Automatic double-grinding-head device for spherical tank detection robot

Abstract

The utility model belongs to the field of polishing equipment, and particularly relates to an automatic double-polishing-head device for a spherical tank detection robot, which comprises a robot vehicle body, a lead screw support is arranged on the side wall of the robot vehicle body, a lead screw is rotatably connected in the lead screw support, and the top end of the lead screw penetrates through the lead screw support and is provided with a driven gear. According to the spherical tank polishing device, through mutual cooperation of the first motor, the lead screw, the profile supporting arm, the polishing head and other structures, the polishing head can make adaptive contact with the surface of a spherical tank, rapid polishing of the spherical tank is achieved through rotation of the polishing head, and in the polishing process, the motor and the polishing head can generate vibration, so that the polishing effect is improved. And at the moment, a sliding block and a linear guide rail are used for providing a moving space for the grinding head when the grinding head slightly moves, downward pressure is conveniently applied through an arranged spring, so that the grinding head is always kept in contact with the spherical tank, and the grinding effect is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of grinding equipment, in particular to an automatic double grinding head device for a spherical tank inspection robot. Background Technique

[0002] As one of the pressure vessels, the spherical storage tank is assembled and welded by a plurality of orange peel-shaped spherical shell plates. It is widely used in petroleum, chemical, metallurgical and other departments. It can be used as a storage container for liquefied petroleum gas, liquefied natural gas, liquid ammonia and other media, and can also be used as a storage tank for compressed gases (air, oxygen, nitrogen, hydrogen, city gas). Large spherical tanks need to be opened for inspection every 2 to 6 years. Grinding and cleaning the weld area of the tank body is one of the necessary processes before non-destructive testing of the tank body.

[0003] At present, the grinding work on the spherical tank wall is mainly carried out manually by mounting a scaffold and using a hand-held grinding machine. Workers need to manually use the grinding machine with the help of climbing equipment such as ladders. The grinding efficiency is low and the labor intensity is high. Therefore, we propose an automatic double grinding head device for a spherical tank inspection robot. Content of the Utility Model

[0004] The utility model aims to provide an automatic double grinding head device for a spherical tank inspection robot, which can quickly grind large spherical tanks.

[0005] Therefore, the technical solution adopted by the utility model is as follows:

[0006] An automatic double grinding head device for a spherical tank inspection robot, comprising:

[0007] A robot vehicle body, on the side wall of which a lead screw support is installed. A lead screw is rotatably connected inside the lead screw support. The top end of the lead screw penetrates through the lead screw support and is provided with a driven gear. The outside of the driven gear is meshed with a driving gear. A first motor is installed on the driving gear and the first motor is installed on the robot vehicle body;

[0008] A nut slide, which is threadedly connected to the lead screw. A connecting plate is installed on the side wall of the nut slide. A cushion block is installed on the connecting plate. A profile support arm is detachably installed on the cushion block. The profile support arm is perpendicular to the lead screw;

[0009] A cover plate, which is detachably installed on the profile support arm. A connecting piece is installed on the side wall of the cover plate. A slider is fixedly connected to the connecting piece. A linear guide rail is slidably connected to the slider. A fixing piece is fixedly connected to the top end of the linear guide rail. A spring is installed on the fixing piece and the other end of the spring is installed on the slider;

[0010] A grinding assembly is installed on a linear slide rail.

[0011] Based on the above technical solution, its use principle and the technical effects produced are as follows:

[0012] When grinding is required, first start the first motor to drive the driving wheel to rotate, and drive the driven wheel to rotate through the driving wheel, so that the screw rod can be driven to rotate accordingly, and a threaded hole compatible with the screw rod is opened inside the nut slide. When the screw rod rotates, it will drive the nut slide to move downward. When the nut slide moves, it will also drive the profile support arm to move downward by driving the connecting plate and the pad block to move. When the profile support arm moves downward, it will drive the second motor and the grinding head to contact the surface of the spherical tank to be grinded. Then start the second motor to drive the grinding head to rotate to grind the surface of the spherical tank. During the grinding process, the motor and the grinding head will vibrate, so that relative displacement will occur between the grinding head and the spherical tank. At this time, the slider and the linear guide rail can be used to provide the grinding head with activity space when it moves slightly, and the set spring can also facilitate the application of downward pressure so that the grinding head always keeps in contact with the spherical tank, thereby further improving the grinding effect.

[0013] In a preferred example, the utility model can be further configured as follows: a bearing is installed at the connection portion between the screw rod and the screw rod bracket.

[0014] In a preferred example, the utility model can be further configured as follows: a threaded hole matching the screw rod is provided inside the nut slide.

[0015] In a preferred example, the utility model can be further configured as follows: the cushion block is detachably fixed to the profile support arm by screws.

[0016] In a preferred example, the utility model can be further configured as follows: the slider and the linear guide rail are adapted to each other.

[0017] In a preferred example, the utility model can be further configured as follows: the number of the cover plates is two, and the two cover plates are symmetrically arranged with the middle cross section of the profile support arm as the symmetry plane, and the cover plates are detachably fixed to the profile support arm by screws.

[0018] In a preferred example, the utility model can be further configured as follows: the grinding assembly includes a mounting bracket fixedly connected to the linear slide rail, a second motor is fixedly connected to the mounting bracket, and a grinding head is installed at the output end of the second motor.

[0019] In a preferred example, the present invention can be further configured as follows: the grinding surface of the grinding head is set to be spherical.

[0020] The nouns, conjunctions or adjectives involved in the above technical solution are explained as follows:

[0021] A fixed connection refers to a connection where parts or components are fixed without any relative movement. It is divided into two types: detachable connection and non-detachable connection.

[0022] (1) A detachable connection uses screws, splines, wedge pins, etc. to fix components together. This connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of bolts, keys, and wedge pins), and they must be fastened properly.

[0023] (2) Non-detachable connections mainly refer to welding, riveting, and mortise fitting, etc. Since they need to be forged, sawed, or oxy-cut to be disassembled during maintenance or replacement, the spare parts generally cannot be used twice. At the same time, during connection, attention should be paid to process quality, technical inspection, and remedial measures (such as correction, polishing, etc.);

[0024] A movable connection refers to a connection where parts or components are fixed and have relative movement.

[0025] The above technical solutions of the present utility model have the following beneficial technical effects:

[0026] In the present utility model, through the mutual cooperation of the first motor, screw rod, profile support arm, grinding head and other structures, the grinding head can adaptively contact the surface of the spherical tank, and the rotation of the grinding head is used to quickly grind the spherical tank. During the grinding process, the motor and the grinding head will generate vibrations, causing relative displacement between the grinding head and the spherical tank. At this time, the slider and the linear guide rail can provide a movable space for the grinding head when it moves slightly, and the spring is also used to apply a downward pressure to keep the grinding head in contact with the spherical tank all the time, further improving the grinding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a three-dimensional schematic diagram of the robot body structure of the present utility model;

[0028] Figure 2 is a three-dimensional schematic diagram of the profile support arm structure of the present utility model;

[0029] Figure 3 is a front view schematic diagram of the grinding component structure of the present utility model;

[0030] Figure 4 is a rear view schematic diagram of the grinding component structure of the present utility model;

[0031] Figure 5 is a side view schematic diagram of the grinding component structure of the present utility model;

[0032] Figure 6 is a top view schematic diagram of the grinding component structure of the present utility model.

[0033] Reference Signs:

[0034] 1. Robot body; 2. Lead screw support; 3. Lead screw; 4. Driven gear; 5. Driving gear; 6. First motor; 7. Nut slider; 8. Connecting plate; 9. Spacer block; 10. Profile support arm; 11. Cover plate; 12. Connector; 13. Slide block; 14. Linear guide rail; 15. Fixing member; 16. Spring; 17. Grinding assembly; 171. Mounting bracket; 172. Second motor; 173. Grinding head. Detailed Implementation Manner

[0035] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] According to the concept of the present application, an embodiment of an automated double-grinding-head device for a spherical tank inspection robot for grinding a large spherical tank is described herein in conjunction with Figures 1 to 6 Specifically, the automated double-grinding-head device for the spherical tank inspection robot is configured as an integral structure, which has four components: a robot body 1, a nut slider 7, a cover plate 11, and a grinding assembly 17. Through the mutual cooperation of the structures such as the first motor 6, the lead screw 3, the profile support arm 10, and the grinding head 173, the grinding head 173 can be adaptively contacted with the surface of the spherical tank, and the rapid grinding of the spherical tank can be realized by the rotation of the grinding head 173. And during the grinding process, the motor and the grinding head 173 will generate vibrations, causing relative displacement between the grinding head 173 and the spherical tank. At this time, by using the slide block 13 and the linear guide rail 14, an activity space can be provided for the grinding head 173 when it moves slightly, and the spring 16 is also provided to facilitate applying a downward pressure to keep the grinding head 173 in contact with the spherical tank all the time, further improving the grinding effect.

[0037] Combined with Figures 1-6 As shown in

[0038] A robot body 1, on the side wall of which a lead screw support 2 is installed, inside the lead screw support 2 a lead screw 3 is rotatably connected, at the top of the lead screw 3 a driven gear 4 is installed through the lead screw support 2, outside the driven gear 4 a driving gear 5 is meshed and connected, on the driving gear 5 a first motor 6 is installed, and the first motor 6 is installed on the robot body 1;

[0039] The nut slide 7 is threadedly connected to the lead screw 3. A connecting plate 8 is installed on the side wall of the nut slide 7. A cushion block 9 is installed on the connecting plate 8. A profile support arm 10 is detachably installed on the cushion block 9. The profile support arm 10 is perpendicular to the lead screw 3.

[0040] The cover plate 11 is detachably installed on the profile support arm 10. A connecting member 12 is installed on the side wall of the cover plate 11. A slider 13 is fixedly connected to the connecting member 12. A linear guide rail 14 is slidably connected to the slider 13. A fixing member 15 is fixedly connected to the top end of the linear guide rail 14. A spring 16 is installed on the fixing member 15, and the other end of the spring 16 is installed on the slider 13.

[0041] The grinding assembly 17 is installed on the linear slide rail.

[0042] Regarding the technical solution of this embodiment, the lead screw support 2 is fixed to the robot body 1 by screws. A bearing is installed at the connection part between the lead screw 3 and the lead screw support 2. The provided bearing can provide support for the lead screw 3 when it rotates.

[0043] Regarding the technical solution of this embodiment, the first motor 6 is powered by an external power supply. When the first motor 6 is started, it will drive the driving wheel to rotate, and drive the driven wheel to rotate through the driving wheel, so as to drive the lead screw 3 to rotate accordingly. And a threaded hole adapted to the lead screw 3 is formed inside the nut slide 7. When the lead screw 3 rotates, it will drive the nut slide 7 to move up and down, thereby driving the profile support arm 10 and the grinding assembly 17 to move up and down accordingly.

[0044] Further, the cushion block 9 is detachably fixed to the profile support arm 10 by screws. When the nut slide 7 moves, it drives the connecting plate 8 and the cushion block 9 to move, thereby driving the profile support arm 10 to move.

[0045] Regarding the technical solution of this embodiment, the number of the cover plates 11 is two, and the two cover plates 11 are arranged symmetrically left and right with the middle section of the profile support arm 10 as the symmetry plane. And the cover plate 11 is detachably fixed to the profile support arm 10 by screws. When the profile support arm 10 moves up and down, it will drive the cover plate 11 to move up and down.

[0046] Regarding the technical solution of this embodiment, the grinding assembly 17 includes a mounting bracket 171 fixedly connected to the linear slide rail. A second motor 172 is fixedly connected to the mounting bracket 171, and a grinding head 173 is installed at the output end of the second motor 172. The slider 13 and the linear guide rail 14 are mutually adapted. When the profile support arm 10 moves downward, it will first drive the grinding head 173 to move downward and contact the spherical tank to be ground. Then, starting the second motor 172 can drive the grinding head 173 to rotate and grind the surface of the spherical tank. During the grinding process, the motor and the grinding head 173 will generate vibrations, causing relative displacement between the grinding head 173 and the spherical tank. At this time, since the slider 13 and the linear guide rail 14 are mutually adapted, it can provide a moving space for the grinding head 173 when it moves slightly, and the spring 16 is also convenient for applying a downward pressure to keep the grinding head 173 in contact with the spherical tank all the time, further improving the grinding effect.

[0047] Furthermore, the number of grinding heads 173 is set to two, and the grinding surface of the grinding head 173 is spherical. Using the spherical grinding head 173 is convenient for adapting to the surface of a large spherical tank.

[0048] It should be noted that a connecting block is also provided on the side wall of the slider 13, and the spring 16 is connected to the slider 13 through the connecting block.

[0049] Specifically, when grinding is required, first start the first motor 6 to drive the driving wheel to rotate, and drive the driven wheel to rotate through the driving wheel, so as to drive the lead screw 3 to rotate accordingly. And a threaded hole adapted to the lead screw 3 is provided inside the nut slide 7. When the lead screw 3 rotates, it will drive the nut slide 7 to move downward. When the nut slide 7 moves, it will also drive the connecting plate 8 and the cushion block 9 to move and drive the profile support arm 10 to move downward. When the profile support arm 10 moves downward, it will drive the second motor 172 and the grinding head 173 to contact the surface of the spherical tank to be ground. Then, start the second motor 172 to drive the grinding head 173 to rotate to grind the surface of the spherical tank. During the grinding process, the motor and the grinding head 173 will generate vibrations, causing relative displacement between the grinding head 173 and the spherical tank. At this time, using the slider 13 and the linear guide rail 14 can provide a moving space for the grinding head 173 when it moves slightly, and the spring 16 is also convenient for applying a downward pressure to keep the grinding head 173 in contact with the spherical tank all the time, further improving the grinding effect.

[0050] The following further describes the automated double-grinding head 173 device for a spherical tank inspection robot provided by the present invention in conjunction with the drawings and embodiments.

[0051] An automated double-grinding head 173 device for a spherical tank inspection robot includes:

[0052] Robot body 1, a lead screw bracket 2 is installed on the side wall of the robot body 1. A lead screw 3 is rotatably connected inside the lead screw bracket 2. The top end of the lead screw 3 penetrates through the lead screw bracket 2 and is installed with a driven gear 4. A driving gear 5 is meshed and connected to the outside of the driven gear 4. A first motor 6 is installed on the driving gear 5, and the first motor 6 is installed on the robot body 1;

[0053] Nut slide 7, the nut slide 7 is threadedly connected to the lead screw 3. A connecting plate 8 is installed on the side wall of the nut slide 7. A cushion block 9 is installed on the connecting plate 8. A profile support arm 10 is detachably installed on the cushion block 9. The profile support arm 10 is perpendicular to the lead screw 3;

[0054] Cover plate 11, the cover plate 11 is detachably installed on the profile support arm 10. A connecting piece 12 is installed on the side wall of the cover plate 11. A slider 13 is fixedly connected to the connecting piece 12. A linear guide rail 14 is slidably connected to the slider 13. A fixing piece 15 is fixedly connected to the top end of the linear guide rail 14. A spring 16 is installed on the fixing piece 15, and the other end of the spring 16 is installed on the slider 13;

[0055] Grinding assembly 17, the grinding assembly 17 is installed on the linear slide rail.

[0056] Working principle and usage process of the utility model: When grinding is required, first start the first motor 6 to drive the driving wheel to rotate, and drive the driven wheel to rotate through the driving wheel, so as to drive the lead screw 3 to rotate accordingly. And a threaded hole adapted to the lead screw 3 is opened inside the nut slide 7. When the lead screw 3 rotates, it will drive the nut slide 7 to move downward. When the nut slide 7 moves, it will also drive the connecting plate 8 and the cushion block 9 to move and drive the profile support arm 10 to move downward. When the profile support arm 10 moves downward, it will drive the second motor 172 and the grinding head 173 to contact the surface of the spherical tank to be ground. Then start the second motor 172 to drive the grinding head 173 to rotate to grind the surface of the spherical tank. And during the grinding process, the motor and the grinding head 173 will generate vibrations, so that there will be a relative displacement between the grinding head 173 and the spherical tank. At this time, by using the slider 13 and the linear guide rail 14, it can provide a moving space for the grinding head 173 when it moves slightly, and the spring 16 is arranged to facilitate applying a downward pressure so that the grinding head 173 always keeps in contact with the spherical tank.

[0057] In the present utility model, the term "a plurality of" means two or more, unless otherwise clearly defined. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items. Terms such as "installed", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "joined" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0058] It should be noted that when an element is referred to as being "assembled on", "installed on", "fixed to", or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0059] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0060] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present utility model. The scope of the present utility model is defined by the claims and their equivalents.

Claims

1. An automated double grinding head device for a spherical tank inspection robot, characterized in that: include: A robot body (1), a screw support (2) is installed on the side wall of the robot body (1), a screw (3) is rotatably connected inside the screw support (2), a driven gear (4) is installed at the top end of the screw support (2), a driving gear (5) is meshedly connected to the outside of the driven gear (4), a first motor (6) is installed on the driving gear (5), and the first motor (6) is installed on the robot body (1); A nut slide (7), wherein the nut slide (7) is threadedly connected to the screw rod (3), a connecting plate (8) is installed on the side wall of the nut slide (7), a cushion block (9) is installed on the connecting plate (8), a profile support arm (10) is detachably installed on the cushion block (9), and the profile support arm (10) and the screw rod (3) are perpendicular to each other; A cover plate (11), the cover plate (11) is detachably mounted on the profile support arm (10), a connecting piece (12) is mounted on the side wall of the cover plate (11), a slider (13) is fixedly connected to the connecting piece (12), a linear guide (14) is slidably connected to the slider (13), a fixing piece (15) is fixedly connected to the top end of the linear guide (14), a spring (16) is mounted on the fixing piece (15), and the other end of the spring (16) is mounted on the slider (13); A grinding assembly (17), wherein the grinding assembly (17) is installed on a linear slide rail.

2. The automatic double grinding head device for a spherical tank inspection robot according to claim 1, characterized in that: A bearing is installed at the connection portion between the screw rod (3) and the screw rod bracket (2).

3. The automatic double grinding head device for a spherical tank inspection robot according to claim 2, characterized in that: A threaded hole matching the screw rod (3) is provided inside the nut slide (7).

4. The automatic double grinding head device for a spherical tank inspection robot according to claim 2, characterized in that: The cushion block (9) is detachably fixed to the profile support arm (10) by means of screws.

5. The automatic double grinding head device for a spherical tank inspection robot according to claim 4, characterized in that: The slide block (13) and the linear guide rail (14) are adapted to each other.

6. The automatic double grinding head device for a spherical tank inspection robot according to claim 5, characterized in that: The number of the cover plates (11) is two, and the two cover plates (11) are arranged symmetrically with the middle section of the profile support arm (10) as the symmetry plane, and the cover plates (11) are detachably fixed to the profile support arm (10) by screws.

7. The automatic double grinding head device for a spherical tank inspection robot according to claim 6, characterized in that: The grinding assembly (17) comprises a mounting bracket (171) fixedly connected to the linear slide rail, a second motor (172) is fixedly connected to the mounting bracket (171), and a grinding head (173) is installed at the output end of the second motor (172).

8. The automatic double grinding head device for a spherical tank inspection robot according to claim 7, characterized in that: The grinding surface of the grinding head (173) is configured to be spherical.

Images