An intelligent detection and cleaning robot for storage tanks

Abstract

The invention relates to the technical field of industrial robots, and relates to an intelligent automatic detection robot, in particular to an intelligent storage tank detection and cleaning robot, which includes a body that adopts permanent magnet adsorption and is provided with a crawler walking mechanism; the body is provided with a flushing mechanism and The camera mechanism can wash the dirt on the inner and outer walls of the storage tank, and the image data of the washing area can be transmitted in real time through the camera mechanism, and the image processing module of the control terminal can intelligently identify whether the washing is completed and whether the area needs washing; the present invention The walking mechanism adopts the design of two sets of four parallel crawlers, and an adjustable liquid-pneumatic suspension mechanism is set on the inner crawler, so that the crawler can better fit the curvature of the wall and increase the stability and safety during walking. The stable transmission of image information provides conditions for intelligent analysis and recognition; the invention also sets waste liquid recovery and drying mechanisms, which can further keep the storage tank clean.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and relates to an intelligent automatic monitoring robot, in particular to an intelligent storage tank detection and cleaning robot. Background technique [0002] In industrial production, as a common container, the storage tank is widely used in factories of various scales and industries; the storage tank can hold solid, gas, liquid, solid-liquid coexisting materials, etc. According to the different types and performance properties of the materials to be stored, the storage tank will also be made of different materials mainly made of metal to meet the physical and chemical properties required for the storage of materials. [0003] After the storage tank has stored materials for a long time, the deposits formed by the reaction between the storage tank itself and the material, material deposition, and the reaction between the material and the air will accumulate inside the storage tank; ...

AI Technical Summary

Problems solved by technology

[0003] After long-term storage of materials in the storage tank, the sediment formed by the reaction between the storage tank itself and the material, the deposition of the material, and the reaction between the material and the air will accumulate inside the storage tank; at the same time, the outside of the storage tank will be affected by natural factors. If the internal and external cleaning of the storage tank is not cleaned in time, it will lead to intensified corrosion, affect the physical and mechanical properties of the storage tank, reduce the service life of the storage tank, and cause safety hazards; Due to the accumulation of sediment and serious corrosion inside, the impurity components in the material will increase, which will cause the material to deteriorate and seriously affect the product quality; therefore, regular maintenance of the storage tank is a very important task in industrial production

[0004] The manual maintenance method is suitable for small storage tanks, but for larger storage tanks, manual maintenance requires maintenance personnel to work at heights for a long time, which has certain safety hazards; and the internal environment of storage tanks is usually not It is suitable for human beings to work. It is often difficult for humans to inspect the inside of the storage tank, and it is difficult to effectively clean the dirt and impurity deposits inside the storage tank, which greatly affects the efficiency of the maintenance work of the storage tank; therefore, it is necessary to develop a A convenient and practical intelligent storage tank detection and cleaning robot, which uses the robot to detect the impurities, sediments and other pollution inside the storage tank, and cleans it in time; ensures the cleanliness of the internal environment of the storage tank and avoids the contamination of materials in the storage tank. polluted, deteriorated

[0005] The storage tank is usually a vertical cylindrical structure, so it is necessary to use a wall-climbing robot as a platform to carry detection and cleaning equipment; most of the existing storage tanks are based on metal tanks, so most wall-climbing robots will use The method of magnetic attraction realizes wall climbing; the existing robots mainly adopt two forms of electromagnetic adsorption and permanent magnetic adsorption. Electromagnetic adsorption uses electromagnets to generate magnetic force to adsorb metal walls, while permanent magnetic adsorption uses permanent magnets to provide magnetic force to adsorb the walls; Electromagnetic adsorption can flexibly adjust the magnetic force of the electromagnet, and has high flexibility in climbing walls, but because it needs to supply additional energy to the electromagnetic coil, it needs to consume additional power, and the volume is difficult to reduce; and electromagnetic adsorption still has accidents. Potential safety hazards may be caused by power failure, so it is rarely used in the industrial field; the permanent magnet adsorption structure is simple, the adsorption does not consume energy, and the safety and reliability are good; the wall-climbing robot also needs to use a suitable walking mechanism. Mechanisms include wheel type, crawler type and mechanical leg type; among them, the wheel type walking mechanism has a simple structure and is relatively reliable, but its terrain adaptability is poor, and problems such as wheel slipping and direction deviation are prone to occur in more complex wall environments; while the mechanical leg type The crawler-type walking mechanism has the best adaptability to the wall environment, but its structure is complex, and it usually needs to be used with bound electromagnets, and its reliability and stability are poor; comprehensively considered, the crawler-type walking mechanism has strong terrain adaptability and reliable structure. And other advantages, suitable for wall climbing robots inside and outside the storage tank

[0006] The existing crawler-type wall-climbing robot equipment usually does not have a complete suspension mechanism, or is simply suspended by a metal spring, does not have the function of actively adjusting the posture of the body, and does not fit the inner and outer walls of the storage tank that are not flat. High, it is easy to cause instability in the driving process, affect the detection and cleaning effect, and even cause the robot to fall, causing property damage and even casualties, which poses a serious safety hazard

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