CN205186345U - Work robot and operating system in storage tank with cross mechanism - Google Patents
Work robot and operating system in storage tank with cross mechanism Download PDFInfo
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- CN205186345U CN205186345U CN201520841596.8U CN201520841596U CN205186345U CN 205186345 U CN205186345 U CN 205186345U CN 201520841596 U CN201520841596 U CN 201520841596U CN 205186345 U CN205186345 U CN 205186345U
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Abstract
The utility model discloses a have the interior work robot of the storage tank of crossing the mechanism, be used for including the frame with bottom setting up the frame and a jar wall complex gyro wheel, the frame four corners is equipped with to be used for adsorbing the frame and compresses tightly the magnetic base on the pipe wall, the frame front end is equipped with the support of crossing that is used for strideing across the obstacle, a have the interior work robot operating system of the storage tank of crossing the mechanism, includes robot manipulator module etc.. Can adsorb the frame on storage tank jar wall through magnetic force through set up the magnetic base on the frame, can improve the climbing performance of robot through crossing the support.
Description
Technical field
The utility model relates to Work robot and operating system thereof in a kind of storage tank with crossing mechanism.
Background technology
As everyone knows, in China's oil chemical industry, the crude oil storage facility such as such as petrol storage tank need to detect the surfaces externally and internally of tank skin and keep in repair before dispatching from the factory or after using a period of time as important storage and transport section, repair for inferior-quality product needed.All by manually testing in existing technology, polishing and anticorrosion with painting erosion spray paint are carried out for inferior-quality tank surface, adopt manual detection and polishing mode not only directly can endanger health of human body, and due to the beautiful burning among a small circle of the generation of Mars of polishing or blast, serious personal safety hidden danger may be had.On the other hand, inner tank wall is inconvenient manual operation also, and detect and polish the uneven accuracy affecting late detection.Some protruding parts simultaneously on tank skin or dirt easily bring obstacle to detection and maintenance, when especially wanting to be detected tank body by robot, particularly should but arouse attention, prior art be badly in need of a kind of replace artificial tank body is detected and safeguard with Work robot and operating system thereof in the storage tank crossing mechanism.
Utility model content
The purpose of this utility model is to overcome the defect existed in prior art, provide a kind of replace artificial tank body is detected and safeguard with Work robot and operating system thereof in the storage tank crossing mechanism.
For achieving the above object, the technical solution of the utility model there is provided Work robot in a kind of storage tank with crossing mechanism, comprise vehicle frame and arrange the roller of bottom of frame for coordinating with tank skin, described vehicle frame corner is provided with for vehicle frame being adsorbed the magnet base be pressed on tube wall; Described vehicle frame front end is provided with crosses support for leaping over obstacles.Vehicle frame can being adsorbed on storage tank shell by magnetic force by arranging magnet base on vehicle frame, the climbing performance of robot can be improved by crossing support.
As preferably, described in cross support and comprise base arm, extension arm, base arm motor, extension arm motor, telescopic cylinder and rotation suction block; Described base arm one end and vehicle frame front center are driven by base arm motor and are connected, and the other end and extension arm are driven by extension arm motor and be connected, and described extension arm outer end is provided with rotation suction block; Described base arm is provided with the telescopic cylinder for changing base arm length.Such design can run into less obstacle at robot, when cannot be passed through by roller, can, by crossing the cooperation of support, making robot climb over obstacle, improving the drive ability of robot.
As preferably, described rotation suction block is connected by versatile spindle with extension arm, and described rotation suction block is mechanical type magnet base, and described mechanical type magnet base is provided with the first operating switch of operation magnet base adhesive.Such design is beneficial to extension arm and adsorbs by rotating suction block and tank skin, and versatile spindle is beneficial to rotation suction block and tank skin and adjusts position and realize adsorbing.
As preferably, the magnet base that described vehicle frame corner is provided with is mechanical type magnet base, and two magnet bases being positioned at vehicle frame front end are provided with the second operating switch and the 3rd operating switch of operation magnet base adhesive; Two magnet bases being positioned at vehicle frame rear end are provided with the 4th operating switch and the 5th operating switch of operation magnet base adhesive.Such design is beneficial to the adhesive of operation between each magnet base and tank skin.Tank skin mentioned in the application is the holding vessel of irony, can realize adsorbing with magnet base.
With a Work robot operating system in the storage tank crossing mechanism, comprise robotic manipulator module, roller driver module, the first operating switch, the second operating switch, the 3rd operating switch, the 4th operating switch, the 5th operating switch, base arm motor driving module, extension arm motor driving module, telescopic cylinder driver module;
Roller driver module, the first operating switch, the second operating switch, the 3rd operating switch, the 4th operating switch, the 5th operating switch, base arm motor driving module, extension arm motor driving module, telescopic cylinder driver module run according to robotic manipulator module instruction.By the intellectual analysis and the operation that use the operating system described in the application can realize robot.
Advantage of the present utility model and beneficial effect are: can being adsorbed on storage tank shell by vehicle frame by magnetic force by arranging magnet base on vehicle frame, can improving the climbing performance of robot by crossing support.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is birds-eye view of the present utility model;
Fig. 3 is the utility model camera assembly structural representation;
Fig. 4 is the utility model sanding component structural representation;
Fig. 5 is the utility model spray assembly structural representation;
Fig. 6 is the utility model operating system schematic diagram.
In figure: 1, vehicle frame; 2, roller; 3, magnet base; 4, cylinder is detected; 5, the first servomotor; 6, camera assembly shell; 7, fixed support; 8, camera tight pulley; 9, camera; 10, shooting servomotor; 11, light permeable protection; 12, sanding component shell; 13, grinding head; 14, drive spindle; 15, drive wheel; 16, polishing servomotor; 17, limiting stopper; 18, cylinder; 19, spray assembly shell; 20, spray coating liquor; 22, shower nozzle; 23, catheter; 24, spray coating liquor switch; 26, base arm; 27, extension arm; 28, base arm motor; 29, extension arm motor; 30, telescopic cylinder; 31, suction block is rotated; 32, versatile spindle.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is further described.Following examples only for clearly the technical solution of the utility model being described, and can not limit protection domain of the present utility model with this.
As shown in figs 1 to 6, Work robot in a kind of storage tank with crossing mechanism, comprise vehicle frame 1 and arrange the roller 2 for coordinating with tank skin bottom vehicle frame 1, described vehicle frame 1 four jiaos is provided with for vehicle frame 1 being adsorbed the magnet base 3 be pressed on tube wall; Be rotatably connected in the middle part of described vehicle frame 1 and detect cylinder 4, the outside driving with the first servomotor 5 of described detection cylinder 4 is connected; Be provided with detection in described detection cylinder 4 and safeguard assembly; Described vehicle frame 1 front end is provided with crosses support for leaping over obstacles.
Describedly safeguard that assembly comprises camera assembly, sanding component and spray assembly, described component external structure is cylindrical, and is distributed in and detects in cylinder 4.
The fixed support 7 that described camera assembly comprises camera assembly shell 6 and is arranged in camera assembly shell 6, described fixed support 7 is rotatably connected to camera 9 tight pulley 8, described camera 9 tight pulley 8 is evenly equipped with the camera 9 that multiple pixel is all different with focal length; Described camera 9 tight pulley 8 is connected with shooting servomotor 10; Towards vehicle frame 1 lower end bottom described camera assembly shell 6, bottom described camera assembly shell 6, be provided with light permeable protection 11.
Described sanding component comprises sanding component shell 12, grinding head 13 is provided with bottom described sanding component shell 12, described grinding head 13 is circular and is provided with three, three grinding head 13 outer rims and the tangent setting of sanding component shell 12 outer rim, described grinding head 13 upper end is all connected with drive spindle 14, drive wheel 15 is provided with between described drive spindle 14, described drive wheel 15 is connected with driving between drive spindle 14, and described drive wheel 15 upper end is connected with the polishing servomotor 16 being arranged on sanding component shell 12 top by polishing bar; Described sanding component shell 12 top is provided with limiting stopper 17, and described drive spindle 14 and polishing bar are all rotationally connected by bearing and limiting stopper 17 through limiting stopper 17; Described detection cylinder 4 top is provided with the cylinder 18 for driving sanding component shell about 12 to run.
The spray coating liquor 20 that described spray assembly comprises spray assembly shell 19 and is enclosed in spray assembly shell 19, towards vehicle frame 1 lower end bottom described spray assembly shell 19, shower nozzle 22 is provided with bottom described spray assembly shell 19, described shower nozzle 22 is communicated with spray assembly shell 19 inside by catheter 23, and described catheter 23 is provided with spray coating liquor switch 24.
Described spray assembly shell 19 is pressure container, and described spray assembly shell 19 inherence is also by press device pressing part air after pouring into spray coating liquor, and spray coating liquor is sprayed from shower nozzle 22 by air pressure inside by described spray coating liquor.
Described support of crossing comprises base arm 26, extension arm 27, base arm motor 28, extension arm motor 29, telescopic cylinder 30 and rotates suction block 31; Described base arm 26 one end and vehicle frame 1 front center are driven by base arm motor 28 and are connected, and the other end and extension arm 27 are driven by extension arm motor 29 and be connected, and described extension arm 27 outer end is provided with rotates suction block 31; Described base arm 26 is provided with the telescopic cylinder 30 for changing base arm 26 length.
Described rotation suction block 31 is connected by versatile spindle 32 with extension arm 27, and described rotation suction block 31 is mechanical type magnet base 3, and described mechanical type magnet base 3 is provided with the first operating switch of operation magnet base 3 adhesive.
The magnet base 3 that described vehicle frame 1 four jiaos is provided with is mechanical type magnet base 3, and two magnet bases 3 being positioned at vehicle frame 1 front end are provided with the second operating switch and the 3rd operating switch of operation magnet base 3 adhesive; Two magnet bases 3 being positioned at vehicle frame 1 rear end are provided with the 4th operating switch and the 5th operating switch of operation magnet base 3 adhesive.
With a Work robot operating system in the storage tank crossing mechanism, comprise robotic manipulator module, roller driver module, the first operating switch, the second operating switch, the 3rd operating switch, the 4th operating switch, the 5th operating switch, the first driven by servomotor module, shooting driven by servomotor module, webcam driver module, ultrasonic fault detection module, polishing driven by servomotor module, air cylinder driven module, spray coating liquor switch drive module, base arm motor driving module, extension arm motor driving module, telescopic cylinder driver module;
Described webcam driver module is made a video recording and store image information for driving camera 9, graphicinformation is transmitted in robotic manipulator module, graphicinformation and the standard information be stored in robotic manipulator module are in advance formed feedback signal after contrasting by robotic manipulator module simultaneously;
Feedback signal is sent to roller driver module or cleaning module or crosses module, and described cleaning module comprises the first driven by servomotor module, shooting driven by servomotor module, webcam driver module, polishing driven by servomotor module, air cylinder driven module, spray coating liquor switch drive module; Described module of crossing comprises roller driver module, the first operating switch, the second operating switch, the 3rd operating switch, the 4th operating switch, the 5th operating switch, base arm motor driving module, extension arm motor driving module, telescopic cylinder driver module; Described roller driver module or cleaning module or cross module and run according to feedback information.
Can replace manually realizing robot to the detection of storage tank shell and maintenance with Work robot and operating system thereof in the storage tank crossing mechanism described in the application by using, and intelligence degree is high, efficiency is high, and maintenance effects is good.
In use, the first step, by robotic manipulator module (micro controller system or PLC), the second operating switch, the 3rd operating switch, the 4th operating switch and the 5th operating switch are held open state, namely vehicle frame 1 four jiaos magnet base 3(machinery magnet base 3) state be adsorbed state, then by vehicle frame 1 chassis towards tank skin (inwall or outer wall), the adhesive of magnet base 3 is facing to tank skin; Vehicle frame 1 is attached on tank skin by magnet base 3 and the absorption of tank skin;
Second step, by robotic manipulator module operation shooting driven by servomotor module drive shooting servomotor 10, one by camera 9(many cameras 9) aim at bottom vehicle frame 1, the camera function of camera 9 is opened by robotic manipulator module operation shooting driven by servomotor module, camera 9 is made a video recording and store image information, graphicinformation is transmitted in robotic manipulator module, graphicinformation and the standard information be stored in robotic manipulator module are in advance formed feedback signal after contrasting by robotic manipulator module simultaneously;
3rd step, if graphicinformation is consistent with standard information, feedback signal is that order roller driver module driving rolls 2 is badly in need of moving ahead (vehicle frame 1 is provided with the mechanism that the motor that moves ahead for driving rolls 2 and driving rolls 2 turn to, and belongs to prior art, does not repeat);
4th step, if graphicinformation and standard information inconsistent, find that there is abnormal projection (pretreated locations), dirt needs cleaning, then instruction makes detection cylinder 4 rotate 120 for first ordering the first driven by servomotor module drive first servomotor 5, sanding component is replaced camera assembly to pretreated locations, then notifies that air cylinder driven module drive cylinder 18 runs, make sanding component shell 12 descending, grinding head 13 is contacted with pretreated locations; Then order polishing driven by servomotor module drive polishing servomotor 16 runs, and drives drive spindle 14 to rotate, drives grinding head 13 by the projection of the exception of pretreated locations or dirt removal; Then notify that air cylinder driven module drive cylinder 18 runs, make sanding component shell 12 up, the driven by servomotor of notice polishing simultaneously module is out of service; Then order the first driven by servomotor module drive first servomotor 5 to make to detect cylinder 4 and rotate 120, spray assembly is replaced camera assembly to pretreated locations; Then order spray coating liquor switch drive module drives spray coating liquor switch 24 to open, and spray coating liquor 20 is sprayed into pretreated locations by spray coating liquor 20 under air pressure; Now a cycle of operations completes.Again camera assembly can also be switched to pretreated locations after completing to detect, or camera assembly is connected with the outside terminal with read-out by wireless device, carry out artificial observation.
Again enter first step operation afterwards.Work together in order to improve robot measurement function can on vehicle frame 1 integrated ultrasonic detecting terminal, by driver module and robotic manipulator model calling, the thickness of tank skin and weld quality are measured.
At robot operationally, if encounter less obstacle, cannot directly be gone beyond by roller 2, robotic manipulator module drive base arm motor 28 and extension arm motor 29 can be passed through, by the outer end of extension arm 27 first across obstacle, and opened by robotic manipulator module drive first operating switch, rotation suction block 31 is rotated by versatile spindle 32, automatically adsorbs to be formed with tank skin to be connected; Now, telescopic cylinder 30 is driven to run by robotic manipulator module operation telescopic cylinder driver module, base arm 26 Length Contraction, closed by robotic manipulator module operation second operating switch and the 3rd operating switch simultaneously, roller driver module driving rolls 2 moves ahead, the front portion of such vehicle frame 1 is raised and moves ahead, and the front portion of vehicle frame 1 is striden across obstacle; Now, opened by robotic manipulator module operation second operating switch and the 3rd operating switch, 4th operating switch and the 5th operating switch are closed, roller driver module driving rolls 2 moves ahead, such vehicle frame 1 departs from tank skin because rear portion loses stress, gravitation and again adsorbing with tank skin is recovered in vehicle frame 1 front portion, is rolled and base arm 26 and extension arm 27 coordinate rotation by roller 2, and vehicle frame 1 can successful leaping over obstacles.Now can operate base arm motor 28 and extension arm motor 29 will cross support and regain.
Because robot interior is provided with magnetic material such as magnet base 3 grade, so robot body adopts the non-ferric such as aluminium or plastics material, compared with the impact of small machine people on magnetic field itself.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as the protection domain of utility model.
Claims (5)
1. with a Work robot in the storage tank crossing mechanism, it is characterized in that: comprise vehicle frame and arrange the roller of bottom of frame for coordinating with tank skin, described vehicle frame corner is provided with for vehicle frame being adsorbed the magnet base be pressed on tube wall; Described vehicle frame front end is provided with crosses support for leaping over obstacles.
2., as claimed in claim 1 with Work robot in the storage tank crossing mechanism, it is characterized in that: described in cross support and comprise base arm, extension arm, base arm motor, extension arm motor, telescopic cylinder and rotation suction block; Described base arm one end and vehicle frame front center are driven by base arm motor and are connected, and the other end and extension arm are driven by extension arm motor and be connected, and described extension arm outer end is provided with rotation suction block; Described base arm is provided with the telescopic cylinder for changing base arm length.
3. as claimed in claim 2 with Work robot in the storage tank crossing mechanism, it is characterized in that: described rotation suction block is connected by versatile spindle with extension arm, described rotation suction block is mechanical type magnet base, and described mechanical type magnet base is provided with the first operating switch of operation magnet base adhesive.
4. as claimed in claim 3 with Work robot in the storage tank crossing mechanism, it is characterized in that: the magnet base that described vehicle frame corner is provided with is mechanical type magnet base, two magnet bases being positioned at vehicle frame front end are provided with the second operating switch and the 3rd operating switch of operation magnet base adhesive; Two magnet bases being positioned at vehicle frame rear end are provided with the 4th operating switch and the 5th operating switch of operation magnet base adhesive.
5., with a Work robot operating system in the storage tank crossing mechanism, it is characterized in that: comprise robotic manipulator module, roller driver module, the first operating switch, the second operating switch, the 3rd operating switch, the 4th operating switch, the 5th operating switch, base arm motor driving module, extension arm motor driving module, telescopic cylinder driver module;
Roller driver module, the first operating switch, the second operating switch, the 3rd operating switch, the 4th operating switch, the 5th operating switch, base arm motor driving module, extension arm motor driving module, telescopic cylinder driver module run according to robotic manipulator module instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520841596.8U CN205186345U (en) | 2015-10-28 | 2015-10-28 | Work robot and operating system in storage tank with cross mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520841596.8U CN205186345U (en) | 2015-10-28 | 2015-10-28 | Work robot and operating system in storage tank with cross mechanism |
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| CN205186345U true CN205186345U (en) | 2016-04-27 |
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| CN201520841596.8U Active CN205186345U (en) | 2015-10-28 | 2015-10-28 | Work robot and operating system in storage tank with cross mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109640021A (en) * | 2018-12-21 | 2019-04-16 | 保定市尚泉供水科技有限公司 | It is a kind of that image recording equipment can have been carried out in the closed pipeline for having water |
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2015
- 2015-10-28 CN CN201520841596.8U patent/CN205186345U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109640021A (en) * | 2018-12-21 | 2019-04-16 | 保定市尚泉供水科技有限公司 | It is a kind of that image recording equipment can have been carried out in the closed pipeline for having water |
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