Tank inner wall operation device

Abstract

The present invention provides a tank inner wall working device, comprising a working head, which can perform operations such as rotational cleaning, vibration striking, jet flushing, or water spray flushing; the device is characterized in that it also comprises: a base, on which a multi-joint mechanical arm is fixedly mounted; the multi-joint mechanical arm comprises a plurality of mechanical arms, and adjacent mechanical arms are connected by joints, and the joints are controllable movable joints, including rotational joints, telescopic joints, and bending joints; the working head is fixedly mounted at the end of the multi-joint mechanical arm; a lighting device is mounted at the end of the multi-joint mechanical arm; a camera is mounted at the end of the multi-joint mechanical arm; and an operating table is used to control the multi-joint mechanical arm to rotate, telescope, and bend, so as to drive the working head to perform operations.

Description

Technical Field

[0001] The invention relates to a tank inner wall operating device. Background Art

[0002] Tanks are a common type of equipment in the food, cement, oil and other industries. They are used to temporarily store materials such as powders and liquids. After the materials are transferred from the tank, they will remain on the inner wall of the tank. After a period of use, a large amount of sediment will form on the inner wall of the tank, which will affect the storage of the tank and corrode the tank. Some of them will even have a significant impact on the quality of the newly stored materials. Therefore, the tank needs to be cleaned after a period of use.

[0003] Existing large tanks are cleaned manually and mechanically. Manual cleaning requires operators to enter the tank for cleaning, and the working environment inside is mostly harmful to the human body. In addition, if it is a large tank that stores dust, a thick layer of sediment is formed on the inner wall of the tank, which may cause collapse when cracks occur, resulting in casualties. Mechanical cleaning has the following three disadvantages: First, it is only applicable to tanks of corresponding size; second, it is necessary to enter the tank for installation each time, and disassemble it after completion, which is very inefficient; third, the early installation also requires personnel to enter the tank for operation, which also poses a safety hazard. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects and provide a tank inner wall operating device.

[0005] The present invention adopts the following technical solutions:

[0006] A tank inner wall working device comprises a working head, which can perform operations such as rotary cleaning, vibration striking, jet washing, or water spray washing; and also comprises: a base, on which a multi-joint robotic arm is fixedly mounted; the multi-joint robotic arm comprises a plurality of robotic arms, adjacent robotic arms are connected by joints, and the joints are controllable movable joints, including rotary joints, telescopic joints, and bending joints; the working head is fixedly mounted at the end of the multi-joint robotic arm; a lighting device is mounted at the end of the multi-joint robotic arm; a camera is mounted at the end of the multi-joint robotic arm; and an operating table is used to control the multi-joint robotic arm to rotate, telescope, and bend, so that the multi-joint robotic arm can drive the working head to extend into the tank to reach the working position for operation.

[0007] Preferably, the base is a walkable or draggable vehicle carrier platform.

[0008] Preferably, the bending joint includes a first motor and a first connecting shaft seat; the first connecting shaft seat connects two adjacent sections of the robotic arm; the first motor is connected to drive the connecting shaft of the first connecting shaft seat; the rotating joint connects two adjacent sections of the robotic arm, includes a second motor and a rotating base; the second motor is connected to drive the rotating base; the telescopic joint is a hydraulic rod device.

[0009] Preferably, the first motor and the second motor are servo motors.

[0010] Preferably, the multi-joint robotic arm is provided with a plurality of detection sensors; during operation, if the multi-joint robotic arm 3 is too close to the tank body, a warning is issued to avoid collision.

[0011] Preferably, the operating table is controlled by a PLC control system.

[0012] Preferably, it also includes a limit alarm device, which is installed at the inlet of the tank body. The limit alarm device includes: a positioning ring, which is installed at the inlet of the tank body; a positioning probe, which is installed on the positioning ring; and the signal of the positioning probe is transmitted to the operating table.

[0013] Preferably, it also includes a limit alarm device, which is installed at the inlet of the tank body. The limit alarm device includes: a positioning ring, which is installed at the inlet of the tank body; a plurality of distance sensors, which are evenly installed on the positioning ring; and the signals of the plurality of distance sensors are transmitted to the operating table.

[0014] Preferably, the end of the multi-joint robotic arm is fixedly mounted with the operating head via a robotic gripper.

[0015] Preferably, it is further provided with: a pipe clamp, several of which are installed on several sections of the mechanical arm; a hose, which passes through several of the pipe clamps; one end of the hose is connected to the operating machine head, and the other end is connected to the air source or the water storage device.

[0016] Preferably, the base is installed on the top of the telescopic arm of the crane, forming a tank inner wall working device that can operate at high altitude.

[0017] The present invention is mainly composed of three parts. The first part is the base and operating table part, which is used to install and control the multi-joint robotic arm to perform related work; the second part is the multi-joint robotic arm part, in which the joints are hinged to each other and can be extended, rotated and bent respectively, so as to facilitate various deformations. Under the constraint of the tank entrance, the end can reach any position where work is required; the third part is the operating head, which is installed at the end of the multi-joint robotic arm to clean the inside of the tank.

[0018] The beneficial effects of the present invention are: no personnel are required to enter the tank body for cleaning or install mechanical cleaning equipment, thus avoiding working in a harmful environment and also avoiding casualties; in addition, the present invention is suitable for cleaning tank bodies of different shapes and sizes and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the present invention.

[0020] Figure 2 It is a partial schematic diagram of the present invention.

[0021] Figure 3 It is a schematic diagram of a bending joint of the present invention.

[0022] Figure 4 It is a schematic diagram of a rotary joint of the present invention.

[0023] Figure 5 is a schematic diagram of the telescopic joint of the present invention, DETAILED DESCRIPTION

[0024] In order to make the purpose and technical solution of the present invention clearer, the present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0025] A tank inner wall working device comprises a working head 1, and the working head 1 can perform operations such as rotary cleaning, vibration striking, jet washing, or water spray washing; it is characterized in that it also comprises: a base 2, on which a multi-joint mechanical arm 3 is fixedly mounted; the end of the multi-joint mechanical arm 3 is fixedly mounted with the working head 1; the multi-joint mechanical arm 3 comprises a plurality of mechanical arms 31, and adjacent mechanical arms are connected by joints, and the joints are controllable movable joints, including rotary joints, telescopic joints, and bending joints; a lighting device (not shown in the figure), mounted at the end of the multi-joint mechanical arm; a camera 4, mounted at the end of the multi-joint mechanical arm 3; an operating table 5, for controlling the multi-joint mechanical arm 3 to rotate, telescope, and bend, so that the multi-joint mechanical arm 3 can drive the working head 1 to extend into the tank to reach the working position for operation.

[0026] Preferably, the base 2 is a vehicle carrier platform that can be walked or dragged; it is convenient for transportation and can meet the needs of multiple tanks in different locations; the base 2 can also allow multiple sections of the mechanical arms to be folded together for storage.

[0027] Preferably, the bending joint includes a first motor 61 and a first connecting shaft seat 71; the first connecting shaft seat 71 connects two adjacent sections of the robotic arm 31; the first motor 61 is connected to drive the connecting shaft of the first connecting shaft seat 71; the rotating joint connects two adjacent sections of the robotic arm, including a second motor 62 and a rotating base 72; the second motor 62 is connected to drive the rotating base 72, and the second motor 62 is fixedly installed at the front end of the previous section of the robotic arm by bolt connection; the rotating base 72 is fixedly installed at the rear end of the next section of the robotic arm by bolt connection; the telescopic joint is a hydraulic rod device 73.

[0028] Preferably, the first motor 61 and the second motor 62 are servo motors.

[0029] Preferably, the multi-joint robotic arm 3 is provided with a plurality of detection sensors (not shown in the figure). During operation, if the multi-joint robotic arm 3 is too close to the tank body, a warning is issued to avoid collision.

[0030] Preferably, the operating platform 5 is controlled by a PLC control system, and the operating platform is located next to the base, which is convenient for the operator to observe the operating status of the operating device and perform further operations on it.

[0031] Preferably, a limit alarm device is also included, and the limit alarm device is installed at the inlet of the tank body 8. The limit alarm device includes: a positioning ring 81, and the positioning ring 81 is installed at the inlet of the tank body 8. It can be installed and fixed by a suction cup device 82. This is a conventional technology and will not be described in detail; a positioning probe 83 is installed on the positioning ring 81; the signal of the positioning probe 83 is transmitted to the operating table, and the distance between the robot arm and the positioning ring (which is also the inlet edge of the tank body) can be observed in real time to avoid collision between the robot arm and the inlet of the tank body.

[0032] Preferably, it also includes a limit alarm device, which is installed at the inlet of the tank body, and the limit alarm device includes: a positioning ring 81, which is installed at the inlet of the tank body; a number of distance sensors (not shown in the figure), which are evenly installed on the positioning ring; the signals of a number of the distance sensors are transmitted to the operating table; when the robot arm is operating, if it is too close to the positioning ring, an alarm is issued to remind the operator to avoid collision between the robot arm and the inlet of the tank body.

[0033] Preferably, the end of the multi-joint robotic arm is fixedly mounted with the operating head via a robotic gripper 33 .

[0034] Preferably, a pipe clamp 32 is also provided, and several of the pipe clamps 32 are installed on several sections of the robotic arm; a hose 11, the hose passes through several of the pipe clamps; one end of the hose is connected to the operating machine head, and the other end is connected to the air source or water storage device, and is flushed by high-pressure gas, or cleaned by water through a high-pressure pump.

[0035] Preferably, the base is installed on the top of the telescopic arm of a crane (not shown in the figure), forming a tank inner wall working device that can operate at high altitude.

[0036] The present invention controls the rotation of a multi-section mechanical arm through an operating table to drive a hose to enter the interior of a tank body for cleaning. The mechanical arm can be adjusted to extend and retract and rotate according to the size of the tank body, so that it can easily reach every corner of the tank body for cleaning. There is no need for personnel to enter the tank body for cleaning or install mechanical cleaning equipment, thus avoiding working in a harmful environment and also avoiding casualties. In addition, the present invention is suitable for cleaning tanks of different shapes and sizes and has a wide range of applicability.

[0037] In the description of the invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0038] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The components used in the present invention are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods; for example, PLC controls the operation of the motor and the extension and retraction of the hydraulic rod, the camera transmits signals to the operating table, the searchlight can be connected to the mains, or a battery can be used as energy, etc. These are all conventional technologies and will not be elaborated in the present invention.

[0040] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the present invention.

Claims

1. A tank inner wall operation device, comprising an operation head, which can perform operations such as rotary cleaning, vibration striking, jet washing, or water spray washing; characterized in that: Also includes: A base, on which a multi-joint robotic arm is fixedly mounted; The multi-joint mechanical arm comprises a plurality of mechanical arms, and adjacent mechanical arms are connected by joints, and the joints are controllable movable joints, including rotating joints, telescopic joints, and bending joints; The telescopic joint is a hydraulic rod device; the end of the multi-joint mechanical arm is fixedly mounted with the operating head through a mechanical gripper; A lighting device, installed at the end of the multi-joint robotic arm; A camera is installed at the end of the multi-joint robotic arm; The operating table controls the multi-joint mechanical arm to rotate, extend, and bend, so that the multi-joint mechanical arm can drive the operating head into the tank to reach the operating position for operation; Also features: A pipe clamp, wherein a plurality of the pipe clamps are installed on a plurality of sections of the mechanical arms; A hose, the hose passing through a plurality of the hose clamps; One end of the hose is connected to the operating machine head, and the other end is connected to an air source or a water storage device; flushing is performed by high-pressure gas, or water flow is performed by a high-pressure pump for cleaning.

2. A tank inner wall operation device according to claim 1, characterized in that: The base is a vehicle carrier platform that can be walked or dragged.

3. The tank inner wall operation device according to claim 1, characterized in that: The bending joint comprises a first motor and a first connecting shaft seat; the first connecting shaft seat connects two adjacent sections of the mechanical arm; the first motor is connected to a connecting shaft that drives the first connecting shaft seat; The rotary joint connects two adjacent sections of the mechanical arm, and includes a second motor and a rotary base; the second motor is connected to drive the rotary base; The telescopic joint is a hydraulic rod device.

4. A tank inner wall operation device according to claim 3, characterized in that: The first motor and the second motor are servo motors.

5. The tank inner wall operation device according to claim 1, characterized in that: The multi-joint mechanical arm is distributed with a plurality of detection sensors.

6. A tank inner wall operation device according to claim 5, characterized in that: The operating platform is controlled by a PLC control system.

7. The tank inner wall operation device according to claim 1, characterized in that: It also includes a limit alarm device, which is installed at the inlet of the tank body and includes: A positioning ring, the positioning ring being installed at the inlet of the tank body; A positioning probe is installed on the positioning ring; The signal of the positioning probe is transmitted to the operating table.

8. The tank inner wall operation device according to claim 1, characterized in that: It also includes a limit alarm device, which is installed at the inlet of the tank body and includes: A positioning ring, the positioning ring being installed at the inlet of the tank body; A plurality of distance sensors are evenly mounted on the positioning ring; Signals from a plurality of the distance sensors are transmitted to the operating console.

9. The tank inner wall operation device according to claim 1, characterized in that: The base is mounted on the top of the telescopic arm of the crane.

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