CN212918703U

CN212918703U - Large-scale drum internal surface polishing robot

Info

Publication number: CN212918703U
Application number: CN202021504388.6U
Authority: CN
Inventors: 不公告发明人
Original assignee: Shanghai Dianyue Building Materials Technology Co ltd
Current assignee: Shanghai Dianyue Building Materials Technology Co ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2021-04-09
Anticipated expiration: 2030-07-27

Abstract

The utility model provides a large-scale drum inner surface polishing robot, which relates to the technical field of industrial cleaning and solves the problems that the prior polishing robot can not adapt to different drum sizes and can not effectively clean and polish the inner part of the drum layer by layer; a large-scale drum inner surface grinding robot comprises a pull arm in a matching way; a matching cleaning device is slidably mounted at the lower part of the matching storage block; the matching pulling arm comprises a balancing weight; a matching lifting hook is arranged at the center of the top end face of the balancing weight, a transmission connecting arm is rotatably arranged on the outer peripheral surface of the slender end of the lower matching nail, and the outer peripheral surface of the slender end of the upper matching nail is rotatably connected with the other end of the transmission connecting arm; the utility model realizes the internal storage through the matching between the T-shaped extending arm and the internal control groove; the utility model discloses a cooperation between connecting crank arm and the outside seal sucking disc realizes in the use automatically regulated size in order to adapt to different positions.

Description

Large-scale drum internal surface polishing robot

Technical Field

The utility model belongs to the technical field of the industry clearance, more specifically says, in particular to large-scale drum internal surface polishing robot.

Background

In the manufacturing industry of machinery, petroleum, chemical industry and the like, large cylindrical or spherical storage containers are often used, and the large containers need to detect and polish welding seams, rust, oxides and other areas of a tank body at intervals.

At present, most of equipment for polishing and cleaning the wall surface of large containers such as cylinders at home and abroad are special grinding machine tools, the grinding machines are designed for workpieces with known size range and machining precision, and equipment special for polishing the inner wall of the large cylinder is rare. The surface of the large-scale drum jar body of similar to this kind is polished and is needed to use large-scale equipment of polishing, and this kind of equipment often the cost is high, and inconvenient controlling in addition, and the precision of polishing is lower, in current equipment of polishing, often hopes to walk about in drum inside through it by oneself, but to drum inner arm material difference, the diameter is different, walks on the cask inner wall and does the motion effect of overcoming gravity extremely poorly, and efficiency is extremely low.

In view of the above, the present invention provides a polishing robot for an inner surface of a large cylinder, which is developed and improved in view of the existing structure and defects, so as to achieve the purpose of higher practical value.

Disclosure of Invention

In order to solve the technical problem, the utility model provides a large-scale drum internal surface polishing robot to solve current polishing robot can not adapt to different barrel sizes, can not effective successive layer clearance problem of polishing inside the barrel.

The utility model discloses large-scale drum internal surface polishing robot's purpose and efficiency are reached by following concrete technical means:

a large-scale drum inner surface grinding robot comprises a pull arm in a matching way; a matching accommodating block is fixedly connected to the lower side of the matching pulling arm, and a pulling matching block is slidably mounted in the matching accommodating block; a matching and fixing device is fixedly connected inside the pulling matching block; a matching cleaning device is slidably mounted at the lower part of the matching storage block; the matching pulling arm comprises a balancing weight, a matching lifting hook, a matching straight arm, a connecting crank arm, a transmission connecting arm, an upper end matching nail, a lower end matching nail, a middle T-shaped shaft, a matching rotating groove, a straight arm connecting hole and a crank arm connecting hole; a matching lifting hook is arranged at the center of the top end face of the balancing weight, and six matching straight arms are arranged at the bottom end face of the balancing weight in an annular array; one end of the matching straight arm is fixedly connected with the counterweight block, and the other end of the matching straight arm is of a circular structure; a crank arm connecting hole is formed in the center of the circle of the front end of the matched straight arm; a connecting crank arm is arranged at the circular structure of the matching straight arm, and a matching rotating groove is formed in the center of the top end face of the connecting crank arm; the left side and the right side of the upper end of the connecting crank arm are symmetrically provided with a straight arm connecting hole respectively, and the positions of the straight arm connecting holes correspond to the positions of the crank arm connecting holes; a middle T-shaped shaft is rotatably arranged on the inner peripheral surface of the crank arm connecting hole; an upper end matching nail is arranged on the front side of the left end face of the matching straight arm; the upper side of the left end face of the connecting crank arm is provided with a lower end matching nail, the outer peripheral surface of the slender end of the lower end matching nail is rotatably provided with a transmission connecting arm, and the outer peripheral surface of the slender end of the upper end matching nail is rotatably connected with the other end of the transmission connecting arm.

Furthermore, the matching accommodating block comprises a matching connecting shell, a matching T-shaped groove A, a gear meshing block A, an internal control groove, an internal tooth groove and an external buffer layer; the middle part of the bottom end face of the matching connection shell is provided with a matching T-shaped groove A, and a gear meshing block A is arranged outside the bottom end face of the matching connection shell; the upper part of the left end face of the matching connection shell is provided with an internal control groove, and the inner circumference of the internal control groove is provided with internal tooth sockets in an annular array shape; a fan-shaped external buffer layer is arranged on the peripheral surface of the matching connection shell; and under the installation state of the matching accommodating block and the matching pulling arm, the lower side of each connecting crank arm is fixedly connected with the inner end face of one matching connecting shell.

Furthermore, the pulling matching block comprises a middle-end track block, a matching mounting hole, a T-shaped extending arm, a gear meshing block B, a matching T-shaped groove B, T-shaped connecting arm, a moving rotating layer, a T-shaped sliding hole and a matching spring; the middle part of the inner end surface of the middle end track block is provided with a matching mounting hole, and the left end and the right end of the middle end track block are symmetrically provided with a T-shaped extending arm respectively; the bottom end surface of the middle-end track block is provided with a gear meshing block B, and the middle part of the bottom end surface of the middle-end track block is provided with a matched T-shaped groove B in a T-shaped structure; the middle part of the inner peripheral surface of the T-shaped extending arm is provided with a T-shaped sliding hole with a T-shaped shaft structure; a matching spring is arranged on the inner end face of the T-shaped sliding hole, and a T-shaped connecting arm in a T-shaped shaft structure is arranged in each T-shaped sliding hole in a limiting manner; the left side and the right side of the outer peripheral surface of the horizontal part of the T-shaped connecting arm are symmetrically sleeved with a movable rotating layer respectively; under the piece installation state is accomodate with the cooperation to the pulling cooperation piece, T shape extending arm slidable mounting is in inside control groove, and removes the outer global and the spacing contact of inside tooth's socket of rotating layer.

Furthermore, the matching and fixing device comprises an integrated air pump, a matching and pressurizing hose and an external sealing sucker; the integrated air pump is characterized in that six matched pressurizing hoses are installed outside the integrated air pump in an annular array mode, the other end of each matched pressurizing hose is fixedly connected with an external sealing sucker, and each external sealing sucker is installed inside a corresponding matched installing hole in a limiting mode under the installation state of the matched fixing device and the pulling matching block.

Furthermore, the matching cleaning device comprises a T-shaped sliding block, a matching connecting column, a motor matching plate, a bottom end bearing plate, a bidirectional motor, a matching gear and a matching grinding wheel; a matching connecting column is arranged in the center of the bottom end face of the T-shaped sliding block; the middle part of the matching connecting column is provided with a motor matching plate, and the lower part of the matching connecting column is provided with a bottom end bearing plate; two bidirectional motors are mounted on the top end face of the motor matching plate, and bearings on the top end faces of the bidirectional motors are rotatably connected to the bottom end faces of the T-shaped sliding blocks; a matched gear is fixedly arranged on the outer peripheral surface of the bearing on the top end surface of the bidirectional motor; the bearing at the lower end of the bidirectional motor penetrates through the motor matching plate, and the peripheral surface of the bearing at the lower end of the bidirectional motor is fixedly connected with the inner part of the matching grinding wheel; under the cooperation cleaning device and the cooperation piece installation state of accomodating, T shape sliding block is connected with the inside slip of cooperation T shape groove A, and cooperation gear meshes piece A with the gear mutually.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model realizes the internal storage through the matching between the T-shaped extending arm and the internal control groove; the utility model discloses a cooperation between connecting crank arm and the outside seal sucking disc realizes automatically regulated size in order to adapt to different positions in the use, the utility model discloses a cooperation between outside buffer layer and the outside seal sucking disc realizes carrying out the adjustment in-process in the use and can clear up as required successive layer.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the structure of the cooperating pull arm of the present invention.

Fig. 3 is a schematic view of the structure of the matching rotation groove of the present invention.

Fig. 4 is a schematic view of the connecting hole of the crank arm of the present invention.

Fig. 5 is a schematic view of the structure of the accommodating block of the present invention.

Fig. 6 is a schematic sectional view of the fitting accommodating block of the present invention.

Fig. 7 is a schematic structural view of the pulling engagement block of the present invention.

Fig. 8 is a schematic structural view of the T-shaped sliding hole of the present invention.

Fig. 9 is a schematic structural view of the fitting fixture of the present invention.

Fig. 10 is a schematic structural view of the cooperating cleaning device of the present invention.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. pulling the arm in a matching way; 101. a balancing weight; 102. matching with a lifting hook; 103. a mating straight arm; 104. a connecting crank arm; 105. a transmission connecting arm; 106. the upper end is matched with the nail; 107. the lower end is matched with the nail; 108. a middle T-shaped shaft; 109. a matching rotation groove; 1010. a straight arm connecting hole; 1011. a crank arm connecting hole; 2. matching the receiving block; 201. the shell is connected in a matching way; 202. matching with the T-shaped groove A; 203. a gear engagement block A; 204. an internal control slot; 205. an internal gullet; 206. an outer buffer layer; 3. pulling the matching block; 301. a middle-end track block; 302. fitting the mounting hole; 303. a T-shaped extending arm; 304. a gear engagement block B; 305. matching with the T-shaped groove B; 306. a T-shaped connecting arm; 307. moving the rotating layer; 308. a T-shaped sliding hole; 309. a mating spring; 4. a fitting fixture; 401. an integrated air pump; 402. fitting a pressurized hose; 403. an external sealing suction cup; 5. matching with a cleaning device; 501. a T-shaped slider; 502. matching a connecting column; 503. a motor mating plate; 504. a bottom end bearing plate; 505. a bi-directional motor; 506. a mating gear; 507. and matching with a grinding wheel.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper"; a lower part; a left part and a right part; the right part; "inside"; "outside"; a front end; a rear end; a head part; the directional or positional relationship indicated by "tail" and the like is based on the directional or positional relationship shown in the drawings, and is only for convenience of description and simplified description, and does not indicate or imply that the device or element referred to must have a specific direction; constructed and operative in a particular orientation and therefore should not be construed as limiting the invention. Furthermore, the terms "first"; "second"; "third" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected to" and "connected to" are used; "connected" is to be understood in a broad sense, e.g., it can be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

as shown in figures 1 to 10:

the utility model provides a large-scale drum inner surface polishing robot, which comprises a pull arm 1; a matching receiving block 2 is fixedly connected to the lower side of the matching pull arm 1, and a pull matching block 3 is arranged in the matching receiving block 2 in a sliding mode; a matching and fixing device 4 is fixedly connected inside the pulling matching block 3; the lower part of the matching accommodating block 2 is provided with a matching cleaning device 5 in a sliding way; the matching pull arm 1 comprises a balancing weight 101, a matching lifting hook 102, a matching straight arm 103, a connecting crank arm 104, a transmission connecting arm 105, an upper end matching nail 106, a lower end matching nail 107, a middle T-shaped shaft 108, a matching rotating groove 109, a straight arm connecting hole 1010 and a crank arm connecting hole 1011; a matching hook 102 is arranged at the center of the top end face of the balancing weight 101, and six matching straight arms 103 are arranged at the bottom end face of the balancing weight 101 in an annular array; one end of the matching straight arm 103 is fixedly connected with the counterweight block 101, and the other end of the matching straight arm 103 is of a circular structure; a crank arm connecting hole 1011 is formed in the center of the front end circle of the matching straight arm 103; a connecting crank arm 104 is arranged at the circular structure of the matching straight arm 103, and a matching rotating groove 109 is formed in the center of the top end face of the connecting crank arm 104; the left side and the right side of the upper end of the connecting crank arm 104 are symmetrically provided with a straight arm connecting hole 1010 respectively, and the position of the straight arm connecting hole 1010 corresponds to the position of the crank arm connecting hole 1011; a middle T-shaped shaft 108 is rotatably arranged on the inner peripheral surface of the crank arm connecting hole 1011; an upper end matching nail 106 is arranged on the front side of the left end face of the matching straight arm 103; the upper side of the left end face of the connecting crank arm 104 is provided with a lower end matching nail 107, the peripheral surface of the slender end of the lower end matching nail 107 is rotatably provided with a transmission connecting arm 105, and the peripheral surface of the slender end of the upper end matching nail 106 is rotatably connected with the other end of the transmission connecting arm 105.

The matching accommodating block 2 comprises a matching connecting shell 201, a matching T-shaped groove A202, a gear meshing block A203, an inner control groove 204, an inner tooth groove 205 and an outer buffer layer 206; a matching T-shaped groove A202 is formed in the middle of the bottom end face of the matching connection shell 201, and a gear meshing block A203 is mounted outside the bottom end face of the matching connection shell 201; the upper part of the left end face of the matching connection shell 201 is provided with an internal control groove 204, and the inner circumference of the internal control groove 204 is provided with internal tooth grooves 205 in an annular array; a fan-shaped outer buffer layer 206 is arranged on the outer peripheral surface of the matching connection shell 201; in the installation state of the matching accommodating block 2 and the matching pulling arm 1, the lower side of each connecting crank arm 104 is fixedly connected with the inner end face of one matching connecting shell 201; the size of the device in the use process can be adjusted to adapt to different situations while the friction force is increased by attaching the device to the outside in the use process.

The pull matching block 3 comprises a middle-end track block 301, a matching mounting hole 302, a T-shaped extension arm 303, a gear meshing block B304, a matching T-shaped groove B305, a T-shaped connecting arm 306, a moving rotating layer 307, a T-shaped sliding hole 308 and a matching spring 309; a matching mounting hole 302 is formed in the middle of the inner end face of the middle-end track block 301, and a T-shaped extending arm 303 is symmetrically mounted at the left end and the right end of the middle-end track block 301 respectively; a gear meshing block B304 is arranged on the bottom end surface of the middle end track block 301, and a T-shaped matching groove B305 is formed in the middle of the bottom end surface of the middle end track block 301; the middle part of the inner peripheral surface of the T-shaped extension arm 303 is provided with a T-shaped sliding hole 308 with a T-shaped shaft structure; a matching spring 309 is mounted on the inner end face of the T-shaped sliding hole 308, and a T-shaped connecting arm 306 in a T-shaped shaft structure is mounted in each T-shaped sliding hole 308 in a limiting manner; the left side and the right side of the outer peripheral surface of the horizontal part of the T-shaped connecting arm 306 are symmetrically sleeved with a movable rotating layer 307 respectively; in the installation state of the pull matching block 3 and the matching containing block 2, the T-shaped extension arm 303 is installed in the internal control groove 204 in a sliding mode, and the outer peripheral surface of the movable rotating layer 307 is in limit contact with the internal tooth groove 205; can be used as a connection for auxiliary fixation and can control the length during use.

The matching and fixing device 4 comprises an integrated air pump 401, a matching and pressurizing hose 402 and an external sealing sucker 403; six matched pressurizing hoses 402 are arranged outside the integrated air pump 401 in an annular array, the other end of each matched pressurizing hose 402 is fixedly connected with an external sealing sucker 403, and each external sealing sucker 403 is limited and arranged inside a corresponding matched mounting hole 302 in the installation state of the matched fixing device 4 and the pulling matching block 3; can play the fixed effect of control in the use, avoid dropping in the use.

The matching cleaning device 5 comprises a T-shaped sliding block 501, a matching connecting column 502, a motor matching plate 503, a bottom end bearing plate 504, a bidirectional motor 505, a matching gear 506 and a matching grinding wheel 507; a matching connecting column 502 is arranged at the center of the bottom end face of the T-shaped sliding block 501; a motor matching plate 503 is arranged in the middle of the matching connecting column 502, and a bottom end bearing plate 504 is arranged at the lower part of the matching connecting column 502; two bidirectional motors 505 are mounted on the top end faces of the motor matching plates 503, and the top end faces of the bidirectional motors 505 are rotatably connected to the bottom end faces of the T-shaped sliding blocks 501 through bearings; a matching gear 506 is fixedly arranged on the bearing peripheral surface of the top end surface of the bidirectional motor 505; a bearing at the lower end of the bidirectional motor 505 penetrates through the motor matching plate 503, and the peripheral surface of the bearing at the lower end of the bidirectional motor 505 is fixedly connected with the inner part of the matching grinding wheel 507; under cooperation cleaning device 5 and the cooperation piece 2 installation state of accomodating, T shape sliding block 501 is connected with the inside slip of cooperation T shape groove A202, and cooperation gear 506 meshes with gear engagement piece A203 mutually, can be annular clearance region in the use, guarantees the clearance effect.

The specific use mode and function of the embodiment are as follows:

during the use process; the utility model is hoisted by using the carrying equipment through matching with the lifting hook 102, and is hoisted into the cylinder body to be cleaned, at the moment, the integrated air pump 401 is started to draw out the air in the external sealing sucker 403 which is partially attached to the inside of the cylinder body, and meanwhile, the friction force can be increased through the external buffer layer 206 to avoid falling in the installation state; at the moment, the partially fixed rear balancing weight 101 moves downwards under the action of gravity, after the movement, the matching straight arm 103 drives the connecting crank arm 104 to push downwards, and at the moment, the matching connecting shell 201 slides and expands under the action of force and stops after expanding to a corresponding size; at the moment, the bidirectional motor 505 is started, the upper end drives the matching gear 506 to move along the gear meshing block A203 and the gear meshing block B304 to drive the matching gear to move in a circular motion for polishing, and the lower end drives the matching polishing wheel 507 to rotate through the bidirectional motor 505 to polish the inside; after polishing, the integrated air pump 401 is controlled to release part of the external sealing suction cup 403, the external sealing suction cup is moved downwards, the external sealing suction cup can move downwards slowly when moving downwards to a proper position, and the external sealing suction cup is fixed on another position again under the control of the integrated air pump 401 to clean the inside of the external sealing suction cup continuously in a circular ring shape when moving to a certain position.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides a large-scale drum internal surface polishing robot which characterized in that: comprises a matching pull arm (1); a matching accommodating block (2) is fixedly connected to the lower side of the matching pull arm (1), and a pull matching block (3) is arranged in the matching accommodating block (2) in a sliding manner; a matching and fixing device (4) is fixedly connected inside the pulling matching block (3); the lower part of the matching accommodating block (2) is provided with a matching cleaning device (5) in a sliding way; the matching pull arm (1) comprises a balancing weight (101), a matching lifting hook (102), a matching straight arm (103), a connecting crank arm (104), a transmission connecting arm (105), an upper end matching nail (106), a lower end matching nail (107), a middle T-shaped shaft (108), a matching rotating groove (109), a straight arm connecting hole (1010) and a crank arm connecting hole (1011); a matching lifting hook (102) is arranged at the center of the top end face of the balancing weight (101), and six matching straight arms (103) are arranged at the bottom end face of the balancing weight (101) in an annular array; one end of the matching straight arm (103) is fixedly connected with the balancing weight (101); the other end of the matching straight arm (103) is of a circular structure; a crank arm connecting hole (1011) is formed in the center of the circle of the front end of the matched straight arm (103); a connecting crank arm (104) is arranged at the circular structure of the matching straight arm (103), and a matching rotating groove (109) is formed in the center of the top end face of the connecting crank arm (104); the left side and the right side of the upper end of the connecting crank arm (104) are symmetrically provided with a straight arm connecting hole (1010), and the position of the straight arm connecting hole (1010) corresponds to the position of the crank arm connecting hole (1011); a middle T-shaped shaft (108) is rotatably arranged on the inner peripheral surface of the crank arm connecting hole (1011); an upper end matching nail (106) is arranged on the front side of the left end face of the matching straight arm (103); a lower end matching nail (107) is installed on the upper side of the left end face of the connecting crank arm (104), a transmission connecting arm (105) is rotatably installed on the peripheral surface of the slender end of the lower end matching nail (107), and the peripheral surface of the slender end of the upper end matching nail (106) is rotatably connected with the other end of the transmission connecting arm (105).

2. A large cylinder inner surface grinding robot as recited in claim 1, wherein: the matching accommodating block (2) comprises a matching connecting shell (201), a matching T-shaped groove A (202), a gear meshing block A (203), an internal control groove (204), an internal tooth groove (205) and an external buffer layer (206); the middle part of the bottom end face of the matching connection shell (201) is provided with a matching T-shaped groove A (202), and a gear meshing block A (203) is arranged outside the bottom end face of the matching connection shell (201); the upper part of the left end face of the matching connection shell (201) is provided with an internal control groove (204), and the inner circumference of the internal control groove (204) is provided with internal tooth sockets (205) in an annular array shape; a fan-shaped external buffer layer (206) is arranged on the peripheral surface of the matching connection shell (201); under the installation state of the matching accommodating block (2) and the matching pull arm (1), the lower side of each connecting crank arm (104) is fixedly connected with the inner end face of one matching connecting shell (201).

3. A large cylinder inner surface grinding robot as recited in claim 1, wherein: the pulling matching block (3) comprises a middle-end track block (301), a matching mounting hole (302), a T-shaped extending arm (303), a gear matching block B (304), a matching T-shaped groove B (305), a T-shaped connecting arm (306), a moving rotating layer (307), a T-shaped sliding hole (308) and a matching spring (309); the middle part of the inner end surface of the middle end track block (301) is provided with a matching mounting hole (302), and the left end and the right end of the middle end track block (301) are symmetrically provided with a T-shaped extending arm (303) respectively; a gear meshing block B (304) is installed on the bottom end face of the middle end track block (301), and a matched T-shaped groove B (305) in a T-shaped structure is formed in the middle of the bottom end face of the middle end track block (301); the middle part of the inner peripheral surface of the T-shaped extending arm (303) is provided with a T-shaped sliding hole (308) with a T-shaped shaft structure; a matching spring (309) is installed on the inner end face of the T-shaped sliding hole (308), and a T-shaped connecting arm (306) in a T-shaped shaft structure is installed in each T-shaped sliding hole (308) in a limiting mode; the left side and the right side of the outer peripheral surface of the horizontal part of the T-shaped connecting arm (306) are symmetrically sleeved with a movable rotating layer (307) respectively; under the installation state of the pulling matching block (3) and the matching containing block (2), the T-shaped extending arm (303) is installed in the internal control groove (204) in a sliding mode, and the peripheral surface of the movable rotating layer (307) is in limit contact with the internal tooth groove (205).

4. A large cylinder inner surface grinding robot as recited in claim 1, wherein: the matching fixing device (4) comprises an integrated air pump (401), a matching pressurization hose (402) and an external sealing sucker (403); the integrated air pump (401) outside is six cooperation pressurized hose (402) of annular array form installation, and every cooperation pressurized hose (402) other end is connected with outside sealed sucking disc (403) is fixed, cooperation fixing device (4) and pulling cooperation piece (3) installation state under, every outside sealed sucking disc (403) all spacing installation inside corresponding cooperation mounting hole (302).

5. A large cylinder inner surface grinding robot as recited in claim 1, wherein: the matched cleaning device (5) comprises a T-shaped sliding block (501), a matched connecting column (502), a motor matching plate (503), a bottom end bearing plate (504), a bidirectional motor (505), a matched gear (506) and a matched polishing wheel (507); a matching connecting column (502) is arranged at the center of the bottom end face of the T-shaped sliding block (501); a motor matching plate (503) is arranged in the middle of the matching connecting column (502), and a bottom end bearing plate (504) is arranged at the lower part of the matching connecting column (502); two bidirectional motors (505) are mounted on the top end face of the motor matching plate (503), and bearings on the top end face of each bidirectional motor (505) are rotatably connected to the bottom end face of the T-shaped sliding block (501); a matching gear (506) is fixedly arranged on the outer peripheral surface of the bearing on the top end surface of the bidirectional motor (505); the bearing at the lower end of the bidirectional motor (505) penetrates through the motor matching plate (503), and the peripheral surface of the bearing at the lower end of the bidirectional motor (505) is fixedly connected with the inner part of the matching grinding wheel (507); under the installation state of the matching cleaning device (5) and the matching containing block (2), the T-shaped sliding block (501) is connected with the inside of the matching T-shaped groove A (202) in a sliding mode, and the matching gear (506) is meshed with the gear meshing block A (203).