CN204487308U - The girth joint milling robot of a kind of horizontal tank tank body and tank car tank body - Google Patents
The girth joint milling robot of a kind of horizontal tank tank body and tank car tank body Download PDFInfo
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- CN204487308U CN204487308U CN201520119807.7U CN201520119807U CN204487308U CN 204487308 U CN204487308 U CN 204487308U CN 201520119807 U CN201520119807 U CN 201520119807U CN 204487308 U CN204487308 U CN 204487308U
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Abstract
The utility model relates to the girth joint milling robot of a kind of horizontal tank tank body and tank car tank body.The robot that object is to provide effectively should be able to carry out the girth joint polishing of storage tank and tank car surfaces externally and internally, has the advantages that polishing quality is good, operating efficiency is high and operational health is safe.Technical scheme is: the girth joint milling robot of a kind of horizontal tank tank body or tank car tank body, it is characterized in that this robot comprise be adsorbed on tank surface movably robot frame, be arranged in robot frame for walking mechanism that the workpiece polishing mechanism of girth joint of polishing and driven machine people framework are walked at tank surface; Described workpiece polishing mechanism comprises and is arranged in robot frame bottom with the wire brush group of polishing to tank surface girth joint and the polishing motor driving wire brush group; Described walking mechanism comprises the castor that is arranged on robot frame bottom and driving wheel, driving wheel is rotated to the drive motors providing power.
Description
Technical field
The utility model relates to storage tank detection technique field, specifically a kind of sanding apparatus of horizontal tank tank inner surface girth joint, is also applicable to the polishing of tank car tank body inner surface girth joint.
Background technology
Polishing is the can seam Magnetic testing of horizontal tank and tank car, the front end operation of the Non-Destructive Testing such as Liquid penetrant testing and ultrasound detection, generally adopts mode of polishing manually at present.Because most of horizontal tank and tank car are used for depositing and transport flammable explosive gas and liquid, still may there is a small amount of hazardous gas or liquid in the horizontal tank to be detected in polishing operation and tank car, adopt manual polishing mode not only directly can endanger health of human body, and may burn among a small circle due to the generation of Mars of polishing or explode, there is serious personal safety hidden danger.On the other hand, employing manual polishing mode workload is large, efficiency is low, the uneven accuracy affecting late detection of polishing.Therefore, for solving the safety of manual polishing, efficiency and uniform precision sex chromosome mosaicism, need to develop a kind of horizontal tank girth joint milling robot device.
Utility model content
The purpose of this utility model is to provide a kind of horizontal tank girth joint milling robot, this robot should be able to effectively carry out storage tank and tank car surfaces externally and internally girth joint polishing, have the advantages that polishing quality is good, operating efficiency is high and operational health is safe.
The technical scheme that the utility model provides is:
A girth joint milling robot for horizontal tank tank body or tank car tank body, it is characterized in that this robot comprise be adsorbed on tank surface movably robot frame, be arranged in robot frame for walking mechanism that the workpiece polishing mechanism of girth joint of polishing and driven machine people framework are walked at tank surface;
Described workpiece polishing mechanism comprises and is arranged in robot frame bottom with the wire brush group of polishing to tank surface girth joint and the polishing motor driving wire brush group;
Described walking mechanism comprises the castor that is arranged on robot frame bottom and driving wheel, driving wheel is rotated to the drive motors providing power.
Described polishing motor drives wire brush group by polishing decelerator and gear-box successively.
Described workpiece polishing mechanism can be positioned in robot frame by Pneumatic power support lever up or down.
Described Pneumatic power support lever is four, and one end of each Pneumatic power support lever is fixed in robot frame, and the other end is fixed on polishing motor reducer.
Described drive motors drives driving wheel by decelerator.
The working face of described driving wheel axis, castor axis and wire brush group bottom forms a specific curvature, this specific curvature and the tank surface curvature fit be polished.
Described gear-box is evenly arranged in travelling gear periphery by a travelling gear and three and the driven gear simultaneously engaged with this travelling gear forms.
Described wire brush group is combined by three identical polishing wire brushes, and each polishing wire brush is driven by a driven gear.
The axle center of described three polishing wire brushes is equilateral triangle arrangement, and distance of shaft centers is from being 1.1 to 1.5 times of polishing wire brush diameter; Distance of shaft centers is from adding that polishing wire brush diameter sum is not less than weld width and adds weld heat-affected zone width sum.
Described driving wheel and castor all have provides adsorption magnetic force annular permanent-magnet iron construction, comprises wheel hub, permanent magnet layer and the polyurethane rubber-covered layer arranged to the outer diameter from inside to outside.
This robot also configures one for the handle placed or mention.
Operation principle of the present utility model is: the annular permanent-magnet iron construction of driving wheel and castor all can provide adsorption magnetic force framework to be adsorbed in securely the tank surface of storage tank and tank car; After drive motors energising, driving wheel can drive framework along girth joint regional movement; Polishing wire brush applies certain thrust to girth joint and weld heat-affected zone territory and polishes under the support of four Pneumatic power support levers.
The beneficial effects of the utility model are: the horizontal tank girth joint milling robot that the utility model provides, tank surface is positioned at by annular permanent-magnet iron construction, adopt three polishing wire brush composition polishing wire brush groups of equilateral triangle arrangement, can detect for weld seam and heat affected area thereof and enough polishing spaces are provided; The polishing power drive system formed by large three little gear trains, avoids as each polishing wire brush is equipped with motor; Adopt four Pneumatic power support levers of circumference to provide thrust, ensure that out-of-flatness on the surface three polishing wire brushes all have enough thrusts.There is not the impact of manual polishing in this milling robot, thus not only polish quality good (precision is high, uniformity good), accurately guarantee is provided for late detection, and operating efficiency high (3-4 manual operation can be replaced), also eliminate personal safety hidden danger, be subject to the popular welcome of enterprise.
Figure explanation
Fig. 1 is main TV structure schematic diagram of the present utility model.
Fig. 2 is perspective view of the present utility model.
Fig. 3 is the perspective view of workpiece polishing mechanism in Fig. 1, Fig. 2.
Fig. 4 is the structural configuration schematic diagram of wire brush of polishing in workpiece polishing mechanism.
Fig. 5 is the structural representation of driving wheel and castor.
Have in figure: chassis 1, driving shaft bearing 2, driving shaft 3, handle 4, driving wheel 5, decelerator 6, drive motors 7, ribs pulls 8, cover plate 9, Pneumatic power support lever 10, polishing motor 11, polishing decelerator 12, shaft coupling 13, gear-box 14, castor 15, back shaft 16, wire brush group 17, power transmission shaft 14-1, driven shaft 14-2, driven gear 14-3, driven shaft bearing 14-4, travelling gear 14-5, transmission shaft bearing 14-6, gear box end cover 14-7, #1 polishing wire brush 17-1, #2 polishing wire brush 17-2, #3 polishing wire brush 17-3, wheel hub 5-1, permanent magnet layer 5-2, polyurethane rubber-covered layer 5-3.
Detailed description of the invention
Horizontal tank girth joint milling robot is mainly used in the polishing operation of tank body surfaces externally and internally of steel horizontal tank and tank car, and its most basic function is adsorption function, walking function and polishing function.Because work wall is tank skin surface, consider that wall area is comparatively large, local surface curvature change inconsistent and bossed weld seam, and working environment also more complicated, therefore robot polishing should meet the following requirements:
(1) should have certain absorption affinity, this absorption affinity should be greater than the gravity of robot, prevents from falling;
(2) certain driving force should be kept, robot can be made automatically to walk on storage tank inner surface wall;
(3) circumferential curvature along wall should be able to be adapted to, simultaneously walking and polishing operation.
Below in conjunction with embodiment shown in the drawings, the utility model is described in further detail, but the utility model is not limited to following examples.
In embodiment shown in Fig. 1, Fig. 2, in this horizontal tank girth joint milling robot, robot frame is adsorbed on tank surface movably, robot frame is installed a workpiece polishing mechanism, and walking mechanism then driven machine people framework is walked at tank surface;
In described workpiece polishing mechanism, wire brush group 17 is arranged in robot frame bottom, a travelling gear 14-5 and three driven gear 14-3 forms gear-box, polishing motor 11, polishing decelerator 12 and shaft coupling 13 constitute polishing power output transmission mechanism, are separately combined on framework by workpiece polishing mechanism by four Pneumatic power support levers 10.
In described walking mechanism, castor (follower) 7 and driving wheel (driving wheel) 5 are arranged on robot frame bottom (driving wheel 5 is arranged on framework by driving shaft bearing 2), and drive motors 7 is successively by driving decelerator 6, driving shaft 3 transmission driving wheel 5.
Described workpiece polishing mechanism and walking mechanism be jointly fixed on pull 8 by chassis 1, ribs, on framework that cover plate 9 and handle 4 form, wherein each parts are fastened to each other by welding manner.The framework shown in Fig. 1, to be evenly arranged several between the cover plate at top and the chassis of bottom and to support floor, support between floor and surround a cylindrical space, workpiece polishing mechanism is located within this space by four Pneumatic power support levers (cylinder), and can move up and down along cylindrical space under four Pneumatic power support levers drive, drive gear-box moves up and down (gear-box is subject to the restriction of chassis central opening, can only move up and down) together with the opening of wire brush group along chassis central authorities; For drawing is clear, the source of the gas (preferred air pump) of supporting Pneumatic power support lever and the tracheae of connection source of the gas and Pneumatic power support lever all give omission.
Described chassis 1 is the cambered surface steel plate outstanding toward below, and preferred cambered surface diameter is the steel plate of 2450mm, and robot can be moved along the girth joint circumference of cylindrical sleeping tank or tank car inner surface; Also the steel plate of different curvature can be used as required instead to adapt to the tank inner surface girth joint polishing needs of different size storage tank or tank car.
Described Pneumatic power support lever 10 two ends are connected with fixed head by bolt, adopting four Pneumatic power support levers 360 degree to be evenly arranged can make the working face of wire brush group also can fit preferably on irregular surface, thus provide enough thrust (visible in figure: one end (cylinder body) of each Pneumatic power support lever is fixed in robot frame, the other end (piston rod) is fixed on polishing motor reducer) for each polishing wire brush.When Pneumatic power support lever non-compressed state, wire brush group buffed surface (working face) is at the line lower than driving wheel and castor minimum point on electrical axis direction of polishing; At machine man-hour, four Pneumatic power support levers are in compressive state, four Pneumatic power support levers the thrust of wire brush group to tank surface is to the pressure on top surface of wire brush group.
Known in Fig. 3, the power transmission shaft of travelling gear 14-5 is all connected with gear box end cover 14-7 by bearing with the driven shaft of three driven gear 14-3.Travelling gear is connected with polishing motor 11 with shaft coupling 13 by polishing decelerator 12 successively, defines the polishing power chain of " drags three ", avoids as each polishing wire brush is equipped with independent polishing motor.
(look up direction view) as shown in Figure 4, described wire brush group 17 is made up of three polishing wire brushes (17-1,17-2,17-3) of equilateral triangle arrangement.Three polishing wire brushes are adopted to be because weld seam both sides exist certain welding heat affected zone, width is generally 100mm-150mm, welding heat affected zone is also the emphasis carrying out detecting, and adopts the polishing wire brush of equilateral triangle arrangement can provide enough polishing spaces for weld seam detection.Wire brush of #1 should being polished during work is placed in directly over weld seam, and #2 polishing wire brush and #3 polishing wire brush are placed in above the weld heat-affected zone of both sides respectively; Polishing wire brush can select the size of diameter 100mm, between leave about 10mm gap prevent from interfering.
As shown in Figure 5, by from-inner-to-outer, described driving wheel 5 and castor 15 arrange that wheel hub 5-1, permanent magnet layer 5-2 and polyurethane rubber-covered layer 5-3 form to the outer diameter.Relative to other suction type, permanent magnetic suck have absorption affinity large, affect little, system accident power-off by surface appearance and do not affect the advantages such as absorption affinity.Because large-scale bearing device is very high, and tank skin mostly is steel material, and there are rusty stain and greasy dirt in surface more, is thus very suitable for applying permanent magnetic suck.Wheel outer layer covers polyurethane rubber-covered, its objective is to protect permanent magnet avoid because of vibration and advance and brittle fracture.
Can as required, do to optimize further or improve to above-mentioned horizontal tank girth joint milling robot.
The utility model considers horizontal tank and tank car polishing environment and face shaping characteristic, devises horizontal tank girth joint milling robot; Foundation application mostly is steel material and there is the feature such as rusty stain and greasy dirt on surface more, have employed permanent magnet suction type, devise the annular permanent-magnet iron construction being wrapped in wheel hub, by theory calculate design permanent magnet thickness, overcome fuselage deadweight and polishing reaction force to provide enough magnetic force; According to Seam and heat effected zone design feature, devise the polishing wire brush group that equilateral triangle is three-in-one, for weld seam detection provides enough polishing spaces; According to three-in-one polishing wire brush group, devise the gear drive combination of " drags three ", avoid as each polishing wire brush is equipped with separate electrical motor; Adopt the Pneumatic power support lever of four circumference uniform distributions to provide thrust for polishing wire brush, the work of out-of-flatness surface can be adapted to; In conjunction with the optimum speed of weld grinding process, select suitable motor and decelerator, robot is advanced and polishes steadily.
In the utility model, described motor, decelerator, polishing wire brush etc. all buyable obtain.
Claims (10)
1. a girth joint milling robot for horizontal tank tank body or tank car tank body, it is characterized in that this robot comprise be adsorbed on tank surface movably robot frame, be arranged in robot frame for walking mechanism that the workpiece polishing mechanism of girth joint of polishing and driven machine people framework are walked at tank surface;
Described workpiece polishing mechanism comprises and is arranged in robot frame bottom with the wire brush group (17) of polishing to tank surface girth joint and the polishing motor (11) driving wire brush group;
Described walking mechanism comprises the castor (15) that is arranged on robot frame bottom and driving wheel (5), driving wheel is rotated to the drive motors (7) providing power.
2. the girth joint milling robot of horizontal tank tank body according to claim 1 or tank car tank body, is characterized in that: described polishing motor drives wire brush group by polishing decelerator (12) and gear-box (14) successively.
3. the girth joint milling robot of horizontal tank tank body according to claim 2 or tank car tank body, is characterized in that: described workpiece polishing mechanism can be positioned in robot frame by Pneumatic power support lever (10) up or down.
4. the girth joint milling robot of horizontal tank tank body according to claim 3 or tank car tank body, it is characterized in that: described Pneumatic power support lever is four, one end of each Pneumatic power support lever is fixed in robot frame, and the other end is fixed on polishing motor reducer.
5. the girth joint milling robot of horizontal tank tank body according to claim 4 or tank car tank body, it is characterized in that: the working face of described driving wheel axis, castor axis and wire brush group bottom forms a specific curvature, this specific curvature and the tank surface curvature fit be polished.
6. the girth joint milling robot of horizontal tank tank body according to claim 5 or tank car tank body, is characterized in that: described gear-box is evenly arranged in travelling gear periphery by a travelling gear (14-5) and three and the driven gear (14-3) simultaneously engaged with this travelling gear forms.
7. the girth joint milling robot of horizontal tank tank body according to claim 6 or tank car tank body, is characterized in that: described wire brush group is combined by three identical polishing wire brushes, and each polishing wire brush is driven by a driven gear.
8. the girth joint milling robot of horizontal tank tank body according to claim 7 or tank car tank body, is characterized in that: the axle center of described three polishing wire brushes is equilateral triangle arrangement, and distance of shaft centers is from being 1.1 to 1.5 times of polishing wire brush diameter; Distance of shaft centers is from adding that polishing wire brush diameter sum is not less than weld width and adds weld heat-affected zone width sum.
9. the girth joint milling robot of horizontal tank tank body according to claim 8 or tank car tank body, it is characterized in that: described driving wheel and castor all have provides adsorption magnetic force annular permanent-magnet iron construction, comprise wheel hub (5-1), permanent magnet layer (5-2) and the polyurethane rubber-covered layer (5-3) arranged to the outer diameter from inside to outside.
10. the girth joint milling robot of horizontal tank tank body according to claim 9 or tank car tank body, is characterized in that: this robot also configures one for the handle placed or mention (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520119807.7U CN204487308U (en) | 2015-02-28 | 2015-02-28 | The girth joint milling robot of a kind of horizontal tank tank body and tank car tank body |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520119807.7U CN204487308U (en) | 2015-02-28 | 2015-02-28 | The girth joint milling robot of a kind of horizontal tank tank body and tank car tank body |
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| CN204487308U true CN204487308U (en) | 2015-07-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625913A (en) * | 2015-02-28 | 2015-05-20 | 浙江省特种设备检验研究院 | Circumferential weld polishing robot for horizontal storage tank body or tanker tank body |
| CN108581703A (en) * | 2018-07-06 | 2018-09-28 | 宋宏亮 | A kind of steel drum intersection section polishing automation safety and environmental protection dedusting robot |
| CN110480496A (en) * | 2019-07-24 | 2019-11-22 | 武汉大学 | A kind of intelligence feather plucking robot |
-
2015
- 2015-02-28 CN CN201520119807.7U patent/CN204487308U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625913A (en) * | 2015-02-28 | 2015-05-20 | 浙江省特种设备检验研究院 | Circumferential weld polishing robot for horizontal storage tank body or tanker tank body |
| CN104625913B (en) * | 2015-02-28 | 2017-01-11 | 浙江省特种设备检验研究院 | Circumferential weld polishing robot for horizontal storage tank body or tanker tank body |
| CN108581703A (en) * | 2018-07-06 | 2018-09-28 | 宋宏亮 | A kind of steel drum intersection section polishing automation safety and environmental protection dedusting robot |
| CN108581703B (en) * | 2018-07-06 | 2019-11-05 | 东阳市天齐科技有限公司 | A kind of steel drum intersection section polishing automation safety and environmental protection dedusting robot |
| CN110480496A (en) * | 2019-07-24 | 2019-11-22 | 武汉大学 | A kind of intelligence feather plucking robot |
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