CN110480448A - A kind of large-scale storage tank climbs wall milling robot - Google Patents
A kind of large-scale storage tank climbs wall milling robot Download PDFInfo
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- CN110480448A CN110480448A CN201910826411.9A CN201910826411A CN110480448A CN 110480448 A CN110480448 A CN 110480448A CN 201910826411 A CN201910826411 A CN 201910826411A CN 110480448 A CN110480448 A CN 110480448A
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- storage tank
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- 238000003801 milling Methods 0.000 title claims abstract description 21
- 238000003860 storage Methods 0.000 title claims abstract description 20
- 238000005498 polishing Methods 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000000227 grinding Methods 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000009194 climbing Effects 0.000 claims abstract description 11
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000005538 encapsulation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000005253 cladding Methods 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 12
- 229910052742 iron Inorganic materials 0.000 description 6
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000009659 non-destructive testing Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to mechanical automation engineering fields.Purpose is to provide a kind of large-scale storage tank and climbs wall milling robot, this, which climbs wall milling robot, should have the characteristics that grinding effect is good, reliable for operation, work efficiency is high.Technical solution is: a kind of large-scale storage tank climbs wall milling robot, it is characterised in that: the robot include climb wall walking mechanism, the workpiece polishing mechanism for climbing wall walking mechanism front is set and calibration video detection mechanism, for driving workpiece polishing mechanism and calibrating the elevating mechanism of video detection mechanism vertical shift, be arranged in and climb the rear video testing agency at wall walking mechanism rear portion, the control cabinet climbed in wall walking mechanism be arranged in and by the peripheral operation platform of cable connection control cabinet；It is described to climb a pair of of the driving wheel and a pair of driven, two driving motors for driving driving wheel rotation by bevel gear set respectively that wall walking mechanism includes mobile holder, walking frame bottom is arranged in connection frame.
Description
Technical field
The present invention relates to mechanical automation engineering field, it is specifically related to a kind of large-scale storage tank and climbs wall milling robot.
Background technique
Large-scale storage tank usually works under the adverse circumstances such as high pressure, corrosion, and security reliability is most important.Due to tank body
The effect of internal pressure and the erosion of rainwater and oil product, tank skin the defects of there may be pit, crackle, holes, these defects
Not only result in storing leakage, in some instances it may even be possible to set off an explosion, fire, it is therefore necessary to periodically be detected.
To the detection of large-scale storage tank mainly by manual operation, due to needing to build scaffold inside and outside tank, exist at
The disadvantages of this height, operator's large labor intensity, operational hazards and low efficiency.Climbing robot ground mobile robot technology with
Adsorption technology combines, and can adhere in vertical walls and creep, and can carry tool and complete certain job task, greatly
The application range of robot is extended greatly.
Polishing be large container detection front end process, due to most of large container for store flammable explosive gas and
Liquid, the large container to be detected in polishing operation there will still likely be a small amount of hazardous gas or liquid, not only can directly endanger people
Body health, and small range burning or explosion may be generated because polishing Mars.One large container of manual polishing is substantially at present
It needs 1 week or even the time in a few weeks, labor workload is big, low efficiency, and since polishing varies with each individual, it is uneven that there is also polishings
Even problem affects the accuracy of detection.
Therefore, it is the safety, efficiency and uniform precision that solve the problems, such as manual polishing, climbs wall milling robot as a kind of
Instead of the specialized robot of people's operation under high-risk environment, its use will substantially reduce the human cost of dangerous industry, change
The work situation of kind worker, raises labour productivity.It is exclusively used in the climbing robot of metal material polishing, including grinding machine arm
System, video detection system and chassis system, wherein chassis system includes vehicle base plate, driven wheel part, driving motor and drive
Wheel section.But existing wall milling robot of climbing has the disadvantages that the practical polishing requirement not according to weld seam is designed,
Technique for grinding is not directed to requirement of the non-destructive testing relevant criterion to polishing, does not consider weld shape feature, different duty status yet
Etc. factors；The iron filings that polishing generates are easy to be sucked by the magnet of wheel, have influenced the absorption between driven wheel and container inner wall
Effect.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of in above-mentioned background technique, a kind of large-scale storage tank is provided and climbs wall polishing machine
People, this, which climbs wall milling robot, should have the characteristics that grinding effect is good, reliable for operation, work efficiency is high.
The technical scheme is that
A kind of large-scale storage tank climbs wall milling robot, it is characterised in that: the robot include climb wall walking mechanism, setting exists
It climbs the workpiece polishing mechanism of wall walking mechanism front and calibrates video detection mechanism, for driving workpiece polishing mechanism and calibration video detection machine
The elevating mechanism of structure vertical shift is arranged in and climbs the rear video testing agency at wall walking mechanism rear portion, is arranged and climbing wall vehicle with walking machine
Control cabinet on structure and the peripheral operation platform by cable connection control cabinet；
It is described to climb a pair of of driving wheel and one that wall walking mechanism includes mobile holder, walking frame bottom is arranged in connection frame
Two driving motors of driving wheel rotation are driven to driven wheel, respectively by bevel gear set；Each driving wheel includes and walking is propped up
The connection frame of frame fixation, the driving wheel wheel shaft being rotatably positioned in sleeve, is consolidated the sleeve for being fixed on connection frame bottom respectively
Two active rim of wheel at driving wheel wheel shaft both ends are scheduled on, the driving wheel magnetic bridge of sleeve bottom is fixed on and are coaxially positioned within two
Between a active rim of wheel and it is coated with the dustband of the driving wheel magnetic bridge；The driven wheel includes being rotatably positioned to be expert at
Walk a pair of of bogie of frame bottom, the driven wheel wheel shaft fixed with bogie, by rolling bearing be rotatably positioned from
Driven rim of wheel on driving wheel wheel shaft, the inner cavity lower part that driven rim of wheel is set and the driven wheel magnetic fixed with driven wheel wheel shaft
Bridge；
The driving wheel magnetic bridge and driven wheel magnetic bridge include armature and are fixed on armature bottom surface and along armature length
Three magnets that direction is sequentially arranged, the first magnet of two of them is fixed on two sides and the magnetic pole of the first magnet is arranged up and down,
Second magnet is fixed between two the first magnets and the magnetic pole of the second magnet is horizontally disposed, and the magnetic pole opposite sex of magnet is right two-by-two
It should arrange；The armature is fixed on sleeve bottom end or driven wheel wheel shaft bottom end by mounting rack；
The elevating mechanism include the slide unit that mobile holder front end is fixed on by slide unit mounting plate, can vertical sliding it is fixed
Sliding block of the position on slide unit, the lifting motor being fixed on slide unit, to sliding block transmitting lifting motor power lead screw assembly, with it is sliding
The fixed polishing crane of block；
The workpiece polishing mechanism includes the polishing mounting plate connecting with polishing crane, is rotatably positioned in polishing mounting plate
On grinding head, the polishing motor fixed with polishing mounting plate, the belt wheel group for transmitting to grinding head polishing motor power.
The end face of the dustband and the end face of active rim of wheel remain less than the gap of 1.0mm, the outer diameter of guard circle with
The outer diameter of active rim of wheel is consistent.
The outer circumference surface of the grinding head is equipped with v-depression for the middle part of cydariform and the outer circumference surface of grinding head；It is described
Polishing steel wire is additionally provided on the outer circumference surface of grinding head.
The active rim of wheel includes driving wheel rim and the rubbery cover tyre for being coated on driving wheel rim outer circumference surface, described
Driven wheel includes driven wheel rim and the rubbery cover tyre for being coated on driven wheel rim outer circumference surface.
Spring mechanism is additionally provided between the elevating mechanism and workpiece polishing mechanism；The spring mechanism includes can vertical sliding
It is located in spring of the support shaft and encapsulation on polishing crane in support shaft；The polishing mounting plate is fixed on support shaft
Bottom, spring setting polishing crane and polishing mounting plate between.
The calibration video detection mechanism setting is on polishing crane；The calibration video detection mechanism includes proactive picture
Machine, front lamp, laser aligner.
The rear video testing agency includes rear lighting lamp, rear video camera.
The console includes display equipment for showing testing result and is manipulated by single-chip microcontroller to robot
External input device.
The control cabinet includes power supply and single-chip microcontroller；The single-chip microcontroller is separately connected driving motor, lifting motor, polishing electricity
Machine, preceding video camera, front lamp, laser aligner, rear lighting lamp, rear video camera, display equipment, external input device.
The beneficial effects of the present invention are:
Large-scale storage tank provided by the invention climbs wall milling robot, using permanent magnetic suck technology, can be adsorbed on wall surface, spherical surface
And polishing operation is crawled on the curved surfaces such as pipeline, (such as weld shape feature, different clothes can be required according to the practical polishing of weld seam
Labour situation etc. because) carry out drum-type polishing, technique for grinding meets requirement of the non-destructive testing relevant criterion to polishing, magnetic bridge position always
It is maintained a certain distance in wheel rim lower part and with the face of creeping of container inner wall, provides stable suction, and it is existing entire
There is rim the magnet-wheel of magnetic attraction (having whole circle magnetic bridge) to compare, and not only alleviate overall weight, but also be avoided that in driven wheel
Other positions (not with the position for face contact of creeping) generate suction and iron rust caused to accumulate, greatly improve reliability；Therefore,
The present invention can automatically polish to workpiece, with structure is simple, small in size, easy to use, grinding effect is good, can reduce people
The characteristics of work amount of operation labor, is very suitable to promote and apply.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention.
Fig. 2 is overlooking structure diagram of the invention.
Fig. 3 is present invention looks up structural representation of the invention.
Fig. 4 is the overlooking structure diagram of grinding head in the present invention.
Fig. 5 is the A-A cross-sectional view of Fig. 3.
Fig. 6 is the schematic view of the front view of driving wheel in the present invention.
Fig. 7 is the B-B direction structural schematic diagram in Fig. 6.
Fig. 8 is the schematic view of the front view of driven wheel in the present invention.
Fig. 9 is the left view structural representation of driven wheel in the present invention.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
As shown in Figure 1, a kind of large-scale storage tank climbs wall milling robot, including climb wall walking mechanism, workpiece polishing mechanism, elevator
Structure, spring mechanism, calibration video detection mechanism 7, rear video testing agency 39, control cabinet 20, peripheral operation platform 91.
It is described climb wall walking mechanism include mobile holder 19, a pair of of the driving wheel 21 for being arranged vertically at mobile holder two sides,
38, two driving motors 2 of a pair of driven.Mobile holder bottom is arranged in the driving wheel, driven wheel, driving motor.Each master
Driving wheel includes the connection frame 41 for being arranged vertically at mobile holder side, and top and the mobile holder of connection frame are fixed, connection frame bottom
Portion is consolidated with horizontally disposed sleeve 42, and driving wheel wheel shaft 43 can be rotationally located in sleeve around horizontal axis, driving wheel wheel
The both ends of axis are also stretched out fixed with two active rim of wheel 44 respectively again after sleeve；The bottom of sleeve, two active rim of wheel it
Between be fixed with driving wheel magnetic bridge, dustband 46 (for the shell of circumferential, preferably plastic production) is coaxially fixed, and (display can lead in figure
Cross fastener and installation 28 be fixed) between two active rim of wheel and it is coated with the driving wheel magnetic bridge；The end face of dustband
The gap of 1.0mm is remained less than, with the end face of active rim of wheel to effectively prevent external iron rust dust to adhere on magnetic bridge.It is dust-proof
The outer diameter of circle is consistent with the outer diameter of active rim of wheel；The active rim of wheel includes driving wheel rim and is coated on driving wheel rim
Excircle is equipped with rubbery cover tyre 45.
Two driving wheel wheel shafts are coaxially arranged and the length direction of driving wheel wheel shaft perpendicular to mobile holder length side
To (length direction that horizontal direction in Fig. 2 is mobile holder),
The driving motor drives driving wheel rotation by bevel gear set.The bevel gear set includes coaxial with driving motor
Fixed driving gear 61 and the driven gear 62 for being fixed on driving wheel wheel shaft and being engaged with driving gear.
The driven wheel includes that (pivot center of bogie is for the bogie 54 that is rotatably positioned in walking frame bottom
Vertical direction axis in Fig. 1), driven wheel wheel shaft 51 is horizontally disposed and both ends are fixed with bogie, and driven rim of wheel 53 is logical
Rolling bearing 52 to be crossed to be rotatably positioned on driven wheel wheel shaft, the inner cavity 53.1 of driven rim of wheel is equipped with driven wheel magnetic bridge, from
Driving wheel magnetic bridge is fixed on the bottom of driven wheel wheel shaft.The outer circumference surface of the driven rim of wheel is equipped with outside driven wheel made of rubber
Tire 54.
The driving wheel magnetic bridge is identical as the structure of driven wheel magnetic bridge, including set gradually from top to bottom mounting rack 28,
Armature 29 and three magnets.The armature is fixed on the length of sleeve or driven wheel wheel shaft bottom surface and armature by mounting rack
It is oriented parallel to sleeve or driven wheel wheel shaft.Three magnets are sequentially arranged along armature length direction and are fixed on armature
Bottom surface, these three magnets include two the first magnets 30 of fixed two sides and the second magnetic for being fixed between two the first magnets
Body 31.The magnetic pole of first magnet arranges that the magnetic pole of the second magnet is horizontally disposed, the magnetic pole opposite sex phase of these three magnets up and down
Magnet guard circle 32, the bottom surface arc of magnet guard circle are additionally provided with to the bottom of arrangement, and the first magnet.
Three magnets use N52 permanent magnet, and the second magnet is for transmitting magnetic force between two the first magnets, in this way
Magnet, armature, magnet guard circle and container inner wall can be made to form the magnetic circuit of closure, the magnetic line of force from the first magnet of right side (Fig. 6 and
Shown in Fig. 8) the pole N be up pierced by, then reach the pole S of the first magnet of the other side by armature or the second magnet, then from this
The pole N is reached inside one magnet and is pierced by magnetic pole, and passes through magnet guard circle, dustband, container inner wall, dustband, magnet protection
Circle reaches the pole S of the first magnet of right side.
The elevating mechanism includes slide unit 3, sliding block 4, lifting motor 2, lead screw assembly, polishing crane 6.The slide unit is logical
It crosses slide unit mounting plate 1 and is fixed on mobile holder front end (left end of mobile holder in Fig. 1).The lifting motor is fixed on slide unit
On.The sliding block 4 can be located on slide unit to vertical sliding, and slide unit is equipped with the guide rail (omitting in figure) slided for sliding block.Institute
It states lead screw assembly to be arranged between slide unit and sliding block and be used to transmit lifting motor power to sliding block, including is rotatably positioned
Screw rod 71 on slide unit and the nut 72 engaged with screw rod, screw rod are coaxially fixed with lifting motor, and sliding block is fixed with nut,
Polishing crane is fixed with sliding block.
The workpiece polishing mechanism includes polishing mounting plate 24, grinding head 13, polishing motor 17, belt wheel group.The grinding head 13
It is fixed in connecting shaft 14, connecting shaft passes through roller mounting rack 11 again and is rotatably positioned below polishing mounting plate.It is described to beat
Bistrique (conventional structure) is the roller (polishing steel wire is omitted in figure) that outer circumference surface is equipped with polishing steel wire, the outer circumference surface of grinding head
Being equipped with circumferentially disposed v-depression 13.1 in the outer circumference surface of cydariform and grinding head, (v-depression is suitable for butt welding
The iron rust of seam is polished；When polishing welding seams, the weld seam of v-depression alignment protrusion, and grinding head is along the length side of weld seam
To advancing) grinding head is coaxially fixed in connecting shaft, and grinding head pivot center is parallel to the width axis (figure of mobile holder
Vertical direction axis in 2).The polishing motor is fixed below polishing mounting plate by motor mounting rack 18 of polishing.It is described
Belt wheel group is used to transmit polishing motor power to grinding head, including consolidates by motor-driven driving pulley 16 of polishing, with connecting shaft
The transmission belt 15 of fixed passive belt wheel 12 and connection driving pulley and passive belt wheel.
The spring mechanism is arranged between elevating mechanism and workpiece polishing mechanism, including support shaft 10 and spring 9.The support
Axis arranges that the top of support shaft can be located in vertical sliding on polishing crane vertically, and the bottom of support shaft and polishing are installed
Plate is fixed.The spring setting is between polishing crane and polishing mounting plate and encapsulation is in support shaft.
The calibration video detection mechanism setting is on polishing crane.The calibration video detection mechanism includes proactive picture
Machine, front lamp, laser aligner.The rear video testing agency includes rear lighting lamp, rear video camera.
The console is used to control the movement of robot and connects control cabinet by cable 90.The console includes
For showing the display equipment (present invention uses display, does not show in figure) of testing result and by single-chip microcontroller to robot
The external input device manipulated (present invention uses operation handle, does not show in figure).The single-chip microcontroller is separately connected driving
Motor, lifting motor, polishing motor, preceding video camera, front lamp, laser aligner, rear lighting lamp, rear video camera, display are set
Standby, external input device.
Above-mentioned all elements can be obtained by outsourcing.
Working principle of the present invention is as follows:
When vertically climbing wall, grinding head is 4mm with a distance from wall surface of the container, can facilitate walking and smoothly across barrier；Into
When row polishing, elevating mechanism drives grinding head to transmit lower pressure to grinding head close to wall surface of the container and by spring mechanism, makes to beat
Bistrique contact wall surface of the container simultaneously keeps certain pressure, and driving motor starting drives grinding head rotation to polish；Usual situation
Under, the direction of travel that when polishing operation climbs wall is downward, and the iron rust that polishing can in this way fallen does not influence the weld seam polished,
And the iron rust being deposited on driving wheel and driven wheel is greatly decreased；The polishing power of grinding head can be varied when out of plumb climbs wall,
Roller polishing power when climbing of bowing is reinforced, and since the gravity and grinding head polishing power ratio of workpiece polishing mechanism are smaller, grinding head is beaten
It is little to grind power amplitude of variation.
Finally it should be noted that the above enumerated are only specific embodiments of the present invention.It is clear that the invention is not restricted to
Above embodiments can also have many variations.Those skilled in the art can directly lead from present disclosure
Out or all deformations for associating, it is considered as protection scope of the present invention.
Claims (9)
1. a kind of large-scale storage tank climbs wall milling robot, it is characterised in that: the robot includes climbing wall walking mechanism, being arranged and climbing
The workpiece polishing mechanism of wall walking mechanism front and calibration video detection mechanism (7), for driving workpiece polishing mechanism and calibration video detection
The elevating mechanism of mechanism vertical shift is arranged in and climbs the rear video testing agency (39) at wall walking mechanism rear portion, is arranged and climbing wall
Control cabinet (20) in walking mechanism and the peripheral operation platform (91) by cable (90) connection control cabinet；
The wall walking mechanism of climbing includes mobile holder (19), a pair of of the driving wheel (21) and a pair that walking frame bottom is arranged in
Driven wheel (38), two driving motors (22) for driving driving wheel rotation by bevel gear set respectively；Each driving wheel include with
The fixed connection frame (41) of mobile holder, the sleeve (42) for being fixed on connection frame bottom, the master being rotatably positioned in sleeve
Driving wheel wheel shaft (43) is separately fixed at two active rim of wheel (44) at driving wheel wheel shaft both ends, is fixed on the active of sleeve bottom
Wheel magnetic bridge and the dustband (46) for being coaxially positioned between two active rim of wheel and being coated with the driving wheel magnetic bridge；It is described
Driven wheel includes a pair of of bogie (54), the driven wheel wheel shaft fixed with bogie being rotatably positioned in walking frame bottom
(51), driven rim of wheel (53) on driven wheel wheel shaft is rotatably positioned by rolling bearing (52), be arranged in driven wheel
The inner cavity lower part of wheel rim and the driven wheel magnetic bridge fixed with driven wheel wheel shaft；
The driving wheel magnetic bridge and driven wheel magnetic bridge include armature (29) and are fixed on armature bottom surface and along armature length
Three magnets that direction is sequentially arranged, the first magnet of two of them (30) are located at the magnetic pole of two sides and the first magnet or more cloth
It sets, the second magnet (31) is fixed between two the first magnets and the magnetic pole of the second magnet is horizontally disposed, two-by-two the magnetic of magnet
Extremely anisotropic corresponding arrangement；The armature is fixed on sleeve bottom end or driven wheel wheel shaft bottom end by mounting rack (28)；
The elevating mechanism includes the slide unit (3) that mobile holder front end is fixed on by slide unit mounting plate (1), can vertical sliding
The sliding block (4) that is located on slide unit, the lifting motor (2) being fixed on slide unit, to the lead screw of sliding block transmitting lifting motor power
Component, the polishing crane (6) fixed with sliding block；
The workpiece polishing mechanism includes the polishing mounting plate (24) connecting with polishing crane (5), is rotatably positioned and pacifies in polishing
Grinding head (13) in loading board, the polishing motor (17) fixed with polishing mounting plate transmit polishing motor power to grinding head
Belt wheel group.
2. large-scale storage tank according to claim 1 climbs wall milling robot, it is characterised in that: the end face of the dustband with
The end face of active rim of wheel remains less than the gap of 1.0mm, and the outer diameter of dustband is consistent with the outer diameter of active rim of wheel.
3. large-scale storage tank according to claim 2 climbs wall milling robot, it is characterised in that: the excircle of the grinding head
Face is equipped with v-depression (13.1) for the middle part of cydariform and the outer circumference surface of grinding head；On the outer circumference surface of the grinding head also
Equipped with polishing steel wire.
4. large-scale storage tank according to claim 3 climbs wall milling robot, it is characterised in that: the active rim of wheel includes
Driving wheel rim and the rubbery cover tyre for being coated on driving wheel rim outer circumference surface, the driven wheel include driven wheel rim and cladding
In the rubbery cover tyre of driven wheel rim outer circumference surface.
5. large-scale storage tank according to claim 4 climbs wall milling robot, it is characterised in that: the elevating mechanism and polishing
Spring mechanism is additionally provided between mechanism；The spring mechanism includes the support shaft that can be located in vertical sliding on polishing crane
(10) and spring (9) of the encapsulation in support shaft；The polishing mounting plate is fixed on the bottom of support shaft, and spring setting is being beaten
It grinds between crane and polishing mounting plate.
6. large-scale storage tank according to claim 5 climbs wall milling robot, it is characterised in that: the calibration video detection machine
Structure setting is on polishing crane；The calibration video detection mechanism includes preceding video camera, front lamp, laser aligner.
7. large-scale storage tank according to claim 6 climbs wall milling robot, it is characterised in that: the rear video testing agency
Including rear lighting lamp, rear video camera.
8. large-scale storage tank according to claim 7 climbs wall milling robot, it is characterised in that: the console includes being used for
The external input device for showing the display equipment of testing result and robot being manipulated by single-chip microcontroller.
9. large-scale storage tank according to claim 8 climbs wall milling robot, it is characterised in that: the control cabinet includes power supply
With single-chip microcontroller；The single-chip microcontroller is separately connected driving motor, lifting motor, polishing motor, preceding video camera, front lamp, laser
Aligner, rear lighting lamp, rear video camera, display equipment, external input device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910826411.9A CN110480448A (en) | 2019-09-03 | 2019-09-03 | A kind of large-scale storage tank climbs wall milling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910826411.9A CN110480448A (en) | 2019-09-03 | 2019-09-03 | A kind of large-scale storage tank climbs wall milling robot |
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| Publication Number | Publication Date |
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| CN110480448A true CN110480448A (en) | 2019-11-22 |
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|---|---|---|---|
| CN201910826411.9A Pending CN110480448A (en) | 2019-09-03 | 2019-09-03 | A kind of large-scale storage tank climbs wall milling robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN112872953A (en) * | 2020-12-29 | 2021-06-01 | 华北水利水电大学 | Large-scale storage tank inner wall welding seam equipment of polishing |
| CN114290211A (en) * | 2022-01-07 | 2022-04-08 | 陈昊 | Cylindrical material high altitude rust cleaning device |
| CN114473732A (en) * | 2022-02-16 | 2022-05-13 | 联丰环保科技有限公司 | Ozone generator tank body surface treatment equipment |
| CN115628984A (en) * | 2022-09-28 | 2023-01-20 | 中信重工机械股份有限公司 | Pressure test tool and method for narrow closed oil cavity of piston rod with double-layer welding structure |
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| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111496586B (en) * | 2020-04-26 | 2021-09-03 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN112872953A (en) * | 2020-12-29 | 2021-06-01 | 华北水利水电大学 | Large-scale storage tank inner wall welding seam equipment of polishing |
| CN114290211A (en) * | 2022-01-07 | 2022-04-08 | 陈昊 | Cylindrical material high altitude rust cleaning device |
| CN114473732A (en) * | 2022-02-16 | 2022-05-13 | 联丰环保科技有限公司 | Ozone generator tank body surface treatment equipment |
| CN115628984A (en) * | 2022-09-28 | 2023-01-20 | 中信重工机械股份有限公司 | Pressure test tool and method for narrow closed oil cavity of piston rod with double-layer welding structure |
| CN115628984B (en) * | 2022-09-28 | 2023-09-15 | 中信重工机械股份有限公司 | Pressure testing tool and method for narrow sealed oil cavity of piston rod with double-layer welding structure |
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