CN111452064A - Oil storage tank inner wall clearance application robot - Google Patents
Oil storage tank inner wall clearance application robot Download PDFInfo
- Publication number
- CN111452064A CN111452064A CN202010461706.3A CN202010461706A CN111452064A CN 111452064 A CN111452064 A CN 111452064A CN 202010461706 A CN202010461706 A CN 202010461706A CN 111452064 A CN111452064 A CN 111452064A
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- robot
- spray gun
- storage tank
- oil storage
- wall
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- 238000003860 storage Methods 0.000 title claims abstract description 72
- 239000007921 spray Substances 0.000 claims abstract description 85
- 239000011248 coating agent Substances 0.000 claims abstract description 49
- 238000000576 coating method Methods 0.000 claims abstract description 49
- 238000004140 cleaning Methods 0.000 claims abstract description 44
- 239000000428 dust Substances 0.000 claims description 24
- 238000005488 sandblasting Methods 0.000 claims description 17
- 238000005507 spraying Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 2
- 238000010422 painting Methods 0.000 claims 2
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 56
- 239000010779 crude oil Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000003973 paint Substances 0.000 description 2
- 239000006004 Quartz sand Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
A robot for cleaning and coating the inner wall of an oil storage tank comprises a robot trolley, a mechanical arm and a spray gun assembly; the mechanical arm is fixedly arranged at the upper part of the robot trolley; the spray gun assembly is fixedly arranged at the end part of the mechanical arm; when the oil storage tank inner wall cleaning and coating robot works, the robot is arranged inside an oil storage tank to replace manpower to perform oil storage tank inner wall cleaning and inner wall coating operations, so that the working environment of operators is greatly improved, the operation time is greatly prolonged each time, and the cycle and the cost of the oil storage tank inner wall cleaning and inner wall coating operations are greatly improved; meanwhile, the problem that the health of operators is affected when the inner wall of the oil storage tank is manually cleaned and coated in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of cleaning and coating of inner walls of oil storage tanks, in particular to a robot for cleaning and coating inner walls of oil storage tanks.
Background
In the process of storing crude oil, the inner wall of the oil storage tank is corroded to shorten the service life due to the influence of the acid value of the crude oil and sulfur in the crude oil, so that the anticorrosion treatment of the inner wall of the oil storage tank is essential for the production, use and maintenance of the oil storage tank; the inner wall anticorrosive treatment of the oil storage tank comprises inner wall cleaning and inner wall coating, the traditional inner wall cleaning and inner wall coating operations are finished manually, and the operation environment is extremely severe, and an operator needs to wear an air-conditioning protective garment to perform the operation, so that the operation time cannot be too long every time, and the problems that the existing inner wall cleaning and inner wall coating operations of the oil storage tank have long period and high cost and have great influence on the health of the operator are caused.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses a robot for cleaning and coating the inner wall of an oil storage tank; comprises a robot trolley, a mechanical arm and a spray gun component; the mechanical arm is fixedly arranged at the upper part of the robot trolley; the spray gun assembly is fixedly arranged at the end part of the mechanical arm; the robot trolley comprises a trolley body, a wheel combination, a top plate, a local controller, an auxiliary support, an automatic balancing device and an anti-collision sensor; the wheel assembly is movably connected with the vehicle body, the local controller, the auxiliary support, the automatic balancing device and the anti-collision sensor are arranged on the vehicle body, and the top plate is movably arranged on the upper part of the vehicle body; the spray gun assembly comprises a spray gun connecting block, a spray gun extension arm, a spray gun bracket, a sensor assembly and a spray gun; the sensor assembly and the spray gun are fixedly arranged on the spray gun support, the spray gun support is fixedly arranged at one end of the spray gun extension arm, and the other end of the spray gun extension arm is fixedly connected with the spray gun connecting block; the spray gun connecting block is fixedly arranged at the end part of the mechanical arm; the robot for cleaning and coating the inner wall of the oil storage tank is used for replacing manpower to clean and coat the inner wall of the oil storage tank, improves the working environment of operators, greatly prolongs the working time of each time, greatly improves the cycle and the cost of the cleaning and coating operation of the inner wall of the oil storage tank, and solves the problem of great influence on the health of the operators.
In order to realize the purpose, the invention adopts the following technical scheme: a robot for cleaning and coating the inner wall of an oil storage tank comprises a robot trolley, a mechanical arm and a spray gun assembly; the mechanical arm is fixedly arranged at the upper part of the robot trolley; the spray gun assembly is fixedly arranged at the end part of the mechanical arm;
the robot trolley comprises a trolley body, a wheel combination, a top plate, a local controller, an auxiliary support, an automatic balancing device and an anti-collision sensor; the wheel combination is movably connected with the vehicle body; the local controller, the auxiliary support, the automatic balancing device and the anti-collision sensor are arranged on the vehicle body, and the top plate is movably arranged on the upper part of the vehicle body; the vehicle body is a robot trolley base part and is used for mounting and fixing other parts of the robot trolley; the wheel assembly is used for supporting the walking and steering of the robot trolley; the top plate is a mounting base part of the mechanical arm and is movably connected with the vehicle body; the local controller is a core controller of the oil storage tank inner wall cleaning and coating robot, is connected with the control console in an ascending mode, is connected with each execution element and a sensor of the oil storage tank inner wall cleaning and coating robot in a descending mode, and plays roles in communication connection, attitude control and motion control of the oil storage tank inner wall cleaning and coating robot.
The mechanical arm comprises an A shaft, a B shaft, a C shaft, a D shaft, an E shaft and an F shaft which are sequentially connected to form the mechanical arm; wherein: the axis A and the axis E are Z-direction rotating shafts, and the axis B, the axis C, the axis D and the axis F are X-direction rotating shafts; the arm drives the spray gun subassembly through the cooperation of above each axle and realizes space detection, oil storage tank inner wall clearance, oil storage tank inner wall application operation.
The spray gun assembly comprises a spray gun connecting block, a spray gun extension arm, a spray gun bracket, a sensor assembly and a spray gun; the sensor assembly and the spray gun are fixedly arranged on the spray gun support, the spray gun support is fixedly arranged at one end of the spray gun extension arm, and the other end of the spray gun extension arm is fixedly connected with the spray gun connecting block; the spray gun connecting block is fixedly arranged on the end face of the shaft F; the spray gun extension arm is used for expanding the operation reach of the robot for cleaning and coating the inner wall of the oil storage tank.
Further, the spray gun is a sand blasting gun or a spraying gun; the sand blasting gun is used for cleaning the inner wall of the oil storage tank, and working media of the sand blasting gun are compressed air and quartz sand; the spraying gun is used for anticorrosive coating of the inner wall of the oil storage tank, working media of the spraying gun are compressed air and anticorrosive paint, control parameters of the spraying gun during working comprise a flow ratio, a fan ratio and an atomization ratio, and the parameters are optimized and adjusted according to the paint for actual coating.
Furthermore, the robot trolley is a differential steering four-wheel vehicle; the auxiliary supports are electric cylinders, vacuum chucks are fixedly arranged at the bottoms of the auxiliary supports, and the number of the auxiliary supports is four; when the auxiliary support works, the electric cylinder drives the vacuum sucker at the bottom to move downwards, so that the vacuum sucker is adsorbed on the inner wall of the oil storage tank, and the phenomenon that the coating robot for cleaning the inner wall of the oil storage tank topples due to gravity center shift in the working process is prevented; the automatic balancing devices are servo electric cylinders, one ends of the automatic balancing devices are in sliding hinge joint with the vehicle body, the other ends of the automatic balancing devices are in sliding hinge joint with the top plate, and the number of the automatic balancing devices is four; when the attitude sensor of the robot trolley detects that the trolley body inclines, the local controller controls the four automatic balancing devices to cooperatively act, so that the top plate is always in a horizontal state, and the stability of the installation reference of the mechanical arm in the working process is ensured; the collision avoidance sensors are six ultrasonic ranging sensors, two of the six ultrasonic ranging sensors are fixedly arranged on the side surfaces of the head end and the tail end of the vehicle body, two of the six ultrasonic ranging sensors are fixedly arranged on the two side surfaces of the vehicle body, and two of the six ultrasonic ranging sensors are fixedly arranged on the upper plate surface of the top plate; the anti-collision sensor is used for preliminarily detecting the size of the internal space of the oil storage tank and preventing the cleaning and coating robot on the inner wall of the oil storage tank from colliding with the inner wall of the oil storage tank when the cleaning and coating robot walks or works in the oil storage tank; the local controller comprises an attitude sensor for detecting the attitude of the robot trolley; the local controller is electrically connected with the wheel assembly, the auxiliary support, the automatic balancing device and the anti-collision sensor and is used for driving the wheel assembly, the auxiliary support and the automatic balancing device and acquiring and processing detection signals of the anti-collision sensor; still fixedly on the robot dolly be provided with a plurality of dust cage, the dust cage is used for discharging dust, the smog that oil storage tank inner wall clearance application robot produced at the during operation, avoids operational environment to influence high definition digtal camera, laser scanner's normal work because of dust, smog are too big.
Furthermore, the shaft A, the shaft B, the shaft C, the shaft D, the shaft E and the shaft F of the mechanical arm are respectively and independently provided with a servo motor, and the servo motors are electrically connected with the local controller; the local controller coordinately drives servo motors of the A axis, the B axis, the C axis, the D axis, the E axis and the F axis to enable the mechanical arm to realize planned spatial motion.
Further, the sensor assembly comprises a dust cover, a high-definition camera, a laser scanner and a positive pressure nozzle; the high-definition camera, the laser scanner and the positive pressure nozzle are fixedly arranged in the dust cover; when the coating robot for cleaning the inner wall of the oil storage tank works, the positive pressure nozzle continuously sprays compressed air to enable the interior of the dust cover to be in a positive pressure environment, so that dust and smoke are prevented from falling on windows of a high-definition camera and a laser scanner, and the high-definition camera and the laser scanner are guaranteed to normally work; the high-definition camera and the laser scanner are electrically connected with the local controller; the high definition digtal camera is used for operating personnel to observe the interior condition of oil storage tank, and laser scanner is used for scanning the oil storage tank inner space, generates the point cloud information of oil storage tank inner space, and point cloud information transmits the control cabinet through local controller, handles the back through the control cabinet, calculates the spatial position of oil storage tank inner wall clearance application robot in the oil storage tank for further calculate the space motion planning of robot trolley route planning, and arm.
Furthermore, the robot trolley also comprises a towing cable which comprises a power cable, a signal cable, a compressed air pipeline, a vacuum pipeline, a dust collecting pipeline, a sand blasting pipeline and a coating pipeline; the power cable and the signal cable are electrically connected with the local controller; the compressed air pipeline is connected with the sensor assembly, the sand blasting gun or the spraying gun; the vacuum pipeline is connected with the vacuum chuck; the dust collecting pipeline is connected with the dust collecting cover; the sand blasting pipeline is connected with a sand blasting gun; the coating pipeline is connected with the spraying gun.
Further, the robot for cleaning and coating the inner wall of the oil storage tank further comprises a control console, an operating handle and a demonstrator; the console is electrically connected with the local controller through a power cable and a signal cable; the operating handle, the demonstrator and the console are electrically connected; the control console is a control core of the oil storage tank inner wall cleaning and coating robot, the control console calculates the spatial position of the oil storage tank inner wall cleaning and coating robot in the oil storage tank according to point cloud information transmitted back by the local controller, further calculates the robot trolley advancing path plan and the mechanical arm spatial motion plan, transmits the robot trolley advancing path plan and the mechanical arm spatial motion plan to the local controller, and drives the wheel combination, the servo motors of the A shaft, the B shaft, the C shaft, the D shaft, the E shaft and the F shaft by the local controller, so that the trolley advancing of the oil storage tank inner wall cleaning and coating robot and the mechanical arm spatial motion are realized, and the oil storage tank inner wall cleaning and inner wall coating operation is completed; the operating handle is used for manual intervention operation; the demonstrator is used for manually generating robot trolley travel path planning of oil storage tank inner wall cleaning and inner wall coating and space motion planning of the mechanical arm.
Furthermore, a balancing weight is fixedly arranged on the vehicle body; the balancing weight is used for aggravating the weight of robot dolly automobile body, reduces the focus of oil storage tank inner wall clearance application robot, prevents that it from taking place to topple because of the focus skew in the course of the work.
Further, still be provided with auxiliary lighting device on the sensor module, auxiliary lighting device is used for making the image of high definition digtal camera collection bright, and the operating personnel of being convenient for observes the interior condition of oil storage tank.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the invention discloses a robot for cleaning and coating the inner wall of an oil storage tank; comprises a robot trolley, a mechanical arm and a spray gun component; the mechanical arm is fixedly arranged at the upper part of the robot trolley; the spray gun assembly is fixedly arranged at the end part of the mechanical arm; the robot trolley comprises a trolley body, a wheel combination, a top plate, a local controller, an auxiliary support, an automatic balancing device and an anti-collision sensor; the wheel assembly is movably connected with the vehicle body, the local controller, the auxiliary support, the automatic balancing device and the anti-collision sensor are arranged on the vehicle body, and the top plate is movably arranged on the upper part of the vehicle body; the spray gun assembly comprises a spray gun connecting block, a spray gun extension arm, a spray gun bracket, a sensor assembly and a spray gun; the sensor assembly and the spray gun are fixedly arranged on the spray gun support, the spray gun support is fixedly arranged at one end of the spray gun extension arm, and the other end of the spray gun extension arm is fixedly connected with the spray gun connecting block; the spray gun connecting block is fixedly arranged at the end part of the mechanical arm; the robot for cleaning and coating the inner wall of the oil storage tank is used for replacing manpower to clean and coat the inner wall of the oil storage tank, and avoids the working of operators in extremely severe working environment, so that the working time of each time is greatly prolonged, the cycle and the cost of the cleaning and coating operation of the inner wall of the oil storage tank are greatly improved, and the problem of great influence on the health of the operators is solved.
Drawings
FIG. 1 is an appearance schematic diagram of a robot for cleaning and coating the inner wall of an oil storage tank;
FIG. 2 is a schematic view of the exterior of the robot dolly;
FIG. 3 is a schematic view of the robot arm;
FIG. 4 is a schematic exterior view of the spray gun assembly;
fig. 5 is an external view of the sensor assembly.
In the figure: 1. a robot trolley; 1.1, a vehicle body; 1.2, combining wheels; 1.3, a top plate; 1.4, a local controller; 1.5, auxiliary supporting; 1.6, an automatic balancing device; 1.7, an anti-collision sensor; 2. a mechanical arm; 2.1, A axis; 2.2, B axis; 2.3, C axis; 2.4, D axis; 2.5, E axis; 2.6, an F axis; 3. a spray gun assembly; 3.1, connecting a spray gun block; 3.2, extending the spray gun arm; 3.3, a spray gun bracket; 3.4, a sensor component; 3.4.1, a dust cover; 3.4.2, a high-definition camera; 3.4.3, laser scanner; 3.4.4, a positive pressure nozzle; 3.5, spray gun.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
A robot for cleaning and coating the inner wall of an oil storage tank comprises a robot trolley 1, a mechanical arm 2 and a spray gun component 3; the mechanical arm 2 is fixedly arranged on the upper part of the robot trolley 1; the spray gun assembly 3 is fixedly arranged on a shaft at the end part of the mechanical arm 2; the robot trolley 1 comprises a trolley body 1.1, a wheel combination 1.2, a top plate 1.3, a local controller 1.4, an auxiliary support 1.5, an automatic balancing device 1.6 and an anti-collision sensor 1.7; the wheel assembly 1.2 is movably connected with the vehicle body 1.1; the local controller 1.4, the auxiliary support 1.5, the automatic balancing device 1.6 and the anti-collision sensor 1.7 are arranged on the vehicle body 1.1, and the top plate 1.3 is movably arranged on the upper part of the vehicle body 1.1; the mechanical arm 2 comprises an A shaft 2.1, a B shaft 2.2, a C shaft 2.3, a D shaft 2.4, an E shaft 2.5 and an F shaft 2.6 which are sequentially connected to form the mechanical arm 2; wherein: the A shaft 2.1 and the E shaft 2.5 are Z-direction rotating shafts, and the B shaft 2.2, the C shaft 2.3, the D shaft 2.4 and the F shaft 2.6 are X-direction rotating shafts;
the spray gun component 3 comprises a spray gun connecting block 3.1, a spray gun extension arm 3.2, a spray gun bracket 3.3, a sensor component 3.4 and a spray gun 3.5; the sensor component 3.4 and the spray gun 3.5 are fixedly arranged on the spray gun support 3.3, the spray gun support 3.3 is fixedly arranged at one end of the spray gun extension arm 3.2, and the other end of the spray gun extension arm 3.2 is fixedly connected with the spray gun connecting block 3.1; the spray gun connecting block 3.1 is fixedly arranged on the end face of the F shaft 2.6;
the spray gun 3.5 is a sand blasting gun or a spray gun;
the robot trolley 1 is a differential steering four-wheel vehicle; the auxiliary supports 1.5 are electric cylinders, the bottoms of the auxiliary supports are provided with vacuum chucks, and the auxiliary supports 1.5 are provided with a plurality of auxiliary supports; the automatic balancing device 1.6 is an electric cylinder, one end of the automatic balancing device is in sliding hinge joint with the vehicle body 1.1, the other end of the automatic balancing device is in sliding hinge joint with the top plate 1.3, and a plurality of automatic balancing devices 1.6 are arranged; the anti-collision sensors 1.7 are ultrasonic sensors, and are respectively and fixedly arranged on the side surfaces of the head and the tail ends of the vehicle body 1.1 and the two side surfaces of the vehicle body; the local controller 1.4 comprises an attitude sensor, and the local controller 1.4 is electrically connected with the wheel combination 1.2, the auxiliary support 1.5, the automatic balancing device 1.6 and the anti-collision sensor 1.7; the robot trolley 1 is also fixedly provided with a plurality of dust hoods;
servo motors are independently arranged on the A shaft 2.1, the B shaft 2.2, the C shaft 2.3, the D shaft 2.4, the E shaft 2.5 and the F shaft 2.6 of the mechanical arm 2, and the servo motors are electrically connected with the local controller 1.4;
the sensor assembly 3.4 comprises a dust cover 3.4.1, a high-definition camera 3.4.2, a laser scanner 3.4.3 and a positive pressure nozzle 3.4.4; the high-definition camera 3.4.2, the laser scanner 3.4.3 and the positive pressure nozzle 3.4.4 are fixedly arranged in the dust cover 3.4.1; the high-definition camera 3.4.2 and the laser scanner 3.4.3 are electrically connected with the local controller 1.4;
the robot trolley 1 further comprises a towing cable which comprises a power cable, a signal cable, a compressed air pipeline, a vacuum pipeline, a dust collecting pipeline, a sand blasting pipeline and a coating pipeline; the power cable and the signal cable are electrically connected with the local controller 1.4; the compressed air pipeline is connected with the sensor assembly 3.4 and a sand blasting gun or a spraying gun; the vacuum pipeline is connected with the vacuum chuck; the dust collecting pipeline is connected with the dust collecting cover; the sand blasting pipeline is connected with a sand blasting gun; the coating pipeline is connected with the spraying gun;
the robot for cleaning and coating the inner wall of the oil storage tank further comprises a control console, an operating handle and a demonstrator; the console is electrically connected with the local controller 1.4 through a power cable and a signal cable; the operating handle, the demonstrator and the console are electrically connected;
the automobile body 1.1 is fixedly provided with a balancing weight, and the sensor component 3.4 is also provided with an auxiliary lighting device.
The cleaning and coating robot for the inner wall of the oil storage tank is in a folded state before working and is hung into the oil storage tank through a manhole of the oil storage tank; after receiving a starting command sent by a control console, the robot for cleaning and coating the inner wall of the oil storage tank firstly uses the anti-collision sensor 1.7 to detect the space size of the oil storage tank, and then unfolds the oil storage tank according to the detection result of the anti-collision sensor 1.7 to perform subsequent operation.
The present invention is not described in detail in the prior art.
Claims (9)
1. The utility model provides an oil storage tank inner wall clearance application robot which characterized by: comprises a robot trolley (1), a mechanical arm (2) and a spray gun component (3); the mechanical arm (2) is fixedly arranged at the upper part of the robot trolley (1); the spray gun assembly (3) is fixedly arranged at the end part of the mechanical arm (2);
the robot trolley (1) comprises a trolley body (1.1), a wheel combination (1.2), a top plate (1.3), a local controller (1.4), an auxiliary support (1.5), an automatic balancing device (1.6) and an anti-collision sensor (1.7); the wheel assembly (1.2) is movably connected with the vehicle body (1.1); the local controller (1.4), the auxiliary support (1.5), the automatic balancing device (1.6) and the anti-collision sensor (1.7) are arranged on the vehicle body (1.1), and the top plate (1.3) is movably arranged on the upper part of the vehicle body (1.1);
the mechanical arm (2) comprises an A shaft (2.1), a B shaft (2.2), a C shaft (2.3), a D shaft (2.4), an E shaft (2.5) and an F shaft (2.6), which are connected in sequence to form the mechanical arm (2); wherein: the A axis (2.1) and the E axis (2.5) are Z-direction rotating axes, and the B axis (2.2), the C axis (2.3), the D axis (2.4) and the F axis (2.6) are X-direction rotating axes;
the spray gun component (3) comprises a spray gun connecting block (3.1), a spray gun extension arm (3.2), a spray gun bracket (3.3), a sensor component (3.4) and a spray gun (3.5); the sensor assembly (3.4) and the spray gun (3.5) are fixedly arranged on the spray gun support (3.3), the spray gun support (3.3) is fixedly arranged at one end of the spray gun extension arm (3.2), and the other end of the spray gun extension arm (3.2) is fixedly connected with the spray gun connecting block (3.1); the spray gun connecting block (3.1) is fixedly arranged on the end face of the F shaft (2.6).
2. The robot for cleaning and coating the inner wall of the oil storage tank as claimed in claim 1, wherein: the spray gun (3.5) is a sand blasting gun or a spraying gun.
3. The robot for cleaning and coating the inner wall of the oil storage tank as claimed in claim 2, wherein: the robot trolley (1) is a differential steering four-wheel vehicle; the auxiliary supports (1.5) are electric cylinders, the bottom of each electric cylinder is provided with a vacuum chuck, and the auxiliary supports (1.5) are provided with a plurality of electric cylinders; the automatic balancing device (1.6) is an electric cylinder and is provided with a plurality of cylinders, one end of each cylinder is hinged with the vehicle body (1.1) in a sliding manner, and the other end of each cylinder is hinged with the top plate (1.3) in a sliding manner; the anti-collision sensors (1.7) are ultrasonic sensors and are respectively and fixedly arranged on the side surfaces of the head end and the tail end of the vehicle body (1.1), the two side surfaces of the vehicle body and the upper plate surface of the top plate (1.3); the local controller (1.4) comprises an attitude sensor; the local controller (1.4) is electrically connected with the wheel assembly (1.2), the auxiliary support (1.5), the automatic balancing device (1.6) and the anti-collision sensor (1.7); and the robot trolley (1) is also fixedly provided with a plurality of dust hoods.
4. The robot for cleaning and coating the inner wall of the oil storage tank as claimed in claim 3, wherein: the mechanical arm is characterized in that a shaft A (2.1), a shaft B (2.2), a shaft C (2.3), a shaft D (2.4), a shaft E (2.5) and a shaft F (2.6) of the mechanical arm (2) are respectively and independently provided with a servo motor, and the servo motors are electrically connected with a local controller (1.4).
5. The robot for cleaning and coating the inner wall of the oil storage tank as claimed in claim 4, wherein: the sensor assembly (3.4) comprises a dust cover (3.4.1), a high-definition camera (3.4.2), a laser scanner (3.4.3) and a positive pressure nozzle (3.4.4); the high-definition camera (3.4.2), the laser scanner (3.4.3) and the positive pressure nozzle (3.4.4) are fixedly arranged in the dust cover (3.4.1); high definition digtal camera (3.4.2), laser scanner (3.4.3) and local controller (1.4) electric connection.
6. The robot for cleaning and coating the inner wall of the oil storage tank as claimed in claim 5, wherein: the robot trolley (1) further comprises a towing cable, wherein the towing cable comprises a power cable, a signal cable, a compressed air pipeline, a vacuum pipeline, a dust collecting pipeline, a sand blasting pipeline and a coating pipeline; the power cable and the signal cable are electrically connected with the local controller (1.4); the compressed air pipeline is connected with the sensor assembly (3.4) and the sand blasting gun or the spraying gun; the vacuum pipeline is connected with the vacuum chuck; the dust collecting pipeline is connected with the dust collecting cover; the sand blasting pipeline is connected with a sand blasting gun; the coating pipeline is connected with the spraying gun; the towing cable is provided with a protective tow chain.
7. The robot for cleaning and coating the inner wall of the oil storage tank as claimed in claim 6, wherein: the device also comprises a control console, an operating handle and a demonstrator; the console is electrically connected with the local controller (1.4) through a power cable and a signal cable; and the operating handle, the demonstrator and the console are electrically connected.
8. The robot for cleaning and painting the inner wall of the oil storage tank as claimed in claim 7, wherein: the car body (1.1) is fixedly provided with a balancing weight.
9. The robot for cleaning and painting the inner wall of the oil storage tank as claimed in claim 8, wherein: and an auxiliary lighting device is also arranged on the sensor component (3.4).
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