CN112975634A - Moving device for automatic detection and polishing of welding seam of cambered surface steel structure - Google Patents
Moving device for automatic detection and polishing of welding seam of cambered surface steel structure Download PDFInfo
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- CN112975634A CN112975634A CN202110253933.1A CN202110253933A CN112975634A CN 112975634 A CN112975634 A CN 112975634A CN 202110253933 A CN202110253933 A CN 202110253933A CN 112975634 A CN112975634 A CN 112975634A
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- 238000005498 polishing Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 title claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 30
- 239000010959 steel Substances 0.000 title claims abstract description 30
- 238000003466 welding Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000001179 sorption measurement Methods 0.000 claims abstract description 19
- 230000009467 reduction Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 44
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims 6
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000010354 integration Effects 0.000 claims 1
- 238000009776 industrial production Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process 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
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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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
- 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
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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
- B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
- B24B23/08—Portable grinding machines designed for fastening on workpieces or other parts of particular section, e.g. for grinding commutators
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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
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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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a moving device for automatically detecting and polishing a welding line of a cambered surface steel structure, belonging to the technical field of automatic equipment; a mobile device for automatically detecting and polishing a welding line of a cambered surface steel structure comprises a main body, a controller and a detection polishing driving bearing mechanism; the main body comprises a left body and a right body which are symmetrically hinged, a connecting pin shaft is fixedly arranged between the left body and the right body, and an auxiliary adsorption magnetic wheel is fixedly arranged on the connecting pin shaft; a first driving motor and a second driving motor are fixedly installed inside the left vehicle body and the right vehicle body respectively, the first driving motor and the second driving motor are both connected with a gear reduction unit, the gear reduction unit is provided with two output gears, and the output gears are fixedly connected with output shafts of the first driving motor and the second driving motor respectively; the invention effectively solves the problems that the traditional detection and polishing mode cannot meet the requirement of industrial production due to manual detection, high polishing labor intensity and low working efficiency.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a moving device for automatically detecting and polishing a welding line of a cambered surface steel structure.
Background
The cambered surface-shaped steel structure is widely applied to the fields of industrialization, buildings and the like, such as ship hulls, petrochemical storage tanks, natural gas transportation pipelines and the like. Because these equipment are in open air or half open air environment for a long time, receive the effect of sunshine, atmosphere, rainwater under, cause the rust corrosion of steel construction easily, wherein the welding seam region is because special structure and material, and the corruption is the most obvious, can bring the potential safety hazard for people's production life. Therefore, it is necessary to detect and polish these special positions, can effectively slow down the corrosion rate in these positions, and at present, many detection and polishing work are done by the manual work at will, because there are intensity of labour big, the harsh scheduling problem of operational environment to and along with the wide application of this kind of steel construction, traditional detection mode of polishing has not satisfied the needs of industrial production, needs a mobile device that is used for cambered surface shape steel construction welding seam to detect and polish urgently.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to provide a moving device for automatically detecting and polishing a welding line of a cambered surface steel structure, which aims to solve the problems in the background technology:
the manual detection and polishing labor intensity is high, the working efficiency is low, and the traditional detection and polishing mode cannot meet the requirement of industrial production.
2. Technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
a mobile device for automatically detecting and polishing a welding line of a cambered surface steel structure comprises a main body, a controller and a detection polishing driving bearing mechanism;
the main body comprises a left body and a right body which are symmetrically hinged, a connecting pin shaft is fixedly arranged between the left body and the right body, and an auxiliary adsorption magnetic wheel is fixedly arranged on the connecting pin shaft;
a first driving motor and a second driving motor are fixedly mounted inside the left vehicle body and the right vehicle body respectively, the first driving motor and the second driving motor are both connected with a gear reduction unit, the gear reduction unit is provided with two output gears, the output gears are fixedly connected with output shafts of the first driving motor and the second driving motor respectively, a left magnetic front wheel and a left magnetic rear wheel are connected to the output gear inside the left vehicle body in a meshed mode, and a right magnetic front wheel and a right magnetic rear wheel are connected to the output gear inside the right vehicle body in a meshed mode; the gear reduction devices are symmetrically arranged in the left vehicle body and the right vehicle body;
the detection polishing driving bearing mechanism comprises a ball screw mechanism, a linear guide rail and an electric push rod, and the ball screw mechanism is connected to the left vehicle body and the right vehicle body.
Preferably, the left vehicle body and the right vehicle body are hinged to a connecting pin shaft through connecting hinges, an auxiliary adsorption magnetic wheel is movably connected to the connecting pin shaft, the left vehicle body and the right vehicle body are rotatably connected to the connecting pin shaft, and an included angle between planes of the left vehicle body and the right vehicle body ranges from-30 degrees to 30 degrees.
Preferably, the gear reduction unit in left side automobile body and the right automobile body still includes first order transmission action wheel, first order transmission from the driving wheel, second level transmission from driving wheel A, second level transmission action wheel A, second level transmission from driving wheel B and second level transmission action wheel B, gear reduction unit's all levels gear distribution is in the coplanar, first order transmission action wheel and the axis distribution of first order transmission from the driving wheel are in the coplanar, the contained angle between the plane of second level transmission from driving wheel A and second level transmission action wheel A and the plane of first order transmission action wheel is 45 °, the contained angle between the plane of second level transmission from driving wheel B and second level transmission action wheel B and the plane of first level transmission action wheel is 45 °.
Preferably, the ball screw mechanism is fixedly connected with the linear guide rail on the left vehicle body and the right vehicle body, the ball screw mechanism comprises a screw motor and a ball screw mechanism support, the screw motor is fixedly connected to the side wall of the main vehicle body through the ball screw mechanism support, and an output shaft of the screw motor is fixedly connected with the screw.
Preferably, the first driving motor and the second driving motor are both high-performance permanent magnet synchronous motors and are respectively and fixedly installed inside the shells of the left vehicle body and the right vehicle body.
Preferably, the controller is fixedly connected to the main body of the vehicle body, and a driving motor control module, a screw motor control module and a grinding motor control module are integrally installed in the controller.
Preferably, the detection polishing driving bearing mechanism further comprises a detection polishing mechanism, the detection polishing mechanism comprises a sliding block, an electric push rod, a polisher and a ccd camera, the sliding block is fixedly installed on the screw nut, the electric push rod is fixedly connected to the sliding block, and the polisher and the ccd camera are fixedly connected to a push rod head of the electric push rod; the sander comprises a grinding wheel motor and a grinding wheel, the grinding wheel motor is fixedly connected with the electric push rod, and the grinding wheel is fixedly connected to an output shaft of the grinding wheel motor.
Preferably, the magnetic driving wheel, namely the left side magnetic front wheel, the left side magnetic rear wheel, the right side magnetic front wheel and the right side magnetic rear wheel, and the auxiliary adsorption magnetic wheel are all made of neodymium iron boron magnets.
3. Advantageous effects
(1) The device body is placed on a working plane, the four magnetic driving wheels and the auxiliary adsorption magnetic wheels on the connecting pin shaft are tightly adsorbed on the surface of a steel structure, the four driving magnetic wheels are driven by the first driving motor and the second driving motor to roll through the speed reducer, and the forward movement, the backward movement or the steering of the device body is realized by controlling the steering of the first driving motor and the second driving motor; the left and right movement of the polishing mechanism relative to the main body can be detected by controlling the steering of the screw motor, so that the working range is expanded; the distance between the grinding wheel of the sander and the plane to be sanded can be adjusted through the electric push rod, and meanwhile, the sanding thickness can also be controlled; the left vehicle body and the right vehicle body which are connected through the connecting pin shaft can be well attached to a working curved surface, the curvature change of a working plane can be better adapted, the curved surface with a small curvature radius has certain advantages, and the auxiliary adsorption magnetic wheel positioned between the two vehicle bodies enables the whole mechanism and the adsorption effect of a working surface to be safer and more reliable.
(2) According to the moving device for detecting and polishing the cambered surface-shaped steel structure, the left vehicle body and the right vehicle body are symmetrically arranged in a hinged mode, so that the change of the curvature radius of the cambered surface can be better adapted, and meanwhile, the adsorption connection of the whole mechanism is safer and more reliable by matching with the auxiliary adsorption magnetic wheel.
(3) The magnetic driving wheel is partially embedded in the vehicle body, and the magnetic driving wheels of the gear reduction device are all arranged in the same plane, so that the transverse size of the whole mechanism is smaller, the requirement on smaller working space can be met, and the mechanism can also work in a pipeline with smaller diameter.
(4) The moving device for detecting and polishing the cambered surface-shaped steel structure can be adsorbed on the cambered surfaces of the steel structures with different curvatures to move, the carried ball screw mechanism can enable the detecting and polishing mechanism to move transversely, the executable range of equipment is widened, and meanwhile, the device adopts an energy supply mode of an external power supply, so that the self weight is reduced, and the load capacity is increased.
In conclusion, by means of the design, the problems that manual detection, polishing labor intensity is high, working efficiency is low, and the traditional detection polishing mode cannot meet the requirement of industrial production are effectively solved.
Drawings
FIG. 1 is a schematic structural view of a moving device for automatically detecting and polishing a welding seam of a cambered surface steel structure, which is provided by the invention;
fig. 2 is a schematic layout diagram of a reducer gear of the moving device for automatically detecting and polishing the welding seam of the cambered surface steel structure provided by the invention.
The reference numbers in the figures illustrate:
1. a main body; 2. connecting a pin shaft; 3. a controller; 4. a first drive motor; 5. a ball screw mechanism support; 6. an electric push rod; 7. a slider; 8. a lead screw; 9. a connecting hinge; 10. a grinding wheel; 11. a ccd camera; 12. a grinding wheel motor; 13. a linear guide rail; 14. a lead screw motor; 15. a magnetic drive wheel; 16. an auxiliary magnetic wheel; 17. a second drive motor; 18. a secondary transmission driven wheel A; 19. a second-stage transmission driving wheel A; 20. a second-stage transmission driven wheel B; 21. a second-stage transmission driving wheel B; 22. the first stage transmission driving wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-2, a mobile device for automatic detection and polishing of a weld of a cambered steel structure comprises a main body 1, a controller 3 and a detection polishing drive bearing mechanism;
the main body 1 comprises a left body and a right body which are symmetrically hinged, a connecting pin shaft 2 is fixedly arranged between the left body and the right body, and an auxiliary adsorption magnetic wheel 16 is fixedly arranged on the connecting pin shaft 2;
a first driving motor 4 and a second driving motor 17 are fixedly installed inside the left vehicle body and the right vehicle body respectively, the first driving motor 4 and the second driving motor 17 are both connected with a gear reduction unit, the gear reduction unit is provided with two output gears, the output gears are fixedly connected with output shafts of the first driving motor 4 and the second driving motor 17 respectively, the output gear inside the left vehicle body is in meshing connection with a left magnetic front wheel and a left magnetic rear wheel, and the output gear inside the right vehicle body is in meshing connection with a right magnetic front wheel and a right magnetic rear wheel; the gear reduction devices are symmetrically arranged inside the left vehicle body and the right vehicle body;
the detection polishing driving bearing mechanism comprises a ball screw mechanism, a linear guide rail 13 and an electric push rod 6, and the ball screw mechanism is connected to the left vehicle body and the right vehicle body.
The left vehicle body and the right vehicle body are connected with a hinge 9 and hinged on a connecting pin shaft 2, an auxiliary adsorption magnetic wheel 16 is movably connected on the connecting pin shaft 2, the left vehicle body and the right vehicle body are rotatably connected on the connecting pin shaft 2, and the included angle between the planes of the left vehicle body and the right vehicle body ranges from minus 30 degrees to 30 degrees.
The gear speed reducer in the left vehicle body and the right vehicle body further comprises a first-stage transmission driving wheel 22, a first-stage transmission driven wheel, a second-stage transmission driven wheel A18, a second-stage transmission driving wheel A19, a second-stage transmission driven wheel B20 and a second-stage transmission driving wheel B21, gears of all stages of the gear speed reducer are distributed on the same plane, axes of the first-stage transmission driving wheel 22 and the first-stage transmission driven wheel are distributed on the same plane, an included angle between a plane where axes of the second-stage transmission driven wheel A18 and the second-stage transmission driving wheel A19 are located and a plane where the first-stage transmission driving wheel 22 is located is 45 degrees, and an included angle between a plane where axes of the second-stage transmission driven wheel B20 and the second-stage transmission driving wheel B21 are located and a plane where.
Ball screw mechanism and linear guide 13 fixed connection are on left automobile body and right automobile body, and ball screw mechanism is including screw motor 14 and ball screw mechanism support 5, and screw motor 14 fixed connection is on ball screw mechanism support 5, and screw motor 14 passes through ball screw mechanism support 5 fixed connection on 1 lateral wall of main part automobile body, and screw motor 14's output shaft and lead screw 8 fixed connection.
The first driving motor 4 and the second driving motor 17 are both high-performance permanent magnet synchronous motors and are fixedly installed inside the shell of the left vehicle body and the shell of the right vehicle body respectively.
Controller 3 fixed connection is on main part automobile body 1, and the inside integrated drive motor control module, lead screw motor control module and the motor control module of polishing of installing of controller 3.
The detection polishing driving bearing mechanism also comprises a detection polishing mechanism, the detection polishing mechanism comprises a sliding block 7, an electric push rod 6, a polisher and a ccd camera 11, the sliding block 7 is fixedly arranged on a screw nut, the electric push rod 6 is fixedly connected on the sliding block 7, and the polisher and the ccd camera 11 are fixedly connected on a push rod head of the electric push rod 6; the sander comprises a grinding wheel motor 12 and a grinding wheel 10, wherein the grinding wheel motor 12 is fixedly connected with the electric push rod 6, and the grinding wheel 10 is fixedly connected to an output shaft of the grinding wheel motor 12.
The magnetic driving wheel 15, i.e., the left magnetic front wheel, the left magnetic rear wheel, the right magnetic front wheel and the right magnetic rear wheel, and the auxiliary adsorption magnetic wheel 16 are made of neodymium iron boron magnets.
When the device is used, the device body is placed on a working plane, the four magnetic driving wheels 15 and the auxiliary adsorption magnetic wheel 16 on the connecting pin shaft 2 are tightly adsorbed on the surface of a steel structure, the four driving magnetic wheels are driven by the first driving motor 4 and the second driving motor 17 through the speed reducer to roll, and the forward movement, the backward movement or the steering of the device body is realized by controlling the steering of the first driving motor 4 and the second driving motor 17; the left and right movement of the polishing mechanism relative to the main body 1 can be detected by controlling the steering of the screw motor 14, so that the working range is expanded; the distance between the grinding wheel 10 of the sander and a plane to be sanded can be adjusted through the electric push rod 6, and meanwhile, the sanding thickness can also be controlled; the left vehicle body and the right vehicle body which are connected through the connecting pin shaft 2 can be better fitted with a working curved surface, the curvature of the working plane can be better adapted to the change, the curved surface with a small curvature radius has certain advantages, and the auxiliary adsorption magnetic wheel 16 positioned between the two vehicle bodies enables the adsorption effect of the whole mechanism and the working surface to be safer and more reliable.
According to the moving device for detecting and polishing the cambered surface-shaped steel structure, the left vehicle body and the right vehicle body are symmetrically arranged in a hinged mode, so that the change of the curvature radius of a cambered surface can be better adapted, and meanwhile, the auxiliary adsorption magnetic wheel 16 is matched, so that the adsorption connection of the whole mechanism is safer and more reliable; in addition, the magnetic driving wheels 15 of the invention are partially embedded in the vehicle body, and the magnetic driving wheels 15 of the gear reduction device are all arranged in the same plane, so that the transverse size of the whole mechanism is smaller, the requirement on smaller working space can be met, and the mechanism can also work in a pipeline with smaller diameter; furthermore, the moving device for detecting and polishing the cambered surface-shaped steel structure can be adsorbed on the cambered surfaces of the steel structures with different curvatures to move, the carried ball screw mechanism can enable the detecting and polishing mechanism to move transversely, the executable range of equipment is widened, and meanwhile, the device adopts an energy supply mode of an external power supply, so that the self weight is reduced, and the load capacity is increased.
In conclusion, by means of the design, the problems that manual detection, polishing labor intensity is high, working efficiency is low, and the traditional detection polishing mode cannot meet the requirement of industrial production are effectively solved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (8)
1. A moving device for automatically detecting and polishing a welding line of a cambered surface steel structure is characterized by comprising a main body (1), a controller (3) and a detection polishing driving bearing mechanism;
the main body (1) comprises a left body and a right body which are symmetrically hinged, a connecting pin shaft (2) is fixedly installed between the left body and the right body, and an auxiliary adsorption magnetic wheel (16) is fixedly installed on the connecting pin shaft (2);
a first driving motor (4) and a second driving motor (17) are fixedly mounted inside the left vehicle body and the right vehicle body respectively, the first driving motor (4) and the second driving motor (17) are connected with a gear reduction unit, the gear reduction unit is provided with two output gears, the output gears are fixedly connected with output shafts of the first driving motor (4) and the second driving motor (17) respectively, a left magnetic front wheel and a left magnetic rear wheel are connected to the output gear inside the left vehicle body in a meshed mode, and a right magnetic front wheel and a right magnetic rear wheel are connected to the output gear inside the right vehicle body in a meshed mode; the gear reduction devices are symmetrically arranged in the left vehicle body and the right vehicle body;
the detection polishing driving bearing mechanism comprises a ball screw mechanism, a linear guide rail (13) and an electric push rod (6), wherein the ball screw mechanism is connected to the left vehicle body and the right vehicle body.
2. The moving device for automatic detection and grinding of the welding line of the cambered surface steel structure according to claim 1 is characterized in that: the left vehicle body and the right vehicle body are connected through hinges (9) and hinged to a connecting pin shaft (2), an auxiliary adsorption magnetic wheel (16) is movably connected to the connecting pin shaft (2), the left vehicle body and the right vehicle body are rotatably connected to the connecting pin shaft (2), and an included angle between planes of the left vehicle body and the right vehicle body ranges from minus 30 degrees to 30 degrees.
3. The moving device for automatic detection and polishing of the welding seam of the arc-shaped steel structure as claimed in claim 2, wherein the gear reduction device in the left vehicle body and the right vehicle body further comprises a first-stage transmission driving wheel (22), a first-stage transmission driven wheel, a second-stage transmission driven wheel A (18), a second-stage transmission driving wheel A (19), a second-stage transmission driven wheel B (20) and a second-stage transmission driving wheel B (21), gears of the gear reduction device at different stages are distributed on the same plane, axes of the first-stage transmission driving wheel (22) and the first-stage transmission driven wheel are distributed on the same plane, an included angle between a plane where axes of the second-stage transmission driven wheel A (18) and the second-stage transmission driving wheel A (19) are located and a plane where the first-stage transmission driving wheel (22) is located is 45 °, and a plane where axes of the second-stage transmission driven wheel B (20) and the second-stage transmission driving wheel B (21) are located and the included angle between the planes of the moving wheels (22) is 45 degrees.
4. The moving device for automatic detection and grinding of the welding line of the cambered surface steel structure according to claim 3 is characterized in that: ball screw mechanism and linear guide (13) fixed connection are on left automobile body and right automobile body, ball screw mechanism is including screw motor (14) and ball screw mechanism support (5), screw motor (14) fixed connection is on ball screw mechanism support (5), screw motor (14) pass through ball screw mechanism support (5) fixed connection on main part automobile body (1) lateral wall, the output shaft and lead screw (8) (coaxial) fixed connection of screw motor (14).
5. The moving device for automatic detection and grinding of the welding line of the cambered surface steel structure according to claim 1 is characterized in that: the first driving motor (4) and the second driving motor (17) are high-performance permanent magnet synchronous motors and are fixedly mounted inside the shell of the left vehicle body and the shell of the right vehicle body respectively.
6. The moving device for automatic detection and grinding of the welding line of the cambered surface steel structure according to claim 1 is characterized in that: controller (3) fixed connection is on main part automobile body (1), controller (3) internal integration installs drive motor control module, lead screw motor control module and the motor control module of polishing.
7. The moving device for automatic detection and grinding of the welding line of the cambered surface steel structure according to claim 1 is characterized in that: the detection polishing driving bearing mechanism further comprises a detection polishing mechanism, the detection polishing mechanism comprises a sliding block (7), an electric push rod (6), a polisher and a ccd camera (11), the sliding block (7) is fixedly arranged on a screw nut, the electric push rod (6) is fixedly connected to the sliding block (7), and the polisher and the ccd camera (11) are fixedly connected to a push rod head of the electric push rod (6); the sander comprises a grinding wheel motor (12) and a grinding wheel (10), wherein the grinding wheel motor (12) is fixedly connected with an electric push rod (6), and the grinding wheel (10) is fixedly connected to an output shaft of the grinding wheel motor (12).
8. The moving device for automatic detection and grinding of the welding line of the cambered surface steel structure according to claim 1 is characterized in that: magnetism drive wheel (15), wheel behind wheel, the front wheel of right side magnetism and the rear wheel of right side magnetism before the left side magnetism promptly to and supplementary absorption magnetism wheel (16) all adopt neodymium iron boron magnetism to make.
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| CN202110253933.1A CN112975634A (en) | 2021-03-09 | 2021-03-09 | Moving device for automatic detection and polishing of welding seam of cambered surface steel structure |
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| CN202110253933.1A CN112975634A (en) | 2021-03-09 | 2021-03-09 | Moving device for automatic detection and polishing of welding seam of cambered surface steel structure |
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| CN208451224U (en) * | 2018-04-28 | 2019-02-01 | 郑州九泰科技有限公司 | A kind of magnetic force crawl device with polishing function |
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| CN109732432A (en) * | 2019-02-19 | 2019-05-10 | 浙江省特种设备检验研究院 | Steel large container climbs wall milling robot |
| CN209850549U (en) * | 2019-04-26 | 2019-12-27 | 北京史河科技有限公司 | Polishing robot |
| CN210139262U (en) * | 2019-06-14 | 2020-03-13 | 长安大学 | Electromagnet adsorption type steel pipe straight weld grinding equipment |
| CN211053363U (en) * | 2019-08-29 | 2020-07-21 | 宝鸡宇喆工业科技有限公司 | Self-propelled steel pipe that adsorbs polishing robot |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
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| CN111791966A (en) * | 2020-08-25 | 2020-10-20 | 合肥工业大学 | A moving platform for patrolling and examining, maintaining cylindrical steel construction |
| CN112355850A (en) * | 2020-10-16 | 2021-02-12 | 浙江省特种设备科学研究院 | Polishing and derusting equipment |
| CN112388649A (en) * | 2020-11-02 | 2021-02-23 | 郑州九泰科技有限公司 | Double-arm four-wheel drive magnetic grinding thickness measuring visual inspection robot |
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| CN109262280A (en) * | 2018-11-13 | 2019-01-25 | 济南大学 | The general full-automatic weld seam sanding and polishing vehicle of a kind of plate, pipeline |
| CN109732432A (en) * | 2019-02-19 | 2019-05-10 | 浙江省特种设备检验研究院 | Steel large container climbs wall milling robot |
| CN209850549U (en) * | 2019-04-26 | 2019-12-27 | 北京史河科技有限公司 | Polishing robot |
| CN210139262U (en) * | 2019-06-14 | 2020-03-13 | 长安大学 | Electromagnet adsorption type steel pipe straight weld grinding equipment |
| CN211053363U (en) * | 2019-08-29 | 2020-07-21 | 宝鸡宇喆工业科技有限公司 | Self-propelled steel pipe that adsorbs polishing robot |
| CN211439269U (en) * | 2019-12-19 | 2020-09-08 | 郑州九泰科技有限公司 | Magnetic force crawl device |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN111791966A (en) * | 2020-08-25 | 2020-10-20 | 合肥工业大学 | A moving platform for patrolling and examining, maintaining cylindrical steel construction |
| CN112355850A (en) * | 2020-10-16 | 2021-02-12 | 浙江省特种设备科学研究院 | Polishing and derusting equipment |
| CN112388649A (en) * | 2020-11-02 | 2021-02-23 | 郑州九泰科技有限公司 | Double-arm four-wheel drive magnetic grinding thickness measuring visual inspection robot |
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