CN213138959U - Novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more - Google Patents
Novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more Download PDFInfo
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- CN213138959U CN213138959U CN202021925457.0U CN202021925457U CN213138959U CN 213138959 U CN213138959 U CN 213138959U CN 202021925457 U CN202021925457 U CN 202021925457U CN 213138959 U CN213138959 U CN 213138959U
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Abstract
The utility model discloses a novel small-sized explosion-proof pneumatic track obstacle crossing storage tank cleaning robot, which comprises a shell, the weight and the volume of the whole equipment are reduced, the miniaturization is realized, the robot shell adopts a strong magnetic aluminum protective cover, a motor and a speed reducing mechanism are wrapped, the mechanical injury of personnel caused by misoperation is prevented, meanwhile, foreign matters are prevented from entering and influencing the normal operation of the equipment, tracks are arranged at the two ends of the shell, the tracks are made of rubber materials and have the explosion-proof function, sparks generated by collision with metal are prevented, a pneumatic motor is used for power output, a driven wheel in contact with the ground is made of aluminum alloy materials, and the synchronous straight movement, the in-situ 360-degree steering and the powerful power output can be realized by matching with a speed reducing transmission mechanism, the explosion-proof track type robot replaces the manual tank entering to perform high-risk operations such as cleaning, recycling and inspection, and the like, thereby avoiding the safety risk that personnel enter a limited space and are, the safety of mechanical cleaning of the storage tank is improved.
Description
Technical Field
The utility model belongs to the technical field of the automatic cleaning equipment who is used for storage tank water washing, oil recovery, hazardous waste to retrieve, advances jar to clean in the construction of relevant petrochemical industry storage tank machinery cleaning, concretely relates to novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more.
Background
The storage tank is after using a period, the impurity in the raw materials will deposit on tank bottoms and tank walls, make the effective capacity of storage tank reduce, influence the efficiency of storage tank, consequently the storage tank need regularly carry out the inspection maintenance and clear away interior sludge, domestic traditional storage tank cleaning method mainly utilizes the manual work, does not have corresponding robot in the storage tank mechanical cleaning process at present and is used for the operation in the jar, all adopts the ventilation to detect qualified personnel and directly advances the jar. The personnel advance the jar operation and have direct and dangerous chemicals, oil contact in the jar, cause easily that personnel suffocate, poisoning and spark, explosion and the like risk and hidden danger that static brought to and intensity of labour are big and pollute the environmental scheduling problem, along with the big construction of china to large-scale storage tank and attach importance to the environmental protection problem day by day, artifical clear jar has not conform to the objective requirement of environment and development, it is historical must to eliminate artifical clear jar.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more to the personnel who proposes in solving above-mentioned background art advance a jar operation and exist direct and jar interior dangerous chemical, oil contact, cause easily that the personnel suffocate, poisons and risk and hidden danger such as spark, explosion that static brought.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more, includes the shell, its characterized in that: the two ends of the shell are respectively fixedly provided with a crawler belt, the interior of the shell is respectively provided with a first pneumatic motor, a second pneumatic motor and a third pneumatic motor, the upper ends of the first pneumatic motor and the second pneumatic motor are respectively provided with a screw speed reducer, the outer surface of the right end of the shell is respectively fixedly provided with two fisheye universal bearings, the upper surface of each fisheye universal bearing is provided with a threaded coupler, a supporting shaft is fixedly arranged between the fisheye universal bearings, the right lower end of the supporting shaft is fixedly provided with a suction pipeline interface, the bottom of each fisheye universal bearing is fixedly provided with a vacuum suction head, the bottom of each vacuum suction head is fixedly provided with a sealing ring, the bottoms at the two ends of the supporting shaft are respectively fixedly provided with an auxiliary guide wheel, the bottom of the shell is fixedly provided with a plurality of driven wheels, and the driven wheels are internally and fixedly provided with strong magnets, the surface from the driving wheel sets up the strong magnetic protection casing of one deck, follow the strong magnetic lift cylinder of the upper end fixed mounting of driving wheel, the upper end fixed mounting of strong magnetic lift cylinder links up the piece, link up and install speed reduction drive mechanism on the piece, speed reduction drive mechanism upper end fixed mounting high pressure nozzle, the explosion-proof camera of top fixed mounting of high pressure nozzle, the right-hand member fixed mounting suction head lift cylinder of linking up the piece.
Preferably, the crawler belt is made of rubber, has an explosion-proof function, prevents sparks generated by collision with metal, uses a pneumatic motor for power output, is made of aluminum alloy and is matched with a reduction transmission mechanism, so that synchronous straight running, in-situ 360-degree steering and powerful power output can be realized, and the control of the running speed of the crawler belt is realized by adjusting the air supply pressure of the motor.
Preferably, the explosion-proof camera is set to be provided with a POE power supply high-definition explosion-proof camera.
Preferably, the suction head lifting cylinder is a vacuum suction head lifting cylinder, and the function of the suction head lifting cylinder is satisfied when the suction head lifting cylinder passes over a front obstacle.
The explosion-proof camera is coaxially provided with the special high-pressure nozzle, the rotating mechanism is provided with the speed reducing mechanism and the angle limiting protection mechanism by using the pneumatic motor, the high-pressure nozzle and the explosion-proof camera are coaxial, the rotation of a vertical plane at-65 degrees to 90 degrees can be realized, the horizontal plane can realize all-dimensional washing of a tank bottom plate and a wall plate through in-situ 360-degree steering of a vehicle body, the lower end of the explosion-proof camera is provided with the independent rotating cylinder, the independent rotating cylinder is of a 180-degree rotating structure, and the situation that the front image and the rear image of the explosion-proof camera.
Preferably, the robot installs one set of magnetic force adsorbate system additional, contains powerful magnet and strong magnetism lift cylinder, and its effect lies in improving the frictional force of its track and bottom plate under the circumstances of the gravity that does not increase the arrangement equipment, increases the tractive ability of robot, has increased its angle of climbing simultaneously, and this system adopts strong magnetism lift cylinder to control its strong magnetism and goes up and down, and this function has the purpose of getting rid of iron fillings, prevents to influence its adsorption efficiency because of adsorbing too much iron fillings.
Preferably, the length, width and height of the shell are set as follows: 600MM 350MM 300MM, full weight 25 KG.
Preferably, the robot shell adopts strong magnetism aluminium system protection casing, wraps up motor and reduction gears, prevents that the maloperation from causing personnel mechanical injury, prevents simultaneously that the foreign matter from getting into the normal operating of influence equipment.
Compared with the prior art, the utility model provides a novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more possesses following beneficial effect:
the utility model discloses a replace artifical tank entering to undertake high-risk operation such as washing, recovery, inspection through using explosion-proof crawler-type robot, avoided personnel to get into the safety risk that restricted space directly exposes in poisonous and harmful gas and flammable explosive liquid space, improved storage tank machinery and wash the security, the complete sets of equipment is light, be convenient for the field installation, alleviate operating personnel intensity of labour, for whole construction safety is gone on smoothly and is provided powerful technical support and equipment guarantee, use pneumatic motor to provide power, reduce whole equipment weight and volume, realize its miniaturization, for one person's operation, two staff can carry and realize its equipment transportation installation work, prove its whole system design is reasonable light and convenient, be convenient for maintenance and operation, facilitate the construction site operation construction, avoid the operation risk that storage tank machinery cleaning process personnel entered the tank and cleaned the inspection, the labor intensity of personnel is reduced, and the safety of the mechanical cleaning operation of the storage tank is guaranteed.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:
FIG. 1 is a schematic view of a overlooking structure of a novel robot for cleaning a novel small-sized anti-explosion pneumatic track obstacle crossing storage tank provided by the utility model;
FIG. 2 is a schematic view of a main view structure of a novel small-sized anti-explosion pneumatic track obstacle crossing storage tank cleaning robot provided by the utility model;
in the figure: 1. a housing; 2. a crawler belt; 3. a first pneumatic motor; 4. a second pneumatic motor; 5. A third pneumatic motor; 6. fisheye universal bearings; 7. a threaded coupling; 8. a support shaft; 9. An auxiliary guide wheel; 10. a driven wheel; 11. a strong magnet; 12. a strong magnetic shield; 13. a strong magnetic lifting cylinder; 14. a joining block; 15. a reduction transmission mechanism; 16. a high pressure spray head; 17. an explosion-proof camera; 18. a suction head lifting cylinder; 19. a vacuum suction head; 20. a seal ring; 21. a suction line interface; 22. a screw speed reducer; 23. an independent rotary cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution:
the utility model provides a novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more, includes shell 1, the size length and width height of shell 1 sets up to: 600MM 350MM 300MM, full weight 25KG, robot shell 1 adopts strong magnetism aluminium system protection casing, wraps up motor and reduction gears, prevents that maloperation from causing personnel mechanical injury, prevents simultaneously that the foreign matter from getting into and influencing equipment normal operating, the both ends of shell 1 are fixed mounting track 2 respectively, track 2 adopts the rubber material, has explosion-proof function, prevents to produce the spark with the metal collision, and power take off uses pneumatic motor, and from the driving wheel 10 of ground contact for the aluminum alloy material to and cooperation reduction gear 15 can realize synchronous straight line, 360 degrees turn to in situ and powerful power are fast go out, and realize its control of speed of marcing through adjusting motor air feed pressure, the inside of shell 1 sets up respectively and installs first pneumatic motor 3, second pneumatic motor 4 and third pneumatic motor 5, two fisheye universal bearing 6 of fixed mounting respectively on the right-hand member surface of shell 1, threaded coupling 7 is installed in fisheye universal bearing 6's upper surface setting, fixed mounting back shaft 8 between fisheye universal bearing 6, back shaft 8's right lower extreme fixed mounting suction pipeline interface 21, fisheye universal bearing 6's bottom fixed mounting vacuum suction head 19, vacuum suction head 19's bottom fixed mounting sealing washer 20, the supplementary leading wheel 9 of bottom difference fixed mounting at back shaft 8 both ends.
A novel small-sized explosion-proof pneumatic track obstacle crossing storage tank cleaning operation robot is characterized in that a plurality of driven wheels 10 are fixedly mounted at the bottom end of a shell 1, strong magnets 11 are fixedly mounted inside the driven wheels 10, a layer of strong magnetic protective cover 12 is arranged on the outer surface of each driven wheel 10, a strong magnetic lifting cylinder 13 is fixedly mounted at the upper end of each driven wheel 10, an adaptor block 14 is fixedly mounted at the upper end of each strong magnetic lifting cylinder 13, a speed reduction transmission mechanism 15 is mounted on each adaptor block 14, a high-pressure nozzle 16 is fixedly mounted at the upper end of each speed reduction transmission mechanism 15, an explosion-proof camera 17 is fixedly mounted at the top end of each high-pressure nozzle 16, each explosion-proof camera 17 is provided with a POE high-definition explosion-proof camera supplied with power under safe voltage, each explosion-proof camera 17 is coaxially provided with a special high-pressure nozzle 16, and a rotating mechanism, the high-pressure sprayer 16 and the explosion-proof camera 17 are coaxial and can rotate at a vertical angle of-65 degrees to 90 degrees, the horizontal plane can realize all-dimensional washing of a tank bottom plate and a wall plate through in-situ 360-degree steering of a vehicle body, the lower end of the explosion-proof camera 17 is provided with the independent rotating cylinder 23, the independent rotating cylinder 23 is of a 180-degree rotating structure, the situation that the front and rear images of the explosion-proof camera can be switched at any time can be guaranteed, the right end of the connecting block 14 is fixedly provided with the suction head lifting cylinder 18, the suction head lifting cylinder 18 is of a vacuum structure, and the function of the suction head lifting cylinder meets the requirement.
The utility model provides a novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more, the robot installs one set of magnetic force adsorbate system additional, contain powerful magnet 11 and strong magnetism lift cylinder 13, its effect lies in improving the frictional force of its track and bottom plate under the condition of the gravity that does not increase the sorting equipment, the tractive ability of increase robot, its angle of climbing has been increased simultaneously, this system adopts strong magnetism lift cylinder 13 to control its strong magnetism and goes up and down, this function has the purpose of getting rid of iron fillings, prevent to influence its adsorption efficiency because of adsorbing too much iron fillings.
A novel small-sized explosion-proof pneumatic track obstacle crossing storage tank cleaning operation robot uses the explosion-proof track type robot to replace manual tank feeding to carry out high-risk operations such as cleaning, recycling, inspection and the like, avoids the safety risk that personnel directly expose in toxic and harmful gas and flammable and explosive liquid space when entering a limited space, improves the mechanical cleaning safety of the storage tank, has light and convenient equipment, is convenient for field installation, lightens the labor intensity of the operating personnel, provides powerful technical support and equipment guarantee for the safe and smooth integral construction, uses a pneumatic motor to provide power, reduces the weight and the volume of the integral equipment, realizes the miniaturization of the equipment, is operated by one person, can be carried by two operating personnel to realize the equipment transportation and installation work, proves that the integral system is reasonable and light in design, convenient to maintain and operate, is convenient for construction field operation construction, and avoids the operation risk that the personnel enter the tank to clean and inspect during the mechanical cleaning of the, the labor intensity of personnel is reduced, and the safety of the mechanical cleaning operation of the storage tank is guaranteed.
The utility model discloses a theory of operation and use flow: the robot for the mechanical cleaning operation of the explosion-proof crawler-type storage tank comprises a pneumatic crawler floating obstacle crossing power system, an image data transmission system, a vacuum suction system, a vehicle body adsorption loading system, a high-pressure cleaning system, a vacuum suction head lifting system, a gas detection system, a camera, a high-pressure nozzle vertical rotation system and an external control platform system.
The method comprises the steps of simulating a crawler-type explosion-proof robot on site, entering from a metal ring with the diameter of 500MM, transmitting images in a tank in real time, controlling the robot to move by 1 person/operation platform back to the operation robot, enabling the robot to cross a 65MM obstacle, climbing a 45-degree metal iron plate by the robot, simulating cleaning, pushing and sucking on the fluctuating road surface, transferring sewage and sludge at the low-lying position of the fluctuating road surface to a vehicle-mounted vacuum tank through a vacuum system for recycling, and driving out from the metal ring with the diameter of 500MM by the robot.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more, includes shell (1), its characterized in that: the two ends of the shell (1) are respectively and fixedly provided with a track (2), the inside of the shell (1) is respectively provided with a first pneumatic motor (3), a second pneumatic motor (4) and a third pneumatic motor (5), the upper ends of the first pneumatic motor (3) and the second pneumatic motor (4) are respectively provided with a screw speed reducer (22), the outer surface of the right end of the shell (1) is respectively and fixedly provided with two fisheye universal bearings (6), the upper surface of each fisheye universal bearing (6) is provided with a threaded coupling (7), a support shaft (8) is fixedly arranged between the fisheye universal bearings (6), the right lower end of the support shaft (8) is fixedly provided with a suction pipeline interface (21), the bottom of each fisheye universal bearing (6) is fixedly provided with a vacuum suction head (19), and the bottom of each vacuum suction head (19) is fixedly provided with a sealing ring (20), the bottom at back shaft (8) both ends is guide wheel (9) is assisted to fixed mounting respectively, a plurality of follow driving wheels (10) of bottom fixed mounting of shell (1), follow driving wheel (10) inside fixed mounting strong magnet (11), the surface from driving wheel (10) sets up strong magnetic protection casing of one deck (12), follow the strong magnetic lift cylinder (13) of upper end fixed mounting of driving wheel (10), the upper end fixed mounting of strong magnetic lift cylinder (13) links up piece (14), link up and install speed reduction drive mechanism (15) on piece (14), speed reduction drive mechanism (15) upper end fixed mounting high pressure nozzle (16), the explosion-proof camera of top fixed mounting (17) of high pressure nozzle (16), the right-hand member fixed mounting suction head lift cylinder (18) of linking up piece (14).
2. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: the crawler belt (2) is made of rubber, has an explosion-proof function, prevents sparks generated by collision with metal, uses a pneumatic motor for power output, is made of aluminum alloy and is matched with a driven wheel (10) in contact with the ground, so that synchronous straight running, in-situ 360-degree steering and powerful power speed discharging can be realized by the aid of the speed reduction transmission mechanism (15), and the running speed of the crawler belt is controlled by adjusting air supply pressure of the motor.
3. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: the explosion-proof camera (17) is set to be provided with a POE power supply high-definition explosion-proof camera.
4. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: the suction head lifting cylinder (18) is set as a vacuum suction head lifting cylinder, and the function of the vacuum suction head lifting cylinder is satisfied when the vacuum suction head lifting cylinder crosses a front obstacle.
5. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: explosion-proof camera (17) are coaxial to be equipped with special high pressure nozzle (16), and rotary mechanism uses pneumatic motor to be equipped with reduction gears and the spacing protection mechanism of angle, and perpendicular-65 degrees-90 degrees rotations can be accomplished to high pressure nozzle (16) and explosion-proof camera (17) are coaxial, and the horizontal plane turns to the realization through automobile body 360 degrees in situ and carries out the all-round washing to tank bottoms board, wallboard, independent revolving cylinder (23) are installed in explosion-proof camera (17) lower extreme setting, and independent revolving cylinder (23) are 180 degrees revolution mechanic, can ensure that explosion-proof camera can switch the place ahead and the rear image condition at any time.
6. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: the robot installs one set of magnetic force adsorbate system additional, contains powerful magnet (11) and strong magnetism lift cylinder (13), and its effect lies in improving the frictional force of its track and bottom plate under the condition of the gravity that does not increase the arrangement equipment, increases the tractive ability of robot, has increased its angle of climbing simultaneously, and this system adopts strong magnetism lift cylinder (13) to control its strong magnetism and goes up and down, and this function has the purpose of getting rid of iron fillings, prevents to influence its adsorption efficiency because of adsorbing too much iron fillings.
7. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: the size length, width and height of the shell (1) are set as follows: 600MM 350MM 300MM, full weight 25 KG.
8. The novel small-sized explosion-proof pneumatic crawler obstacle crossing storage tank cleaning robot as claimed in claim 1, is characterized in that: robot housing (1) adopts strong magnetism aluminium system protection casing, wraps up motor and reduction gears, prevents that the maloperation from causing personnel mechanical injury, prevents simultaneously that the foreign matter from getting into the normal operating of influence equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021925457.0U CN213138959U (en) | 2020-09-07 | 2020-09-07 | Novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more |
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| CN202021925457.0U CN213138959U (en) | 2020-09-07 | 2020-09-07 | Novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891239A (en) * | 2020-09-07 | 2020-11-06 | 吉林绿洲机械清洗服务有限公司 | Novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more |
| CN113369265A (en) * | 2021-06-22 | 2021-09-10 | 深圳市行知行机器人技术有限公司 | Oil tank cleaning robot |
-
2020
- 2020-09-07 CN CN202021925457.0U patent/CN213138959U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891239A (en) * | 2020-09-07 | 2020-11-06 | 吉林绿洲机械清洗服务有限公司 | Novel small-size explosion-proof pneumatic track hinders storage tank cleaning operation robot more |
| CN113369265A (en) * | 2021-06-22 | 2021-09-10 | 深圳市行知行机器人技术有限公司 | Oil tank cleaning robot |
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