Automatic polishing robot for spherical tank

Abstract

The utility model provides an automatic polishing robot for a spherical tank, which relates to the technical field of polishing robots and comprises a frame, and a track component is mounted on one side of the frame. According to the polishing device, the air pump is communicated with the connecting pipe, so that air can flow in the connecting pipe, air is discharged through the through holes in one sides of the two auxiliary plates, air flow around the polishing position of the inner wall of the tank body can be accelerated, and accumulation of chippings is reduced; the two ends of the L-shaped connecting piece are fixedly connected with the protective shell, the first motor can drive the second bevel gear and the first bevel gear to rotate, so that rotation of the L-shaped connecting piece is achieved, the using positions of the two grinding discs are changed, and due to the fact that the diameters of the two grinding discs are different, after the positions of the grinding discs are adjusted, the grinding width of a welding seam can be changed; and by means of the rack and the crawler belt assembly, the robot can be assisted in adsorption and walking in the spherical tank, and therefore the stability of the robot during grinding is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of polishing robots, in particular to an automatic polishing robot for a spherical tank. Background Art

[0002] Steel welded spherical storage tanks are spherical pressure-bearing metal containers and are important objects in electromechanical installation projects. Spherical tanks contain high-pressure gas or liquefied gas, most of which are flammable and explosive media, which are very dangerous. When inspecting spherical tanks, the inner wall and welds need to be polished.

[0003] When grinding the inner wall of a spherical tank, most crawler robots are used to climb and move inside the spherical tank. However, when the grinding robot is in use, after grinding the weld and the inner wall of the spherical tank, some debris still adheres to the grinding area and cannot automatically fall to the bottom of the inner cavity of the tank. It needs to be cleaned with water or a brush, which increases the workload of subsequent tank cleaning. Utility Model Content

[0004] The utility model mainly provides a spherical tank automatic grinding robot which can adjust the welding seam grinding width and prevents debris from remaining.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an automatic grinding robot for a spherical tank, comprising: a frame, a track assembly is installed on one side of the frame, a fixed plate is fixedly connected to the top of the frame, a control box is installed on the top of the fixed plate, a camera is installed on one side of the control box, a connecting plate is fixedly connected to one side of the fixed plate, an auxiliary mechanism is arranged at the bottom of the connecting plate, the auxiliary mechanism comprises a connecting pipe, an auxiliary plate and an air pump, one end of the connecting pipe is fixedly connected to the auxiliary plate, a filter is fixedly connected to one side of the auxiliary plate, and one side of the connecting pipe is fixedly connected to the air pump, a mounting piece is fixedly connected to one side of the air pump, the mounting piece is connected to a protective shell by bolts, an L-shaped connecting piece is fixedly connected to one side of the protective shell, so that the two protective shells can be connected by the L-shaped connecting piece, the track assembly can be used to drive the entire robot to walk inside the spherical tank to assist in grinding the inside of the spherical tank, and the suction cup at the bottom of the frame can assist in the adsorption and fixation of the robot.

[0006] Preferably, one side of the protective shell is fixedly connected to the connecting pipe, and a second motor is embedded inside the protective shell, and a grinding disc is fixedly connected to the output shaft of the second motor, so that the protective shell can wrap and protect the outside of the second motor. The second motor can drive the grinding disc to rotate quickly to grind the inner wall of the spherical tank.

[0007] Preferably, one side of the L-shaped connecting piece is fixedly connected to bevel gear 1, one side of the bevel gear 1 is meshed with bevel gear 2, and one side of the bevel gear 2 is fixedly connected to the output shaft of motor 1, so that motor 1 can be used to drive bevel gear 2 to rotate, and then the meshing of bevel gear 2 and bevel gear 1 can be used to drive bevel gear 1 to rotate, thereby realizing synchronous rotation of bevel gear 1 and the L-shaped connecting piece.

[0008] Preferably, a support plate is fixedly connected to the top of the motor 1, and an extension plate is fixedly connected to the bottom of the support plate. The extension plate is rotatably connected to the bevel gear 1, which facilitates the reinforcement of the support plate for the installation and use of the motor 1. The extension plate can be used to achieve the connection between the bevel gear 1 and the support plate, thereby improving the stability of the bevel gear 1 rotating at the bottom of the support plate.

[0009] Preferably, a guide plate is slidably connected to the top of the support plate, and the top of the guide plate is fixedly connected to the connecting plate, so that the guide plate can guide the lifting and lowering of the support plate and improve the stability of the support plate when lifting and lowering.

[0010] Preferably, a hydraulic cylinder is fixedly connected to the top of the support plate, and the top of the hydraulic cylinder is fixedly connected to the connecting plate, so that the support plate can be driven up and down by the hydraulic cylinder, thereby shortening the distance between the grinding disc and the inner wall of the spherical tank and achieving contact between the grinding disc and the inner wall.

[0011] Preferably, an extension bar is overlapped on one side of the support plate, one end of the extension bar is fixedly connected to the frame, and a suction cup assembly is installed at the bottom of the frame to facilitate the extension bar to support one side of the support plate and improve the stability of the L-shaped connector during rotation.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] 1. In the utility model, one side of the air pump is connected to the protective shell through a mounting piece. The connection between the air pump and the connecting pipe can ensure the flow of gas inside the connecting pipe, so that the compressed air is evenly sent to the two auxiliary plates and discharged through the through holes on one side of the two auxiliary plates, thereby increasing the exhaust area on both sides of the grinding disc, accelerating the air flow around the grinding area of ​​the inner wall of the tank body, thereby reducing the accumulation of debris, and further reducing the workload of subsequent cleaning inside the tank body.

[0014] 2. In the utility model, both ends of the L-shaped connector are fixedly connected to the protective shell, and the motor 1 can drive the bevel gear 2 and the bevel gear 1 to rotate, thereby realizing the rotation of the L-shaped connector and changing the use position of the two grinding discs. Since the diameters of the two grinding discs are different, after the position of the grinding discs is adjusted, the grinding width of the currently identified weld can be adjusted to ensure the overall grinding effect. The frame and crawler assembly can assist the robot in adsorption and walking inside the spherical tank, thereby improving the stability of the robot during grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional diagram of an automatic grinding robot for spherical tanks is proposed for the utility model;

[0016] Figure 2 The utility model provides a schematic diagram of the installation of the extension strip structure of the automatic grinding robot for spherical tanks;

[0017] Figure 3 The utility model provides a schematic diagram of the filter structure of a spherical tank automatic grinding robot;

[0018] Figure 4 The utility model proposes a schematic diagram of the motor structure installation of a spherical tank automatic grinding robot;

[0019] Figure 5 The utility model provides a schematic diagram of the connecting parts structure of a spherical tank automatic grinding robot.

[0020] Legend: 1. Control box; 2. Fixing plate; 3. Connecting plate; 4. Support plate; 5. Connecting pipe; 6. Auxiliary plate; 7. Track assembly; 8. Guide plate; 9. Grinding disc; 10. Motor 1; 11. Hydraulic cylinder; 12. Protective housing; 13. Filter; 14. Air pump; 15. Bevel gear 1; 16. Motor 2; 17. Bevel gear 2; 18. L-shaped connector; 19. Mounting piece; 20. Frame; 21. Extension strip. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0023] See also Figure 1-5The utility model provides a technical solution: an automatic grinding robot for a spherical tank, comprising: a frame 20, a crawler assembly 7 is installed on one side of the frame 20, a fixed plate 2 is fixedly connected to the top of the frame 20, a control box 1 is installed on the top of the fixed plate 2, a camera is installed on one side of the control box 1, a connecting plate 3 is fixedly connected to one side of the fixed plate 2, an auxiliary mechanism is arranged at the bottom of the connecting plate 3, the auxiliary mechanism comprises a connecting pipe 5, an auxiliary plate 6 and an air pump 14, one end of the connecting pipe 5 is fixedly connected to the auxiliary plate 6, a filter screen 13 is fixedly connected to one side of the auxiliary plate 6, and one side of the connecting pipe 5 is fixedly connected to the air pump 14, a mounting member 19 is fixedly connected to one side of the air pump 14, the mounting member 19 is connected to a protective shell 12 by bolts, and an L-shaped connecting member 18 is fixedly connected to one side of the protective shell 12, so that the two protective shells 12 can be connected by the L-shaped connecting member 18, the crawler assembly 7 can be used to drive the entire robot to walk inside the spherical tank, and the grinding process inside the spherical tank is assisted, and the suction cup at the bottom of the frame 20 can assist the adsorption and fixation of the robot.

[0024] like Figure 2 and Figure 4 As shown, one side of the protective shell 12 is fixedly connected to the connecting pipe 5, and a motor 16 is embedded inside the protective shell 12. The output shaft of the motor 16 is fixedly connected to the grinding disc 9, so that the protective shell 12 can wrap and protect the outside of the motor 16. The motor 16 can drive the grinding disc 9 to rotate quickly to grind the inner wall of the spherical tank.

[0025] like Figure 4 and Figure 5 As shown, one side of the L-shaped connecting piece 18 is fixedly connected to a bevel gear 15, one side of the bevel gear 15 is meshed with a bevel gear 2 17, and one side of the bevel gear 2 17 is fixedly connected to the output shaft of the motor 10, so that the motor 10 can be used to drive the bevel gear 2 17 to rotate, and then the meshing of the bevel gear 2 17 and the bevel gear 15 can be used to drive the bevel gear 15 to rotate, thereby realizing the synchronous rotation of the bevel gear 15 and the L-shaped connecting piece 18.

[0026] like Figure 3 and Figure 4 As shown, a support plate 4 is fixedly connected to the top of the motor 10, and an extension plate is fixedly connected to the bottom of the support plate 4. The extension plate and the bevel gear 15 are rotatably connected to each other, so that the support plate 4 can be reinforced for the installation and use of the motor 10. The extension plate can be used to connect the bevel gear 15 to the support plate 4, thereby improving the stability of the bevel gear 15 rotating at the bottom of the support plate 4.

[0027] like Figure 2 and Figure 3 As shown, a guide plate 8 is slidably connected to the top of the support plate 4, and the top of the guide plate 8 is fixedly connected to the connecting plate 3, so that the guide plate 8 can guide the lifting and lowering of the support plate 4 and improve the stability of the support plate 4 when lifting and lowering.

[0028] like Figure 3 As shown, a hydraulic cylinder 11 is fixedly connected to the top of the support plate 4, and the top of the hydraulic cylinder 11 is fixedly connected to the connecting plate 3, so that the hydraulic cylinder 11 can be used to drive the support plate 4 to rise and fall, thereby shortening the distance between the grinding disc 9 and the inner wall of the spherical tank and achieving contact between the grinding disc 9 and the inner wall.

[0029] like Figure 2 As shown, an extension bar 21 is overlapped on one side of the support plate 4, one end of the extension bar 21 is fixedly connected to the frame 20, and a suction cup assembly is installed at the bottom of the frame 20 to facilitate the extension bar 21 to support one side of the support plate 4, thereby improving the stability of the L-shaped connector 18 when rotating.

[0030] The use method and working principle of this device: First, the entire robot uses the control box 1 to receive and send signals, and the crawler assembly 7 can be used to realize the movement of the entire device inside the spherical tank. Both ends of the L-shaped connecting piece 18 are connected to the protective shell 12. The diameters of the two grinding discs 9 are different, so the grinding width of the weld can be adjusted. When the grinding disc 9 needs to be replaced for grinding, the motor 10 is used to drive the bevel gear 2 17 to rotate, and the bevel gear 2 17 drives the bevel gear 15 to rotate. The bevel gear 15 drives the L-shaped connecting piece 18 to rotate at the bottom of the support plate 4, and the L-shaped connecting piece 18 is rotated 90°. At this time, the grinding disc 9 can be replaced. Since the connecting pipe 5 and the air pump 14 are fixedly connected to the protective shell 12, when the protective shell 12 rotates, the connecting pipe 5 and the auxiliary plate 6 As the protective shell 12 rotates, the hydraulic cylinder 11 can be used to drive the support plate 4 to move downward, so that the bottom of the grinding disc 9 contacts the inner wall of the tank body, and then the motor 16 inside the protective shell 12 can be used to drive the grinding disc 9 to rotate quickly, so as to grind the welds or protrusions inside the tank body. After grinding, the air pump 14 can be used to send air into the connecting pipe 5, and then send it into the two auxiliary plates 6 through the U-shaped connecting pipe 5, and then spray it out through the auxiliary plates 6, so as to reduce the accumulation of debris at the grinding location. The camera on one side of the control box 1 has an automatic recognition function, which can automatically recognize the weld. A suction cup assembly is provided at the bottom of the frame 20, which can be adsorbed on the inner wall of the spherical tank. The product weight is small, and the grinding length can be set by using an external control device, and then the weld is automatically ground according to the set length.

[0031] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A spherical tank automatic polishing robot, characterized in that: include: A frame (20), a crawler assembly (7) is installed on one side of the frame (20), a fixing plate (2) is fixedly connected to the top of the frame (2), a control box (1) is installed on the top of the fixing plate (2), a camera is installed on one side of the control box (1), a connecting plate (3) is fixedly connected to one side of the fixing plate (2), an auxiliary mechanism is arranged at the bottom of the connecting plate (3), the auxiliary mechanism comprises a connecting pipe (5), an auxiliary plate (6) and an air pump (14), one end of the connecting pipe (5) is fixedly connected to the auxiliary plate (6), one side of the auxiliary plate (6) is fixedly connected to a filter screen (13), and one side of the connecting pipe (5) is fixedly connected to the air pump (14), one side of the air pump (14) is fixedly connected to a mounting member (19), the mounting member (19) is connected to a protective housing (12) by bolts, and one side of the protective housing (12) is fixedly connected to an L-shaped connecting member (18).

2. The automatic grinding robot for spherical tanks according to claim 1 is characterized by: One side of the protective shell (12) is fixedly connected to the connecting pipe (5), and a second motor (16) is embedded inside the protective shell (12), and the output shaft of the second motor (16) is fixedly connected to a grinding disc (9).

3. The automatic grinding robot for spherical tanks according to claim 1 is characterized in that: One side of the L-shaped connecting piece (18) is fixedly connected to a bevel gear 1 (15), one side of the bevel gear 1 (15) is meshed with a bevel gear 2 (17), and one side of the bevel gear 2 (17) is fixedly connected to an output shaft of a motor 1 (10).

4. The automatic grinding robot for spherical tanks according to claim 3 is characterized by: The top of the motor 1 (10) is fixedly connected to a support plate (4), the bottom of the support plate (4) is fixedly connected to an extension plate, and the extension plate is rotationally connected to the bevel gear 1 (15).

5. The automatic grinding robot for spherical tanks according to claim 4 is characterized in that: The top of the support plate (4) is slidably connected to a guide plate (8), and the top of the guide plate (8) is fixedly connected to the connecting plate (3).

6. The automatic grinding robot for spherical tanks according to claim 4 is characterized by: The top of the support plate (4) is fixedly connected to a hydraulic cylinder (11), and the top of the hydraulic cylinder (11) is fixedly connected to the connecting plate (3).

7. The automatic grinding robot for spherical tanks according to claim 6 is characterized by: An extension bar (21) is overlapped on one side of the support plate (4), one end of the extension bar (21) is fixedly connected to the frame (20), and a suction cup assembly is installed at the bottom of the frame (20).

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