Wall-climbing grinding robot for large-scale storage tank

Abstract

The invention relates to the field of mechanical automation engineering. The invention aims at providing a wall-climbing grinding robot for a large-scale storage tank. The wall-climbing grinding robothas the characteristics of being good in grinding effect, reliable in operation and high in working efficiency. According to the technical scheme, the wall-climbing grinding robot for the large-scalestorage tank is characterized by comprising a wall-climbing walking mechanism, a grinding mechanism and a calibration video detection mechanism which are arranged at the front part of the wall-climbing walking mechanism, a lifting mechanism used for driving the grinding mechanism and the calibration video detection mechanism to vertically move, a rear video detection mechanism arranged at the rear part of the wall-climbing walking mechanism, a control box arranged on the wall-climbing walking mechanism and an external console connected to the control box through a cable, wherein the wall-climbing walking mechanism comprises a walking support, a pair of driving wheels and a pair of driven wheels which are arranged at the bottom of the walking support through connecting frames, and two driving motors used for driving the driving wheels to rotate through bevel gear sets respectively.

Description

technical field [0001] The invention relates to the field of mechanical automation engineering, in particular to a large storage tank wall climbing and grinding robot. Background technique [0002] Large storage tanks usually work in harsh environments such as high pressure and corrosion, and their safety and reliability are of paramount importance. Due to the internal pressure of the tank and the erosion of rainwater and oil, the tank wall may have pits, cracks, holes and other defects. These defects will not only cause storage leakage, but may even cause explosions and fires. Therefore, regular inspections must be carried out. [0003] The detection of large storage tanks is mainly performed manually. Since scaffolding needs to be built inside and outside the tank, there are disadvantages such as high cost, high labor intensity for the operator, dangerous operation and low efficiency. The wall-climbing robot organically combines the ground mobile robot technology with the...

AI Technical Summary

Problems solved by technology

However, the existing wall-climbing grinding robot has the following disadvantages: it is not designed according to the actual grinding requirements of the weld, the grinding process does not meet the requirements of the relevant non-destructive testing standards for grinding, and does not consider factors such as weld shape characteristics and different service conditions; The iron filings produced by grinding are easily attracted by the magnet of the wheel, which affects the adsorption effect between the driven wheel and the inner wall of the container

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