Welding seam milling device and wall-climbing robot

Abstract

This application relates to the field of robotics, and more particularly to a weld milling device and a wall-climbing robot. The weld milling device includes a milling mechanism and a position adjustment mechanism. The milling mechanism includes a milling component and a chip collection component. The chip collection component has a collection groove, and the milling component is located inside the collection groove. The milling component is used to mill the weld, and the chip collection component is used to collect the waste chips milled by the milling component through the opening of the collection groove. The milling mechanism is mounted on the position adjustment mechanism, which is used to move the milling mechanism. Because the milling mechanism includes a milling component and a chip collection component, and the chip collection component has a collection groove, and the milling component is located inside the collection groove, and the milling component is used to mill the weld, and the chip collection component is used to collect the waste chips milled by the milling component through the opening of the collection groove, the splashing of waste chips milled by the milling component can be avoided, thus keeping the environment around the weld milling device clean and tidy.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a weld milling device and a wall-climbing robot. Background Technology

[0002] With technological advancements and large-scale development, equipment in industries such as petroleum, chemical, metallurgy, power supply, and transportation is becoming increasingly larger and more complex. For example, storage tanks in the petroleum, chemical, and metallurgical industries are getting larger; wind turbine towers in the power supply industry are getting taller; and ships in the transportation industry are becoming larger. Larger equipment requires the assembly of multiple plates or structural components, with welding required at the joints, resulting in weld seams. Failure to treat these weld seams not only affects the aesthetics of the equipment but can also lead to leaks, cracking, and other serious damage, shortening the equipment's lifespan and posing safety hazards. Therefore, weld seam milling is crucial and can significantly extend the lifespan of large equipment.

[0003] Currently, the main method for weld milling is to use a milling cutter to mill the weld seam, making the weld surface smooth and improving the aesthetics of the equipment. This also prevents water leakage, air leakage, and cracking at the weld, thus extending the equipment's service life. However, when milling weld seams, the milling chips fly off, causing environmental pollution. Summary of the Invention

[0004] The purpose of this application is to provide a weld milling device and a wall-climbing robot, wherein the weld milling device can collect the milled waste chips, thereby reducing environmental pollution.

[0005] To achieve the above objectives, the technical solution adopted in the first aspect of this application is: a weld milling device, including a milling mechanism and a position adjustment mechanism.

[0006] The milling mechanism includes a milling component and a chip collection component. The chip collection component is provided with a collection groove, and the milling component is located inside the collection groove. The milling component is used to mill the weld seam, and the collection groove is used to collect the waste chips milled by the milling component. The milling mechanism is mounted on the position adjustment mechanism, and the position adjustment mechanism is used to drive the milling mechanism to move.

[0007] The beneficial effects of the weld milling device provided in this application are as follows: since the milling mechanism includes a milling component and a chip collection component, the chip collection component is provided with a collection groove, the milling component is located inside the collection groove, the milling component is used to mill the weld, and the collection groove is used to collect the waste chips milled by the milling component; therefore, under the limiting effect of the collection groove, the waste chips milled by the milling component will not splash but will remain in the collection groove, thereby keeping the environment around the weld milling device clean and tidy.

[0008] Furthermore, since the milling mechanism is mounted on the position adjustment mechanism, which is used to drive the milling mechanism to move, it is convenient to move the milling mechanism according to the position and height of the weld, so that the milling components and chip collection components can effectively fit with the wall surface where the weld is located, thereby improving the milling effect and efficiency.

[0009] In some embodiments, the chip collection assembly includes a protective cover, a collection groove is formed in the protective cover, the opening of the collection groove is for facing the weld, and the protective cover has a first through hole communicating with the collection groove; the milling assembly includes a tool holder and a milling cutter, the milling cutter is housed in the collection groove, the tool holder passes through the first through hole, and the tool holder is connected to the milling cutter.

[0010] In some embodiments, the protective cover is further provided with a chip removal channel that connects the collection groove and the external space of the protective cover;

[0011] The milling mechanism further includes an air blowing assembly with an air outlet located inside the collection groove. The air blowing assembly is used to blow air into the collection groove so that the waste chips milled by the milling assembly are discharged through the chip removal channel to the external space of the protective cover.

[0012] In some embodiments, the chip collection assembly further includes a seal connected to the protective cover, the seal extending continuously along the opening of the collection groove and protruding beyond the opening of the collection groove in the depth direction of the collection groove.

[0013] In some embodiments, the chip collection assembly further includes a sealing plate connected to the protective cover, the sealing plate having a second through hole that communicates with the first through hole, the tool handle passing through the second through hole, and the diameter of the second through hole being adapted to the diameter of the tool handle.

[0014] In some embodiments, the chip collection assembly further includes a support and a fixing member, the support being connected to the protective cover, the fixing member being detachably fixed to the position adjustment mechanism, and the fixing member being used to lock the support onto the position adjustment mechanism;

[0015] The support has a waist-shaped hole, the length direction of which is parallel to the axis of the tool holder. The fixing member passes through the waist-shaped hole and can slide along the length direction of the waist-shaped hole.

[0016] Alternatively, the support may have multiple fixing holes, which are spaced apart along the axial direction of the tool holder, and the fixing member may pass through any of the fixing holes.

[0017] To achieve the above objectives, the technical solution adopted in the second aspect of this application is: a wall-climbing robot includes a drive device and the weld milling device of the first aspect embodiment described above.

[0018] The position adjustment mechanism is mounted on the drive device, which is used to drive the weld milling device to move, and the position adjustment mechanism is used to drive the milling mechanism to slide relative to the drive device toward the weld or toward the weld.

[0019] The beneficial effect of the wall-climbing robot provided in this application is that, since the weld milling device of the first aspect embodiment described above is applied to the wall-climbing robot, the waste chips milled by the wall-climbing robot will not splash into the environment when the wall-climbing robot is working, thereby reducing environmental pollution.

[0020] Furthermore, since the drive unit is used to move the weld milling device, and the position adjustment mechanism is used to move the milling mechanism relative to the drive unit towards or away from the weld, the wall-climbing robot can move on the wall surface where the weld is located. Moreover, the position adjustment mechanism and the milling mechanism can adjust the relative position between the milling mechanism and the wall surface according to the height of the weld, thereby improving milling efficiency.

[0021] In some embodiments, the wall-climbing robot further includes a control device;

[0022] The control device includes a sensing mechanism and a control mechanism. The sensing mechanism is mounted on the position adjustment mechanism and is used to detect the weld. The control mechanism is mounted on the drive device. The sensing mechanism, the drive device, and the milling device are all electrically connected to the control device. The control mechanism can receive the detection signal from the sensing mechanism and can control the movement path of the drive device. The control mechanism can also control the position adjustment mechanism to drive the milling assembly and the chip collection assembly to slide relative to the drive device.

[0023] In some embodiments, the driving device includes a driving mechanism and a frame, wherein the weld milling device and the control device are both mounted on the frame, and the driving mechanism is used to drive the frame to move.

[0024] In some embodiments, the wall-climbing robot further includes a crash bar mounted on the frame. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a wall-climbing robot in one embodiment of this application;

[0027] Figure 2 yes Figure 1 A magnified view of part A of the wall-climbing robot shown;

[0028] Figure 3 yes Figure 1 A structural schematic diagram of the wall-climbing robot from another perspective;

[0029] Figure 4 yes Figure 1 The diagram shows the structure of the chip collection component in the wall-climbing robot.

[0030] Figure 5 yes Figure 4 A schematic diagram of the chip collection assembly from another perspective;

[0031] Figure 6 yes Figure 1 The diagram shows the structure of the milling component in the wall-climbing robot.

[0032] Figure 7 yes Figure 1 The diagram shows the structural schematic of the position adjustment mechanism in the wall-climbing robot.

[0033] Figure 8 yes Figure 1 The diagram shows the structure of the control device in the wall-climbing robot.

[0034] Figure label:

[0035] 1. Weld milling device; 11. Milling mechanism; 111. Milling assembly; 1111. Tool holder; 1112. Milling cutter; 1113. Electric spindle; 1114. Tool post; 1115. Mounting plate; 112. Chip collection assembly; 1121. Protective cover; 1211. Collection groove; 1212. First through hole; 1213. Chip removal channel; 1122. Seal; 1123. Pressure plate; 1124. Sealing plate; 11241. Second through hole 1125. Hole; 11251. Support; 11251. Waist-shaped hole; 1126. Fixing component; 113. Air blowing assembly; 1131. Air pipe; 11311. Air outlet; 1132. Air pipe interface; 1133. Single-way speed control valve; 1134. Double-way speed control valve; 12. Position adjustment mechanism; 121. Bracket; 122. Motor; 123. Drive wheel; 124. Driven wheel; 125. Synchronous belt; 126. Lead screw; 127. Slider;

[0036] 2. Drive unit; 21. Drive mechanism; 211. Wheel; 212. Drive component; 22. Frame; 221. Connecting rod; 23. Anti-collision bar;

[0037] 3. Control device; 31. Sensing mechanism; 311. Linear displacement sensor; 3111. Sliding probe; 3112. Roller; 312. Camera; 313. Sensor mounting base; 32. Control mechanism. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] In this specification, references to "one embodiment," "some embodiments," or "embodiment" mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner.

[0042] With technological advancements and large-scale development, equipment in industries such as petroleum, chemical, metallurgy, power supply, and transportation is becoming increasingly larger and more complex. For example, storage tanks in the petroleum, chemical, and metallurgical industries are getting larger; wind turbine towers in the power supply industry are getting taller; and ships in the transportation industry are becoming larger. Larger equipment requires the assembly of multiple plates or structural components, with welding required at the joints, resulting in weld seams. Failure to treat these weld seams not only affects the aesthetics of the equipment but can also lead to leaks, cracking, and other serious damage, shortening the equipment's lifespan and posing safety hazards. Therefore, weld seam milling is crucial and can significantly extend the lifespan of large equipment.

[0043] Currently, the main method for weld milling is to use a milling cutter to mill the weld seam, making the weld surface smooth and improving the aesthetics of the equipment. This also prevents water leakage, air leakage, and cracking at the weld, thus extending the equipment's service life. However, when milling weld seams, the milling chips fly off, causing environmental pollution.

[0044] The purpose of this application is to provide a weld milling device and a wall-climbing robot, wherein the weld milling device can collect the milled waste chips, thereby reducing environmental pollution.

[0045] To illustrate the technical solution of this application, the following description is provided in conjunction with specific accompanying drawings and embodiments.

[0046] Please refer to Figure 1 The first aspect of this application provides a weld milling device 1, including a milling mechanism 11 and a position adjustment mechanism 12.

[0047] The milling mechanism 11 includes a milling assembly 111 and a chip collecting assembly 112. The chip collecting assembly 112 is provided with a collecting groove 1211. The milling assembly 111 is located inside the collecting groove 1211. The milling assembly 111 is used to mill the weld seam, and the collecting groove 1211 is used to collect the waste chips milled by the milling assembly 111. The milling mechanism 11 is mounted on a position adjustment mechanism 12, which is used to drive the milling mechanism 11 to move.

[0048] Since the milling mechanism 11 in the weld milling device 1 includes a milling component 111 and a chip collection component 112, and the chip collection component 112 is provided with a collection groove 1211, the milling component 111 is located inside the collection groove 1211, the milling component 111 is used to mill the weld, and the collection groove 1211 is used to collect the waste chips milled by the milling component 111; therefore, under the restriction of the collection groove 1211, the waste chips milled by the milling component 111 will not splash, but will remain in the collection groove 1211, thereby keeping the environment around the weld milling device 1 clean and tidy.

[0049] It should be noted that when using the weld milling device 1 of this application embodiment, the groove of the collecting groove 1211 needs to face the weld, and the groove of the collecting groove 1211 needs to be attached to the wall surface where the weld is located, so as to prevent the waste chips milled by the milling component 111 from being discharged to the outside of the chip collecting component 112 through the gap between the collecting groove 1211 and the wall surface.

[0050] Since the wall surface where the weld is located may be flat or curved, the distance between the milling mechanism 11 and the wall surface where the weld is located needs to be adjusted according to the actual situation of the wall surface, so that the groove of the collection groove 1211 can better fit the wall surface, and the milling component 111 can contact the weld.

[0051] Since the weld milling device 1 of this application embodiment also includes a position adjustment mechanism 12, and the milling mechanism 11 is disposed on the position adjustment mechanism 12, the position adjustment mechanism 12 is used to drive the milling mechanism 11 to move; therefore, it is convenient to move the milling mechanism 11 according to the position and height of the weld, so that the milling component 111 and the chip collection component 112 can effectively fit with the wall surface where the weld is located, thereby improving the milling effect and efficiency.

[0052] Please refer to Figure 2 and Figure 7 The position adjustment mechanism 12 includes a bracket 121, a motor 122, a drive wheel 123, a driven wheel 124, a timing belt 125, a lead screw 126, and a slider 127.

[0053] The two ends of the lead screw 126 are rotatably mounted on the bracket 121. The motor 122 is connected to the bracket 121, and the drive end of the motor 122 is connected to the drive wheel 123. The driven wheel 124 is connected to the lead screw 126. The synchronous belt 125 is sleeved on the drive wheel 123 and the driven wheel 124. The slider 127 is slidably connected to the bracket 121 and is sleeved on the lead screw 126. The slider 127 is threadedly connected to the lead screw 126. When the lead screw 126 rotates, the slider 127 can slide relative to the bracket 121. The milling mechanism 11 is connected to the slider 127. When the motor 122 is working, it can drive the drive wheel 123 to rotate, which in turn drives the lead screw 126 to rotate. Consequently, the slider 127 can drive the milling mechanism 11 to slide relative to the bracket 121.

[0054] Please refer to Figure 3 , Figure 4 and Figure 5 In some embodiments, the chip collection assembly 112 includes a protective cover 1121, a collection groove 1211 is formed in the protective cover 1121, the groove of the collection groove 1211 is for facing the weld, and the protective cover 1121 has a first through hole 1212 communicating with the collection groove 1211; the milling assembly 111 includes a tool holder 1111 and a milling cutter 1112, the milling cutter 1112 is housed in the collection groove 1211, the tool holder 1111 passes through the first through hole 1212, and the tool holder 1111 is connected to the milling cutter 1112.

[0055] In the above configuration, the weld seam is milled by the milling cutter 1112, and as the milling cutter 1112 rotates, the waste chips milled by the milling cutter 1112 will be driven by the milling cutter 1112 to detach from the wall surface where the weld seam is located. The milling cutter 1112 is located in the collection groove 1211, so the weld seam detached from the wall surface can be confined in the collection groove 1211.

[0056] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 The depth direction of the collecting groove 1211 is parallel to the axis of the tool holder 1111. With the above arrangement, the rotation axis of the milling cutter 1112 is perpendicular to the opening of the collecting groove 1211, so when the opening of the collecting groove 1211 is in contact with the wall surface where the weld is located, the milling cutter 1112 can mill the weld.

[0057] Please refer to Figure 6 The milling assembly 111 also includes an electric spindle 1113, with the tool holder 1111 connected to the drive end of the electric spindle 1113, which is used to drive the tool holder 1111 to rotate.

[0058] Please refer to Figure 6The milling assembly 111 also includes a tool holder 1114, one end of which is connected to the tool holder 1111, and the other end of which is connected to the milling cutter 1112.

[0059] Please refer to Figure 6 The milling assembly 111 also includes a mounting plate 1115, which is connected to the slider 127 in the position adjustment mechanism 12.

[0060] Please refer to Figure 3 , Figure 4 and Figure 5 In some embodiments, the protective cover 1121 is also provided with a chip removal channel 1213 that connects the collection groove 1211 and the external space of the protective cover 1121.

[0061] The milling mechanism 11 also includes an air blowing assembly 113, which has an air outlet 11311 located inside the collection tank 1211. The air blowing assembly 113 is used to blow air into the collection tank 1211 so that the waste chips milled by the milling assembly 111 are discharged to the external space of the protective cover 1121 through the chip discharge channel 1213.

[0062] With the above settings, the waste chips milled by the milling component 111 can be discharged to the external space of the protective cover 1121, so as to avoid too much waste chip milled by the milling component 111 accumulating in the collection groove 1211, which would affect the rotation of the milling cutter 1112.

[0063] Please refer to Figure 5 The collecting trough 1211 and the chip removal channel 1213 form a spiral groove. The air outlet 11311 is located on the side wall at the starting point of the spiral, and the air outlet 11311 is in the same direction as the spiral groove.

[0064] The above configuration makes it easier to discharge the waste chips milled by the milling assembly 111 to the external space of the protective cover 1121.

[0065] Please refer to Figure 4 In some embodiments, the air blowing assembly 113 includes multiple air pipes 1131, an air pipe interface 1132, a single-way speed control valve 1133, and a double-way speed control valve 1134. The multiple air pipes 1131 are spliced ​​together through the air pipe interface 1132, forming an airflow channel within the air pipes 1131. The air pipes 1131 are connected to the gas generating device through the single-way speed control valve 1133 and the double-way speed control valve 1134. The airflow within the air pipes 1131 can be adjusted by adjusting the single-way speed control valve 1133 and the double-way speed control valve 1134.

[0066] It should be noted that a gas generating device is a device that can generate airflow. Its principle is to compress the outside air and then discharge the gas to form an airflow.

[0067] Optionally, the gas generating device can be an air pump or an air blowing device.

[0068] Taking an air blowing device as an example, an air blowing device typically includes a compressor, a fan, a nozzle, and a cylinder. The fan draws in air through rotating blades; the compressor compresses external gas into high-pressure gas; the cylinder stores the compressed gas so that it can generate airflow when needed; the nozzle discharges the gas from the cylinder and creates a velocity difference in the airflow, thereby forming a larger pressure difference and increasing the speed and power of the airflow.

[0069] Please refer to Figure 4 and Figure 5 In some embodiments, the chip collection assembly 112 further includes a seal 1122 connected to the protective cover 1121. The seal 1122 extends continuously along the opening of the collection groove 1211 and protrudes from the opening of the collection groove 1211 in the depth direction of the collection groove 1211.

[0070] Since the seal 1122 extends continuously along the opening of the collection groove 1211 and protrudes from the opening of the collection groove 1211 in the depth direction of the collection groove 1211, when the opening of the collection groove 1211 is in contact with the wall where the weld is located, the protective cover 1121 can fit better with the wall, so as to avoid the gap between the protective cover 1121 and the wall. Thus, the waste chips milled by the wall milling mechanism 11 can be discharged from the space between the protective cover 1121 and the wall to the external space of the protective cover 1121, thereby reducing environmental pollution.

[0071] In some embodiments, the seal 1122 is made of an elastic material.

[0072] The above settings not only improve the fit between the protective cover 1121 and the wall surface, but also prevent the sealing element 1122 from scratching the wall surface, thus not affecting the aesthetics of the wall surface.

[0073] Optionally, the elastic material can be one of rubber, silicone, sponge, latex, etc.

[0074] Please refer to Figure 4 and Figure 5 The chip collection assembly 112 also includes a clamping plate 1123, which is attached to and fixed to the wall of the collection groove 1211. The sealing element 1122 is located between the clamping plate 1123 and the wall of the collection groove 1211. The clamping plate 1123 is used to fix the sealing element 1122 to the protective cover 1121.

[0075] For example, the clamping plate 1123 is fixed to the side wall of the collection tank 1211 by screwing.

[0076] Please refer to Figure 4 In some embodiments, the chip collection assembly 112 further includes a sealing plate 1124 connected to the protective cover 1121. The sealing plate 1124 has a second through hole 11241, which communicates with the first through hole 1212. The tool handle 1111 passes through the second through hole 11241, and the diameter of the second through hole 11241 is adapted to the diameter of the tool handle 1111.

[0077] With the above configuration, the sealing plate 1124 can cover the gap between the tool holder 1111 and the first through hole 1212, preventing milling chips from the milling assembly 111 from being discharged from the first through hole 1212 into the external space of the protective cover 1121, thereby reducing environmental pollution. Furthermore, when it is necessary to replace the tool holder 1111 with a different size, only the sealing plate 1124 needs to be replaced; there is no need to replace the protective cover 1121, which is convenient and quick, enhances the versatility of the protective cover 1121, and saves costs.

[0078] In some embodiments, the chip collection assembly 112 further includes a support 1125 and a fastener 1126. The support 1125 is connected to the protective cover 1121, and the fastener 1126 is detachably fixed to the position adjustment mechanism 12 and is used to lock the support 1125 onto the position adjustment mechanism 12.

[0079] The support 1125 has a waist-shaped hole 11251. The length direction of the waist-shaped hole 11251 is parallel to the axis of the tool holder 1111. The fixing member 1126 passes through the waist-shaped hole 11251 and can slide along the length direction of the waist-shaped hole 11251.

[0080] Alternatively, the support 1125 may have multiple fixing holes, which are spaced apart along the axial direction of the tool holder 1111, and the fixing member 1126 may pass through any of the fixing holes.

[0081] With the above settings, the relative positions of the milling cutter 1112 and the collecting groove 1211 in the depth direction of the collecting groove 1211 can be adjusted so that when the opening of the collecting groove 1211 is in contact with the wall surface where the weld is located, the milling cutter 1112 can mill the weld.

[0082] Please refer to Figure 4 and Figure 7The end of the fixing member 1126 is provided with an external thread, and the slider 127 is provided with a threaded hole. The fixing member 1126 is threadedly connected to the slider 127, and the support 1125 is located between the slider 127 and the fixing member 1126, so that the support 1125 can be locked on the position adjustment mechanism 12. When it is necessary to adjust the relative position of the milling cutter 1112 and the collecting groove 1211 in the depth direction of the collecting groove 1211, the fixing member 1126 is disengaged from the slider 127, the position of the fixing member 1126 in the waist-shaped hole 11251 is changed as needed, or the fixing member 1126 is passed through another fixing hole as needed, and then the fixing member 1126 is screwed into the threaded hole.

[0083] In related technologies, the main method of weld milling is manual operation. Manual operation typically involves using a handheld weld milling device 1 to mill the welds. In the shipbuilding industry, workers are attached to the ship's wall using hoisting ropes and manually mill the welds from top to bottom. This method suffers from problems such as low milling efficiency, poor milling quality, long milling cycle, high risk factor, low safety, high labor intensity, high labor costs, and high overall milling costs.

[0084] To achieve the above objectives, the technical solution adopted in the second aspect of this application is: a wall-climbing robot, including a drive device 2 and a weld milling device 1 as described in the first aspect of the application.

[0085] The position adjustment mechanism 12 is mounted on the drive device 2. The drive device 2 is used to drive the weld milling device 1 to move, and the position adjustment mechanism 12 is used to drive the milling mechanism 11 to slide relative to the drive device 2 towards the weld or away from the weld.

[0086] Since the weld milling device 1 of the first aspect embodiment is applied to the wall-climbing robot, the waste chips milled by the wall-climbing robot will not splash into the environment when the wall-climbing robot is working, thereby reducing environmental pollution.

[0087] Furthermore, since the drive device 2 is used to move the weld milling device 1, and the position adjustment mechanism 12 is used to drive the milling mechanism 11 to slide relative to the drive device 2 towards the weld or away from the weld, the wall-climbing robot can move on the wall surface where the weld is located, and the position adjustment mechanism 12 can adjust the relative position between the milling mechanism 11 and the wall surface according to the height of the weld, thereby improving milling efficiency.

[0088] By using the aforementioned wall-climbing robot for milling work, manual milling can be replaced, improving milling efficiency, improving milling quality, reducing the risk factor, and reducing labor intensity.

[0089] In some embodiments, the wall-climbing robot also includes a control device 3.

[0090] The control device 3 includes a sensing mechanism 31 and a control mechanism 32. The sensing mechanism 31 is mounted on the position adjustment mechanism 12 and is used to detect welds. The control mechanism 32 is mounted on the drive device 2. The sensing mechanism 31, the drive device 2, and the milling device are all electrically connected to the control device 3. The control mechanism 32 can receive the detection signal from the sensing mechanism 31 and can control the movement path of the drive device 2. The control mechanism 32 can also control the position adjustment mechanism 12 to drive the milling assembly 111 and the chip collection assembly 112 to slide relative to the drive device 2.

[0091] With the above settings, the wall-climbing robot can autonomously detect welds and autonomously plan its movement path. It can also autonomously adjust the positions of the milling component 111 and the chip collection component 112, so that the milling component 111 and the chip collection component 112 can effectively fit with the wall surface where the weld is located and can automatically adjust the milling force to improve the milling effect and efficiency.

[0092] Please refer to Figure 1 , Figure 2 and Figure 8 The sensing mechanism 31 includes a linear displacement sensor 311, a camera 312, and a sensor mounting base 313. The sensor mounting base 313 is connected to the slider 127. The camera 312 is mounted on the sensor mounting base 313. There are two linear displacement sensors 311, which are located on both sides of the camera 312.

[0093] Camera 312 is used to photograph the wall surface where the weld is located, so that the control mechanism 32 can identify the position of the weld based on the image captured by camera 312, thereby the control mechanism 32 can control the drive device 2 to be discharged into the groove of the collection tank 1211 facing the weld.

[0094] The linear displacement sensor 311 is used to identify the distance between the wall surface around the weld seam facing the groove of the collection groove 1211 and the sensor mounting base 313, so that the control mechanism 32 can identify the distance between the collection groove 1211 and the wall surface around the weld seam. Thus, the control mechanism 32 can control the position adjustment mechanism 12 to drive the milling assembly 111 and the chip collection assembly 112 closer to or away from the weld seam, so that the groove of the collection groove 1211 can fit against the wall surface.

[0095] The above settings enable the wall-climbing robot to effectively fit the wall surface where the weld is located, and it can adapt to both planar milling and curved surface milling.

[0096] Please refer to Figure 8In some embodiments, the linear displacement sensor 311 includes a sliding probe 3111, the sliding direction of which is parallel to the sliding direction of the milling assembly 111 relative to the driving device 2. When the opening of the collecting groove 1211 is in contact with the wall surface where the weld is located, the sliding probe 3111 contacts the wall surface; when the driving device 2 moves, the sliding probe 3111 slides according to the change in the flatness of the wall surface. The control mechanism 32 can control the position adjustment mechanism 12 to move the milling assembly 111 and the chip collecting assembly 112 closer to or away from the weld seam according to the sliding direction and sliding distance of the sliding probe 3111, so that the opening of the collecting groove 1211 can be in contact with the wall surface.

[0097] For example, when the wall surface changes from a flat surface to a convex surface, the sliding probe 3111 slides away from the wall surface, thereby controlling the position adjustment mechanism 12 to move the milling assembly 111 and the chip collection assembly 112 away from the weld. When the wall surface changes from a convex surface to a flat surface, the sliding probe 3111 slides closer to the wall surface, thereby controlling the position adjustment mechanism 12 to move the milling assembly 111 and the chip collection assembly 112 closer to the weld.

[0098] Please refer to Figure 8 In some embodiments, the end of the sliding probe 3111 is provided with a roller 3112, and the sliding probe 3111 contacts the wall surface through the roller 3112.

[0099] With the above settings, the wall surface can be prevented from being scratched during the movement of the sliding probe 3111 on the wall surface, thus not affecting the aesthetics of the wall surface.

[0100] Please refer to Figure 1 In some embodiments, the drive device 2 includes a drive mechanism 21 and a frame 22. The weld milling device 1 and the control device 3 are both mounted on the frame 22. The drive mechanism 21 is used to drive the frame 22 to move.

[0101] The drive mechanism 21 includes two drive components, each including a wheel 211 and a drive element 212. The two wheels 211 are rotatably connected to both sides of the frame 22. The control device 3 controls the two drive elements 212 to operate, thereby controlling the two wheels 211 to rotate, and thus controlling the wall-climbing robot to move forward, turn left or right.

[0102] Please refer to Figure 1 The frame 22 includes a connecting rod 221, the two ends of which are rotatably connected to two wheels 211 respectively. The position adjustment mechanism 12 and the control mechanism 32 are both fixedly connected to the connecting rod 221.

[0103] Please refer to Figure 1In some embodiments, the wall-climbing robot also includes a crash bar 23, which is mounted on the frame 22.

[0104] By setting up anti-collision bars 23, damage to the weld milling device 1 and control device 3 can be avoided when the wall-climbing robot of this application collisions with the wall or other equipment.

[0105] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A weld milling device, characterized in that, include: A milling mechanism includes a milling component and a chip collecting component. The chip collecting component is provided with a collecting groove. The milling component is disposed inside the collecting groove. The milling component is used to mill the weld seam, and the collecting groove is used to collect the waste chips milled by the milling component. A position adjustment mechanism is provided, wherein the milling mechanism is mounted on the position adjustment mechanism, and the position adjustment mechanism is used to drive the milling mechanism to move; The chip collection assembly includes a protective cover, a collection groove is formed in the protective cover, the opening of the collection groove is for facing the weld, and the protective cover is also provided with a chip removal channel connecting the collection groove and the external space of the protective cover. The milling mechanism further includes an air blowing assembly with an air outlet located inside the collection groove. The air blowing assembly is used to blow air into the collection groove so that the waste chips milled by the milling assembly are discharged through the chip removal channel to the external space of the protective cover. The collecting groove and the chip removal channel form a spiral groove. The air outlet is located on the side wall at the starting point of the spiral, and the air outlet direction is consistent with the spiral direction of the spiral groove.

2. The weld beveling apparatus of claim 1, wherein, The protective cover has a first through hole communicating with the collection groove; the milling assembly includes a tool holder and a milling cutter, the milling cutter is housed in the collection groove, the tool holder passes through the first through hole, and the tool holder is connected to the milling cutter.

3. The weld beveling apparatus of claim 2, wherein, The chip collection assembly also includes a seal connected to the protective cover. The seal extends continuously along the opening of the collection groove, and protrudes from the opening of the collection groove in the depth direction of the collection groove.

4. The weld milling device according to claim 2, characterized in that, The chip collection assembly also includes a sealing plate connected to the protective cover. The sealing plate has a second through hole, which is connected to the first through hole. The tool handle passes through the second through hole, and the diameter of the second through hole is adapted to the diameter of the tool handle.

5. The weld milling apparatus according to claim 2, characterized in that, The chip collection assembly further includes a support and a fixing member. The support is connected to the protective cover, and the fixing member is detachably fixed to the position adjustment mechanism. The fixing member is used to lock the support onto the position adjustment mechanism. The support has a waist-shaped hole, the length direction of which is parallel to the axis of the tool holder. The fixing member passes through the waist-shaped hole and can slide along the length direction of the waist-shaped hole. Alternatively, the support may have multiple fixing holes, which are spaced apart along the axial direction of the tool holder, and the fixing member may pass through any of the fixing holes.

6. A wall-climbing robot, characterized in that, The device includes a drive unit and a weld milling device as described in any one of claims 1 to 4, wherein the position adjustment mechanism is disposed on the drive unit, the drive unit is used to drive the weld milling device to move, and the position adjustment mechanism is used to drive the milling mechanism to slide relative to the drive unit toward the weld or toward the weld.

7. The wall-climbing robot according to claim 6, characterized in that, The wall-climbing robot also includes a control device; The control device includes a sensing mechanism and a control mechanism. The sensing mechanism is mounted on the position adjustment mechanism and is used to detect the weld. The control mechanism is mounted on the drive device. The sensing mechanism, the drive device, and the milling device are all electrically connected to the control device. The control mechanism can receive the detection signal from the sensing mechanism and can control the movement path of the drive device. The control mechanism can also control the position adjustment mechanism to drive the milling assembly and the chip collection assembly to slide relative to the drive device.

8. The wall-climbing robot according to claim 7, characterized in that, The drive device includes a drive mechanism and a frame. The weld milling device and the control device are both mounted on the frame. The drive mechanism is used to move the frame.

9. The wall-climbing robot according to claim 8, characterized in that, The wall-climbing robot also includes a collision avoidance bar, which is mounted on the frame.

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