Magnetic wall-climbing milling robot

Abstract

The invention provides a magnetic wall-climbing milling robot. Comprising a vehicle body, a driving mechanism, a crawler walking mechanism, a welding seam milling mechanism, an adsorption assembly, a line patrol assembly, a scrap blowing assembly and upper and lower wall seats, the driving mechanism is arranged at one end of the vehicle body, and the crawler walking mechanisms are symmetrically arranged on two sides of the vehicle body to drive the vehicle body to walk. Wherein a transmission chain is arranged, a magnet is arranged on the transmission chain, and the vehicle body is adsorbed on the wall surface; the milling mechanism is arranged in the middle of the vehicle body and provided with a milling cutter for welding seam milling along with the vehicle body; the adsorption assembly is an adjustable strong magnet, is arranged at the other end of the vehicle body and has adsorption force to adsorb the vehicle body on the wall surface; the line patrol assemblies are arranged at the front end of the vehicle body and beside the milling cutter correspondingly and used for guaranteeing the line patrol state of the vehicle body and guaranteeing automatic deviation rectification under the condition that a weld bead is dislocated. The scrap blowing assembly is arranged around the milling cutter and used for discharging scraps milled by the milling cutter; the upper and lower wall seats are rubber platforms, can magnetically attract the vehicle body and the cylinder and are used for assembling and disassembling the vehicle body on the surface of the cylinder.

Description

Technical Field

[0001] The invention relates to weld milling processing in the field of steel structure storage tanks, and in particular to a magnetic wall-climbing milling robot. Background Art

[0002] Large storage tanks are a typical welded structure, and they are formed by splicing multiple plates or multiple structures. The joints need to be welded, and welds will be formed at the joints. Whether it is welding on-site at large storage tanks, or non-destructive testing of welds after welding, or regular testing during service, the weld area needs to be polished.

[0003] Existing grinding robots basically use industrial robots equipped with grinding tools to work, or clamp industrial robots and then grind on grinding equipment. They are unable to cope with the surface grinding of large workpieces, especially medium and large containers.

[0004] At present, the main method of weld milling is to use a milling cutter to mill the weld, so that the wall surface where the weld is located is flat, thereby improving the aesthetics of the equipment and avoiding water leakage, air leakage, cracking and other phenomena at the weld, thereby extending the service life of the equipment. When the milling cutter mills the weld, the waste chips will splash, causing environmental pollution.

[0005] The wall-climbing robot is a special robot that combines space mobile platform technology with wall adsorption technology. It can move in dangerous environments such as vertical walls and carry specific tools to complete specific tasks. However, weld milling has a large reaction force on the wall-climbing robot, and it cannot effectively remove the welds of the tank.

[0006] However, the inventors of this application found that the above technology has at least the following technical problems in the process of implementing the technical solution of the invention in the embodiment of this application: In the existing public literature, the disclosed wall-climbing robot patents have the following problems: Chinese patent publication number CN102039592A discloses a multi-body magnetic adsorption adaptive wall climbing robot, which realizes flexible movement and steering on magnetic conductive walls at all positions in space, and spatial surface adaptation, and can perform welding, gouging, cutting, grinding, milling, testing, cleaning or spraying operations. However, the rigidity is not enough, and it is easy to become unstable and vibrate, so milling cannot be realized, and the free up and down installation process of the cylinder cannot be realized; Chinese patent publication number CN110788690A discloses a wall-climbing robot for large tank weld grinding operations. The robot adopts a gap adsorption wheel drive, can move flexibly on the surface of the large tank, has a large range of movement, and combines the wall-climbing mobile robot with automatic grinding equipment to achieve automatic grinding of large tank welds. However, due to insufficient friction, the upper and lower simplified bodies cannot be hoisted in reality, and there is not enough actual contact between the vehicle body and the cylinder body, so milling that requires very strong rigidity cannot be completed.

[0007] Chinese patent publication number CN117182160A discloses a weld milling device and a wall-climbing robot, in which a chip collection component is provided with a collecting trough, a milling component is arranged inside the collecting trough, the milling component is used to mill the weld, and the chip collection component is used to collect waste chips milled by the milling component through the notch of the collecting trough; however, it does not explain how to climb the wall, so it cannot be determined whether it has sufficient rigidity to meet the milling conditions during the milling process, and there is a problem of how to move up and down the cylinder. Summary of the invention

[0008] In order to solve the deficiencies in the prior art, the embodiment of the present application provides a magnetic wall-climbing milling robot to solve the problems of maintaining stability during weld milling and how to perform upper and lower wall operations. The milling robot is adsorbed on the cylinder wall by upper and lower wall seats to mill the weld. The adsorption component and the magnets on the crawler jointly provide suction and friction. While the vehicle body is moving by magnetic attraction, the welds on the inner and outer cylinder walls are milled, thereby replacing the air planer, reducing the product flaw detection process, improving production efficiency, and solving the technical problem of wall-climbing robots milling welds.

[0009] The solution adopted by the embodiment of the present application to solve the technical problem is: A magnetic wall-climbing milling robot comprises a body, a driving mechanism, a crawler walking mechanism, a weld milling mechanism, an adsorption component, a line patrol component, a chip blowing component and upper and lower wall seats; The vehicle body is a saddle-type structure, which is used to adhere to the cylinder wall and move along the weld seam. The driving mechanism is arranged at one end of the vehicle body and is used to provide a power source for the vehicle body; The crawler walking mechanism is symmetrically arranged on both sides of the vehicle body to drive the vehicle body to move; a transmission chain is provided therein, and a magnet is arranged on the transmission chain to adsorb the vehicle body on the wall; The milling mechanism is arranged in the middle of the vehicle body, and has a milling cutter to perform weld milling along with the vehicle body; The adsorption component is an adjustable strong magnet, which is set at the other end of the vehicle body and has an adsorption force to adsorb the vehicle body to the wall; The line inspection components are respectively arranged at the front end of the vehicle body and beside the milling cutter to ensure the line inspection status of the vehicle body and ensure automatic deviation correction in case of misalignment of the weld bead; The chip blowing assembly is arranged around the milling cutter and is used to discharge the waste chips produced by the milling cutter; The upper and lower wall seats are rubber platforms that can magnetically attract the vehicle body and the cylinder body and are used for loading and unloading the vehicle body on the surface of the cylinder body.

[0010] In order to further solve the technical problem to be solved by the embodiments of the present application, the method for applying a magnetic wall-climbing milling robot provided in the embodiments of the present application includes the following steps: First, the car body is horizontally adsorbed on the two steel strips of the upper and lower wall seats, and the lifting lugs on one side of the car body are lifted to make the car body and the upper and lower wall seats in a vertical state; after the car body and the upper and lower wall seats are lifted, they are close to the weld positions to be processed on the inner and outer walls of the cylinder. When the magnetic columns on the upper and lower wall seats are adsorbed on the simple wall, the crane opens the upper and lower wall seats with the car body, allowing the car body to be naturally adsorbed on the cylinder wall; Secondly, adjust the car body through the laser line of the infrared laser probe of the electric spindle, and use the Y-axis slide to adjust the milling cutter to the center of the weld, adjust the upper and lower distances of the guide wheels in the crawler walking mechanism, so that the middle part of the transmission chain is consistent with the curvature of the inner and outer walls of the cylinder, and lower the adsorption assembly at the rear of the car body until the steel ball at the bottom of the adsorption seat hits the inner and outer walls of the cylinder, and the position of the limit screw is limited by the locking nut; Next, start the electric spindle until it reaches the maximum speed of 12,000 rpm; turn on the brushless blower and the water pump switch in the electric spindle cooling water tank, use the Z-axis slide to lower the milling cutter height, and adjust the milling cutter to the required processing depth according to the Z-axis scale after it touches the barrel wall; set 500 rpm and start the drive motor at the same time. After the processing is stable, the walking speed can be adjusted to a maximum of 1500 rpm, and the patrol mode is used for automatic walking; Finally, after the processing is completed, the upper and lower wall seats are first hung close to the cylinder wall and adsorbed on it, the car body is driven onto the upper and lower wall seats, adsorbed on the two steel strips of the upper and lower wall seats, the upper and lower wall seats are manually pulled away from the cylinder wall, the car body and the upper and lower wall seats are vertically adjusted away from the cylinder body and placed on the ground.

[0011] Positive effects: The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages: 1. Since the embodiment of the present application adopts a technical means of arranging a magnet on the transmission chain to adsorb the vehicle body to the wall, and at the same time the adsorption component is an adjustable strong magnet to adsorb the vehicle body to the wall, the two adsorption devices jointly magnetically adsorb the vehicle body to the cylinder wall, effectively solving the technical problem of milling welds by wall-climbing robots in the prior art. When the milling cutter mills the weld, it has stronger stability, thereby achieving the technical effect of high-precision milling and avoiding instability.

[0012] 2. Since the embodiment of the present application adopts the technical means that the steel balls at the bottom of the adsorption seat are magnetically attracted to the rolling contact with the cylinder wall, the adsorption component can adjust the position of the adsorption seat through the screw, and the steel balls are in rolling contact with the cylinder wall, which effectively solves the technical problem of milling welds by wall-climbing robots in the prior art, reduces the friction between the vehicle body and the cylinder wall, and enables the vehicle body to be adsorbed on the wall and move freely, thereby achieving the technical effect of high-precision milling and avoiding instability.

[0013] 3. Since the embodiment of the present application adopts the technical means of magnetically attracting the vehicle body and the cylinder by the upper and lower wall seats, the upper and lower wall seats can magnetically attract the vehicle body and the cylinder at the same time, which effectively solves the technical problem of milling welds by wall-climbing robots in the prior art. The vehicle body is loaded and unloaded on the surface of the cylinder through the upper and lower wall seats, thereby achieving the technical effect of upper and lower wall operations.

[0014] 4. Since the embodiment of the present application adopts the technical means of setting steel strips and magnetic columns in the upper and lower wall seats, the steel strips are embedded in the rubber plate, and the vehicle body can be adsorbed on the steel strips through the magnets on the transmission chain. At the same time, magnetic columns are arranged on the rubber plate, and the upper and lower wall seats can be magnetically attracted to the cylinder wall, which effectively solves the technical problem of wall-climbing robots milling welds in the prior art. The vehicle body is loaded and unloaded on the surface of the cylinder through the upper and lower wall seats, and the weld milling operation is implemented, thereby achieving the technical effect of replacing air gouging and reducing product flaw detection processes.

[0015] The invention is suitable for use as a magnetic wall-climbing milling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 This is the southeast isometric view of this embodiment; Figure 2 This is a northwest isometric view of this embodiment; Figure 3 This is a southwest isometric view of this embodiment; Figure 4 This is the front view of the present embodiment; Figure 5 It is a top view of this embodiment; Figure 6 It is a side cross-sectional view of this embodiment; Figure 7 This is the southeast isometric view of the upper and lower wall base.

[0018] In the figure, 1. drive motor, 2. electric spindle frequency converter, 3. primary reducer, 4. secondary reducer, 5. crawler walking mechanism, 6. guide wheel, 7. drive motor controller, 8. chain tension adjustment bolt, 9. brushless blower, 10. Z-axis and Y-axis slides, 11. electric spindle, 12. drive remote control receiver, 13. electric spindle cooling water tank, 14. high-definition camera, 15. electric spindle infrared laser probe, 16. patrol infrared sensor, 17. air duct outlet, 18. adsorption component, 19. car body, 20. iron chip blowing air duct, 21. milling cutter, 22. iron chip blowing air duct, 23. rubber sheet, 24. steel strip, 25. magnetic column, 26. seat plate, 27. screw, 28. adsorption seat, 29. steel ball. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Although the embodiments of the present invention have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the attached claims and their equivalents. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0021] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0024] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two). Similarly, "Multiple groups" refers to two or more groups (including two groups), and "multiple sheets" refers to two or more sheets (including two sheets).

[0025] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0026] In the description of the embodiments of the present application, unless otherwise clearly specified and defined, the technical term "installation" The terms "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0027] As shown in the figure, a magnetic wall-climbing milling robot includes a vehicle body 19, a driving mechanism, a crawler walking mechanism 5, a weld milling mechanism, an adsorption component 18, a line patrol component, a chip blowing component and upper and lower wall seats; The vehicle body 19 is a saddle-type structure, which is used to be adsorbed on the cylinder wall and move along the weld; The driving mechanism is arranged at one end of the vehicle body 19 and is used to provide a power source for the vehicle body 19; The crawler walking mechanism 5 is symmetrically arranged on both sides of the vehicle body 19 to drive the vehicle body 19 to move; a transmission chain is provided therein, and a magnet is arranged on the transmission chain to adsorb the vehicle body 19 on the wall; The milling mechanism is arranged in the middle of the car body 19, and has a milling cutter 21 to perform weld milling along the car body 19; The adsorption component 18 is an adjustable strong magnet, which is arranged at the other end of the vehicle body 19, and has an adsorption force to adsorb the vehicle body 19 to the wall surface, and generates friction to ensure that the vehicle body 19 is stably adsorbed to the wall surface; The line inspection components are respectively arranged at the front end of the vehicle body 19 and beside the milling cutter 21, and are used to ensure the line inspection state of the vehicle body 19 and ensure automatic deviation correction in the case of misalignment of the weld bead; The chip blowing assembly is arranged around the milling cutter 21, and is used to discharge the waste chips milled by the milling cutter 21, so as to ensure that the adsorption assembly on the vehicle body 19 is as close to the iron chips as possible, thereby ensuring the processing accuracy; The upper and lower wall seats are rubber platforms that can magnetically attract the vehicle body 19 and the cylinder body, and are used for loading and unloading the vehicle body 19 on the surface of the cylinder body.

[0028] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: Since the crawler walking mechanism 5 has a transmission chain, a magnet is arranged on the transmission chain to adsorb the vehicle body 19 to the wall surface; at the same time, the adsorption component 18 is an adjustable strong magnet, which has an adsorption force to adsorb the vehicle body 19 to the wall surface; therefore, this magnetic wall-climbing milling robot has two adsorption devices to magnetically adsorb the vehicle body 1 to the cylinder wall, and when the milling cutter 21 is milling the weld, the stability is stronger, and the milling cutter 21 can run smoothly, thereby achieving high-precision milling and avoiding instability.

[0029] Since the upper and lower wall seats are rubber platforms, they can magnetically attract the vehicle body 19 and the cylinder; therefore, the upper and lower wall seats can magnetically attract the vehicle body 19 and the cylinder at the same time, and then the vehicle body 19 is loaded and unloaded on the surface of the cylinder through the upper and lower wall seats to perform upper and lower wall operations.

[0030] In order to ensure the stability of the structure of this embodiment, the driving mechanism includes a driving motor 1, a driving motor controller 7, a reducer and a driving remote control receiver 12; Two drive motors 1 are arranged on the vehicle body 19, and the drive motors 1 are controlled by the drive motor controller 7 to move synchronously or differentially. The drive motors 1 are connected to the crawler walking mechanism through the reducer to drive the vehicle body 19 to move in a straight line or turn. A drive remote control receiver 12 is also arranged on the vehicle body 19 and is electrically connected to the drive motor controller 7 for control operations.

[0031] The reducer includes a primary reducer 3 and a secondary reducer 4. One end of the primary reducer 3 is connected to the drive motor 1, and the other end is connected to the secondary reducer 4. The secondary reducer 4 is connected to the crawler walking mechanism to provide power.

[0032] In order to further ensure the stability of the structure of this embodiment, the crawler walking mechanism 5 is symmetrically arranged on both sides of the vehicle body 19, including a front driving wheel, a rear driving wheel and a transmission chain, and the front driving wheel and the rear driving wheel are connected to the transmission chain in a transmission manner; the transmission chain is a double-row chain, on which a chain plate is arranged, and a rubber block is arranged on the chain plate, and a magnet is arranged in the middle of the rubber block. The transmission chain is adsorbed on the surface of the cylinder wall through the magnet, which is used to provide magnetic attraction and friction when the vehicle body 19 moves vertically; Specifically, the secondary reducer 4 is connected to the front driving wheel of the crawler walking mechanism.

[0033] The rubber block is attached to the chain plate, and the magnet in the middle of the rubber block is 0.5 mm below the surface of the rubber block.

[0034] Specifically, a guide wheel 6 is provided between the front drive wheel and the rear drive wheel to adjust the curvature of the transmission chain to correspond to the curvature during the milling of the annular seam of the inner and outer cylinders, so that the vehicle body 19 and the transmission chain are connected as one through pressure; a chain tension adjustment bolt 8 is provided on the inner side of the rear drive wheel to adjust the length of the transmission chain to ensure that the tightness of the two transmission chains is consistent.

[0035] In order to optimize the structure of this embodiment, the milling mechanism includes an electric spindle 11, an electric spindle frequency converter 2, a Z-axis and a Y-axis slide 10, an electric spindle cooling water tank 13 and a milling cutter 21; A rotating motor is arranged on the top of the electric spindle 11, and the rotating motor controls the rotation speed of the electric spindle 11 through the electric spindle frequency converter 2. A milling cutter 21 is arranged at the bottom of the electric spindle 11 and is located on the Z-axis and Y-axis slides 10; wherein, the Y-axis slide adjusts the machining center line of the car body 19, and the Z-axis slide adjusts the machining depth of the milling cutter 21. After the Z-axis depth is fixed, the milling cutter 21 automatically follows the inner and outer surfaces of the cylinder body, and the vertical point of the milling cutter 21 is located on the front, back, left and right center of the car body 19, so that the milling cutter is always perpendicular to the machining surface during machining; an electric spindle cooling water tank 13 is arranged on the car body 19 to provide cooling water for cooling the milling cutter 21.

[0036] In order to further optimize the structure of this embodiment, the chip blowing assembly includes a brushless blower 9, an air duct outlet 17, an iron chip blowing air duct 20 and an iron chip blowing air duct 22; A chip blowing duct 20 is provided at the lower part of the brushless blower 9, and the chip blowing duct 20 can blow air towards the milling cutter 21; the chip blowing duct 22 and the chip blowing duct 20 are mirror-imaged on both sides of the milling cutter 21, and a duct outlet 17 is provided at the outer end of the chip blowing duct 22 to connect to a waste chip collection bag; the brushless blower 9 sends out air flow through the chip blowing duct 20, blowing the air toward the milling cutter 21, blowing the waste chips toward the chip blowing duct 22 and discharging them through the duct outlet 17 to avoid interfering with the working environment.

[0037] In this embodiment, the iron chip blowing air duct 22 is made of rubber material.

[0038] As a conventional technical option, the line patrol component includes a high-definition camera 14, an electric spindle infrared laser probe 15, and a patrol infrared sensor 16; A patrol infrared sensor 16 is provided at one end of the vehicle body 19 to control the running track; a high-definition camera 14 and an electric spindle infrared laser probe 15 are provided next to the milling cutter 21 to control the milling weld; The electric spindle infrared laser probe 15 is a straight-line infrared laser. The laser is aligned with the upper boundary line of the weld groove to calibrate the parallelism between the vehicle body 19 and the weld milling processing line, thereby achieving precise processing.

[0039] In order to further optimize the structure of this embodiment, the adsorption assembly 18 includes a seat plate 26, a screw 27, an adsorption seat 28 and a steel ball 29; A through hole is provided on the vehicle body 19, in which an adsorption seat 28 is installed. The adsorption seat 28 is rotatably connected to a screw rod 27. The screw rod 27 passes through a seat plate 26 screwed thereto, and the seat plate 26 is fixed at the top of the through hole. The height of the adsorption seat 28 is adjusted by rotating the screw 27. A locking nut is provided on the screw 27 to fix the adsorption assembly 18 on the vehicle body 19. A magnetic block is inlaid on the adsorption seat 28, and a steel ball 29 is magnetically attracted to the bottom of the adsorption seat 28 for rolling contact with the cylinder wall, so that the vehicle body 19 is stably adsorbed to the wall through the adsorption assembly 18.

[0040] In this embodiment, there are two adsorption components 18, which are symmetrically arranged on the vehicle body 19, and the diameter of the steel ball 29 is 1 mm.

[0041] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: Since the adsorption component 18 is symmetrically arranged on the vehicle body 19, the adsorption seat 28 has a magnetic block, and a steel ball 29 is magnetically attracted to the bottom of the adsorption seat 28 to roll and contact the cylinder wall, the adsorption component 18 can adjust the position of the adsorption seat 28 through the screw 27, and then the steel ball 29 rolls and contacts the cylinder wall, thereby reducing the friction between the vehicle body 19 and the cylinder wall, so that the vehicle body can be adsorbed on the wall and move freely.

[0042] In order to further optimize the structure of this embodiment, the upper and lower wall seats include a rubber plate 23, a steel strip 24 and a magnetic column 25; Both ends of the rubber sheet 23 are provided with slopes to facilitate the vehicle body 19 to travel up and down; steel strips 24 are symmetrically arranged on the rubber sheet 23, and the steel strips 24 are embedded in the rubber sheet 23. The spacing between the two steel strips 24 matches the crawler walking mechanism 5 on the vehicle body 19; magnetic columns 25 are arranged on the outside of the steel strips 24 to adsorb the rubber sheet 23 to the cylinder wall; and the side of the rubber sheet 23 is provided with a lifting lug for lifting.

[0043] In this embodiment, the thickness of the rubber sheet 23 is 20 mm, and the thickness of the steel strip 24 is 3 mm.

[0044] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: Since the steel strip 24 is embedded in the rubber plate 23, the vehicle body 19 can be adsorbed on the steel strip 24 through the magnet on the transmission chain. At the same time, magnetic columns 25 are arranged on the rubber plate 23, so that the upper and lower wall seats can be magnetically attracted to the cylinder wall, so that the vehicle body 19 can be loaded and unloaded on the cylinder surface through the upper and lower wall seats to perform weld milling operations.

[0045] The working process of this embodiment: First, the car body 19 is horizontally adsorbed on the two steel strips 24 of the upper and lower wall seats, and the lifting ears on one side of the car body 19 are lifted to make the car body 19 and the upper and lower wall seats in a vertical state; after the car body 19 and the upper and lower wall seats are lifted, they are close to the weld positions to be processed on the inner and outer walls of the cylinder. When the magnetic columns 25 on the upper and lower wall seats are adsorbed on the simple wall, the crane opens the upper and lower wall seats with the car body 19, allowing the car body 19 to be naturally adsorbed on the cylinder wall; Secondly, adjust the car body 19 by the laser line of the electric spindle infrared laser probe 15, and use the Y-axis slide to adjust the milling cutter 21 to the center of the weld, adjust the upper and lower distances of the guide wheels 6 in the crawler walking mechanism 5, so that the middle part of the transmission chain is consistent with the curvature of the inner and outer walls of the cylinder, and lower the adsorption assembly 18 at the rear of the car body 19 until the steel ball 29 at the bottom of the adsorption seat 28 hits the inner and outer walls of the cylinder, and the position of the limit screw 27 is locked by the locking nut; Next, start the electric spindle 11 until it reaches the maximum speed of 12,000 revolutions; turn on the brushless blower 9 and the water pump switch in the electric spindle cooling water tank 13, use the Z-axis slide to lower the height of the milling cutter 21, and adjust the milling cutter 21 to the required processing depth according to the Z-axis scale after it contacts the barrel wall; set 500 revolutions per minute, and start the drive motor 1 at the same time. After the processing is stable, the walking speed can be adjusted to a maximum of 1500 revolutions per minute, and the patrol mode is adopted for automatic walking; Finally, after the processing is completed, the upper and lower wall seats are first hung close to the cylinder wall and adsorbed on it, the car body 19 is opened onto the upper and lower wall seats, adsorbed on the two steel strips 24 of the upper and lower wall seats, and the upper and lower wall seats are manually pulled away from the cylinder wall. The car body 19 and the upper and lower wall seats are vertically adjusted away from the cylinder and placed on the ground.

[0046] It is worth noting that the contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of the drive motor 1, the electric spindle inverter 2, the drive motor controller 7, the brushless blower 9, the electric spindle 11, the drive remote control receiver 12, the high-definition camera 14, the electric spindle infrared laser probe 15, the patrol infrared sensor 16 and the magnetic column 25 are not specifically limited and can be determined using conventional equipment. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and are not described here.

[0047] Finally, it should be noted that: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetic wall-climbing milling robot, characterized by: It comprises a vehicle body (19), a driving mechanism, a crawler walking mechanism (5), a weld milling mechanism, an adsorption component (18), a line patrol component, a chip blowing component and upper and lower wall seats; The vehicle body (19) is a saddle-type structure, and is used to be adsorbed on the cylinder wall and move along the weld seam; The driving mechanism is arranged at one end of the vehicle body (19) and is used to provide a power source for the vehicle body (19); The crawler walking mechanism (5) is symmetrically arranged on both sides of the vehicle body (19) to drive the vehicle body (19) to move; a transmission chain is provided therein, and a magnet is arranged on the transmission chain to adsorb the vehicle body (19) onto the wall surface; The milling mechanism is arranged in the middle of the vehicle body (19) and has a milling cutter (21) which accompanies the vehicle body (19) to perform weld milling; The adsorption component (18) is an adjustable strong magnet, which is arranged at the other end of the vehicle body (19) and has an adsorption force to adsorb the vehicle body (19) onto the wall surface; The line inspection components are respectively arranged at the front end of the vehicle body (19) and beside the milling cutter (21), and are used to ensure the line inspection state of the vehicle body (19) and to ensure automatic deviation correction when the weld bead is misaligned; The chip blowing assembly is arranged around the milling cutter (21) and is used to discharge waste chips produced by the milling cutter (21); The upper and lower wall seats are rubber platforms capable of magnetically attracting the vehicle body (19) and the cylinder body, and are used for loading and unloading the vehicle body (19) on the surface of the cylinder body.

2. The magnetic wall-climbing milling robot according to claim 1 is characterized in that: The driving mechanism comprises a driving motor (1), a driving motor controller (7), a reducer and a driving remote control receiver (12); Two drive motors (1) are arranged on the vehicle body (19). The drive motors (1) are controlled by a drive motor controller (7) to move synchronously or differentially. The drive motors (1) are connected to a crawler walking mechanism via a speed reducer to drive the vehicle body (19) to move in a straight line or turn. A drive remote control receiver (12) is also arranged on the vehicle body (19) and is electrically connected to the drive motor controller (7). The reducer comprises a primary reducer (3) and a secondary reducer (4); one end of the primary reducer (3) is connected to the drive motor (1), and the other end is connected to the secondary reducer (4); and the secondary reducer (4) is connected to the crawler walking mechanism.

3. The magnetic wall-climbing milling robot according to claim 2 is characterized in that: The crawler walking mechanism (5) is symmetrically arranged on both sides of the vehicle body (19), and comprises a front driving wheel, a rear driving wheel and a transmission chain, wherein the front driving wheel and the rear driving wheel are connected to the transmission chain in a transmission manner; the transmission chain is a double-row chain, on which a chain plate is arranged, and a rubber block is arranged on the chain plate, and a magnet is arranged in the middle of the rubber block; The secondary reducer (4) is connected to the front drive wheel of the crawler walking mechanism; The rubber block is attached to the chain plate, and the magnet in the middle of the rubber block is 0.5mm lower than the surface of the rubber block; A guide wheel (6) is arranged between the front driving wheel and the rear driving wheel, and a chain tension adjustment bolt (8) is arranged on the inner side of the rear driving wheel.

4. The magnetic wall-climbing milling robot according to claim 1 is characterized in that: The milling mechanism comprises an electric spindle (11), an electric spindle frequency converter (2), a Z-axis and a Y-axis slide table (10), an electric spindle cooling water tank (13), and a milling cutter (21); A rotating motor is arranged on the top of the electric spindle (11), and the rotating motor controls the rotation speed of the electric spindle (11) through the electric spindle frequency converter (2). A milling cutter (21) is arranged on the bottom of the electric spindle (11) and is located on the Z-axis and Y-axis slides (10); wherein the Y-axis slide adjusts the machining center line of the car body (19), and the Z-axis slide adjusts the machining depth of the milling cutter (21); after the Z-axis depth is fixed, the milling cutter (21) automatically follows the inner and outer surfaces of the cylinder, and the vertical point of the milling cutter (21) is located at the front, back, left and right center of the car body (19); and an electric spindle cooling water tank (13) is arranged on the car body (19) to provide cooling water for cooling the milling cutter (21).

5. The magnetic wall-climbing milling robot according to claim 1 is characterized in that: The chip blowing assembly comprises a brushless blower (9), an air duct outlet (17), an iron chip blowing air duct (20) and an iron chip blowing air duct (22); A scrap iron blowing duct (20) is provided at the lower part of the brushless blower (9), and the scrap iron blowing duct (20) is capable of blowing air toward the milling cutter (21); the scrap iron blowing duct (22) and the scrap iron blowing duct (20) are arranged on both sides of the milling cutter (21) in a mirror-image manner, and an air duct outlet (17) is provided at the outer end of the scrap iron blowing duct (22) to connect to a scrap iron collection bag; the brushless blower (9) sends out an air flow through the scrap iron blowing duct (20) and blows the air toward the milling cutter (21), so that the scrap iron is blown toward the scrap iron blowing duct (22) and discharged through the air duct outlet (17); The iron chip blowing air duct (22) is made of rubber material.

6. The magnetic wall-climbing milling robot according to claim 1 is characterized in that: The line patrol component comprises an iron high-definition camera (14), an electric spindle infrared laser probe (15) and a patrol infrared sensor (16); A patrol infrared sensor (16) is provided at one end of the vehicle body (19) for controlling the running track; an iron high-definition camera (14) and an electric spindle infrared laser probe (15) are provided next to the milling cutter (21) for controlling the milling weld; The electric spindle infrared laser probe (15) is a straight-line infrared laser, and the laser is aligned with the upper boundary line of the weld groove to calibrate the parallelism between the vehicle body (19) and the weld milling processing line.

7. The magnetic wall-climbing milling robot according to claim 1 is characterized in that: The adsorption assembly (18) comprises a seat plate (26), a screw rod (27), an adsorption seat (28) and a steel ball (29); A through hole is provided on the vehicle body (19), and an adsorption seat (28) is installed in the through hole. The adsorption seat (28) is rotatably connected to a screw rod (27). The screw rod (27) passes through a seat plate (26) screwed thereto, and the seat plate (26) is fixed at the top of the through hole. The screw rod (27) is rotated to adjust the height of the adsorption seat (28). A locking nut is provided on the screw rod (27) so that the adsorption assembly (18) is fixed on the vehicle body (19). A magnetic block is embedded on the adsorption seat (28), and a steel ball (29) is magnetically attracted at the bottom of the adsorption seat (28).

8. The magnetic wall-climbing milling robot according to claim 7 is characterized in that: The steel ball (29) has a diameter of 1 mm.

9. The magnetic wall-climbing milling robot according to claim 1, characterized in that: The upper and lower wall seats include a rubber plate (23), a steel strip (24) and a magnetic column (25); Both ends of the rubber plate (23) are provided with slopes to facilitate the vehicle body (19) to travel up and down; steel strips (24) are symmetrically arranged on the rubber plate (23), the steel strips (24) are embedded in the rubber plate (23), and the spacing between the two steel strips (24) matches the crawler walking mechanism (5) on the vehicle body (19); magnetic columns (25) are arranged on the outside of the steel strips (24) to adsorb the rubber plate (23) to the cylinder wall; and lifting ears for lifting are provided on the side of the rubber plate (23).

10. A method for applying a magnetic wall-climbing milling robot, characterized in that: A magnetic wall-climbing milling robot according to any one of claims 1 to 9 is used, The following steps are involved: First, the vehicle body (19) is horizontally adsorbed on the two steel strips (24) of the upper and lower wall seats, and the lifting lugs on one side of the vehicle body (19) are lifted so that the vehicle body (19) and the upper and lower wall seats are in a vertical state; after the vehicle body (19) and the upper and lower wall seats are lifted, the position of the weld to be processed on the inner and outer walls of the cylinder is approached, and when the magnetic columns (25) on the upper and lower wall seats are adsorbed on the simple wall, the crane opens the upper and lower wall seats along with the vehicle body (19), allowing the vehicle body (19) to be naturally adsorbed on the cylinder wall; Secondly, the car body (19) is adjusted by the laser line of the electric spindle infrared laser probe (15), and the milling cutter (21) is adjusted to the center of the weld by the Y-axis slide, and the upper and lower distances of the guide wheels (6) in the crawler walking mechanism (5) are adjusted so that the middle part of the transmission chain is consistent with the curvature of the inner and outer walls of the cylinder, and the adsorption assembly (18) at the rear of the car body (19) is lowered until the steel ball (29) at the bottom of the adsorption seat (28) hits the inner and outer walls of the cylinder, and the position of the limit screw (27) is locked by the locking nut; Next, the electric spindle (11) is started until it reaches a maximum speed of 12,000 revolutions; Turn on the brushless blower (9) and the water pump switch in the electric spindle cooling water tank (13), use the Z-axis slide to lower the height of the milling cutter (21), and adjust the milling cutter (21) to the required processing depth according to the Z-axis scale after it contacts the cylinder wall; set 500 rpm, and start the drive motor (1) at the same time. After the processing is stable, the walking speed can be adjusted to a maximum of 1500 rpm, and the edge patrol mode is adopted for automatic walking; Finally, after the processing is completed, the upper and lower wall seats are first hung close to the cylinder wall and adsorbed thereon, the car body (19) is opened onto the upper and lower wall seats and adsorbed on the two steel strips (24) of the upper and lower wall seats, and the upper and lower wall seats are manually pulled away from the cylinder wall, and the car body (19) and the upper and lower wall seats are vertically moved away from the cylinder and placed on the ground.

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