Robot operated on surface of oil storage tank

Abstract

The invention discloses a robot operated on the surface of an oil storage tank. The robot consists of a robot body machine frame, a traveling system and a lifting system. The robot travels on the surface of the oil storage tank by means of the absorption of two groups of electromagnetic caterpillars of which the traveling directions are mutually vertical and the adsorption forces are adjustable; and the two groups of electromagnetic caterpillars of which the traveling directions are mutually vertical switch work to steer. Operation appliances, such as a welding machine, a sand-blasting gun, aspray gun, a flaw detector and the like, can be selectively arranged on a public mounting platform of the robot according to operation needs. When the robot works, the corresponding operation appliances are arranged on the robot and the robot travels on the surface of the oil storage tank to replace a worker to finish works high above the ground, such as welding, removing rust, spraying paint, detection and the like so that the problems of high risk, low efficiency and poor finished quality during manual works high above the ground are solved.

Description

technical field [0001] The invention relates to an oil storage tank surface operation device, in particular to an oil storage tank surface operation robot, which is mainly used for welding, rust removal, painting, testing and other operations of oil storage tanks, and can also be used for other large iron-based Surface work. Background technique [0002] Oil, natural gas and other energy reserves all use oil storage tanks. The installation and maintenance of oil storage tanks need to complete welding, rust removal, painting, testing and other operations; The problems of low efficiency and low completion quality are difficult to solve; the permanent magnet square iron crawler robot with Chinese patent application number 200710115355.5 can walk on large iron-based surfaces, but it does not have a public installation platform for working tools, and it uses permanent magnets. Magnet adsorption and steering relying on the speed difference of the crawler make it difficult to inst...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of high risk, low efficiency, and low quality of work brought about by artificial high-altitude operations, and to make up for the shortcomings of existing devices with large limitations in surface operations, the invention provides a surface operation robot for oil storage tanks, which can It replaces manual high-altitude operations such as welding, rust removal, painting, and testing, and can solve the problems that existing devices cannot be installed with various operating tools, the adsorption force is limited, and the track is easy to disjoint when turning.

[0004] The difference between this robot and the existing walking devices on iron-based surfaces such as oil storage tanks is that its walking function is realized by four electromagnetic crawlers with adjustable adsorption force, which solves the problem of the large adsorption force limitation of the existing devices; The four electromagnetic crawlers are divided into two groups, each group is arranged symmetrically, and the two groups of electromagnetic crawlers are perpendicular to each other. One group realizes adsorption and walking in the X direction (the latitude direction of the tank body), and one group realizes the adsorption and walking in the Y direction (the longitude direction of the tank body). Walking and robot steering are realized by switching the two groups of electromagnetic crawlers relative to each other, which solves the problem that the crawlers are easy to disjoint when the existing device turns; the two ends of the walking frame are hinged with the corresponding guide rail connecting plates, and the middle is connected with the corresponding walking The racks are symmetrically connected by return springs. This design enables the robot to stably absorb and walk on the uneven surface of the oil storage tank; There is a problem of large application limitations of the device, and it realizes one machine with multiple functions

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