Automatic processing equipment for welding seams of inner and outer walls of storage tanks

Abstract

The present application belongs to the technical field of mechanical engineering, and particularly relates to a kind of automatic processing equipment for inner and outer wall weld of storage tank, and aims to solve the problem that a large amount of manpower and high risk of overhead work are needed for existing erection of full scaffold or boom-type construction platform for excess height polishing operation.The present application comprises a robot main body and a excess height polishing upper installation detachably installed at the rear side of the robot main body; the robot main body comprises a driving assembly for driving the equipment to move on the inner and outer wall of the storage tank, a magnetic suction unit for enabling the equipment to be adsorbed on the inner and outer wall of the storage tank, and a control unit for controlling the equipment to work along the weld.The present equipment can automatically polish the excess height of the inner wall weld of the storage tank, remove rust from the outer wall weld and perform corrosion-resistant spraying, thereby avoiding manual operation, realizing equipment replacing manual overhead work, reducing the rate of construction accidents and improving the quality of excess height polishing, rust removal and corrosion resistance of the weld of the storage tank.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical engineering, and particularly relates to a kind of automatic processing equipment for inner and outer wall weld of storage tank. BACKGROUND

[0002] With the rapid development of China's economy and the gradual improvement of oil and gas pipeline network, the construction of storage tank has ushered in a new climax.

[0003] The rust removal and corrosion prevention of the outer wall weld of the storage tank need to be carried out after the completion of the water filling test of the storage tank. In order to ensure the installation and use of the primary and secondary seals of the storage tank, the ultra-high part of the inner wall weld needs to be polished. At present, in the construction and treatment operation of the inner and outer wall weld of the vertical storage tank, the storage tank needs to be completed by means of scaffold or arm type construction platform. The traditional full-scaffold anticorrosion construction method has the advantages of simple process, but the huge scaffold erection engineering quantity prolongs the construction period of the storage tank, and a large amount of manpower needs to be invested, which increases the construction cost. Although the arm type construction platform reduces the amount of scaffold erection, the degree of mechanization is not high, and it is difficult to be applied to large storage tanks due to the limitation of the self-weight and stability of the arm, and the safety of high-altitude operation is difficult to guarantee.

[0004] In addition, the weld excess height polishing often uses an angle grinder, which requires a high level of personnel operation, because the base material cannot be damaged during polishing. It is required to ensure that the excess height is in place, the polishing appearance is beautiful, and the weld edge and the base material are smoothly transitioned. This requirement is almost impossible to achieve by manual operation. In actual construction, uneven polishing, uneven transition, and even damage to the base material by the angle grinder often occur.

[0005] In the polishing and spraying of the outer wall weld of the storage tank, the paint sprayed will be blown away and deviated due to the strong wind on the island surface, so that the actual desired effect cannot be achieved. SUMMARY

[0006] The present application provides a kind of automatic processing equipment for inner and outer wall weld of storage tank, to alleviate the problem of needing to invest a large amount of manpower and high-altitude operation danger in the existing full-scaffold or arm type construction platform for weld construction operation.

[0007] In order to alleviate the above technical problems, the technical solution provided by the present application is as follows:

[0008] An automatic processing equipment for inner and outer wall weld of storage tank, comprising a robot main body and a excess height polishing upper assembly detachably installed at the rear side of the robot main body; the robot main body comprises a driving assembly for driving the equipment to move on the inner and outer wall of the storage tank, a magnetic attraction unit for attracting the equipment to the inner and outer wall of the storage tank, and a control unit for controlling the equipment to work along the weld.

[0009] Further, the rear side of the robot body is provided with a front mounting plate, the two sides and the bottom of the front mounting plate are respectively provided with clamping grooves, the front side of the high relief polishing upper assembly is provided with a first transition plate, the first transition plate is at least partially inserted into the clamping grooves, and the first transition plate and the front mounting plate are connected through bolts.

[0010] Further, the high relief polishing upper assembly is provided with a polishing assembly, the polishing assembly comprises a cylindrical cutter body provided with a spiral groove on the surface, a rotating shaft penetrating the central axis of the cutter body and a plurality of cutter blades arranged along the spiral groove, and the cutter blades are connected with the cutter body through bolts.

[0011] Further, the high relief polishing upper assembly further comprises a pneumatic system, the pneumatic system is arranged above a support plate, and the polishing assembly is arranged below the support plate; the pneumatic system comprises a telescopic member, the telescopic direction of the telescopic member is towards the support plate, and the telescopic member is hinged to the support plate; the two sides of the support plate are connected with the rotating shaft of the polishing assembly through two first longitudinal plates respectively.

[0012] Further, the high relief polishing upper assembly further comprises two limiters which are sleeved on the rotating shaft and located on both sides of the cutter body, the diameter of the limiter is greater than the outer diameter of the polishing assembly, and the distance between the outer periphery of the limiter and the outer periphery of the cutting surface of the polishing assembly is the cutting down pressure height.

[0013] Further, the high relief polishing upper assembly further comprises a blowing device arranged on the support plate, the two limiters and the support plate form a blowing space, the air outlet direction of the blowing device is towards the blowing space, and the blowing direction of the blowing device is tangent to the cutting surface of the polishing assembly.

[0014] Further, the high relief polishing upper assembly further comprises a rust removal upper assembly provided with a second transition plate, the second transition plate is at least partially inserted into the clamping grooves of the front mounting plate, and the second transition plate and the front mounting plate are connected through bolts.

[0015] Further, the high relief polishing upper assembly further comprises a spraying upper assembly provided with a third transition plate, the third transition plate is at least partially inserted into the clamping grooves of the front mounting plate, and the third transition plate and the front mounting plate are connected through bolts.

[0016] Further, the spraying upper assembly comprises a spray gun and an adjusting mechanism for adjusting the position of the spray gun, the adjusting mechanism comprises two side plates vertically connected to the third transition plate, two lifting adjusting rods arranged on the two side plates respectively and a horizontal adjusting rod connected between the two lifting adjusting rods, and the spray gun is fixed on the horizontal adjusting rod through bolts.

[0017] Further, the adjusting mechanism comprises a shield with a baffle arranged around the spray gun, and the shield is connected to the side plates through bolts.

[0018] The beneficial effects of the automatic treatment equipment for the inner and outer wall welds of the storage tank in the application are analyzed as follows:

[0019] The device comprises a robot body and a remaining height polishing upper device detachably mounted on the rear side of the robot body; the robot body comprises a driving assembly for driving the device to move on the inner and outer walls of the storage tank, a magnetic suction unit for enabling the device to be adsorbed on the inner and outer walls of the storage tank, and a control unit for controlling the device to work along the weld.

[0020] In the polishing work on the inner wall of the storage tank, the storage tank inner and outer wall weld automatic processing device in the application can be adsorbed on the inner wall of the storage tank through the magnetic suction unit, and the device can be driven to move on the inner wall of the storage tank through the driving assembly; the device is always controlled to work along the weld through the control unit, and at the same time, the remaining height polishing upper device carried on the robot body is used to polish the remaining height of the weld on the inner wall of the storage tank, so as to avoid manual polishing work, realize the replacement of manual high-altitude work, reduce the accident rate, and improve the polishing quality of the weld remaining height of the storage tank. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the specific embodiments or related art, the drawings needed to be used in the specific embodiments or related art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The robot body provided by the embodiment of the application is shown in the structural schematic diagram;

[0023] Figure 2 The bottom structure of the robot body + rust removal upper device provided by the embodiment of the application is shown in the structural schematic diagram;

[0024] Figure 3 The structure of the remaining height polishing upper device provided by the embodiment of the application is shown in the structural schematic diagram;

[0025] Figure 4 The structure of the polishing assembly provided by the embodiment of the application is shown in the structural schematic diagram;

[0026] Figure 5 The side view of the remaining height polishing upper device provided by the embodiment of the application is shown in the structural schematic diagram;

[0027] Figure 6 The cross-sectional view of the remaining height polishing upper device provided by the embodiment of the application is shown in the structural schematic diagram;

[0028] Figure 7 The left view of the remaining height polishing upper device provided by the embodiment of the application is shown in the structural schematic diagram;

[0029] Figure 8 The structural schematic diagram of the front mounting plate and the first transition plate provided by the embodiment of the application is shown in the structural schematic diagram;

[0030] Figure 9 Structure diagram of the spraying upper assembly provided by the embodiment of the present application;

[0031] Figure 10 Structure diagram of the spraying upper assembly provided by the embodiment of the present application;

[0032] Figure 11 Structure diagram of the spraying upper assembly provided by the embodiment of the present application;

[0033] Figure 12 Structure diagram of the rust removal upper assembly provided by the embodiment of the present application.

[0034] Icon:

[0035] 100-robot body; 200-high grinding upper assembly; 300-spraying upper assembly; 400-rust removal upper assembly; 500-welding seam laser tracking system; 600-control unit; 700-magnetic suction unit; 800-camera; 110-driving assembly; 111-driving wheel; 112-following wheel; 140-front mounting plate; 160-hanging rack; 170-cable clamp; 210-first transition plate; 220-grinding assembly; 221-knife body; 222-knife blade; 223-rotation shaft; 230-limiting device; 240- telescopic part; 241-push rod; 242-pressure reducing valve; 243-air pressure adjusting knob; 244-sliding block; 245-connection rotating arm; 246-air cylinder; 250-air blowing device; 252-air outlet; 260-driving mechanism; 261-first motor; 262-first belt pulley; 263-second belt pulley; 271-supporting plate; 272-first longitudinal plate; 273-rotation joint; 280-side supporting plate; 290-height fine adjustment device; 291-height adjusting bolt; 292-adjusting plate; 310-spraying gun; 320-shield; 311-spraying width adjusting knob; 312-flow rate adjusting knob; 313-atomizing adjusting knob; 314-nozzle valve; 321-first transverse plate; 322-second longitudinal plate; 323-third longitudinal plate; 324-fourth longitudinal plate; 325-connection plate; 330-third transition plate; 360-adjusting mechanism; 361-lifting adjusting rod; 362-horizontal adjusting rod; 363-side plate; 340-gas pipeline; 350-liquid pipeline; 370-pipeline quick connecting component; 380-solenoid valve; 390-speed regulating valve; 001-air inlet; 002-coating inlet; 410-grinding mechanism; 420-lifting mechanism; 430-second motor; 450-sensing device; 460-electric push rod; 411-grinding support frame; 412-first roller brush; 413-second roller brush; 414-third roller brush; 470-second transition plate. DETAILED DESCRIPTION

[0036] The technical solutions of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0037] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. Physical quantities in formulas, such as basic quantities of the International System of Units, or derived quantities derived from basic quantities by multiplication, division, differentiation, or integration, etc. mathematical operations.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] With the rapid development of China's economy and the gradual improvement of oil and gas pipeline network, the construction of storage tank has ushered in a new climax. The weld reinforcement of the inner wall of the storage tank is one of the key factors affecting the overall quality of welding and the corrosion prevention of the weld, therefore, the weld reinforcement that exceeds the standard must be treated. At present, in the weld reinforcement polishing operation of the vertical storage tank, the storage tank needs to be completed by means of a scaffold or an arm support type construction platform. The traditional full-scaffold anticorrosion construction method has the advantages of simple process, but the huge scaffold erection engineering quantity prolongs the construction period of the inner wall of the storage tank, and a large amount of manpower needs to be invested, which increases the construction cost; the arm support type construction platform reduces the scaffold erection amount, but the degree of mechanization is not high, manual polishing of the reinforcement is still needed, and due to the limitation of the self-weight and stability of the arm support, it is difficult to be applied to large storage tanks, and the safety of high-altitude operation cannot be guaranteed.

[0040] Therefore, the present application provides a storage tank inner and outer wall weld automatic treatment equipment, please refer to Figures 1 to 8, including a robot body 100 and a remaining height polishing upper device 200 detachably mounted on the rear side of the robot body 100; the robot body 100 includes a driving assembly 110 for driving the device to move on the inner and outer walls of the storage tank, a magnetic suction unit 700 for enabling the device to be adsorbed on the inner and outer walls of the storage tank, and a control unit 600 for remotely controlling the device to work along the weld.

[0041] In the polishing work on the inner wall of the storage tank, the inner and outer wall weld automatic processing device in the application can be adsorbed on the inner wall of the storage tank through the magnetic suction unit 700, and the device can be driven to move on the inner wall of the storage tank through the driving assembly 110, and the device can be remotely controlled through the control unit 600 to always work along the weld, while the remaining height of the weld on the inner wall of the storage tank is polished through the remaining height polishing upper device 200 mounted on the robot body 100, thereby avoiding manual polishing work, realizing device replacing manual high-altitude work, reducing the accident rate, and improving the polishing quality of the weld remaining height of the storage tank.

[0042] Further, according to the improvement of the prior art, the overall vehicle body frame is made of carbon fiber + hard aluminum material, which ensures the structural performance of the robot while reducing the weight of the robot body, and the driving assembly 110 includes a driving wheel 111 and a driven wheel 112, the size of the driving wheel 111 is increased to 100mm, and the tire pattern of the driving wheel 111 is horizontal to the surface of the storage tank, thereby increasing the driving wheel friction and reducing the trolley inclination caused by the gravity of the robot body 100 in the lateral movement of the robot body 100 on the surface of the storage tank, and improving the stability of walking.

[0043] In an optional scheme of the embodiment, the rear side of the robot body 100 is provided with a front mounting plate 140, the two sides and the bottom of the front mounting plate 140 are respectively provided with clamping grooves, the front side of the remaining height polishing upper device 200 is provided with a first transition plate 210, the first transition plate 210 is at least partially inserted into the clamping grooves, and the first transition plate 210 and the front mounting plate 140 are connected through bolts, so that the remaining height polishing upper device 200 can be quickly disassembled and assembled.

[0044] In the existing welding remaining height polishing technical field, the commonly used polishing methods are as follows:

[0045] 1. Polishing method using gauze louver, which simulates manual polishing method and can have good polishing surface effect, but this polishing method has some disadvantages, such as unable to control polishing height in real time, insufficient effective polishing distance, insufficient effective utilization of louver, limited height adjustment means, and not suitable for use as a machine upper device.

[0046] 2. Polishing method using reverse grinding wheel, which is a method simulating corundum grinding wheel machine, has strong cutting force, and can prevent cracking, but this polishing method also has some disadvantages, such as unable to control polishing height in real time, and not suitable for use as a machine upper device.

[0047] 3. Grinding method using hobbing cutter cutting. This method simulates the working mode of a milling machine and has a strong cutting force. The downward pressure can be controlled by a pneumatic spring to prevent tool ejection and seizing. However, it is slightly inferior in terms of cost and replacement.

[0048] In view of this, please refer to Figure 4 In this embodiment, the grinding height of the upper device 200 is provided with a grinding assembly 220. The grinding assembly 220 uses an improved hobbing cutter for cutting. The grinding assembly 220 includes a cylindrical cutter body 221 with spiral grooves on its surface, a rotating shaft 223 passing through the central axis of the cutter body 221, and multiple inserts 222 arranged along the spiral grooves. The inserts 222 are bolted to the cutter body 221, so that the inserts 222 can be easily replaced, effectively reducing costs. Furthermore, the inserts 222 on the surface of the grinding assembly 220 are all tungsten steel cutting edges with high hardness, which have excellent cutting performance and can meet the cutting conditions of most metals.

[0049] In the optional solutions of this embodiment, please refer to Figure 3 The grinding assembly 200 also includes a pneumatic system, which is located above a support plate 271, and the grinding assembly 220 is located below the support plate 271. The pneumatic system includes a telescopic member 240, which extends towards the support plate 271 and is hinged to the support plate 271. First longitudinal plates 272 are connected to the lower sides of the support plate 271, and the two first longitudinal plates 272 are connected by a pivot 223 of the grinding assembly 220. When the telescopic member 240 extends or retracts, it causes the grinding assembly 220 to float up and down via the support plate 271.

[0050] In an optional embodiment, the first transition plate 210 has two side support plates 280 on both sides of the side facing away from the front mounting plate 140. The two side support plates 280 are vertically connected to the first transition plate 210 by bolts. The two side support plates 280 are respectively connected to both sides of the support plate 271, thereby providing support for the support plate 271.

[0051] Furthermore, the telescopic component 240 can be configured as a cylinder 246 connected to a push rod 241. The other end of the push rod 241 is connected to the support plate 271 via a rotary joint 273. One end of the rotary joint 273 is connected to the push rod 241, and the other end of the rotary joint 273 is hinged to the side of the support plate 271 near the first transition plate 210.

[0052] Further, the pneumatic system further comprises a sliding block 244 and a connecting arm 245, the top of the first transition plate 210 is provided with a U-shaped groove, one side of the sliding block 244 is provided with a protruding structure corresponding to the groove, the sliding block 244 is connected to the first transition plate 210 in the form of being inserted into the groove through the protrusion, two longitudinal sliding grooves are symmetrically arranged on the sliding block 244, the connecting arm 245 is provided in a T shape, the two ends of the horizontal plate of the connecting arm 245 are connected to the two sliding grooves through bolts respectively, and the vertical plate of the connecting arm 245 is connected to the top of the air cylinder 246. Therefore, the sliding block 244 can slide up and down in the sliding groove, the air cylinder 246 is driven to float up and down through the connecting arm 245, and the support plate 271 is driven to float up and down through the push rod 241, so that the down-pressing position of the polishing assembly 220 is further adjusted.

[0053] Further, the pneumatic system further comprises a sliding block 244 and a connecting arm 245, the top of the first transition plate 210 is provided with a U-shaped groove, one side of the sliding block 244 is provided with a protruding structure corresponding to the groove, the sliding block 244 is connected to the first transition plate 210 in the form of being inserted into the groove through the protrusion, two longitudinal sliding grooves are symmetrically arranged on the sliding block 244, the connecting arm 245 is provided in a T shape, the two ends of the horizontal plate of the connecting arm 245 are connected to the two sliding grooves through bolts respectively, and the vertical plate of the connecting arm 245 is connected to the top of the air cylinder 246. Therefore, the sliding block 244 can slide up and down in the sliding groove, the air cylinder 246 is driven to float up and down through the connecting arm 245, and the support plate 271 is driven to float up and down through the push rod 241, so that the down-pressing position of the polishing assembly 220 is further adjusted.

[0054] In an optional solution of the embodiment, the pneumatic system and the first transition plate 210 are further provided with a height fine adjustment device 290, the height fine adjustment device 290 comprises a height adjustment bolt 291 and an adjustment plate 292, the adjustment plate 292 is arranged above the sliding block 244 and connected to the sliding block 244 through a bolt, and the height adjustment bolt 291 is screwed with the connecting arm 245 through the sliding block 244. The position of the pneumatic system can be adjusted up and down through the height fine adjustment device 290, so that the position of the polishing assembly 220 is further controlled.

[0055] In an optional solution of the embodiment, please refer to Figure 5The rotation of the rotating shaft 223 of the polishing assembly 220 is realized through the driving mechanism 260, which comprises a first motor 261, a first belt pulley 262 and a second belt pulley 263. The first motor 261 is arranged on the upper portion of the support plate 271 away from one side of the first transition plate 210, and is connected with the first belt pulley 262. The rotating shaft 223 of the polishing assembly 220 is connected with the second belt pulley 263 on the same side as the first belt pulley 262, and the second belt pulley 263 is connected with the first belt pulley 262 through a belt. When the first motor 261 is started, the rotating shaft 223 of the polishing assembly 220 is driven to rotate through the belt pulley, so as to drive the blade 222 to rotate around the rotating shaft 223 to form a circular cutting surface.

[0056] When the weld reinforcement on the inner wall of the storage tank is manually polished, uneven polishing, unsmooth transition, and even damage to the base material by the angle grinder often occur.

[0057] Therefore, please refer to Figure 3 The rotating shaft 223 of the polishing assembly 220 of the reinforcement polishing upper assembly 200 is provided with limiters 230 on both sides of the cutter body 221. The limiters 230 are arranged as rolling bearings, the diameter of the limiters 230 is greater than the diameter of the polishing assembly 220, and the distance between the outer periphery of the limiters 230 and the cutting surface formed by the rotation of the blade 222 is the cutting down pressure height "H". The "H" is usually set to 1 mm. The limiters 230 can be of different specifications according to the weld reinforcement polishing height requirement, which can prevent the polishing assembly 220 from being pressed too deep and polished to the base material of the tank wall plate on both sides of the weld, and can also ensure that the weld reinforcement polishing height meets the polishing specification requirements.

[0058] In an optional scheme of the embodiment, please refer to Figure 6 The reinforcement polishing upper assembly 200 further comprises a blowing device 250 arranged on the support plate 271. The two limiters 230 and the support plate 271 form a blowing space, the gas outlet direction of the blowing device 250 is towards the blowing space, and the gas blowing direction of the blowing device 250 is tangent to the cutting surface of the polishing assembly 220. The blowing device 250 is used for blowing the iron filings generated in the reinforcement polishing to avoid being adsorbed on the robot body 100. Further, the blowing device 250 comprises a plurality of gas outlets 252 arranged on the bottom of the support plate. The plurality of gas outlets 252 are arranged in a row in parallel, and the head gas outlet 252 and the tail gas outlet 252 are respectively opposite to the two ends of the cutter body 221. When the gas outlet 252 blows, the gas is blown downwards in the blowing space and is tangent to the cutting surface, which can effectively blow away the iron filings generated in the reinforcement polishing operation and avoid being adsorbed on the magnet surface of the magnetic suction unit 700, thereby greatly improving the blowing efficiency and effectively removing the iron filings.

[0059] The working process of the reinforcement polishing upper assembly 200 is described as follows.

[0060] When the weld reinforcement grinding operation is needed, first adjust the height adjusting bolt 291 to determine the position of the pneumatic system, then move the robot body 100 to the designated position by driving; start the first motor 261, thereby driving the grinding assembly 220 shaft 223 to rotate through the belt pulley, adjust the pressure reducing valve 242 to the appropriate pressure through the air pressure adjusting knob 243, the airflow enters the cylinder 246 through the push rod 241 to push the support plate 271, thereby driving the grinding assembly 220 to press down, so that it cuts the weld; because the cutter body 221 is provided with a limit stop 230 on both sides, so as to ensure that the cutting pressure control is about 1mm; when encountering a weld reinforcement position that is too high, the pneumatic system can be conveniently adjusted up and down to adjust the gap between the grinding surface and the working surface, and control the appropriate feed amount to prevent jamming; at the same time, the air blowing device 250 blows downward and the blowing direction is always tangent to the cutting surface of the grinding assembly 220, which can effectively blow away the iron filings generated in the weld reinforcement grinding operation under the limitation of the blowing space, so as to avoid its adsorption on the magnet surface of the magnetic unit 700; finally, the cutting operation needs to be observed regularly and the blade 222 needs to be replaced in time, so as to ensure that the grinding assembly 220 is always in the best cutting state.

[0061] In an optional embodiment of the present embodiment, please refer to Figure 12 , further comprising a rust removal upper assembly 400 provided with a second transition plate 470, the second transition plate 470 is at least partially inserted into the clamping groove of the front mounting plate 140, and the second transition plate 470 and the front mounting plate 140 are connected by bolts. When the rust removal operation is needed, the rust removal upper assembly 400 can be installed on the back side of the robot body 100 for operation by quickly installing the second transition plate 470 and the front mounting plate 140.

[0062] For the shape and structure of the rust removal upper assembly 400, please refer to Figure 2 and Figure 12 , which are specifically described as follows:

[0063] The rust removal upper assembly 400 comprises a grinding mechanism 410, a lifting mechanism 420 and a sensing device 450, the lifting mechanism 420 is connected to the second transition plate 470, the grinding mechanism 410 is connected to the lifting mechanism 420, the lifting mechanism 420 is used to regulate the position of the grinding mechanism 410 relative to the robot body 100, and the sensing device 450 is arranged on the top of the second transition plate 470 and is used to sense the displacement amount of the lifting mechanism 420 relative to the robot body 100.

[0064] In an optional solution of the embodiment, the rust removal upper device 400 adopts a 1+2 roller brush arrangement, the first roller brush 412 and the second roller brush 413 are arranged side by side at the bottom of the rust removal upper device 400, and the third roller brush 414 is arranged below the robot body 100. The 1+2 roller brush arrangement is suitable for planar and non-planar target objects, and is especially suitable for curved surface polishing, such as polishing of a pipe wall, an arc-shaped wall, an arc-shaped top, an arc-shaped bottom, etc. Most of the existing technologies adopt a single-row roller brush rust removal manner, and the 1+2 roller brush arrangement manner can not only polish both sides of a weld seam, but also can polish the weld seam twice, thereby improving the polishing effect of the weld seam.

[0065] Further, the first roller brush 412 and the second roller brush 413 are rotationally arranged on the polishing support frame 411, both ends of the polishing support frame 411 are connected to the second motor 430 through a belt pulley, and the roller brushes are driven to rotate by the second motor 430. A customized roller brush design is adopted, the steel wire material, hardness, size, and steel wire arrangement of the roller brush are selected to be suitable for rust removal effect, and the rotation speed of the roller brush is selected to be a suitable linear speed of 6000-7000 rpm; the downward pressure is dynamically controlled according to different roller brush rotation speeds, so as to ensure the rust removal effect and the service life of the roller brush.

[0066] In an optional solution of the embodiment, the lifting mechanism 420 is driven by the electric push rod 460, the height of the roller brush can be adjusted according to the pressure of the applied pressure, the optimal working position is taken for rust removal, and the roller brush can be effectively prevented from being stuck due to excessive pressure.

[0067] Regarding the specific working process of the rust removal upper device 400, the specific description is as follows:

[0068] When it is necessary to polish a specified position, the robot body 100 is first driven to move to the specified position, and then the polishing mechanism 410 is adjusted by the lifting mechanism 420 to be attached to the surface of the working surface for polishing. When the working surface has a large protrusion, the lifting mechanism 420 is controlled to rise, the polishing mechanism 410 is lifted, and the lifting amount is determined by the position sensing device 450. At this time, the working surface with a large protrusion can be polished. When the working surface has a large depression, the lifting mechanism 420 is controlled to descend, the descending amount is determined by the position sensing device 450, and the polishing mechanism 410 descends. At this time, the working surface with a large depression can be polished. Therefore, the rust removal upper device 400 is suitable for various polishing environments, and ensures the rust removal effect of the working surface in the curved surface range.

[0069] In an optional solution of the embodiment, please refer to Figures 9 to 11The spraying upper device 300 is provided with a third transition plate 330 which is at least partially inserted into the clamping groove of the front mounting plate 140, and the third transition plate 330 and the front mounting plate 140 are connected by bolts. When the painting operation is needed, the spraying upper device 300 can be installed at the rear side of the robot main body 100 to perform the operation by quickly disassembling the third transition plate 330 and the front mounting plate 140.

[0070] In an optional scheme of the embodiment, the spraying upper device 300 includes a spray gun 310 and an adjusting mechanism 360 for adjusting the position of the spray gun 310, the adjusting mechanism 360 includes two side plates 363 which are vertically connected to the third transition plate 330, lifting adjusting rods 361 which are respectively arranged on the two side plates 363, and a horizontal adjusting rod 362 which is connected between the two lifting adjusting rods 361, and the spray gun 310 is fixed on the horizontal adjusting rod 362 by bolts. By adjusting the position of the spray gun 310 on the horizontal adjusting rod 362 and adjusting the position of the horizontal adjusting rod 362 on the lifting adjusting rod 361, the spray gun 310 can be adjusted to a suitable position.

[0071] In an optional scheme of the embodiment, the spray gun 310 is sprayed by gas pressure, and a gas pipeline 340 and a liquid pipeline 350 are fixed on the side plate 363, one end of the gas pipeline 340 is provided with an air inlet 001, the other end is connected with an electromagnetic valve 380, one end of the liquid pipeline 350 is provided with a paint inlet 002, and the other end is connected with the cavity of the spray gun 310. When painting is needed, the pipelines are quickly connected by the pipeline quick connecting component 370, when the gas pressure reaches the allowable pressure value 0.29 MPa of the spray gun 310, the spray head valve 314 is opened, the spray head starts to discharge liquid, and the flow adjusting knob 312 and the spray width adjusting knob 311 are adjusted to make the spray gun 310 meet the spraying requirements. The speed regulating valve 390 is connected on one side plate 363, the atomization adjusting knob 313 of the speed regulating valve 390 is adjusted to control the appropriate gas flow to change the atomization effect of the sprayed liquid, and the control switch electromagnetic valve 380 of the spray gun 310 is connected on the other side plate 363, and the electromagnetic valve 380 is used to control the opening and closing of the spray gun 310.

[0072] In actual use of the spraying upper device 300, the sprayed paint is blown away and deviated due to strong island surface wind, so that the actual desired effect cannot be achieved.

[0073] Therefore, the spraying upper assembly 300 in the embodiment further comprises a shield 320 with baffles arranged around the spray gun 310, the shield 320 is connected to the side plate 363 by bolts, and the shield 320 is used to avoid the blowing of sea wind on the sprayed paint. The shield 320 comprises a first horizontal plate 321 arranged horizontally, a second longitudinal plate 322, a third longitudinal plate 323 and a fourth longitudinal plate 324 connected to the first horizontal plate 321 vertically, the first horizontal plate 321, the second longitudinal plate 322 and the third longitudinal plate 323 are all perpendicular to the third transition plate 330, the first horizontal plate 321 is connected to the side plate 363 by bolts and is provided with an opening at the top, the opening is used to facilitate the adjustment of the knob of the spray gun 310; the fourth longitudinal plate 324 is connected to the second longitudinal plate 322 and the third longitudinal plate 323 on both sides respectively, the lower part of the fourth longitudinal plate 324 is connected to a connecting plate 325, the connecting plate 325 is connected to the second longitudinal plate 322 and the third longitudinal plate 323 on both sides, and the connecting plate 325 extends downward in a direction away from the third transition plate 330, the angle between the connecting plate 325 and the fourth longitudinal plate 324 is an obtuse angle, and the connecting plate 325 is connected to the second longitudinal plate 322 and the third longitudinal plate 323 on both sides, the angle between the connecting plate 325 and the fourth longitudinal plate 324 is set according to the inclination angle of the spray gun 310 in actual operation, so that the influence of sea wind on spraying can be effectively blocked, and the sprayed paint can be prevented from being sprayed to the inner wall of the shield 320. In summary, the shield 320 around the spray gun 310 forms a space with a narrow upper part and an open lower part, which can effectively avoid the influence of sea wind on the spraying effect, and the shield 320 can limit the spraying operation within a specified range to ensure that the spraying area is neat and standard.

[0074] The specific working process of the spraying upper assembly 300 is described as follows.

[0075] When it is necessary to spray paint on a specified position, the spray gun 310 is first set at a suitable position by adjusting the horizontal adjusting rod 362 and the lifting adjusting rod 361, then the robot main body 100 is driven to move to the specified work site, air and paint are connected, when the air pressure reaches the allowable pressure value of the spray gun 310, the spray head valve 314 is opened, the spray head starts to discharge liquid, and then the spray gun 310 reaches the spraying requirements by adjusting the flow adjusting knob 312 and the spray width adjusting knob 311. The shield 320 around the spray gun 310 can avoid the influence of sea wind on the spraying effect, and ensure that the paint spraying area is within a specified range.

[0076] Embodiment Two

[0077] The embodiment provides a storage tank inner and outer wall weld automatic processing system, which comprises the storage tank inner and outer wall weld automatic processing device described in the embodiment one and a weld laser tracking system 500 for detecting a weld position and automatically adjusting a device position to always work along the weld.

[0078] The existing wall-climbing robots do not have this function. Combining the actual needs of the project operation and the welding seam tracking technology after market research, most of them adopt a linear camera detection method. This method is more suitable in the case of no environmental light interference indoors, but it is easy to cause false detection in the complex external environment. After comparison and test verification, it is considered that the laser line array scanning sensor can better meet the field requirements. The welding seam laser tracking system 500 adopts a 2D laser scanning welding seam section, analyzes the position of the section in the field of view, guides the robot to travel according to the trajectory of the section high point, thereby ensuring the consistency of the working surface. During the actual measurement process, the welding seam can be effectively detected.

[0079] Therefore, in the embodiment, the welding seam laser tracking system 500 is arranged at the bottom of the robot body 100, and the welding seam laser tracking system 500 is provided with a camera 800 at both ends, so that the welding seam laser tracking system 500 can realize real-time tracking and monitoring of the welding seam, thereby ensuring that the storage tank inner and outer wall welding seam automatic processing equipment can automatically and quickly return to the correct working track when deviating from the work.

[0080] In an optional solution of the embodiment, the safety protection measures include a fall arrestor. The robot body 100 is provided with a mounting rack 160 near the upper side. The mounting rack 160 is a U-shaped support rack. A cable clamp 170 is arranged at the top of the mounting rack 160. The fall arrestor is connected to the robot body 100 through the cable clamp 170, which is used to prevent the robot body 100 from falling during high-altitude operation.

[0081] The working process of the storage tank inner and outer wall welding seam automatic processing system is described as follows.

[0082] When the storage tank inner and outer wall welding seam automatic excess height polishing, rust removal and spraying operation is needed, first, according to the specific operation task, the corresponding upper equipment is selected to be installed at the rear side of the robot body 100. The equipment is moved to the designated location by the driving assembly 110, so that the rust on the surface of the storage tank outer wall welding seam is cleaned by the rust removal upper equipment 400, and the surface is painted with anti-rust paint by the spraying upper equipment 300. Then, the excess height of the storage tank inner wall welding seam is polished by the excess height polishing upper equipment 200, and the welding seam laser tracking system 500 can realize automatic detection of the welding seam position and automatic adjustment of the equipment to always work along the welding seam. Therefore, the operation system can realize automatic execution of the excess height polishing, rust removal and spraying anti-corrosion tasks. The equipment replaces manual operation of a series of dangerous high-altitude operations, reduces the accident rate, and improves the quality of the storage tank welding seam excess height polishing, rust removal and spraying operation.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An apparatus for automatic processing of weld seams of inner and outer walls of a storage tank, characterized in that: The device comprises a robot body (100) and a surplus height polishing upper assembly (200) detachably mounted on the back side of the robot body (100); The robot body (100) comprises a driving assembly (110) for driving the device to move on the inner and outer walls of the storage tank, a magnetic suction unit (700) for enabling the device to be adsorbed on the inner and outer walls of the storage tank, and a control unit (600) for remotely controlling the device to work along the weld; The surplus height polishing upper assembly (200) is provided with a polishing assembly (220), which comprises a cylindrical cutter body (221) provided with a spiral groove on the surface, a rotating shaft (223) penetrating the axis of the cutter body (221), and a plurality of cutter blades (222) arranged along the spiral groove, the cutter blades (222) being connected with the cutter body (221) by bolts; The surplus height polishing upper assembly (200) further comprises a pneumatic system, which is arranged above a support plate (271), and the polishing assembly (220) is arranged below the support plate (271); The pneumatic system comprises a telescopic member (240), the telescopic direction of which is towards the support plate (271), and the telescopic member (240) is hinged to the support plate (271); The support plate (271) is connected with the rotating shaft (223) of the polishing assembly (220) through two first longitudinal plates (272) on both sides thereof; The surplus height polishing upper assembly (200) further comprises two limiters (230) rotatably sleeved on the rotating shaft (223) and located on both sides of the cutter body (221), the diameter of the limiters (230) is greater than the outer diameter of the polishing assembly (220), and the distance between the outer periphery of the limiters (230) and the cutting surface of the polishing assembly (220) is the cutting down pressure height; The surplus height polishing upper assembly (200) further comprises a blowing device (250) arranged on the support plate (271), the two limiters (230) and the support plate (271) form a blowing space, the blowing direction of the blowing device (250) is towards the blowing space, and the blowing direction of the blowing device (250) is tangent to the cutting surface of the polishing assembly (220).

2. The automatic processing device for the inner and outer walls of the storage tank according to claim 1, wherein The back side of the robot body (100) is provided with a front mounting plate (140), the two sides and the bottom of the front mounting plate (140) are respectively provided with clamping grooves, the surplus height polishing upper assembly (200) is provided with a first transition plate (210), the first transition plate (210) is at least partially inserted into the clamping grooves, and the first transition plate (210) and the front mounting plate (140) are connected by bolts.

3. The automatic processing device for the inner and outer walls of the storage tank according to claim 2, wherein The rust removal upper device (400) is further provided with a second transition plate (470) which is at least partially inserted into the clamping groove of the front mounting plate (140), and the second transition plate (470) and the front mounting plate (140) are connected by bolts.

4. The automatic tank inner and outer wall welding seam processing device according to claim 2, characterized in that, The spraying upper device (300) is further provided with a third transition plate (330) which is at least partially inserted into the clamping groove of the front mounting plate (140), and the third transition plate (330) and the front mounting plate (140) are connected by bolts.

5. The automatic tank inner and outer wall welding seam processing device according to claim 4, characterized in that, The spraying upper device (300) comprises a spray gun (310) and an adjusting mechanism (360) for adjusting the position of the spray gun (310), the adjusting mechanism (360) comprises two side plates (363) vertically connected to the third transition plate (330), two lifting adjusting rods (361) respectively arranged on the two side plates (363), and a horizontal adjusting rod (362) connected between the two lifting adjusting rods (361), and the spray gun (310) is fixed on the horizontal adjusting rod (362) by bolts.

6. The automatic tank inner and outer wall welding seam processing device according to claim 5, characterized in that, The spraying upper device (300) further comprises a shield (320) with a baffle arranged around the spray gun (310), and the shield (320) is connected to the side plates (363) by bolts.

Images