Wall-climbing robot on surface of iron based tank

A wall-climbing robot and body surface technology, applied in the field of intelligence, can solve problems such as insufficient measurement accuracy and large measurement errors, and achieve the effects of simple structure, convenient operation, and small errors

Inactive Publication Date: 2007-12-26
于复生
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the measurement accuracy of this method is not high enough, because there is a large measurement error

Method used

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  • Wall-climbing robot on surface of iron based tank
  • Wall-climbing robot on surface of iron based tank

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0011] Embodiment: As shown in Fig. 1, Fig. 2 and Fig. 3, it includes a reduction motor 1, a sprocket 4, a chain crawler, a motor fixing mechanism 2, a coupling 3, a tensioner 7, a tensioner shaft 8, and a sprocket bracket C10, tension small shaft 12, spherical hinge 16, axle sleeve 17 form. The sprocket support A13, the sprocket support B15 and the sprocket support C10 are connected together with countersunk screws 14 to form a crawler frame 28, and the reduction motor 1 is fixed on the sprocket support B15 with the countersunk screws 6 through the motor fixing mechanism 2. Output shaft drives sprocket wheel 4 through shaft coupling 3, driving wheel shaft 24, and sprocket wheel 4 is installed on the track wheel frame through sprocket wheel shaft 18, bearing 5, axle sleeve 17, and two sprocket wheels 4 are connected with chain 19. Tensioning mechanism 9 is made up of tensioning frame 20, tensioning small shaft 12, tensioning wheel plate 22, pin 23, rigid guide rod 26, spring 2...

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PUM

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Abstract

The invention relates to iron base tank surface wall climbing robot. It is made up of decelerated electric machine, chain wheel, chain belt, ball pivot, and base seat. The caterpillar belt is changed by double bank chain belt, can make the permanent magnet fix on the outer plate of the chain belt. Meanwhile it has caterpillar belt tensioning mechanism and load dispersion machine which can make the robot adsorb on the iron base tank surface better. The robot chassis and sides caterpillar belts are hinged into parallelogram structure which can make robot walk on various iron base tank surfaces. It also can rotate from 0 degree to 360 degree in situ through different rotating directions of the two step motors.

Description

technical field [0001] The invention relates to an intelligent technology, specifically an iron-based tank that uses two stepping motors to respectively drive two chain crawlers with permanent magnets to complete the actions of advancing, retreating and turning on the surface of the iron-based tank. Surface climbing robot. Background technique [0002] In the petroleum refining industry, the volume measurement of oil tanks is essential, whether it is an oil tank just produced or an oil tank that has been used for a period of time, the volume must be re-calibrated. At present, petroleum and its liquid products adopt the optical reference method (GB / T1323512-91) to detect the volume of the oil tank. In this method, a person pulls the measuring instrument along the outer wall of the oil tank to measure the outer diameter of the oil tank, and then calculates the volume of the oil tank. Since it is not allowed to set up a walkway for the surveyors in the oil tank, the surveyors ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
Inventor 于复生何军田沈孝芹李琦李巍郭梅静
Owner 于复生
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