CN211278389U

CN211278389U - Large-scale jar of body, boats and ships surface maintenance and maintenance robot

Info

Publication number: CN211278389U
Application number: CN201921572329.XU
Authority: CN
Inventors: 年双红
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-09-30
Filing date: 2019-09-20
Publication date: 2020-08-18
Anticipated expiration: 2029-09-20

Abstract

The utility model discloses a large-scale tank body, ship surface maintenance and overhaul robot, which comprises a balancing stand, wherein the upper part and the lower part of the front end surface of the balancing stand are both fixedly provided with hydraulic telescopic rods, a hydraulic pump is arranged in the balancing stand, the hydraulic telescopic rods are rotatably provided with electromagnet walking wheels, and the electromagnet walking wheels can realize up-down or left-right walking through steering; the left side and the right side of the balance frame are respectively vertically provided with a first dovetail slide rail, and the middle of the first dovetail slide rail on the left side and the right side is vertically provided with a second dovetail slide rail; a transverse slide rail is connected between the first dovetail slide rails in a sliding manner; the transverse guide rail is connected with a mechanical arm base in a sliding mode, a transverse slide rail driving mechanism and a mechanical arm are arranged on the mechanical arm base, a polishing motor is arranged at the upper end of the mechanical arm, and a grinding disc is connected to the rotating shaft of the polishing motor. The utility model has the advantages that: the efficiency and the quality of surface cleaning are improved, and the danger of manual operation is reduced.

Description

Large-scale jar of body, boats and ships surface maintenance and maintenance robot

Technical Field

The utility model relates to a large-scale equipment iron-based top layer curved surface maintains technical field, concretely relates to large-scale jar of body, boats and ships surface maintenance and maintenance robot.

Background

The ship sails in strong corrosive seawater and strong adhesive force marine organism environment for a long time, normal maintenance is difficult to carry out, the cleaning, decontamination, rust removal and the like of the ship side are all operations which are necessary for ship maintenance, the cleaning is inconvenient due to the structure of the ship body, most of the large ships adopt a manual cleaning mode at present, the cleaning efficiency is low, the safety is not high, although cleaning surface maintenance robots aiming at the surfaces of the large ships exist in the market, the robots are not high enough in strength, electric wires cannot be timely recycled in the cleaning process, the electric wires swing in the air, the whole device is not stable enough, the generated dust and rust are diffused all around, the cleaning efficiency is low, and the cleaning effect is not ideal enough.

A steel sealed container for storing liquid or gas is called a steel storage tank, the steel storage tank is an indispensable infrastructure in industries such as petroleum, chemical industry, grain and oil, food, fire control, traffic, metallurgy, national defense and the like, the large steel storage tank cannot be opened in economic life, the large steel storage tank plays an important role in national economic development and has no substitution, the large steel storage tank has a huge tank body, large inner and outer surface areas and is inconvenient to clean, at present, most of the large steel storage tank adopts a manual cleaning mode, the cleaning efficiency is lower, and certain danger also exists in cleaning of higher positions.

The surface of the ship body or the tank body to be cleaned is made of iron, most of dirt attached to the surface is dust, a small amount of rust and other dirt exist occasionally, the surface of the ship body or the tank body to be cleaned can generate a relative acting force with the electromagnet, the surface of the ship body or the tank body to be cleaned is a curved surface, the bending degree of the surface of the ship body or the tank body to be cleaned is relatively flat, the area is large, the whole body is smooth, and no complex curved surface exists.

Disclosure of Invention

The utility model provides a large-scale jar body, boats and ships surface maintenance and maintenance robot, the technical problem that will solve is: the cleaning efficiency of the surface cleaning work of the iron-based large ship and the large tank body is improved, and the cleaning quality of the surface of the iron-based large ship and the large tank body is improved.

In order to solve the technical problem, the utility model discloses a following technical scheme:

a robot for maintaining and overhauling the surfaces of a large tank and a ship comprises a balance frame, wherein cameras are arranged on the upper part and the lower part of the front end surface of the balance frame, hydraulic telescopic rods are fixedly arranged on the upper part and the lower part of the front end surface of the balance frame, a hydraulic pump is arranged in the balance frame, an oil inlet and an oil return port of each hydraulic telescopic rod are respectively connected with the hydraulic pump, an electromagnet walking wheel is rotatably arranged on each hydraulic telescopic rod, the middle part of each electromagnet walking wheel is a rotating shaft, an electromagnet is arranged outside each rotating shaft, the electromagnet walking wheels can walk up and down or left and right through steering, first dovetail slide rails are respectively arranged on the left side and the right side of the balance frame, a second dovetail slide rail is vertically arranged in the middle of each first dovetail slide rail on the left side; a transverse slide rail is connected between the first dovetail slide rails in a sliding manner, namely the left end and the right end of the transverse slide rail are connected to the first dovetail slide rails on the left side and the right side in a sliding manner through a transverse slide rail fixing frame, the middle part of the transverse slide rail is connected to the second dovetail slide rail in a sliding manner through a slide rail connecting plate, and the first dovetail slide rail and the second dovetail slide rail are provided with vertical slide rail driving mechanisms for driving the transverse slide rail to slide up and down along the first dovetail slide rail in a; the grinding machine comprises a grinding machine body, a grinding disc, a transverse sliding rail driving mechanism, a grinding motor, a grinding disc driving mechanism, a balance frame, a grinding disc driving mechanism, a grinding motor driving mechanism, a grinding disc driving mechanism, a dust suction port, a dust collector and a dust collector, wherein the transverse sliding rail driving mechanism and the mechanical arm are arranged on the transverse sliding rail base and drive the mechanical arm base to slide in a reciprocating mode along the transverse sliding rail; the balance frame is connected with a vertical lifting device.

Further, vertical elevating gear include support and motor, the motor sets up on the support, the output shaft of motor is connected with haulage rope serving axle through drive mechanism, the both ends of haulage rope serving axle are rotated respectively and are connected with the wiring ware, the winding has the haulage rope on the wiring ware, the haulage rope other end is connected with the balancing stand, be provided with power cord serving axle on the support, power cord serving axle one end is rotated and is connected with rotatory power device, the power cord serving axle other end is rotated through rotatory conducting ring and is connected with the support.

Furthermore, a rectangular through hole is formed in the top of the support, a T-shaped cross beam is arranged in the rectangular through hole, the motor is fixed to one end of the cross beam, and a guide wheel is arranged at the other end of the cross beam.

Furthermore, the lower part of the support is a triangular frame, two adjacent side walls of the triangular frame are respectively provided with a height adjusting hole, and a fastening screw rod is arranged in the height adjusting hole.

Furthermore, the balance frame on be equipped with the electric cabinet, be provided with power supply, wireless transmission equipment, control system in the electric cabinet, camera, walking wheel steering motor, vertical slide rail actuating mechanism, horizontal slide rail actuating mechanism, grinding motor, dust catcher and arm drive arrangement all are connected with the control system electricity.

Furthermore, the transverse slide rail driving mechanism is characterized in that a rack is transversely arranged on the transverse slide rail, a transverse walking motor is arranged on the base of the driving mechanical arm, and a gear meshed with the rack is arranged on a main shaft of the transverse walking motor.

Furthermore, the vertical slide rail driving mechanism is arranged on the second dovetail slide rail and comprises a lead screw and a vertical slide rail motor, one end of the lead screw is fixed on the balancing stand through a bearing, the other end of the lead screw is connected to the vertical slide rail motor, the middle part of the lead screw is connected with the transverse slide rail through a slide rail connecting plate, and the vertical slide rail motor is connected with the control system.

Furthermore, the bottom of the bracket is fixedly connected with the corresponding supporting surface.

Compared with the prior art, the beneficial effects of the utility model are that:

in the utility model, the control system and the vertical lifting device are adopted to cooperate with cleaning and spraying work, so as to replace manual operation, avoid the possible conditions of personnel falling, casualties and the like during manual cleaning and spraying, and improve the working efficiency; the second dovetail slide bar is arranged, so that the strength and stability of the whole device are enhanced; the rotary conducting ring is arranged and matched with the power cord rope coiling shaft to recover the power cord in work, so that the redundant part of the power cord is prevented from swinging in the air, and the stability of the whole device in work is enhanced; a dust suction port is arranged behind the grinding disc and is matched with a dust collector to prevent dust and rust from diffusing, so that a better cleaning effect is achieved; the dovetail slide rail and the rack are arranged on the transverse slide rail, the transverse walking motor is meshed with the rack, and the mechanical arm is driven to walk left and right by the positive and negative rotation of the motor, so that the robot is guaranteed to have good stability in the working process; cleaning is carried out through the reciprocating sliding of the mechanical arm on the transverse sliding rail and the reciprocating sliding of the transverse sliding rail on the first dovetail sliding rail and the second dovetail sliding rail, and cleaning work is carried out by utilizing the mechanical arm capable of flexibly adjusting the angle, so that the cleaning quality and efficiency are fully ensured; the utility model provides high surface cleaning robot stability and clean efficiency in the course of the work have improved the clean quality on large-scale boats and ships surface, just the utility model discloses have extremely strong adsorptivity and operation variety, can be at the surface work of perpendicular and slope.

Drawings

Fig. 1 is a schematic view of a balance frame according to the present invention;

fig. 2 is a left side view of fig. 1 in accordance with the present invention;

fig. 3 is a schematic structural diagram of the mechanical arm and the mechanical arm base according to the present invention;

fig. 4 is a schematic structural view of the vertical lifting mechanism of the present invention;

fig. 5 is a schematic structural view of the bracket according to the present invention;

fig. 6 is a schematic view of the usage state of the present invention.

In the figure, 1, a balancing stand, 2, a vertical slide rail motor, 3, a second slide rail fixing frame, 4, an electromagnet walking wheel, 5, a grinding disc, 6, a first dovetail slide rail, 7, a transverse slide rail fixing frame, 8, a rack, 9, a transverse walking motor, 10, a dust collector, 11, a camera, 12, a lead screw, 13, a hydraulic pump, 14, an electric cabinet, 15, a slide rail connecting plate, 16, a transverse slide rail, 17, a lifting ring, 18, a traction rope, 19, a hydraulic telescopic rod, 20, a grinding motor, 21, a mechanical arm stretching motor, 22, a corrugated pipe, 23, a mechanical arm base, 24, a walking wheel steering motor, 25, a mechanical arm, 26, a grinding disc rotating motor, 27, a dust suction opening, 28, a fixed base, 29, a rotating base, 30, a mechanical arm rotating motor, 31, a motor, 32, a traction rope winding shaft, 33, a magnetic control switch, 34, a rope winder and 35 rotate, 36. the rope winding device comprises a power line rope winding shaft, a beam 37, a guide wheel 38, a power line 39, a rope winding shaft gear 40, a rope winding shaft motor 41, a second dovetail slide rail 42, a worm box 43, a support 44, a rectangular through hole 45, a fastening screw rod 46, a height adjusting hole 47 and an electromagnet traveling wheel driving motor 48.

Detailed Description

Example (b): the device comprises a balance frame 1, as shown in fig. 1 and 2, cameras 11 are arranged on the upper left part, the lower left part, the upper right part and the lower right part of the front end surface of the balance frame 1, the cleaning conditions of all parts can be monitored, monitoring pictures of the cameras 11 are transmitted to a control system, an operator monitors the cleaning process and encountered obstacles in real time so as to adjust the cleaning process in time, and the monitoring pictures of the cameras 11 in the embodiment are transmitted through a flag PAT-330 audio and video transmitter; the upper portion and the lower portion of the front end face of the balancing stand 1 are respectively provided with a hydraulic telescopic rod 19, a hydraulic pump 13 is arranged inside the balancing stand 1, an oil inlet and an oil return port of the hydraulic telescopic rod 19 are respectively connected with the hydraulic pump 13, an electromagnet walking wheel 4 is rotatably arranged on the hydraulic telescopic rod 19, the extending length of the hydraulic telescopic rod 19 can be adjusted by controlling the hydraulic pump 13, and then the position of the electromagnet walking wheel 4 is adjusted, the electromagnet walking wheel 4 is mature in the prior art and is not repeated herein, the electromagnet walking wheel 4 can walk up and down or left and right through steering, so that the robot can run and steer, the robot is transported to the surface of a steel structure to be maintained, a walking wheel steering motor 24 of the application is connected with a control system, the control system changes the direction of the electromagnet walking wheel 4 by controlling the walking wheel steering motor, the turning structure is a general mechanism in the prior art and is not described herein.

The left side and the right side of the balance frame 1 are respectively vertically provided with a first dovetail slide rail 6, the middle of the first dovetail slide rail 6 on the left side and the right side is vertically provided with a second dovetail slide rail 42, and the upper end and the lower end of the second dovetail slide rail 42 are fixed on the balance frame 1 through a second slide rail fixing frame 3; the transverse slide rails 16 are connected between the first dovetail slide rails 6 in a sliding manner, namely, the left and right ends of the transverse slide rails 16 are connected to the first dovetail slide rails 6 on the left and right sides in a sliding manner through a transverse slide rail fixing frame 7, the middle part of the transverse slide rail 16 is connected to the second dovetail slide rail 42 in a sliding manner through a slide rail coupling plate 15, vertical slide rail driving mechanisms for driving the transverse slide rails 16 to slide up and down along the first dovetail slide rails 6 are arranged on the first dovetail slide rails 6 and the second dovetail slide rails 42, the vertical slide rail driving mechanisms are connected with a control system, in the embodiment, the vertical slide rail driving mechanisms are arranged on the second dovetail slide rails 42, each vertical slide rail driving mechanism comprises a lead screw 12 and a vertical slide rail motor 2, one end of the lead screw 12 is fixed on the balance frame 1 through a bearing, the other end of the lead screw 12 is rotatably connected, the vertical slide rail motor 2 is connected with a control system, and the horizontal slide rail 16 moves up and down along the first dovetail slide rail 6 and the second dovetail slide rail 42 by controlling the vertical slide rail motor 2; the transverse slide rail 16 is connected with a mechanical arm base 23 in a sliding manner, the mechanical arm base 23 is provided with a transverse slide rail driving mechanism and a mechanical arm 25, the transverse slide rail driving mechanism and the mechanical arm 25 are used for driving the mechanical arm base 23 to slide back and forth along the transverse slide rail 16, and the transverse slide rail driving mechanism is connected with a control system; first forked tail slide rail 6, second forked tail slide rail 42 and horizontal slide rail 16 set up on gimbal 1 jointly, have strengthened the intensity and the stability of whole device, make whole device even running in the course of the work, guarantee fine clean effect.

The balance frame 1 on be equipped with electric cabinet 14, be provided with power supply, wireless transmission equipment, control system in the electric cabinet 14, camera 11, walking wheel steering motor 24, vertical slide rail motor 2, horizontal walking motor 9, grinding motor 20, dust catcher 10, arm actuating mechanism and obstacle detector all are connected with control system is electric, because the arm is ripe prior art, no longer describe here.

As shown in fig. 3, the robot arm base 23 includes: the grinding machine comprises a fixed base 28 and a rotating base 29, wherein one end of the fixed base 28 is connected with a transverse sliding rail 16 in a sliding mode, the other end of the fixed base 28 is connected with the rotating base 29 in a rotating mode, the rotating base 29 is fixedly connected with a mechanical arm 25, the mechanical arm 25 comprises a mechanical arm rotating motor 30, a mechanical arm stretching motor 21, a grinding disc rotating motor 26, a mechanical front arm, a mechanical lower arm, a transmission mechanism and the like, a grinding motor 20 is arranged at the upper end of the mechanical arm 25, the grinding disc 5 is connected to the rotating shaft of the grinding motor 20, a dust suction port 27 is formed in the right side of the grinding disc 5, the dust suction port 27 is located between the main body of the grinding motor 20 and the grinding disc 5 and is connected with a dust collector 10 through a corrugated pipe 22, and the dust collector 10; wherein, mill rotating electrical machines 26 can drive mill 5 and rotate, arm stretch out bent motor 21 can drive mill 5 and rotate about, arm rotating electrical machines 30 can drive arm 25 and rotate from beginning to end, in the course of the work, control system control arm rotating electrical machines 30, arm stretch out bent motor 21, mill rotating electrical machines 26 and polish motor 20 work, cooperate vertical slide rail actuating mechanism, can realize the polishing angular adjustment on three vertical directions in the space, make mill 5 just to the surface of polishing of various shapes, effectively guarantee clean effect.

As shown in fig. 1, 4 and 5, the balance frame 1 is connected with a vertical lifting device, the upper end of the balance frame 1 is symmetrically provided with lifting rings 17, and the vertical lifting device can realize the up-and-down movement of the balance frame 1 by lifting the lifting rings 17; the vertical lifting device comprises a support 44 and a motor 31, a rectangular through hole 45 is formed in the top of the support 44, a T-shaped cross beam 37 is arranged in the rectangular through hole 45, the motor 31 is fixed to one end of the cross beam 37, and a guide wheel 38 is arranged at the other end of the cross beam 37.

The lower part of the bracket 44 is a triangular frame, two adjacent side walls of the triangular frame are respectively provided with a height adjusting hole 47, a fastening screw 46 is arranged in the height adjusting hole 47, the angle of the top of the bracket 44 is adjusted according to the required height, and the fastening screw 46 penetrates through the height adjusting hole 47 to be fixed; a power cord reel 36 is arranged on the support 44, one end of the power cord reel 36 is rotatably connected with a rotary power device, the rotary power device comprises a cord reel gear 40 and a cord reel motor 41, namely, one end of the power cord reel 36 is provided with the cord reel gear 40, the cord reel gear 40 is meshed with a gear arranged on a main shaft of the cord reel motor 41, the other end of the power cord reel 36 is rotatably connected with the support 44 through a rotary conductive ring 35, the rotary conductive ring 35 is a commonly used via hole conductive slip ring or via hole slip ring collecting ring, in the use process, a rotor of the rotary conductive ring 35 is fixedly connected with the power cord reel 36, a stator of the rotary conductive ring 35 is fixedly connected with the support 44, and a power cord 39 is connected with a rotor outgoing line through a stator outgoing line of the rotary conductive ring 35, so that the power cord 39 can be recovered by the power cord reel 36 while being electrified, the unnecessary part of the power cord 39 is prevented from swinging in the air, and the stability of the whole device is enhanced.

The motor 31 is arranged on the bracket 44, an output shaft of the motor 31 is connected with a traction rope coiling shaft 32 through a worm box 43, two ends of the traction rope coiling shaft 32 are respectively and rotatably connected with a rope winder 34, a traction rope 18 is wound on the rope winder 34, and the other end of the traction rope 18 is connected with the balance frame 1.

The surface of the ship body or the tank body to be cleaned is made of iron, most of dirt attached to the surface of the ship body or the tank body is dust, a small amount of rust occasionally exists, the surface of the ship body or the tank body to be cleaned can generate relative acting force with the electromagnet, the surface of the ship body or the tank body to be cleaned is a curved surface, the bending degree of the surface of the ship body or the tank body to be cleaned is relatively smooth, the area of the surface of the ship body or the tank body to be cleaned is large, the whole body of the.

In the specific implementation, the length of the balance frame 1 can be designed to be 1m, the width can be designed to be 0.6m, the height can be designed to be 0.6m, the total weight of the balance frame 1 and all structures fixed with the balance frame 1 designed according to the size is about 40 kg to 60 kg, the traction rope can be a prestressed steel strand with the diameter of 21.6mm, the tensile strength of the steel strand is 1860MPa, the 1000h relaxation rate is 1.0-2.5%, the strength of the traction rope can completely meet the use requirement of the balance frame 1, the electromagnet walking wheel 4 can be selected from MS-p100/50/40 model of Shanghai's detailed general electric appliance company, the size diameter of the electromagnet walking wheel 4 is 200mm, the width is 60mm, the rated power is 25w, the generated suction force is 100kg, the suction force generated by the four electromagnet walking wheels 4 is far larger than the total weight of the balance frame 1 and all structures fixed with the balance frame 1, and all structures fixed with the balance frame 1 can be firmly adsorbed on corresponding clean surfaces, even there is rust or other filths in corresponding clean surface and can not influence the stability that gimbal 1 adsorbs yet, even correspond clean surface and be the negative angle of slope, gimbal 1 also can firmly adsorb at corresponding clean surface, can not drop, and rotation through electro-magnet walking wheel 4 makes gimbal 1 remove at corresponding clean surface simultaneously, accomplishes clean work.

The utility model provides a pair of large-scale jar of body, boats and ships surface maintenance and maintenance robot, use clean large-scale boats and ships surface as an example, in the in-service use process, as shown in fig. 6, with the support 44 fixed mounting on the required clean jar of body or boats and ships, and use haulage rope 18 to hoist balancing stand 1, the staff pushes up on jar body or boats and monitors and sets up balancing stand 1 and vertical elevating gear through control system, and drive horizontal slide rail 16 through vertical slide rail motor 2 and do reciprocating motion from top to bottom, horizontal walking motor 9 drives arm base 23 and does left and right reciprocating motion, mill 5 on cooperation vertical elevating gear and the arm 25 goes up and down to accomplish whole cleanness or spraying work balancing stand 1. Specifically, according to the monitoring picture transmitted to the control system by the camera 11 on the balance frame 1, the staff makes the balance frame 1 be located at a proper height by controlling the motor 31 on the vertical lifting device, then the horizontal slide rail 16 is driven to reciprocate up and down by the vertical slide rail motor 2, the horizontal walking motor 9 drives the mechanical arm base 23 to reciprocate left and right to make the mechanical arm 25 be located at the position to be cleaned or sprayed, the angle of the grinding disc 5 is adjusted by the mechanical arm stretching motor 21, the mechanical arm rotating motor 30 and the grinding disc rotating motor 26 to make the grinding disc 5 just face the surface of the ship or the tank body, then the grinding motor 20 is started to grind, the dust collector 10 sucks in a part of generated dust through the dust suction port 27, so that the dust is prevented from splashing, and the shooting definition of the camera 11 and the pollution to the environment are. In a word, the utility model provides high surface cleaning robot stability and clean efficiency in the course of the work have improved the clean quality on large-scale boats and ships surface, just the utility model discloses have extremely strong adsorptivity and operation variety, can be at the surface work of perpendicular and slope.

Claims

1. The utility model provides a large-scale jar of body, boats and ships surface maintenance and maintenance robot which characterized in that: comprises a balancing stand (1), the upper part and the lower part of the front end face of the balancing stand (1) are respectively provided with a camera (11), the upper part and the lower part of the front end face of the balancing stand (1) are respectively and fixedly provided with a hydraulic telescopic rod (19), a hydraulic pump (13) is arranged in the balancing stand (1), an oil inlet and an oil return port of the hydraulic telescopic rod (19) are respectively connected with the hydraulic pump (13), an electromagnet walking wheel (4) is rotatably arranged on the hydraulic telescopic rod (19), the middle part of the electromagnet walking wheel (4) is a rotating shaft, an electromagnet is arranged outside the rotating shaft, an electromagnet walking wheel driving motor (48) for driving the electromagnet walking wheel (4) to rotate is arranged at the side face relative position of the electromagnet walking wheel (4), the electromagnet walking wheel (4) can realize up-down or left-right walking through steering, a second dovetail slide rail (42) is vertically arranged in the middle of the first dovetail slide rail (6) on the left side and the right side, and the upper end and the lower end of the second dovetail slide rail (42) are fixed on the balance frame (1) through a second slide rail fixing frame (3); a transverse slide rail (16) is connected between the first dovetail slide rails (6) in a sliding manner, namely, the left end and the right end of each transverse slide rail (16) are connected to the first dovetail slide rails (6) on the left side and the right side in a sliding manner through transverse slide rail fixing frames (7), the middle parts of the transverse slide rails (16) are connected to the second dovetail slide rails (42) in a sliding manner through slide rail connecting plates (15), and vertical slide rail driving mechanisms for driving the transverse slide rails (16) to slide up and down in a reciprocating manner along the first dovetail slide rails (6) are arranged on the first dovetail slide rails (6) and the second dovetail slide rails (42; a mechanical arm base (23) is connected onto the transverse sliding rail (16) in a sliding manner, a transverse sliding rail driving mechanism and a mechanical arm (25) which drive the mechanical arm base (23) to slide back and forth along the transverse sliding rail (16) are arranged on the mechanical arm base (23), a grinding motor (20) is arranged at the upper end of the mechanical arm (25), the grinding motor (20) is rotatably connected with a grinding disc (5), a dust suction port (27) is formed in the right side of the grinding disc (5), the dust suction port (27) is located between a main body of the grinding motor (20) and the grinding disc (5), a dust collector (10) is connected to the dust suction port (27), and the dust collector (10); the balance frame (1) is connected with a vertical lifting device.

2. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 1, wherein the robot comprises: vertical elevating gear include support (44) and motor (31), motor (31) set up on support (44), the output shaft of motor (31) is connected with haulage rope serving axle (32) through drive mechanism, the both ends of haulage rope serving axle (32) are rotated respectively and are connected with wiring ware (34), it has haulage rope (18) to twine on wiring ware (34), the haulage rope (18) other end is connected with balancing stand (1), be provided with power cord serving axle (36) on support (44), power cord serving axle (36) one end is rotated and is connected with rotatory power device, power cord serving axle (36) other end is rotated through rotatory conducting ring (35) and is connected with support (44).

3. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 2, wherein the robot comprises: the top of the support (44) is provided with a rectangular through hole (45), a T-shaped cross beam (37) is arranged in the rectangular through hole (45), the motor (31) is fixed at one end of the cross beam (37), and the other end of the cross beam (37) is provided with a guide wheel (38).

4. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 3, wherein the robot comprises: the lower part of the support (44) is a triangular frame, two adjacent side walls of the triangular frame are respectively provided with a height adjusting hole (47), and a fastening screw (46) is arranged in the height adjusting hole (47).

5. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 1, wherein the robot comprises: the balance frame (1) on be equipped with electric cabinet (14), be provided with power supply, wireless transmission equipment, control system in electric cabinet (14), camera (11), walking wheel steering motor (24), vertical slide rail actuating mechanism, horizontal slide rail actuating mechanism, grinding motor (20), dust catcher (10) and arm drive arrangement all are connected with the control system electricity.

6. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 1, wherein the robot comprises: the transverse sliding rail driving mechanism is characterized in that a rack (8) is transversely arranged on a transverse sliding rail (16), a transverse walking motor (9) is arranged on a driving mechanical arm base (23), and a gear meshed with the rack (8) is arranged on a main shaft of the transverse walking motor (9).

7. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 1, wherein the robot comprises: the vertical slide rail driving mechanism is arranged on the second dovetail slide rail (42), the vertical slide rail driving mechanism comprises a lead screw (12) and a vertical slide rail motor (2), one end of the lead screw is fixed on the balancing stand (1) through a bearing, the other end of the lead screw (12) is connected to the vertical slide rail motor (2), the middle part of the lead screw (12) is connected with the transverse slide rail (16) through a slide rail connecting plate (15), and the vertical slide rail motor (2) is connected with a control system.

8. The large-sized tank and ship surface maintenance and overhaul robot as claimed in claim 2, wherein the robot comprises: the bottom of the bracket (44) is fixedly connected with the corresponding supporting surface.