CN100434241C - Dual-purpose robot for rust removal and painting of oil tanks in caverns - Google Patents

Abstract

The invention discloses a dual-purpose robot for derusting and painting an oil tank in a cavern, which includes a portal truss composed of multiple detachable arms, a slewing platform for determining the slewing center of the base by adjusting the length of the legs, Two identical four-degree-of-freedom manipulators, the driving mechanism of the portal truss, the manipulator lifting mechanism and a movable hydraulic station outside the tank. The invention can not only perform sandblasting and derusting, but also perform painting operation, and at the same time, when detecting and receiving sensor signals, it can also automatically adjust posture and movement direction, possessing certain intelligence. During the operation, the monitor installed on the telescopic arm of the robot regularly transmits the images it captures to the display outside the oil tank through the optical cable, so that the operators outside the oil tank can check the operation status. The power of the whole equipment is provided by the hydraulic station outside the tank. It is not only suitable for large oil tanks of various specifications, but also convenient for installation and motorized transportation, with novel operation methods and high efficiency.

Description

Dual-purpose robot for rust removal and painting of oil tanks in caverns

Technical field

The invention relates to the field of automatic spraying equipment on the surface of large oil tanks, in particular to an autonomous dual-purpose robot for derusting and painting the inner wall of an oil tank in a cavern.

Background technique

At present, the rust removal and painting of large oil tanks in caverns have been using traditional manual operations relying on scaffolding. Not only is the efficiency and quality low, but the working environment is harsh, which seriously threatens the physical and mental health of construction workers. In order to solve these problems, since 1988, Harbin Institute of Technology and other universities and some scientific research institutions have developed magnetic and air-suction wall-climbing robots with the support of "863". Due to the constraints of various technologies and conditions, their structures are complex and their performances are not very stable, so they cannot be well used in actual production.

Contents of the invention

The purpose of this invention is to design a device suitable for autonomous operation in large oil tanks in caverns. It can not only sandblast and remove rust, but also spray paint. At the same time, it can automatically adjust posture and posture when receiving sensor signals The direction of motion, so it has a certain intelligence. During the operation, the monitor installed on the telescopic arm of the robot regularly transmits the images it captures to the display outside the oil tank through the optical cable, so that the operators outside the oil tank can check the operation status. The power of the whole equipment is provided by the hydraulic station outside the tank.

Its technical solutions are:

A dual-purpose robot for derusting and painting an oil tank in a cavern, which includes:

A gantry truss, according to the profile of the longitudinal section of the oil tank, design a profiling gantry truss, make its outer surface the guide rail of the manipulator, and divide it into two completely symmetrical half frame parts from the center of rotation at the top , each half-frame part is composed of multi-section detachable frame arms;

A slewing platform, the slewing arm is an inverted isosceles triangle, its apex is connected to the slewing base, the two symmetrical ends are respectively connected to the two inner sides of the portal truss, and the base has three telescopic support legs evenly arranged, and Extending to the bottom of the tank wall, the center of rotation of the base is determined by adjusting the length of the legs;

Two identical four-degree-of-freedom manipulators are installed on the guide rails of the portal truss; the manipulators have the functions of telescopic, pitching, circular swing and moving along the guide rails, respectively driven by hydraulic motors and hoists; each manipulator There is a spray gun installation fixture on the cross arm, and a camera is installed; the two arms of the manipulator are fixed on the trolley, and the bottom of the trolley is equipped with a wheel set, which moves along the guide rail by the wheel set;

The driving mechanism of the gantry truss, including the walking wheels installed at the bottom, is driven by a hydraulic motor and connected to the truss through one-way flexibility. It only provides the driving torque for the truss and does not bear its gravity. Provided by self-weight;

A movable hydraulic station located outside the tank provides power for the whole equipment; the fuel tank, motor, oil pump, etc. and all valve bodies are installed on the mobile carrier, and the oil circuit from the hydraulic station directly passes through the high-pressure oil pipe and enters the machine. Oil cylinder, motor and other connections;

A manipulator lifting mechanism, which is driven by a hydraulic motor with self-locking function, transmits the torque to two rollers with the same speed and size through a coupling and a gearbox, and then lifts the manipulator through a steel cable. The cables rub against the portal truss body, and rollers are installed inside the truss.

The above-mentioned dual-purpose robot also includes an electric control box, which is also installed on the mobile carrier; the manipulator is a single body and can be operated by hand; at the same time, the monitor is also independent and controlled by a microcomputer; the above-mentioned devices or Parts are placed outside the tank.

At the top center joint of the above-mentioned portal truss, an adjustment mechanism capable of adjusting the symmetrical dimensions of the two parts is designed, and the adjustment mechanism is connected to a universal joint that is flexibly connected to the tank mouth on the top of the oil tank.

Various components of the above-mentioned portal truss or slewing platform can be designed in a modular manner, and can be assembled or disassembled as required.

The above-mentioned dual-purpose robot also includes a deviation correction device, which is arranged between the slewing arm and the top of the truss, and adjusts to keep the portal truss and the ground in a vertical state.

The above-mentioned drive mechanism, its guide sleeve (401) is fixed to the bottom end of the portal truss with bolts, the guide shaft (402) passes through the guide sleeve (401), its upper end is fixed with a flange, and its lower end is fixed after being loaded with a spring. On the support; the hydraulic motor (403) is also consolidated on the support through the connecting flange, and a toothed belt wheel and a toothed belt (404) are installed at its shaft end; another toothed belt wheel is installed on the wheel shaft (405) Left end, wheel shaft is connected with support by bearing, and a wheel (406) is installed on it, fix it by sleeve and wheel shaft cut-out plane.

The above-mentioned revolving platform is composed of horizontal support (201), bracket (202) and stand (203) through bolts to form an inverted triangle structure. The end is connected and fixed to the inner side of the portal truss, and the lifting mechanism (5) is installed on the upper end of the stand; the main shaft is connected to the base through a tapered roller bearing and a radial thrust bearing; there are three connecting surfaces on the outer circle of the base, which are used to install Three supporting legs (205), each supporting leg includes a joint rod, a small support, an adjusting screw rod, and a transition connecting plate.

The above-mentioned manipulator and its lifting mechanism, the telescopic arm (303) of the manipulator is limited on the trapezoidal guide rails on both sides of the portal truss through the pressure plate, the outer end is connected with the piston rod of the telescopic oil cylinder with threads, and is driven by it to move along the guide rail; The ear end of the oil cylinder (307) is hinged on the box of the mobile trolley, and the end of the piston rod is hinged on the bottom of the bracket; the spray gun clamp (309) is composed of a self-locking screw, a screw nut seat and a swing mechanism, and the lower end is fixed on the telescopic arm. The front end of the front end, its swing shaft is hinged on a turntable fixed on the output shaft of the hydraulic motor (301); the camera (302) is connected with the telescopic arm through the bracket, and it has the functions of swinging up and down and turning left and right, and can be controlled by commands ; The bottom of the mobile trolley is equipped with a wheel set (305), and its wheels are stuck between the guide rails; one end of the steel wire rope (304) is fixed on the upper part of the trolley box, and the other end is wound on the bobbin (504) of the lifting mechanism; , A photoelectric proximity switch is also installed on the trolley box.

The beneficial effects of the invention are: it can not only sandblast and remove rust, but also spray paint, and at the same time, it can automatically adjust the attitude and movement direction when detecting and receiving the sensor signal, so it has certain intelligence. During the operation, the monitor installed on the telescopic arm of the robot regularly transmits the images it captures to the display outside the oil tank through the optical cable, so that the operators outside the oil tank can check the operation status. The power of the whole equipment is provided by the hydraulic station outside the tank. The above-mentioned structural design is not only suitable for large oil tanks of various specifications, but also convenient for installation and motorized transportation. The operation method is novel, efficient, economical and environmentally friendly.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure and principle of an embodiment of the present invention.

Fig. 2 is a schematic diagram of the partial structure of Fig. 1, mainly showing the portal truss part.

Fig. 3 is a schematic diagram of the partial structure of Fig. 1, mainly showing the part of the rotary platform.

Fig. 4 is a schematic diagram of the partial structure of Fig. 1, mainly showing the part of the manipulator.

Fig. 5 is a schematic diagram of the partial structure of Fig. 1, mainly showing the lifting mechanism of the manipulator.

Fig. 6 is a schematic diagram of the partial structure of Fig. 1, mainly showing the driving mechanism of the portal truss.

Fig. 7 is a schematic diagram of the partial structure of Fig. 1, mainly showing the adjustment mechanism.

Reference signs:

1. Portal truss 2. Rotary platform 3. Manipulator 4. Driving mechanism 5. Lifting mechanism 6. Adjusting mechanism 7. Oil tank wall 201. Horizontal bracket 202. Bracket 203. Vertical frame 204. Base 205. Supporting legs 301. Motor 302. Camera 303. Telescopic arm 304. Wire rope 305. Wheel set 306. Mobile trolley 307. Pitch cylinder 308. Telescopic cylinder 309. Spray gun clamp 310. Guide rail 401. Guide sleeve 402. Guide shaft 403. Hydraulic motor 404. Tooth shape Belt 405. Axle 406. Wheel 501. Self-locking motor 502. Input shaft 503. Reducer 504. Winding wheel 601. Rotating shaft 602. Universal joint 603. Adjusting frame 604. Adjusting cable

Detailed ways

As shown in Figure 1, a dual-purpose robot for rust removal and painting of oil tanks in caverns includes:

A portal truss 1, according to the profile of the longitudinal section of the oil tank, design a profiling portal truss, make its outer surface into the guide rail of the manipulator, and divide it into two completely symmetrical half frames from the center of rotation at the top , each half-frame part is made of multi-section detachable frame arms 101 again.

A slewing platform 2, the slewing arm is an inverted isosceles triangle, the apex of which is connected to the slewing base, and the two symmetrical end points are respectively connected to the two inner sides of the portal truss, and the base has three telescopic support legs evenly arranged, And it extends to the bottom of the tank wall, and the center of rotation of the base is determined by adjusting the length of the legs.

Two identical four-degree-of-freedom manipulators 3 are installed on the guide rails of the portal truss; the manipulators have the functions of telescopic, pitching, circular swing and moving along the guide rails, respectively driven by hydraulic motors and hoists; each manipulator A spray gun installation fixture and a camera are installed on the cross arm of the machine; the two arms of the manipulator are fixed on the trolley, and the bottom of the trolley is equipped with a wheel set, which moves along the guide rail by the wheel set.

The driving mechanism 4 of the gantry truss, including the traveling wheels installed at its bottom, is driven by a hydraulic motor and connected to the truss through one-way flexibility, which only provides the driving torque for the truss without bearing its gravity, and the adhesion to the ground is determined by Its own weight is provided.

A hydraulic station (not shown) that is movable outside the tank provides power for the whole equipment; the oil tank, motor, oil pump, etc. and all valve bodies are installed on the mobile carrier, and the oil circuit derived from the hydraulic station directly passes The oil pipe is connected with the oil cylinder and motor of the robot.

A manipulator lifting mechanism 5, which is driven by a hydraulic motor with self-locking function, transmits the torque to two rollers with the same speed and size through a coupling and a gearbox, and then lifts the manipulator through a steel cable. The steel cables rub against the portal truss body, and rollers are installed inside the truss.

The following describes the relevant parts in detail:

Portal truss 1 and its driving mechanism 4, combined with Figure 2 and Figure 6, its guide sleeve 401 is bolted to the bottom of the portal truss, the guide shaft 402 passes through the guide sleeve 401, and its upper end is fixed with a flange. The lower end is loaded with a spring and fixed on the bracket; the hydraulic motor 403 is also fixed on the bracket through the connecting flange, and a toothed belt pulley and a toothed belt 404 are installed on its shaft end; the other toothed pulley is installed on the wheel shaft 405 At the left end, the wheel shaft is connected with the support through the bearing, and a wheel 406 is installed thereon, and it is fixed by the sleeve and the wheel shaft. During the movement, the unevenness of the road surface forces the guide shaft to slide relative to the guide sleeve and reset under the action of the spring. It can be seen that the wheel does not bear the gravity from the portal truss 1 during the rotation process, and its adhesion to the ground is determined by Its own weight and counterweight are provided, and the direction of movement is forced to change by the movement of the truss. In order to control its stroke, a photoelectric proximity switch is also installed on the bracket. When a sign is detected, the system will automatically make it stop or turn.

The slewing platform 2, in conjunction with Fig. 3, is composed of a horizontal bracket 201, a bracket 202, and a stand 203 through bolts to form an inverted triangle structure. On the inner side of the portal truss, a lifting mechanism 5 is installed on the upper end of the stand; the main shaft is connected to the base through a tapered roller bearing and a radial thrust bearing; there are three connection surfaces on the outer circular surface of the base, which are used to install three support legs 205, And each supporting leg is made up of joint rod, small bearing, adjusting screw rod, transition connecting plate etc. again, and its length can be adjusted as required, but must guarantee that the rotating wheel passes through from the transition connecting plate. In addition, the lower connecting rod of the deviation correction mechanism also passes through the round hole at the bottom of the slewing platform, and is fixedly connected with screws.

Manipulator 3 and its lifting mechanism 5, in conjunction with Fig. 4 and Fig. 5, the telescoping arm 303 of manipulator is limited on the trapezoidal guide rail 310 on both sides of portal truss 1 by pressing plate, and the outer end is connected with the piston rod thread of telescoping oil cylinder, and in Driven by it, it moves along the guide rail; the ear end of the pitch cylinder 307 is hinged on the box of the mobile trolley, and the end of the piston rod is hinged on the bottom of the bracket to realize the pitching action of the manipulator; the spray gun clamp 309 is composed of a self-locking screw, screw It consists of a female seat and a swing mechanism, the lower end of which is fixed on the front end of the telescopic arm, and its swing shaft is hinged on a turntable fixed on the output shaft of the hydraulic motor 301; the camera 302 is connected with the telescopic arm through a bracket, and has the functions of swinging up and down and turning left and right. function, and can be controlled by commands; the bottom of the moving trolley is equipped with a wheel set 305, and its 12 wheels are stuck between the guide rails to ensure the free movement of the trolley up and down; one end of the wire rope 304 is fixed on the upper part of the trolley box, and the other end Wound on the bobbin 504 of the lifting mechanism 5 . In addition, a photoelectric proximity switch is installed on the trolley box to detect stop signs.

At the top center joint of the portal truss, an adjustment mechanism 6 capable of adjusting the symmetrical dimensions of the two parts is designed, and the adjustment part is connected to a universal joint 602 that is flexibly connected to the top tank mouth of the oil tank.

The above-mentioned dual-purpose robot can also include an electric control box, which is also installed on the mobile carrier; the manipulator is a single body and can be operated by hand; meanwhile, the monitor is also independent and controlled by a microcomputer; the above-mentioned devices Or parts are placed outside the oil tank to work.

The robot of the present invention can work in two modes, automatic and manual, by configuring a corresponding electric control system. Turn on the power and start the hydraulic station. When the automatic mode is selected, the robot will enter the autonomous working state. The detection components, control system, monitor and various actuators are all started at the same time. The portal truss rotates slowly under the push of the drive mechanism. Hold the spray gun and start working, and spray out a 30 cm working belt; when the truss rotates about 180 degrees and detects the reversing sign, it pauses. At this time, the manipulator moves up the distance of 30 cm along the guide rail under the drive of the lifting mechanism, and then The robot rotates in the opposite direction, and sprays out a working belt parallel to the previous one, and so on. When it receives the completion command, the robot directly returns to the initial motion state. When the manual mode is selected, the manipulator can be held in hand, while observing the monitor screen, and command the robot to make the required actions through the buttons.

Claims (9)

1. A dual-purpose robot for rust removal and painting of oil tanks in caverns, including: A gantry truss, according to the profile of the longitudinal section of the oil tank, design a profiling gantry truss, make its outer surface the guide rail of the manipulator, and divide it into two completely symmetrical half frame parts from the center of rotation at the top , each half-frame part is composed of multi-section detachable frame arms; A slewing platform, the slewing arm is an inverted isosceles triangle, its apex is connected to the slewing base, the two symmetrical ends are respectively connected to the two inner sides of the portal truss, and the base has three telescopic support legs evenly arranged, and Extending to the bottom of the tank wall, the center of rotation of the base is determined by adjusting the length of the legs; Two identical four-degree-of-freedom manipulators are installed on the guide rails of the portal truss; the manipulators have the functions of telescopic, pitching, circular swing and moving along the guide rails, respectively driven by hydraulic motors and hoists; each manipulator There is a spray gun installation fixture on the cross arm, and a camera is installed; the two arms of the manipulator are fixed on the trolley, and the bottom of the trolley is equipped with a wheel set, which moves along the guide rail by the wheel set; The driving mechanism of the gantry truss, including the walking wheels installed at the bottom, is driven by a hydraulic motor and connected to the truss through one-way flexibility. It only provides the driving torque for the truss and does not bear its gravity. Provided by self-weight; The hydraulic station located outside the tank provides power for the whole equipment; the oil circuit derived from the hydraulic station is connected to the cylinder and motor of the robot through high-pressure oil pipes; The manipulator lifting mechanism is driven by a hydraulic motor with self-locking function, and the torque is transmitted to two rollers with the same speed and size through the coupling and gearbox, and then the manipulator is lifted by the wire rope; Above-mentioned driving mechanism, hydraulic motor (403) is also consolidated on the support by connecting flange, toothed belt pulley and toothed belt (404) are installed at its shaft end; Another toothed belt wheel is installed on the wheel shaft (405) At the left end, the wheel shaft is connected with the support by the bearing, and a wheel (406) is installed thereon, and it is fixed by the sleeve and the wheel shaft cut-out plane; It is characterized in that: the guide sleeve (401) of the power mechanism is fixed to the bottom end of the portal truss with bolts, the guide shaft (402) passes through the guide sleeve (401), the upper end is fixed by a flange, and the lower end is installed After inserting a spring, it is fixed on the bracket. 2. The dual-purpose robot for rust removal and painting of oil tanks in caverns according to claim 1, characterized in that: the hydraulic station is a movable hydraulic station, and its fuel tank, motor, oil pump and all valve bodies are installed on the mobile on the carrier. 3. The dual-purpose robot for derusting and painting the oil tank in caverns according to claim 1, characterized in that: the dual-purpose robot also includes an electric control box, which is also installed on the mobile carrier; the manipulator is It is a single body and can be operated by hand; at the same time, the monitor is also independent and controlled by a microcomputer; the above-mentioned devices or components are placed outside the oil tank. 4. The dual-purpose robot for derusting and painting the oil tank in the grotto according to claim 1, characterized in that: at the top center joint of the portal truss, an adjustment mechanism capable of adjusting the symmetrical dimensions of the two parts is designed, and the adjustment mechanism Coupling to a universal joint that maintains a flexible connection with the tank top finish. 5. The dual-purpose robot for derusting and painting the oil tank in caverns according to claim 1, characterized in that: various parts of the gantry truss or the rotary platform can adopt a modular design, and can be assembled or assembled on demand. Disassemble. 6. The dual-purpose robot for derusting and painting the oil tank in caverns according to claim 1, characterized in that: the dual-purpose robot also includes a deviation correcting device, which is arranged between the rotary arm and the top of the truss, and adjusts and holds the door The truss is vertical to the ground. 7. The dual-purpose robot for rust removal and painting of oil tanks in caverns according to claim 1, characterized in that: the rotary platform is composed of horizontal brackets (201), brackets (202), and vertical brackets (203) through bolts Consolidated into an inverted triangle structure, the bottom end is installed on the main shaft end face of the rotary base (204), the other two ends are connected and fixed to the inner side of the portal truss, and the lifting mechanism (5) is installed on the upper end of the stand; The sub-bearing and the centripetal thrust bearing are connected to the base; three connecting surfaces are evenly distributed on the outer circle of the base, and are used to install three support legs (205), each support leg includes a joint rod, a small support, an adjustment screw, a transition Take over. 8. The dual-purpose robot for derusting and painting the oil tank in caverns according to claim 1, characterized in that: the manipulator and its lifting mechanism, the telescoping arm (303) of the manipulator is limited on both sides of the portal truss by the pressure plate On the trapezoidal guide rail, the outer end is connected with the piston rod thread of the telescopic oil cylinder, and moves along the guide rail under its drive; the ear end of the pitch oil cylinder (307) is hinged on the box of the moving trolley, and the end of the piston rod is hinged on the bottom of the bracket; Spray gun clamp (309) is made up of leading screw that can self-lock, screw nut seat and swing mechanism, and the lower end is fixed on the front end of telescopic arm, and its swing shaft is hinged on a turntable that is fixed on the output shaft of hydraulic motor (301); (302) is connected with telescopic arm by support, and itself has the function of swinging up and down and turning left and right, and can be controlled by command; Wheel group (305) is equipped with at the bottom of moving trolley, and its wheel is stuck between guide rails; Wire rope (304 ) one end is fixed on the upper part of the trolley box, and the other end is wound on the bobbin (504) of the lifting mechanism; in addition, a photoelectric proximity switch is also installed on the trolley box. 9. The dual-purpose robot for derusting and painting the oil tank in caverns according to claim 8, characterized in that: there are rollers installed in the portal truss, and the steel wire rope is wound around the rollers.

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