CN209774221U - Wall-climbing polishing robot for large steel container - Google Patents

Abstract

The utility model relates to a mechanical automation engineering field. The purpose provides a wall climbing polishing robot of large-scale container of steel, and this wall climbing polishing robot can polish the work piece automatically, reduces the manual operation amount of labour, and the adsorbable operation of polishing of crawling at curved surfaces such as wall, sphere and pipeline, polishes according to the actual requirement of polishing of welding seam and carries out perpendicular stride the welding seam and come and go and polish, and the technique of polishing satisfies the requirement of nondestructive test correlation standard to polishing. The technical scheme is as follows: a wall-climbing polishing robot for large steel containers; the method is characterized in that: the polishing robot comprises a walking vehicle body used for crawling on the wall of a container, a polishing platform which is hinged to the walking vehicle body through a connecting rod group and is arranged in parallel with the walking vehicle body, a polishing mechanism installed on the polishing platform, a calibration and front video detection system installed at the front end of the polishing platform, a control box and a rear video detection system installed on the walking vehicle body, and an operating board which is electrically connected with the control box through a cable and located outside the control box.

Description

Wall-climbing polishing robot for large steel container

Technical Field

The utility model belongs to the technical field of mechanical automation engineering and specifically relates to a wall climbing polishing robot is climbed to large-scale container of steel.

Background

Large steel containers usually work under severe environments such as high pressure and corrosion, and the safety and reliability of the large steel containers are very important. Due to the action of the pressure inside the tank body and the erosion of rainwater and oil products, the tank wall may have defects such as pits, cracks, holes and the like, which not only cause storage leakage, but also may cause explosion and fire, and therefore, the detection must be performed regularly. At present, most of detection of large containers is manually operated, a scaffold needs to be built inside and outside the tank, and the defects of high cost, high labor intensity of operators, dangerous operation, low efficiency and the like exist. The wall-climbing robot organically combines the ground mobile robot technology with the adsorption technology, can adhere to and climb on a vertical wall surface, can carry tools to complete certain operation tasks, and greatly expands the application range of the robot. At present, the wall climbing robot is mainly applied to nuclear industry, petrochemical industry, shipbuilding industry, fire control departments, investigation activities and the like, such as cleaning the outer wall surface of a high building, spraying paint on large-area steel plates, rescuing and rescuing in high-rise accidents and the like. However, wall climbing robots have not been popularized in large container inspection industry so far, and mainly cause the problems of low reliability, inconvenience in use and the like.

Polishing is the front end process of large container inspection. Because most large containers are used for storing flammable and explosive gases and liquids, a small amount of dangerous gases or liquids may still exist in the large container to be detected in the polishing process, so that not only can the personal health be directly harmed, but also the large container may be burnt or exploded in a small range due to the generation of polishing sparks; at present, the time for manually polishing a large container may be 1 week or even several weeks, the manual workload is large, and the efficiency is low; since the polishing is different from person to person, the polishing is not uniform, and the detection accuracy is influenced. Therefore, the problem of safety, efficiency and precision uniformity of manual grinding is solved. The wall-climbing polishing robot is a special robot which replaces people to work in a high-risk environment, the use of the wall-climbing polishing robot can greatly reduce the labor cost of a dangerous industry, improve the labor environment of workers and improve the labor productivity. From the current technical situation at home and abroad, an automatic system actually applied to large container detection is not common, and similar wall surface detection equipment is provided with wall climbing robots. The wall climbing robot is a robot capable of moving on a vertical steep wall for operation, even working on the inner top of a container or a building, and is a high-technology product integrating mechanistic technology, sensing technology, control technology, information technology and the like.

However, the existing wall-climbing grinding robot has the following disadvantages: the grinding process is not designed according to the actual grinding requirement of the welding seam, the grinding process does not aim at the grinding requirement of relevant standards of nondestructive testing, and factors such as the shape characteristic of the welding seam, different service conditions and the like are not considered.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of above-mentioned background art, provide a wall polishing robot is climbed to large-scale container of steel, should climb wall polishing robot and can polish the work piece automatically, reduce the manual operation amount of labour, adsorbable curved surface such as wall, sphere and pipeline crawls the operation of polishing, polishes according to the actual requirement of polishing of welding seam and strides the welding seam perpendicularly and come and go, and the technique of polishing satisfies the requirement of nondestructive test correlation standard to polishing.

The utility model provides a technical scheme is:

The utility model provides a large-scale container of steel wall climbing polishing robot which characterized in that: the polishing robot comprises a walking vehicle body used for crawling on the wall part of a container, a polishing platform which is hinged on the walking vehicle body through a connecting rod group and is arranged in parallel with the walking vehicle body, a polishing mechanism arranged on the polishing platform, a calibration and front video detection system arranged at the front end of the polishing platform, a control box and a rear video detection system which are arranged on the walking vehicle body, and an operating console which is electrically connected with the control box through a cable and is positioned outside;

The walking vehicle body comprises a vehicle body flat plate with a control box, a driving wheel and a driven wheel for supporting the vehicle body flat plate, and a driving wheel system for providing power for the driving wheel;

The connecting rod set comprises two pairs of connecting rods which are respectively arranged on the left side and the right side of the vehicle body flat plate, each pair of connecting rods comprises two straight rods which are parallel to each other, and two ends of each straight rod are respectively hinged to the vehicle body flat plate and the polishing platform, so that the two straight rods, the vehicle body flat plate and the polishing platform form a parallelogram mechanism; a plurality of supporting springs are arranged between the vehicle body flat plate and the polishing platform;

The polishing platform comprises a platform flat plate hinged with the connecting rod, an electromagnetic suction device arranged on the lower side of the platform flat plate and a swinging mechanism connected with the polishing mechanism;

The polishing mechanism comprises two polishing components which are symmetrically arranged at the left side and the right side of the platform flat plate through a swinging mechanism; each grinding assembly comprises an angle grinder and a support frame for supporting the angle grinder; the swing mechanism comprises a guide rail transversely arranged on the platform flat plate, a sliding block which is slidably positioned in the guide rail and is hinged with the support frame, a guide rod which is fixed with the sliding block and is matched with the guide block to move in a direction parallel to the length direction of the guide rail, a gear pair which drives the guide rod to linearly move in a reciprocating manner through a guide groove part connected with the guide rod, and a motor which drives the gear pair.

the guide groove piece comprises a guide groove transversely fixed on the guide rod and a guide pin eccentrically hinged on the gear pair and meshed with the guide groove.

the middle part of the shell of the angle grinder is connected with the guide rail through the support rod, and one end of the angle grinder is hinged with the sliding block through the support frame.

The driving wheel system comprises two driving wheels, a transmission mechanism and a driving motor, wherein the driving wheel main shafts supported by a supporting piece are rotatably positioned at the left side and the right side of the front end of the vehicle body flat plate, the transmission mechanism drives the driving wheels, and the driving motor provides power for the transmission mechanism.

The control box is provided with a power supply and a single chip microcomputer which is electrically connected with the calibration and front video detection system and the rear video detection system so as to process detection signals; the control box is installed at the dull and stereotyped rear side of automobile body, is provided with a plurality of extension spring between control box and the platform flat board.

the calibration and front video detection system comprises a front camera, a front illuminating lamp and a laser aligner which are arranged on the front side of the platform flat plate.

The rear video detection system comprises a rear illuminating lamp and a rear camera which are arranged on the rear side of the vehicle body flat plate.

The magnetic bridge is a magnet I and an armature which are arranged on a vehicle body flat plate through an armature mounting frame, and the magnetic bridge is positioned between the driving wheel and the driven wheel.

The electromagnetic suction device comprises a magnetic yoke suspension rod suspended on the platform flat plate through a suspension spring, a magnetic yoke fixed on the lower side of the platform flat plate through the magnetic yoke suspension rod, and a walking wheel positioned at the bottom end of the magnetic yoke through a walking wheel fixing piece.

The driving wheel comprises a hub, an armature and a hard tire wrapping an inflatable soft tire in sequence from the axis to the outer diameter direction, wherein two sides of the inflatable soft tire and the hard tire are provided with a second magnet and a magnet protective ring, and the second magnet and the magnet protective ring are wrapped by a rubber film and a rubber side cover.

The control console comprises a display device for displaying the detection result and an external input device for controlling the robot through the single chip microcomputer.

The motor, the driving motor, the electromagnetic suction device, the external input equipment, the laser aligner, the front illuminating lamp, the rear illuminating lamp, the front camera and the rear camera are respectively and electrically connected with the single chip microcomputer.

The utility model has the advantages that:

1. the utility model discloses a 2 grinding machanism bilateral symmetry install on the slip table, polish the effect through 2 head of polishing and improve 2 times, and 2 head motion opposite directions of polishing, make the effort offset each other, and 2 head intervals of polishing are less, and the turning moment of production is not big. The front end main body of the polishing head and the angle grinder adopts the existing products in the market, and the polishing quality is guaranteed. The 2 polishing heads polish in a certain inclination angle and in a direction vertical to the weld joint, vertical cross-weld-joint back-and-forth polishing is carried out according to the actual polishing requirement of the weld joint, the polishing areas of the 2 polishing heads in the weld joint and the heat affected zone are overlapped, the polishing effect of the weld joint and the heat affected zone is enhanced, the polishing requirement of relevant standards of nondestructive testing is met, and factors such as the shape characteristic of the weld joint, different service conditions and the like are considered.

2. The utility model discloses a grinding machanism realizes polishing through the linear motion mechanism that makes a round trip, because the distance of making a round trip is short, the frequency amplitude is fast, can reduce the harm to the motor for step motor's the motion of polishing that makes a round trip. The utility model discloses a realize connecting through articulated and extension spring between platform, the grinding machanism of polishing and the walking automobile body, extension spring plays the power transmission effect on the one hand, and on the other hand plays the cushioning effect at the operation in-process.

3. The utility model discloses an electromagnetism suction device realizes that grinding machanism pushes down, can obtain the suitable pressure of polishing of head of polishing through grinding machanism spring, the supporting spring of the platform of polishing, electromagnetism suction, the reasonable setting of the platform extension spring of polishing to guarantee that the platform of polishing operates steadily. And a switch circuit can be designed to enable the polishing operation to be carried out only when the electromagnetic action is carried out, the electromagnetic attraction force disappears, and the polishing is automatically stopped. When the electromagnetic action disappears, the polishing head can be lifted to a certain height through the spring force so as to facilitate the walking of the vehicle body. The electromagnetic suction device can not only realize that the polishing mechanism pushes down, but also match with the permanent magnetic suction to increase the reaction force in the polishing process, thereby more effectively preventing the vehicle body from overturning and falling. If the electromagnetic suction force disappears, the polishing automatically stops, the polishing head is separated from the wall surface, the polishing reaction force disappears, and the safety can be ensured only by the permanent magnetic suction force. In addition, the electromagnetic suction device is arranged behind the polishing head and in front of the magnetic wheel, so that the dust collector plays a role in preventing rust of the magnetic wheel from being accumulated, the rust of the magnetic wheel is easy to remove by the electromagnetic suction device, the electromagnetic yoke is automatically lifted when the electromagnetic suction force disappears, and the rust accumulated at the two poles of the electromagnetic yoke is automatically shaken off.

4. The utility model discloses the drive wheel adopts inflatable tire magnetic wheel, and this kind of magnetic wheel suction is strong, light in weight, and the area of contact of the hard child of soft child formula rubber of aerifing is bigger, can provide bigger frictional force.

5. The utility model discloses a magnetic bridge structure light in weight, the suction that provides is big, and the magnetic bridge is installed at the drive wheel and is followed between the driving wheel to help the magnetic wheel to overcome the gravity of grinding machanism, the platform of polishing and the reaction force of polishing, prevent that the automobile body from overturning. In addition, the magnetic bridge can respectively exert pressure on the driving wheel and the driven wheel, so that the driving force of the driving wheel is enhanced on one hand, and the driven wheel is prevented from slipping on the other hand.

6. the utility model discloses a brush dirt board is installed in the magnetism wheel in front, is located the automobile body centre, brushes the welding seam and rust and dust around it to reduce the rust of magnetism wheel as far as possible and pile up.

7. The utility model discloses an aim at video detection system and can realize aiming at the welding seam walking, and can observe the quality of polishing of welding seam to the macroscopical quality condition of inspection welding seam and near.

8. The utility model discloses a wall climbing robot simple structure, it is small, convenient to use, it is effectual to polish, is fit for popularizing and applying.

Drawings

Fig. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a perspective view of the present invention.

Fig. 3 is a schematic view of the main structure of the polishing mechanism of the present invention.

Fig. 4 is the slide block and the sliding table connection schematic diagram in the present invention.

Fig. 5 the utility model provides a polishing platform's main view structure schematic diagram.

Fig. 6 is a schematic top view of the swing mechanism of the present invention.

Fig. 7 is a schematic front view of the swing mechanism of the present invention.

Fig. 8 is a schematic front view of the electromagnetic attraction device according to the present invention.

Fig. 9 is a schematic front view of the traveling vehicle body according to the present invention.

fig. 10 is a left side view structural schematic diagram of the traveling vehicle body of the present invention.

Fig. 11 is a schematic top view of the traveling vehicle body according to the present invention.

Fig. 12 is a front view structural diagram of a driving wheel system according to the present invention.

Fig. 13 is a schematic front view of the magnetic bridge of the present invention.

Fig. 14 is a schematic view of the alignment and video detection system of the present invention.

Fig. 15 is a schematic structural view of the magnetic wheel of the pneumatic tire of the present invention.

3 fig. 3 16 3 is 3 a 3 schematic 3 view 3 of 3 the 3 structure 3 along 3 the 3 line 3 a 3- 3 a 3 in 3 fig. 3 15 3. 3

fig. 17 is a schematic view of the working principle of the magnetic wheel of the pneumatic tire of the present invention.

Fig. 18 is a schematic view of a non-polishing state structure of a polishing mechanism of the present invention.

Fig. 19 is a schematic structural view of the polishing mechanism of the present invention in a polishing state.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

The wall-climbing polishing robot for the large steel container shown in fig. 1 comprises a polishing mechanism a, a polishing platform B, a walking vehicle body C, a calibration and video detection system D (comprising a calibration and front video detection system and a rear video detection system) and an external operating platform E, and polishes a wall surface F of the large steel container. The walking vehicle body is used for crawling on the wall of the container, the polishing platform is hinged to the walking vehicle body through a plurality of connecting rods, the polishing mechanism is installed below the polishing platform, the calibration and front video detection system is installed at the front end (the left side of the figure 1) of the polishing platform, and the rear video detection system and the control box 38 are installed at the rear end of the walking vehicle body. The operation panel is including the display device who is used for showing the video detection result (the utility model discloses a display, not show in the picture) and the external input equipment that controls the robot through the singlechip in the control box (the utility model discloses an operating handle, not show in the picture) for the action of control robot is connected through shielded cable and control box electricity.

Referring to fig. 9 and 10, in the walking vehicle body, a control box 38 is mounted on the vehicle body flat plate 33; the front end of the vehicle body flat plate is supported by two driving wheels 31 arranged on the left and the right, and the rear end is supported by two driven wheels 32 arranged on the left and the right; the driving wheel system 39 provides power for the driving wheels to realize the movement of the driving wheels; the drive wheel and magnetic bridge 40 also provide suction to the container wall (the drive wheel provides primary suction and the magnetic bridge provides secondary suction), a dust brush plate 41 (prior art) is mounted in front of the drive wheel and centrally on the vehicle body, and the bristles on the dust brush plate contact the drive wheel to brush away the weld and the rust and dust around it and to minimize the build-up of rust on the drive wheel. The control box comprises a power supply and a single chip microcomputer for processing signals, and is connected with a remote console E through a cable.

Referring to fig. 5 and 9, the linkage comprises two pairs of connecting rods 12 respectively arranged at the left side and the right side of the vehicle body flat plate, each pair of connecting rods comprises two straight rods which are parallel to each other, and two ends of each straight rod are respectively hinged to the vehicle body flat plate and the polishing platform, so that the two straight rods, the vehicle body flat plate and the polishing platform form a parallelogram mechanism (the polishing platform can be always parallel to the vehicle body flat plate in the motion process); a plurality of supporting springs 11 are also arranged between the vehicle body flat plate and the polishing platform; a polishing platform baffle 35 is fixed at the rear end of the vehicle body flat plate, and two ends of a tension spring 36 are respectively fixed between the polishing platform baffle and a control box (the control box is fixed on the vehicle body flat plate through a reinforcing piece 34) so as to provide buffer force between the polishing platform baffle and the control box.

In the polishing platform, a platform flat plate 10 is hinged with the connecting rod, an electromagnetic suction device 14 is arranged at the lower side of the platform flat plate, and a swinging mechanism 13 is connected with the polishing mechanism (as shown in fig. 5); the upper end of each straight rod is hinged with the platform flat plate, and the lower end of each straight rod is hinged with the vehicle body main plate; the both ends of supporting spring 11 are connected platform flat board and automobile body flat board respectively, play supporting role on the one hand, and on the other hand plays cushioning effect in the operation process.

As shown in fig. 3 and 4: the polishing mechanism comprises two polishing components 9 which are symmetrically arranged at the left side and the right side of the platform flat plate through a swinging mechanism; each grinding assembly comprises an angle grinder 3 provided with a grinding head 1 and a support frame 4 for supporting the angle grinder; the angle grinder adopts the existing products on the market, only improves the power line direction of the angle grinder, so that the angle grinder is convenient to install on the sliding block, and ensures that the maximum distance between 2 grinding devices is not too large, so that the angle grinder can conveniently enter and exit a manhole of a large steel container.

The middle part of the shell of the angle grinder is connected with a guide rail 8 through a support rod 5 (the top end of the support rod 5 is connected with the guide rail through a spring 6, and the bottom end of the support rod is hinged with the angle grinder) so as to support various external forces borne during working; one end of the angle grinder is hinged with the sliding block 7 through the supporting frame 4, and a power line of the angle grinder penetrates out of the rear end of the angle grinder and the sliding block. The utility model discloses a 2 angles are installed on the slider to buffing machine bilateral symmetry, and efficiency of polishing can improve 2 times to 2 angles make the effort offset each other to buffing machine's the head motion opposite direction of polishing. The angle grinder adopts the existing products in the market to ensure the grinding quality; the 2 polishing heads of the angle polishing machine are at a certain inclination angle and polish in the direction vertical to the weld joint, vertical cross-weld-joint back-and-forth polishing is carried out according to the actual polishing requirement of the weld joint, 2 polishing head polishing areas in the weld joint and the heat affected zone are mutually overlapped, the polishing effect of the weld joint and the heat affected zone is enhanced, the polishing requirement of relevant standards of nondestructive testing is met, and factors such as the shape characteristic of the weld joint, different service conditions and the like are considered.

In the swing mechanism (see fig. 2, 6 and 7), a guide rail 8 is transversely arranged on the platform flat plate, and a sliding block 7 is slidably positioned in the guide rail and is hinged with the supporting frame; the guide rod 21 is fixed to the slider by a slider link 23 and cooperates with a guide hole in the guide block 22 to reciprocate linearly in a direction parallel to the length of the slider; one end of the guide rod is also connected with a guide groove member 20, a guide groove in the guide groove member is transversely arranged, and a guide pin 19 (a bearing is arranged on the guide pin) is eccentrically hinged on the large gear and is embedded in the guide groove to be meshed and matched with the guide groove. The gear pair (a driving pinion 15 and a driven bull gear 17 meshed with the driving pinion) drives the guide rod to move linearly in a reciprocating manner through the guide groove piece; a motor shaft of the motor 16 is fixed with a driving pinion gear, and a driven bull gear is rotatably positioned on the platform plate by a bull gear shaft 18. The swing mechanism drives the driving pinion and the driven bull gear to rotate through the motor, the guide pin eccentrically arranged on the driven bull gear is matched with the guide groove to drive the guide rod to move, so that the guide rod passes through the guide hole to do linear motion back and forth, and the slide block connected with the guide rod moves back and forth along the guide rail to drive 2 angles to move back and forth to the polishing machine for polishing. Because the back-and-forth distance is short, the amplitude is fast, the damage to the motor can be reduced by the mechanism structure relative to the reciprocating motion of the stepping motor, and the control mode is reliable.

As shown in fig. 5 and 8: in the electromagnetic suction device 14, the magnetic yoke suspension rod 25 is suspended on the platform plate through the suspension spring 26 (the top end of the suspension rod sequentially penetrates through a preformed hole in the platform plate and the suspension spring upwards and then is fixed with the spring mounting flange 27 so as to be supported by the suspension spring, the bottom end of the suspension spring is abutted against the upper surface of the platform plate), the magnetic yoke 24 is fixed at the lower end of the magnetic yoke suspension rod through the fixing bolt 30, and the travelling wheel 28 is positioned at the bottom end of the magnetic yoke through the travelling wheel fixing part 29. When the electromagnetic suction device is powered on, the electromagnetic yoke generates strong magnetic force, the strong magnetic force is attracted to the wall surface of the large steel container, the swing device is driven by the magnetic yoke suspension rod and the suspension spring to press the polishing mechanism downwards, and the spring of the polishing mechanism is compressed to provide pressure required by polishing. The utility model discloses an electromagnetism suction device realizes that grinding machanism pushes down, can realize basically polishing head's the pressure of polishing through grinding machanism spring, polishing platform's supporting spring, electromagnetism suction's suspension spring, polishing platform extension spring's reasonable setting to guarantee that polishing platform operates steadily. A switch circuit can be designed, so that the polishing operation can be carried out only when the electromagnetic action is carried out, and the polishing can be automatically stopped when the electromagnetic suction force disappears. When the electromagnetic action disappears, the polishing head can be lifted to a certain height by the spring force so as to facilitate the walking of the vehicle body. The electromagnetic suction device can not only realize that the polishing mechanism pushes down, but also match with the permanent magnetic suction to increase the reaction force increased in the polishing process, so that the vehicle body can be prevented from overturning and falling more easily. If the electromagnetic suction force disappears, the polishing automatically stops, the polishing head is separated from the wall surface, the polishing reaction force disappears, and the safety can be ensured only by the permanent magnetic suction force. In addition, the electromagnetic suction device is arranged behind the polishing head and in front of the magnetic wheel, so that the dust collector plays a role in preventing rust of the magnetic wheel from being accumulated, the rust of the magnetic wheel is easy to remove by the electromagnetic suction device, the electromagnetic yoke is automatically lifted when the electromagnetic suction force disappears, and the rust accumulated at the two poles of the electromagnetic yoke is automatically shaken off.

As shown in fig. 9 and 13, the magnetic bridge is a magnet 60 and an armature 61 which are mounted on the vehicle body flat plate 33 through an armature mounting frame 62 and a solid bolt 63; the magnetic bridge adopts an N52 permanent magnet, is arranged between the driving wheel and the driven wheel and assists the magnetic wheel to overcome the gravity and the polishing reaction force of the polishing mechanism and the polishing platform so as to prevent the vehicle body from turning. In addition, the magnetic bridge can respectively exert pressure on the driving wheel and the driven wheel, so that the driving force of the driving wheel is enhanced on one hand, and the driven wheel is prevented from slipping on the other hand.

As shown in fig. 12, the driving wheel system includes a driving motor 44, a transmission mechanism 45, two driving wheels, a driving wheel spindle 46 and a driving shaft phase difference mounting member 47. The driving system drives the driving wheel to rotate and is fixed with the vehicle body flat plate through the mounting piece. The driving motor and the transmission mechanism are both products available in the existing market.

The utility model also designs an inflatable tire magnetic wheel as a driving wheel (see figure 15 and figure 16), the driving wheel comprises a magnet II 48, an armature 49, a magnet guard ring 50, an aluminum alloy wheel hub 51, a wheel hub mounting part 52, an inflating nozzle hole 53, a hard tire 54, an inflatable soft tire 55, a rubber film 56, a rubber side cover 57 and an inflating nozzle 58; the driving wheel sequentially comprises an aluminum alloy hub 51, an armature 49 and a hard tire 54 wrapping a pneumatic soft tire 55 from the axis to the outer diameter direction, wherein a magnet II 48 and a magnet protection ring 50 are arranged on two sides of the pneumatic soft tire and the hard tire, and the magnet II and the magnet protection ring are wrapped by a rubber film 56 and a rubber side cover 57. The 2 permanent magnets are connected with each other through the armature frame, so that magnetic passing is formed between the 2 permanent magnets, the outer surface in the armature adopts a convex curved surface structure, the design is convenient for magnetic passing, in addition, the mounting space of the inflatable soft tire is reserved, and the stressed surface of the streamline-shaped inner concave surface enables the inflatable soft tire to be uniformly prevented from local overpressure. The magnet guard circle avoids two direct contact containers of magnet to prevent two collision destruction of magnet, the magnet guard circle adopts the curved surface structure in the inboard, and the surface that is close with the wall is greater than the surface with two contacts of magnet, and this kind of curved surface structure mainly has following several effects: firstly, the magnetic wheel is convenient to pass through, namely the area of a magnetic pole is increased, and the attraction of the magnetic wheel is enhanced; secondly, installation spaces of the inflatable soft tire and the inflatable hard tire are provided; thirdly, the streamline inner concave surface ensures that the hard tire and the inflatable soft tire tightly attached to the hard tire are stressed uniformly; fourthly, the structure of indent can prevent that the hard child from breaking away. The drive wheel symmetry is installed at automobile body mainboard front end to strengthen drive power, and overcome the gravity and the counter force of polishing of grinding mechanism, platform of polishing, prevent that the automobile body from overturning.

The working principle of the magnetic wheel of the inflatable tire is shown in figure 17, a first magnet is installed by 2N 52 annular permanent magnets according to opposite polarities, so that the first magnet, an armature, a magnet protection ring and a container wall form a closed magnetic circuit, magnetic lines of force 59 penetrate out from the N pole of 1 permanent magnet, reach the S pole of the other 1 permanent magnet through the armature, reach the N pole from the inside of the other 1 permanent magnet and penetrate out from the magnetic pole, reach the S pole of the original 1 permanent magnet through the magnet protection ring, the container wall and the magnet protection ring, and the trend of the magnetic lines of force is matched with the shapes of the inner surface and the outer surface of the armature, so that the escaped. The magnet guard ring increases the magnetic pole area, enhances the suction force, and under the action of magnetic force, the inflatable soft tire is compressed, so that the original convex hard tire retracts inwards, and is flush with the rubber film when retracting to the maximum, and then bears the wall pressure together. The magnetic lines of force of the magnetic wheel of the inflatable tire are distributed uniformly in the circumferential direction, and the magnetic bridge structure reduces the path of the magnetic lines of force in the air, so that the magnetic field intensity of the pole face is increased, and stronger suction force can be provided under the same weight. Compared with an all-rubber wheel, the inflatable soft-tire type hard rubber tire has larger contact area and can provide larger friction force.

As shown in fig. 14, the alignment and front video inspection system includes a front camera 64, a front light 65, and a laser aligner 66, and the rear video inspection system includes a rear light 67 and a rear camera 68. The laser aligner and the front illuminating lamp are arranged in the center of the front end of the polishing platform, 2 laser beams are emitted on two sides of a welding line to conveniently align the welding line, so that the robot walks along the welding line, and the front camera observes the condition of the walking front part of the robot. The front illuminating lamp is arranged at the lower part of the front end of the polishing platform, and the illuminating area covers a certain range of the front walking part of the robot and the vicinity of the polishing mechanism. The rear illuminating lamp and the rear camera are arranged in the middle of the rear end of the main board of the vehicle body, the polishing quality of the welding line is observed through the high-definition camera, and the welding line and the macro quality condition nearby the welding line are inspected.

The working principle of sanding is described below in the working state when climbing the wall vertically.

When the polishing machine does not polish (see fig. 18), the electromagnetic force is zero, at this time, under the combined action of the polishing platform supporting spring 11 and the polishing platform tension spring 36, the platform is pulled to the polishing platform baffle 35, and certain tension force is provided, so that the polishing machine does not shake during walking, the distance between the polishing head and the wall surface F is about 2mm, and the distance between the traveling wheel 28 of the electromagnetic suction device and the wall surface is about 6 mm; the distance between the polishing head and the wall surface is 2mm, so that the polishing head can conveniently walk, even if a welding seam with the height of more than 2mm is met, the polishing head has a taper in the walking direction and can rotate, and meanwhile, the whole polishing device is flexibly designed and can smoothly stride across an obstacle.

When the polishing machine works (see fig. 19), electromagnetic force is suddenly increased to pull the whole polishing platform to be close to the wall surface, the compression amount of a magnetic yoke suspension spring is 2mm when a traveling wheel of the electromagnetic suction device contacts the wall surface, at the moment, the whole polishing platform moves to be close to the wall surface by 4mm, and because the distance between the original polishing head and the wall surface is 2mm, the polishing head has the rebound amount of 4mm, and the rebound amount is realized by compressing a polishing mechanism spring; assuming that the force wall length ratio of the sanding head to the designed sanding mechanism spring is 2, the spring needs to be compressed by 2mm, and designing the spring stiffness system to make the force of compressing 2mm 240N, the sanding head sanding force is 120N. The grinding force of the grinding head changes when the grinding device does not vertically climb the wall, the grinding force of the grinding head is enhanced when the grinding device bends and climbs, and the grinding force of the grinding head weakens when the grinding device bends and climbs. The walking direction is downward when polishing under the ordinary condition, makes the rust that polishes and drop not influence the welded joint that has polished, and reduces the rust of electro-magnet, magnetic wheel, yoke and piles up.

The utility model discloses in, slider, slip table, initiative pinion, pinion driving motor, driven gear wheel, bull gear axle, uide pin, guide way spare, guide link, guide bar, all kinds of springs all adopt the current product in market, and all above-mentioned components all can be through purchasing the acquisition outward.

In order to reduce the weight, the grinding mechanism, the grinding platform and general stressed parts of the walking vehicle body, such as a supporting rod and a supporting frame of the angle grinder, a platform flat plate, an armature mounting frame, a connecting rod and a vehicle body flat plate, are all made of high-strength aluminum alloy.

the laser aligner, the camera, the lighting device, the stepping motor, the electromagnet, the polishing mechanism and the external input equipment are respectively and electrically connected with the single chip microcomputer through a combined cable 10 and packaged in the combined cable. All of the above elements are commercially available.

Finally, it should be noted that the above-mentioned embodiments illustrate only specific embodiments of the invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.

Claims (10)

1. The utility model provides a large-scale container of steel wall climbing polishing robot which characterized in that: the polishing robot comprises a walking vehicle body (C) for crawling on the wall of a container, a polishing platform (B) which is hinged to the walking vehicle body through a connecting rod group and arranged in parallel with the walking vehicle body, a polishing mechanism (A) arranged on the polishing platform, a calibration and front video detection system arranged at the front end of the polishing platform, a control box and a rear video detection system which are arranged on the walking vehicle body, and a control console (E) which is electrically connected with the control box through a cable and located outside;

The walking vehicle body comprises a vehicle body flat plate (33) with a control box, a driving wheel (31) and a driven wheel (32) for supporting the vehicle body flat plate, and a driving wheel system (39) for providing power for the driving wheel;

The connecting rod set comprises two pairs of connecting rods (12) which are respectively arranged on the left side and the right side of the vehicle body flat plate, each pair of connecting rods comprises two straight rods which are parallel to each other, and two ends of each straight rod are respectively hinged to the vehicle body flat plate and the polishing platform, so that the two straight rods, the vehicle body flat plate and the polishing platform form a parallelogram mechanism; a plurality of supporting springs (11) are arranged between the vehicle body flat plate and the polishing platform;

The polishing platform comprises a platform flat plate (10) hinged with the connecting rod, an electromagnetic suction device (14) arranged on the lower side of the platform flat plate and a swinging mechanism (13) connected with the polishing mechanism;

The polishing mechanism comprises two polishing components (9) which are symmetrically arranged at the left side and the right side of the platform flat plate through a swinging mechanism; each grinding assembly comprises an angle grinder (3) and a support frame (4) for supporting the angle grinder; the swing mechanism comprises a guide rail (8) transversely arranged on the platform flat plate, a sliding block (7) which is slidably positioned in the guide rail and is hinged with the supporting frame, a guide rod (21) which is fixed with the sliding block and is matched with the guide block (22) to move in the direction parallel to the length direction of the guide rail, a gear pair which drives the guide rod to do reciprocating linear movement through a guide groove piece (20) connected with the guide rod, and a motor (16) which drives the gear pair.

2. The wall-climbing grinding robot for large steel containers as claimed in claim 1, is characterized in that: the guide groove member includes a guide groove transversely fixed to the guide rod and a guide pin (19) eccentrically hinged to the gear pair and engaged with the guide groove.

3. The wall-climbing grinding robot for large steel containers as claimed in claim 2, characterized in that: the middle part of the shell of the angle grinder is connected with the guide rail through a support rod (5), and one end of the angle grinder is hinged with the sliding block (7) through a support frame.

4. The wall-climbing grinding robot for large steel containers as claimed in claim 3, characterized in that: the driving wheel system includes two driving wheels rotatably positioned at left and right sides of a front end of a vehicle body panel by driving wheel spindles (46) supported by a support member, a transmission mechanism (45) driving the driving wheels, and a driving motor (44) supplying power to the transmission mechanism.

5. The wall-climbing grinding robot for large steel containers as claimed in claim 4, wherein: the control box is provided with a power supply and a single chip microcomputer which is electrically connected with the front video detection system and the rear video detection system to process detection signals; the control box is installed at the rear side of the vehicle body flat plate, and a plurality of extension springs (36) are arranged between the control box and the platform flat plate.

6. the wall-climbing grinding robot for large steel containers as claimed in claim 5, is characterized in that: the front video detection system comprises a front camera (64) arranged on the front side of the platform flat plate, a front illuminating lamp (65) and a laser aligner (66); the rear video detection system comprises a rear illuminating lamp (67) and a rear camera (68) which are arranged on the rear side of the flat plate of the vehicle body.

7. The wall-climbing grinding robot for large steel containers as claimed in claim 6, wherein: the magnetic bridge is a magnet I (60) and an armature (61) which are arranged on a vehicle body flat plate through an armature mounting frame (62), and the magnetic bridge is positioned between the driving wheel and the driven wheel.

8. The wall-climbing grinding robot for large steel containers as claimed in claim 7, is characterized in that: the electromagnetic suction device comprises a magnetic yoke suspension rod (25) suspended on the platform plate through a suspension spring, a magnetic yoke (24) positioned on the lower side of the platform plate through the magnetic yoke suspension rod, and a traveling wheel (28) positioned at the bottom end of the magnetic yoke through a traveling wheel fixing piece.

9. The wall-climbing grinding robot for large steel containers as claimed in claim 8, wherein: in the driving wheel, a hub (51), an armature (49) and a hard tire (54) wrapping an inflatable soft tire (55) are sequentially arranged from the axis to the outer diameter direction, a second magnet (48) and a magnet protection ring (50) are arranged on two sides of the inflatable soft tire and the hard tire, and the second magnet and the magnet protection ring are wrapped by a rubber film (56) and a rubber side cover (57).

10. The wall-climbing polishing robot for the large steel container according to claim 9, wherein the motor, the driving motor, the electromagnetic suction device, the external input device, the laser aligner, the front illuminating lamp, the rear illuminating lamp, the front camera and the rear camera are electrically connected with the single chip microcomputer respectively.