Tank inner wall supporting and positioning device of spherical tank detection robot

Abstract

The invention provides a tank inner wall supporting and positioning device of a spherical tank detection robot. The device comprises a supporting mechanism, a supporting positioning frame, a two-shaftrotating platform, a cantilever supporting frame and an elastic pressing mechanism, wherein the supporting mechanism is clamped at a manhole of the spherical tank, one end of the supporting positioning frame is connected with the supporting mechanism, the other end of the supporting positioning frame is provided with a two-axis rotating platform, the two-shaft rotating platform is connected withone end of the cantilever supporting frame, and the other end of the cantilever supporting frame is provided with an elastic pressing mechanism used for pressing the detection robot. According to theinvention, the detection robot is supported through pressing, so the operation of the spherical tank detection robot is not influenced by factors such as floating rust on the inner surface of the spherical tank, and a spherical surface operation positioning coordinate system of the spherical tank detection robot can be further established through the two-shaft rotating platform to assist accuratepositioning; in addition, a provided supporting force can be adjusted by adjusting the length of the cantilever supporting frame, and the reliability and safety of movement of the detection robot along the wall surface are improved to a great extent.

Description

technical field [0001] The invention relates to a support and positioning device for a tank inner wall of a spherical tank detection robot. Background technique [0002] As a large-scale pressure-bearing equipment, the spherical tank needs regular inspection of the weld seam of the spherical tank. For the regular maintenance of the spherical tank, the current common method is to set up scaffolding inside the spherical tank for inspection personnel to climb. The disadvantages of this method are: 1) the construction period for building and dismantling the scaffold is long; 2) the inspectors need to work on the scaffold, which is inconvenient and dangerous to operate. [0003] In order to solve the problems caused by the disassembly and assembly of scaffolding, many patents have proposed a manned workbench inside the spherical tank. Chinese patent 201720881272.6 is an internal detection workbench for a spherical tank proposed for "a spherical tank internal detection workbench"...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a tank inner wall support positioning device for a spherical tank detection robot to solve the unsatisfactory stability of the detection robot climbing on the wall of the spherical tank in the prior art, because the light inside the spherical tank is dim, and there are many spherical tanks It is a steel container, which makes positioning methods based on vision and wireless signals less effective

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