A double-layer rail-type wall-climbing robot

A wall-climbing robot and track-type technology, applied in the field of wall-climbing robots, can solve problems such as low measurement accuracy, and achieve the effects of ensuring accuracy, improving stability and accuracy, and improving accuracy.

Inactive Publication Date: 2019-06-28
LANZHOU UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of low measurement accuracy when using the existing technology to measure the vertical tank body, the present invention proposes a double-layer track-type wall-climbing robot that can vertically crawl along the vertical cylindrical outer tank wall

Method used

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  • A double-layer rail-type wall-climbing robot
  • A double-layer rail-type wall-climbing robot
  • A double-layer rail-type wall-climbing robot

Examples

Experimental program
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Effect test

Embodiment 1

[0031] combine figure 1 and figure 2 As shown, the double-layer track-type wall-climbing robot of this embodiment includes an upper track 1 , a lower track 2 , a robot 3 and three sets of crawling units 4 . Wherein, three groups of crawling units 4 are fixedly installed on the lower track 2 and distributed along the circumferential direction.

[0032] The upper track 1 and the lower track 2 are fixedly connected in parallel, and the inner diameter of the upper track 1 and the inner diameter of the lower track 2 are larger than the outer wall diameter of the tank body, so that the upper track 1 and the lower track 2 can be sleeved on the tank The outside of the tank then reciprocates vertically along the outer wall of the tank.

[0033] Preferably, in this embodiment, both the upper track 1 and the lower track 2 adopt a split structure, and are respectively composed of three sections of arc-shaped tracks with equal radians spliced ​​sequentially along the circumferential dir...

Embodiment 2

[0051] combine Figure 4 to Figure 6 As shown, the structure of the double-layer track-type wall-climbing robot in Embodiment 2 is basically the same as that of the double-layer track-type wall-climbing robot in Embodiment 1. The main difference is that the adjustable crawling unit 7 is used , that is, the size of the ring formed by all the crawling wheel sets in the crawling unit 7 is adjustable, so that more tanks with different outer diameters can be used for measurement.

[0052] The crawling unit 7 includes a crawling motor set 71 and a crawling wheel set 72, and at this time, the cross section of the lower side rail 2 is an L-shaped structure, including side rails 22 arranged vertically. Wherein, the crawling wheel set 72 is fixedly installed on the side rail 22 of the lower side rail 2, and is located on the annular surface close to the tank body.

[0053] The crawler motor unit 71 includes a crawler motor 711 and a driving pulley 712 . The crawling motor 711 and the ...

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Abstract

The invention belongs to the technical field of wall-climbing robots, in particular to a double-layer-track type wall-climbing robot capable of climbing vertically along a vertical cylindrical outer tank wall. The double-layer-track type wall-climbing robot solves the problem that the measurement precision is low when a vertical tank body is measured by the prior art. The robot comprises an upperlayer track, a lower layer track, a robot and at least three groups of crawling units. The crawling units are connected with the lower layer track and are distributed in the circumference direction. The upper layer track is fixedly connected with the lower layer track in a parallel mode. The robot is located on the upper surface of the upper layer track and can reciprocate in the circumference direction. According to the double-layer-track type wall-climbing robot, the structure is simple, the manufacturing cost is low, and the accuracy of measuring of the outer wall of a tank is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, in particular to a double-layer rail-type wall-climbing robot that vertically crawls along the wall of a vertical cylindrical outer tank. Background technique [0002] Vertical cylindrical metal oil storage tanks are the main containers for storing oil products in petrochemical enterprises and oil depots. According to relevant technical data and field investigations, most oil storage tanks are welded and spliced ​​with metal steel plates, with a diameter of 10-38m. The oil volume is 3000-10000m 3 In between, the oil storage tank is bulky. However, due to the influence of processing and use environment, the geometric shape and size of the tank during oil storage will be different from the design requirements, resulting in a discrepancy between the theoretical volume and the actual volume. Therefore, the oil depot manager is required to check the volume ratio of the oil storage tank ...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor郑海霞马伟杰祝铎李春玲张淑珍杨萍南文虎贺瑗王富强马晓申涛
OwnerLANZHOU UNIVERSITY OF TECHNOLOGY