A wall-climbing robot for capacity verification of vertical metal tanks

Abstract

The invention discloses a wall-climbing robot for vertical metal tank capacity verification, which belongs to the technical field of large metal container volume measurement, and comprises a robot body, wherein the robot body comprises a chassis and a shell, and driving wheels are arranged on both sides of the chassis, and the robot body is provided with: an adsorption unit, comprising a plurality of magnets for adsorbing the metal tank wall, the magnets are connected into a mesh through a connector and move at the bottom of the chassis; a measuring unit, comprising a folding ruler arranged on the chassis and exposed at the top of the shell; a rust removal unit, comprising a rust removal bucket arranged at the front end of the robot body and a driver for driving the rust removal bucket to be lifted and lowered; and a control unit, comprising a microcontroller, a posture detector, an obstacle detector, a suction detector for detecting the adsorption force of the magnet, a distance sensor for measuring the distance between the top of the shell and the metal tank wall, and a communication device. It can avoid leaving indentations on the surface of the metal tank and avoid the problem that the robot is affected by the rust on the metal tank wall.

Description

Technical Field

[0001] The invention relates to the technical field of large metal container volume measurement, in particular to a wall-climbing robot used for vertical metal tank capacity verification. Background Art

[0002] Vertical metal tanks are one of the main measuring instruments for domestic and foreign petrochemical product trade settlements. Accurate measurement of their capacity and tank inspection are of great significance. Large metal oil tanks are usually welded from 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", the capacity of large vertical metal tanks should be verified multiple times, including the first verification, subsequent verification, and verification during use.

[0003] Among all the verification items, the measurement of the ring plate diameter is an important content and the main data source for calculating the capacity of metal tanks. According to the provisions of the national metrology verification standard JJG168-2018 "Vertical Metal Tank Capacity", the optical plumb line method is one of the main methods for measuring the ring plate diameter. The conventional practice is: first determine the number of horizontal and vertical measuring stations according to the size and deformation of the tank body, install a pulley on the top of the tank at the horizontal measuring station, install an optical plumb line at the bottom of the horizontal measuring station, and the operator pulls the rope at the bottom of the tank. The rope passes through the pulley and the other end is fixed on a magnetic pulley carrying a ruler for measurement. During the measurement process, the magnetic pulley is pulled by manpower to move from bottom to top, and stops at each vertical measuring station (usually 1 / 4 and 3 / 4 positions of each ring plate of the metal oil tank), and the radial deviation of each vertical measuring station is measured using the optical plumb line at the bottom of the tank and the ruler on the magnetic pulley. According to the above steps, the radial deviation of all vertical measuring stations on each horizontal measuring station is measured one by one until all are completed.

[0004] The main difficulties encountered in the implementation of this method are: on the one hand, large vertical metal tanks are huge in size, requiring a large number of measuring points, manual operation is time-consuming and labor-intensive, and there is a risk of working at height; on the other hand, it is difficult to control the magnetic pulley to remain stationary by human power, which will also cause a reduction in measurement accuracy.

[0005] Using a wall-climbing robot to replace the manually lifted magnetic trolley is one of the ideas to improve the optical plumb line method. Some wall-climbing robots have been invented and used in the detection and measurement of vertical metal tanks, such as a metal tank radial deviation measurement robot disclosed in Chinese patent documents with announcement numbers CN206177250U and CN201710323459.9. However, there are some inherent problems in this invention, such as: the suction situation cannot be accurately obtained in real time, resulting in the metal track leaving indentations on the tank surface, the scale is too high to pass through some fire pipelines, and the robot is affected by rust on the metal tank wall, etc. Summary of the invention

[0006] The purpose of the present invention is to provide a wall-climbing robot for vertical metal tank capacity calibration, which can improve the problems of high labor intensity, high risk and unstable measurement accuracy in the general optical plumb line method. In addition, the suction force can be accurately adjusted to avoid leaving indentations on the surface of the metal tank. The foldable ruler can pass through some fire pipelines and avoid the problem of the robot being affected by rust on the wall of the metal tank.

[0007] In order to achieve the above-mentioned object, the wall-climbing robot for vertical metal tank capacity verification provided by the present invention comprises a robot body, the robot body comprises a chassis and a shell, driving wheels are arranged on both sides of the chassis, and the robot body is provided with:

[0008] The adsorption unit includes a plurality of magnets for adsorbing the metal tank wall, the magnets are connected into a mesh through connectors and move at the bottom of the chassis;

[0009] A measuring unit including a foldable ruler disposed on the chassis and exposed at the top of the housing;

[0010] The rust removal unit comprises a rust removal bucket arranged at the front end of the robot body and a driver for driving the rust removal bucket to be lifted and lowered;

[0011] and a control unit, including a microcontroller, a posture detector, an obstacle detector, a suction force detector for detecting the adsorption force of the magnet, a distance sensor for measuring the distance between the chassis and the wall of the metal tank, and a communication device.

[0012] In the above technical solution, the wall-climbing robot is placed on the wall of the metal tank body, and the magnet is used to attract the wall, while the robot body is driven by the wheels to move on the wall of the metal tank body. The distance from the wall of the metal tank body to the bottom of the scale is measured by a distance sensor, and the measurement result is obtained in combination with the reading of the scale, so as to calibrate the capacity of the metal tank. In addition, considering that after long-term use of vertical metal tanks, the coating on the tank wall of some ring plates is corroded or even falls off, and the exposed steel plate is rusted, which will have an adverse effect on the measurement accuracy and efficiency. The rust is removed by the rust removal bucket of the rust removal unit to improve the measurement accuracy.

[0013] In addition, the control unit has the following functions: when the suction detector detects that the suction generated by the adsorption unit does not meet the set value, the suction is controlled to be close to the set value; when the posture detector detects that the posture of the wall-climbing robot deviates from the set value, the driving wheels are controlled to restore the set posture; when the obstacle detector detects that there is an obstacle in front, the driving wheels are controlled to make the wall-climbing robot stop moving or change direction, and the operator is prompted through the communication device.

[0014] Preferably, the connector includes a vertical connecting rod connected to the chassis and a pull rod or a pull rope connected to the magnet, and the pull rod can rotate around the bottom end of the vertical connecting rod. The adsorption unit adopts a gap adsorption adsorption method, that is, the magnet is not in direct contact with the metal wall surface, but has a certain distance. Compared with the general crawler contact adsorption device, the advantages of this are: avoiding the problem of the crawler turning unchanged and possibly wearing out the wall surface, avoiding the problem of the crawler leaving indentations on the surface, avoiding the problem that some magnets on the crawler do not generate suction on the metal wall surface and actually cause unnecessary weight, and avoiding the problem that the motor needs to overcome the force of the crawler magnet to separate from the metal wall surface when moving.

[0015] Preferably, the chassis is provided with a through hole for transmission of the vertical connecting rod, and an adjustment block for adjusting the vertical connecting rod to slide up and down along the through hole is provided on the through hole, and a suction detector is provided between the adjustment block and the chassis. When the adsorption unit is applied to walls with different curvatures, the control unit adjusts the adjustment block, that is, moves the vertical connecting rod up and down, so that the magnet presents different relative positions.

[0016] For the convenience of adjustment and control, preferably, the adjustment block is connected to the vertical connecting rod via threads.

[0017] In order to control the posture of the wall-climbing robot, preferably, the chassis is provided with a motor for driving the driving wheels, and the driving wheels are connected to the output end of the motor through an elastic coupling.

[0018] Preferably, the end of the distance sensor is provided with a spring that allows the other end to press against the wall of the metal can, so as to ensure that the end of the distance sensor always presses against the wall of the metal can, making it convenient to zero the scale.

[0019] Preferably, the measuring unit also includes a base arranged on the chassis, the base is slidably connected to the shell, and the lower end of the ruler is fixed on the base. The ruler has scales, which are mainly used for measuring the radial deviation of the oil tank by the optical plumb line method. The significance of the ruler movement is: in the process of measurement and calibration, it is often necessary to accurately adjust the position of the ruler. If the position of the ruler is adjusted only by moving the wall-climbing robot back and forth as a whole, the accuracy is not high. Therefore, the large-scale movement of the ruler is mainly carried out by the wheels of the wall-climbing robot, and the small-scale precise movement of the ruler is mainly carried out by the ruler movement function of the measuring device. In addition, the base and the chassis can be slidably connected by a screw, and the motor drives the screw to rotate so that the ruler base moves back and forth on the screw. In this way, the ruler position can be accurately fine-tuned without operating the driving wheels of the wall-climbing robot, thereby improving the ruler position accuracy and reducing energy consumption.

[0020] Preferably, the scale includes a mounting portion fixed on the base and a movable portion connected to the mounting portion via a rotating shaft; a rounded corner is provided on one side of the top of the mounting portion, and a reset member connected to the movable portion is provided on the other side; a lever is provided above the sliding path of the base to bend the movable portion around the rotating shaft. The reset member can be a spring or an elastic band, and the two ends of the spring or elastic band are respectively fixed to the movable portion and the mounting portion by screws. The spring or elastic band has a certain preload when the movable portion is vertical. The rounded corner of the mounting portion allows the movable portion to rotate, and the non-rounded side plays a limiting role when the movable portion is reset.

[0021] During the specific operation, when the ruler moves to a certain position, the movable part collides with the lever, and the base continues to drive the mounting part forward. The movable part encounters resistance, and the movable part rotates relatively at the shaft, thereby realizing the folding function of the ruler. Move the base in the opposite direction and drive the mounting part backward. The movable part no longer collides with the lever. Under the action of the spring or elastic band, the movable part is reset. Under the action of the rounded corners, the ruler does not bend excessively and can maintain a vertical state. The folding and resetting functions of the ruler allow the wall-climbing robot to smoothly pass through some places where the height is lower than the ruler but higher than the shell height, as well as some places with height restrictions. In a typical working scenario, there are many fire-fighting pipes and reinforcement ribs in the oil tank. After passing through these places, the robot can restore the vertical state and take measurements and readings.

[0022] Preferably, the wall-climbing robot is also provided with a remote control unit that is communicatively connected to the control unit. The remote control device can be a separate device with communication function, or it can be software installed on a smart phone or other platform. The remote control unit can read the status of the wall-climbing robot, such as communication mode, signal strength, power supply mode, remaining power, suction value, adsorption mode, etc., and can switch the power supply mode, communication mode, adsorption mode, etc. In addition, the wall-climbing robot can be controlled to move forward, backward, turn left, turn right, etc.; the movement and folding of the ruler can be controlled; an alarm signal can be received in an emergency, such as insufficient suction, obstacles in front, etc.; emergency functions can be activated, such as adjusting the position of the permanent magnetic adsorption unit to the lowest position in strong winds, automatically returning to the bottom of the oil tank, etc.

[0023] Preferably, a removable battery compartment is also provided at the bottom of the chassis. The lower part of the battery compartment is lower than the chassis, so that the center of gravity of the wall-climbing robot is relatively close to the wall when it is adsorbed on the wall, thereby improving the adsorption performance. The battery compartment has a slide groove, which can be quickly installed and removed by sliding back and forth to facilitate the replacement of the battery. The slide groove can limit the up and down movement of the battery compartment. The battery compartment is equipped with contacts or slots at the front, which can form an electrical connection with the contacts or slots installed on the chassis after being installed in place. At the same time, a locking rod can be installed at the rear of the chassis, one end of the locking rod is fixed to the chassis by a hinge, and the other end is equipped with a buckle or slot that can be fixed to the chassis. The locking rod can prevent the forward and backward movement of the battery compartment when closed, and the battery compartment can be taken out or loaded when opened.

[0024] Preferably, the suction detector comprises a force sensor, which is mounted on the chassis and electrically connected to the microcontroller. The force sensor can measure the pressure exerted by the magnet on the base, thereby obtaining the suction force between the magnet and the metal wall.

[0025] The posture detector comprises a posture sensor, which is mounted on the chassis and electrically connected to the microcontroller. The posture sensor can measure the posture information of the wall-climbing robot.

[0026] The distance sensor is a precision distance sensor, which is installed near the base of the ruler on the chassis and electrically connected to the microcontroller. The distance between the base of the precision distance sensor and the base of the ruler in the vertical direction is relatively fixed, so that the precision distance sensor can provide an accurate reference for the reading of the ruler.

[0027] The obstacle detector includes a non-contact distance sensor, which is installed in front of or behind the chassis and electrically connected to the microcontroller. The obstacle detector can measure the distance between the obstacle in front and the robot and send data to the microcontroller so that the robot can avoid or stop moving in advance. The non-contact distance sensor is an ultrasonic distance sensor or an optical distance sensor.

[0028] The communication device includes a Bluetooth or radio communication device, which can communicate with the remote control device to transmit the status information and control commands of the wall-climbing robot.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The wall-climbing robot for vertical metal tank capacity verification of the present invention can improve the problems of high labor intensity, high risk and unstable measurement accuracy in the general optical plumb line method. In addition, compared with other wall-climbing robots, it avoids the possible problems of suction force not being able to be measured and adjusted in real time, leaving indentations on the tank surface, inconvenience of power supply when measuring inside the oil tank using cable power supply, the scale being too high to pass through some fire pipelines, and the robot being affected by rust on the metal tank wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a top view of a wall-climbing robot with a housing according to an embodiment of the present invention;

[0032] Figure 2 is a side view of a wall-climbing robot with a housing according to an embodiment of the present invention;

[0033] Figure 3 is a top view of a wall-climbing robot without a housing in an embodiment of the present invention;

[0034] Figure 4 A bottom view of the wall-climbing robot in an embodiment of the present invention;

[0035] Figure 5 for Figure 3 AA section view;

[0036] Figure 6 A schematic diagram of a wall-climbing robot working inside an oil tank according to an embodiment of the present invention;

[0037] Figure 7 A schematic diagram of a wall-climbing robot working outside an oil tank according to an embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of the ruler in a vertical state in an embodiment of the present invention;

[0039] Fig. 9 It is a schematic structural diagram of a ruler in a bent state in an embodiment of the present invention;

[0040] Fig.10 This is a schematic diagram of the structure when the scale moves in an embodiment of the present invention;

[0041] Fig.11 It is a schematic diagram of the structure of the ruler entering a bending state when moving in an embodiment of the present invention;

[0042] Fig.12 It is the display panel of the vehicle-mounted display screen and the remote control unit in the embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items. Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0045] Example

[0046] See also Figures 1 to 5 The wall-climbing robot for vertical metal tank capacity verification of this embodiment includes a robot body, an adsorption unit, a rust removal unit, a control unit, and a measuring unit, and also includes a remote control unit. The robot body includes a chassis 11, a wheel drive motor 12, an elastic coupling 17, a shell 13, a battery compartment 14, a positioning rod 15, and a wheel 16. There are four groups of wheel drive motors 12 and elastic couplings 17, which are respectively installed at the four corners below the chassis 11, and each group is equipped with a wheel 16. The shell 13 is installed above the chassis 11 to protect the internal components and can be removed when necessary. A vehicle-mounted display screen 44 is installed on the shell 13. The display screen of the vehicle-mounted display screen 44 is as shown in the figure. Fig.12 As shown, the status information of the wall-climbing robot can be displayed. The battery compartment 14 is an optional accessory. When the working conditions are limited and the cable power supply cannot be used, the battery compartment 14 can be installed to supply energy to the robot. The battery compartment 14 is installed on the chassis 11 through its own slide groove. It can be quickly installed and removed by sliding forward and backward to facilitate battery replacement. The slide groove can limit the up and down movement of the battery compartment 14. A locking rod 15 is installed at the rear of the chassis 11. When closed, it can prevent the battery compartment 14 from moving forward and backward. When opened, the battery compartment 14 can be taken out or loaded.

[0047] A communication device 41, a microcontroller 42 and a posture sensor 43 are installed in the middle of the upper surface of the chassis 11. Figure 3 and Figure 4 The chassis 11 is equipped with 9 groups of suction adjustment mechanisms 231-239, and a suction detector 46 is installed between each suction adjustment device and the chassis 11. The suction adjustment mechanisms 231-239 are installed above the chassis 11, and are respectively connected to one corner of the magnet 22 through a connector 21, passing through a hole on the chassis 11, and the four corners of a magnet 22 are respectively connected to the suction detector 46 through a connector 21.

[0048] A distance detector 54 is installed in the middle of the upper surface of the chassis 11. Under the action of an internal spring or other principles, the lower end of the distance detector 54 is always in close contact with the wall on which the wall-climbing robot is traveling, so that the precise distance between the chassis and the wall can be obtained.

[0049] See also Figures 1 to 7 In this embodiment, according to different usage scenarios, such as the inner wall or outer wall of the oil tank, different permanent magnet configuration modes can be realized by separately adjusting the position of the magnet 22 through multiple groups of suction adjustment mechanisms 231~239 installed on the chassis 11, thereby achieving a better adsorption effect.

[0050] Figure 6 The figure is a schematic diagram of the situation when the wall-climbing robot is working inside the oil tank. The three groups of suction adjustment mechanisms 232, 235, and 238 on the central axis of the wall-climbing robot adjust the connector 21 on the central axis to make it in a low position, and the suction adjustment mechanisms 231, 233, 234, 236, 237, and 239 on both sides adjust the connectors 21 on both sides to make them in a high position, so that the magnet 22 connected to the connector 21 presents a posture with a low central axis and high sides, so as to better fit with the inner side of the oil tank wall 70, so as to achieve the effect that the overall gap between the four magnets 22 and the oil tank wall is relatively small and the suction force is relatively large, thereby achieving a relatively stable adsorption effect. At the same time, the elastic coupling 17 has a certain bending ability. While maintaining the high efficiency of transmitting the torque of the drive motor 12 to the wheel 16, it is slightly bent so that the wheel 16 is slightly tilted and fits well with the curvature of the inner side of the oil tank wall, thereby improving the grip of the wheel 16 when the wall-climbing robot is working outside the oil tank.

[0051] Figure 7It is a schematic diagram of the situation when the wall-climbing robot is working outside the oil tank. The three groups of suction adjustment mechanisms 232, 235, and 238 on the central axis of the wall-climbing robot adjust the connector 21 on the central axis to make it in a high position, and the suction adjustment mechanisms 231, 233, 234, 236, 237, and 239 on both sides adjust the adsorption unit connectors 21 on both sides to make them in a low position, so that the magnet 22 connected to the connector 21 presents a posture with a high central axis and low sides, so as to better fit with the outer side of the oil tank wall, so as to achieve the effect that the overall gap between the four magnets 22 and the oil tank wall is relatively small and the suction force is relatively large, thereby achieving a relatively stable adsorption effect. At the same time, while maintaining the high efficiency of transmitting the torque of the drive motor 12 to the wheel 16, the elastic coupling 17 is slightly bent so that the wheel 16 is slightly tilted and fits well with the curvature of the outer side of the oil tank wall, thereby improving the grip of the wheel 16 when the wall-climbing robot is working outside the oil tank.

[0052] In this embodiment, the connector 21 includes a vertical connecting rod connected to the chassis and a pull rod or a pull rope connected to the magnet 22, and the pull rod can rotate around the bottom end of the vertical connecting rod. The chassis is provided with a through hole for the vertical connecting rod to drive.

[0053] The suction force adjustment mechanism 231-239 includes an adjustment block disposed on the through hole and used to adjust the vertical connecting rod to slide up and down along the through hole, and the suction force detector 46 between the adjustment block and the chassis can measure the suction force of each adjustment block respectively. Therefore, when the wall-climbing robot moves on an irregular curved surface, the position of the suction force adjustment mechanism 231-239 can be adjusted in real time according to the suction force detection result, thereby achieving a better adsorption effect.

[0054] In dangerous situations, such as when the wind in the workplace of the wall-climbing robot suddenly becomes strong and exceeds the designed maximum wind force limit, the operator can perform remote control operation and lower the position of the magnet 22 to the lowest point through the suction adjustment mechanism 231~239, or even directly contact the wall of the oil tank to achieve maximum suction.

[0055] In this embodiment, the scale 53 of the wall-climbing robot is a part of the measuring unit and has the functions of moving forward and backward and folding. Figure 1 , Figure 3 , Figures 8 to 11, the driving motor 51, the driving shaft 52, and the scale 53 are installed on the chassis 11, and the scale stop rod 55 is installed on the housing 13. There is a ball screw transmission pair between the driving shaft 52 and the base 535. The driving motor 51 rotates to drive the driving shaft 52, and the base 535 drives the scale and other parts to move forward and backward along the driving shaft 52. The main significance of this function is that in the process of measurement and calibration, it is often necessary to accurately adjust the position of the scale. If the position of the scale 53 is adjusted only by moving the wall-climbing robot forward and backward as a whole, the accuracy is not high. Therefore, the following measures are taken: the large-range movement of the scale 53 is mainly moved by the wheels of the wall-climbing robot, and the small-range precise movement of the scale 53 is mainly carried out by the scale movement function of the measuring device.

[0056] Furthermore, the scale 53 has a folding function. Figure 8 This is a schematic diagram of the ruler standing upright. Fig. 9 Schematic diagram of the ruler in a bent state. The ruler 53 comprises a movable part 530, a rotating shaft 531, a mounting part 532, an elastic band 533 and a screw 534. The movable part 530 and the mounting part 531 are hinged through the rotating shaft 531, and the mounting part 532 is mounted on a base 535. A screw 534 is mounted on each side of the movable part 530 and the mounting part 532, and an elastic band 533 is mounted between the two screws 534. One side of the mounting part 532 has a rounded corner, and the other side has no rounded corner, so the upper part of the ruler can only bend in one direction, and under the action of the elastic band 533, it has the ability to keep the ruler 53 vertical without being subjected to other lateral external forces.

[0057] Fig. 9 and Fig.10 The principle of the folding and restoration of the ruler is demonstrated. If the ruler moves within a certain range and does not collide with the ruler stopper 55, it will not fold. When it moves to the left to a certain position, the movable part 530 collides with the ruler stopper 55 installed on the housing 13 and is subjected to resistance. As the ruler as a whole continues to move to the left, the angle between the movable part 530 and the mounting part 532 becomes larger and larger, so that the maximum height of the ruler 53 decreases. On the other hand, when the ruler as a whole moves to the right, the resistance from the ruler stopper 55 gradually decreases, the angle between the movable part 530 and the mounting part 532 becomes smaller and smaller, and finally the ruler 53 returns to a vertical state.

[0058] The significance of this function is that the scale has a folding function, so that it can smoothly pass through some places with height restrictions. In a typical working scenario, there are many fire pipes and reinforced ribs in the oil tank. This function enables the wall-climbing robot to pass through these places with height restrictions. Furthermore, based on the scale movement function, this function enables the scale to have a folding function without adding a new drive unit, which is of great significance for simplifying the structure and reducing weight.

[0059] In this embodiment, the wall-climbing robot has a certain rust removal function. Figure 1 , Figure 3 and Figure 5 The rust removal unit includes a drive motor 31, a drive shaft 2 and a rust removal bucket 33. The drive motor 31 and the drive shaft 2 are installed at the front of the chassis 11. The rotation of the drive motor 31 drives the drive shaft 2 to rotate, and finally controls the lifting and lowering of the rust removal bucket 33. The important significance of this setting is that: considering that after a vertical metal tank has been running for a long time, the tank wall of some ring plates has corrosion and even peeling of the coating, and the exposed steel plate is corroded, which will have an adverse effect on the measurement accuracy and measurement efficiency. The rust removal bucket 33 is installed at the front end of the wall-climbing robot to remove rust. When the rust removal bucket is lifted, the friction between the rust removal bucket and the ground can be eliminated, thereby reducing the running resistance under normal circumstances and reducing power consumption.

[0060] In this embodiment, the wall-climbing robot has a certain ability to avoid abnormal conditions, which mainly refer to the deviation of the travel direction from the predetermined direction, the appearance of obstacles in front, and the sudden lack of suction. During the travel, due to various abnormal conditions that may exist, such as the inconsistency of the speeds of the two motors, the collision of the tires with obstacles, the bending of the oil tank wall, etc., the travel direction of the wall-climbing robot may have a tendency to deviate from the predetermined direction. The posture sensor 43 will detect the posture of the wall-climbing robot itself in real time and transmit the posture data to the microcontroller 42. The microcontroller 42 compares the preset direction with the real-time posture data and adjusts the speed difference of the wheel drive motors 12 on both sides until the correct direction is restored. During the travel, there may be obstacles in front of the wall-climbing robot that the operator cannot visually see in the oil tank. The obstacle detector 45 detects the distance from the obstacle and transmits the information to the microcontroller 42. The microcontroller 42 sends a signal to the remote control unit through the communication device 41 to remind the operator and automatically pause.

Claims

1. A wall-climbing robot for vertical metal tank capacity verification, comprising a robot body, the robot body comprising a chassis and a shell, and drive wheels are arranged on both sides of the chassis, characterized in that: The robot body is provided with: An adsorption unit, comprising a plurality of magnets for adsorbing the metal tank wall, wherein the magnets are connected into a mesh through connectors and move at the bottom of the chassis; a measuring unit, comprising a foldable ruler disposed on the chassis and exposed at the top of the housing; A rust removal unit, comprising a rust removal bucket disposed at the front end of the robot body and a driver for driving the rust removal bucket to be lifted and lowered; and a control unit, including a microcontroller, a posture detector, an obstacle detector, a suction force detector for detecting the adsorption force of the magnet, a distance sensor for measuring the distance between the chassis and the wall of the metal tank, and a communication device; The connector comprises a vertical connecting rod connected to the chassis and a pull rod or a pull rope connected to the magnet, and the pull rod can rotate around the bottom end of the vertical connecting rod; the end of the distance sensor is provided with a spring so that the other end thereof presses against the wall surface of the metal can; The chassis is provided with a through hole for transmission of the vertical connecting rod, and the through hole is provided with an adjustment block for adjusting the vertical connecting rod to slide up and down along the through hole, and the suction detector is provided between the adjustment block and the chassis.

2. The wall-climbing robot for vertical metal tank capacity verification according to claim 1, characterized in that: The adjusting block is connected to the vertical connecting rod via threads.

3. The wall-climbing robot for vertical metal tank capacity verification according to claim 1, characterized in that: The chassis is provided with a motor for driving the driving wheels, and the driving wheels are connected to the output end of the motor through an elastic coupling.

4. The wall-climbing robot for vertical metal tank capacity verification according to claim 1, characterized in that: The measuring unit further comprises a base arranged on the chassis, the base is slidably connected to the chassis, and the lower end of the scale is fixed on the base.

5. The wall-climbing robot for vertical metal tank capacity verification according to claim 4, characterized in that: The ruler includes a mounting portion fixed on the base and a movable portion connected to the mounting portion via a rotating shaft; a chamfer is provided on one side of the top of the mounting portion, and a reset member connected to the movable portion is provided on the other side; a gear lever is provided above the sliding path of the base to bend the movable portion around the rotating shaft.

6. The wall-climbing robot for vertical metal tank capacity verification according to claim 1, characterized in that: The wall-climbing robot is also provided with a remote control unit which is communicatively connected with the control unit.

7. The wall-climbing robot for vertical metal tank capacity verification according to claim 1, characterized in that: The bottom of the chassis is also provided with a detachable battery compartment.

Images