Shihe Spherical Tank Internal Grinding Robot

描述

This robot grinds rust off the inside of spherical storage tanks to ST3 standard, as the preparation step before non-destructive testing of the steel. The working head is three floating roller brushes arranged in a triangle, giving a 220 mm grinding width in a single pass. Both the lift and the brushes float: force-controlled elevation with additional grinding compliance, the front head travelling -11.6 to +18.4 mm and the rear -9.5 to +20.5 mm, so the brushes stay loaded against a curved wall instead of skipping. Brushes and grinding modules are quick-change consumables. It tracks weld seams autonomously and adjusts grinding speed to the seam's condition, which is what makes the finish consistent rather than operator-dependent. The chassis is 720 x 370 x 330 mm and 40 kg, carrying 20 kg, travelling at 0 to 3.7 m/min on differential dual-wheel drive, and holding on with 1,400 N of magnetic force per wheel at a 6 mm gap. Power is 500 W at 48 V DC. It works flat surfaces and curves of radius greater than 10 m, and is rated IP54 overall with IP65 on parts.

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