CN114074099A

CN114074099A - Ten-degree-of-freedom retractable robot for tank cleaning and detection

Info

Publication number: CN114074099A
Application number: CN202111488140.4A
Authority: CN
Inventors: 姜建胜; 谭建忠; 邵丽蓉; 朱文龙
Original assignee: Intelligent Age Beijing Technology Co ltd
Current assignee: Intelligent Age Beijing Technology Co ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-02-22

Abstract

The invention discloses a ten-degree-of-freedom retractable robot for cleaning and detecting a tank, which comprises an out-tank four-degree-of-freedom numerical control mechanical arm, a rotating head, a connecting plate, a central plate, a first reinforcing rib plate, a second reinforcing rib plate, a camera, a rotary driver, a first connecting piece, screws, an in-tank four-degree-of-freedom retractable mechanical arm, a multi-point wiping head and a tank bottom dirt sucking head, wherein the outer wall of one side of the out-tank four-degree-of-freedom numerical control mechanical arm is fixedly connected with the rotating head, and the connecting plate is fixedly connected to the inner wall of one side of the rotating head; the invention adopts the design of a multi-stage telescopic mechanism, so that the robot has a compact structure and can realize safe operation in a narrow space.

Description

Ten-degree-of-freedom retractable robot for tank cleaning and detection

Technical Field

The invention relates to the technical field of intelligent mechanical equipment control, in particular to a ten-degree-of-freedom retractable robot for tank cleaning and detection.

Background

With the continuous progress of social technology, the requirements of industries such as high-speed rails, subways, highway tunnels and the like on safety early warning are increasing day by day, the traditional modes such as manual operation are generally adopted at present, and due to factors such as limited space and limited physical body of personnel, some potential safety hazards are generated during operation; after the tank car for transporting ethylene glycol on a railway is cleaned and subjected to pretreatment, at least two workers are required to carry breathing masks to enter the tank car for sucking residual embroidery residues and detecting the cleaning effect, the operation needs to be carried out for a long time in a closed space, and in a limited and narrow space of the tank, the workers can not touch the limited and narrow space, so that the cleaning detection effect is poor; in addition, workers can be influenced by factors such as temperature environment and the like when entering the tank, and great potential safety hazards exist.

Disclosure of Invention

The invention aims to provide a ten-degree-of-freedom retractable robot for tank cleaning and detection, and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a ten degrees of freedom to tank washing and detection receive and release flexible robot, including four degrees of freedom numerical control arms outside the jar, install the connecting plate on one side outer wall of four degrees of freedom numerical control arms outside the jar, fixedly connected with well core plate on the bottom outer wall of connecting plate, fixedly connected with rotary actuator on one side outer wall of well core plate, rotary actuator's the first connecting piece of output fixedly connected with, four degrees of freedom receive and release flexible arms in the fixedly connected with jar on one side outer wall of first connecting piece, fixedly connected with motor on one side outer wall that four degrees of freedom receive and release flexible arm output in the jar, fixedly connected with second connecting piece on one side outer wall of motor output, fixedly connected with wiping arm on one side outer wall of second connecting piece.

Preferably, the outer wall of one side of the four-degree-of-freedom numerical control mechanical arm outside the tank is fixedly connected with a rotating head, and the connecting plate is fixedly connected to the inner wall of one side of the rotating head.

Preferably, one end of the wiping rod is fixedly connected with a multi-point wiping head, and the outer wall of one side of the wiping rod is fixedly connected with a tank bottom dirt suction head.

Preferably, a camera is installed in the middle of the central plate, and a first reinforcing rib plate is fixedly connected to the outer wall of one side of the central plate.

Preferably, screws are distributed and mounted on the outer wall of one side of the first connecting piece, and the four-degree-of-freedom retractable mechanical arm in the tank is fixedly connected to the outer wall of one side of the first connecting piece through the screws.

Preferably, second reinforcing rib plates are symmetrically arranged on two sides of the camera, and the second reinforcing rib plates are fixedly connected to the outer wall of one side of the central plate.

Preferably, a third reinforcing rib plate is distributed and fixed on the outer wall of one side of the first connecting piece.

Compared with the prior art, the invention has the beneficial effects that: the robot designed by the invention can replace manual operation to complete the residual liquid suction and wiping detection work after the cleaning of all tank trucks, thereby greatly reducing the labor intensity, eliminating the potential safety hazard of the vehicle cleaning, reducing the environmental pollution and improving the detection efficiency; the invention adopts the design of a multi-stage telescopic mechanism, so that the robot has a compact structure and can realize safe operation in a narrow space.

Drawings

FIG. 1 is a schematic overall perspective view of the present invention;

FIG. 2 is a schematic view of a main view structure of a four-degree-of-freedom retractable mechanical arm in a tank of the present invention in a retracted state;

FIG. 3 is a schematic structural diagram of a side view of a four-degree-of-freedom retractable mechanical arm in a tank in a contracted state;

FIG. 4 is a schematic view of a three-dimensional structure of a four-degree-of-freedom retractable mechanical arm in a tank in a retracted state;

FIG. 5 is a perspective view of a center plate of the present invention;

in the figure: 1. a four-degree-of-freedom numerical control mechanical arm outside the tank; 100. rotating the head; 2. a connecting plate; 3. a center plate; 300. a first reinforcing rib plate; 301. a second reinforcing rib plate; 4. a camera; 5. a rotary drive; 6. a first connecting member; 600. a third reinforcing rib plate; 601. a screw; 7. retracting and extending mechanical arms with four degrees of freedom in the tank; 700. a motor; 701. a second connecting member; 702. a wiping lever; 703. a multi-point wiping head; 704. the tank bottom soil pick-up head.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, an embodiment of the present invention is shown: a ten-degree-of-freedom retractable robot for cleaning and detecting a tank comprises an out-tank four-degree-of-freedom numerical control mechanical arm 1, wherein a connecting plate 2 is mounted on the outer wall of one side of the out-tank four-degree-of-freedom numerical control mechanical arm 1, a central plate 3 is fixedly connected to the outer wall of the bottom end of the connecting plate 2, a rotary driver 5 is fixedly connected to the outer wall of one side of the central plate 3, a first connecting piece 6 is fixedly connected to the output end of the rotary driver 5, an in-tank four-degree-of-freedom retractable mechanical arm 7 is fixedly connected to the outer wall of one side of the output end of the in-tank four-degree-of-freedom retractable mechanical arm 7, a motor 700 is fixedly connected to the outer wall of one side of the output end of the motor 700, and a wiping rod 702 is fixedly connected to the outer wall of one side of the second connecting piece 701; the outer wall of one side of the out-of-tank four-degree-of-freedom numerical control mechanical arm 1 is fixedly connected with a rotating head 100, a connecting plate 2 is fixedly connected to the inner wall of one side of the rotating head 100, and the rotating head 100 is used for fixing the connecting plate 2; one end of the wiping rod 702 is fixedly connected with a multi-point wiping head 703, the outer wall of one side of the wiping rod 702 is fixedly connected with a tank bottom dirt suction head 704, the multi-point wiping head 703 is used for wiping the wall of the tank, and the tank bottom dirt suction head 704 is used for sucking scrap iron and sewage; the middle part of the central plate 3 is provided with a camera 4, the outer wall of one side of the central plate 3 is fixedly connected with a first reinforcing rib plate 300, the camera 4 is used for photographing and recording the wiping condition in the tank, and the first reinforcing rib plate 300 is used for improving the strength of the central plate 3; the screws 601 are distributed and mounted on the outer wall of one side of the first connecting piece 6, the four-degree-of-freedom retractable mechanical arm 7 in the tank is fixedly connected to the outer wall of one side of the first connecting piece 6 through the screws 601, and the screws 601 are used for fixing the four-degree-of-freedom retractable mechanical arm 7 in the tank on the first connecting piece 6; second reinforcing rib plates 301 are symmetrically arranged on two sides of the camera 4, the second reinforcing rib plates 301 are fixedly connected to the outer wall of one side of the central plate 3, and the second reinforcing rib plates 301 are used for improving the strength of the central plate 3; and third reinforcing rib plates 600 are distributed and fixed on the outer wall of one side of the first connecting piece 6, and the third reinforcing rib plates 600 are used for improving the strength of the first connecting piece 6.

The working principle is as follows: when the device is used for replacing manual operation to suck and wipe residual liquid after tank truck cleaning, after a tank truck of a cleaning tank is in place, the four-degree-of-freedom numerical control mechanical arm 1 outside the tank is positioned at a tank manhole position, the four-degree-of-freedom retractable mechanical arm 7 in the tank is started, the wiping rod 702 is driven to vertically descend from the manhole to the central position of the tank, the motor 700 is started, the wiping rod 702 is turned over 90 degrees left and right respectively, the four-degree-of-freedom retractable mechanical arm 7 in the tank can be extended to 4.0 meters from 1.6 meters in original length, the hemispherical multipoint wiping head 703 on the wiping rod 702 can rotate 180 degrees and can contact a to-be-inspected position which is farthest from left to right and 6 meters, the multipoint wiping head 703 detects 6 limit points left and right respectively, and the multipoint wiping head 703 can be used for 4-to detect in real time after each position is wiped by rotation; the tank bottom dirt suction head 704 at the other end of the wiping rod 702 can contact the position of the tank bottom with the maximum length of 4.5 meters, so that scrap iron and sewage are sucked; the multipoint wiping head 703 sequentially rotates, positions and photographs through a rotary driver 5, a wiping rod 702 remotely controls a camera 4 to observe in a short distance through a remote controller, a four-degree-of-freedom retractable mechanical arm 7 in the tank, a four-degree-of-freedom numerical control mechanical arm 1 outside the tank, the camera 4 and a motor 700 are all designed to be explosion-proof, a rotating head 100 is used for fixing a connecting plate 2, the connecting plate 2 is used for fixing a central plate 3, the central plate 3 is used for mounting the camera 4 and the rotary driver 5, a first reinforcing rib plate 300 and a second reinforcing rib plate 301 are used for improving the strength of the central plate 3, a third reinforcing rib plate 600 is used for improving the strength of a first connecting piece 6, a screw 601 is used for fixing the four-degree-of-freedom retractable mechanical arm 7 in the tank on the first connecting piece 6, and the second connecting piece 701 is used for mounting the wiping rod 702 at the output end of the motor 700; the invention has compact structure and wide operation range, and through the arrangement of the four-freedom-degree numerical control mechanical arm 1 outside the tank and the four-freedom-degree retractable mechanical arm 7 in the tank, the mechanical arm can move back and forth, left and right, so as to suck residual liquid at the bottom of the tank and wipe and detect any angle and position in the tank, and meanwhile, the camera 4 fixed on the central plate 3 can rotate in real time to take pictures and record the wiping condition in the tank; the invention realizes the automatic collection of data through the displacement sensor and the gyroscope sensor, realizes the intelligent remote control through the robot controller and the remote human-computer interaction co-controller, and realizes the cleaning and the detection of the tank through the utilization of a robot space positioning control algorithm, a sensor fusion algorithm, a remote human-computer interaction interface, functional software and the like.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a ten degrees of freedom to tank washing and detection receive and release flexible robot, includes four degree of freedom numerical control arms (1) outside the jar, its characterized in that: install connecting plate (2) on one side outer wall of four degrees of freedom numerical control mechanical arm (1) outside the jar, fixedly connected with well core plate (3) on the bottom outer wall of connecting plate (2), fixedly connected with gyration driver (5) on one side outer wall of well core plate (3), the first connecting piece (6) of output fixedly connected with of gyration driver (5), four degrees of freedom receive and release flexible arm (7) in the fixedly connected with jar on one side outer wall of first connecting piece (6), fixedly connected with motor (700) on one side outer wall of four degrees of freedom receive and release flexible arm (7) output in the jar, fixedly connected with second connecting piece (701) on one side outer wall of motor (700) output, fixedly connected with cleans pole (702) on one side outer wall of second connecting piece (701).

2. The ten-degree-of-freedom retractable robot for tank cleaning and detection according to claim 1, wherein: the outer wall of one side of the out-of-tank four-degree-of-freedom numerical control mechanical arm (1) is fixedly connected with a rotating head (100), and a connecting plate (2) is fixedly connected to the inner wall of one side of the rotating head (100).

3. The ten-degree-of-freedom retractable robot for tank cleaning and detection according to claim 1, wherein: one end of the wiping rod (702) is fixedly connected with a multi-point wiping head (703), and the outer wall of one side of the wiping rod (702) is fixedly connected with a tank bottom dirt suction head (704).

4. The ten-degree-of-freedom retractable robot for tank cleaning and detection according to claim 1, wherein: the middle part of the central plate (3) is provided with a camera (4), and the outer wall of one side of the central plate (3) is fixedly connected with a first reinforcing rib plate (300).

5. The ten-degree-of-freedom retractable robot for tank cleaning and detection according to claim 1, wherein: the outer wall of one side of the first connecting piece (6) is provided with screws (601) in a distributed mode, and the four-degree-of-freedom retractable mechanical arm (7) in the tank is fixedly connected to the outer wall of one side of the first connecting piece (6) through the screws (601).

6. The ten-degree-of-freedom retractable robot for tank cleaning and detection according to claim 4, wherein: second reinforcing rib plates (301) are symmetrically arranged on two sides of the camera (4), and the second reinforcing rib plates (301) are fixedly connected to the outer wall of one side of the central plate (3).

7. The ten-degree-of-freedom retractable robot for tank cleaning and detection according to claim 5, wherein: and a third reinforcing rib plate (600) is distributed and fixed on the outer wall of one side of the first connecting piece (6).