CN217780415U - A receive and release line induction system for spherical tank rust cleaning robot - Google Patents
A receive and release line induction system for spherical tank rust cleaning robot Download PDFInfo
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- CN217780415U CN217780415U CN202221360203.8U CN202221360203U CN217780415U CN 217780415 U CN217780415 U CN 217780415U CN 202221360203 U CN202221360203 U CN 202221360203U CN 217780415 U CN217780415 U CN 217780415U
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Abstract
The utility model relates to the technical field of automatic coiling and uncoiling, in particular to a coiling and uncoiling induction device for a spherical tank rust removal robot, which comprises a composite cable, a sensor assembly unit and a robot connecting unit, wherein the composite cable is movably connected with an external rust removal robot through the robot connecting unit; the sensor assembling unit comprises a sensing stator and a sensing rotor, and the sensor is arranged on the sensing rotor; the sensor is in signal connection with the external signal controller through the composite cable, and the sensor is used for detecting the inclination angle of the composite cable. The utility model provides a pair of receive and release line induction system for spherical tank rust cleaning robot can reduce the influence of the gravity of compound cable to the rust cleaning robot according to the length of the compound cable of position adjustment of rust cleaning robot, after the robot carelessly comes off the wall, through the signal of sensor, the compound cable is held tightly to the control drum, prevents that the robot from falling.
Description
Technical Field
The utility model belongs to the technical field of the automatic receive and releases line technique and specifically relates to indicate a receive and release line induction system for spherical tank rust cleaning robot.
Background
At present, storage pressure vessels tend to be large-scale continuously, a large amount of manpower, material resources and financial resources are needed for cleaning, maintaining, inspecting and the like each time, and with the development of intellectualization, different types of robots are developed to relieve the working intensity of human beings. However, the robot still faces two problems during the working process: firstly, as the robot moves to a high place continuously, the cable of the robot becomes heavy continuously, the load of the robot is increased, and the normal operation of the robot is influenced; secondly, the wall climbing robot is generally adsorbed by magnetic force, and under the influence of factors such as more impurities on the inner wall of the pressure container or temperature rise, the robot is likely to fall, so that the robot is likely to be damaged, and the damage to the pressure container and the casualties are also likely to be caused. Therefore, the problem that the robot needs to be solved at present is to correctly sense the working position of the robot, adjust the gravity influence of the lead according to the position of the robot, and prevent the robot from crashing when the robot is carelessly detached from the wall.
Disclosure of Invention
The utility model provides a receive and release line induction system for spherical tank rust cleaning robot to prior art's problem, according to the sensor to the inclination's of composite cable detection, judge the current position of rust cleaning robot, thereby according to the length of this position adjustment composite cable, reduce the influence of composite cable's gravity to rust cleaning robot, when the robot carelessly comes off the wall, the sensor is through the detection to composite cable's inclination when taking off the wall, judge that the robot has come off the wall, composite cable will be locked by locking, prevent that the robot from crashing.
In order to solve the technical problem, the utility model adopts the following technical scheme: a wire take-up and pay-off sensing device for a spherical tank rust removing robot comprises a composite cable, a sensor assembling unit and a robot connecting unit, wherein the composite cable is movably connected with an external rust removing robot through the robot connecting unit; the sensor assembling unit comprises a sensing stator fixedly sleeved on the periphery of the composite cable and a sensing rotor rotatably sleeved on the periphery of the sensing stator, and the sensor is arranged on the sensing rotor; the sensor is in signal connection with an external signal controller through the composite cable, and the sensor is used for detecting the inclination angle of the composite cable.
Preferably, the sensing stator comprises a slip ring and limiting rings arranged at two ends of the slip ring, the slip ring is sleeved on the periphery of the composite cable, the sensing rotor is rotatably sleeved on the periphery of the slip ring, and the sensing rotor is positioned between the two limiting rings to rotate.
Preferably, the composite cable comprises a hose and a sensor signal line, wherein the sensor signal line is arranged on the hose and is used for connecting a sensor and an external signal controller.
Preferably, the hose is hollow.
Preferably, the hose is made of a tensile material.
Preferably, the composite cable further comprises a robot signal line and a robot cable, the robot signal line and the robot cable are both arranged on the hose, the robot cable is used for supplying power to an external rust removal robot, and the robot signal line is used for transmitting data to the external rust removal robot.
Preferably, the robot linkage unit includes that the robot connects stator and robot to connect the rotor, the fixed cover of robot connection stator is located the periphery of compound cable, the robot is connected the rotor and is rotated the cover and locate the stator is connected to the robot, the robot is connected the rotor and is used for rotating with outside rust cleaning robot and is connected.
The utility model has the advantages that:
the utility model provides a pair of receive and release line induction system for spherical tank rust cleaning robot, the sensing rotor can freely rotate at the periphery of sensing stator, consequently, the sensor on the sensing rotor, can keep in the below of composite cable under the effect of gravity, the inclination of composite cable after sensor detection robot removes, the receipts and the putting of composite cable are controlled according to the inclination of composite cable, the motion of cooperation rust cleaning robot, thereby reduce the influence of composite cable's gravity to rust cleaning robot, when the robot carelessly breaks off the wall, the sensor is through the detection to composite cable's inclination when the rust cleaning robot breaks off the wall, judge that the robot has already broken off the wall, composite cable will be locked tightly by holding, prevent that the robot from weighing down and causing the incident.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a cross-sectional view of the present invention;
fig. 3 is a schematic structural diagram of the sensing stator of the present invention;
FIG. 4 shows a first state of the rust cleaning robot of the present invention;
FIG. 5 shows a second state of the rust removing robot of the present invention;
fig. 6 shows state three of the rust removing robot of the present invention.
The reference numerals in fig. 1 to 6 include:
the method comprises the following steps of 1-composite cable, 2-sensor, 3-sensing stator, 4-sensing rotor, 5-slip ring, 6-limit ring, 7-composite cable, 8-sensor signal line, 9-robot signal line, 10-robot cable, 11-robot connecting stator and 12-robot connecting rotor.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention will be described in detail with reference to the accompanying drawings.
The take-up and pay-off line sensing device for the spherical tank rust removing robot, as shown in fig. 1 to 3, comprises a composite cable 1, a sensor 2 assembling unit and a robot connecting unit, wherein the composite cable 1 is movably connected with an external rust removing robot through the robot connecting unit; the sensor 2 assembling unit comprises a sensing stator 3 fixedly sleeved on the periphery of the composite cable 1 and a sensing rotor 4 rotatably sleeved on the periphery of the sensing stator 3, and the sensor 2 is arranged on the sensing rotor 4; the sensor 2 is in signal connection with an external signal controller through the composite cable 1, and the sensor 2 is used for detecting the inclination angle of the composite cable 1. The sensor 2 can be selected as an inclination angle sensor 2, the action signal angle threshold of the pitching sensor 2 can be set to be-5 degrees and 5 degrees in advance, and the action stop signal angle threshold is set to be 0 degree.
Specifically, as shown in fig. 1, the robot connection unit is movably mounted to the derusting robot, the movable connection position can be 360-degree stepless rotation, that is, the connection position between the composite cable 1 and the derusting robot is freely movable, and if the derusting robot moves upwards, the position where the composite cable 1 is connected with the robot also moves upwards, the inclination angle of the composite cable 1 is as shown in fig. 5 and 6 (in the process that the derusting robot moves from fig. 4 to fig. 5 or fig. 6), which is called as an action signal angle, the sensor 2 detects the angle of the action signal, and since the connection position between the composite cable 1 and the derusting robot is freely movable, after the derusting robot stops moving and adjusts the length of the composite cable 1, the inclination angle of the connection position between the composite cable 1 and the derusting robot gradually recovers to be stable, as shown in fig. 4, which is called as a stop signal angle (preset to 0 °), and the sensor 2 detects the static angle again; specifically, when the sensor 2 detects that the angle reaches 5 ° or more, the sensor 2 transmits an action signal to an external signal controller, so that the winding roll connected with the composite cable 1 is unwound, the detection angle of the sensor 2 is continuously reduced, and when the detection angle is reduced to 0 °, the sensor 2 transmits an action stop signal to the external signal controller, and the signal controller stops unwinding. When the angle of the sensor 2 reaches-5 degrees or below, the sensor 2 transmits an action signal to the controller, so that the winding reel connected with the composite cable 1 is wound up, the angle of the sensor 2 is continuously increased, and when the angle is increased to 0 degree, the sensor 2 transmits an action stop signal to the signal controller, so that the controller controls the winding reel to stop winding up. The wire take-up and pay-off sensing device can detect the moving position of the derusting robot in real time, and then the length of the composite cable 1 is adjusted according to the position of the derusting robot, so that the influence of the gravity of the composite cable 1 on the derusting robot is reduced. Of course, the threshold angle signal of the sensor 2 may be set according to practice.
According to the wire winding and unwinding sensing device for the spherical tank rust removing robot, as shown in fig. 1 and 3, the sensing stator 3 includes a slip ring 5 and limiting rings 6 installed at two ends of the slip ring 5, the slip ring 5 is sleeved on the periphery of the composite cable 1, the sensing rotor 4 is rotatably sleeved on the periphery of the slip ring 5, and the sensing rotor 4 is positioned between the two limiting rings 6 and rotates.
Specifically, sensing stator 3 is fixed at composite cable 1, and the rotatable cover of sensing rotor 4 is established in sensing stator 3's periphery to sensor 2 can be under the driving of self gravity, can be located composite cable 1's below always, as shown in fig. 1, fig. 4, and then can accurately detect composite cable 1's inclination, improves and detects the precision.
In the present embodiment, as shown in fig. 1 and 2, the composite cable 1 includes a flexible tube 7 and a sensor signal line 8, the sensor signal line 8 is installed on the flexible tube 7, the sensor signal line 8 is used for connecting the sensor 2 and an external signal controller, wherein the flexible tube 7 is hollow, and the flexible tube 7 is made of a tensile material; further, the composite cable 1 further comprises a robot signal wire 9 and a robot cable 10, the robot signal wire 9 and the robot cable 10 are both arranged on the hose 7, the robot cable 10 is used for supplying power to an external derusting robot, and the robot signal wire 9 is used for transmitting data for the external derusting robot.
Specifically, the cross-section of composite cable 1 is as shown in fig. 2, all sets up sensor signal line 8, robot cable 10 and robot signal line 9 in hose 7, can play the guard action promptly, and also can not appear the condition such as short circuit between the different lines to make composite cable 1 have better safety performance.
The embodiment provides a receive and release line induction system for spherical tank rust cleaning robot, as fig. 1, 4 to 6, robot linkage unit includes that the robot connects stator 11 and robot to connect rotor 12, the robot is connected the fixed cover of stator 11 and is located the periphery of compound cable 1, the robot is connected rotor 12 and is rotated the cover and locate stator 11 is connected to the robot, the robot is connected rotor 12 and is used for rotating with outside rust cleaning robot and is connected.
Specifically, as shown in fig. 4, the robot rotor is mounted on the derusting robot, so as to realize free rotation connection with the derusting robot, i.e. a structure similar to a free arm, and of course, the derusting robot can also be provided with rotation of a second shaft, i.e. a second free arm, so that the composite cable 1 can move more freely.
The above description is only for the preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention is disclosed in the preferred embodiment, it is not limited to the above description, and any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, but all the technical solutions of the present invention are within the scope of the present invention.
Claims (7)
1. The utility model provides a receive and release line induction system for spherical tank rust cleaning robot which characterized in that: the device comprises a composite cable, a sensor assembling unit and a robot connecting unit, wherein the composite cable is movably connected with an external derusting robot through the robot connecting unit; the sensor assembling unit comprises a sensing stator fixedly sleeved on the periphery of the composite cable and a sensing rotor rotatably sleeved on the periphery of the sensing stator, and the sensor is arranged on the sensing rotor; the sensor is in signal connection with an external signal controller through the composite cable, and the sensor is used for detecting the inclination angle of the composite cable.
2. The take-up and pay-off induction device for the spherical tank rust removing robot as claimed in claim 1, characterized in that: the sensing stator comprises a slip ring and limiting rings arranged at two ends of the slip ring, the slip ring is sleeved on the periphery of the composite cable, the sensing rotor is rotatably sleeved on the periphery of the slip ring, and the sensing rotor is positioned between the two limiting rings to rotate.
3. The take-up and pay-off line sensing device for the spherical tank rust removing robot as claimed in claim 1, wherein: the composite cable comprises a hose and a sensor signal line, wherein the sensor signal line is arranged on the hose and is used for connecting a sensor and an external signal controller.
4. The take-up and pay-off line sensing device for the spherical tank rust removing robot as claimed in claim 3, wherein: the hose is hollow.
5. The take-up and pay-off line sensing device for the spherical tank rust removing robot as claimed in claim 3, wherein: the hose is made of a tensile material.
6. The take-up and pay-off line sensing device for the spherical tank rust removing robot as claimed in claim 3, wherein: the composite cable further comprises a robot signal wire and a robot cable, wherein the robot signal wire and the robot cable are both arranged on the hose, the robot cable is used for supplying power to an external rust removal robot, and the robot signal wire is used for transmitting data to the external rust removal robot.
7. The take-up and pay-off line sensing device for the spherical tank rust removing robot as claimed in claim 1, wherein: robot linkage unit includes that the robot connects stator and robot to connect the rotor, the fixed cover of robot connection stator is located the periphery of compound cable, the robot is connected the rotor and is rotated the cover and locate the stator is connected to the robot, the robot is connected the rotor and is used for rotating with outside rust cleaning robot and is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221360203.8U CN217780415U (en) | 2022-05-31 | 2022-05-31 | A receive and release line induction system for spherical tank rust cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221360203.8U CN217780415U (en) | 2022-05-31 | 2022-05-31 | A receive and release line induction system for spherical tank rust cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217780415U true CN217780415U (en) | 2022-11-11 |
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ID=83911821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221360203.8U Active CN217780415U (en) | 2022-05-31 | 2022-05-31 | A receive and release line induction system for spherical tank rust cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217780415U (en) |
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2022
- 2022-05-31 CN CN202221360203.8U patent/CN217780415U/en active Active
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