Wall-climbing robot used for capacity verification of vertical metal tank

Abstract

The invention discloses a wall-climbing robot for the capacity verification of a vertical metal tank, and belongs to the technical field of volume measurement of a large metal container. The wall-climbing robot comprises a robot body, and the robot body comprises a chassis and a housing, wherein driving wheels are arranged on two sides of the chassis. The robot body is provided with an adsorptionunit, a measuring unit, a derusting unit and a control unit. The adsorption unit comprises a plurality of magnets used for adsorbing the wall of the metal tank, and the magnets are connected into a mesh through a connector and are movably arranged at the bottom of the chassis; the measuring unit comprises a folding ruler arranged on the chassis and exposed out of the top of the housing; the derusting unit comprises a derusting bucket arranged at the front end of the robot body and a driver for driving the derusting bucket to lift up and down; and the control unit comprises a microcontroller, aposture detector, an obstacle detector, a suction detector used for detecting the adsorption force of the magnets, a distance sensor used for measuring the distance between the top of the housing andthe metal tank wall, and a communication device. According to the wall-climbing robot, the problem of leaving indentations on the surface of the metal tank is avoided and also the problem that the robot is affected by the rust on the wall of the metal tank is avoided.

Description

technical field [0001] The invention relates to the technical field of volume measurement of large metal containers, in particular to a wall-climbing robot used for capacity verification of vertical metal tanks. Background technique [0002] Vertical metal tank is one of the main measuring instruments for trade settlement of petrochemical products at home and abroad, the accurate measurement of its capacity and the detection of tank body are of great significance. Large metal oil tanks are usually welded by many metal plates, so there are different degrees of unevenness on the inner wall, which has a great impact on the actual capacity of the metal tank. According to the national metrology verification standard JJG168-2018 "Vertical Metal Tank Capacity", large vertical The capacity of type metal cans should be verified for the first time, subsequent verification and in-use verification. [0003] Among all verification items, ring plate diameter measurement is an important c...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a wall-climbing robot for capacity verification of vertical metal tanks, which can improve the problems of high labor intensity, high risk and unstable measurement accuracy in the general optical vertical line method. The suction is adjusted to avoid leaving indentations on the surface of the metal tank, the collapsible ruler can pass some fire lines, and avoid the problem that the robot is affected by the rust on the metal tank wall

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