Tank polishing and welding seam automatic tracking robot

Abstract

The invention relates to the field of robots, in particular to a tank polishing and welding seam automatic tracking robot. The device comprises a base, a polishing assembly, an adsorption assembly and a tracking auxiliary assembly. The left and right sides of the base are provided with moving pieces, the front and rear sides are provided with cameras, and the top is provided with a control box; the grinding assembly is arranged at the bottom of the base. The adsorption assembly is arranged at the bottom of the base, and the adsorption end is segmented and telescopic; the tracking auxiliary assembly is located on the base and controls the tracking probe and the auxiliary head to move through rotation and stretching; the auxiliary head adsorbs the tank wall to secondarily stabilize the robot on one hand, and on the other hand, the auxiliary head cleans the tank wall to conduct pretreatment before grinding on the tank wall. Through cooperation of the base, the grinding assembly, the adsorption assembly and the tracking auxiliary assembly, integration of cleaning and grinding functions is achieved, automation and intelligence are high, and the effect that the robot works on the tank is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a tank body grinding and weld seam automatic tracking robot. Background Art

[0002] Weld excess height, undercuts, or uneven areas on tank bodies can easily form stress concentration points. Grinding can smooth the transition between the weld and the base material, reducing the risk of cracking. It can also remove surface defects such as pores and slag inclusions caused by welding, preventing them from expanding into cracks during subsequent use. It also reduces media residue and flow resistance, avoiding corrosion or contamination. Due to the certain height of the tank body, manual operation is inconvenient, so robots can be used for tank body grinding.

[0003] Existing robots for weld grinding have the following shortcomings: 1. They lack the ability to identify and address contaminants on the weld surface. If the weld surface is contaminated by oil, rust, or other stains, direct grinding will be ineffective. If the weld surface is free of contaminants, cleaning is time-consuming and labor-intensive, affecting grinding efficiency. 2. The grinding process generates waste residue, which adheres to the tank, causing secondary contamination and compromising weld treatment. Summary of the Invention

[0004] In response to the problems existing in the background technology, a tank body grinding and weld automatic tracking robot is proposed. Through the cooperation of the base, grinding components, adsorption components and tracking auxiliary components, the cleaning and grinding functions are integrated. It is highly automatic and intelligent, ensuring the effectiveness of the robot's operation on the tank body.

[0005] This invention proposes a tank grinding and weld seam automatic tracking robot, comprising a base, a grinding assembly, a suction assembly, and a tracking auxiliary assembly. The base has movable parts on its left and right sides, cameras on its front and rear sides, and a control box on its top. The grinding assembly is located at the bottom of the base, along with the suction assembly, which has a segmented and retractable suction end. The tracking auxiliary assembly, located on the base, controls the movement of the tracking probe and auxiliary head through rotation and retraction. The auxiliary head stabilizes the robot by sucking against the tank wall and cleans the tank wall, pre-treating it before grinding.

[0006] Preferably, the moving part is configured as a crawler-type moving structure; an engine structure for driving the structure is provided in the base.

[0007] Preferably, each of the four top corners of the base is provided with an installation groove 1; the tracking auxiliary component includes a rotating shaft rotatably arranged in the installation groove 1; the rotating shaft is located at one end of the rotating frame; a slider that moves along its length direction is provided on the rotating frame; a telescopic part is provided at the bottom of the slider; the tracking probe is lifted and rotated along the side wall of the telescopic part; and the auxiliary head is rotatably arranged at the bottom of the telescopic part.

[0008] Preferably, the auxiliary head is rotatably arranged at a base at the bottom of the telescopic end of the telescopic part; opening one and opening two are arranged at the bottom of the base, and air pump one is arranged on the side; opening one is located at the center of the base, and a cleaning scraper that is controlled to rise and fall by air pump one is arranged in opening one; opening two is located at the outer periphery of the base, and an adsorption head that is controlled to adsorb by air pump one is arranged in opening two.

[0009] Preferably, the telescopic end of the telescopic member is provided with upper and lower limit platforms; the sliding platform slides between the upper and lower limit platforms; and the tracking probe is rotatably provided on the sliding platform.

[0010] Preferably, the adsorption assembly includes multiple adsorption units; each adsorption unit includes a telescopic driving member, an adsorption seat located on the telescopic end of the telescopic driving member, and an adsorption head located on the adsorption seat; the adsorption head adopts a permanent magnet; the adsorption heads of multiple adsorption units are arranged in a circle along the outer circumference of the polishing assembly.

[0011] Preferably, a grinding groove is provided at the bottom of the base; the grinding assembly includes a rotating turntable; a guide frame is provided on the turntable; a mounting seat is provided on the guide frame; and the grinding head is lifted and rotated below the mounting seat.

[0012] Preferably, the base is provided with an adsorption port between the grinding groove at the bottom and the adsorption head; the control box is provided with a slag collecting piece and a slag collecting pump communicating with the adsorption port and the slag collecting piece.

[0013] Preferably, the slag collecting part includes a filter cartridge detachably mounted on the control box; the filter cartridge is provided with a slag collecting port connected to a pipe, and is also provided with a detachable cartridge cover covering the cartridge port; the slag collecting port is connected to the adsorption port through a pipe; the slag collecting pump forms a negative pressure through the connecting pipe.

[0014] Preferably, a mounting hole is provided on the control box.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: A polishing assembly and a tracking auxiliary assembly are provided to work together. The tracking auxiliary assembly first utilizes the movement and rotation of the tracking probe to accurately track the weld while identifying dirt or oxide layers and analyzing the cleanliness. When cleaning is not required, the auxiliary head then uses suction to the tank wall to stabilize the robot a second time. When cleaning is required, it scrapes away dirt from the tank wall to pre-treat the tank wall before polishing. This makes polishing more efficient and high-quality. The polishing assembly, through the movement and rotation of the mounting base and the further lifting and rotation of the polishing head, performs large-scale weld polishing. During the polishing process, the auxiliary assembly ensures the robot's stability and strong adsorption through segmented and telescopic adsorption, as well as adsorption by the auxiliary head. Simultaneously, under negative pressure, the suction port absorbs residue generated during polishing and cleaning and transfers the residue to the filter cartridge, reducing its impact on the tank environment and the polishing effect. This achieves the integration of cleaning and polishing functions, with high automation and intelligence, ensuring the effectiveness of the robot's operation on the tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Front view of the tank grinding and welding automatic tracking robot;

[0017] Figure 2 Rear view of the robot that automatically tracks tank grinding and welding seams;

[0018] Figure 3 Bottom view of the tank grinding and welding automatic tracking robot;

[0019] Figure 4 A structural diagram for tracking auxiliary component status one;

[0020] Figure 5 A structural diagram for tracking auxiliary component state two;

[0021] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0022] Figure 7 Schematic diagram of the structure of the adsorption component;

[0023] Figure 8 It is a schematic diagram of the structure of the polishing component;

[0024] Figure 9 Schematic diagram of the structure of the slag collecting parts.

[0025] 1. Base; 101. Mounting slot 1; 102. Grinding slot; 103. Adsorption port; 3. Control box; 4. Moving part; 5. Camera; 6. Tracking auxiliary component; 601. Rotating shaft; 602. Rotating frame; 603. Slider; 604. Telescopic part; 605. Base; 606. Cleaning scraper; 607. Adsorption head; 608. Air pump 1; 609. Tracking probe; 610. Sliding table; 611. Screw 2; 612. Through slot; 613. Auxiliary head; 7. Grinding assembly; 701. Rotating table; 702. Guide frame; 703. Mounting seat; 704. Grinding head; 705. Screw 3; 8. Slag collecting part; 801. Filter cartridge; 802. Slag collecting port; 803. Cartridge cover; 9. Adsorption assembly; 901. Adsorption head; 902. Adsorption seat; 903. Telescopic driving part. DETAILED DESCRIPTION

[0026] In the first embodiment, the present invention proposes a tank body grinding and weld seam automatic tracking robot, such as Figure 1-Figure 3As shown, the robot comprises a base 1, a polishing assembly 7, an adsorption assembly 9, and a tracking auxiliary assembly 6. The base 1 has movable members 4 on its left and right sides, cameras 5 on its front and back sides, and a control box 3 on its top. The polishing assembly 7 is located at the bottom of the base 1. The adsorption assembly 9 is also located at the bottom of the base 1, with a segmented and retractable adsorption end. The tracking auxiliary assembly 6 is located on the base 1 and controls the movement of the tracking probe 609 and auxiliary head 613 through rotation and extension. The auxiliary head 613 stabilizes the robot by adsorbing the tank wall and cleans the tank wall, pre-treating it before polishing.

[0027] It should be further explained that the movable part 4 is configured as a crawler-type movable structure; an engine structure for driving the structure is provided in the base 1; the crawler-type movable structure can closely fit the curved surface of the tank body through vacuum adsorption, magnetic attraction or friction-enhancing design (such as high-friction rubber crawlers) to prevent slipping or falling off. The multi-section design of the crawler-type movable structure can flexibly fit the arc, welds or uneven areas (such as anti-corrosion layers, rusted areas) of the tank body, and can also distribute the weight of the equipment to a larger contact surface, reducing local pressure on the tank body (avoiding deformation of thin-walled tank bodies or damage to coatings). It can cross welds, reinforcement ribs or small-scale corrosion protrusions on the surface of the tank body, and continuously roll to reduce bumps.

[0028] It should be further explained that the four top corners of the base 1 are each provided with a mounting groove 101 , a grinding groove 102 is provided at the bottom of the base 1 , and an adsorption port 103 is provided between the grinding groove 102 and the adsorption head 901 .

[0029] like Figure 4-Figure 6 As shown, the tracking auxiliary assembly 6 includes a rotating shaft 601, driven by motor 1 and mounted in mounting slot 101. Rotating shaft 601 is located at one end of a rotating frame 602. A slider 603 is mounted on the rotating frame 602, which moves along its length. A telescopic member 604 is located at the bottom of the slider 603. A tracking probe 609 rises and falls and rotates along the sidewall of the telescopic member 604. An auxiliary head 613 is rotatably mounted at the bottom of the telescopic member 604.

[0030] It should be further explained that a through slot 612 is provided on the rotating frame 602 ; a lead screw 1 driven to rotate by a second motor is provided in the through slot 612 ; the slider 603 is connected to the lead screw 1 via a thread to achieve horizontal movement along the through slot 612 .

[0031] It should be further explained that the telescopic member 604 is configured as a cylinder structure, which is connected below the slider 603 to drive the auxiliary head 613 and the tracking probe 609 to move up and down.

[0032] As the robot crawls along the tank, telescopic member 604 shortens and resides within mounting slot 101. During weld seam tracking, shaft 601 rotates, causing telescopic member 604 to move out of mounting slot 101 and extend. Tracking probe 609 further moves and rotates, capturing the weld's location and image to analyze whether it requires cleaning.

[0033] It should be further explained that the auxiliary head 613 includes a base 605 that is driven by motor three and is rotated at the bottom of the telescopic end of the telescopic part 604; opening one and opening two are set at the bottom of the base 605, and an air pump 608 is set on the side; opening one is located at the center of the base 605, and a cleaning scraper 606 that is controlled to rise and fall by air pump 608 is set in opening one; opening two is located on the outer periphery of the base 605, and an adsorption head 607 that is controlled to adsorb by air pump 608 is set in opening two.

[0034] When cleaning is required, air pump 1 608 is connected to opening 1, driving cleaning scraper 606 to extend out of opening 1. With the rotation of base 605, it is inserted into the oil or rust layer to loosen and scrape away the oil and rust attached to the tank wall. When firming is required, air pump 1 608 is connected to opening 2, base 605 is brought close to the tank wall, and suction head 607 absorbs the tank wall.

[0035] It should be further explained that, the telescopic end of the telescopic member 604 is provided with upper and lower limit platforms; the sliding platform 610 slides between the upper and lower limit platforms; and the tracking probe 609 is rotatably provided on the sliding platform 610 .

[0036] It should be further explained that a screw 2 611 driven to rotate by motor 4 is provided between the upper and lower limit platforms; the sliding platform 610 is connected to the screw 2 611 through a thread, so as to slide up and down along the telescopic end of the telescopic member 604, thereby driving the tracking probe 609 to rise and fall.

[0037] It should be further explained that a notch is provided on the sliding platform 610; the tracking probe 609 is driven by the motor 5 to rotate up and down at the notch position.

[0038] By raising and lowering the tracking probe 609, it can track the weld seam over a wide range and accurately determine whether the tank wall at the weld seam needs cleaning, allowing the robot to better complete the grinding task. The tracking probe 609 uses a laser displacement sensor to detect dirt or oxide layers by measuring changes in weld surface height. Alternatively, a visual probe can be used with a light source (such as a blue LED) to capture weld seam images and analyze cleanliness using an algorithm. This allows for automatic tracking of the weld seam and determination of its cleanliness.

[0039] like Figure 7As shown, the adsorption assembly 9 includes multiple adsorption units; each adsorption unit includes a telescopic driving member 903, an adsorption seat 902 located on the telescopic end of the telescopic driving member 903, and an adsorption head 901 located on the adsorption seat 902; the adsorption head 901 adopts a permanent magnet; the adsorption heads 901 of multiple adsorption units are arranged in a circle along the outer circumference of the grinding assembly 7.

[0040] It should be further explained that the telescopic driving member 903 is configured as a cylinder, and the cylinder body is fixed on the base 1 .

[0041] It should be further explained that the adsorption heads 901 include strip-shaped and L-shaped ones, and multiple groups of adsorption heads 901 form a frame-shaped structure.

[0042] By setting up segmented adsorption heads 901, the magnetic gap distance between each group of adsorption heads 901 and the tank wall can be adjusted, thereby meeting the adsorption strength requirements for tank walls with different curvatures and ensuring the stability of the robot's crawling.

[0043] like Figure 8 As shown, the grinding assembly 7 includes a rotating table 701 driven by a motor 5; a guide frame 702 is provided on the rotating table 701; a mounting seat 703 is provided on the guide frame 702; and a grinding head 704 is lifted and rotated below the mounting seat 703.

[0044] It should be further explained that a rotating head is set at the center of the rotating table 701, and the origin rotation is achieved by connecting the rotating head to the main shaft of the motor five; a through opening is set on the guide frame 702; a screw three 705 driven to rotate by the motor six is ​​set in the through opening; the mounting seat 703 is connected to the screw three 705 by a thread to achieve horizontal movement along the guide frame 702.

[0045] It should be further explained that the mounting base 703 is provided with a cylinder for driving the grinding head 704 to move up and down and a motor 7 for driving the grinding head 704 to rotate.

[0046] By moving and rotating the mounting base 703 and coordinating with the further lifting and rotating of the grinding head 704 , the grinding position and depth can be adjusted, thereby achieving a wide range of grinding.

[0047] Example 2: Based on Example 1, this example further discloses a slag collecting structure of the robot, such as Figure 1 and Figure 9 As shown, a slag collecting part 8 and a slag collecting pump connecting the adsorption port 103 and the slag collecting part 8 are provided on the control box 3; the adsorption port 103 is provided between the grinding tank 102 and the adsorption head 901, so that the residue during cleaning and grinding can be collected in time, thereby improving the efficiency and effect of grinding.

[0048] It should be further explained that the slag collecting part 8 includes a filter cartridge 801 that can be detachably mounted on the control box 3; the filter cartridge 801 is provided with a slag collecting port 802 connected to a pipe, and is also provided with a detachable cartridge cover 803 that covers the cartridge port; the slag collecting port 802 is connected to the adsorption port 103 through a pipe; the slag collecting pump forms a negative pressure through the connecting pipe, and under the negative pressure environment, the adsorption port 103 absorbs the residue generated during grinding and cleaning, and transfers the residue to the filter cartridge 801.

[0049] It should be further explained that a mounting hole is provided on the control box 3; the filter cartridge 801 is engaged with the mounting hole; after the weld seam processing is completed, the filter cartridge 801 can be removed and the cartridge cover 803 can be opened for cleaning.

[0050] The working method of the tank body grinding and weld seam automatic tracking robot in the present invention is as follows:

[0051] S1. The staff moves the robot to the tank wall;

[0052] S2. Adjust the magnetic gap distance between the segmented adsorption head 901 and the tank wall, and adjust the magnetic attraction strength based on factors such as the curvature of the tank and its own weight;

[0053] S3. The crawler-type mobile structure crawls along the tank wall, and the camera 5 searches for the approximate position of the weld. At this time, the telescopic member 604 is shortened and located in the installation slot 101.

[0054] S4. When the weld is near, the rotating shaft 601 rotates, and the telescopic member 604 moves out of the mounting slot 101 and extends. The tracking probe 609 further moves and rotates to identify dirt or oxide layers and analyze the cleanliness.

[0055] S5. If cleaning is required, the air pump 608 is connected to the opening 1, driving the cleaning scraper 606 to extend out of the opening 1, and cooperates with the rotation of the base 605 to remove the oil and rust attached to the tank wall;

[0056] S6. After cleaning is completed, the grinding assembly 7 is moved to the position opposite to the weld; the air pump 1 608 is connected to the opening 2, the base 605 is close to the tank wall, and the adsorption head 607 adsorbs the tank wall to fix the robot for the second time;

[0057] S7. Large-scale weld grinding is performed by moving and rotating the mounting base 703 and coordinating the further lifting and rotation of the grinding head 704.

[0058] S8. Under negative pressure, the adsorption port 103 absorbs the residue generated during polishing and cleaning, and transfers the residue to the filter cartridge 801;

[0059] S9, the tracking probe 609 tracks the position of the next weld and determines the cleanliness;

[0060] S10, and so on, until all weld seam tracking and grinding are completed.

[0061] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A tank body grinding and weld seam automatic tracking robot, characterized in that: include: A base (1), movable parts (4) are arranged on the left and right sides of the base (1), cameras (5) are arranged on the front and rear sides, and a control box (3) is arranged on the top; A polishing assembly (7), the polishing assembly (7) is arranged at the bottom of the base (1); An adsorption component (9), the adsorption component (9) is arranged at the bottom of the base (1), and the adsorption end is segmented and retractable; And a tracking auxiliary component (6), the tracking auxiliary component (6) is located on the base (1), and controls the movement of the tracking probe (609) and the auxiliary head (613) by rotation and extension; the auxiliary head (613) stabilizes the robot by adsorbing the tank wall on the one hand, and pre-treats the tank wall before polishing by cleaning the tank wall on the other hand.

2. The tank body grinding and weld seam automatic tracking robot according to claim 1, characterized in that: The moving part (4) is arranged as a crawler-type moving structure; an engine structure for driving the structure is arranged in the base (1).

3. The tank body grinding and weld seam automatic tracking robot according to claim 1, characterized in that: The four top corners of the base (1) are all provided with mounting grooves (101); The tracking auxiliary component (6) includes a rotating shaft (601) rotatably arranged in the first mounting groove (101); the rotating shaft (601) is located at one end of the rotating frame (602); a slider (603) is provided on the rotating frame (602) and moves along its length direction; a telescopic member (604) is provided at the bottom of the slider (603); The tracking probe (609) is lifted and rotated along the side wall of the telescopic member (604); The auxiliary head (613) is rotatably arranged at the bottom of the telescopic member (604).

4. The tank body grinding and weld seam automatic tracking robot according to claim 3, characterized in that: The auxiliary head (613) is rotatably arranged on a base (605) at the bottom of the telescopic end of the telescopic member (604); the bottom of the base (605) is provided with openings 1 and 2, and the side is provided with an air pump 1 (608); Opening 1 is located at the center of the base (605), and a cleaning scraper (606) is arranged in the opening 1 and is controlled to rise and fall by an air pump 1 (608); The second opening is located on the outer periphery of the base (605), and an adsorption head (607) controlled by an air pump (608) is provided in the second opening.

5. The tank body grinding and weld seam automatic tracking robot according to claim 4, characterized in that: Limiting platforms are provided on the upper and lower ends of the telescopic member (604); the sliding platform (610) slides between the upper and lower limiting platforms; and the tracking probe (609) is rotatably provided on the sliding platform (610).

6. The tank body grinding and weld seam automatic tracking robot according to claim 1, characterized in that: The adsorption assembly (9) includes a plurality of adsorption units; each adsorption unit includes a telescopic driving member (903), an adsorption seat (902) located on the telescopic end of the telescopic driving member (903), and an adsorption head (901) located on the adsorption seat (902); The adsorption head (901) adopts a permanent magnet; The adsorption heads (901) of the plurality of adsorption units are arranged in a circle along the outer circumference of the polishing assembly (7).

7. The tank body grinding and weld seam automatic tracking robot according to claim 6, characterized in that: A grinding groove (102) is provided at the bottom of the base (1); The grinding assembly (7) comprises a rotating rotating platform (701); a guide frame (702) is arranged on the rotating platform (701); a mounting seat (703) is arranged on the guide frame (702); and a grinding head (704) is lifted and rotated below the mounting seat (703).

8. The tank body grinding and weld seam automatic tracking robot according to claim 7, characterized in that: The base (1) is provided with an adsorption port (103) between the grinding groove (102) at the bottom and the adsorption head (901); The control box (3) is provided with a slag collecting part (8) and a slag collecting pump communicating with the adsorption port (103) and the slag collecting part (8).

9. The tank body grinding and weld seam automatic tracking robot according to claim 7, characterized in that: The slag collecting member (8) comprises a filter cartridge (801) detachably mounted on the control box (3); the filter cartridge (801) is provided with a slag collecting port (802) connected to a pipeline, and is also provided with a detachable cartridge cover (803) covering the cartridge port; the slag collecting port (802) is connected to the adsorption port (103) via a pipeline; The slag collection pump creates negative pressure through the connecting pipe.

10. The tank body grinding and weld seam automatic tracking robot according to claim 9, characterized in that: The control box (3) is provided with a mounting hole.

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