sensor catch is arranged on synchronous belt pressing plate；Y linear moving modules and X linear moving modules
Structure is identical, and the Y-direction bottom plate of Y linear moving modules is connected on X-direction connecting plate, transmission scheme and X linear motion moulds
Block is identical, and supporting rack one end is connected on the Y-direction connecting plate of Y linear moving modules, and positioning pin is arranged on bottom plate in the Y direction.
Supporting rack and turntable module include supporting rack and rotating disk mechanism, and supporting rack one end is connected to the Y of Y linear moving modules
On the connecting plate of direction, the other end is designed with 120 ° of equidistant rotating disk mechanisms, and rotating disk mechanism includes stepper motor, external toothing canine tooth
Wheel, external toothing pinion gear, lower disc and shaft, external toothing gear wheel and external toothing pinion gear are a pair of of external gear pump, are nibbled outside
It closes pinion gear and connects stepper motor, external toothing pinion gear is engaged with external toothing gear wheel, and external toothing gear wheel is mounted in shaft,
Shaft lower end connects lower disc, and shaft upper end connects turntable bearing, axle sleeve is arranged on the outside of turntable bearing, axle sleeve upper end is fixed on
On supporting rack, bearing (ball) cover is arranged in turntable bearing lower end, and bearing (ball) cover is fixed by head bolts, and sleeve, sleeve is arranged in upper end
It is fixed on supporting rack by axial restraint part, wherein stepper motor is arranged in stepping motor bracket, stepping motor bracket
It is fixed on supporting rack, multiple gear wheel counter sinks is set on external toothing gear wheel for being fixed with lower disc.
In the L-type corner of supporting rack, inclined duplication supporting rack is set, wall surface cleans module, couplant smears module and
Thickness sensitivity module is separately mounted on the U-type groove hole on lower disc.
It includes ball screw assembly, and clearing apparatus that wall surface, which cleans module, and clearing apparatus is connected to by clearing apparatus link
On the feed screw nut of ball screw assembly, clearing apparatus includes sliding block two, guide rail two, miniature DC motor two, collet and hairbrush, is slided
Block two connects clearing apparatus connecting plate, and clearing apparatus connecting plate connects clearing apparatus link, and sliding block two is arranged on guide rail two,
Guide rail two is fixed in the fixed plate of ball screw assembly, and miniature DC motor two, the other side is arranged in clearing apparatus connecting plate side
Collet is set, hairbrush is installed on collet, collet operating is driven by miniature DC motor two.
Thickness sensitivity module includes ball screw assembly, and thickness detection apparatus, and thickness detection apparatus passes through thickness detection apparatus
Link is connected on the feed screw nut of ball screw assembly,.
It is a kind of the permanent magnetic suck moved in band large-scale metal tank surface to be suitble to climb wall type ontology to climb wall type ontology.Climb wall type
Ontology may be implemented on tank surface advance, retreat, no-radius turning, across functions such as weld seams.It is described to climb the use of wall type ontology
Permanent magnetic suck mode, move mode are wheeled, and the two synthesis uses magnetic wheel type integral structure, unilateral two magnet-wheels to be passed by chain
It is dynamic to realize linkage, add right-angle reduction device that output shaft, output shaft is driven to pass through general flat key by the direct current generator on babinet
Drive driving shaft, fill on driving shaft by keyway there are two sprocket wheel, a sprocket wheel by chain by magnet-wheel before torque transfer, separately
Outer one transmits torque to rear magnet-wheel by chain, and the driven shaft for installing each magnet-wheel has bearing to support and passes through bearing block
It is fixed on babinet.Wherein magnet-wheel is arranged in order by cylindrical iron yoke-permanent magnet-iron yoke-permanent magnet-iron yoke, external
One layer of rubber of covering prevents from scratching wall surface in motion process simultaneously to increase the frictional force of magnet-wheel and wall surface, and inside is provided with molding
Hole is mounted on driven shaft, and the movement of magnet-wheel is driven by the rotation of driven sprocket；Meanwhile driven sprocket is connected by flat key
On driven shaft, driven shaft both sides are equipped with bearing and bearing block, and bearing block bolt is provided with U-shaped hole on babinet, on babinet,
Longitudinal separation of the bearing block relative to ontology can be adjusted, realizes that the tensioning of the chain, the kind of drive are：Direct current generator-active
Sprocket wheel-chain-driven sprocket-flat key-driven shaft-molding connection-magnet-wheel.
The directions the XY two dimension linear moving module use Synchronous Belt Drives, drive Z-direction operation module relative to
It climbs wall type ontology and realizes left and right, the movement on front-rear direction；The directions XY two dimension linear moving module uses Synchronous Belt Drives,
It is driven by stepper motor.X linear moving modules use Synchronous Belt Drives, are driven by stepper motor, X-direction bottom plate is fixed on
It climbs on the babinet of wall type ontology, X-direction bottom plate center is equipped with stepper motor, driving pulley, XL types synchronous toothed belt, driven belt
Wheel and two limit switches, are wherein connected with synchronous belt pressing plate, synchronous belt pressing plate is connected to X-direction on XL types synchronous tooth profile band
On connecting plate, X-direction connecting plate both sides are placed on X-direction sliding block, and the two is connected by screw, and X-direction sliding block is connected in the side X
On direction guiding rail, X-direction guide rail is connected on X-direction bottom plate.Y-direction linear moving module and X-direction linear moving module structure
Identical, the linear moving module of entire Y-direction is connected on X-direction connecting plate, and transmission scheme is identical as X-direction.Finally prop up
For the connection of support one end in the Y direction on the Y-direction connecting plate of linear moving module, the two is implemented in combination with two-dimentional linear moving module.
Using supporting rack and turntable module structure, the company between Z-direction operation module and two-dimentional linear moving module is realized
It connects, supporting rack and turntable module operation principle：The rotation of lower disc is driven by stepper motor, switches power tool, wherein making
Industry tool is evenly distributed in the circumferential direction on lower disc, interval120°, stepper motor is per stepping120°Switch one-stop operation work
Tool recycles for one three times, completes the systematically detection to area to be tested.Wherein turntable bearing is angular contact ball bearing and pushes away
Power ball bearing, axial restraint part include bolt, spring washer and large washer.
The Z-direction operation module is connected on the lower disc of rotating disk mechanism, and is integrated with three big job contents：Wall surface is clear
Sweep module, couplant smears module, Thickness sensitivity module, by the rotation of turntable, switch power tool, each job content by
Independent ball-screw driving drives power tool to realize function close, far from wall surface, realizes in power tool Z-direction
Movement.
Wall surface cleans module and drives clearing apparatus, clearing apparatus to connect by clearing apparatus link by independent ball-screw
It is connected on feed screw nut, clearing apparatus is made of miniature DC motor, collet, hairbrush, and wherein lead screw guide rails are innovatively external
In side, ball screw assembly, and guide rail slide block are provided separately, and sliding block is connected to clearing apparatus by clearing apparatus connecting plate and connects
Frame enhances the rigidity of entire clearing apparatus.
Couplant smears module and drives coupling agent daubing device, coupling agent daubing device to pass through coupling by independent ball-screw
Mixture application device link is connected on feed screw nut, and coupling agent daubing device is by miniature DC motor and its holder, miniature
The compositions such as leading screw shaft coupling, Miniature ball screw transmission, couplant bucket, guide wheel, sponge, wherein miniature lead screw guide rails are innovative
Ground is external in side, and sliding block is connected to by coupling agent daubing device connecting plate on coupling agent daubing device link, and enhancing is whole
The rigidity of a coupling agent daubing device, and unlike traditional water coincidence, couplant of the invention is smeared module and is taken using itself
Mode with industrial couplant is simultaneously applied to detection zone.
Thickness sensitivity module drives thickness detection apparatus, thickness detection apparatus to pass through Thickness sensitivity by independent ball-screw
Device link is connected on feed screw nut, this module can ensure probe under various detection cases, keeps certain with wall surface
Distance for filling couplant, realize accurate detection.
Self-movement on three directions meets the accurate detection that C sweeps thickness measuring requirement.The present invention solves existing special type and sets
The problems such as stepping accuracy is low, robot manipulating task content is single, structure design redundancy in standby wall thickness detection field, it is simple in structure,
Adsorption reliability, systematicness is strong, full-featured, and interchangeability is high, and it is various big to be suitable for chemical storage tank, large-sized boiler, high-pressure bottle etc.
The thickness measuring of type metal can works.
The advantage of the invention is that：Using the flow of Practical Project thickness measuring as starting point, entire platform is systematically designed, it is maximum
The closing to reality engineer application of change；It is that 3 d-line movement C sweeps thickness measuring to sweep thickness measuring innovation from traditional one-dimensional linear motion C, real
Show by the innovation along straight line thickness measuring to the thickness measuring for completing plane, has kept thickness measuring result more accurate；Integrated multifunction operation module
(wall surface cleans, couplant is smeared, Thickness sensitivity), realizes full intellectualized thickness measuring；It is innovated as industrial coupling by water coincidence mode
Mixture mode solves key issues of it carries, smears, and coupling effect is more preferable, and dosage is few, accuracy of detection higher；It invents
The detection device of a novelty ensures that ultrasonic thickness measuring probe remains certain thickness measuring required distance with wall surface, keeps away simultaneously
Exempt from the damage under special circumstances to probe, improves the service life of probe.
A kind of coupling agent daubing device applied to band large-scale metal tank surface of the present invention, first, to tank body before measuring
Surface treatment is purged the coat of paint etc. of floating rust, dust, peeling；Secondly, it needs to rub one layer of coupling between probe and wall surface
Agent makes ultrasonic wave energy preferably be passed to wall surface and is received back to exclude the influence of air；Finally, according to certain measurement scheme
Thickness measure is carried out with ultrasonic probe.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is that the present invention climbs wall type body construction schematic diagram；
Fig. 3 is that the present invention climbs wall type ontology vertical view；
Fig. 4 is the sectional view along A-A of Fig. 3；
Fig. 5 is the B-B direction sectional view of Fig. 3；
Fig. 6 is X-direction linear moving module schematic diagram of the present invention；
Fig. 7 is Y-direction linear moving module schematic diagram of the present invention；
Fig. 8 is supporting rack of the present invention and turntable module schematic diagram；
Fig. 9 is Z-direction operation module schematic diagram of the present invention；
Figure 10 is ball-screw-transmission schematic diagram in Z-direction operation module；
Figure 11 is the sectional view along A-A of Figure 10；
Figure 12 is that wall surface of the present invention cleans module diagram；
Figure 13 is that couplant of the present invention smears module diagram；
Wherein, 1- climbs wall type ontology, the directions 2-XY two dimension linear moving module, 3- supporting racks and turntable module, the directions 4-Z
Operation module, 5- ball screw assembly,s, 1-1 babinets, 1-2 direct current generators, 1-3 right-angle reduction devices, 1-4 driven shafts, 1-6 driven chains
Wheel, 1-7 chains, 1-8 magnet-wheels, 1-9 driven shaft bearing blocks, 1-10 right-angle reduction device output shafts, 1-11 drive shaft bearing seats, 1-12
Drive sprocket, the driven axle bearings of 1-13,1-14 iron yokes, 1-15 rubber, 1-16 permanent magnets, 1-18 drive shaft bearings, 1-20 is actively
Axis, the directions 2-1X bottom plate, the directions 2-2X stepper motor, 2-3 driving pulleys, 2-4 expansion sets, 2-5 synchronous toothed belts, 2-6 buffer stoppers,
2-7X traversing guides, the directions 2-8X sliding block, the directions 2-9X connecting plate, 2-10 limit switches, 2-11 driven pulley fixed plates, 2-12
Driven pulley, 2-13 driven pulley bearings, 2-15 synchronous belt pressing plates, 2-16 sensor catch, the directions 2-17Y bottom plate, 2-18 are fixed
Position pin, the directions 2-19Y connecting plate, 3-1 supporting racks, 3-2 stepping motor brackets, 3-3 stepper motors, 3-4 sleeves, 3-5 fasteners,
3-6 turntable bearings, 3-7 axle sleeves, 3-8 head bolts, 3-9 bearing (ball) covers, 3-10 gear wheel counter sinks, 3-11 shafts, outside 3-12
Engage gear wheel, 3-13 external toothing pinion gears, 3-14 lower discs, 3-15U type grooves hole, 4-1 wall surfaces cleaning module, 4-2 couplants
Smear module, 4-3 Thickness sensitivity modules, 5-1 fixed plates, 5-2 spindle motor holders, 5-3 spindle motors, 5-4 shaft couplings, 5-5
Locking nut, 5-6 leading screw bearing (ball) covers, 5-7 leading screw fixed seats, a 5-8 leading screws bearing-left side, 5-9 feed screw nuts, 5-10 leading screws, 5-
11 bearing blocks, the 5-12 leading screws bearing-right side, 5-13 end rings, 5-14 bushings, 4-1-2 clearing apparatus links, 4-1-3 are cleaned
Device connecting plate, 4-1-4 sliding blocks two, 4-1-5 guide rails two, 4-1-6 miniature DC motors two, 4-1-7 collets, 4-1-8 hairbrush, 4-
2-2 coupling agent daubing device connecting plates, 4-2-3 coupling agent daubing device links, 4-2-4 sliding blocks three, 4-2-5 guide rails three, 4-
2-6 miniature DC motors three, 4-2-7 micro DC machine supports, outer cover under 4-2-8, the miniature leading screw shaft couplings of 4-2-9,4-2-
10 bearings, 4-2-11 upper casings, the miniature leading screws of 4-2-12, the miniature feed screw nuts of 4-2-13,4-2-14 pistons, 4-2-15 couplants
Bucket, 4-2-16 guide wheel links, 4-2-17 guide wheels, 4-2-18 needle tubings, 4-2-19 sponges.
Specific implementation mode
The optimal technical scheme that the invention will now be described in detail with reference to the accompanying drawings.
A kind of coupling agent daubing device applied to band large-scale metal tank surface of the present invention, including climb wall type ontology 1, XY
Direction two dimension linear moving module 2, supporting rack and turntable module 3 and Z-direction operation module 4, the directions XY two dimension linear motion mould
Block 2 includes X linear moving modules and Y linear moving modules, and wall type ontology 1 is being climbed in the setting of the directions XY two dimension linear moving module 2
Top, supporting rack include supporting rack 3-1 and lower disc 3-14 with turntable module 3, and supporting rack 3-1 is set as L-type, in supporting rack 3-
1 one end connects the directions XY two dimension linear moving module 2, and the supporting rack 3-1 other ends connect lower disc 3-14, on lower disc 3-14
Z-direction operation module 4 is installed, wherein Z-direction operation module 4 include that wall surface cleans module 4-1, couplant smears module 4-2 and
Thickness sensitivity module 4-3, wall surface cleans module 4-1, couplant smears module 4-2 and 120 ° of the intervals Thickness sensitivity module 4-3 peace
Below lower disc 3-14, it includes ball screw assembly, 5 and coupling agent daubing device that couplant, which smears module 4-2, and couplant applies
It smears device to be connected on the feed screw nut 5-9 of ball screw assembly, 5 by coupling agent daubing device link 4-2-3, couplant applies
It includes three 4-2-4 of sliding block, three 4-2-5 of guide rail, three 4-2-6 of miniature DC motor, couplant bucket 4-2-15, miniature leading screw to smear device
4-2-12 and miniature feed screw nut 4-2-13, three 4-2-4 connection couplant coating device connecting plate 4-2-2 of sliding block, couplant apply
Film device connecting plate 4-2-2 connection couplant coating device link 4-2-3, three 4-2-4 of sliding block are arranged in three 4-2-5 of guide rail
On, three 4-2-5 of guide rail is fixed on the fixed plate 5-1 of ball screw assembly, 5, and the sides couplant coating device connecting plate 4-2-2 are set
Three 4-2-6 of miniature DC motor is set, miniature leading screw 4-2-12 is arranged in the other side, by miniature DC motor three 4-2-6 band actuating miniatures
Leading screw 4-2-12 is rotated, and miniature feed screw nut 4-2-13 is arranged on miniature leading screw 4-2-12, pacifies on miniature feed screw nut 4-2-13
Piston 4-2-14 is filled, miniature leading screw 4-2-12 free ends are stretched into couplant bucket 4-2-15, set in the one end couplant bucket 4-2-15
Syringe 4-2-18, syringe 4-2-18 connection sponge 4-2-19 are set, guide wheel 4-2-17, guide wheel are symmetrical arranged in the both sides sponge 4-2-19
4-2-17 is connected to couplant bucket 4-2-15 by guide wheel link 4-2-16.
Three 4-2-6 of miniature DC motor is by the miniature miniature leading screw 4-2-12 of leading screw shaft coupling 4-2-9 connections, in miniature silk
Thick stick 4-2-12 connect setting bearing 4-2-10 in one end with miniature leading screw shaft coupling 4-2-9, in couplant bucket 4-2-15 open at one end
It is mounted on couplant bucket 4- after upper casing 4-2-10 and lower outer cover 4-2-8, upper casing 4-2-10 and lower outer cover 4-2-8 engagings are set
2-15 bung holes, and miniature leading screw shaft coupling 4-2-9, bearing 4-2-10 and couplant coating device connecting plate 4-2-2 are positioned at upper
On the inside of outer cover 4-2-10 and lower outer cover 4-2-8, three 4-2-6 of miniature DC motor is located at upper casing 4-2-10 and lower outer cover 4-2-8
Outside also sets up micro DC machine support 4-2-7, micro DC machine support 4- below three 4-2-6 of miniature DC motor
2-7 is fixed on the fixed plate 5-1 of ball screw assembly, 5.
Ball screw assembly, 5 includes fixed plate 5-1, and spindle motor holder 5-2 connection spindle motors are arranged on fixed plate 5-1
Feed screw nut 5-9 is arranged, in leading screw 5- in 5-3, spindle motor 5-3 connection shaft coupling 5-4 connection leading screw 5-10 on leading screw 5-10
10 connect one end setting leading screw bearing-left 5-8 with shaft coupling 5-4, and leading screw fixed seat 5- is arranged on the outside of leading screw bearing-left 5-8
7, in leading screw fixed seat 5-7 end set leading screw bearing (ball) cover 5-6, locking nut is also set up on the outside of leading screw bearing (ball) cover 5-6
Bushing 5-14 is arranged in 5-5 below leading screw fixed seat 5-7, and the lower ends bushing 5-14 are fixed on fixed plate 5-1, in leading screw 5-10
Leading screw bearing-right 5-12 is arranged in the other end, bearing block 5-11 is arranged on the outside of leading screw bearing-right 5-12, in leading screw bearing-right 5-
End ring is arranged in 12 outboard ends, and wherein one end fixed plate 5-1 is fixed below lower disc 3-14.
The wall type ontology of climbing includes babinet 1-1, and babinet 1-1 is set as the intermediate folded plate for being equipped with subsidence trough, in babinet
Installation is there are two opposite magnet-wheel walking mechanism on 1-1, and magnet-wheel walking mechanism includes direct current generator 1-2, driving shaft 1-20, driven
Axis 1-4 and magnet-wheel 1-8, direct current generator 1-2 be mounted on babinet 1-1 groove, direct current generator 1-2 connection right-angle reduction device 1-3,
Right-angle reduction device 1-3 connection right-angle reduction device output shaft 1-10, right-angle reduction device output shaft 1-10 connection driving shaft 1-20, actively
Axis 1-20 is by being arranged a magnet-wheel 1-8, magnet-wheel 1-8 settings on chain 1-7 connections two driven shafts 1-4, each driven shaft 1-4
For cylinder, it is arranged in order by iron yoke 1-14- permanent magnet 1-16- iron yoke 1-14- permanent magnet 1-16- iron yokes 1-14, magnet-wheel
Cover one layer of rubber 1-15 outside 1-8, setting drive shaft bearing 1-18 and two drive sprocket 1-12, driven on driving shaft 1-20
Driven axle bearing 1-13 and driven sprocket 1-6 is set on axis 1-4, and drive sprocket 1-12 and driven sprocket 1-6 is connected by chain 1-7
It connects, driving shaft 1-20 drives driven sprocket 1-6 to rotate by chain 1-7, and the rotation of driven sprocket 1-6 drives the fortune of magnet-wheel 1-8
Dynamic, driven sprocket 1-6 is connected to by flat key on driven shaft 1-4, the both sides driven shaft 1-4 be equipped with driven axle bearing 1-13 and from
Moving axis bearing block 1-9, driven shaft bearing block 1-9 are fixed by bolts on babinet 1-1, and corresponding position is provided with U on babinet 1-1
Type hole, drive sprocket 1-12 are connected to by flat key on driving shaft 1-20, and the both sides driving shaft 1-20 are equipped with drive shaft bearing 1-
18 and drive shaft bearing seat 1-11, drive shaft bearing seat 1-11 is fixed by bolts on babinet 1-1, corresponding on babinet 1-1
Position is provided with U-shaped hole.
X linear moving modules are mounted on babinet 1-1, and Y-direction linear moving module is vertically set on X-direction linear motion
In module, for the connection of the one end supporting rack 3-1 in the Y direction in linear moving module, X linear moving modules include X-direction bottom plate 2-1, X
Direction stepper motor 2-2, driving pulley 2-3, synchronous toothed belt 2-5, X-direction guide rail 2-7, X-direction sliding block 2-8 and driven pulley
2-12, X-direction bottom plate 2-1 are fixed on the babinet 1-1 for climbing wall type ontology, and the centers X-direction bottom plate 2-1 are equipped with X-direction stepping
Motor 2-2, driving pulley 2-3, synchronous toothed belt 2-5, driven pulley 2-12 and two limit switch 2-10, X-direction stepping
Motor 2-2 drives driving pulley 2-3 rotations, driving pulley 2-3 to be connected by synchronous toothed belt 2-5 with driven pulley 2-12,
Synchronous belt pressing plate 2-15 is connected on middle synchronous toothed belt 2-5, synchronous belt pressing plate 2-15 is connected on X-direction connecting plate 2-9, X
The direction both ends connecting plate 2-9 are separately mounted on X-direction sliding block 2-8, X-direction guide rail 2- attached below X-direction sliding block 2-8
On 7, X-direction guide rail 2-7 is connected on X-direction bottom plate 2-1, the end set buffer stopper 2-6 of two X-direction guide rail 2-7, in master
Expansion set 2-4 is set on movable belt pulley 2-3, limit switch 2-10 is respectively set in the both sides synchronous belt pressing plate 2-15, in synchronous belt pressing plate
Sensor catch 2-16 is set on 2-15, and wherein driven pulley 2-12 is arranged on driven pulley fixed plate 2-11, driven pulley
Fixed plate 2-11 is fixed on X-direction bottom plate 2-1, and driven pulley bearing 2-13 is also set up in the ends driven pulley 2-12, from
Movable belt pulley bearing 2-13 end set shaft end rings；Y linear moving modules are identical as X linear moving module structures, Y linear motions
The Y-direction bottom plate 2-17 of module is connected on X-direction connecting plate 2-9, and transmission scheme is identical as X linear moving modules, support
The one end frame 3-1 is connected on the Y-direction connecting plate 2-19 of Y linear moving modules, and positioning pin 2- is arranged on bottom plate 2-17 in the Y direction
18。
Supporting rack includes supporting rack 3-1 and rotating disk mechanism with turntable module 3, and the one end supporting rack 3-1 is connected to Y linear motions
On the Y-direction connecting plate 2-19 of module, the other end is designed with 120 ° of equidistant rotating disk mechanisms, and rotating disk mechanism includes stepper motor
3-3, external toothing gear wheel 3-12, external toothing pinion gear 3-13, lower disc 3-14 and shaft 3-11, external toothing gear wheel 3-12 and
External toothing pinion gear 3-13 is a pair of of external gear pump, external toothing pinion gear 3-13 connection stepper motor 3-3, external toothing pinion gear
3-13 is engaged with external toothing gear wheel 3-12, and external toothing gear wheel 3-12 is mounted on shaft 3-11, the connection of the lower ends shaft 3-11
The upper end lower disc 3-14, shaft 3-11 connects turntable bearing 3-6, on the outside of turntable bearing 3-6 on setting axle sleeve 3-7, axle sleeve 3-7
End is fixed on supporting rack 3-1, and bearing (ball) cover 3-9 is arranged in the lower ends turntable bearing 3-6, and bearing (ball) cover 3-9 passes through head bolts 3-8
Fixed, sleeve 3-4 is arranged in upper end, and sleeve 3-4 is fixed on by axial restraint part 3-5 on supporting rack 3-1, wherein stepper motor
3-3 is arranged on stepping motor bracket 3-2, and stepping motor bracket 3-2 is fixed on supporting rack 3-1, in external toothing gear wheel 3-
Multiple gear wheel counter sink 3-10 are set on 12 for being fixed with lower disc 3-14.
Inclined duplication supporting rack is set in the L-type corner of supporting rack 3-1, wall surface cleans module 4-1, couplant is smeared
Module 4-2 and Thickness sensitivity module 4-3 is separately mounted on the U-type groove hole 3-15 on lower disc 3-14.
It includes ball screw assembly, 5 and clearing apparatus that wall surface, which cleans module 4-1, and clearing apparatus passes through clearing apparatus link 4-
1-2 is connected on the feed screw nut 5-9 of ball screw assembly, 5, and clearing apparatus includes two 4-1-4 of sliding block, two 4-1-5 of guide rail, miniature
Two 4-1-6 of direct current generator, collet 4-1-7 and hairbrush 4-1-8, two 4-1-4 connection clearing apparatus connecting plate 4-1-3 of sliding block are cleaned
Device connecting plate 4-1-3 connection clearing apparatus link 4-1-2, two 4-1-4 of sliding block are arranged on two 4-1-2 of guide rail, guide rail two
4-1-2 is fixed on the fixed plate 5-1 of ball screw assembly, 5, and miniature DC motor two is arranged in the sides clearing apparatus connecting plate 4-1-3
Collet 4-1-7 is arranged in 4-1-6, the other side, hairbrush 4-1-8 is installed on collet 4-1-7, by two 4-1-6 bands of miniature DC motor
Dynamic collet 4-1-7 operatings.
Thickness sensitivity module 4-3 includes ball screw assembly, 5 and thickness detection apparatus, and thickness detection apparatus passes through Thickness sensitivity
Device link 4-3-2 is connected on the feed screw nut 5-9 of ball screw assembly, 5.
It is a kind of the permanent magnetic suck moved in band large-scale metal tank surface to be suitble to climb wall type ontology to climb wall type ontology.Climb wall type
Ontology may be implemented on tank surface advance, retreat, no-radius turning, across functions such as weld seams.It is described to climb the use of wall type ontology
Permanent magnetic suck mode, move mode are wheeled, and the two synthesis uses magnetic wheel type integral structure, unilateral two magnet-wheels to be passed by chain
It is dynamic to realize linkage, add right-angle reduction device that output shaft, output shaft is driven to pass through general flat key by the direct current generator on babinet
Drive driving shaft, fill on driving shaft by keyway there are two sprocket wheel, a sprocket wheel by chain by magnet-wheel before torque transfer, separately
Outer one transmits torque to rear magnet-wheel by chain, and the driven shaft for installing each magnet-wheel has bearing to support and passes through bearing block
It is fixed on babinet.Wherein magnet-wheel is arranged in order by cylindrical iron yoke-permanent magnet-iron yoke-permanent magnet-iron yoke, external
One layer of rubber of covering prevents from scratching wall surface in motion process simultaneously to increase the frictional force of magnet-wheel and wall surface, and inside is provided with molding
Hole is mounted on driven shaft, and the movement of magnet-wheel is driven by the rotation of driven sprocket；Meanwhile driven sprocket is connected by flat key
On driven shaft, driven shaft both sides are equipped with bearing and bearing block, and bearing block bolt is provided with U-shaped hole on babinet, on babinet,
Longitudinal separation of the bearing block relative to ontology can be adjusted, realizes that the tensioning of the chain, the kind of drive are：Direct current generator-active
Sprocket wheel-chain-driven sprocket-flat key-driven shaft-molding connection-magnet-wheel.
The directions the XY two dimension linear moving module use Synchronous Belt Drives, drive Z-direction operation module relative to
It climbs wall type ontology and realizes left and right, the movement on front-rear direction；The directions XY two dimension linear moving module uses Synchronous Belt Drives,
It is driven by stepper motor.X linear moving modules use Synchronous Belt Drives, are driven by stepper motor, X-direction bottom plate is fixed on
It climbs on the babinet of wall type ontology, X-direction bottom plate center is equipped with stepper motor, driving pulley, XL types synchronous toothed belt, driven belt
Wheel and two limit switches, are wherein connected with synchronous belt pressing plate, synchronous belt pressing plate is connected to X-direction on XL types synchronous tooth profile band
On connecting plate, X-direction connecting plate both sides are placed on X-direction sliding block, and the two is connected by screw, and X-direction sliding block is connected in the side X
On direction guiding rail, X-direction guide rail is connected on X-direction bottom plate.Y-direction linear moving module and X-direction linear moving module structure
Identical, the linear moving module of entire Y-direction is connected on X-direction connecting plate, and transmission scheme is identical as X-direction.Finally prop up
For the connection of support one end in the Y direction on the Y-direction connecting plate of linear moving module, the two is implemented in combination with two-dimentional linear moving module.
Using supporting rack and turntable module structure, the company between Z-direction operation module and two-dimentional linear moving module is realized
It connects, supporting rack and turntable module operation principle：The rotation of lower disc is driven by stepper motor, switches power tool, wherein making
Industry tool is evenly distributed in the circumferential direction on lower disc, interval120°, stepper motor is per stepping120°Switch one-stop operation work
Tool recycles for one three times, completes the systematically detection to area to be tested.Wherein turntable bearing is angular contact ball bearing and pushes away
Power ball bearing, axial restraint part include bolt, spring washer and large washer.
The Z-direction operation module is connected on the lower disc of rotating disk mechanism, and is integrated with three big job contents：Wall surface is clear
Sweep module, couplant smears module, Thickness sensitivity module, by the rotation of turntable, switch power tool, each job content by
Independent ball-screw driving drives power tool to realize function close, far from wall surface, realizes in power tool Z-direction
Movement.
Wall surface cleans module and drives clearing apparatus, clearing apparatus to connect by clearing apparatus link by independent ball-screw
It is connected on feed screw nut, clearing apparatus is made of miniature DC motor, collet, hairbrush, and wherein lead screw guide rails are innovatively external
In side, ball screw assembly, and guide rail slide block are provided separately, and sliding block is connected to clearing apparatus by clearing apparatus connecting plate and connects
Frame enhances the rigidity of entire clearing apparatus.Wall surface cleans module realization principle：When reaching the region for needing to detect, ball wire
Thick stick motor drives leading screw rotation, drives the movement of feed screw nut, the clearing apparatus link being connected thereto is shifted along, whole
A clearing apparatus just realizes the function by near wall；When hairbrush is close to wall surface, ball-screw motor stalls, minisize dc
Motor starts to rotate, and collet and hairbrush rotate therewith, and realizes the cleaning to wall surface；After the completion of cleaning, miniature DC motor is stopped
Rotation stop is dynamic, ball-screw motor reversal, and entire clearing apparatus just realizes the function far from wall surface, completes one and cleans cycle.On
It states collet and is used for replacement operation tool (hairbrush, steel brush etc.), complete the cleaning work(to broad sense such as the dust removals, derusting, polishing of wall surface
Energy.
Couplant smears module and drives coupling agent daubing device, coupling agent daubing device to pass through coupling by independent ball-screw
Mixture application device link is connected on feed screw nut, and coupling agent daubing device is by miniature DC motor and its holder, miniature
The compositions such as leading screw shaft coupling, Miniature ball screw transmission, couplant bucket, guide wheel, sponge, wherein miniature lead screw guide rails are innovative
Ground is external in side, and sliding block is connected to by coupling agent daubing device connecting plate on coupling agent daubing device link, and enhancing is whole
The rigidity of a coupling agent daubing device, and unlike traditional water coincidence, couplant of the invention is smeared module and is taken using itself
Mode with industrial couplant is simultaneously applied to detection zone.Couplant smears module realization principle：After the completion of cleaning works, turn
Disk rotates 120 °, and couplant is made to smear the region that module alignment has been cleared up, and couplant smears the ball-screw in module at this time
Motor drives leading screw rotation, drives the movement of feed screw nut, the coupling agent daubing device link being connected thereto is also with shifting
Dynamic, entire coupling agent daubing device just realizes the function by near wall；When two side guide wheels are close to wall surface, ball-screw motor stops
Rotation stop is dynamic, and miniature DC motor starts to rotate, and drives the rotation of Miniature ball leading screw by miniature leading screw shaft coupling, drives thereon
The front and back rotation of nut and movement, nut are connected on the piston inside couplant bucket, and piston is with rotation before and after nut and movement
Couplant is expressed on needle tubing, then is flowed on sponge, couplant is applied on wall surface finally by sponge；Couplant applies
After the completion of smearing, miniature DC motor stops operating, ball-screw motor reversal, and entire coupling agent daubing device is just realized far from wall
The function in face completes a couplant and smears cycle.Above-mentioned couplant bucket is built-in with Miniature ball screw transmission, both sides installation
There is guide wheel, when by near wall, sponge contacts wall surface and compresses coupling agent daubing device first, and secondly guide wheel contact wall surface generates
Feedback, allows leading screw to stop operating, and needle tubing is no at this time and wall surface contacts, to prevent attrition crushing.
Thickness sensitivity module realization principle：After the completion of couplant smears work, turntable rotates 120 °, makes Thickness sensitivity module
It is directed at the region smeared, the ball-screw motor driving leading screw rotation in Thickness sensitivity module, drives feed screw nut at this time
Movement, the Thickness sensitivity module link being connected thereto is shifted along, and whole thickness detection module device, which is just realized, to be leaned on
The function of near wall；When both sides, which are oriented to multi-directional ball, is close to wall surface, ball-screw motor stalls, ultrasonic thickness measuring probe at this time
There is certain predetermined distance between wall surface, completes Thickness sensitivity work.
Self-movement on three directions meets the accurate detection that C sweeps thickness measuring requirement.The present invention solves existing special type and sets
The problems such as stepping accuracy is low, robot manipulating task content is single, structure design redundancy in standby wall thickness detection field, it is simple in structure,
Adsorption reliability, systematicness is strong, full-featured, and interchangeability is high, and it is various big to be suitable for chemical storage tank, large-sized boiler, high-pressure bottle etc.
The thickness measuring of type metal can works.
The advantage of the invention is that：Using the flow of Practical Project thickness measuring as starting point, entire platform is systematically designed, it is maximum
The closing to reality engineer application of change；It is that 3 d-line movement C sweeps thickness measuring to sweep thickness measuring innovation from traditional one-dimensional linear motion C, real
Show by the innovation along straight line thickness measuring to the thickness measuring for completing plane, has kept thickness measuring result more accurate；Integrated multifunction operation module
(wall surface cleans, couplant is smeared, Thickness sensitivity), realizes full intellectualized thickness measuring；It is innovated as industrial coupling by water coincidence mode
Mixture mode solves key issues of it carries, smears, and coupling effect is more preferable, and dosage is few, accuracy of detection higher；It invents
The detection device of a novelty ensures that ultrasonic thickness measuring probe remains certain thickness measuring required distance with wall surface, keeps away simultaneously
Exempt from the damage under special circumstances to probe, improves the service life of probe.
As shown, climbing wall type ontology as carrying tool, motor function of the entire platform on wall surface is realized；The directions XY
Two-dimentional linear moving module is mounted on by X-direction bottom plate and is climbed on the babinet on wall type ontology, realizes entire Z-direction operation module
Relative to the movement climbed around wall type ontology, wherein X-direction effective travel is 300mm, Y-direction effective travel 200mm；
Supporting rack is connect by supporting rack one end on connecting plate in the Y direction with turntable module, and the other end is designed with equidistant 120 ° of turntables
The fixed plate of three big job contents is connected on lower disc by the U-type groove hole on lower disc, passes through stepper motor by mechanism
The rotation of lower disc is driven, power tool is switched.Wherein, power tool is evenly distributed in the circumferential direction on lower disc, interval
120 °, stepper motor recycles for one three times per 120 ° of switching one-stop operation tools of stepping；Z-direction operation module includes：Wall surface
Module is cleaned, couplant smears module, Thickness sensitivity module, and three works successively, the rolling of three in Z-direction operation module
Ballscrew Module specifications are identical.
Claims (9)
1. a kind of coupling agent daubing device applied to band large-scale metal tank surface, it is characterised in that：Including climbing wall type ontology, XY
Direction two dimension linear moving module, supporting rack and turntable module and Z-direction operation module, the directions XY two dimension linear moving module packet
X linear moving modules and Y linear moving modules are included, two dimension linear moving module setting in the directions XY is being climbed above wall type ontology, propped up
Support and turntable module include supporting rack and lower disc, and supporting rack is set as L-type, and in supporting rack one end directions connection XY, two dimension is straight
Line motion module, the supporting rack other end connect lower disc, and Z-direction operation module, wherein Z-direction operation mould are installed on lower disc
Block includes that wall surface cleans module, couplant smears module and Thickness sensitivity module, wall surface cleans module, couplant smears module and
120 ° of Thickness sensitivity modular spacing is mounted below lower disc, and it includes that ball screw assembly, and couplant are smeared that couplant, which smears module,
Device, coupling agent daubing device are connected to by coupling agent daubing device link on the feed screw nut of ball screw assembly, coupling
Agent application device includes sliding block three, guide rail three, miniature DC motor three, couplant bucket, miniature leading screw and miniature feed screw nut, is slided
Block three connects couplant coating device connecting plate, and couplant coating device connecting plate connects couplant coating device link, sliding
Block three is arranged on guide rail three, and guide rail three is fixed in the fixed plate of ball screw assembly, couplant coating device connecting plate side
Miniature DC motor three is set, and miniature leading screw is arranged in the other side, is rotated with actuating miniature leading screw by miniature DC motor three, miniature silk
Miniature feed screw nut is set on thick stick, piston is installed, miniature leading screw free end stretches into couplant bucket, in coupling on miniature feed screw nut
Syringe is arranged in mixture bucket one end, and syringe connects sponge, is symmetrical arranged guide wheel in sponge both sides, guide wheel is connected by guide wheel link
To couplant bucket.
2. a kind of coupling agent daubing device applied to band large-scale metal tank surface as described in claim 1, it is characterised in that：
Miniature DC motor three connects miniature leading screw by miniature leading screw shaft coupling, and one is connect with miniature leading screw shaft coupling in miniature leading screw
Setting bearing in end is arranged upper casing and lower outer cover in couplant bucket open at one end, coupling is mounted on after upper casing and the engaging of lower outer cover
Mixture bucket bung hole, and miniature leading screw shaft coupling, bearing and couplant coating device connecting plate are located in upper casing and lower outer cover
Side, miniature DC motor three are located on the outside of upper casing and lower outer cover, and micro DC is also set up below miniature DC motor three
Machine support, micro DC machine support are fixed in the fixed plate of ball screw assembly,.
3. a kind of coupling agent daubing device applied to band large-scale metal tank surface as claimed in claim 1 or 2, feature exist
In：Ball screw assembly, includes fixed plate, and spindle motor holder is arranged in fixed plate and connects spindle motor, spindle motor connection connection
Axis device connects leading screw, and feed screw nut is arranged on leading screw, one end setting leading screw bearing-left side is connect with shaft coupling in leading screw, in silk
Leading screw fixed seat is arranged in thick stick bearing-left-external side, in leading screw fixed seat end set leading screw bearing (ball) cover, outside leading screw bearing (ball) cover
Side also sets up locking nut, and bushing is arranged below leading screw fixed seat, and bushing lower end is fixed in fixed plate, in the leading screw other end
Leading screw bearing-right side is set, bearing block is set in leading screw bearing-right outside, bearing rib is set in leading screw bearing-right outboard end
Circle, wherein fixed plate one end are fixed below lower disc.
It includes babinet that 4. wall type ontology is climbed described in, and babinet is set as the intermediate folded plate for being equipped with subsidence trough, is equipped on babinet
Two opposite magnet-wheel walking mechanisms, magnet-wheel walking mechanism include direct current generator, driving shaft, driven shaft and magnet-wheel, direct current generator
Mounted on the groove of babinet, direct current generator connects right-angle reduction device, and right-angle reduction device connects right-angle reduction device output shaft, right angle
Reducer output shaft connects driving shaft, and driving shaft connects two driven shafts by chain, a magnet-wheel is arranged on each driven shaft,
Magnet-wheel is set as cylinder, is arranged in order by iron yoke-permanent magnet-iron yoke-permanent magnet-iron yoke, one layer of covering outside magnet-wheel
Driven axle bearing and driven sprocket is arranged on driven shaft in rubber, setting drive shaft bearing and two drive sprockets on driving shaft, main
Movable sprocket is connect with driven sprocket by chain, and driving shaft is rotated by chain-driving driven sprocket, the rotation band of driven sprocket
The movement of dynamic magnet-wheel, driven sprocket are connected to by flat key on driven shaft, and driven shaft both sides are equipped with driven axle bearing and driven
Bearing housing, driven shaft bearing block are fixed by bolts on babinet, and corresponding position is provided with U-shaped hole, drive sprocket on babinet
It is connected on driving shaft by flat key, driving shaft both sides are equipped with drive shaft bearing and drive shaft bearing seat, drive shaft bearing seat
It is fixed by bolts on babinet, corresponding position is provided with U-shaped hole on babinet.
5.X linear moving modules are mounted on babinet, and Y-direction linear moving module is vertically set on X-direction linear moving module
On, for the connection of supporting rack one end in the Y direction in linear moving module, X linear moving modules include X-direction bottom plate, X-direction stepping electricity
Machine, driving pulley, synchronous toothed belt, X-direction guide rail, X-direction sliding block and driven pulley, X-direction bottom plate, which is fixed on, climbs wall type sheet
On the babinet of body, X-direction bottom plate center be equipped with X-direction stepper motor, driving pulley, synchronous toothed belt, driven pulley and
Two limit switches, X-direction stepper motor drive driving pulley rotation, and driving pulley and driven pulley are connected by synchronous toothed belt
It connects, synchronous belt pressing plate is wherein connected on synchronous tooth profile band, synchronous belt pressing plate is connected on X-direction connecting plate, X-direction connecting plate
Both ends are separately mounted on X-direction sliding block, and on X-direction sliding block X-direction guide rail attached below, X-direction guide rail is connected to the side X
To on bottom plate, expansion set is arranged in the end set buffer stopper of two X-direction guide rails on driving pulley, in synchronous belt pressing plate both sides
Limit switch is respectively set, sensor catch is set on synchronous belt pressing plate；Y linear moving modules and X linear moving module knots
Structure is identical, and the Y-direction bottom plate of Y linear moving modules is connected on X-direction connecting plate, transmission scheme and X linear moving modules
Identical, supporting rack one end is connected on the Y-direction connecting plate of Y linear moving modules, and positioning pin is arranged on bottom plate in the Y direction.
6. supporting rack and turntable module include supporting rack and rotating disk mechanism, supporting rack one end is connected to the side Y of Y linear moving modules
To on connecting plate, the other end is designed with 120 ° of equidistant rotating disk mechanisms, and rotating disk mechanism includes stepper motor, external toothing canine tooth
Wheel, external toothing pinion gear, lower disc and shaft, external toothing gear wheel and external toothing pinion gear are a pair of of external gear pump, are nibbled outside
It closes pinion gear and connects stepper motor, external toothing pinion gear is engaged with external toothing gear wheel, and external toothing gear wheel is mounted in shaft,
Shaft lower end connects lower disc, and shaft upper end connects turntable bearing, axle sleeve is arranged on the outside of turntable bearing, axle sleeve upper end is fixed on
On supporting rack, bearing (ball) cover is arranged in turntable bearing lower end, and bearing (ball) cover is fixed by head bolts, and sleeve, sleeve is arranged in upper end
It is fixed on supporting rack by axial restraint part, wherein stepper motor is arranged in stepping motor bracket, stepping motor bracket
It is fixed on supporting rack, multiple gear wheel counter sinks is set on external toothing gear wheel for being fixed with lower disc.
7. inclined duplication supporting rack is arranged in the L-type corner of supporting rack, wall surface cleans module, couplant smears module and thickness
Degree detection module is separately mounted on the U-type groove hole on lower disc.
8. it includes ball screw assembly, and clearing apparatus that wall surface, which cleans module, clearing apparatus is connected to rolling by clearing apparatus link
On the feed screw nut of ballscrew pair, clearing apparatus includes sliding block two, guide rail two, miniature DC motor two, collet and hairbrush, sliding block
Two connection clearing apparatus connecting plates, clearing apparatus connecting plate connect clearing apparatus link, and sliding block two is arranged on guide rail two, leads
Rail two is fixed in the fixed plate of ball screw assembly, and miniature DC motor two is arranged in clearing apparatus connecting plate side, and the other side is set
Collet is set, hairbrush is installed on collet, collet operating is driven by miniature DC motor two.
9. Thickness sensitivity module includes ball screw assembly, and thickness detection apparatus, thickness detection apparatus is connected by thickness detection apparatus
Frame is connect to be connected on the feed screw nut of ball screw assembly,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810515060.5A CN108372075A (en) | 2018-05-25 | 2018-05-25 | A kind of coupling agent daubing device applied to band large-scale metal tank surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810515060.5A CN108372075A (en) | 2018-05-25 | 2018-05-25 | A kind of coupling agent daubing device applied to band large-scale metal tank surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108372075A true CN108372075A (en) | 2018-08-07 |
Family
ID=63033632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810515060.5A Withdrawn CN108372075A (en) | 2018-05-25 | 2018-05-25 | A kind of coupling agent daubing device applied to band large-scale metal tank surface |
Country Status (1)
| Country | Link |
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| CN (1) | CN108372075A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109239556A (en) * | 2018-10-24 | 2019-01-18 | 深圳市朗驰欣创科技股份有限公司 | A kind of partial discharge detection couplant automatic smearing machine structure |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
| CN112786341A (en) * | 2021-03-10 | 2021-05-11 | 上海思源高压开关有限公司 | High-voltage switch mechanism protection device |
| CN113019795A (en) * | 2021-03-23 | 2021-06-25 | 武浩 | Crucible surface rapid-setting heat-preservation paint surface brushing equipment |
| CN115236204A (en) * | 2022-09-05 | 2022-10-25 | 合肥德泰科通测控技术有限公司 | Automatic adjusting device for steel rail flaw detection sliding shoe type probe |
-
2018
- 2018-05-25 CN CN201810515060.5A patent/CN108372075A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
| CN109239556A (en) * | 2018-10-24 | 2019-01-18 | 深圳市朗驰欣创科技股份有限公司 | A kind of partial discharge detection couplant automatic smearing machine structure |
| CN112786341A (en) * | 2021-03-10 | 2021-05-11 | 上海思源高压开关有限公司 | High-voltage switch mechanism protection device |
| CN112786341B (en) * | 2021-03-10 | 2022-12-20 | 上海思源高压开关有限公司 | High-voltage switch mechanism protection device |
| CN113019795A (en) * | 2021-03-23 | 2021-06-25 | 武浩 | Crucible surface rapid-setting heat-preservation paint surface brushing equipment |
| CN115236204A (en) * | 2022-09-05 | 2022-10-25 | 合肥德泰科通测控技术有限公司 | Automatic adjusting device for steel rail flaw detection sliding shoe type probe |
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Application publication date: 20180807 |