CN216424613U

CN216424613U - Magnetic adsorption wall-climbing robot

Info

Publication number: CN216424613U
Application number: CN202123009413.0U
Authority: CN
Inventors: 杨卫国; 宋元新; 李守全; 牟宗浩; 曲海涛; 刘立潜; 欧阳洪; 王永庆
Original assignee: Surface Engineering Maintenance Center Of Shengli Oilfield Branch Of Sinopec; China Petroleum and Chemical Corp
Current assignee: Surface Engineering Maintenance Center Of Shengli Oilfield Branch Of Sinopec; China Petroleum and Chemical Corp
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2022-05-03
Anticipated expiration: 2031-12-03

Abstract

The utility model provides a magnetism adsorbs wall climbing robot, include: automobile body, actuating mechanism, magnetic wheel, driving motor, connecting plate, arm, operation support, rotating electrical machines, mounting panel, bottom plate, switch board and receipt control circuit and remote controller: the method is characterized in that: the bottom of the vehicle body is provided with a driving mechanism, the driving mechanism comprises a magnetic wheel and a driving motor, and the driving mechanism is fixed at the bottom of the vehicle body through a connecting plate; the bottom plate is fixed at the upper left end of the automobile body, install the rotating electrical machines on the bottom plate, the lower part of rotating electrical machines is equipped with the mounting panel, and the mounting panel is connected with the head end of arm, the operation support is installed to the end of arm. The utility model discloses can develop rust cleaning, anticorrosive operation in large area and complicated operating mode environment, the utility model discloses can effectively improve rust cleaning, anticorrosive operating efficiency and operation quality, reduce staff intensity of labour, reduce operation safety risk to operation workman's is healthy has been ensured.

Description

Magnetic adsorption wall-climbing robot

Technical Field

The utility model relates to an industrial robot technical field specifically is a magnetism adsorbs wall climbing robot.

Background

The petrochemical industry is an important foundation and a pillar industry in national economy, and various storage tank devices are important basic devices in a production system in the petrochemical industry. In the production and operation processes of various storage tanks, the inner wall and the outer wall of the tank body can be corroded by humid air in the external environment and storage media in the tank body, so that the corrosion phenomenon of the inner wall and the outer wall of the storage tank is caused. Simultaneously along with the increase of storage tank live time, storage tank body anticorrosive coating is ageing serious, and the damaged phenomenon that drops increases day by day, has aggravated the atmospheric corrosion of the jar body, has reduced the mechanical strength and the security performance of storage tank. In order to prolong the service life of the storage tank, the storage tank needs to be periodically subjected to rust removal and corrosion prevention operation, and the conventional rust removal and corrosion prevention operation mode mainly comprises two modes of manual operation and mechanical operation.

The traditional manual operation is rust-removing and corrosion-preventing, a scaffold needs to be erected for construction, the construction preparation time is long, and potential safety hazards of high-altitude operation exist; the automation degree is low, the labor intensity is high, the construction efficiency is low, and the construction period is long; the resulting solid waste has an impact on the environment and the physical health of the operators.

The existing mechanical operation modes can be roughly divided into three modes, namely a handheld type robot, a cart type robot and a wall climbing robot according to different actuating mechanisms. The wall climbing robot is the current development direction, can be divided into two types of magnetic force absorption and vacuum adsorption according to different absorption modes, and can be divided into two types of body self-carrying water jet rust removal and replaceable carrying platform according to a rust removal mode. The existing wall climbing robot generally has the problems of weak adaptive capacity to non-structural environment, small load, poor flexibility, single derusting operation surface and the like, and the derusting robot only taking the wall climbing robot as a carrier can only clear large-area rust layers on the wall surface of a petrochemical storage tank, but cannot clear the rust layers in narrow areas such as corners, spray pipes, reinforcing rings, rotary ladders and the like.

The following is compared with the prior patent technology through retrieval:

first, a four-side grinding industrial robot, patent No.: 201810874433.8, comprising a T-shaped bottom plate, characterized in that: the support shaft is fixed to one end of the upper side of the T-shaped bottom plate, one end of the U-shaped rod is hinged to the upper side of the support shaft, the other end of the U-shaped rod is in threaded connection with the first ejecting block, two opposite ends of the upper side of the T-shaped bottom plate are fixedly connected with two ends of a cross rod of the T-shaped groove rod through the L-shaped supports respectively, a T-shaped sliding rail is arranged on the cross rod of the T-shaped groove rod, a first T-shaped sliding block is arranged in the T-shaped sliding rail, a first cylindrical rod is fixed to the middle of one side of the first T-shaped sliding block, and the first cylindrical rod penetrates through the T-shaped sliding rail, a first lower end sliding groove of the straight groove rod and a first upper end clamping groove of the H-shaped groove rod. The invention relates to the field of industrial equipment, in particular to a four-side grinding industrial robot. This device can realize polishing the four sides of work piece simultaneously. The invention can not realize climbing the metal tank body and can not finish the rust removal and corrosion prevention operation of the high-altitude tank body, although the four sides of the workpiece are polished simultaneously.

Secondly, a wall running gear and wall climbing robot, patent number: 201711368592.2, the running gear includes: a base; the movement mechanism is arranged on the base and comprises a plurality of suckers and suckers, the suckers are arranged on the driving device at intervals, the driving device drives the suckers to generate displacement, and the displacement track of each sucker forms a closed curve; the closed curve is provided with a straight line section, an arc-shaped section and a connecting section, and two ends of the straight line section are connected with two ends of the arc-shaped section through the connecting section respectively. In the linear motion state, the plurality of sucker connecting assemblies are adsorbed on the wall surface, so that the stability of the device is ensured, the continuous walking speed is high through a transmission mode similar to a crawler, and the device can be more flexible and improve the obstacle crossing capability when turning by arranging the arc-shaped section. The invention adopts a sucker structure, repeatedly walks by the sucker, but has low running speed and no mechanical arm, and can not carry out rust removal and painting operation on the tank body.

Third, a multifunctional robot climbs wall, patent number: 200710075780.6, including the host computer of working, the evacuation pump, main control unit, electromagnetism valves, especially 12 mechanical legs of host computer drive of working, the front end of every mechanical leg is provided with vacuum chuck, be provided with baroceptor in every vacuum chuck's the dish, each baroceptor connects the AD converter, it has 10 at least can work after adsorption status in 12 vacuum chucks to judge by main control unit, then drive the mechanical leg operation of crawling to the in-process is operating according to the preceding work arm of operating instruction drive. The invention is adsorbed on the wall by a vacuum sucker, alternately walks by the sucker at the lower part of the mechanical leg, has no mechanical arm, and can not carry out rust removal and painting operation on the tank body.

Fourth, a wall-climbing robot for cleaning ships, patent No.: 202011394390.7, including a body frame, a hub motor type road wheel, a sucker assembly and a supporting wheel assembly; the hub motor type traveling wheels are respectively positioned on two sides of the sucker component. In the wall climbing robot, the spraying disc magnet group and the rear small magnet are adsorbed on the wall surface of a steel plate of a ship body. The spray gun sprays high-pressure water flow out of the nozzles of the spray head group to strike on the steel plate on the surface of the ship body, and the ship body is cleaned or paint and rust removed. The hub motor type travelling wheel is a travelling wheel in an integrated structure of a hub and a motor, and a motor for driving the travelling wheel to travel is not required to be additionally and independently arranged, so that the structural design form of a single-side single wheel is realized, the structural form of a travelling end is simplified, but no mechanical arm is provided, and the rust removal and painting operation of a tank body with a complex structure cannot be carried out.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a magnetism adsorbs wall climbing robot to the not enough that prior art exists, satisfies the anticorrosive rust cleaning of oil petrochemical industry storage tank, the operation needs that spray paint.

The purpose is achieved through the following technical scheme:

the utility model discloses a magnetism adsorbs wall climbing robot, include: automobile body, actuating mechanism, magnetic wheel, driving motor, connecting plate, arm, operation support, rotating electrical machines, mounting panel, bottom plate, power supply and receiving control circuit and wireless control remote controller: the method is characterized in that: the bottom of the vehicle body is provided with a driving mechanism, the driving mechanism comprises a magnetic wheel and a driving motor, and the driving mechanism is fixed at the bottom of the vehicle body through a connecting plate; the bottom plate is fixed at the left end of the upper part of the vehicle body, the rotating motor is installed on the bottom plate, an installation plate is arranged at the lower part of the rotating motor and connected with the head end of the mechanical arm, an operation support is installed at the tail end of the mechanical arm, the power supply is connected with a receiving control circuit, and the receiving control circuit provides power for the rotating motor and the driving motor; the wireless control remote controller is provided with a rotating motor forward and reverse rotation control button, a driving motor front button, a driving motor rear button, a driving motor left button and a driving motor right button.

Further, the vehicle body is cuboid.

Furthermore, the magnetic wheel is strong magnetic artificial magnetic steel.

Further, the driving motor is a 220V AC servo motor with power of 750W.

Furthermore, four groups of driving mechanisms are arranged and are four-wheel driving mechanisms which are respectively arranged at four corners at the bottom of the vehicle body.

Furthermore, the rotating motor is an alternating current servo motor with the voltage of 220V and the power of 750W, and the mechanical arm is driven by the mounting plate to rotate forwards and backwards for 360 degrees.

Furthermore, a receiving control circuit is arranged in the power distribution cabinet and is electrically connected with the driving motor and the rotating motor respectively.

Furthermore, the upper part of the wireless control remote controller is provided with a forward rotation button and a reverse rotation button of a rotating motor; the lower part is provided with a front button, a rear button, a left button and a right button which are used for controlling the driving motor.

The utility model has the advantages that:

the utility model provides a magnetic adsorption wall climbing robot can adsorb on the metallic tank body surface through the magnetic wheel, and driving motor forms actuating mechanism with the magnetic wheel combination, and wall climbing robot drives the automobile body through actuating mechanism, and handheld wireless control remote controller can control actuating mechanism's direction of motion, and the automobile body can remove to the position that needs the operation. Through installing rust cleaning or anticorrosive operation instrument on the arm operation support that sets up on climbing wall robot body, can realize the rust cleaning to the metallic tank body surface, anticorrosive operation, avoided the scaffold to set up the potential safety risk hazard that causes, the aerial work potential safety hazard has been eliminated, it is anticorrosive to have realized the rust cleaning, the automation of operation, operating personnel's intensity of labour has been reduced, the efficiency of construction and quality are improved, the waste liquid that produces has alleviateed the operation in-process simultaneously, the influence of waste residue to operating personnel, operating personnel's is healthy has been ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and the same reference numerals will be used to designate the same components throughout the drawings, which are provided for the purpose of illustrating the preferred embodiments only and are not to be considered as limiting the present invention.

FIG. 1 is a schematic view of the side-axis structure of the present invention

Reference numerals shown in the drawings: the device comprises a vehicle body 1, a driving mechanism 2, a magnetic wheel 3, a driving motor 4, a connecting plate 5, a mechanical arm 6, an operation support 7, a rotating motor 8, a mounting plate 9 and a bottom plate 10.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention. Furthermore, it should be understood that various changes or modifications can be made by those skilled in the art after considering the content of the present invention, and the equivalents also fall within the scope defined by the present application.

Referring to fig. 1, the utility model provides a magnetism adsorbs wall climbing robot, include: automobile body 1, actuating mechanism 2, magnetic wheel 3, driving motor 4, connecting plate 5, arm 6, operation support 7, rotating electrical machines 8, mounting panel 9, bottom plate 10, power and receiving control circuit and handheld wireless remote controller: the method is characterized in that: the bottom of the vehicle body 1 is provided with a driving mechanism 2, the driving mechanism 2 comprises a magnetic wheel 3 and a driving motor 4, and the driving mechanism 2 is fixed at the bottom of the vehicle body 1 through a connecting plate 5; the bottom plate 10 is fixed at the upper portion left end of automobile body 1, install rotating electrical machines 8 on the bottom plate 10, the lower part of rotating electrical machines 8 is equipped with mounting panel 9, and mounting panel 9 is connected with the head end of arm 6, operation support 7 is installed to the end of arm 6, and operation support 7 is used for various rust cleaning of fixed mounting, anticorrosive tool etc..

Specifically, the vehicle body 1 is cuboid, and a power supply and a receiving control circuit are arranged in the vehicle body.

Specifically, the magnetic wheel 3 is strong magnetic artificial magnetic steel.

Specifically, the driving motor 4 is an alternating current servo motor with voltage of 220V and power of 750W.

Specifically, four sets of driving mechanisms 2 are provided, which are four-wheel driving mechanisms and are respectively arranged at four corners at the bottom of the vehicle body 1.

Specifically, the rotating motor 8 is an alternating current servo motor with 220V voltage and 750W power, and the mechanical arm 6360-degree rotation forward and backward through the mounting plate 9, so that the operations of rust removal, corrosion prevention and the like on the metal surface are realized.

Specifically, a receiving control circuit is arranged in the power distribution cabinet and is electrically connected with the driving motor 4 and the rotating motor 8 respectively.

Specifically, the upper part of the hand-held wireless remote controller is provided with a forward rotation button and a reverse rotation button of a rotating motor 8; the lower part is provided with a front button, a rear button, a left button and a right button which control the driving motor 4.

When the magnetic adsorption wall-climbing robot is used for carrying out rust removal and corrosion prevention operation on the metal storage tank, firstly, an operation tool such as a water-sand jet cleaning spray gun or a paint spraying gun is installed and fixed on the operation support 7. Then, the vehicle body 1 is attracted to the wall surface of the metal can body by the magnetic wheels 3. And thirdly, a power line of a power supply cabinet power supply is connected with a power interface reserved on the upper part of the magnetic adsorption wall-climbing robot body through an aviation plug, the vehicle body 1 can walk under the driving of the driving mechanism 2 through a handheld wireless remote controller, and the traveling direction of the vehicle body 1 can be controlled by front, rear, left and right buttons arranged on the lower part of the handheld wireless remote controller. Meanwhile, a forward rotation button and a reverse rotation button which are arranged on the upper part of the handheld wireless remote controller can control the rotation direction of the rotating motor 8, the mechanical arm 6 can swing freely left and right under the action of the rotating motor 8, and simultaneously drives a water sand jet cleaning spray gun or a paint spraying gun which is fixedly arranged on the operation support 7 to perform water sand spraying rust removal and paint spraying operation on the surface of the metal storage tank, so that the automation of the rust removal and paint spraying operation of the metal storage tank is realized, the manual operation intensity is reduced, and the construction quality and efficiency are improved; meanwhile, the influence of waste residues and waste liquid generated in the rust removal and paint spraying operations on personnel is effectively prevented, so that the health of the operating personnel is guaranteed; the whole operation process adopts the wall-climbing robot to operate, so that the scaffold in the operation preparation link is avoided being erected, and the potential safety hazard of high-altitude operation is eliminated.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A magnetic adsorption wall climbing robot comprising: automobile body (1), actuating mechanism (2), magnetic force wheel (3), driving motor (4), connecting plate (5), arm (6), operation support (7), rotating electrical machines (8), mounting panel (9), bottom plate (10), switch board and receiving control circuit and wireless control remote controller: the method is characterized in that: the bottom of the vehicle body (1) is provided with a driving mechanism (2), the driving mechanism (2) comprises a magnetic wheel (3) and a driving motor (4), and the driving mechanism (2) is fixed at the bottom of the vehicle body (1) through a connecting plate (5); the upper portion left end at automobile body (1) is fixed in bottom plate (10), install rotating electrical machines (8) on bottom plate (10), the lower part of rotating electrical machines (8) is equipped with mounting panel (9), and mounting panel (9) are connected with the head end of arm (6), operation support (7) are installed to the end of arm (6).

2. The magnetic adsorption wall-climbing robot of claim 1, wherein: the vehicle body (1) is cuboid.

3. The magnetic adsorption wall-climbing robot of claim 1, wherein: the magnetic force wheel (3) is strong magnetic artificial magnetic steel.

4. The magnetic adsorption wall-climbing robot of claim 1, wherein: the driving motor (4) is an alternating current servo motor with the voltage of 220V and the power of 750W.

5. The magnetic adsorption wall-climbing robot of claim 1, wherein: the driving mechanisms (2) are four groups, namely four-wheel driving mechanisms, and are respectively arranged at four corners at the bottom of the vehicle body (1).

6. The magnetic adsorption wall-climbing robot of claim 1, wherein: the rotating motor (8) is an alternating current servo motor with the voltage of 220V and the power of 750W, and the mechanical arm (6) is driven to rotate forwards and backwards at 360 degrees through the mounting plate (9).

7. The magnetic adsorption wall-climbing robot of claim 1, wherein: and a receiving control circuit is arranged in the power distribution cabinet and is electrically connected with the driving motor (4) and the rotating motor (8) respectively.

8. The magnetic adsorption wall-climbing robot of claim 1, which is characterized in that: the upper part of the wireless control remote controller is provided with a forward rotation button and a reverse rotation button of a rotating motor (8); the lower part is provided with a front button, a rear button, a left button and a right button which are used for controlling the driving motor (4).