Anti-falling system and method for a spherical tank outer wall operation robot

Abstract

The present invention discloses a fall prevention system and method for a robot working on the outer wall of a spherical tank. The system includes a working robot, a fall arrester, and a double-hook safety belt. One end of the fall arrester is fixed to the double-hook safety belt, which is detachably fixed to the top of the spherical tank. An auxiliary fall prevention robot is provided on the end of the fall arrester, distal from the double-hook safety belt. The fall arrester is detachably connected to the auxiliary fall prevention robot, and the auxiliary fall prevention robot is provided with a first electromagnet. By providing the auxiliary fall prevention robot to cooperate with the working robot, the present invention improves the operating safety of the working robot and prevents the working robot from falling during operation. The auxiliary fall prevention robot and the working robot are magnetically coupled via the first electromagnet and a magnetic attraction portion, making connection and separation more convenient. This facilitates the auxiliary fall prevention robot and the working robot to pass between the spray pipe on the outer wall of the spherical tank and the pillars that secure the spray pipe, making it easier for the working robot to change lanes.

Description

Technical Field

[0001] The present invention relates to the technical field of spherical tank operation robots, especially to the technical field of anti-falling for spherical tank outer wall operation robots. Background Art

[0002] Most spherical tanks are used to store special media, and most of them are flammable, explosive and toxic media. Due to corrosion, pressure and other external effects, spherical tanks will inevitably be damaged in various ways. If there are safety hazards in the spherical tank and it continues to be used without timely maintenance, serious accidents will occur.

[0003] For a long time, the grinding and weld defect detection of large spherical tanks mainly rely on manual labor. With the development of robot technology, crawling robots can reach working conditions that are inaccessible to humans and are complex and changeable. It is an inevitable trend to replace manual work. For example, a large storage tank wall-climbing grinding robot disclosed in a Chinese invention patent with the publication number of CN110480448A includes a wall-climbing walking mechanism, a grinding mechanism and a calibration video detection mechanism arranged in front of the wall-climbing walking mechanism, a lifting mechanism for driving the grinding mechanism and the calibration video detection mechanism to move vertically, a rear video detection mechanism arranged behind the wall-climbing walking mechanism, a control box arranged on the wall-climbing walking mechanism, and an external operation console connected to the control box through a cable; the wall-climbing walking mechanism includes a walking bracket, a pair of driving wheels and a pair of driven wheels arranged at the bottom of the walking bracket, and two driving motors for driving the driving wheels to rotate through bevel gear sets respectively. This wall-climbing grinding robot should have the characteristics of good grinding effect, reliable operation and high working efficiency.

[0004] However, as Figure 1 shown, there are spray pipes around the existing spherical tank body. The spherical tank operation robot needs to perform operations such as grinding and detection on the longitudinal and transverse welds inside the spray pipes.

[0005] To prevent safety accidents and equipment damage caused by the accidental fall of the robot, an anti-falling system needs to be installed on the robot. The anti-falling system includes hanging points, anti-falling devices, etc. Due to the spray pipes on the outer wall of the tank and the pillars for fixing the spray pipes, there is an anti-falling rope hanging above the robot, and power supply lines, water pipelines, etc. hanging below. The robot can only walk vertically. Otherwise, whether entering the next channel from above or below, there will always be entanglements between the anti-falling rope or power supply lines and the pillars of the spray pipes. Then, every time the channel is changed, the anti-falling device needs to be re-hung, which is very troublesome and has low efficiency. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems in the prior art, and propose an anti-falling system and method for a spherical tank outer wall operation robot, which has a simple structure, is easy to use, and can improve the safety of the spherical tank outer wall robot during operation.

[0007] To achieve the above object, the present invention provides a fall prevention system for a spherical tank outer wall operation robot, comprising an operation robot, a fall arrester and a double-hook safety belt. One end of the fall arrester is fixed to the double-hook safety belt, the double-hook safety belt is detachably fixed to the top of the spherical tank, an auxiliary fall prevention robot is provided at the end of the fall arrester away from the double-hook safety belt, the fall arrester is detachably connected to the auxiliary fall prevention robot, a first electromagnet is provided on the auxiliary fall prevention robot, and a magnetic attraction part magnetically matched with the first electromagnet is provided on the operation robot.

[0008] Preferably, a first power line electrically connected to the first electromagnet is connected to the auxiliary fall prevention robot, the other end of the first power line is electrically connected to an external controller, the middle of the first power line is wound around an automatic retractable cable reel, the automatic retractable cable reel is fixedly arranged on the top of the spherical tank, and the operation robot is electrically connected to the external controller through a second power line.

[0009] Preferably, a cable tensile device cooperating with the second power line is provided on the operation robot. The cable tensile device comprises a tensile steel wire. One end of the tensile steel wire is provided with a tensile steel wire loop buckle and the other end is provided with a hook. A tensile hanging ring detachably connected to the hook is fixedly arranged on the operation robot. The tensile steel wire loop buckle is fixedly connected to one end of the second power line close to the operation robot, and the length of the second power line between the tensile steel wire loop buckle and the operation robot is greater than or equal to the length of the tensile steel wire.

[0010] Preferably, for the auxiliary up-and-down tank device, the auxiliary up-and-down tank device comprises a vertically arranged scissor lift platform and rollers arranged at the bottom of the scissor lift platform. An operation room is provided at the top of the scissor lift platform. An inner cavity for people to stay is provided in the operation room. An inclined opening is arranged at the top of the operation room. A protection pad is provided on the inclined opening. One end of the protection pad is hinged to the end with a higher horizontal height of the inclined opening. A plurality of support rods are arranged between the protection pad and the operation room.

[0011] Preferably, a plurality of magnetic wheels and power mechanisms for driving the rotation of the magnetic wheels are provided on both the working robot and the auxiliary anti-falling robot. An auxiliary magnetic adsorption anti-falling mechanism is further provided on the working robot. The magnetic adsorption auxiliary anti-falling mechanism includes a first rod body and a second rod body respectively arranged on both sides of the working robot. The first rod body and the second rod body are arranged in the same direction as the magnetic wheels. Fixing parts cooperating with the first rod body and the second rod body are respectively arranged on both sides of the working robot. The first rod body and the second rod body are respectively slidably connected to the fixing parts on both sides. The sliding directions of the first rod body and the second rod body are the same as that of the magnetic wheels. The fixing parts are provided with rod body driving mechanisms respectively for driving the first rod body and the second rod body to reciprocally slide along the fixing parts. Auxiliary magnetic adsorption parts for magnetically adsorbing and cooperating with the outer wall of the spherical tank are arranged at both ends of the first rod body and the second rod body.

[0012] Preferably, the auxiliary magnetic adsorption part includes a fixing bracket fixedly connected to the ends of the first rod body and the second rod body. A second electromagnet is arranged on the lower side of the fixing bracket. A driving cylinder for driving the second electromagnet to lift vertically is arranged on the fixing bracket.

[0013] Preferably, sliding rods arranged in the same direction as the driving cylinder are respectively arranged on both sides of the second electromagnet. The sliding rods penetrate through the fixing bracket and are slidably connected to the fixing bracket. A spring body for driving the sliding rods to slide towards the end far from the second electromagnet is sleeved on the sliding rods.

[0014] Preferably, the sliding rod and the second electromagnet are connected through a universal joint.

[0015] Preferably, the cylinder arm of the driving cylinder and the second electromagnet are not fixedly connected and are in contact and cooperation.

[0016] Preferably, the rod body driving mechanism includes a driving motor fixedly arranged on the fixing part and a speed reducer cooperating with the driving motor. A plurality of teeth are arranged on the first rod body and the second rod body along their lengths. A gear meshing with the teeth is arranged at the output end of the speed reducer.

[0017] Another object of the present invention is to propose a method for preventing falling of a working robot on the outer wall of a spherical tank, including:

[0018] Fix the double-hook safety belt on the fence at the top of the spherical tank in advance. Connect one end of the anti-falling device to the double-hook safety belt and the other end to the auxiliary anti-falling robot. Fix the automatic retractable cable reel on the top of the spherical tank. The power cord of the auxiliary anti-falling robot is electrically connected to an external controller arranged on the ground after passing through the automatic retractable cable reel. Control the auxiliary anti-falling robot through the external controller. The external controller is electrically connected to the working robot through a second power cord;

[0019] Place the working robot at a suitable position on the outer wall of the spherical tank according to the grinding or inspection requirements. Before the operation, first control the auxiliary anti-falling robot to move near the working robot, so that the first electromagnet of the auxiliary anti-falling robot faces the magnetic adsorption part of the working robot, control the first electromagnet to be energized, so that the first electromagnet is magnetically adsorbed to the magnetic adsorption part. After connection, the auxiliary anti-falling robot and the working robot are controlled by the external controller to move synchronously for grinding or inspection.

[0020] Preferably, when the working robot grinds or inspects the longitudinal weld of the spherical tank, control the working robot and the auxiliary anti-falling robot to synchronously perform the grinding or inspection operation of the weld from the bottom to the top of the spherical tank;

[0021] After the grinding or inspection of a longitudinal weld is completed, control the working robot and the auxiliary anti-falling robot to move synchronously below the spherical tank, control the separation of the first electromagnet from the magnetic adsorption part, move the working robot to below the next longitudinal weld that needs to be ground or inspected, and the separated auxiliary anti-falling robot moves above the spherical tank and laterally moves above the next longitudinal weld that needs to be ground or inspected from above the spherical tank, and then descends along the weld to be magnetically adsorbed to the working robot again, repeating the grinding step.

[0022] Preferably, when the working robot grinds or inspects the transverse weld of the spherical tank, control the connected working robot and the auxiliary anti-falling robot to move synchronously above the spherical tank, then control the separation of the first electromagnet from the magnetic adsorption part, remove the anti-falling device from the auxiliary anti-falling robot and connect it to the working robot, and control the auxiliary anti-falling robot to move to a vacant position that does not interfere with the operation of the working robot;

[0023] Control the working robot to grind or inspect a quarter of the circumference length along the transverse weld to one side, then control the working robot to return to the starting position and continue to move to grind or inspect the other transverse weld, and the grinding or inspection length is a quarter of the circumference length of the weld, and then control the working robot to return to the starting position again;

[0024] Control the working robot to turn 90 degrees and move to the next transverse weld, and then the working robot turns 90 degrees again, so that the working robot performs the grinding or inspection operation on its next transverse weld.

[0025] Preferably, there are two working robots and two auxiliary anti-falling robots on the same spherical tank, and each auxiliary anti-falling robot cooperates with one working robot to be responsible for grinding the longitudinal welds or transverse welds of the longitudinal half of the spherical tank or the transverse half of the spherical tank; or two working robots and one auxiliary anti-falling robot are provided on the same spherical tank, and the spherical tank is divided into the front half and the rear half along the longitudinal direction. The two working robots are responsible for grinding the front half and the rear half of the spherical tank respectively. When any half of the spherical tank is performing the longitudinal welding operation, the auxiliary anti-falling robot moves to that half of the spherical tank and is magnetically connected to the working robot located on that half of the spherical tank to perform the operation, and the working robot on the other half of the spherical tank performs the transverse welding operation.

[0026] Preferably, after the auxiliary anti-fall robot is connected to the working robot, a master-slave synchronous control system is adopted for motion control. The working robot acts as the master robot and moves at a fixed speed. The auxiliary anti-fall robot acts as the slave robot, which adopts a variable frequency speed regulation method, with a fuzzy PID algorithm as the core controller, and the deviation E and the deviation change rate Ec between the master robot and the slave robot as the fuzzy controller input. By controlling the input voltage of the frequency converter, the power supply frequency of the slave robot motor is changed, and the movement speed of the slave robot motor is controlled to be consistent with the movement speed of the master robot motor.

[0027] The beneficial effects of the anti-fall system and method for a robot working on the outer wall of a spherical tank disclosed herein are as follows: The present invention improves the operating safety of the working robot by providing an auxiliary anti-fall robot for cooperation with the working robot, preventing the working robot from falling during operation. The auxiliary anti-fall robot and the working robot are magnetically coupled via a first electromagnet and a magnetic attraction portion, making connection and separation more convenient. There is no need to manually hang the anti-fall device on the working robot, making it more convenient to use and capable of remote control, thereby improving the efficiency of polishing and inspection. The auxiliary anti-fall robot and the working robot can be docked and separated more conveniently, facilitating the auxiliary anti-fall robot and the working robot to intersperse between the spray pipe on the outer wall of the spherical tank and the pillars that fix the spray pipe, making it easier for the working robot to change lanes.

[0028] The features and advantages of the present invention will be described in detail through embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the horizontal cross-section spray pipe on the outer wall of the spherical tank and the support for fixing the spray pipe.

[0030] Figure 2 The present invention is a schematic structural diagram of a fall prevention system for a robot operating on the outer wall of a spherical tank.

[0031] Figure 3 yes Figure 2 Schematic diagram of the partially enlarged structure.

[0032] Figure 4 It is a schematic structural diagram of an auxiliary up-and-down tank device of a fall prevention system for a spherical tank outer wall operation robot of the present invention.

[0033] Figure 5 It is a schematic top view structural diagram of an operation robot of a fall prevention system for a spherical tank outer wall operation robot of the present invention.

[0034] Figure 6 It is a schematic front view structural diagram of an auxiliary magnetic attraction member of a fall prevention system for a spherical tank outer wall operation robot of the present invention.

[0035] Figure 7 It is a schematic side view structural diagram of an auxiliary magnetic attraction member of a fall prevention system for a spherical tank outer wall operation robot of the present invention.

[0036] Wherein: 1 - first electromagnet; 2 - auxiliary fall prevention robot; 3 - fence; 4 - fall arrester; 5 - double-hook safety belt; 7 - automatic retractable cable reel; 8 - first power cord; 9 - spray pipe; 10 - support column; 11 - operation robot; 12 - external controller; 13 - auxiliary up-and-down tank device; 14 - protection pad; 15 - magnetic wheel; 16 - first rod body; 17 - second rod body; 18 - fixing part; 19 - auxiliary magnetic attraction member; 20 - drive motor; 21 - reducer; 22 - universal joint; 23 - tensile hanging ring; 24 - hook; 25 - tensile steel wire; 26 - tensile steel wire loop buckle; 27 - second power cord; 111 - magnetic attraction part; 131 - scissor lift platform; 132 - roller; 133 - operation room; 134 - support rod; 191 - fixing bracket; 192 - second electromagnet; 193 - drive cylinder; 194 - sliding rod; 195 - spring body. Detailed implementation manners

[0037] To make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessarily confusing the concepts of the present invention.

[0038] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined. The meaning of "several" is one or more, unless otherwise specifically defined.

[0040] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "install", "connect", "couple" should be understood in a broad sense. For example, it 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] Embodiment 1:

[0042] Refer to Figure 1 、 Figure 2 、 Figure 3 For the anti-falling system of a spherical tank outer wall operation robot of the present invention, it includes an operation robot 11, an anti-falling device 4, and a double-hook safety belt 5. One end of the anti-falling device 4 is fixed to the double-hook safety belt 5, and the double-hook safety belt 5 is detachably fixed to the top of the spherical tank. An auxiliary anti-falling robot 2 is provided at the end of the anti-falling device 4 far from the double-hook safety belt 5. The anti-falling device 4 is detachably connected to the auxiliary anti-falling robot 2. A first electromagnet 1 is provided on the auxiliary anti-falling robot 2, and a magnetic attraction part 111 magnetically matched with the first electromagnet 1 is provided on the operation robot 11. In this embodiment, by setting the auxiliary anti-falling robot 2 to cooperate with the operation robot 11, the operation safety of the operation robot 11 is improved, and the operation robot 11 is prevented from falling during the operation. The auxiliary anti-falling robot 2 and the operation robot 11 are magnetically matched through the first electromagnet 1 and the magnetic attraction part 111, and the connection and separation are more convenient. There is no need to manually hang the anti-falling device on the operation robot 11, which is more convenient to use and can be remotely controlled, improving the grinding and detection efficiency.

[0043] Refer to Figure 2 and Figure 3 . A first power line 8 electrically connected to the first electromagnet 1 is connected to the auxiliary anti-falling robot 2. The other end of the first power line 8 is electrically connected to an external power supply and an external controller 12. The middle part of the first power line 8 is wound around an automatic retractable cable reel 7, and the automatic retractable cable reel 7 is fixedly arranged on the top of the spherical tank. The working robot 11 is electrically connected to the external controller 12 through a second power line 27. The automatic retractable cable reel 7 is fixed on the top of the spherical tank. One end of the first power line 8 is connected to the auxiliary anti-falling robot 2, and the other end passes through the flange hole at the top of the spherical tank after passing around the automatic retractable cable reel 7, and then passes out through the flange hole at the bottom of the spherical tank and is connected to the external controller 12. The first power line 8 is automatically retracted through the automatic retractable cable reel 7, so that the first power line 8 can always be kept straight during the movement of the auxiliary anti-falling robot 2, avoiding entanglement. Both the auxiliary anti-falling robot 2 and the working robot 11 are connected to the external controller 12 and are controlled by the external controller 12, improving the synchronization and having higher control accuracy.

[0044] Refer to Figure 2 and Figure 3 . A cable anti-pulling device cooperating with the second power line 27 is provided on the working robot 11. The cable anti-pulling device includes an anti-pulling steel wire 25. One end of the anti-pulling steel wire 25 is provided with an anti-pulling steel wire loop 26, and the other end is provided with a hook 24. An anti-pulling hanging ring 23 detachably connected to the hook 24 is fixedly arranged on the working robot 11. The anti-pulling steel wire loop 26 is fixedly connected to one end of the second power line 27 close to the working robot 11, and the length of the second power line 27 between the anti-pulling steel wire loop 26 and the working robot 11 is greater than the length of the anti-pulling steel wire 25. When the second power line 27 is stretched, the cable anti-pulling device is used to bear the external pulling force, so as to protect the second power line 27 and the connection position between the second power line 27 and the working robot 11 from being damaged by the pulling force. It is used to protect the main cable terminal of the vehicle body and prevent the terminal from being pulled by the cable gravity or abnormal pulling force.

[0045] Embodiment 2:

[0046] Refer to Figure 2 and Figure 4, further comprising an auxiliary upper and lower tank device 13. The auxiliary upper and lower tank device 13 includes a vertically arranged scissor lift platform 131 and rollers 132 provided at the bottom of the scissor lift platform 131. An operation room 133 is provided at the top of the scissor lift platform 131. The operation room 133 has an inner cavity for people to stay, and an inclined opening is provided at the top of the operation room 133. A protective pad 14 is provided on the inclined opening. One end of the protective pad 14 is hinged to the end with a higher horizontal height of the inclined opening. A number of support rods 134 are provided between the protective pad 14 and the operation room 133. The auxiliary upper and lower tank device 13 is used for an operator to stand on, so as to place the operation robot 11 and the auxiliary anti-falling robot 2 on the outer wall of the spherical tank. A protective pad 14 is provided at the top of the operation room 133, which can improve safety. The protective pad 14 can stay below during the operation of the operation robot 11 and the auxiliary anti-falling robot 2, and is used to catch the falling operation robot 11 and auxiliary anti-falling robot 2, thereby improving safety.

[0047] Embodiment Three:

[0048] Refer to Figure 5 and Figure 6, a plurality of magnetic wheels 15 and a power mechanism for driving the rotation of the magnetic wheels 15 are provided on both the working robot 11 and the auxiliary anti-falling robot 2. An auxiliary magnetic adsorption anti-falling mechanism is further provided on the working robot 11. The magnetic adsorption auxiliary anti-falling mechanism includes a first rod 16 and a second rod 17 respectively arranged on both sides of the working robot 11. The first rod 16 and the second rod 17 are arranged in the same direction as the magnetic wheels 15. Fixing parts 18 cooperating with the first rod 16 and the second rod 17 are respectively arranged on both sides of the working robot 11. The first rod 16 and the second rod 17 are respectively slidably connected to the fixing parts 18 on both sides. The sliding directions of the first rod 16 and the second rod 17 are the same as that of the magnetic wheels 15. The fixing parts 18 are provided with rod driving mechanisms for respectively driving the first rod 16 and the second rod 17 to reciprocally slide along the fixing parts 18. Auxiliary magnetic adsorption parts 19 for magnetic adsorption cooperation with the outer wall of the spherical tank are arranged at both ends of the first rod 16 and the second rod 17. In this embodiment, by arranging the auxiliary magnetic adsorption anti-falling mechanism on the working robot 11, the anti-falling performance of the working robot 11 can be further improved, the working safety can be improved, and the safe operation of the working robot 11 can be ensured even after the auxiliary anti-falling robot 2 is separated from the working robot 11. Moreover, the auxiliary magnetic adsorption anti-falling mechanism can improve the stability of the working robot 11 without affecting the normal movement of the working robot 11. During the working process of this embodiment, the working robot 11 is placed on the outer wall of the spherical tank. The working robot 11 is adsorbed on the spherical tank through the magnetic wheels 15. The first rod 16 and the second rod 17 of the magnetic adsorption auxiliary anti-falling mechanism always keep one in front and one behind and move alternately. After the magnetic adsorption auxiliary anti-falling mechanism is started, the auxiliary magnetic adsorption parts 19 at both ends of the first rod 16 and the second rod 17 are electrified and adsorbed on the spherical tank to improve the stability. When the working robot 11 moves, the rod driving mechanism moves synchronously with the magnetic wheels 15, so that the first rod 16 and the second rod 17 keep adsorbed on the spherical tank and do not move, while the working robot 11 can move linearly, and the auxiliary magnetic adsorption parts 19 keep adsorbed on the spherical tank. When the rear rod moves to the limit position, the auxiliary magnetic adsorption part 19 of this rod immediately separates from the spherical tank, and the rod driving mechanism drives this rod to laterally move to the front in the moving direction of the working robot 11, and then the auxiliary magnetic adsorption part 19 of this rod immediately adsorbs on the spherical tank. The first rod 16 and the second rod 17 move forward alternately. During the movement of the working robot 11, at least one of the first rod 16 and the second rod 17 keeps adsorbed on the spherical tank.

[0049] Refer to Figure 5 , Figure 6 and Figure 7, the auxiliary magnetic attracting member 19 includes a fixing bracket 191 fixedly connected to the ends of the first rod body 16 and the second rod body 17. A second electromagnet 192 is provided on the lower side of the fixing bracket 191, and a driving cylinder 193 for driving the second electromagnet 192 to lift vertically is provided on the fixing bracket 191. When the auxiliary magnetic attracting member 19 needs to adsorb to the outer wall of the spherical tank, the driving cylinder 193 drives the second electromagnet 192 to fit the surface of the spherical tank, and then the second electromagnet 192 adsorbs to the spherical tank, making the adsorption more convenient.

[0050] Refer to Figure 5 , Figure 6 and Figure 7 , sliding rods 194 arranged in the same direction as the driving cylinder 193 are respectively provided on both sides of the second electromagnet 192. The sliding rods 194 penetrate the fixing bracket 191 and are slidably connected to the fixing bracket 191. A spring body 195 for driving the sliding rods 194 to slide away from the second electromagnet 192 is sleeved on the sliding rods 194. The sliding rods 194 can limit the sliding direction, improving stability and firmness. The spring body 195 can drive the second electromagnet 192 to automatically lift, facilitating the separation of the second electromagnet 192 from the outer wall of the spherical tank when the power is lost.

[0051] Refer to Figure 5 , Figure 6 and Figure 7 , the cylinder arm of the driving cylinder 193 is not fixedly connected to the second electromagnet 192 and is in contact and cooperation. The non-fixed connection between the driving cylinder 193 and the second electromagnet 192 can prevent the driving cylinder 193 from affecting the movement of the second electromagnet 192. Since the outer wall of the spherical tank has a certain curved surface, during the movement of the operation robot 11, the distance between the rod body and the second electromagnet 192 will change. This embodiment can adapt to the change in distance. When the second electromagnet 192 needs to be magnetically coupled with the surface of the spherical tank during the working process of this embodiment, the cylinder arm of the driving cylinder 193 first extends, driving the second electromagnet 192 to move towards the spherical tank, making the second electromagnet 192 fit the surface of the spherical tank. Then, the cylinder arm of the driving cylinder 193 immediately retracts into the driving cylinder 193, making the position of the second electromagnet 192 not fixed under the action of the sliding rods 194 and the fixing bracket 191, and it can adapt to the second electromagnet 192

[0052] Refer to Figure 5 , Figure 6 and Figure 7 , the sliding rods 194 and the second electromagnet 192 are connected by a universal joint 22. The angle between the second electromagnet 192 and the sliding rods 194 is not fixed, and it can adapt to the curve of the spherical tank surface.

[0053] Refer to Figure 5 , Figure 6 and Figure 7, the rod driving mechanism includes a driving motor 20 fixedly arranged on the fixing part 18 and a speed reducer 21 cooperating with the driving motor 20. A plurality of teeth are arranged on both the first rod 16 and the second rod 17 along their lengths, and a gear meshing with the teeth is arranged at the output end of the speed reducer 21. The first rod 16 and the second rod 17 are slidably matched with the fixing part 18 through guide rails, sliding rods and other means. By arranging teeth on the surfaces of the first rod 16 and the second rod 17 to cooperate with the driving motor 20 and the speed reducer 21 for driving, the driving is more stable and convenient.

[0054] Embodiment 4:

[0055] A fall prevention method for a spherical tank outer wall operation robot in this embodiment includes the following steps:

[0056] Fix the double-hook safety belt 5 on the fence 3 at the top of the spherical tank in advance. Connect one end of the fall arrester 4 to the double-hook safety belt 5 and the other end to the auxiliary fall prevention robot 2 fixedly. Fix the automatic retractable cable reel 7 on the top of the spherical tank. The power supply wire of the auxiliary fall prevention robot 2 is electrically connected to an external controller 12 arranged on the ground after passing through the automatic retractable cable reel 7. Control the auxiliary fall prevention robot 2 through the external controller 12, and the external controller 12 is electrically connected to the operation robot 11 through a second power supply wire.

[0057] Place the operation robot 11 at a suitable position on the outer wall of the spherical tank according to the grinding or detection requirements. Before the operation, first control the auxiliary fall prevention robot 2 to move near the operation robot 11, so that the first electromagnet 1 of the auxiliary fall prevention robot 2 faces the magnetic adsorption part 111 of the operation robot 11. Control the first electromagnet 1 to be energized, so that the first electromagnet 1 and the magnetic adsorption part 111 are magnetically adsorbed together. The connected auxiliary fall prevention robot 2 and the operation robot 11 are controlled by the external controller 12 to move synchronously for grinding or detection.

[0058] When the operation robot 11 is used to grind or detect the longitudinal weld of the spherical tank, control the operation robot 11 and the auxiliary fall prevention robot 2 to synchronously perform the grinding or detection operation of the weld from the bottom to the top of the spherical tank. After the grinding or detection of a longitudinal weld is completed, control the operation robot 11 and the auxiliary fall prevention robot 2 to synchronously move below the spherical tank, control the separation of the first electromagnet 1 from the magnetic adsorption part 111, move the operation robot 11 below the next longitudinal weld that needs to be ground or detected, and the separated auxiliary fall prevention robot 2 moves above the spherical tank and laterally moves above the next longitudinal weld that needs to be ground or detected from above the spherical tank, and then descends along the weld to be magnetically adsorbed to the operation robot 11 again, repeating the grinding step. This working method aims to avoid the spray pipes and the supports for fixing the spray pipes arranged on the outer wall of the spherical tank, and prevent the wires connecting the operation robot 11 and the auxiliary fall prevention robot 2 from being wound around the spray pipes and the supports for fixing the spray pipes.

[0059] When the working robot 11 is used to grind or detect the transverse weld of the spherical tank, control the synchronous movement of the connected working robot 11 and the auxiliary anti-falling robot 2 above the spherical tank. Then, control the separation of the first electromagnet 1 from the magnetic attraction part 111, remove the anti-falling device 4 from the auxiliary anti-falling robot 2 and connect it to the working robot 11, and control the auxiliary anti-falling robot 2 to move to a vacant position that does not interfere with the operation of the working robot 11; control the working robot 11 to grind or detect a quarter of the circumference along the transverse weld to one side, then control the working robot 11 to return to the starting position and continue to move to grind or detect the transverse weld on the other side, and the grinding or detection length is a quarter of the circumference of the weld. Then, control the working robot 11 to return to the starting position again; control the working robot 11 to turn 90 degrees and move to the next transverse weld, and then the working robot 11 turns 90 degrees again, so that the working robot 11 performs grinding or detection operations on its next transverse weld. In this embodiment, by the cooperation of the auxiliary anti-falling robot 2 and the working robot 11 to operate on the outer wall of the spherical tank, the safety of the working robot 11 during operation can be significantly improved.

[0060] Preferably, after the auxiliary anti-falling robot 2 is connected to the working robot 11, a master-slave synchronous control system is used for motion control. The working robot 11 is used as the master robot and moves at a fixed speed. The auxiliary anti-falling robot 2 is used as the slave robot. It uses the variable frequency speed regulation method, with the fuzzy PID algorithm as the core controller. The deviation E and the deviation change rate Ec between the master robot and the slave robot are used as the inputs of the fuzzy controller. By controlling the input voltage of the frequency converter, the power supply frequency of the motor of the slave robot is changed, and the movement speed of the motor of the slave robot is controlled to be consistent with the movement speed of the motor of the master robot. The synchronism between the working robot 11 and the auxiliary anti-falling robot 2 is improved, and the robot falling caused by asynchronous movement is avoided.

[0061] Embodiment Five:

[0062] On the basis of Embodiment Four, both the working robot 11 and the auxiliary anti-falling robot 2 for the same spherical tank are two. Each auxiliary anti-falling robot 2 cooperates with a working robot 11 to be responsible for grinding the longitudinal weld or the transverse weld of the longitudinal half or the transverse half of the spherical tank. In this embodiment, two working robots 11 and two auxiliary anti-falling robots 2 are arranged on a spherical tank. Each working robot 11 can cooperate with an auxiliary anti-falling robot 2 to be responsible for grinding or detecting half of the spherical tank, improving the grinding or detection efficiency, and the working robot 11 does not need to change sides during the grinding or detection process.

[0063] Embodiment Six:

[0064] On the basis of Embodiment 4, two working robots 11 and one auxiliary anti-falling robot 2 are provided on the same spherical tank. The spherical tank is longitudinally divided into a front half spherical tank and a rear half spherical tank. The two working robots 11 are respectively responsible for grinding the front half spherical tank and the rear half spherical tank. When longitudinal welding seams are operated on either half spherical tank, the auxiliary anti-falling robot 2 moves to that half spherical tank and magnetically connects with the working robot 11 located on that half spherical tank for operation, and the working robot 11 on the other half spherical tank performs transverse welding seam operation. In this embodiment, only one auxiliary anti-falling robot 2 is needed to cooperate with the two working robots 11 respectively to complete the grinding or detection of the spherical tank, saving costs, reducing the demand for the auxiliary anti-falling robot 2, and not affecting the grinding or detection efficiency.

[0065] The above embodiments are illustrative of the present invention, not restrictive of the present invention. Any solution obtained by simply transforming the present invention belongs to the protection scope of the present invention.

Claims

1. A fall prevention system for a spherical tank outer wall operation robot, comprising an operation robot (11), a fall arrester (4) and a double-hook safety belt (5). One end of the fall arrester (4) is fixed to the double-hook safety belt (5), and the double-hook safety belt (5) is detachably fixed to the top of the spherical tank. It is characterized in that: One end of the anti-falling device (4) away from the double-hook safety belt (5) is provided with an auxiliary anti-falling robot (2). The anti-falling device (4) is detachably connected to the auxiliary anti-falling robot (2). A first electromagnet (1) is provided on the auxiliary anti-falling robot (2). A magnetic attraction part (111) magnetically matched with the first electromagnet (1) is provided on the working robot (11). A plurality of magnetic wheels (15) and a power mechanism for driving the magnetic wheels (15) to rotate are provided on both the working robot (11) and the auxiliary anti-falling robot (2). An auxiliary magnetic attraction anti-falling mechanism is further provided on the working robot (11). The auxiliary magnetic attraction anti-falling mechanism includes a first rod body (16) and a second rod body (17) respectively arranged on both sides of the working robot (11). The first rod body (16) and the second rod body (17) are both arranged in the same direction as the magnetic wheels (15). Fixing parts (18) cooperating with the first rod body (16) and the second rod body (17) are respectively arranged on both sides of the working robot (11). The first rod body (16) and the second rod body (17) are respectively slidably connected to the fixing parts (18) on both sides. The sliding directions of the first rod body (16) and the second rod body (17) are the same as that of the magnetic wheels (15). Rod body driving mechanisms for driving the first rod body (16) and the second rod body (17) to reciprocally slide along the fixing parts (18) are provided on the fixing parts (18). Auxiliary magnetic attraction parts (19) for magnetically matching with the outer wall of the spherical tank are provided at both ends of the first rod body (16) and the second rod body (17).

2. The anti-falling system of a spherical tank outer wall operation robot according to claim 1, characterized in that: A first power cord (8) electrically connected to the first electromagnet (1) is connected to the auxiliary anti-falling robot (2). The other end of the first power cord (8) is electrically connected to an external controller (12). The middle part of the first power cord (8) is wound around an automatic retractable cable reel (7). The automatic retractable cable reel (7) is fixedly arranged on the top of the spherical tank. The working robot (11) is electrically connected to the external controller (12) through a second power cord (27).

3. The anti-falling system of a spherical tank outer wall operation robot according to claim 2, characterized in that: A cable tensile strength device cooperating with the second power cord (27) is provided on the working robot (11). The cable tensile strength device includes a tensile steel wire (25). One end of the tensile steel wire (25) is provided with a tensile steel wire loop (26), and the other end is provided with a hook (24). A tensile hanging ring (23) detachably connected to the hook (24) is fixedly arranged on the working robot (11). The tensile steel wire loop (26) is fixedly connected to one end of the second power cord (27) close to the working robot (11), and the length of the second power cord (27) between the tensile steel wire loop (26) and the working robot (11) is greater than or equal to the length of the tensile steel wire (25).

4. The anti-falling system of a spherical tank outer wall operation robot as described in claim 1, characterized in that: It further includes an auxiliary upper and lower tank device (13). The auxiliary upper and lower tank device (13) includes a vertically arranged scissor lift platform (131) and rollers (132) provided at the bottom of the scissor lift platform (131). An operation room (133) is provided at the top of the scissor lift platform (131). The operation room (133) has an inner cavity for people to stay, and an inclined opening is provided at the top of the operation room (133). A protective pad (14) is provided on the inclined opening. One end of the protective pad (14) is hinged to the end with a higher horizontal height of the inclined opening. A number of support rods (134) are provided between the protective pad (14) and the operation room (133).

5. A fall prevention method for a spherical tank outer wall operation robot, based on the fall prevention system described in any one of claims 1-4, characterized in that, It includes the following steps: Fix the double-hook safety belt (5) on the fence (3) at the top of the spherical tank in advance. Connect one end of the anti-falling device (4) to the double-hook safety belt (5) and the other end to the auxiliary anti-falling robot (2). Fix the automatic retractable cable reel (7) at the top of the spherical tank. The power cord of the auxiliary anti-falling robot (2) is electrically connected to an external controller (12) provided on the ground after passing through the automatic retractable cable reel (7). Control the auxiliary anti-falling robot (2) through the external controller (12). The external controller (12) is electrically connected to the operation robot (11) through a second power cord; Place the operation robot (11) at a suitable position on the outer wall of the spherical tank according to the grinding or detection requirements. Before the operation, first control the auxiliary anti-falling robot (2) to move near the operation robot (11) so that the first electromagnet (1) of the auxiliary anti-falling robot (2) faces the magnetic attraction part (111) of the operation robot (11). Control the first electromagnet (1) to be energized so that the first electromagnet (1) is magnetically attracted to the magnetic attraction part (111). After connection, the auxiliary anti-falling robot (2) and the operation robot (11) are controlled by the external controller (12) to move synchronously for grinding or detection.

6. The anti-falling method of a spherical tank outer wall operation robot according to claim 5, characterized in that: When the operation robot (11) grinds or detects the longitudinal weld of the spherical tank, control the operation robot (11) and the auxiliary anti-falling robot (2) to synchronously perform the grinding or detection operation of the weld from the bottom to the top of the spherical tank. After the grinding or detection of one longitudinal weld is completed, control the operation robot (11) and the auxiliary anti-falling robot (2) to synchronously move below the spherical tank. Control the separation of the first electromagnet (1) from the magnetic attraction part (111). Move the operation robot (11) below the next longitudinal weld that needs to be ground or detected. After separation, the auxiliary anti-falling robot (2) moves above the spherical tank and laterally moves above the next longitudinal weld that needs to be ground or detected from above the spherical tank, and then descends along the weld to be magnetically connected to the operation robot (11) again, repeating the grinding step.

7. The anti-falling method of a spherical tank outer wall operation robot according to claim 5, characterized in that: When the working robot (11) grinds or inspects the transverse weld of the spherical tank, control the synchronized movement of the connected working robot (11) and the auxiliary anti-falling robot (2) above the spherical tank. Then, control the separation of the first electromagnet (1) from the magnetic attraction part (111), remove the anti-falling device (4) from the auxiliary anti-falling robot (2) and connect it to the working robot (11), and control the auxiliary anti-falling robot (2) to move to a vacant position that does not interfere with the operation of the working robot (11). Control the working robot (11) to grind or inspect a quarter of the circumference length along the transverse weld to one side. Then, control the working robot (11) to return to the starting position and continue to move to grind or inspect the transverse weld on the other side. The grinding or inspection length is a quarter of the circumference length of the weld. Then, control the working robot (11) to return to the starting position again. Control the working robot (11) to turn 90 degrees and move to the next transverse weld. Then, the working robot (11) turns 90 degrees again, so that the working robot (11) performs grinding or inspection operations on its next transverse weld again.

8. The anti-falling method of a spherical tank outer wall operation robot according to claim 5, characterized in that: There are two working robots (11) and two auxiliary anti-falling robots (2) on the same spherical tank. Each auxiliary anti-falling robot (2) cooperates with one working robot (11) to be responsible for grinding the longitudinal welds or transverse welds of the longitudinal half or transverse half of the spherical tank; or there are two working robots (11) and one auxiliary anti-falling robot (2) on the same spherical tank. The spherical tank is divided into the front half spherical tank and the rear half spherical tank longitudinally. The two working robots (11) are respectively responsible for grinding the front half spherical tank and the rear half spherical tank. When longitudinal weld operations are performed on any half spherical tank, the auxiliary anti-falling robot (2) moves to that half spherical tank and magnetically connects with the working robot (11) located in that half spherical tank for operation, and the working robot (11) of the other half spherical tank performs transverse weld operations.

9. The anti-falling method of a spherical tank outer wall operation robot as described in claim 5, characterized in that: After the auxiliary anti-falling robot (2) is connected to the working robot (11), a master-slave synchronous control system is used for motion control. The working robot (11) is used as the master robot and moves at a fixed speed. The auxiliary anti-falling robot (2) is used as the slave robot. It uses the variable frequency speed regulation method, with the fuzzy PID algorithm as the core controller. The deviation E and the deviation change rate Ec between the master robot and the slave robot are used as the inputs of the fuzzy controller. By controlling the input voltage of the frequency converter, the power supply frequency of the motor of the slave robot is changed to control the movement speed of the motor of the slave robot to be consistent with the movement speed of the motor of the master robot.

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