A weld detection milling wall-climbing robot

Abstract

The utility model discloses a kind of welding seam detection milling wall-climbing robot, including vehicle body;The rear part of the vehicle body is provided with universal wheel, the front part of the vehicle body is transversely provided with a crossbeam, the left and right ends of the crossbeam are symmetrically provided with rotating shaft;Each the rotating shaft is provided with a drive wheel assembly, each the drive wheel assembly includes pivot axle setting the box on the rotating shaft, each side of the box is provided with one front wheel, the box is provided with the drive motor of driving the rotation of the front wheel;Vertical setting is straight guide rail on the crossbeam, a horizontal guide rail is movably horizontally arranged on the straight guide rail, a tool holder is movably arranged on the horizontal guide rail, a milling tool is arranged on the tool holder.The beneficial effects of the utility model are that: it can walk freely on facade and curved surface, when walking, roller is more attached to work surface;Milling tool movable in longitudinal and transverse direction is used to polish or clean ditch operation on welding seam.

Description

Technical Field

[0001] This utility model relates to wall-climbing robots, and more particularly to a weld seam inspection and milling wall-climbing robot. Background Technology

[0002] Large steel structures require extensive welding, and the welds need to be milled and ground smooth or the weld grooves need to be re-ground (root cleaning). If these tasks were done manually, they would be extremely time-consuming and labor-intensive. Patent 202311278711.0 discloses a robot for milling welds, but its roller design is unsuitable for curved surfaces. When moving on curved surfaces, the rollers cannot conform well to the surface, resulting in unstable support. It is also unsuitable for grinding welds on vertical surfaces. Utility Model Content

[0003] The purpose of this utility model is to provide a weld inspection milling wall-climbing robot that solves or partially solves the above-mentioned technical problems.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A weld seam inspection milling wall-climbing robot includes a vehicle body; omnidirectional wheels are provided at the rear of the vehicle body, and a crossbeam is provided laterally at the front of the vehicle body, with symmetrical pivots at both ends of the crossbeam; each pivot is equipped with a drive wheel assembly, and each drive wheel assembly includes a housing pivotally mounted on the pivot, a front wheel on each side of the housing, and a drive motor for driving the front wheels to rotate is provided inside the housing; a straight guide rail is vertically mounted on the crossbeam, and a horizontal guide rail is movably mounted on the straight guide rail; a tool holder is movably mounted on the horizontal guide rail, and a milling tool is mounted on the tool holder; a permanent magnet is provided on the vehicle body, and a laser weld seam inspector is provided on the vehicle body.

[0006] Preferably, the milling tool is an angle grinder or a polishing machine.

[0007] Preferably, a rubber arc-shaped scraper is provided laterally on the crossbeam.

[0008] Preferably, a clamping plate is vertically installed on the vehicle body, the clamping plate is provided with multiple through mounting holes, and the straight guide rail is provided with clamps for fixing high-pressure water pipes or high-pressure air pipes.

[0009] Preferably, a plurality of arc-shaped permanent magnets are provided at the bottom of the vehicle body, and the permanent magnets are respectively located at the front and rear of the vehicle body.

[0010] Preferably, the rear of the vehicle body is provided with two omnidirectional wheels.

[0011] Preferably, each of the boxes is provided with a hook.

[0012] The beneficial effects of this utility model are: it can move freely on vertical and curved surfaces, and the rollers fit the working surface better when moving; it can use milling tools that can move longitudinally and laterally to grind or clean welds. Attached Figure Description

[0013] Figure 1 This is a perspective view of the first embodiment of the present utility model;

[0014] Figure 2 This is a perspective view of the second embodiment of the present invention;

[0015] Figure 3 This is a side view of the first embodiment of the present invention;

[0016] Figure 4 This is a rear view of the first embodiment of the present invention. Detailed Implementation

[0017] The technical solution of this utility model will be further described in detail below with reference to specific embodiments.

[0018] In the description of this utility model, it should be noted that the terms "inner", "outer", "upper", "lower", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] like Figures 1 to 4As shown, the weld inspection milling wall-climbing robot of this utility model includes a T-shaped vehicle body 10; two universal wheels 12 are provided at the rear of the vehicle body 10, and a crossbeam 14 is provided laterally at the front of the vehicle body 10. Rotating shafts 16 are symmetrically arranged at the left and right ends of the crossbeam 14. Each rotating shaft 16 is provided with a drive wheel assembly, and each drive wheel assembly includes a housing 18 pivotally mounted on the rotating shaft 16, and a front wheel 20 on each side of the housing 18. A drive motor (not shown) is provided inside the housing 18 to drive the front wheel 20 to rotate; the housing 18 is pivotally mounted, so it can tilt according to the curvature of the processing surface to ensure that the front wheel 20 is in close contact with the processing surface. A vertical guide rail 22 is mounted on the crossbeam 14. A horizontal guide rail 24 is movably mounted on the straight guide rail 22. A tool holder 26 is movably mounted on the horizontal guide rail 24, and a milling tool is mounted on the tool holder 26. Correspondingly, up-down motors 28 and left-right motors 30 are provided to drive the horizontal guide rail 24 and the tool holder 26 to move, respectively. A permanent magnet 32 ​​is mounted on the vehicle body 10, which can attract the robot to the object being processed. A laser weld seam detector 34 is mounted on the vehicle body 10. The laser weld seam detector 34 (or called a 3D line laser camera, such as SR7080; or an intelligent laser contour sensor, such as the SLK01 series from Shibo Industry) is a mature device that can scan the surface of an object with a line laser to obtain the raised weld seam, thereby assisting the robot to walk along the weld seam. The relevant control system and methods are well known in the industry and can be completed by following the manufacturer's instructions.

[0020] The milling tools are angle grinder 36 or grinder 38. Angle grinder 36 can be used for cleaning the root, and grinder 38 is used for grinding the weld seam.

[0021] A rubber arc-shaped scraper 40 is horizontally installed on the crossbeam 14; the scraper 40 can scrape away the metal debris generated during the grinding process.

[0022] A clamping plate 42 is vertically mounted on the vehicle body 10. The clamping plate 42 has multiple through mounting holes 44. A clamp 46 for fixing high-pressure water pipes or high-pressure air pipes is mounted on the straight guide rail 22. The clamp 46 allows the ground weld seam to be cleaned by high-pressure air or high-pressure water, and the clamping plate 42 is used to fix the corresponding pipes.

[0023] Several arc-shaped permanent magnets 32 are provided at the bottom of the vehicle body 10, and the permanent magnets 32 are respectively located at the front and rear of the vehicle body 10. The arc-shaped permanent magnets 32 can prevent the bottom from getting caught on the workpiece when moving.

[0024] Each box 18 is equipped with a hook 48 to facilitate robot transfer and transport.

[0025] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A weld detection milling wall-climbing robot comprising a vehicle body; characterized in that: The vehicle body is equipped with casters at the rear and a crossbeam at the front, with symmetrical pivots at both ends. Each pivot has a drive wheel assembly, which includes a housing pivotally mounted on the pivot and a front wheel on each side of the housing. A drive motor for rotating the front wheels is located inside the housing. A vertical guide rail is mounted on the crossbeam, and a horizontal guide rail is movably mounted on the vertical guide rail. A tool holder is movably mounted on the horizontal guide rail, and a milling tool is mounted on the tool holder. The vehicle body is equipped with a permanent magnet and a laser weld seam inspector.

2. The weld detection milling wall-climbing robot according to claim 1, wherein, The milling tool is an angle grinder or a polishing machine.

3. The weld detection milling wall-climbing robot of claim 1, wherein, A rubber arc-shaped scraper is horizontally installed on the crossbeam.

4. The weld detection milling wall-climbing robot of claim 1, wherein, A clamp plate is vertically installed on the vehicle body, and multiple through mounting holes are provided on the clamp plate. A clamp for fixing a high-pressure water pipe or a high-pressure air pipe is provided on the straight guide rail.

5. The weld detection milling wall-climbing robot of claim 1, wherein, Several arc-shaped permanent magnets are provided at the bottom of the vehicle body, and the permanent magnets are respectively located at the front and rear of the vehicle body.

6. The weld detection milling wall-climbing robot of claim 1, wherein, The vehicle body is equipped with two omnidirectional wheels at the rear.

7. The weld detection milling wall-climbing robot of claim 1, wherein, Each of the boxes is equipped with a hook.

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