Rope parallel robot for overhauling large vertical storage tank

Abstract

A rope parallel robot for overhauling a large vertical storage tank comprises ropes, rope driving units, rope guide devices, a work platform, supporting rods, fixing pieces, a control system and other parts, the number of the ropes is eight, the number of the rope driving units and the number of the rope guide devices are eight correspondingly, and the rope driving units and the rope guide devices are installed on the outer side of the vertical storage tank and make the work platform to move along the outer side sector cylindrical face of the vertical storage tank with a certain load. The rope parallel robot is demounted and built on the outer side of the vertical storage tank multiple times so that the overhauling work of all the outer surfaces can be achieved; furthermore, a position sensor or a force sensor can be installed in a matched mode to improve the safety performance of the system. The standardized and modularized technology can be used, the varieties of parts in the system can be reduced, the universality among parts is high, and the rope parallel robot can adapt to the overhauling work of vertical storage tanks ranging from 10 m to 80 m.

Description

technical field [0001] The invention belongs to the technical field of a working platform for overhauling a large vertical storage tank, in particular to a cable-parallel robot for overhauling a large vertical storage tank. Background technique [0002] With the development and progress of society, the vertical storage tanks used for the storage of liquids such as oil and chemical products at atmospheric pressure are gradually developing in the direction of large-scale and clustering. These large vertical storage tanks are often placed in multiple storage tanks, and The stored liquid is flammable, explosive and toxic. Once an accident occurs, it will cause huge economic losses and catastrophic consequences. There are mainly three types of working platforms used for daily inspection and maintenance of safe use and normal operation of large vertical storage tanks. The first is scaffolding built by manual work, which takes a long time and is inefficient, and workers need to wor...

AI Technical Summary

Problems solved by technology

[0002] With the development and progress of society, the vertical storage tanks used for the storage of liquids such as oil and chemical products at atmospheric pressure are gradually developing in the direction of large-scale and clustering. These large vertical storage tanks are often placed in multiple storage tanks, and The stored liquid is flammable, explosive and toxic. Once an accident occurs, it will cause huge economic losses and catastrophic consequences

There are mainly three types of working platforms used for daily inspection and maintenance of safe use and normal operation of large vertical storage tanks. The first is scaffolding built by manual work, which takes a long time and is inefficient, and workers need to work in harsh environments; secondly It is to set guide rails on the tank wall, and the relevant detection tools run on the guide rails, but this requires the design of large guide rails, high manufacturing costs, difficult installation and disassembly, and direct operation on the tank body will have a certain impact on the safety of the storage tank; Finally, the rapidly developing wall-climbing robot still has limiting factors such as small load capacity, low moving speed, poor obstacle-crossing ability, and slow turning. The magnetic block for adsorption is easily broken due to uneven wall surface, resulting in failure.

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